CN115903583A

CN115903583A - Rescue control method based on robot cluster system

Info

Publication number: CN115903583A
Application number: CN202211352493.6A
Authority: CN
Inventors: 吴启民; 薛阳; 陈乔; 刘德明; 高�浩; 叶谦; 陈通权
Original assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD
Current assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-04-04

Abstract

The invention provides a rescue control method based on a robot cluster system, wherein the robot cluster system comprises a plurality of robots working on a working surface and cables, all the robots supply energy and communicate through the cables and are sequentially connected to the cables according to the extension direction of the cables; along the extending direction of the cable, one of two adjacent robots is a passive robot to be rescued, and the other robot is a first active robot for implementing rescue; the rescue control method comprises the following steps: -the first active robot is anchored to the work surface by means of vacuum suction; -changing a cable length between the first active robot and the passive robot to bring the passive robot closer to the first active robot; and-controlling the first active robot to tow the passive robot. The invention can realize the cooperation of different robots (a first active robot and a passive robot, and the first active robot, a second active robot and the passive robot) and the mutual rescue of the robots.

Description

Rescue control method based on robot cluster system

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a rescue control method based on a robot cluster system.

Background

For a large-area operation area, an unmanned aerial vehicle or other types of robots are often utilized in the process of scene mapping, information acquisition or daily inspection. In order to improve the work efficiency, a plurality of machines may be driven simultaneously to perform work.

When severe outdoor environment is met, a plurality of devices interfere with each other or other devices break down, effective work cooperation or rescue cannot be formed due to relative independence among the plurality of devices.

Disclosure of Invention

The invention aims to provide a rescue control method based on a robot cluster system, so that the work cooperation and rescue of multiple robots can be realized.

Therefore, the above purpose of the invention is realized by the following technical scheme:

the rescue control method based on the robot cluster system comprises a plurality of robots working on a working surface and cables, wherein all the robots are powered and communicated through the cables and are sequentially connected to the cables in the extending direction of the cables; the robot is a climbing robot, and the working surface is a vertical surface or a vertical surface close to the vertical surface;

along the extending direction of the cable, one of two adjacent robots is a passive robot to be rescued, and the other robot is a first active robot for implementing rescue;

the rescue control method comprises the following steps:

-the first active robot is anchored to the work surface in a vacuum suction manner;

-changing a cable length between the first active robot and the passive robot such that the passive robot approaches the first active robot; and

-controlling the first active robot to tow the passive robot.

While adopting the above technical solutions, the present invention can also adopt or combine the following technical solutions:

as a preferred technical scheme of the invention: along the extending direction of the cable, the other side of the passive robot is also provided with a second active robot;

the rescue control method comprises the following steps:

-changing the cable length between the second active robot and the passive robot such that the second active robot and the passive robot are close to each other;

-the second active robot is anchored to the work plane in a vacuum-sucked manner;

-the first active robot is released from anchoring with the work surface;

-changing the cable length between the first active robot and the passive robot such that the first active robot and the passive robot are close to each other, thereby bringing the passive robot into proximity with the first active robot, the second active robot simultaneously; and

-controlling the first active robot, the second active robot to tow the passive robot.

As a preferred technical scheme of the invention: the robot includes survey robot at the cable distal end, and with survey robot through the negative cable robot that the cable is connected, survey robot and negative cable robot all include:

a support body;

a vector rotor system for providing vector power to the support body;

the walking wheels are arranged below the supporting body and used for walking on a working surface;

the survey robot and the cable loading robot are powered and communicated through a cable loaded on the survey robot and the cable loading robot in a working state.

As a preferred technical scheme of the invention: at least one of the survey robot and the cable-laying robot which are adjacent is provided with a cable frame mechanism to carry out cable-laying so that the two adjacent robots approach each other or one approaches the other.

As a preferred technical scheme of the invention: the cable frame mechanism includes:

the support is fixed on the support body, at least one part of the support is of a tubular structure, the interior of the support is used as a guide groove, and a cable is movably arranged in the guide groove in a penetrating manner;

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

the wire clamping motor is arranged on the support and is used for being linked with the wire clamping wheel so as to change the length of a cable between the first/second active robot and the passive robot.

As a preferred technical scheme of the invention: the end part of the tubular structure is provided with a connecting sleeve, the inner wall of the connecting sleeve is provided with a Hall sensor on the inlet side, and the Hall sensor is used for detecting the cable winding and unwinding speed;

the cable frame mechanism further comprises:

the two winding wheels are respectively arranged on the supporting body;

the winding device comprises two winding motors, wherein the winding motors independently drive a corresponding winding wheel, and the winding motors are correspondingly controlled according to the winding and unwinding speed.

As a preferred technical scheme of the invention: the side wall of the tubular structure is provided with an avoidance port which is through in the radial direction, and the wire clamping wheel clamps the cable through the avoidance port on the corresponding side.

As a preferred technical scheme of the invention: the support is provided with a swing frame; one of the wire clamping wheels in the same pair is a driven wheel and is rotatably arranged on the support, and the other one is a driving wheel and is rotatably arranged on the swing frame;

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

the first state of the swing frame is: the elastic piece drives the driving wheel to approach the driven wheel and clamp the cable;

the second state of the swing frame is as follows: the driving wheel is turned over through the swing frame and is far away from the driven wheel, and the swing frame is abutted against the support for limiting.

As a preferred technical scheme of the invention: survey robot and burden cable robot all including the sucking disc that the supporter goes up and down relatively and the vacuum pump that communicates with the sucking disc, the sucking disc is laminated to the working face through going up and down and is evacuated with surveying robot or burden cable robot vacuum adsorption anchoring to the working face on through the vacuum pump that is linked together with the sucking disc.

As a preferred technical scheme of the invention: when vacuum adsorption is implemented, the vacuum degree in the sucker is collected in real time, and when the vacuum degree exceeds a preset deviation, compensation is carried out through a vacuum pump;

and a pressure release valve is communicated in the sucker and is opened when the anchoring is released.

The invention provides a rescue control method based on a robot cluster system, which at least has the following beneficial effects:

the rescue control method based on the robot cluster system can realize the cooperation of different robots (a first active robot and a passive robot, and the first active robot, a second active robot and the passive robot) and the mutual rescue of the robots.

Drawings

Fig. 1a is a schematic flow chart of an example of a rescue control method based on a robot cluster system according to the present invention;

fig. 1b is a schematic flow chart of another example of a rescue control method based on a robot cluster system provided by the invention;

fig. 1c to fig. 1e are schematic diagrams of an implementation process of a rescue control method based on a robot cluster system;

FIG. 2a is a schematic diagram of a survey robot employing a quad-rotor vector drive;

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

FIG. 3a is a schematic diagram of a survey robot employing dual rotor vector drive;

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

fig. 4-5 are schematic structural views of the rotor assembly;

FIG. 6 is a schematic structural view of a traveling wheel;

FIG. 7 is a cross-sectional view of the road wheel of FIG. 6;

FIG. 8 is a schematic view of a static adsorption module;

FIG. 9a is a schematic view of the static suction assembly of FIG. 13 with the first housing opened;

FIG. 9b is a cross-sectional view of a static adsorbent assembly;

FIG. 9c is a schematic view of the structure of the second housing engaged with the supporting body;

FIG. 10 is a schematic structural view of the elevating driving mechanism;

FIG. 11 is a schematic structural view of the transfer mechanism of FIG. 10;

FIG. 12 is a cross-sectional view of the survey robot with the support body omitted;

FIG. 13 is an enlarged view of A in FIG. 12;

FIG. 14 is an exploded view of the pressure relief valve;

FIG. 15 is a schematic view of the structure of the chuck;

FIG. 16 is a schematic diagram of a full vector survey cluster system;

FIG. 17 is a schematic view of the negative cable robot in FIG. 16 opening the first housing;

FIG. 18 is an enlarged view of B in FIG. 16;

FIG. 19 is a schematic view of the swing frame in a second position;

fig. 20 is a sectional view of the negative cable robot of fig. 16.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

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 application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the following two embodiments, two rescue control methods are proposed for the robot-based cluster system, respectively. The robots include a survey robot at the distal end of the cable, and a cable loading robot connected thereto by the cable, both of which may employ the respective robots provided in the embodiments herein.

Referring to fig. 1a, in one embodiment, a rescue control method based on a robot cluster system includes a plurality of robots working on a working surface and cables, and all the robots are powered and communicate through the cables and are sequentially connected to the cables according to the extending direction of the cables.

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

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

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

and step S913, controlling the active robot to drag the passive robot.

Referring to fig. 1b to 1e, in another embodiment, the present application further provides a rescue control method based on a robot cluster system, which is implemented by using the robot cluster system herein. According to the extending direction of the cable, active robots are arranged on two sides of the passive robot 203 and are respectively a first active robot 201 and a second active robot 202, and the rescue control method comprises the following steps:

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

step S922, changing the length of a cable between the second active robot and the passive robot to enable the second active robot and the passive robot to be close to each other;

step S923, anchoring the second active robot to a working surface in a vacuum adsorption mode;

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

step S925, changing a length of a cable between the first active robot and the passive robot to make the first active robot and the passive robot approach each other, and further to make the passive robot simultaneously approach the first active robot and the second active robot;

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

In steps S922 and S925, the first active robot and the second active robot can be understood to move closer toward the passive robot. It can be understood that in a normal state, each robot communicates with the server through a cable to realize interactive control. The working condition of the robot is comprehensively judged through the information acquisition equipment of each robot and the transmission of communication signals. And when the judgment result is abnormal, the robot is determined to be possible to have a fault, namely the robot is used as a passive robot to be rescued. For example, the image returned by the information acquisition equipment is interrupted, the operation of the suction cup is reported to be wrong, and the like. Two adjacent robots are adjacent through a cable connection mode and do not mean adjacent space distance. And after the robot fails, self-checking of software and hardware can be carried out, and if the self-checking is qualified, the rescue control method is cancelled.

In steps S912, S922 and S925, changing the length of the cable between the passive robot and the robot adjacent to the passive robot may be implemented by a cable rack mechanism, and specific implementation manners may be referred to with respect to related embodiments of the cable rack mechanism herein.

In steps S911 to S913, the passive robot and the active robot are not limited to the type of robot as long as cable connection with each other can be achieved, and may be, for example, a survey robot or a back cable robot as provided in the embodiments related herein. In steps S921 to S926, the passive robot and the two adjacent robots are connected by a cable, and the passive robot is a back-cable robot, but the types of the first active robot and the second active robot are not limited. In step S913 and step S926, the towed passive robot leaves the current site, and when the towed passive robot reaches a designated area without a risk of falling (e.g., returns to the origin), the towed passive robot is determined to be rescuing.

An embodiment of the present application further provides a queue adjustment method based on a robot cluster system, which can be implemented in a normal working process and the above rescue process, where the robot cluster system includes a plurality of robots working on a working surface and cables, and all the robots supply energy and communicate via the cables and are sequentially connected to the cables in an extending direction of the cables; each robot is fixed with a connecting sleeve, a cable penetrates into the connecting sleeve from the outside of the robot and then is connected with a corresponding circuit component in the robot, one side of the connecting sleeve, into which the cable penetrates from the outside, is an inlet side, and the inner wall of the connecting sleeve is provided with a pressure sensor arranged on the inlet side.

The queue adjusting method can be implemented in various scenes to realize cooperative work. In the scenes such as galleries, space holes, underground caverns and the like, the robots can also be provided with searchlights, the spatial positions and the orientations of the robots are coordinated through the server, and the light is supplemented to the working robots in a pointing mode so as to ensure the collection of relevant information data of the working face.

In one embodiment, a part of the robots are cable-negative robots and are provided with a cable frame mechanism, the cable frame mechanism is used for taking in or paying out cables, and the adjusting method comprises the steps that each cable-negative robot collects signals from the pressure sensors and controls the cable frame mechanism and/or the rotor wing assembly according to the signals of the sensors in a corresponding adjusting mode. The arrangement and number of rotor assemblies, cable mount mechanisms, connection sleeves and pressure sensors can all be seen in the relevant embodiments herein with respect to the cable mount mechanisms. For example, when the cables of two adjacent robots become stretched, relaxed or bent, the pressure sensor can provide a detection signal to appropriately adjust the traveling speed or orientation of the robots.

In one embodiment, the adjusting method comprises the steps that each robot collects signals from the pressure sensors, and the moving speed of the robot is adjusted correspondingly according to the signals of the sensors. Further, along the extending direction of the cable, another robot at the inlet side of the current robot is an adjacent robot, and when adjusting the moving speed of the another robot, the method comprises the following steps: when the signal of the pressure sensor is larger than a first set value, the moving speed of the adjacent robot is reduced; and when the signal of the pressure sensor is smaller than the second set value, the moving speed of the adjacent robot is increased.

It will be appreciated that the pressure sensor is capable of detecting the direction of bending of the cable as mentioned in the previous embodiments. When the pressure sensors are arranged in the circumferential direction of the cable, the bending direction of the cable can be sensed, when the detection signal is larger than a third set value, the bending degree of the cable in a certain direction is considered to be too large and unnecessary traction is generated, at the moment, the relative moving speed of the two robots can be reduced or the directions of the two robots can be adjusted, the overall advancing state of the queue is balanced, and the traction of the cable to each other is reduced.

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

It should be understood that although the steps in the embodiments of the present application are described in order, the steps are not necessarily performed in the order described. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. 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 robot structure according to the above embodiments is described in detail below, and in addition to the hardware support necessary for the method, corresponding improvements are proposed for the peripheral structure.

An embodiment of the present application provides a vector-driven survey robot 200, 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 a 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 support body 1 and is used for acquiring information data related to the working face.

To open-air work places such as culverts, reservoir dam, especially, relate to the facade operation, and the working face probably has the condition of great building defect, the stability of space gesture can not satisfy the requirement no matter traditional unmanned aerial vehicle is continuation of the journey or when gathering information, although some prior art disclose flight mechanism and combine the technique of running gear, its power that moves along the working face mainly comes from running gear, not only install complicacy and running gear's flexibility is limited, survey the power that robot 200 removed along the working face in this application and come from vector rotor system, simplified control mode and running gear's hardware demand on the contrary, just provide vector power itself, can realize through the gesture of rotor subassembly 2 self and the mutual cooperation between the multiple sets, also can use conventional technique in control.

In the survey robot 200 of the present application, a plurality of robots may be used in combination to form a robot queue or a cluster system, and perform cooperative work on a working surface extending over several kilometers, in the cluster system, at least one or even all of the robots configure the information acquisition device 4, the robot is also referred to as a survey robot 200, some robots may not carry the information acquisition device 4 and are only used for walking assistance, and the like, and may be collectively referred to as a robot herein.

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.

Preferably, the survey robot 200 of the present application is powered and communicates in a wired manner. The wired energy supply can reduce the load of the robot with a power supply, and can continue the journey for a long time, and during communication, no matter the control instruction or information data is returned, the signal quality and speed can be ensured, and particularly, the robot can not be influenced by the environment in complex environments such as a high magnetic field, no signal, high crosswind level and the like.

In the present application, the information data related to the working surface may include a two-dimensional image of the working surface itself, and may also include three-dimensional terrain data, information of internal structure is acquired by ultrasound, and on-site climate, lighting conditions, etc., and corresponding devices in the prior art are adopted for the information acquisition mode itself, and of course, the specific carrying mode and structure of the information acquisition device 4 also provide an improved mode in the following embodiments.

In the present application, the surveying robot 200 may form a surveying system with a remote server, the storage of a large amount of data and the data processing of comparative consumption may be completed by the server, and the server may send a corresponding command to the robot, and in some scenarios, a field handheld terminal may be configured to connect to the robot, and send the command in real time.

The top side 100 and the bottom side 101 of the support body 1 are in this application taken as relative terms, e.g. when the robot walks 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. 2a to 3b, the support body 1 is a frame structure having a flat configuration as a whole, and a top side 100 and a bottom side 101 on both sides in a thickness direction, respectively. Frame construction has the application scene of adaptation this application that a large amount of fretwork areas can be better, subtracts the weight as far as under the prerequisite of guaranteeing structural strength, and flat configuration can improve anti-wind and antidumping performance.

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.

The frame structure of the application adopts carbon fiber material, has lighter weight and higher intensity relatively for survey robot 200 during operation is more nimble. In this embodiment, the distance between the top frame 11 and the bottom frame 12 is 2 to 6cm, and the single thickness of the top frame 11 and the bottom frame 12 is 2 to 5mm.

In order to match the wired mode, a connecting sleeve 17 is installed on one side of the supporting body 1, and the cable 18 is connected with the corresponding circuit component in the surveying robot 200 after penetrating the connecting sleeve 17 from the outside. The cable 18 is fixed relative to the connection sleeve 17 by conventional means such as clamping, clipping or gluing.

Preferably, the side of the connecting sleeve 17 through which the cable 18 is inserted from the outside is an inlet side 171, and the inner wall of the connecting sleeve 17 is provided with a pressure sensor disposed on the inlet side 171 to detect the force between the cable 18 and the inner wall of the connecting sleeve 17.

This force can indicate the relative slack, tightness of the cable 18, or the direction of the turning of the cable 18 at the location of the connecting sleeve 17, which can be used to participate in the control of the robot.

In order to identify the direction of bending of the cable 18 relative to the connection sleeve 17, the inlet side 171 of the connection sleeve 17 comprises a plurality of (for example 4 to 8) mounting tabs 172 arranged at uniform intervals in the circumferential direction, the pressure sensors being fixed inside the mounting tabs 172. The relative values of the pressure sensors thus identify the slack in the cable 18 and the direction of the bend.

For example, when the cable 18 tends to be taut, the robot travel speed is suitably adjusted to avoid subjecting the cable 18 to additional pulling forces.

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:

an edge bar 161 annularly arranged around the rectangular region;

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, a central connecting line of the two annular portions 14 is a reference line, and each annular portion 14 is connected to two wheel seats 15 and located on two sides of the reference line. In particular, the arrangement in which the cable 18 extends substantially along the reference line in the negative cable position enables the survey robot 200 to be stressed more evenly and to operate more smoothly.

Referring to fig. 4-5, 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 turnover frame 23 is rotatably arranged on the first turnover frame 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 surveying 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 be climbed is encountered, the obstacle can be jumped by switching into the flight mode, and the obstacle is jumped and then switched into the 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 a convenient angle for flight, so that the survey robot 200 can fly up and cross an obstacle smoothly, and after the obstacle is landed, 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. 6 to 7, 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 advantageous in working route planning and working 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 or double-wheel structure can be adopted and is arranged on the corresponding wheel seat 15 through a damping mechanism 31. The damping mechanism 31 may be a damper in the prior art, or may be a combination of various 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.

Referring to fig. 8 to 15, in order to firmly attach to the working surface and keep the surveying robot 200 stable and stationary during other equipment operations, the surveying robot 200 further includes a static suction member 5, and the static suction member 5 may be fixed to the working surface by vacuum suction. When the surveying robot 200 is fixed on the working face in an adsorption manner, the obtained data is more accurate, even the rotor can be stopped to work for a long time to save energy and filter noise, and under a specific scene, the surveying robot 200 fixed on the working face in an adsorption manner can be used as a relatively stable anchor point to rescue or cooperate with other surveying robots 200 at the periphery through the cable 18.

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 (ultrasonic probe), must use static adsorption component 5 earlier will survey robot 200 and adsorb in the working face, stop rotor work after that, the ultrasonic detection subassembly just begins work at last.

The static adsorption assembly 5 includes:

a cylinder 52 movably mounted on the support body 1;

a lifting drive mechanism 53 which is installed on the support body 1 and is linked with the cylinder 52 to drive the cylinder 52 to lift relative to the support body 1;

a suction cup 54 fixed to the bottom of the cylinder 52;

the vacuum pump 55 is connected to the suction cup 54 through a pipe.

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.

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 two sets of cylinders 52 are arranged side by side, and the two sets of cylinders 52 can be synchronously lifted and lowered under the action of the lifting driving mechanism 53, so that the lifting stability and the necessary structural strength are maintained.

The vacuum pump 55 is located between the tops of the two cylinders 52, in order to play a role in protection against dust and the like, an outer cover 51 can be covered on the periphery of the top of each cylinder 52, a first shell 56 is arranged on the top of the outer cover 51 and the periphery of the vacuum pump 55, and the first shell 56 can protect the components inside and can also achieve the effect of noise reduction.

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 four bridge arms is connected to the second housing 58, and the other end of each of the four bridge arms is connected to the corresponding annular portion 14 in an outward radial manner.

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 main 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;

the two gear rings 534 are respectively rotatably sleeved on the outer periphery of the cylinder 52 and are 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 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 mechanism 532 can realize that two sets of cylinders 52 can be driven by the same motor 531 to move synchronously, and the transfer mechanism 532 comprises:

a main bevel gear 5321 fixed to an output shaft 5311 of the motor 531;

two secondary bevel gears 5322 respectively engaged with the main bevel gear 5321 and located on both sides of the main bevel gear 5321, each secondary bevel gear 5322 having an intermediate shaft 5323 fixed thereon,

two output shafts 5325 are connected to corresponding intermediate shafts 5323 via universal joints 5324, respectively.

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 cylinder 52 is provided with an external thread 521, and the gear ring 534 is provided with an internal thread and is matched with the external thread 521, so that the cylinder 52 is driven to ascend or descend relative to the supporting body 1, namely, the suction cup 54 is lifted up and down.

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;

the vacuum line 551 extends to the vacuum port 541 through one of the cylinders, and the pressure relief valve 543 is located at 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.

The internal pipe 552 is configured such that, mainly in order to accommodate the elevation of the cylinder 52 (i.e., the base plate 545) relative to the supporting body 1, the rigid pipe 5521a facing the vacuum port 541 moves downward relative to the other rigid pipe 5521b and maintains a seal therebetween by the elevation driving mechanism 53. Although a flexible tube approach can be used to accommodate this relative movement, the flexible insertion of the two rigid tubes in this embodiment avoids interference with the coiled tubing and provides additional stable guidance.

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 valve rod 5433 is driven by the electromagnetic driving assembly to move downwards, at the moment, the valve core 5432 is separated from the end face of the sealing sleeve 5431, gas enters from a pressure relief gap, normal pressure is restored between the suction cup 54 and a working face, the suction cup 54 can be lifted afterwards, and interference between the suction cup 54 and the working face 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;

and the sealing assembly comprises a plurality of sealing rings arranged inside and outside and is used for being in fit sealing with the working surface, and the plurality of sealing rings are positioned at the peripheries of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The multi-seal ring and the substrate 545 are enclosed to form a cover body structure, and when the multi-seal ring is matched with the working surface, a vacuum cavity is formed in the cover body 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, and to provide hardware utilization, the bottom surface of the substrate 545 is provided with extension 5452 that extends outside the hermetic package.

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 static adsorption component 5 may be mounted with an ultrasonic probe, specifically, the ultrasonic probe is mounted in an expansion area 5452 (a first expansion area 5453), wherein the ultrasonic probe of the same pair is mounted in a sliding manner with respect to the substrate 545, the expansion area 5452 is provided with a first avoidance opening 5455, and the position of the ultrasonic probe corresponds to the first avoidance opening 5455 and extends downward out of the first avoidance opening 5455.

The top surface of the substrate 545 is covered with a third housing 5451, a moving mechanism is arranged in the third housing 5451, the moving mechanism drives the ultrasonic probes to slide, and the distance adjusting direction of the two ultrasonic probes is the width direction of the substrate 545.

Because the survey robot 200 is powered and communicated in a wired manner, the negative cable robot 81 can be configured to work cooperatively when the working distance is long, on one hand, the negative cable robot 81 can bear and share the weight of the cable 18, and on the other hand, the negative cable robot 81 can also carry the information acquisition device 4.

Referring to fig. 16-20, the present application further includes a full vector survey cluster system comprising a survey robot 200 and at least one negative cable robot 81, the survey robot 200 and the negative cable robot 81 each comprising:

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

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

the survey robot 200 further comprises an information acquisition device 4, wherein the information acquisition device 4 is mounted on the support body 1 and is used for acquiring information data related to a working surface;

the cable loading robot 81 also includes a cable mounting mechanism 82, and the survey robot 200 is powered and communicates via the cable 18 loaded on the cable mounting mechanism 82 in an operating state.

The survey robot 200 is equipped with the information collecting apparatus 4, and the negative cable robots 81 can select whether to install the information collecting apparatus 4 or not according to the requirements, and each negative cable robot 81 needs to bear the cable 18, and therefore, is equipped with the cable frame mechanism 82.

The cable frame mechanism 82 includes:

a support 821 fixed on the support 1, at least a part of the support 821 is a tubular structure 8214 and the interior of the support is used as a guide slot 8211, and the cable 18 is movably led into the guide slot 8211;

a wire clamping wheel 822 which is arranged on the support 821 and clamps and drives the cable 18 to move along the guide groove 8211;

and a wire clamping motor 823 which is installed on the support 821 and linked with the wire clamping wheel 822.

When the wire clamping motor 823 works, the wire clamping wheel 822 is driven to operate, and at this time, the cable 18 moves along the guide slot 8211 under the action of the wire clamping wheel 822, in the foregoing, the connecting sleeve 17 equipped with the pressure sensor is butted with the end of the tubular structure 8214, or the end of the tubular structure 8214 also serves as the connecting sleeve 17, and in this embodiment, the number of the connecting sleeves 17 of each cable-bearing robot 81 is 2.

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

Specifically, a swing frame 8213 is arranged on the support 821, and one of the paired chuck wheels 822 is a driven wheel 8222 and is rotatably mounted on the support 821; the other is a driving wheel 8221 and is rotatably arranged on the swinging frame 8213;

an elastic element is arranged between the swinging frame 8213 and the support 821, so that the driving wheel 8221 is driven to approach the driven wheel 8222 and clamp the cable 18, namely the swinging frame 8213 is in a first state (namely the F1 position);

the swing frame 8213 also has a second position (i.e., F2 position) in which the drive wheel 8221 is spaced from the driven wheel 8222 and the swing frame 8213 is restrained against the support 821.

The elastic element is a tension spring 824, two ends of the tension spring 824 are respectively connected to the swing frame 8213 and the support 821, and the tension spring 824 limits the swing frame 8213 to the second state in a mode of passing through a dead point.

The swing frame 8213 can undergo a change in condition based upon actual demand.

In this embodiment, the wire clamping motor 823 and the driving wheel 8221 are driven by a gear engagement manner.

Both ends of the tubular structure extend to the opposite sides of the support body 1, respectively, and in order to be able to control the length of the cable 18 on each side of the robot individually, both ends of the tubular structure are provided with a wire clamping wheel 822 and a wire clamping motor 823, respectively.

Further, the middle portion of the tubular structure 8214 is provided with an open area or a semi-open area, one section of the cable 18 extends out of the guide groove 8211 from the middle portion, and the extending portion is a coiling section 826, in order to better coil the cable 18, the cable loading robot 81 further comprises:

two winding wheels 831 respectively mounted on the support body 1, wherein the cables 18 extending from two ends of the tubular structure 8214 are respectively wound around one winding wheel 831;

the two winding motors 834 independently drive the corresponding winding wheel 831, and can respectively adjust the cables 18 on the two sides of the cable loading robot 81 in an adaptive manner, so that the cluster system is more flexible, and the limitation that the cables can only be adjusted simultaneously is avoided. Wherein, the winding motor 834 and the winding wheel 831 can adopt the conventional gear engagement transmission.

In order to improve the integration level, the two winding wheels 831 may also be packaged into the first housing 56, and since the top of the outer casing 51 in the static adsorption component 5 is also located in the first housing 56, in this embodiment, the two winding wheels 831 may also be configured as a cylindrical structure, and the outer casing 51 is rotatably sleeved with the two winding wheels 831, and the top edge of the cylindrical structure is externally provided with outer wheel teeth 825, which are in gear engagement with the winding motor 834 for transmission.

The cable 18 extending into the end of the tubular structure 8214 is connected with the power utilization part in the negative cable robot 81 after passing around the corresponding wire winding wheel 831 to form a power utilization loop.

In one embodiment, when traversing a large span building structure, the three negative cable robots connected in series anchor the negative cable robots at both ends to the working surface, and move synchronously with the two winding wheels 831 of the centered negative cable robot, one winding up the wire relative to the located negative cable robot, and the other winding out the wire relative to the located negative cable robot, so that the centered negative cable robot can cross the building structure along the cable.

Accordingly, the survey robot 200 may also be equipped with a cable carriage mechanism 82 and take-up wheel 831 and winding motor 834, and if it is at the head end of the line, only one set of take-up wheel 831 and winding motor 834 may be provided.

The survey robot 200 and the negative cable robot 81 are both powered and communicate in a wired manner in an operating state. In conjunction with the foregoing, the connection sleeve 17 capable of detecting the slackening or bending of the cable 18 is mounted on the cable frame mechanism 82 of the cable robot 81, or is a part of the cable frame mechanism 82 (which can be regarded as being indirectly mounted on the support body 1). The cable 18 has certain dead weight, and survey robot 200 and can only load limited cable 18 weight, and when the working face was far away, negative cable robot 81 can share the cable 18 dead weight betterly, improves holistic survey scope, and of course, negative cable robot 81's quantity can be set for according to the demand by oneself. In this embodiment, the survey robot 200 and the negative cable robot 81 may employ four-rotor vector drive or two-rotor vector drive, respectively.

The full vector survey cluster system 8 (also called cluster system for short) further comprises a paying-off mechanism 84, one end of the cable 18 is connected with the survey robot 200, the other end of the cable is connected with the paying-off mechanism 84, and the negative cable robot 81 is sequentially connected in series between the survey robot 200 and the paying-off mechanism 84 through the cable 18. Pay-off mechanism 84 can automatically pay-off and take-up cable 18, as for pay-off mechanism 84 itself, automatic pay-off and take-up of cable 18 can be accomplished using existing techniques.

In one embodiment, the control method comprises the steps of establishing a working face map and patrolling the working face.

The establishment of the working face map comprises the following steps:

establishing a coordinate system and dividing sub-regions;

obtaining a working face map in a two-dimensional form;

a three-dimensional form of the worksurface map is obtained.

The patrolling and examining of working face includes:

confirming the current position of the robot;

and identifying and marking the building defects on the working face map.

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

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 surveying robot. The establishment of the coordinate system relies on the image information being collected and stitched. 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: and traversing all areas of the working surface, splicing the obtained image information, and obtaining a two-dimensional working surface 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 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.

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

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%.

In the detection process, the method further comprises the steps of recognizing the defects on the surface of the working surface by using an autonomous judgment algorithm in the server, reducing image noise by using the light supplement lamp, and performing surface feature analysis by combining the position of the light supplement lamp to improve the detection precision.

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.

In one embodiment, the control method further comprises obtaining a work surface map in three dimensions:

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

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. In addition, the server can also generate a data report through the captured surface characteristic information.

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

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

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

Based on gather from the image information and the working face map of current work position contrast, specifically include:

carrying out feature extraction on the image information to obtain surface features;

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 work surface map is not limited to a particular plane but refers to a spatial map 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.

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

In one embodiment, the control method further comprises:

carrying out surface feature recognition on image information collected from a working surface;

and marking the building crack to a working face map after the recognition 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 for identifying the cracks of the building is used as a new sample to participate in updating of the autonomous learning algorithm; and updating the constructed building crack feature database.

If the robot cluster system is used for executing the work task, the control method further comprises a rescue control method, a building structure crossing method and a queue adjusting method.

All possible combinations of the technical features of the embodiments described above may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure 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 application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims

1. The rescue control method based on the robot cluster system is characterized in that the robot cluster system comprises a plurality of robots working on a working surface and cables, and all the robots are powered and communicated through the cables and are sequentially connected to the cables according to the extending direction of the cables;

the rescue control method comprises the following steps:

-changing a cable length between the first active robot and the passive robot to bring the passive robot closer to the first active robot; and

-controlling the first active robot to tow the passive robot.

2. The rescue control method based on the robot cluster system according to claim 1, characterized in that along the extending direction of the cable, the other side of the passive robot is further provided with a second active robot;

the rescue control method comprises the following steps:

-changing the length of the cable between the second active robot and the passive robot such that the second active robot and the passive robot are close to each other;

the second active robot is anchored to the work plane in a vacuum-sucked manner;

-the first active robot is released from anchoring with the work surface;

3. The robot cluster system-based rescue control method according to claim 1 or 2, wherein the robot comprises a survey robot at a far end of a cable, and a negative cable robot connected with the survey robot through the cable, the survey robot and the negative cable robot each comprising:

a support body;

a vector rotor system for providing vector power to the support body;

4. The robot cluster system-based rescue control method according to claim 3, wherein at least one of the adjacent survey robot and cable loading robot is configured with a cable frame mechanism to perform wire winding to make the adjacent two robots approach each other or one approach the other.

5. The robot cluster system-based rescue control method according to claim 4, wherein the cable frame mechanism comprises:

the wire clamping motor is arranged on the support and is used for being linked with the wire clamping wheel to change the length of a cable between the first/second active robot and the passive robot.

6. The robot cluster system-based rescue control method according to claim 5, wherein a connection sleeve is arranged at the end of the tubular structure, a Hall sensor is arranged on the inner wall of the connection sleeve on the inlet side, and the Hall sensor is used for detecting the cable winding and unwinding speed;

the cable frame mechanism further comprises:

the two winding wheels are respectively arranged on the supporting body;

7. The robot cluster system-based rescue control method according to claim 5, wherein a radially through avoidance port is formed in the side wall of the tubular structure, and the cable is clamped by the cable clamping wheel through the avoidance port on the corresponding side.

8. The robot cluster system-based rescue control method according to claim 5, wherein a swing frame is provided on the support; one of the wire clamping wheels in the same pair is a driven wheel and is rotatably arranged on the support, and the other one is a driving wheel and is rotatably arranged on the swing frame;

9. The rescue control method based on the robot cluster system according to claim 3, wherein the survey robot and the negative cable robot each comprise a suction cup which can be lifted and lowered relative to the support body, and a vacuum pump which is communicated with the suction cup, the suction cup is attached to the working surface through lifting and is vacuumized through the vacuum pump which is communicated with the suction cup so as to vacuum-adsorb and anchor the survey robot or the negative cable robot to the working surface.

10. The robot cluster system-based rescue control method according to claim 9, wherein when vacuum suction is performed, a vacuum degree in a suction cup is collected in real time, and when the vacuum degree exceeds a predetermined deviation, compensation is performed by a vacuum pump;