SELF-MOVING APPARATUS AND MOVEMENT SURFACE DEFECT DETECTION AND CONTROL METHOD THEREFOR

摘要

A self-moving apparatus (B) and a movement surface defect detection and control method therefor. The self-moving apparatus (B) comprises a machine body (100). The machine body (100) is provided thereon with a control unit and is also provided with a movement surface defect detection apparatus (A). The apparatus (A) comprises a probe rod (200) movably provided on the machine body (100) of the self-moving apparatus (B). An airflow channel (230) is provided within the probe rod (200). The bottom extremity of the probe rod (200) is a free extremity. A cavity (220) is provided within the free extremity. The airflow channel (230) is in communication with the cavity (220) to form a small suction cup structure. A spring (300) is provided on the probe rod (200). The spring (300) is positioned between the machine body (100) and the free extremity. The cavity (220) is connected to an extremity of a vacuum sensing apparatus (600) via a tube (800). The vacuum sensing apparatus (600) is connected to a vacuuming apparatus (700) via the tube (800). The vacuum sensing apparatus (600) is connected to the control unit. The self-moving apparatus (B) is structurally simple and provides sensitive detection, allows for detection even with a gap, a projection, or a frameless border, and has stable performance and high accuracy.