阅读说明：本技术 一种用于航空器表面缺陷检测的爬壁机器人 (Wall-climbing robot for detecting surface defects of aircraft ) 是由 苗飞 袁伟 张勇 杜硕 于 2021-11-10 设计创作，主要内容包括：本申请实施例公开一种用于航空器表面缺陷检测的爬壁机器人,包括支撑主体、摄像装置、多个升降调节装置、至少两个负压吸附装置、至少两个测距传感器以及控制装置,多个升降调节装置与支撑主体活动连接,且背离摄像装置设置；至少两个负压吸附装置沿着爬壁机器人的前进方向依次设置,且在爬壁机器人的前进方向上,两个升降调节装置分别连接于一负压吸附装置的前端和后端；至少两个测距传感器分别设置于支撑主体前进方向上的前端及后端；控制装置与摄像装置、测距传感器以及升降调节装置电连接。控制装置控制升降调节装置运动,并控制摄像装置处理图像,以达到在具有弧度的航空器表面上移动,并能实时检测航空器表面缺陷的目的。(The embodiment of the application discloses a wall-climbing robot for detecting surface defects of an aircraft, which comprises a supporting main body, a camera device, a plurality of lifting adjusting devices, at least two negative pressure adsorption devices, at least two distance measuring sensors and a control device, wherein the lifting adjusting devices are movably connected with the supporting main body and arranged away from the camera device; the at least two negative pressure adsorption devices are sequentially arranged along the advancing direction of the wall-climbing robot, and in the advancing direction of the wall-climbing robot, the two lifting adjusting devices are respectively connected to the front end and the rear end of one negative pressure adsorption device; the at least two distance measuring sensors are respectively arranged at the front end and the rear end of the support main body in the advancing direction; the control device is electrically connected with the camera device, the distance measuring sensor and the lifting adjusting device. The control device controls the lifting adjusting device to move and controls the camera device to process images so as to achieve the purposes of moving on the surface of the aircraft with radian and detecting the surface defects of the aircraft in real time.)

1. A wall climbing robot for aircraft surface defect detection, the wall climbing robot comprising:

a support body;

the camera device is arranged on the supporting main body and is used for detecting the defects on the surface of the aircraft;

the lifting adjusting devices are movably connected with the supporting main body and arranged away from the camera device;

the at least two negative pressure adsorption devices are sequentially arranged along the advancing direction of the wall climbing robot, in addition, in the advancing direction of the wall climbing robot, the two lifting adjusting devices are respectively connected to the front end and the rear end of one negative pressure adsorption device, and the negative pressure adsorption devices are used for adsorbing the surface of the aircraft;

at least two distance measuring sensors respectively arranged at the front end and the rear end of the support main body in the advancing direction;

and the control device is used for controlling the lifting adjusting device to drive the front end and the rear end of the negative pressure adsorption device to perform lifting motion according to the ranging signal of the ranging sensor.

2. The wall-climbing robot as recited in claim 1, wherein the lift adjustment device comprises:

the connecting rod is movably connected to the supporting main body;

the transmission rack is arranged on the connecting rod;

the gear is arranged on the negative pressure adsorption device and meshed with the transmission rack;

the limiting piece is arranged on one side of the negative pressure adsorption device and used for limiting the gear to be separated from the transmission rack;

the first motor is arranged on the negative pressure adsorption device, an output shaft of the first motor is connected with the gear, and the control device is electrically connected with the first motor to control the first motor to drive the gear to rotate.

3. The wall climbing robot as claimed in claim 1, wherein the negative pressure adsorption device has a bearing plate, and the wall climbing robot further comprises:

the two micro-distance sensors are respectively arranged at the front end and the rear end of the loading plate close to the surface of the aircraft along the advancing direction of the wall climbing robot and are used for detecting the distance between the surface of the loading plate close to the aircraft and the surface of the aircraft;

the two micro-distance sensors are electrically connected with the control device, and the control device is used for controlling the lifting adjusting device to drive the negative pressure adsorption device to carry out lifting motion according to detection signals of the two micro-distance sensors.

4. The wall-climbing robot as recited in claim 1, wherein the wall-climbing robot comprises:

the push rod assembly is positioned between the support main body and the negative pressure adsorption device and is movably connected to the support main body, and one end, far away from the support main body, of the push rod assembly is connected to the negative pressure adsorption device;

the second motor is arranged on the support main body, and an output shaft of the second motor is connected with the push rod assembly;

the pressure sensor is arranged between the negative pressure adsorption device and the push rod assembly and used for detecting the pressure of the surface of the aircraft on the negative pressure adsorption device;

the pressure sensor and the second motor are electrically connected with the control device, and the control device is used for adjusting the rotation direction of the second motor according to a pressure signal of the pressure sensor so as to adjust the attaching degree of the negative pressure adsorption device and the surface of the aircraft.

5. The wall climbing robot according to claim 3, wherein the wall climbing robot includes a gyroscope provided on the support body, the gyroscope being used to detect a position of the wall climbing robot on the surface of the aircraft, and the negative pressure adsorption device includes:

the soft sealing element is arranged on the bearing plate, is provided with an adsorption cavity and is used for being in contact with the surface of the aircraft;

the air pump is arranged on the bearing plate and is communicated with the adsorption cavity;

the barometer is arranged in the adsorption cavity and used for detecting the air pressure in the adsorption cavity;

the barometer, the gyroscope and the air pump are all electrically connected with the control device, and the control device controls the working power of the air pump according to the position information detected by the gyroscope and the air pressure information detected by the barometer so as to adjust the adsorption force of the negative pressure adsorption device on the surface of the aircraft.

6. The wall-climbing robot as recited in claim 5, wherein the control device further comprises:

the first controller is electrically connected with the lifting adjusting device, the air extracting pump, the barometer, the distance measuring sensor, the micro-distance sensor and the gyroscope;

the image processor is electrically connected with the camera device and used for processing the image acquired by the camera device;

a second controller electrically connected to the image processor.

7. The wall-climbing robot as claimed in claim 6, wherein the surface of the supporting body close to the negative pressure adsorption device and the surface of the supporting body far from the negative pressure adsorption device are provided with a plurality of accommodating grooves, the wall-climbing robot further comprising:

and the protection devices are correspondingly positioned in the accommodating grooves one by one, are electrically connected with the first controller and are used for preventing the aircraft from being damaged when the wall climbing robot falls.

8. The wall-climbing robot as recited in claim 7, wherein the protection device comprises:

one end of the elastic sheet is connected to the bottom or the wall of the accommodating groove, and the elastic sheet is positioned in the accommodating groove when in a contraction state;

the electromagnetic buckle is arranged on the groove wall of the accommodating groove, the electromagnetic buckle is abutted against the other end of the elastic sheet, and the electromagnetic buckle is electrically connected with the first controller;

the first controller controls the electromagnetic buckle to release the other end of the elastic sheet according to the acceleration signal detected by the gyroscope, so that the other end of the elastic sheet extends out of the accommodating groove.

9. The wall-climbing robot as recited in claim 7, wherein the protection device comprises:

an exhaust pipe having an air inlet and an air outlet, the air inlet being connected to the air pump,

the exhaust switch is arranged on the exhaust pipe and used for controlling the on-off of the air flow between the air inlet and the exhaust port;

the air guide pipes are provided with air nozzles, the air nozzles are positioned at different positions of the support main body, one ends of the air guide pipes, far away from the air nozzles, are communicated with the exhaust pipe, and the connecting positions of the air guide pipes and the exhaust pipe are positioned between the exhaust switch and the air inlet;

the flow regulating valves are arranged on the air guide pipes and are used for controlling the air flow in the air guide pipes;

the first controller is electrically connected with the exhaust switch and the flow regulating valve, controls the exhaust switch to be closed according to the acceleration signal detected by the gyroscope, and controls the flow regulating valve to regulate the gas flow in the corresponding gas guide pipe.

10. A wall-climbing robot as claimed in any one of claims 1 to 9, wherein when there are two negative pressure suction devices, two lifting adjustment devices are connected to each negative pressure suction device.

Technical Field

The application relates to the field of aircraft surface detection, in particular to a wall-climbing robot for aircraft surface defect detection.

Background

Aircraft skin is made of non-ferromagnetic composite materials, such as hard aluminum plates, and cracks or other defects in the aircraft skin can reduce the safety of the aircraft, so that maintenance work on the aircraft skin is very important. In the related technical field, manual visual inspection is the most intuitive and simple inspection mode for eliminating defects of aircraft skin, unmanned aerial vehicle detection is adopted after the visual inspection, and the omission of manual inspection is eliminated when the unmanned aerial vehicle flies on the surface of the aircraft. In the correlation technique, the mode that visual inspection and unmanned aerial vehicle detection combined together is adopted in aircraft surface defect detection, but visual inspection's efficiency is lower with the degree of accuracy, and unmanned aerial vehicle detects and can bring very big potential safety hazard to other aircrafts of check-out field, and in the correlation technique, adopt the wall climbing robot to detect large-scale structure body surface defect, but the wall climbing robot can't realize moving on the stair structure on aircraft surface.

Disclosure of Invention

The embodiment of the application provides a wall-climbing robot for detecting the surface defects of an aircraft, and the wall-climbing robot comprises a supporting main body, a camera device, a plurality of lifting adjusting devices, at least two negative pressure adsorption devices, at least two distance measuring sensors and a control device, wherein the camera device is arranged on the supporting main body and used for detecting the surface defects of the aircraft; the plurality of lifting adjusting devices are movably connected with the supporting main body and arranged away from the camera device; the at least two negative pressure adsorption devices are sequentially arranged along the advancing direction of the wall-climbing robot, and in the advancing direction of the wall-climbing robot, the two lifting adjusting devices are respectively connected to the front end and the rear end of one negative pressure adsorption device; the at least two distance measuring sensors are respectively arranged at the front end and the rear end of the support main body in the advancing direction; the control device is electrically connected with the camera device, the distance measuring sensor and the lifting adjusting device, and the control device is used for controlling the lifting adjusting device to drive the front end and/or the rear end of the negative pressure adsorption device to perform lifting movement according to a distance measuring signal of the distance measuring sensor.

Based on the above embodiment, the supporting body is used for bearing part of the parts of the wall-climbing robot; the camera device is used for detecting the surface defects of the aircraft, and continuously takes pictures or takes pictures to obtain images; the negative pressure adsorption device is used for adsorbing the wall-climbing robot on the surface of the aircraft; the lifting adjusting device and the supporting body are movably connected, the lifting adjusting device and the camera device are respectively arranged on two surfaces of the supporting body, which are back to back, and the lifting adjusting device can drive the negative pressure adsorption device to perform lifting motion.

Based on the above embodiment, the distance measuring sensor, the negative pressure adsorption device, the lifting adjusting device, the camera device and the control device are arranged on the supporting main body, the control device controls the lifting adjusting device to perform lifting motion according to the distance measuring signal of the distance measuring sensor, namely controls the negative pressure adsorption device to perform lifting motion, and the control device can control camera shooting to detect the surface defects of the aircraft. At least two negative pressure adsorption equipment set up along the direction that wall climbing robot gos forward, and under control device's control, two negative pressure adsorption equipment can leave aircraft surface in turn, realize the action of moving on the stair structure, can move to aircraft surface optional position finally, realize the omnidirectional detection on aircraft surface.

In one embodiment, the lifting adjusting device comprises a connecting rod, a transmission rack, a gear, a limiting piece and a first motor, wherein the connecting rod is movably connected to the supporting main body; the transmission rack is arranged on the connecting rod; the gear is arranged on the negative pressure adsorption device and meshed with the transmission rack; the limiting piece is arranged on one side of the negative pressure adsorption device and used for limiting the gear from being separated from the transmission rack; the first motor is arranged on the negative pressure adsorption device, an output shaft of the first motor is connected with the gear, and the control device is electrically connected with the first motor to control the first motor to drive the gear to rotate.

Based on the above embodiment, the connecting rod is used to connect the negative pressure adsorption device to the support body; the transmission rack is arranged on the connecting rod; the gear is arranged on the negative pressure adsorption device and used for driving the negative pressure adsorption device to move on the transmission rack; the limiting piece is used for preventing the gear from falling off from the transmission rack and connected to one side of the support main body; the first motor is used for driving the gear to move on the transmission rack, the first motor is arranged on the negative pressure adsorption device, an output shaft of the first motor is connected with the gear, and when the first motor rotates, the gear can move on the transmission rack, namely, the lifting motion of the negative pressure adsorption device is realized.

In one embodiment, the negative pressure adsorption device is provided with a bearing plate, the wall climbing robot further comprises at least two macro sensors, the two macro sensors are respectively arranged at the front end and the rear end of the surface, close to the aircraft, of the bearing plate along the advancing direction of the wall climbing robot, and the macro sensors are used for detecting the distance between the surface, close to the aircraft, of the bearing plate and the surface of the aircraft; the two micro-distance sensors are electrically connected with the control device, and the control device is used for controlling the lifting adjusting device to drive the negative pressure adsorption device to move up and down according to detection signals of the two micro-distance sensors.

Based on the above embodiment, the bearing plate is used for bearing the gear and other parts of the negative pressure adsorption device; the micro-distance sensors are used for measuring the distance between the surface of the loading plate close to the aircraft and the surface of the aircraft, the two micro-distance sensors are respectively arranged at the front end and the rear end of the surface of the loading plate close to the aircraft along the advancing direction of the wall climbing robot, the two micro-distance sensors are electrically connected with the control device, when the distance difference value measured by the two micro-distance sensors is more than 2mm, the detection signal of the micro-distance sensor is transmitted to the control device, the control device controls the lifting adjusting device to drive the negative pressure adsorption device to move, when the distance difference value measured by the two micro-distance sensors is less than 1.0mm, the detection signal of the micro-distance sensor is transmitted to the control device, the control device controls the first motor to stop rotating, the negative pressure adsorption device is adsorbed on the surface of the aircraft, because the aircraft surface is the curved surface, controlling means carries out the elevating movement according to the detected signal control lift adjusting device of microspur sensor and makes the laminating aircraft surface that negative pressure adsorption equipment can be better.

In one embodiment, the wall-climbing robot comprises a push rod assembly, a second motor and a pressure sensor, wherein the push rod assembly is positioned between the support main body and the negative pressure adsorption device and is movably connected with the support main body, and one end of the push rod assembly, which is far away from the support main body, is connected with the negative pressure adsorption device; the second motor is arranged on the support main body, and an output shaft of the second motor is connected with the push rod assembly; the pressure sensor is arranged between the negative pressure adsorption device and the telescopic rod and used for detecting the pressure of the surface of the aircraft on the negative pressure adsorption device; the control device is used for adjusting the rotation direction of the second motor according to a pressure signal of the pressure sensor so as to adjust the attaching degree of the negative pressure adsorption device and the surface of the aircraft.

Based on the embodiment, the push rod assembly is used for applying pressure to the negative pressure adsorption device, one end of the push rod assembly is movably arranged on the supporting main body, and the other end of the push rod assembly is connected with the negative pressure adsorption device; the second motor is arranged on the supporting main body, and an output shaft of the second motor is connected with the push rod assembly; the pressure sensor is used for detecting the pressure of the surface of the aircraft to the negative pressure adsorption device, the pressure sensor and the second motor are electrically connected with the control device, and the control device controls the push rod assembly according to a pressure signal of the pressure sensor so as to change the pressure of the negative pressure adsorption device to the surface of the aircraft, so that the attaching degree of the negative pressure adsorption device and the surface of the aircraft is higher.

In one embodiment, the wall climbing robot comprises a gyroscope, the gyroscope is arranged on the supporting main body and used for detecting the position of the wall climbing robot on the surface of the aircraft, and the negative pressure adsorption device comprises a bearing plate, a soft sealing piece, an air suction pump and a pressure gauge; the soft sealing element is arranged on the surface of the bearing plate close to the aircraft and is provided with an adsorption cavity for contacting with the surface of the aircraft; the air pump is arranged on the bearing plate and is communicated with the adsorption cavity; the barometer is arranged in the adsorption cavity and used for detecting the air pressure in the adsorption cavity; the air pressure meter and the gyroscope are electrically connected with the control device, and the control device controls the working power of the air pump according to the position information detected by the gyroscope and the air pressure information of the air pressure meter so as to adjust the adsorption force of the negative pressure adsorption device on the surface of the aircraft.

Based on the embodiment, the gyroscope can detect that the wall-climbing robot is located at the specific position of the surface of the aircraft, the soft sealing element is arranged on the bearing plate and is in contact with the surface of the aircraft, the soft sealing element is provided with an adsorption cavity, and a negative pressure adsorption device is required to be supported by pressure formed by the air pressure difference between the inside and the outside of the adsorption cavity and adsorbed on the surface of the aircraft; the air suction pump is communicated with the adsorption cavity and used for sucking air in the adsorption cavity to reduce the air pressure value in the adsorption cavity, so that the negative pressure adsorption device is adsorbed on the surface of the aircraft; the barometer is used for detecting the air pressure in the adsorption cavity, and the control device changes the working power of the air pump according to the position information of the gyroscope and the air pressure information of the barometer, so that the pressure formed by the air pressure difference between the inside and the outside of the adsorption cavity can support the wall-climbing robot to be attached to the surface of the aircraft.

In one embodiment, the control device further comprises a first controller, an image processor and a second controller, wherein the first controller is electrically connected with the lifting adjusting device, the air suction pump, the barometer, the distance measuring sensor, the micro-distance sensor and the gyroscope; the image processor is electrically connected with the camera device and is used for processing the image acquired by the camera device; the second controller is electrically connected with the image processor.

Based on the embodiment, the first controller controls the part of the negative pressure adsorption device to be separated from the surface of the aircraft, the air pressure in the negative pressure cavity, the attaching degree of the negative pressure adsorption device and the surface of the aircraft, and the position of the wall climbing robot on the surface of the aircraft; the image processor is used for processing the image acquired by the camera device, and the second controller is used for controlling the image processor to process the image. The first controller and the second controller jointly form a double-control system of the wall-climbing robot, different controllers achieve different functions and can avoid disorder of control signals of the control device, and the multiple controllers can also process data more quickly, so that the wall-climbing robot moves more sensitively, and acquired images are more accurate.

In one embodiment, a plurality of accommodating grooves are formed in the surface, close to the negative pressure adsorption device, of the supporting body and the surface, far away from the negative pressure adsorption device, of the supporting body, the wall-climbing robot further comprises a plurality of protection devices, the protection devices are located in the accommodating grooves in a one-to-one correspondence mode and are electrically connected with the first controller, and the protection devices are used for preventing the aircraft from being damaged when the wall-climbing robot falls.

Based on the above embodiment, a plurality of accommodating grooves are formed on the surface of the supporting body close to the negative pressure adsorption device and the surface of the supporting body far away from the negative pressure adsorption device. A plurality of protection device damage aircraft when being used for preventing to climb the wall robot and falling, each is accomodate the inslot and is equipped with a protection device, and when the protection device part stretched out and accomodate the groove, protection device can play the guard action.

In one embodiment, the protection device comprises an elastic sheet and an electromagnetic buckle, one end of the elastic sheet is connected to the bottom of the accommodating groove, and the elastic sheet is positioned in the accommodating groove when in a contraction state; the electromagnetic buckle is arranged on the wall of the accommodating groove, is abutted against the other end of the elastic sheet and is electrically connected with the first controller; the first controller controls the electromagnetic buckle to release the other end of the elastic sheet according to the acceleration signal detected by the gyroscope, so that the other end of the elastic sheet extends out of the accommodating groove.

Based on the embodiment, the elastic sheet is positioned in the accommodating groove when in a contraction state, and one end of the elastic sheet is connected with the groove bottom or the groove wall of the accommodating groove; the electromagnetic buckle is used for limiting the elastic sheet to extend out of the accommodating groove and is arranged on the groove wall of the accommodating groove; first controller is connected with the electromagnetism buckle electricity, when the gyroscope detected the acceleration of climbing wall robot and sharply changed, the gyroscope was with acceleration signal transmission to first controller, and the electromagnetism buckle circular telegram is given to first controller, and after the electromagnetism buckle circular telegram, the electromagnetism buckle was toward the direction motion of keeping away from the shell fragment, and the electromagnetism buckle separates the end that stretches out of back shell fragment with the shell fragment and stretches out and accomodate the groove to play the effect of protection climbing wall robot and airborne vehicle.

In one embodiment, the protection device comprises an exhaust pipe, an exhaust switch, a plurality of air guide pipes and a plurality of flow regulating valves, wherein the exhaust pipe is provided with an air inlet and an air outlet, the air inlet is connected with the air suction pump, and the exhaust switch is arranged on the exhaust pipe and used for controlling the on-off of air flow between the air inlet and the air outlet; each air duct is provided with an air jet, one end of the air duct, far away from the air jet, is connected with the exhaust pipe, the connecting position of the air duct and the exhaust pipe is positioned between the exhaust switch and the air inlet, and the plurality of air jets are positioned at different positions of the support main body; the flow regulating valves are arranged on the gas guide pipe and used for controlling the gas flow in the gas guide pipe; the first controller is electrically connected with the exhaust switch and the flow regulating valve, controls the exhaust switch to be closed according to the acceleration signal detected by the gyroscope, and controls the flow regulating valve to regulate the flow of gas in the corresponding gas guide pipe.

Based on the embodiment, the air inlet of the exhaust pipe is connected with the air pump, and when the wall climbing robot is positioned on the surface of the aircraft, the air pump pumps the gas in the adsorption cavity to the air inlet and exhausts the gas from the exhaust port; the exhaust switch is used for controlling the on-off of the air flow between the air inlet and the air outlet; the plurality of gas guide pipes are provided with a plurality of gas nozzles, the plurality of gas nozzles are respectively positioned at different positions of the support main body, one ends of the plurality of gas guide pipes, which are far away from the gas nozzles, are communicated with the exhaust pipe, and gas can enter the exhaust pipe from the gas inlet and then is ejected from the gas nozzles; the flow regulating valves are used for controlling the gas flow in the gas guide pipe; the exhaust switch is electrically connected with the first controllers of the plurality of flow regulating valves, when the gyroscope detects the acceleration of the wall climbing robot or the rapid change of the three angular accelerations, the first controller closes the exhaust switch and regulates the flow regulating valves, so that the gas nozzles at different positions of the supporting body have different gas flows.

In one embodiment, when there are two negative pressure adsorption devices, two elevation adjusting devices are connected to each negative pressure adsorption device.

Based on above-mentioned embodiment, two lift adjusting device adjust negative pressure adsorption equipment jointly and remove on the aircraft surface, can understand that wall climbing robot can set up a plurality of negative pressure adsorption equipment, and a plurality of negative pressure adsorption equipment set gradually on the direction that wall climbing robot gos forward, can set up a plurality of lift adjusting device on a negative pressure adsorption equipment, and a plurality of lift adjusting device are more stable when can making negative pressure adsorption equipment remove.

The supporting body is provided with a distance measuring sensor, a negative pressure adsorption device, a lifting adjusting device, a camera device and a control device, the control device controls the lifting adjusting device to move up and down according to a distance measuring signal of the distance measuring sensor, namely controls the negative pressure adsorption device to move up and down, and the control device can control the camera to detect surface defects of the aircraft. At least two negative pressure adsorption equipment set up along the direction that the wall climbing robot gos forward, and a plurality of negative pressure adsorption equipment can leave aircraft surface in turn, realize moving and climbing aircraft surface's stair structure on the aircraft surface that has the radian, and a plurality of negative pressure adsorption equipment work jointly, can prevent the damage of negative pressure adsorption equipment individually to it drops from aircraft surface to climb the wall climbing robot. The wall climbing robot can move to any position of the surface of the aircraft finally, and omnibearing detection of the surface of the aircraft is achieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a wall-climbing robot according to an embodiment of the present disclosure;

fig. 2 is an exploded view of a wall-climbing robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural view illustrating a wall-climbing robot moving from a wing to a fuselage according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a lift adjustment apparatus according to an embodiment of the present application;

FIG. 5 is a schematic view of a negative pressure adsorption apparatus according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a putter assembly according to one embodiment of the present application;

FIG. 7 is a schematic view of a protection device according to an embodiment of the present application;

fig. 8 is a schematic structural view illustrating the elastic sheet located in the receiving groove according to an embodiment of the present disclosure;

FIG. 9 is a schematic cross-sectional view of the resilient plate of the embodiment of FIG. 8 in the receiving groove;

FIG. 10 is a schematic view of a structure of an embodiment of the spring plate according to the present application, wherein the extending end of the spring plate extends out of the receiving groove;

FIG. 11 is a schematic view of a connection structure of an exhaust tube and an airway tube according to an embodiment of the present application.

Reference numerals: wall climbing robot-100; a support body-10; a receiving groove-11; a camera device-20; a micro pan-tilt-21; a camera-22; a lifting adjusting device-30; a first elevation adjustment device-30A; a second elevation adjustment device-30B; a third elevation adjustment device-30C; a fourth elevation adjustment device-30D; a connecting rod-31; a drive rack-32; gear-33; a limiter-34; a limiting block-35; negative pressure adsorption device-40; a first negative pressure adsorption device-40A; a second negative pressure adsorption device-40B; a carrier plate-41; a soft seal-42; an air pump-43; a ranging sensor-50; -a travelling assembly-60; macro sensor-70; a first macro sensor-71; a second macro sensor-72; a push rod assembly-80; a ball screw-81; screw-811; a nut-812; a sleeve-82; an abutment-83; protection device-90; a spring sheet-91; protruding end-911; a connecting end-912; an electromagnetic buckle-92; exhaust-93; inlet-93A; vent-93B; a tube exhaust switch-94; a gas-guide tube-95; air jet-95A; a flow regulating valve-96; a limiting structure-E; adsorption chamber-F.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1, the present application provides a wall climbing robot 100 for detecting surface defects of an aircraft, the wall climbing robot 100 includes a supporting body 10, a camera device 20, a plurality of lifting adjusting devices 30, at least two negative pressure adsorption devices 40, at least two distance measuring sensors 50, and a control device, the camera device 20 is disposed on the supporting body 10 for detecting the surface defects of the aircraft; the plurality of lifting adjusting devices 30 are movably connected with the supporting main body 10 and arranged away from the camera device 20; at least two negative pressure adsorption devices 40 are sequentially arranged along the advancing direction of the wall-climbing robot 100, and in the advancing direction of the wall-climbing robot 100, two lifting adjusting devices 30 are respectively connected to the front end and the rear end of the negative pressure adsorption devices 40; at least two distance measuring sensors 50 are respectively disposed at the front end and the rear end in the advancing direction of the support body 10; the camera device 20, the distance measuring sensor 50 and the lifting adjusting device 30 are electrically connected to the control device, and the control device is used for controlling the lifting adjusting device 30 to drive the front end and/or the rear end of the negative pressure adsorption device 40 to move up and down according to the distance measuring signal of the distance measuring sensor 50.

Based on the above embodiment, the aircraft may be a civil aircraft or a military aircraft, and the radian of the upper surface of the wing of the civil aircraft or the military aircraft is greater than that of the lower surface of the wing, and during the flight, the distance of air flowing over the wing is greater than that of air flowing over the lower surface of the wing in the same time, so that the air flow rate of the upper surface of the wing is faster than the air flow rate of the lower surface of the wing, and the flow rate and the pressure are inversely proportional, so that the pressure of the lower surface of the wing is greater than that of the upper surface of the wing, thereby generating a lift force, the surface of the aircraft is a curved surface, and the height of the fuselage is greater than that of the wing, and the wall climbing robot 100 needs to move on the surface of the aircraft with the radian and climb the stair structure on the surface of the aircraft.

The supporting body 10 is used for driving the camera device 20, the distance measuring sensor 50, the lifting adjusting device 30 and the control device to move, the shape of the supporting body 10 may be, but is not limited to, a cube, a cylinder or other geometric shapes, and in the embodiment of the present application, the shape of the supporting body 10 is not limited; the material of the support body 10 may be, but is not limited to, hard metal or hard plastic.

The camera device 20 is used for detecting the surface defect of the aircraft, the camera device 20 continuously takes pictures or takes pictures to obtain images, in this embodiment, the camera device 20 includes a micro-holder 21 and a camera 22, the camera 22 is connected to the micro-holder 21, the connection mode can be a rotating connection, and when the camera 22 is connected with the micro-holder 21 in a rotating manner, the shooting angle of the camera 22 is more. The micro pan/tilt head 21 has an anti-shake function, and the camera 22 is arranged on the micro pan/tilt head 21, so that the shooting stability of the camera 22 can be improved, and the image acquired by the camera 22 is clearer; micro cloud platform 21 sets up on supporting main body 10, and the connected mode of micro cloud platform 21 and supporting main body 10 includes but not limited to spiro union, joint and cementing. In the embodiment of the present application, the micro-pan-tilt 21 may adopt a three-axis stabilizer, where the three-axis stabilizer includes a rotating shaft, a bracket, a first motor, a second motor, and a third motor, one end of the bracket is rotatably connected to the rotating shaft, and the other end of the bracket is rotatably connected to the camera 22; the first motor is connected with the rotating shaft and used for controlling the rotation of the rotating shaft; the second motor is connected with one end of the bracket and is used for controlling the rotation of the bracket; the third motor is connected to the camera 22 for controlling the rotation of the camera 22.

The lifting adjusting device 30 is movably connected with the supporting body 10, the lifting adjusting device 30 and the camera device 20 are respectively arranged on two surfaces of the supporting body 10, which are opposite to each other, the camera device 20 can reduce a shooting blind area, the lifting adjusting device 30 is movably connected with the supporting body 10, in the embodiment of the application, the lifting adjusting device 30 is hinged with the supporting body 10, the axis of the hinged shaft is perpendicular to the advancing direction or the retreating direction of the wall climbing robot 100, and when the wall climbing robot 100 advances or retreats, due to the inertia effect, the lifting adjusting device 30 swings towards the advancing direction or the retreating direction of the wall climbing robot 100 to realize the forward or backward movement of the wall climbing robot 100.

Referring to fig. 1-2, a negative pressure suction device 40 is attached to the aircraft surface to facilitate movement of the support body 10 on the aircraft surface. The number of the negative pressure adsorption devices 40 is plural, and the plural negative pressure adsorption devices 40 are sequentially arranged in a direction in which the wall-climbing robot 100 moves forward or backward. When the number of the negative pressure adsorption devices 40 is two, the two negative pressure adsorption devices 40 are movably connected to the support main body 10 through the lifting adjusting device 30, and are sequentially arranged in the advancing direction of the wall-climbing robot 100. In one embodiment, the negative pressure adsorption device 40 located at the front end of the wall-climbing robot 100 in the forward direction is a first negative pressure adsorption device 40A, the negative pressure adsorption device 40 located at the rear end of the wall-climbing robot 100 in the forward direction is a second negative pressure adsorption device 40B, and when the wall-climbing robot 100 climbs the ladder structure, the first negative pressure adsorption device 40A leaves the surface of the aircraft earlier than the second negative pressure adsorption device 40B.

Each negative pressure adsorption device 40 is provided with two lifting adjusting devices 30, and the two lifting adjusting devices 30 are respectively arranged at the front end and the rear end of the negative pressure adsorption device 40 along the advancing direction of the wall-climbing robot 100, in a specific embodiment, the lifting adjusting device 30 arranged at the front end of the first negative pressure adsorption device 40A is a first lifting adjusting device 30A, and the lifting adjusting device 30 arranged at the rear end of the first negative pressure adsorption device 40A is a second lifting adjusting device 30B; the lift adjusting device 30 provided at the front end of the second negative pressure adsorption device 40B is a third lift adjusting device 30C, the lift adjusting device 30 provided at the rear end of the second negative pressure adsorption device 40B is a fourth lift adjusting device 30D, the first lift adjusting device 30A and the second lift adjusting device 30B jointly adjust the first negative pressure adsorption device 40A to leave the surface of the aircraft, and the third lift adjusting device 30C and the fourth lift adjusting device 30D jointly adjust the second negative pressure adsorption device 40B to leave the surface of the aircraft.

The number of the ranging sensors 50 is at least two, and the more the number of the ranging sensors 50 is, the more detailed the acquired ranging information is. When the number of the distance measuring sensors 50 is two, one of which is disposed at the front end of the support body 10 for detecting the distance between the front end of the support body 10 and the surface of the aircraft, and the other of which is disposed at the rear end of the support body 10 for detecting the distance between the rear end of the support body 10 and the surface of the aircraft so that the ascent and descent adjusting device 30 adjusts the ascent and descent movement of the negative pressure suction device 40, it is understood that the number of the distance measuring sensors 50 may be determined according to actual circumstances in other embodiments.

The control device is electrically connected to the camera device 20, the distance measuring sensor 50 and the lifting adjusting device 30, and in one embodiment, the wall climbing robot 100 further includes a traveling assembly 60, and the control device is electrically connected to the traveling assembly 60. Referring to fig. 2-3, taking the wall-climbing robot 100 moving from the wing to the fuselage as an example, the process of controlling the wall-climbing robot 100 by the control device is as follows:

when the distance measuring sensor 50 arranged at the front end of the wall climbing robot 100 measures that the distance between the front end of the supporting body 10 and the surface of the aircraft is 2.5cm, the distance measuring sensor 50 transmits a distance measuring signal to the control device, the control device controls the first lifting adjusting device 30A to move upwards and the second lifting adjusting device 30B to move downwards according to the distance measuring signal, as the first negative pressure adsorption device 40A is rotationally connected with the supporting body 10, at the moment, the first negative pressure adsorption device 40A is separated from the surface part of the aircraft, the first negative pressure adsorption device 40A swings forwards under the action of inertia, the controller also controls the advancing assembly 60 to move, the wall climbing robot 100 continues to move forwards until the first negative pressure adsorption device 40A is positioned on a step and adsorbed on the surface of the aircraft, and similarly, the control device controls the third lifting adjusting device 30C to move upwards and the fourth lifting adjusting device 30D to move downwards, at this time, the second negative pressure adsorption device 40B is separated from the surface portion of the aircraft, the second negative pressure adsorption device 40 swings forward under the action of inertia, and the wall climbing robot 100 continues to move forward until the second negative pressure adsorption device 40B climbs the step and is adsorbed on the surface of the aircraft, so that the wall climbing robot 100 completes the movement from the wing to the fuselage.

Based on the above embodiment, the distance measuring sensor 50, the negative pressure adsorption device 40, the lifting adjustment device 30, the image pickup device 20 and the control device are arranged on the support body 10, the control device controls the lifting adjustment device 30 to perform lifting motion according to the distance measuring signal of the distance measuring sensor 50, that is, controls the negative pressure adsorption device 40 to perform lifting motion, and the control device can control the image pickup device 20 to detect the surface defect of the aircraft. At least two negative pressure adsorption devices 40 are arranged along the advancing direction of the wall climbing robot 100, under the control of the control device, the negative pressure adsorption devices 40 can alternately and sequentially leave the surface of the aircraft, a ladder structure which can move on the surface of the aircraft with radian and climb the surface of the aircraft is realized, the negative pressure adsorption devices 40 work together, and the damage of the negative pressure adsorption devices 40 can be individually prevented, so that the wall climbing robot 100 falls off from the surface of the aircraft. The wall-climbing robot 100 can finally move to any position on the surface of the aircraft, and omnibearing detection of the surface of the aircraft is realized.

Referring to fig. 4, in an embodiment, the lifting adjusting device 30 includes a connecting rod 31, a transmission rack 32, a gear 33, a limiting member 34 and a first motor, wherein the connecting rod 31 is movably connected to the supporting body 10; the transmission rack 32 is arranged on the connecting rod 31; the gear 33 is arranged on the negative pressure adsorption device 40 and meshed with the transmission rack 32; the limiting piece 34 is arranged on one side of the negative pressure adsorption device 40 and used for limiting the gear 33 to be separated from the transmission rack 32; the first motor is arranged on the negative pressure adsorption device 40, an output shaft of the first motor is connected with the gear 33, and the control device is electrically connected with the first motor to control the first motor to drive the gear 33 to rotate.

Based on the above embodiment, the connecting rod 31 is used to connect the negative pressure adsorption device 40 to the support body 10, in a specific embodiment, the connecting rod 31 may be hinged with the support body 10, or a rotating shaft may be provided on the support body 10, the connecting rod 31 is rotatably connected with the rotating shaft, and the connecting rod 31 may be made of a metal material.

The transmission rack 32 is provided on the connecting rod 31, and the length of the transmission rack 32 determines the longest distance that the vacuum adsorption device 40 can move on the connecting rod 31.

Gear 33 sets up on negative pressure adsorption equipment 40, gear 33 is used for driving negative pressure adsorption equipment 40 and moves on driving rack 32, gear 33 needs to be equal with the modulus and the pressure angle of driving rack 32, gear 33 and driving rack 32 mesh, gear 33 reciprocates at driving rack 32, the elevating movement of negative pressure adsorption equipment 40 has also been realized, in a specific embodiment, driving rack 32's both ends have set up stopper 35, stopper 35 can prevent that gear 33 from droing from driving rack 32's both ends, the distance between two stoppers 35 is the longest distance that gear 33 moved on driving rack 32.

The limiting member 34 is used to prevent the gear 33 from falling off from the transmission rack 32, that is, the gear 33 is not meshed with the transmission rack 32, the limiting member 34 is disposed on one side of the supporting body 10, the transmission rack 32 is located between the limiting member 34 and the supporting body 10, and the transmission rack 32 is meshed with the gear 33 disposed on the supporting body 10 at any moment.

The first motor is used for driving the gear 33 to move on the transmission rack 32, the first motor is arranged on the negative pressure adsorption device 40, an output shaft of the first motor is connected with the gear 33, the gear 33 can move on the transmission rack 32 when the first motor rotates, and when the first motor rotates forwards, the gear 33 moves on the transmission rack 32 in a direction close to the support main body 10, namely, in a lifting action; when the first motor rotates reversely, the gear 33 moves on the transmission rack 32 in a direction away from the support main body 10, namely, descending movement is performed, when the gear 33 moves to the limiting block 35, the first motor stops rotating, the gear 33 also stops rotating, the control device is electrically connected with the first motor, the control device controls the rotation of the first motor according to the distance measuring signal, the first motor drives the gear 33 to move on the transmission rack 32, and the negative pressure adsorption device 40 can also perform the ascending and descending movement.

Referring to fig. 4-5, in an embodiment, the negative pressure adsorption device 40 has a carrier plate 41, the wall climbing robot 100 further includes at least two macro sensors 70, the two macro sensors 70 are respectively disposed at the front end and the rear end of the carrier plate 41 near the surface of the aircraft along the advancing direction of the wall climbing robot 100, and the macro sensors 70 are used for detecting the distance between the surface of the carrier plate 41 near the aircraft and the surface of the aircraft; the two micro-distance sensors 70 are electrically connected with a control device, and the control device is used for controlling the lifting adjusting device 30 to drive the negative pressure adsorption device 40 to move up and down according to detection signals of the two micro-distance sensors 70.

Based on the above embodiment, the negative pressure adsorption device 40 has a bearing plate 41, and the bearing plate 41 is used for bearing the gear and other components of the negative pressure adsorption device 40, in this embodiment, the size of the bearing plate 41 is not limited.

The macro sensors 70 are used for measuring the distance between the surface of the loading plate 41 close to the aircraft and the surface of the aircraft, the number of the macro sensors 70 is at least two, the two macro sensors 70 are respectively arranged at the front end and the rear end of the surface of the loading plate 41 close to the aircraft along the advancing direction of the wall climbing robot 100, in one specific embodiment, taking the first negative pressure adsorption device 40 as an example, the macro sensor 70 arranged at the front end of the loading plate 41 is a first macro sensor 71, the macro sensor 70 arranged at the rear end of the loading plate 41 is a second macro sensor 72, when the negative pressure adsorption device 40 is adsorbed on the surface of the aircraft, the first macro sensor 71 and the second macro sensor 72 both measure the distance between the surface of the loading plate 41 close to the aircraft and the surface of the aircraft, and when the difference between the distances measured by the two macro sensors 70 is greater than 2mm, the detection signal of the macro sensor 70 is transmitted to the control device, the control device controls the lifting adjusting device 30 to drive the negative pressure adsorption device 40 to move, the principle that the control device controls the lifting adjusting device 30 is referred to above, when the distance difference value measured by the two micro distance sensors 70 is smaller than 1.0mm, the detection signal of the micro distance sensor 70 is transmitted to the control device, the control device controls the first motor to stop rotating, the negative pressure adsorption device 40 is adsorbed on the surface of the aircraft, because the surface of the aircraft is a curved surface, the control device controls the lifting adjusting device 30 to move up and down according to the detection signal of the micro distance sensor 70, so that the negative pressure adsorption device 40 can be better attached to the surface of the aircraft.

Referring to fig. 2 and 6, in an embodiment, the wall-climbing robot 100 includes a push rod assembly 80, a second motor and a pressure sensor, the push rod assembly 80 is located between the support body 10 and the negative pressure adsorption device 40 and is movably connected to the support body 10, and one end of the push rod assembly 80 away from the support body 10 is movably connected to the negative pressure adsorption device 40; the second motor is arranged on the support main body 10, and an output shaft of the second motor is connected with the push rod assembly 80; the pressure sensor is arranged between the negative pressure adsorption device 40 and the push rod assembly 80 and is used for detecting the pressure of the surface of the aircraft on the negative pressure adsorption device 40; the pressure sensor and the second motor are electrically connected with the control device, and the control device is used for adjusting the rotation direction of the second motor according to a pressure signal of the pressure sensor so as to adjust the attaching degree of the negative pressure adsorption device 40 and the surface of the aircraft.

The push rod assembly 80 is used for applying pressure to the negative pressure adsorption device 40, one end of the push rod assembly 80 is movably arranged on the support main body 10, and the other end of the push rod assembly 80 is movably connected with the negative pressure adsorption device 40, in a specific embodiment, the push rod assembly 80 is composed of a ball screw 81, a sleeve 82, an abutting part 83 and a limiting structure F, one end of the sleeve 82 is movably connected with the support main body 10 in a hinged mode, the ball screw 81 can rotate relative to the sleeve 82, the ball screw 81 comprises a screw 811 and a nut 812, the nut 812 is fixedly connected with the abutting part 83, the limiting structure F is provided with a limiting groove, the nut 812 extends into the limiting groove, and the limiting groove is used for limiting the nut 812 to rotate on the screw 811 so as to ensure that the nut 812 moves on the screw 811 along the axis of the screw 811. When the screw 811 rotates, the nut 812 can move on the screw 811 to drive the abutting member 83 to move relative to the sleeve 82. The abutment 83 moves relative to the sleeve 82 by a distance greater than the distance the gear 33 can move on the drive rack 32, the abutment 83 is hinged to the negative pressure adsorption device 40 so that the abutment 83 can contact the negative pressure adsorption device 40 and the abutment 83 can apply pressure to the negative pressure adsorption device 40.

The second motor is arranged in the sleeve 42, an output shaft of the second motor is coaxially and fixedly connected with the screw rod 811, the output shaft of the second motor can drive the screw rod 811 to rotate, when the second motor drives the screw rod 811 to rotate positively, the nut 812 drives the abutting piece 83 to move on the screw rod 811 towards the surface of the aircraft, and when the second motor drives the screw rod 811 to rotate negatively, the nut 812 drives the abutting piece 83 to move on the screw rod 811 towards the direction far away from the surface of the aircraft.

The pressure sensor is used for detecting the pressure of the surface of the aircraft on the negative pressure adsorption device 40, the pressure sensor is located between the push rod assembly 80 and the pressure negative pressure adsorption device 40, and the pressure sensor can convert the pressure of the surface of the aircraft on the negative pressure adsorption device 40 into a pressure signal.

The pressure sensor and the second motor are electrically connected with the control device, when the pressure sensor detects that the pressure of the surface of the aircraft to the negative pressure adsorption device 40 is smaller than a preset value, the control device controls the second motor to rotate forwards, the second motor drives the screw rod 811 to rotate, the nut 812 drives the abutting piece 83 to move towards the surface of the aircraft on the screw rod 811 so as to increase the pressure of the negative pressure adsorption device 40 to the surface of the aircraft, the attaching degree of the negative pressure adsorption device 40 to the surface of the aircraft is higher, and when the pressure sensor detects that the pressure of the surface of the aircraft to the negative pressure adsorption device 40 is larger than or equal to the preset value, the second motor stops rotating.

In a specific embodiment, when the lift adjustment device 30 adjusts the negative pressure adsorption device 40 to move away from the aircraft surface, the second motor rotates reversely, the nut 812 drives the abutting piece 83 to move away from the aircraft surface to reduce the pressure of the negative pressure adsorption device 40 on the aircraft surface, and when the lift adjustment device 30 adjusts the negative pressure adsorption device 40 to move towards the aircraft surface, the second motor rotates normally, the nut 812 drives the abutting piece 83 to move towards the aircraft surface to increase the pressure of the negative pressure adsorption device 40 on the aircraft surface, so that the adhesion degree of the negative pressure adsorption device 40 and the aircraft surface is higher.

Referring to fig. 5, in an embodiment, the wall-climbing robot 100 includes a gyroscope disposed on the supporting body 10, the gyroscope is used for detecting a position of the wall-climbing robot 100 on a surface of the aircraft, and the negative pressure adsorption device 40 includes a soft sealing member 42, a suction pump 43, and a pressure gauge; the soft sealing member 42 is disposed on the surface of the bearing plate 41 close to the aircraft, and the soft sealing member 42 has an adsorption cavity F for contacting with the surface of the aircraft; the air pump 43 is arranged on the bearing plate 41 and is communicated with the adsorption cavity F; the barometer is arranged in the adsorption cavity F and used for detecting the air pressure in the adsorption cavity F; the barometer and the gyroscope are electrically connected to the control device, and the control device controls the operating power of the air pump 43 according to the position information detected by the gyroscope and the air pressure information of the barometer, so as to adjust the adsorption force of the negative pressure adsorption device 40 on the surface of the aircraft.

In a specific embodiment, the wall-climbing robot 100 further includes a memory, the memory stores three-dimensional data of the whole aircraft, and the gyroscope is capable of detecting a specific position of the wall-climbing robot 100 on the surface of the aircraft based on the three-dimensional data, and in a specific embodiment, the gyroscope is a seven-axis gyroscope, and the seven-axis gyroscope has a three-dimensional sensing function, and is further capable of calculating angular accelerations of a pitch angle, a yaw angle, and a roll angle of the wall-climbing robot 100, and further calculating a geomagnetic angle.

The soft sealing member 42 is disposed on the carrier plate 41 and contacts with the surface of the aircraft, the soft sealing member 42 has an adsorption cavity F, when the wall climbing robot 100 is located on the lower surface or the side surface of the aircraft, the pressure caused by the difference between the air pressure inside and outside the adsorption cavity F needs to support the negative pressure adsorption device 40 to adsorb on the surface of the aircraft, and the soft sealing member 42 may be made of rubber, resin, or other materials.

The suction pump 43 is communicated with the adsorption cavity F and is used for pumping out the gas in the adsorption cavity F so as to reduce the air pressure value in the adsorption cavity F, so that the negative pressure adsorption device 40 is adsorbed on the surface of the aircraft, and the more the gas pumped out by the suction pump 43, the greater the adsorption force of the negative pressure adsorption device 40 on the surface of the aircraft.

The barometer is used for detecting the atmospheric pressure in the absorption chamber F, and the barometer can convert the atmospheric pressure value that detects into the atmospheric pressure signal.

The barometer, the gyroscope and the air pump 43 are all electrically connected with the control device, and taking the wall climbing robot 100 located on the lower surface of the aircraft as an example, the working principle between the control device and the barometer, the gyroscope and the air pump 43 is explained:

the position information of the wall climbing robot 100 is detected by a gyroscope and transmitted to a control device, when the wall climbing robot 100 is positioned on the lower surface of an aircraft, the wall climbing robot 100 is easy to fall off from the surface of the aircraft due to the action of gravity, a barometer constantly detects the air pressure in the adsorption cavity F, if the pressure formed by the air pressure difference between the inside and the outside of the adsorption cavity F is not enough to support the wall climbing robot 100 to be attached on the lower surface of the aircraft, the control device controls an air pump 43 to increase power to extract the air in the adsorption cavity F so as to increase the air pressure difference between the inside and the outside of the adsorption cavity F, so that the pressure formed by the air pressure difference between the inside and the outside of the adsorption cavity F can support the wall climbing robot 100 to be attached on the lower surface of the aircraft, and because the surface of the aircraft is a curved surface, the air pressure in the adsorption cavity F is required to be changed constantly, so that the pressure formed by the air pressure difference between the inside and the outside of the adsorption cavity F can support the wall climbing robot 100 to be attached on the surface of the aircraft, therefore, the power of the suction pump 43 for sucking the gas in the adsorption chamber F also changes at every moment.

In a specific embodiment, the gyroscope transmits the position information of the wall-climbing robot 100 to the control device, the control device marks the position information of the wall-climbing robot 100, and the control device controls the traveling component to move so as to avoid the marked position.

Referring to fig. 1-6, in one embodiment, the control device further includes a first controller, an image processor, and a second controller, wherein the first controller is electrically connected to the elevation adjustment device 30, the suction pump 43, the barometer, the distance measurement sensor 50, the macro sensor 70, and the gyroscope; the image processor is electrically connected with the camera device 20 and is used for processing the image acquired by the camera device; the second controller is electrically connected with the image processor.

Based on the above embodiments, the first controller controls the part of the negative pressure adsorption device to be away from the surface of the aircraft, the air pressure in the adsorption cavity F, the fitting degree of the negative pressure adsorption device 40 and the surface of the aircraft, and the position of the wall climbing robot 100 on the surface of the aircraft, and in a specific embodiment, the first controller is an STM32F407 and is responsible for sensor data acquisition, the movement of the wall climbing robot 100, and the adsorption force of the negative pressure adsorption device 40 on the surface of the aircraft.

The image processor is used for processing the image acquired by the camera device and converting the acquired image into image information. The second controller is electrically connected with the image processor and is used for controlling the image processor to process images, in a specific embodiment, the second controller is an STM32H743 high-speed controller (400 MHz), the STM32H743 high-speed controller (400 MHz) is specially used for processing operations such as video, images, defect judgment, storage and the like, specifically, the images shot by the camera 22 are subjected to gray exposure processing, and the positions with defects and the positions without defects present gray colors with different degrees in the image processor.

The first controller and the second controller jointly form a double-control system of the wall-climbing robot 100, different controllers achieve different functions, control signals of the control device can be prevented from being disordered, and the multiple controllers can process data more quickly, so that the wall-climbing robot 100 moves more sensitively, and acquired images are more accurate.

In a specific embodiment, the wall-climbing robot 100 further includes a wireless transmission system, the first controller transmits the position information of the wall-climbing robot 100 to the ground operator through the wireless transmission system, and the second controller transmits the image information to the ground operator through the wireless transmission system, so that the ground operator can accurately know the defect condition of the surface of the aircraft and timely maintain and process the aircraft.

Referring to fig. 7, in an embodiment, a plurality of accommodating grooves 11 are formed on both a surface of the supporting body 10 close to the negative pressure adsorption device and a surface of the supporting body 10 far from the negative pressure adsorption device 40, the wall climbing robot 100 further includes a plurality of protection devices 90, the protection devices 90 are in one-to-one correspondence with the accommodating grooves 11, and the protection devices 90 are electrically connected to the first controller for preventing the aircraft from being damaged when the wall climbing robot 100 falls.

Based on the above embodiment, the surface of the support body 10 close to the aircraft and the surface of the support body 10 far from the aircraft are both provided with a plurality of receiving grooves 11, and the number of the receiving grooves 11 can be determined according to actual conditions.

The plurality of protection devices 90 are used to prevent the damage of the aircraft when the wall-climbing robot 100 falls. Each accommodating groove 11 is provided with a protection device 90, when the protection device 90 partially extends out of the accommodating groove 11, the protection device 90 can play a role in protection, and it can be understood that the size of the accommodating groove 11 needs to be adjusted according to the size of the protection device 90.

In a specific embodiment, the number of the receiving grooves 11 is eight, four receiving grooves 11 are located on the surface of the supporting body 10 away from the aircraft, the other four receiving grooves 11 are located on the surface of the supporting body 10 close to the aircraft, and each receiving groove 11 is provided with one protection device 90, so that when the wall climbing robot 100 falls, the eight protection devices 90 can play a role in protection.

Referring to fig. 7-10, in an embodiment, the protection device 90 includes a spring plate 91 and an electromagnetic buckle 92, one end of the spring plate 91 is connected to the bottom of the receiving slot 11, and the spring plate 91 is located in the receiving slot 11 when in a contracted state; the electromagnetic buckle 92 is arranged on the wall of the accommodating groove 11, the electromagnetic buckle 92 abuts against the other end of the elastic sheet 91, and the electromagnetic buckle 92 is electrically connected with the first controller; the first controller controls the electromagnetic buckle 92 to release the other end of the elastic sheet 91 according to the acceleration signal detected by the gyroscope, so that the other end of the elastic sheet 91 extends out of the accommodating groove 11.

Based on the above embodiments, the elastic piece 91 is located in the accommodating groove 11 when in the contracted state, and one end of the elastic piece 91 is connected to the groove bottom or the groove wall of the accommodating groove 11, as shown in fig. 8-10, in a specific embodiment, the elastic piece 91 has an extending end 911 and a connecting end 912, the connecting end 912 is connected to the groove bottom or the groove wall of the accommodating groove 11, the connecting mode may be a screw connection, when the elastic piece 91 is in the contracted state, the extending end 911 is located in the accommodating groove 11, and when the elastic piece 91 is in the ejected state, the extending end 911 extends out of the accommodating groove 11. The elastic sheet 91 is further coated with a soft material, such as cloth and rubber, and the soft material can protect the wall-climbing robot 100 and the aircraft when the wall-climbing robot 100 falls and collides with the aircraft.

The electromagnetic buckle 92 is used for limiting the elastic sheet 91 to extend out of the accommodating groove 11, the electromagnetic buckle 92 is disposed on a groove wall of the accommodating groove 11, specifically, one end of the electromagnetic buckle 92 is connected to the groove wall of the accommodating groove 11, the other end of the electromagnetic buckle is abutted against the elastic sheet 91, the electromagnetic buckle 92 is elastically connected to the groove wall of the accommodating groove 11, and when the electromagnetic buckle is powered on, the electromagnetic buckle 92 can move in the direction of the groove wall of the accommodating groove 11. When the extending end 911 of the elastic sheet 91 is located in the accommodating groove 11, the electromagnetic buckle 92 abuts against the elastic sheet 91; when the electromagnetic buckle 92 is separated from the elastic sheet 91, the extending end 911 of the elastic sheet 91 extends out of the accommodating groove 11.

The first controller is electrically connected with the electromagnetic buckle 92, and the principle that the electromagnetic buckle 92 is controlled by the first controller to leave the elastic sheet 91 is as follows: the gyroscope has the function of detecting the acceleration, when the gyroscope detects the rapid change of the acceleration of the wall-climbing robot 100, the gyroscope transmits an acceleration signal to the first controller, the first controller is used for electrifying the electromagnetic buckle 92, after the electromagnetic buckle 92 is electrified, the electromagnetic buckle 92 moves in the direction away from the elastic sheet 91, after the electromagnetic buckle 92 is separated from the elastic sheet 91, the extending end 911 of the elastic sheet 91 extends out of the accommodating groove 11, so that the wall-climbing robot 100 and an aircraft are protected.

In a specific embodiment, the wall-climbing robot 100 further includes an inertial sensor, the inertial sensor also detects the acceleration of the wall-climbing robot 100, the inertial sensor is electrically connected to the first controller, and the first controller controls the electromagnetic latch 92 to release the extending end 911 of the elastic piece 91 according to the acceleration signal detected by the inertial sensor, so that the extending end 911 of the elastic piece 91 extends out of the accommodating groove 11.

Referring to fig. 7 and 11, in an embodiment, the protection device 90 includes an exhaust pipe 93, an exhaust switch 94, a plurality of air ducts 95 and a plurality of flow regulating valves 96, the exhaust pipe 93 has an air inlet 93A and an air outlet 93B, the air inlet 93A is connected to the air pump 43, and the exhaust switch 94 is disposed on the exhaust pipe 93 for controlling on/off of air flow between the air inlet 93A and the air outlet 93B; each air duct 95 is provided with an air jet 95A, one end of the air duct 95, which is far away from the air jet 95A, is connected with the exhaust pipe 93, the connecting position of the air duct 95 and the exhaust pipe 93 is positioned between the exhaust switch 94 and the air inlet 93A, and the plurality of air jets 95A are positioned at different positions of the support main body; a plurality of flow regulating valves 96 are provided on the gas duct 95 for controlling the flow of gas in the gas duct 95; the first controller is electrically connected with the exhaust switch 94 and the flow regulating valve 96, and the first controller controls the exhaust switch 94 to be closed according to an acceleration signal detected by the gyroscope, and controls the flow regulating valve 96 to regulate the gas flow in the corresponding gas guide tube 95.

According to the above embodiment, the air inlet 93A of the exhaust pipe 93 is connected to the air pump 43, and when the wall climbing robot 100 is located on the surface of the aircraft, the air pump 43 pumps the gas in the adsorption chamber F to the air inlet 93A and discharges the gas from the exhaust port 93B.

The exhaust switch 94 is used for controlling the on-off of the air flow between the air inlet 93A and the air outlet 93B, and when the exhaust switch 94 is opened, the air enters the exhaust pipe 93 from the air inlet 93A and is exhausted from the air outlet 93B; when the exhaust switch 94 is closed, gas enters the exhaust pipe 93 from the inlet port 93A but cannot be discharged from the exhaust port 93B.

A plurality of air ducts 95 have a plurality of air jets 95A, and a plurality of air jets 95A are located the different positions of supporting the main part respectively, and a plurality of air ducts 95 keep away from air jet 95A's one end and blast pipe 93 intercommunication, and gas can get into behind the blast pipe 93 from air inlet 93A from air jet 95A blowout, and a plurality of air ducts 95 are located between air discharge switch 94 and the air inlet 93A with the hookup location of blast pipe 93. After gas enters the exhaust pipe 93 from the gas inlet 93A, when the exhaust switch 94 is opened, the gas is discharged from the gas outlet 93B; when the exhaust switch 94 is closed, gas is ejected from the gas ejection port 95A.

In one embodiment, the number of air ducts 95 is eight, four air nozzles 95A are located on the surface of the support body remote from the aircraft and evenly distributed over the support body, and another four air nozzles 95A are located on the surface of the support body close to the aircraft and evenly distributed over the support body. In other embodiments, the number of air ducts 95 and the position of the air outlets 95A can be adjusted according to actual conditions.

The plurality of flow rate control valves 96 are provided to control the flow rate of the gas in the gas duct 95, and the flow rate control valves 96 are provided on the gas duct 95, so that the flow rate control valves 96 can control the volume of the gas ejected from the gas ejection ports 95A per unit time.

The exhaust switch 94 and the flow regulating valves 96 are electrically connected with a first controller, and the working principle of the first controller for controlling the exhaust switch 94 and the flow regulating valves 96 is as follows: the gyroscope can detect the angular acceleration of the pitch angle, the yaw angle and the roll angle of the wall climbing robot 100, that is, can detect the angular offset of each position of the wall climbing robot 100, when the gyroscope detects the angular offset of each position of the wall climbing robot 100 or the rapid change of the three angular accelerations, that is, the wall climbing robot 100 falls from the surface of the aircraft, the gyroscope transmits an angular offset signal or an angular acceleration signal to the first controller, the first controller closes the exhaust switch 94, at this time, the gas pumped by the air pump 43 is not the gas in the adsorption cavity F but the external air, the air pump 43 pumps the air to the exhaust pipe 93, the gas can only be ejected from the air ejection port 95A, the first controller adjusts the flow regulating valve 96, so that the air ejection ports 95A at different positions of the support body have different gas flow rates, when the wall climbing robot 100 falls, the angular acceleration and the angular offset of the portion of the wall-climbing robot 100 close to the ground are larger, and the gas flow rate of the gas ejection port 95A provided at a position where the angular acceleration and the angular offset change greatly is larger.

Referring to fig. 2-3, in one embodiment, when there are two negative pressure suction devices 40, two elevation adjustment devices 30 are connected to each negative pressure suction device 40.

Based on the above embodiment, the movement of the wall-climbing robot 100 from the fuselage to the wing is as follows: the descending direction of the wall climbing robot 100 is the retreating direction of the wall climbing robot 100, when the distance measuring sensor 50 at the rear end of the wall climbing robot 100 detects that the distance between the rear end of the supporting main body 10 and the surface of the aircraft is 2.5cm, the distance measuring sensor 50 transmits a distance measuring signal to the first controller, the first controller controls the fourth lifting adjusting device 30D to move downwards, the third lifting adjusting device moves upwards, the second negative pressure adsorption device 40B is rotatably connected with the supporting main body 10, the second negative pressure adsorption device 40B swings in the retreating direction of the wall climbing robot 100 under the action of inertia, the wall climbing robot 100 continues to move backwards until the second negative pressure adsorption device 40B is positioned on a lower step, and the first controller controls the air pressure in the adsorption cavity F at any time, so that the second negative pressure adsorption device 40B is attached to the surface of the aircraft; the first controller controls the second lifting adjusting device 30B to move downwards, the first lifting adjusting device 30A moves upwards, and the first negative pressure adsorption device 40A is rotatably connected with the supporting main body 10, so that the first negative pressure adsorption device 40A swings towards the direction in which the wall climbing robot 100 retreats under the action of inertia, the wall climbing robot 100 continues to move backwards until the first negative pressure adsorption device 40A is positioned on a lower step, and the wall climbing robot 100 completes the action of moving downwards on the step from top to bottom.

In other embodiments, the wall climbing robot 100 may be provided with a plurality of negative pressure adsorption devices 40, the plurality of negative pressure adsorption devices 40 are sequentially arranged in the advancing direction of the wall climbing robot 100, one negative pressure adsorption device 40 may be provided with a plurality of lifting adjustment devices 30, and the plurality of lifting adjustment devices 30 may make the negative pressure adsorption device 40 more stable when moving.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar elements; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.