The invention discloses a building surface detection method based on a folding amphibious wall-climbing robot, the folding amphibious wall-climbing robot is adopted in the method, and the folding amphibious wall-climbing robot comprises a machine body, a machine arm assembly, a flight control system, an undercarriage, a rotor wing assembly and a walking assembly; the vehicle arm assembly is provided with a vehicle arm and a first mounting piece, one end of the vehicle arm is hinged to the vehicle body, and the rotor wing assembly comprises a rotor wing unit arranged on the vehicle arm; the walking assembly comprises walking units arranged on the vehicle arms. The rotor units and the walking units are integrally installed on the vehicle arms, disassembly and assembly are flexible and convenient, and the weight is further reduced; the walking motor independently drives the four walking wheels, free walking in the wall climbing state is achieved, the propellers are far away from the wheels and the working faces such as the loading face and the working face, it is ensured that the robot stably presses the wall face through the thrust of the rotor wing units, detection of the surface quality of the vertical face or the inclined face is achieved, and top wall adsorption type detection can also be achieved.
本发明公开了一种基于折叠式两栖爬壁机器人的建筑物表面检测方法,该方法采用了折叠式两栖爬壁机器人,其包括机身、机臂组件、飞控系统、起落架、旋翼组件和行走组件;机臂组件具有机臂和第一安装件,机臂一端铰接在机身上,旋翼组件包括设置在机臂上的旋翼单元;行走组件包括设置在机臂上的行走单元。本发明旋翼单元和行走单元集成安装在机臂上,拆装灵活方便,还减轻重量;行走电机独立驱动四个行走轮,实现爬壁状态下的自由行走,螺旋桨远离车轮以及载荷面和作业面等工作面,旋翼单元的推力产生正压力,确保机器人稳定“压”在墙面上,不仅实现了竖面或斜面表面质量的检测,还能实现顶壁吸附式检测。
Building surface detection method based on folding amphibious wall-climbing robot
一种基于折叠式两栖爬壁机器人的建筑物表面检测方法
2023-03-07
Patent
Electronic Resource
Chinese
IPC: | G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B64C AEROPLANES , Flugzeuge |
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