CN118129654A - Wall climbing robot for detecting building flatness - Google Patents

Abstract

The invention relates to a wall climbing robot for detecting building flatness, which relates to the technical field of wall climbing robots and comprises a shell, a driving mechanism and a detecting mechanism, wherein the driving mechanism is arranged on the shell and is used for driving the shell to move on a building surface, the detecting mechanism is arranged on the shell, and the detecting mechanism is used for detecting the flatness of the building surface. The method and the device can accurately detect the sinking degree of the building, and further improve the accuracy of the flatness detection of the building.

Description

A wall-climbing robot for detecting building flatness

Technical Field

The present invention relates to the technical field of wall-climbing robots, and in particular to a wall-climbing robot for detecting the flatness of a building.

Background technique

During the construction, acceptance and deformation observation of buildings, it is necessary to test the flatness of the building. The flatness of the building refers to the degree of unevenness or uneven thickness of the building surface, which is one of the important indicators for building quality inspection and acceptance. With the development of wall-climbing robot technology, wall-climbing robots are widely used to replace manual work in high-altitude operations, such as building quality inspection, high-altitude cleaning, ship rust removal and bridge inspection.

At present, a Chinese invention patent with a publication date of June 2, 2023 and publication number CN116202501A proposes a standardized construction detection system and method, the system includes an auxiliary device and a wall-climbing robot, the auxiliary device is used to control the adsorption of the wall-climbing robot on the wall, the wall-climbing robot includes a robot body and a pneumatic clamping claw assembly for controlling the movement of the robot body on the wall, a mounting plate is provided on the robot body, and a laser ranging sensor for detecting the flatness of the wall is provided on the end face of the mounting plate away from the robot body; the method includes the steps of adjusting the posture of the robot body on the wall and detecting the wall during walking.

When detecting the flatness of the wall, the auxiliary device is started to supply air pressure, and the robot body is adsorbed on the wall by air pressure to position the robot body. After the positioning is completed, the pneumatic claw assembly drives the robot body to move on the wall at a specified step distance. During the movement and stillness process, the laser ranging sensor continuously monitors the distance to the wall, and then obtains the flatness information of the wall.

With respect to the above technical solution, the laser ranging sensor installed on the mounting plate can detect a limited area. When the wall area relative to the wall-climbing robot is in a recessed state, it is difficult to accurately detect the flatness of the building.

Summary of the invention

In order to improve the accuracy of building flatness detection, the present invention provides a wall-climbing robot for detecting building flatness.

The present invention provides a wall-climbing robot for detecting the flatness of a building, which adopts the following technical solution:

A wall-climbing robot for detecting the flatness of a building comprises a shell, a driving mechanism, and a detecting mechanism, wherein the driving mechanism comprises a moving component and an adsorption component, wherein the moving component is arranged on the shell, and the moving component is used to drive the shell to move, the adsorption component is arranged on the moving component, and the detecting mechanism is arranged on the shell, and the detecting mechanism is used to detect the flatness, and is characterized in that:

The detection mechanism includes a transmitting component and a receiving component, the transmitting component includes a first laser transmitter and a second laser transmitter, the first laser transmitter and the second laser transmitter are both arranged on the ground, the receiving component includes a first sensor array and a second sensor array, the first sensor array and the second sensor array are both arranged on a shell, the first laser transmitter is connected to the first sensor array signal, and the second laser transmitter is connected to the second sensor array signal.

By adopting the above technical solution, the wall-climbing robot is placed on the surface of the building, and the adsorption component is started. In the initial state, the shell is parallel to the building surface, the moving component drives the adsorption component to be adsorbed on the building surface, the laser emitted by the first laser emitter irradiates the center position of the first sensor array, and the laser emitted by the second laser emitter irradiates the center position of the second sensor array, and the wall-climbing robot moves in a specified direction driven by the moving component; when there is a depression or protrusion at the front end of the wall-climbing robot, after the moving component drives the adsorption component to be adsorbed on the building surface, the laser emitted by the first laser emitter deviates from the center position of the first sensor array, and the laser emitted by the second laser emitter deviates from the center position of the first sensor array. The laser deviates from the center position of the second sensor array, and the direction of deviation is opposite, so as to obtain the flatness of the building surface corresponding to the wall-climbing robot; when the wall-climbing robot is located in the depression as a whole, the laser emitted by the first laser emitter deviates from the center position of the first sensor array, and the laser emitted by the second laser emitter deviates from the center position of the second sensor array, and the directions of deviation are the same. By identifying the deviation direction and deviation position of the laser, the flatness of the building surface corresponding to the wall-climbing robot can be obtained. With this arrangement, when the wall areas relative to the wall-climbing robot are all in the depression, the degree of depression of the building can be accurately detected, thereby improving the accuracy of the building flatness detection.

Optionally, the detection mechanism further includes a distance measuring component and a telescopic component. The distance measuring component includes a displacement sensor and a measuring rod. The telescopic component is arranged on the shell, the telescopic component is used to drive the measuring rod to move, and the displacement sensor is arranged at one end of the shell close to the measuring rod.

By adopting the above technical solution, in the initial state, the adsorption component drives the moving component to be adsorbed on the building surface. When the wall-climbing robot moves in a specified direction, the movement of the moving component is controlled so that the laser emitted by the first laser emitter is kept at the center position of the first sensor array, and the laser emitted by the second laser emitter is kept at the center position of the second sensor array. The telescopic component and the measuring rod are located at the initial position, and one end of the measuring rod abuts against the building surface. When there is a depression at the front end of the wall-climbing robot, the laser irradiation position will be offset after the moving component drives the adsorption component to be adsorbed on the building surface. In order to make the emitted laser still located at the center of the sensor array, the direction in which the laser is offset is identified, and then the moving component is controlled to adjust the action so that the laser irradiation position is maintained in the initial state. At this time, the telescopic component is started, and the telescopic component drives the measuring rod to move toward the building surface so that the measuring rod abuts against the building surface. The displacement sensor detects the moving distance of the measuring rod, thereby obtaining the flatness of the building surface. When there is a protrusion at the front end of the wall-climbing robot, the laser irradiation position will be offset after the moving component drives the adsorption component to be adsorbed on the building surface. In order to make the emitted laser still located at the center of the sensor array, the telescopic component drives the measuring rod to retract toward the direction of the shell, the moving component adjusts its action, drives the adsorption component to be adsorbed on the building surface again, so that the laser irradiation position returns to the initial state, and the displacement sensor detects the movement distance of the measuring rod, thereby obtaining the flatness of the building surface; when the wall-climbing robot is located in the depression as a whole, the laser irradiation position is offset and the offset direction is the same, the moving component adjusts its action, drives the adsorption component to be adsorbed on the building surface, so that the laser irradiation position returns to the initial state, at this time, the telescopic component drives the pulley to move toward the building surface until the measuring rod abuts against the building surface again, the displacement sensor detects the movement distance of the measuring rod, thereby obtaining the flatness of the building surface corresponding to the pulley, such a setting can accurately detect the degree of depression of the building, thereby improving the accuracy of the building flatness detection, compared with the method of using a laser rangefinder for distance measurement, the detection precision and accuracy of the building surface flatness detection using the detection mechanism is higher, and it can be applied to detection in glass curtain walls, billboards, highly reflective metal surfaces, and smoky environments, thereby improving the scope of application.

Optionally, the distance measuring assembly further comprises a pulley, and the pulley is rotatably arranged on the measuring rod.

By adopting the above technical solution, in the initial state, the telescopic assembly drives the measuring rod to move, and the measuring rod drives the pulley installed at one end to abut against the building surface, thereby reducing the wear on the building surface and improving the convenience and reliability of the device.

Optionally, the distance measuring component further includes a plurality of pressure sensors, wherein the pressure sensors are arranged on a pulley, a rotation resistance is arranged between the pulley and the measuring rod, and the pressure sensors are connected to the adsorption component signals.

By adopting the above technical solution, in the initial state, the pulley at one end of the measuring rod abuts against the building surface, and the pressure received by the pressure sensor is the initial value. During the movement of the wall-climbing robot, the pulley rotates on the building surface. When the pressure received by the pressure sensor is too large, it means that the pulley rotates to the protrusion or the pulley contacts an obstacle. When the pressure received by the pressure sensor is too small, it means that the pulley is in a suspended state, which may be located in a recessed position or the telescopic component fails. The staff can timely judge the position and working state of the wall-climbing robot through the value of the pressure sensor, thereby improving the convenience and reliability of the device. A certain rotation resistance is set between the pulley and the measuring rod. When the wall-climbing robot is placed on the building surface, the pressure sensor transmits the pressure signal to the adsorption component. The initial friction coefficient of the building surface and the minimum adsorption force strength of the adsorption component are calculated through the rotation resistance of the pulley and the pressure data. When the wall-climbing robot moves, the change in the friction coefficient of the adsorption surface can be further judged by the change in the value of the pressure sensor, and then the adsorption strength of the adsorption component can be adjusted in time when dealing with different building surfaces, reducing the probability of the wall-climbing robot falling from the building surface, further improving the safety and convenience of the device.

Optionally, the moving component includes a plurality of mechanical feet, the mechanical feet are arranged on the shell, and the adsorption component is arranged on the mechanical feet.

By adopting the above technical scheme, in the initial state, the shell and the mechanical feet are parallel to the building surface, and the wall-climbing robot moves on the building surface driven by the mechanical feet. When there is a depression or protrusion at the front end of the wall-climbing robot, in order to make the emitted laser still located at the center of the sensor array, the adsorption component is adsorbed on the building surface by adjusting the bending state of the front end of the first mechanical foot or the second mechanical foot, and the flatness of the building surface corresponding to the pulley is obtained by detecting the moving distance of the measuring rod; with such an arrangement, compared with crawler-type, colloid adsorption-type, magnetic-type and other moving modes, the use of mechanical feet to drive the shell to move reduces the influence of the unevenness of the wall on the accuracy of detection and the stability of the adsorption component, thereby improving the detection accuracy.

Optionally, the driving mechanism further includes a steering assembly, the steering assembly includes a plurality of steering servos, the steering servos are arranged on the housing, and the mechanical feet are arranged on the steering servos and correspond one-to-one to the steering servos.

By adopting the above technical solution, when the wall-climbing robot needs to turn to perform detection in another direction, the steering servo drives part of the mechanical feet to rotate to a specified angle and adsorb on the wall, and the remaining mechanical feet are released from adsorption. Then, the steering servo drives the shell and the remaining mechanical feet to rotate to a specified angle, so that the remaining mechanical feet are re-adsorbed on the wall, and the wall-climbing robot returns to its initial state, and the positions of the first laser emitter and the second laser emitter are adjusted to perform building flatness detection in another direction, thereby improving the convenience and applicability of the device.

Optionally, the adsorption assembly includes a vacuum pump and a suction cup. The vacuum pump is arranged on the shell. A plurality of suction cups are arranged, and each mechanical foot is provided with a suction cup. The output end of the vacuum pump is connected to the suction cup through a pipeline, and the pressure sensor is connected to the vacuum pump signal.

By adopting the above technical solution, the wall-climbing robot is placed on the surface of the building, and the vacuum pump is started. In the initial state, the shell and the mechanical feet are parallel to the surface of the building, and the suction cups are in a negative pressure state and adsorbed on the surface of the building. Compared with adsorption methods such as crawler type, colloid adsorption type, and magnetic adsorption type, the use of suction cups for adsorption reduces the impact of the unevenness of the wall on the stability of the adsorption component, and improves the accuracy and reliability of detection.

Optionally, the adsorption assembly further includes a plurality of vacuum sensors, wherein the vacuum sensors are arranged on the suction cup and are used to detect the vacuum degree of the suction cup.

By adopting the above technical solution, when the suction cup is adsorbed on the building surface, the vacuum sensor detects the vacuum degree inside the suction cup. If the vacuum degree does not reach the set value, the building surface is adsorbed again. This arrangement improves the stability of adsorption and thus improves the reliability of the device.

Optionally, the suction cups are all flat suction cups.

By adopting the above technical solution, compared with elliptical suction cups and corrugated suction cups, the use of flat suction cups is beneficial to reducing the grasping time, improving the sealing and positioning accuracy, providing high lateral force, and is not prone to loosening and slipping, which is beneficial to improving the accuracy of building flatness detection.

Optionally, the suction cups are all made of rigid materials.

By adopting the above technical solution, the overall hardness of the flexible suction cup is relatively small, and it is generally only subjected to forces perpendicular to the adsorption surface. Compared with the flexible suction cup, the rigid suction cup has a larger hardness, can withstand forces parallel to the adsorption surface, has good sealing properties, is not prone to loosening and slipping, and is beneficial to improving the accuracy of building flatness detection.

In summary, the present invention includes at least one of the following beneficial technical effects:

1. When the wall-climbing robot is located in a depression as a whole, the laser emitted by the first laser emitter deviates from the center position of the first sensor array, and the laser emitted by the second laser emitter deviates from the center position of the second sensor array, and the offset directions are the same, thereby obtaining the flatness of the building surface corresponding to the wall-climbing robot. Through the setting of the driving mechanism and the detection mechanism, when the wall areas relative to the wall-climbing robot are all in the depression, the degree of depression of the building can be accurately detected, thereby improving the accuracy of the building flatness detection.

2. When the wall-climbing robot is located in a depression as a whole, the laser irradiation position is offset and the offset direction is the same. By identifying the direction in which the laser is offset, the moving component is controlled to adjust its action, driving the adsorption component to adsorb on the building surface, so that the laser irradiation position returns to the initial state. At this time, the pulley does not abut the building surface. The telescopic component drives the pulley to move toward the building surface until the pulley abuts the building surface again. The displacement sensor detects the moving distance of the measuring rod, thereby obtaining the flatness of the building surface corresponding to the pulley. Through the setting of the ranging component and the telescopic component, the degree of depression of the building can be accurately detected, thereby improving the accuracy of the building flatness detection.

3. Through the setting of the steering component, when the wall-climbing robot needs to perform detection in another direction, the steering servo drives part of the mechanical feet to rotate to the specified angle and adsorb on the wall, and the remaining mechanical feet are released. Then the steering servo drives the shell and the remaining mechanical feet to rotate to the specified angle, so that the remaining mechanical feet are re-adsorbed on the wall, and the wall-climbing robot returns to the initial state, and adjusts the position of the first laser emitter and the second laser emitter to perform building flatness detection in another direction, thereby improving the convenience and applicability of the device.

4. Through the setting of pulleys and pressure sensors, during the movement, when the pressure received by the pressure sensor is too large, it means that the pulley has rotated to the protrusion or the pulley has touched an obstacle. When the pressure received by the pressure sensor is too small, it means that the pulley is in a suspended state. The position and working status of the wall-climbing robot can be timely judged by the value of the pressure sensor. At the same time, the adsorption state of the adsorption component can be further judged to adjust the adsorption strength of the adsorption component in time when responding to different building surfaces, thereby reducing the probability of the wall-climbing robot falling from the building surface and further improving the safety and convenience of the device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a partial structural diagram of an embodiment of the present invention;

Fig. 2 is an enlarged view of part A in Fig. 1;

FIG3 is a schematic structural diagram of another perspective of an embodiment of the present invention;

FIG4 is an enlarged cross-sectional view of portion B in FIG3 ;

FIG. 5 is an enlarged view of portion C in FIG. 3 .

Figure numerals: 1, shell; 2, driving mechanism; 21, moving component; 211, mechanical foot; 2111, first servo; 2112, first connecting piece; 2113, second servo; 2114, second connecting piece; 2115, third servo; 2116, third connecting piece; 22, adsorption component; 221, vacuum pump; 222, suction cup; 223, vacuum sensor; 23, steering component; 231, steering servo; 3, detection mechanism; 31, transmitting component; 311, first laser transmitter; 312, second laser transmitter; 32, receiving component; 321, first sensor array; 322, second sensor array; 33, ranging component; 331, displacement sensor; 332, measuring rod; 333, pulley; 334, pressure sensor; 34, telescopic component; 341, motor; 342, screw; 343, nut.

Detailed ways

The present invention will be further described in detail below in conjunction with FIG. 1 to FIG. 5 .

The present embodiment discloses a wall-climbing robot for detecting the flatness of a building. Referring to FIG. 1 , the robot comprises a shell 1, a driving mechanism 2, and a detecting mechanism 3. The driving mechanism 2 is disposed on the shell 1, and is used to drive the shell 1 to move on the surface of the building. The detecting mechanism 3 is disposed on the shell 1, and is used to detect the flatness of the surface of the building.

1 to 3 and 5, the driving mechanism 2 includes a moving assembly 21, an adsorption assembly 22, and a steering assembly 23. The steering assembly 23 includes four steering servos 231 connected to the housing 1 by bolts. The moving assembly 21 includes four mechanical feet 211, which are connected to the steering servos 231 by bolts and correspond to the steering servos 231 one by one. The adsorption assembly 22 includes a vacuum pump 221, a suction cup 222, and a vacuum sensor 223. The vacuum pump 221 is fixedly connected to the housing 1 by bolts. Connected to the shell 1, each of the mechanical feet 211 is fixedly connected to three suction cups 222 at one end away from the shell 1, the output end of the vacuum pump 221 is connected to the suction cup 222 through a pipeline, the vacuum sensor 223 is fixedly connected to the suction cup 222, and the vacuum sensor 223 is used to detect the vacuum degree of the suction cup 222. The suction cups 222 are all flat rigid material suction cups 222. The total weight of the wall-climbing robot is 5kg, the vacuum degree is -80kPa, the suction force of each suction cup 222 is 9.5N, and the diameter is 46mm;

The mechanical foot 211 includes a first servo 2111, a first connecting member 2112, a second servo 2113, a second connecting member 2114, a third servo 2115, and a third connecting member 2116. The first servo 2111 is fixedly connected to the steering servo 231 by bolts, the first connecting member 2112 is fixedly connected to the first servo 2111 by bolts, the second servo 2113 is fixedly connected to the first connecting member 2112 by bolts, the second connecting member 2114 is fixedly connected to the second servo 2113 by bolts, the third servo 2115 is fixedly connected to the second connecting member 2114 by bolts, the third connecting member 2116 is fixedly connected to the third servo 2115 by bolts, and the suction cup 222 is arranged on the third connecting member 2116.

In other embodiments, the moving component 21 can also be a track, and the shell 1 is arranged on the track, and the track drives the shell 1 to move along the building surface; the adsorption component 22 can also be an adsorption colloid or a magnetic device, and the adsorption colloid or the magnetic device drives the shell 1 to be adsorbed on the building surface.

The wall-climbing robot is placed on the building surface, and the vacuum pump 221 is started. In the initial state, the housing 1 and the mechanical foot 211 are parallel to the building surface, and the suction cups 222 are in a negative pressure state and adsorbed on the building surface. The vacuum sensor 223 detects the vacuum degree inside the suction cups 222. If the vacuum degree does not reach the set value, the building surface is adsorbed again. The wall-climbing robot moves along the specified direction on the building surface driven by the mechanical foot 211, so that the detection mechanism 3 remains in the specified state;

In the initial state, the first steering gear 2111, the second steering gear 2113, and the third steering gear 2115 are not rotated, and the first connecting member 2112, the second connecting member 2114, and the third connecting member 2116 are parallel to the wall. During the movement, the suction cups 222 on the two mechanical feet 211 in the opposite direction of the movement are released, and the first steering gear 2111, the second steering gear 2113, and the third steering gear 2115 of the other two mechanical feet 211 in the same direction of movement are rotated to bend the mechanical feet 211 and drive the housing 1 to move, and then the suction cups 222 of the two mechanical feet 211 in the opposite direction of the movement are re-adsorbed. On the building surface, the suction cups 222 of the two mechanical feet 211 with the same moving direction are released from adsorption, and the first servo 2111, the second servo 2113, and the third servo 2115 thereon rotate to the initial state, so that the first connecting member 2112, the second connecting member 2114, and the third connecting member 2116 are restored to be parallel to the wall surface, and so on, thereby realizing the movement of the shell 1; such a setting, compared with crawler-type, colloid adsorption-type, magnetic adsorption-type and other moving methods, uses the mechanical foot 211 to drive the shell 1 to move, thereby reducing the impact of the unevenness of the wall surface on the accuracy of detection and the stability of the adsorption component 22.

When there is a depression or protrusion at the front end of the wall-climbing robot, the detection mechanism 3 is kept in a specified state by identifying the offset state of the detection mechanism 3 and adjusting the action of the mechanical foot 211 so that the suction cup 222 is re-adsorbed on the building surface, and the detection mechanism 3 detects the flatness of the building surface. With such a setting, the degree of depression of the building can be accurately detected, thereby improving the accuracy of the building flatness detection;

When the wall-climbing robot needs to turn to perform detection in another direction, the steering servo 231 drives two of the mechanical feet 211 to rotate to a specified angle and adsorb on the wall, and the remaining mechanical feet 211 are released from adsorption. Then the steering servo 231 drives the shell 1 and the remaining mechanical feet 211 to rotate to a specified angle, so that the remaining mechanical feet 211 are re-adsorbed on the wall, and the wall-climbing robot returns to its initial state, and adjusts the positions of the first laser emitter 311 and the second laser emitter 312 to perform building flatness detection in another direction.

1 to 4, the detection mechanism 3 includes a transmitting component 31, a receiving component 32, a distance measuring component 33, and a telescopic component 34. The transmitting component 31 includes a first laser transmitter 311 and a second laser transmitter 312. The receiving component 32 includes a first sensor array 321 and a second sensor array 322. The distance measuring component 33 includes a displacement sensor 331, a measuring rod 332, a pulley 333 and a plurality of pressure sensors 334. The telescopic component 34 includes a motor 341, a screw 342, and a nut 343. The first laser transmitter 311 and the second laser transmitter 312 are both arranged on the ground. The first sensor array 321 and the second sensor array 322 are both fixedly connected to an end face of the housing 1 away from the pulley 333 by bolts. The first laser transmitter 311 and the first sensor array 322 are fixedly connected to an end face of the housing 1 away from the pulley 333 by bolts. The array 321 is signal connected, the second laser emitter 312 is signal connected with the second sensor array 322, the motor 341 is fixedly connected to the housing 1 by bolts, the screw 342 is rotatably connected to the housing 1, the screw 342 is drivingly connected to the output shaft of the motor 341, the nut 343 is rotatably connected to the screw 342, the measuring rod 332 is fixedly connected to the nut 343 by bolts, the displacement sensor 331 is fixedly connected to one end of the housing 1 close to the measuring rod 332, the displacement sensor 331 is used to detect the moving distance of the measuring rod 332, the pulley 333 is rotatably connected to the measuring rod 332, the pressure sensor 334 is fixedly connected to the pulley 333, a rotational resistance is arranged between the pulley 333 and the measuring rod 332, and the pressure sensor 334 is signal connected to the vacuum pump 221.

In the initial state, the laser emitted by the first laser emitter 311 is located at the center of the first sensor array 321, the laser emitted by the second laser emitter 312 is located at the center of the second sensor array 322, and the pulley 333 abuts against the building surface. At this time, the pressure received by the pressure sensor 334 is the initial value. During the movement, when there is a depression at the front end of the wall-climbing robot or the wall-climbing robot is located in the depression as a whole, the laser irradiation position will be offset. In order to make the emitted laser still located at the center of the sensor array, the mechanical foot 211 adjusts its movement and bends. At this time, the pulley 333 does not abut against the building surface, and the motor 341 is started. The motor 341 drives the screw 342 to rotate, so that the nut 343 drives the measuring rod 332 to move toward the building surface until the pulley 333 abuts against the building surface again. The displacement sensor 331 detects the moving distance of the measuring rod 332, thereby obtaining the flatness of the building surface;

When there is a protrusion at the front end of the wall-climbing robot or the robot is in a protruding position as a whole, in order to make the emitted laser still located at the center of the sensor array, the motor 341 is started, and the motor 341 drives the screw 342 to rotate, so that the nut 343 drives the measuring rod 332 to move away from the building surface, and the measuring rod 332 drives the pulley 333 to retract, and the mechanical foot 211 bends and adjusts the adsorption position, so that the suction cup 222 is adsorbed on the building surface again, and the displacement sensor 331 detects the moving distance of the measuring rod 332, thereby obtaining the flatness of the building surface;

When the wall-climbing robot moves, the pulley 333 rotates on the building surface. When the pressure received by the pressure sensor 334 is too large, it means that the pulley 333 rotates to the protrusion or the pulley 333 contacts an obstacle. When the pressure received by the pressure sensor 334 is too small, it means that the pulley 333 is in a suspended state, which may be due to reasons such as being located in a recessed position or a failure of the telescopic component 34. The staff can judge the position and working state of the wall-climbing robot in time through the value of the pressure sensor 334, thereby improving the convenience and reliability of the device. A certain pressure sensor 334 is provided between the pulley 333 and the measuring rod 332. When the wall-climbing robot is placed on the building surface, the pressure sensor 334 transmits the pressure signal to the vacuum pump 221. The initial friction coefficient of the building surface and the minimum adsorption strength of the vacuum pump 221 are calculated by the rotational resistance of the pulley 333 and the pressure data. When the wall-climbing robot moves, the change in the friction coefficient of the adsorption surface can be further judged by the value change of the pressure sensor 334. Then, when dealing with different building surfaces, the adsorption strength of the vacuum pump 221 can be adjusted in time to reduce the probability of the wall-climbing robot falling from the building surface, further improving the safety and convenience of the device.

With such an arrangement, the relative movement of the measuring rod 332 and the displacement sensor 331 is utilized to detect the flatness of the building surface. When there is a depression or a protrusion in the wall area corresponding to the wall-climbing robot, the degree of the depression or protrusion of the building can be accurately detected, thereby improving the accuracy of the building flatness detection, reducing the wear on the building surface, and improving the convenience and reliability of the device.

The implementation principle of a wall-climbing robot for detecting building flatness in this embodiment is as follows:

The wall-climbing robot is placed on the building surface, and the vacuum pump 221 is started. In the initial state, the housing 1 and the mechanical foot 211 are parallel to the building surface, the suction cups 222 are in a negative pressure state and adsorbed on the building surface, and the vacuum sensor 223 detects the vacuum degree inside the suction cups 222. If the vacuum degree does not reach the set value, the building surface is adsorbed again. The laser emitted by the first laser emitter 311 is located at the center of the first sensor array 321, and the laser emitted by the second laser emitter 312 is located at the center of the second sensor array 322. The pulley 333 abuts against the building surface.

The wall-climbing robot moves along a specified direction on the building surface driven by the mechanical foot 211. During the movement, when there is a depression at the front end of the wall-climbing robot or the wall-climbing robot is located in the depression as a whole, in order to make the emitted laser still located at the center of the sensor array, the mechanical foot 211 adjusts its movement and bends, so that the suction cup 222 is re-adsorbed on the building surface. At this time, the pulley 333 does not abut against the building surface, and the motor 341 is started. The motor 341 drives the screw 342 to rotate, so that the nut 343 drives the measuring rod 332 to move toward the building surface until the pulley 333 abuts against the building surface again. The displacement sensor 331 detects the moving distance of the measuring rod 332, thereby obtaining the flatness of the building surface.

When there is a protrusion at the front end of the wall-climbing robot or the robot is in a protruding position as a whole, in order to make the emitted laser still located at the center of the sensor array, the motor 341 is started, and the motor 341 drives the screw 342 to rotate, so that the nut 343 drives the measuring rod 332 to move away from the building surface, and the measuring rod 332 drives the pulley 333 to retract, and the mechanical foot 211 bends and adjusts the adsorption position, so that the suction cup 222 is adsorbed on the building surface again, and the displacement sensor 331 detects the moving distance of the measuring rod 332, thereby obtaining the flatness of the building surface;

When the wall-climbing robot needs to turn to perform detection in another direction, the steering servo 231 drives two of the mechanical feet 211 to rotate to a specified angle and adsorb on the wall, and the remaining mechanical feet 211 are released from adsorption. Then the steering servo 231 drives the shell 1 and the remaining mechanical feet 211 to rotate to a specified angle, so that the remaining mechanical feet 211 are re-adsorbed on the wall, and the wall-climbing robot returns to its initial state, and adjusts the positions of the first laser emitter 311 and the second laser emitter 312 to perform building flatness detection in another direction.

The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a detect wall climbing robot of building roughness, includes casing (1), actuating mechanism (2), detection mechanism (3), actuating mechanism (2) are including moving subassembly (21), adsorption component (22), moving subassembly (21) set up on casing (1), moving subassembly (21) are used for driving casing (1) and remove, adsorption component (22) set up on moving subassembly (21), detection mechanism (3) set up on casing (1), detection mechanism (3) are used for detecting the roughness, its characterized in that:

The detection mechanism (3) comprises a transmitting assembly (31) and a receiving assembly (32), the transmitting assembly (31) comprises a first laser transmitter (311) and a second laser transmitter (312), the first laser transmitter (311) and the second laser transmitter (312) are all arranged on the ground, the receiving assembly (32) comprises a first sensor array (321) and a second sensor array (322), the first sensor array (321) and the second sensor array (322) are all arranged on the shell (1), the first laser transmitter (311) is in signal connection with the first sensor array (321), and the second laser transmitter (312) is in signal connection with the second sensor array (322).

2. The wall climbing robot for detecting building flatness of claim 1, wherein: the detection mechanism (3) further comprises a ranging component (33) and a telescopic component (34), the ranging component (33) comprises a displacement sensor (331) and a measuring rod (332), the telescopic component (34) is arranged on the shell (1), the telescopic component (34) is used for driving the measuring rod (332) to move, and the displacement sensor (331) is arranged at one end, close to the measuring rod (332), of the shell (1).

3. The wall climbing robot for detecting building flatness of claim 2, wherein: the distance measuring assembly (33) further comprises a pulley (333), and the pulley (333) is rotatably arranged on the measuring rod (332).

4. A wall climbing robot for detecting building flatness according to claim 3, wherein: the distance measuring assembly (33) further comprises a plurality of pressure sensors (334), the pressure sensors (334) are arranged on the pulleys (333), rotation resistance is arranged between the pulleys (333) and the measuring rod (332), and the pressure sensors (334) are in signal connection with the adsorption assembly (22).

5. A wall climbing robot for detecting flatness of buildings according to any of claims 1-4, characterized in that: the moving assembly (21) comprises a plurality of mechanical feet (211), the mechanical feet (211) are arranged on the shell (1), and the adsorption assembly (22) is arranged on the mechanical feet (211).

6. The wall climbing robot for detecting building flatness of claim 5, wherein: the driving mechanism (2) further comprises a steering assembly (23), the steering assembly (23) comprises a plurality of steering engines (231), the steering engines (231) are arranged on the shell (1), and the mechanical feet (211) are arranged on the steering engines (231) and correspond to the steering engines (231) one by one.

7. The wall climbing robot for detecting flatness of buildings according to any one of claims 4, wherein: the adsorption component (22) comprises a vacuum pump (221) and suction discs (222), wherein the vacuum pump (221) is arranged on the shell (1), the suction discs (222) are arranged in a plurality, each mechanical foot (211) is provided with a suction disc (222), the output end of the vacuum pump (221) is connected with the suction disc (222) through a pipeline, and the pressure sensor (334) is connected with the vacuum pump (221) through signals.

8. The wall climbing robot for detecting building flatness of claim 7, wherein: the adsorption assembly (22) further comprises a plurality of vacuum sensors (223), wherein the vacuum sensors (223) are arranged on the suction cups (222), and the vacuum sensors (223) are used for detecting the vacuum degree of the suction cups (222).

9. The wall climbing robot for detecting building flatness of claim 7, wherein: the suction cups (222) are flat suction cups.

10. The wall climbing robot for detecting building flatness of claim 7, wherein: the suction cups (222) are rigid material suction cups.