CN-116923584-B - Building wall climbing and corner crossing reconnaissance robot

Abstract

The invention discloses a wall climbing and corner crossing reconnaissance robot, which comprises a robot body, wherein the robot body comprises a moving mechanism and an adsorption mechanism for providing moving kinetic energy and adsorbing wall surfaces for the robot body, the robot body comprises a first robot body and a second robot body which are connected through a connecting mechanism for adjusting and keeping the distribution states of the two robot bodies, the robot body further comprises a control and data processing device, a reconnaissance device and a radar ranging sensor for controlling the robot body to operate, reconnaissance is carried out on the condition in a building and the distance between the bottom of the robot body and the wall surfaces is measured, the adsorption mechanism and the connecting mechanism are matched, so that the two robot bodies alternately adsorb, rotate and move, and the adsorption state of the robot body is judged by the radar ranging sensor, so that the distributed wall climbing and corner crossing reconnaissance robot can stably and continuously move to work and rapidly cross the wall corners.

Inventors

• SUN WENBO
• PENG JIAN
• ZHANG WENJIN
• JIA BAOYING
• LI ZHUOMIN
• ZHANG FAN
• JIANG QICHEN
• MA JILU
• Li Dele

Assignees

• 中国建筑第八工程局有限公司

Dates

Publication Date

20260505

Application Date

20230823

Claims (9)

1. 1. A wall climbing and corner crossing reconnaissance robot is characterized by comprising a robot body (1), The bottom of the robot car body (1) is provided with a moving mechanism (13) for providing moving kinetic energy for the robot car body (1), the moving mechanism (13) comprises a pressure sensor (6) for measuring the pressure of the moving mechanism (13) to the wall surface, The bottom of the robot car body (1) is also provided with an adsorption mechanism (14) for adsorbing the wall surface and A control and data processing device (3) arranged on the robot car body (1) and used for controlling the robot car body (1) to run, A reconnaissance device (4) arranged on the robot car body (1) and used for reconnaissance of the conditions in the building, The radar ranging sensor (5) is arranged at the bottom of the robot car body (1) and is used for measuring the distance between the bottom of the robot car body (1) and the wall surface; The robot car body (1) further comprises a first robot car body (11) and a second robot car body (12), the first robot car body (11) and the second robot car body (12) are connected through a connecting mechanism (2), the connecting mechanism (2) can actively adjust and maintain the relative distribution state between the first robot car body (11) and the second robot car body (12), The connecting mechanism (2) comprises a connecting rod (21), a hinge rotating shaft (22) and a safety chain (23), wherein the connecting rod (21) comprises a connecting rod front section (211) and a connecting rod rear section (212), when the first robot car body (11) is suspended, the hinge rotating shaft (22) drives the connecting rod front section (211) to rotate, so that the connecting rod front section (211) drives the first robot car body (11) to integrally rotate to fall on a floor or a horizontal roof (71), the hinge rotating shaft (22) drives the connecting rod rear section (212) to rotate, so that the connecting rod rear section (212) drives the second robot car body (12) to integrally rotate until the first robot car body (11) and the second robot car body (12) are aligned, and the safety chain (23) is used for ensuring that the first robot car body (11) and the second robot car body (12) are not disconnected in the advancing and rotating process; Through reconnaissance device (4), pressure sensor (6) with radar ranging sensor (5) acquire the state of marcing of first robot automobile body (11) and second robot automobile body (12) to according to the state of marcing of acquisition through coupling mechanism (2) control the distribution state of first robot automobile body (11) and second robot automobile body (12) relative wall, make the distribution state change of first robot automobile body (11) and second robot automobile body (12) adapt to the change of wall state dynamically.
2. 2. The wall climbing and corner crossing reconnaissance robot according to claim 1, characterized in that the moving mechanism (13) comprises wheels and a control motor, which are respectively installed at the bottoms of the first robot body (11) and the second robot body (12), for providing the moving function for the robot body (1), and the control motor is connected with a control and data processing device (3) for controlling the steering and the rotation speed of the wheels.
3. 3. The wall climbing and corner crossing reconnaissance robot according to claim 2, wherein the wheels are hollow tires, a pressure sensor (6) is arranged in each wheel, the pressure of the tire to the wall surface is measured, and the measurement result is transmitted to the control and data processing device (3).
4. 4. The wall climbing and corner crossing reconnaissance robot according to claim 1, wherein the suction mechanism (14) comprises a suction cup, a rotating motor and a blade, wherein the blade is connected with the rotating motor and is arranged in the suction cup to provide wall surface suction force for the robot car body (1).
5. 5. The wall climbing corner reconnaissance robot according to claim 1, characterized in that the first robot body (11) and the second robot body (12) are provided with one or two adsorption mechanisms (14), respectively.
6. 6. The wall climbing corner reconnaissance robot according to claim 1, wherein the first robot body (11) is a body at a front end in a traveling direction of the robot body (1), and the second robot body (12) is a body at a rear end in the traveling direction of the robot body (1).
7. 7. The wall climbing and corner crossing reconnaissance robot according to claim 1, characterized in that the control and data processing device (3) is connected to and controls the robot body (1), the connection mechanism (2), the reconnaissance device (4) and the radar ranging sensor (5) and mutually transmits data.
8. 8. The wall climbing and corner crossing reconnaissance robot according to claim 1, wherein the reconnaissance device (4) comprises a pan-tilt base (41), a connection extension rod (42), an angle adjuster (43) and a camera (44).
9. 9. The wall climbing and corner crossing reconnaissance robot according to claim 8, wherein the cradle head base (41) is installed on the robot body (1) and can adjust an angle by 360 degrees, the connecting extension rod (42) is connected with the cradle head base (41) and is of a vertical structure and can be extended or shortened, and the camera (44) is connected with the connecting extension rod (42) through the angle adjuster (43) and is used for shooting objects in front of the robot body (1).

Description

Building wall climbing and corner crossing reconnaissance robot Technical Field The invention relates to the technical field of robots, in particular to a wall climbing and corner crossing reconnaissance robot capable of moving by adsorption and crossing corners. Background Nowadays, unmanned aerial vehicles, land vehicles and the like are commonly used in field reconnaissance, and the wall climbing robot has the outstanding advantages of strong maneuverability, low cost and the like, wherein the wall climbing robot is commonly used in narrow lanes or building interiors. Chinese patent CN202010010525.9 discloses a wall climbing robot, which uses a rod structure as a skeleton, a hinge mechanism, a pulley, and the like to form a moving mechanism, and uses a vacuum adsorption device to provide adsorption force, and performs crossing over the yin and yang corners by staggered travelling. However, the device is difficult to stabilize in continuous working performance, namely a stable state of adsorbing and moving at the same time on a wall body is difficult to ensure, a rod piece is long, the whole stability of the structure is difficult to ensure by utilizing the adsorption of a single pivot, the wall surface adaptability is poor, the requirements of vacuum adsorption on the bonding degree of a sucker and a wall surface and the flatness of the wall surface are high, the suction disc cannot creep due to wall surface ash, wall surface concave-convex barriers, brick joints and the like, and in addition, the influence of abrasion and bending in the moving process of the sucker on the vacuum adsorption is large. Chinese patent No. CN201711064610.8 discloses a climbing robot comprising a frame and at least one attachment structure and a mobile structure arranged on the frame. Through the cooperation of the spring and the V-shaped bracket, the holding force to the external corner of the corner is formed, and the force of the friction force of the universal wheels in different directions is utilized to respectively provide the force for preventing falling and moving along the external corner. However, this structure requires very high friction stability for wheels and walls, is difficult to be implemented in practice, and requires manual placement of the instrument on the external corner in advance, so that the device can be operated. Therefore, how to make the wall climbing robot stably and continuously move to work, avoid manual assistance to adjust the position of the robot, and quickly span the corner becomes a problem to be solved in the field. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide a building wall climbing and corner crossing reconnaissance robot capable of stably and continuously moving to work and rapidly crossing corners. In order to achieve the aim, the invention provides a building wall climbing and corner crossing reconnaissance robot, which comprises a robot body, The bottom of the robot car body is provided with a moving mechanism for providing moving kinetic energy for the robot car body, the moving mechanism comprises a pressure sensor for measuring the pressure of the moving mechanism to the wall surface, The bottom of the robot car body is also provided with an adsorption mechanism for adsorbing the wall surface and A control and data processing device arranged on the robot body and used for controlling the robot body to run, The reconnaissance device is arranged on the robot body and is used for reconnaissance of the conditions in the building, The radar ranging sensor is arranged at the bottom of the robot car body and is used for measuring the distance from the bottom and/or the front end of the robot car body to the wall surface; The robot car body also comprises a first robot car body and a second robot car body, the first robot car body and the second robot car body are connected through a connecting mechanism, the connecting mechanism can actively adjust and keep the relative distribution state between the first robot car body and the second robot car body, Through the reconnaissance device, the pressure sensor and the radar ranging sensor acquire the advancing states of the first robot car body and the second robot car body, and control the distribution states of the first robot car body and the second robot car body relative to the wall surface through the connecting mechanism according to the acquired advancing states, so that the distribution state change of the first robot car body and the second robot car body is dynamically adapted to the change of the wall surface state. Further, the moving mechanism comprises wheels and a control motor, the wheels and the control motor are respectively arranged at the bottoms of the first robot car body and the second robot car body, a moving function is provided for the robot car body, and the control motor is connected with the control and data processing device and used for controlling the steer