High-rise building crack detector based on unmanned aerial vehicle and stair-climbing robot

Abstract

The invention relates to the technical field of high-rise building crack detection, and particularly discloses a high-rise building crack detector based on an unmanned aerial vehicle and a stair-climbing robot, the bottom of the stair-climbing robot is fixedly connected with an aircraft, and the side surface of the stair-climbing robot is fixedly connected with a contact component. According to the high-rise building crack detector based on the unmanned aerial vehicle and the stair-climbing robot, the sweeping assembly is arranged, when a second connecting arm drives a connecting plate to approach to a to-be-detected area and a sweeping brush makes contact with a wall surface, a first spring immediately generates stretching deformation, a sliding rod is promoted to flexibly slide in a connecting block, and through elastic adjustment of the spring, the sweeping assembly is arranged; the cleaning brush can be adaptively matched with wall surfaces with different flatness, it is ensured that the cleaning brush tightly abuts against an area to be detected all the time, efficient cleaning force can be kept even if the cleaning brush faces the uneven wall surfaces, and therefore a clean and reliable working face is provided for follow-up high-precision crack detection, and the accuracy and reliability of a detection result are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-rise building crack detection, and in particular to a high-rise building crack detector based on an unmanned aerial vehicle and a stair-climbing robot. Background Art

[0002] With the development of urbanization, the number of super-high-rise buildings (height > 100 meters) has increased sharply. Such buildings are affected by factors such as wind, earthquakes, and material aging, and have a higher risk of structural cracks, requiring regular inspections. Cracks may appear in complex locations such as exterior walls, roofs, and load-bearing columns, which are difficult to cover with traditional manual inspections. In addition, the development of cracks is time-sensitive. For example, temperature difference cracks change with the seasons and require dynamic monitoring. The limitations of traditional detection technology, as well as technological breakthroughs in the fields of drone navigation, robot adsorption, and intelligent perception, the integration of the two not only solves the application bottleneck of a single technology, but also promotes the upgrade of building inspections from "manual spot checks" to "full-area intelligent monitoring" through intelligent and automated means. It is one of the key technologies for the digital transformation of building operation and maintenance.

[0003] During crack inspection on the facades of high-rise buildings, excessive impurities in the cracks can seriously interfere with the accuracy and reliability of inspection. Fine particles such as dust and dirt can fill the cracks, preventing optical inspection equipment from clearly capturing the crack edge contours and leading to errors in measuring crack width and length. Accumulation of larger debris such as fallen leaves and moss can not only obscure the true direction of the cracks but can even completely mask their presence, resulting in missed inspections. Furthermore, in humid environments, the dirt formed by the mixture of impurities and water can alter the thermal radiation characteristics of the cracks, making it difficult for infrared thermal imagers to determine crack depth and internal structural damage based on temperature anomalies. These interfering factors not only reduce inspection efficiency but can also lead to misjudgments of the building's safety status due to inaccurate data, posing a significant safety hazard. Therefore, it is crucial to thoroughly clean the cracked area before inspection. Summary of the Invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: A high-rise building crack detector based on a drone and a stair-climbing robot, comprising: A stair-climbing robot, wherein the sides of the stair-climbing robot are rotatably connected to moving wheels, the bottom of the stair-climbing robot is fixedly connected to an aircraft, and the sides of the stair-climbing robot are fixedly connected to contact components; A connecting component, the connecting component is used to detect cracks in a building, the bottom of the connecting component being rotatably connected to the top of the aircraft; The connecting component includes a connecting seat, the inner side of the connecting seat is rotatably connected to a connecting arm 1, the other end of the connecting arm 1 is fixedly connected to a detection mechanism, the inner side of the connecting seat away from the connecting arm 1 is rotatably connected to a connecting arm 2, the other side of the connecting arm 2 is fixedly connected to a cleaning mechanism; When the stair-climbing robot moves to the target position on the outer layer of the building, it controls the second connecting arm to drive the cleaning mechanism to clean the detection area. At the same time, the remote control device controls the rotation of the connecting seat, so that the first connecting arm drives the detection mechanism to detect building cracks in the area. Preferably, the cleaning mechanism includes a connecting plate, a side surface of the connecting plate is fixedly connected to a bracket, a side surface of the bracket is fixedly connected to one end of the second connecting arm, a middle portion of the bracket is fixedly connected to a driving member, an inner side of the connecting plate is slidably connected to a cleaning assembly, a side of the bracket away from the driving member is rotatably connected to a scratching assembly, and an output end of the driving member is fixedly connected to the scratching assembly; During the crack detection process of high-rise buildings, after the climbing robot is in place, the connecting arm 2 will drive the bracket to move to the area to be detected. At the same time, the connecting arm 2 will synchronously drive the cleaning component to perform a preliminary cleaning of the surface of the area. If there are a lot of impurities in the area to be detected, the driver can be started by remote control, and the output end of the driver can be used to drive the scratch component to stick to the surface of the area for deep cleaning, so as to ensure the cleanliness of the detection area and guarantee the integrity and accuracy of the detection work. Preferably, the cleaning assembly includes a connecting block, both ends of the connecting block are fixedly connected to the inner side of the connecting plate, the inner side of the connecting block is slidably connected to a sliding rod, the other end of the sliding rod is fixedly connected to a cleaning brush, a first spring is sleeved on the sliding rod, one end of the first spring is fixedly connected to the side surface of the connecting block, and the other end of the first spring is fixedly connected to the side surface of the cleaning brush; Preferably, in the crack detection operation of high-rise buildings, after the climbing robot arrives at the designated position, the connecting arm 2 will drive the connecting plate to move accurately to the area to be detected. At this time, the sliding rod drives the cleaning brush to move synchronously, and as the climbing robot moves, the connecting arm 2 continuously drives the cleaning brush to stick to the surface of the area to be detected through the sliding rod, and performs dynamic cleaning to remove dust, debris and other impurities in the area to be detected, so as to prevent them from adhering to the crack surface and interfering with the accuracy of subsequent detection, and to prevent misjudgment of key data such as crack width and direction due to impurity coverage; Preferably, when the second connecting arm drives the connecting plate toward the area to be inspected and the cleaning brush contacts the wall, the first spring immediately generates a tensile deformation, prompting the sliding rod to slide flexibly in the connecting block. Through the elastic adjustment of the spring, it can adaptively match the wall surfaces of different flatnesses, ensuring that the cleaning brush always closely contacts the area to be inspected. Even when facing uneven walls, it can maintain efficient cleaning force, thereby providing a clean and reliable working surface for subsequent high-precision crack detection, and improving the accuracy and reliability of the detection results. Preferably, the scratch assembly includes a circular plate, the side surface of the circular plate is fixedly connected to the output end of the driving member, the side surface of the circular plate is evenly provided with a give way groove, the side of the circular plate away from the give way groove is evenly provided with a sliding groove, both sides of the inner cavity of the sliding groove are slidably connected with a sliding rod, the other end of the sliding rod is fixedly connected to the scratch plate, the number of the scratch plates is four, and the four scratch plates are evenly arranged from high to low with the circular plate as the center, a second spring is sleeved on the sliding rod, one end of the second spring is fixedly connected to the inner wall of the sliding groove, and the other end of the second spring is fixedly connected to the side surface of the scratch plate; Preferably, after completing the preliminary cleaning, if there are still stubborn impurities such as cement residues, hardened stains, etc. in the area to be inspected, the driving member can be started, and the output end of the driving member drives the circular plate to rotate, and the transmission of the connecting arm 2 and the connecting plate makes the scratch plate closely fit the surface of the area to be inspected. At this time, the continuous rotation of the circular plate will drive the scratch plate to scrape back and forth, effectively breaking the attachment of stubborn impurities, avoiding them from blocking the details of the cracks, resulting in problems such as missed detection and misjudgment in subsequent inspections, and ensuring that the inspection data truly reflects the condition of the building; Preferably, when the scratch plate contacts the wall, when encountering a protrusion or resistance, the scratch plate is squeezed by the force, pushing the slide bar to retract along the slide groove, and simultaneously compressing the second spring. This elastic buffer design can ensure that the scratch plate continuously acts on stubborn impurities with appropriate force, preventing damage to the building surface coating or structure due to excessive pressure, and can also ensure that the scratch plate always fits the wall through the automatic reset characteristic of the spring, thereby achieving efficient removal of stubborn impurities around complex-shaped cracks; Preferably, the contact component includes a contact frame, the side surface of the contact frame is fixedly connected to the stair-climbing robot, both sides of the contact frame are slidably connected to a connecting shaft, the other end of the connecting shaft is fixedly connected to a mounting plate, the upper and lower sides of the mounting plate are slidably connected to the inner side of the contact frame, the side surface of the mounting plate is evenly provided with square grooves, a third spring is sleeved on the connecting shaft, one end of the third spring is fixedly connected to the inner side of the contact frame, the other end of the third spring is fixedly connected to the side surface of the mounting plate, and the middle part of the mounting plate is rotatably connected to the scraper assembly; Preferably, when the stair-climbing robot relies on the moving wheels to climb the facade of the building, the mounting plate is always pressed against the side of the moving wheel through the connecting shaft with the help of the tensile force of the third spring. At the same time, when the roller rolls, the scraper assembly built into the mounting plate will synchronously clean the side of the moving wheel dynamically, avoiding the accumulation of dust, gravel and other impurities on the surface of the moving wheel, preventing the reduction of friction, movement jamming and even damage to the wheel body structure caused by impurities embedded in the wheel surface, thereby improving the stability and reliability of the stair-climbing robot when moving on complex building surfaces; Preferably, the elastic buffer mechanism of the third spring can ensure that the scraper and the wheel surface maintain appropriate contact pressure, effectively removing impurities while avoiding aggravated wheel wear due to excessive pressure; it can also adapt to the subtle undulations of the building surface, ensuring that the scraper continues to fit the wheel surface, achieving long-term cleaning, and keeping the moving wheel clean even in dusty and rough wall working environments; Preferably, the scraper assembly includes a rotating cylinder, both ends of the rotating cylinder are rotatably connected to the inner side of the square groove, both sides of the rotating cylinder are slidably connected to a connecting rod, the other end of the connecting rod is fixedly connected to an arc plate, both sides of the arc plate are fixedly connected to scrapers, a fourth spring is sleeved on the connecting rod, one end of the fourth spring is fixedly connected to the side of the arc plate close to the connecting rod, the other end of the fourth spring is fixedly connected to the side of the rotating cylinder, rotating grooves are opened on both sides of the circular arc plate, and the inner side of the rotating groove is rotatably connected to the wiping cylinder.

[0005] The present invention provides a high-rise building crack detector based on a drone and a stair-climbing robot. It has the following beneficial effects: 1. This high-rise building crack detector based on a drone and a stair-climbing robot is equipped with a cleaning component. When the second connecting arm drives the connecting plate toward the area to be inspected and the cleaning brush contacts the wall, the first spring immediately produces a tensile deformation, prompting the sliding rod to slide flexibly within the connecting block. Through the elastic adjustment of the spring, it can adaptively match the wall surface of different flatness, ensuring that the cleaning brush always closely contacts the area to be inspected. Even when facing uneven walls, it can maintain efficient cleaning force, thereby providing a clean and reliable working surface for subsequent high-precision crack detection, improving the accuracy and reliability of the detection results.

[0006] 2. This high-rise building crack detector based on drones and stair-climbing robots is equipped with a scratch component. Four scratch plates are evenly arranged from high to low with a circular plate as the center, forming a three-dimensional, multi-angle cleaning coverage. Compared with a single scratch plate, this layout can simultaneously clean stubborn impurities at different heights and angles. It is especially suitable for uneven building surfaces, reducing cleaning dead corners and further improving the efficiency of removing stubborn impurities.

[0007] 3. This high-rise building crack detector based on a drone and a stair-climbing robot is equipped with a contact component. When the stair-climbing robot climbs the building facade using its moving wheels, the mounting plate, with the help of the tensile force of a third spring, always presses against the side of the moving wheel through the connecting shaft. At the same time, as the roller rolls, the scraper assembly built into the mounting plate will dynamically clean the side of the moving wheel, avoiding the accumulation of large amounts of impurities such as dust and gravel on the surface of the moving wheel. This prevents impurities from embedding in the wheel surface, causing a decrease in friction, movement jamming, and even damage to the wheel body structure. This improves the stability and reliability of the stair-climbing robot when moving on complex building surfaces.

[0008] 4. This high-rise building crack detector based on a drone and a stair-climbing robot is equipped with a scraper assembly. When the moving wheels drive the stair-climbing robot to climb the building facade, the moving wheels contact the mounting plate in the contact frame and generate relative rotation, driving the rotating cylinder to press the scrapers on both sides onto the side of the moving wheel through the arc plate. The scraper assembly can scrape off impurities such as mud, sand, and water stains attached to the surface of the moving wheel in real time during its movement, avoiding the decrease in friction and loss of transmission efficiency caused by the accumulation of impurities, and ensuring the stable operation of the stair-climbing robot in complex exterior wall environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic structural diagram of a high-rise building crack detector based on a drone and a stair-climbing robot according to the present invention; Figure 2 is an axonometric view of the present invention; Figure 3 Schematic diagram of the structure of the aircraft of the present invention; Figure 4 It is a structural schematic diagram of the connecting component of the present invention; Figure 5 It is a structural schematic diagram of the cleaning mechanism of the present invention; Figure 6 It is a structural schematic diagram of the cleaning component of the present invention; Figure 7 Schematic diagram of the structure of the scratch assembly of the present invention; Figure 8 It is a structural schematic diagram of the contact component of the present invention; Figure 9 It is a structural schematic diagram of the mounting plate of the present invention; Figure 10 It is a structural schematic diagram of the scraper assembly of the present invention.

[0010] In the figure: 1. stair climbing robot; 2. moving wheels; 3. aircraft; 4. connecting parts; 41. connecting seat; 42. connecting arm 1; 43. detection mechanism; 44. connecting arm 2; 45. cleaning mechanism; 451. connecting plate; 452. bracket; 453. driving member; 454. cleaning assembly; 4541. connecting block; 4542. sliding rod; 4543. cleaning brush; 4544. first spring; 455. scratching assembly; 4551. round Plate; 4552, give way groove; 4553, sliding groove; 4554, sliding rod; 4555, scratch plate; 4556, second spring; 5, contact component; 51, contact frame; 52, mounting plate; 53, square groove; 54, connecting shaft; 55, third spring; 56, scraper assembly; 561, rotating cylinder; 562, connecting rod; 563, arc plate; 564, rotating groove; 565, wiping cylinder; 566, scraper; 567, fourth spring. DETAILED DESCRIPTION

[0011] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0012] See also Figure 1-Figure 3 The present invention provides a technical solution: a high-rise building crack detector based on a drone and a climbing robot, comprising: The stair-climbing robot 1 has movable wheels 2 rotatably connected to the sides of the stair-climbing robot 1, an aircraft 3 fixedly connected to the bottom of the stair-climbing robot 1, and a contact component 5 fixedly connected to the side of the stair-climbing robot 1; A connecting component 4 is used to detect cracks in buildings, and the bottom of the connecting component 4 is rotatably connected to the top of the aircraft 3; See also Figures 1-4 The connecting component 4 includes a connecting seat 41, the inner side of the connecting seat 41 is rotatably connected to a connecting arm 1 42, the other end of the connecting arm 1 42 is fixedly connected to a detection mechanism 43, the inner side of the connecting seat 41 away from the connecting arm 1 42 is rotatably connected to a connecting arm 2 44, and the other side of the connecting arm 2 44 is fixedly connected to a cleaning mechanism 45; When the stair-climbing robot 1 moves to the target position on the outer layer of the building, it controls the second connecting arm 44 to drive the cleaning mechanism 45 to clean the detection area. At the same time, the remote control device controls the connection base 41 to rotate, thereby causing the first connecting arm 42 to drive the detection mechanism 43 to detect building cracks in the area. See also Figure 1-Figure 5 The cleaning mechanism 45 includes a connecting plate 451, a side of the connecting plate 451 is fixedly connected to a bracket 452, a side of the bracket 452 is fixedly connected to one end of the connecting arm 44, a middle part of the bracket 452 is fixedly connected to a driving member 453, the inner side of the connecting plate 451 is slidably connected to a cleaning assembly 454, a side of the bracket 452 away from the driving member 453 is rotatably connected to a scratching assembly 455, and the output end of the driving member 453 is fixedly connected to the scratching assembly 455; During the crack detection process of high-rise buildings, after the climbing robot 1 is in place, the connecting arm 2 44 will drive the bracket 452 to move to the area to be detected. At the same time, the connecting arm 2 44 will synchronously drive the cleaning component 454 to perform a preliminary cleaning of the surface of the area. If there are a lot of impurities in the area to be detected, the driving component 453 can be started by remote control, and the output end of the driving component 453 can be used to drive the scratching component 455 to stick to the surface of the area for deep cleaning, so as to ensure the cleanliness of the detection area and the integrity and accuracy of the detection work. See also Figures 1-6 The cleaning assembly 454 includes a connecting block 4541, both ends of which are fixedly connected to the inner side of the connecting plate 451, a sliding rod 4542 is slidably connected to the inner side of the connecting block 4541, and the other end of the sliding rod 4542 is fixedly connected to the cleaning brush 4543, and a first spring 4544 is sleeved on the sliding rod 4542, one end of the first spring 4544 is fixedly connected to the side of the connecting block 4541, and the other end of the first spring 4544 is fixedly connected to the side of the cleaning brush 4543; During the crack detection operation of a high-rise building, after the climbing robot 1 arrives at the designated position, the second connecting arm 44 will drive the connecting plate 451 to move accurately to the area to be detected. At this time, the sliding rod 4542 drives the cleaning brush 4543 to move synchronously. As the climbing robot 1 moves forward, the second connecting arm 44 continuously drives the cleaning brush 4543 to closely adhere to the surface of the area to be detected through the sliding rod 4542, performing dynamic cleaning to remove dust, debris and other impurities in the area to be detected, so as to prevent them from adhering to the crack surface and interfering with the accuracy of subsequent detection, thereby preventing misjudgment of key data such as crack width and direction due to impurity coverage; When the second connecting arm 44 drives the connecting plate 451 toward the area to be inspected and the cleaning brush 4543 contacts the wall, the first spring 4544 is immediately stretched and deformed, causing the sliding rod 4542 to slide flexibly in the connecting block 4541. Through the elastic adjustment of the spring, it can adaptively match the wall surfaces of different flatness, ensuring that the cleaning brush 4543 always closely contacts the area to be inspected. Even when facing uneven walls, it can maintain efficient cleaning force, thereby providing a clean and reliable working surface for subsequent high-precision crack detection, and improving the accuracy and reliability of the detection results. See also Figure 1-Figure 7 The rubbing assembly 455 includes a circular plate 4551, the side of the circular plate 4551 is fixedly connected to the output end of the driving member 453, and the side of the circular plate 4551 is evenly provided with a give way groove 4552, and the side of the circular plate 4551 away from the give way groove 4552 is evenly provided with a sliding groove 4553. Both sides of the inner cavity of the sliding groove 4553 are slidably connected with a sliding rod 4554, and the other end of the sliding rod 4554 is fixedly connected to the rubbing plate 4555. There are four scratching plates 4555, and the four scratching plates 4555 are evenly arranged from high to low with the circular plate 4551 as the center. A second spring 4556 is sleeved on the sliding rod 4554, and one end of the second spring 4556 is fixedly connected to the inner wall of the sliding groove 4553, and the other end of the second spring 4556 is fixedly connected to the side of the scratching plate 4555; After completing the preliminary cleaning, if there are still stubborn impurities such as cement residues, hardened stains, etc. in the area to be inspected, the driving member 453 can be started. The output end of the driving member 453 drives the circular plate 4551 to rotate. Through the transmission of the connecting arm 2 44 and the connecting plate 451, the scratch plate 4555 is tightly attached to the surface of the area to be inspected. At this time, the continuous rotation of the circular plate 4551 will drive the scratch plate 4555 to scrape back and forth, effectively breaking the attachment of stubborn impurities, avoiding them from blocking the details of the cracks, resulting in problems such as missed detection and misjudgment in subsequent inspections, and ensuring that the inspection data truly reflects the condition of the building. When the scratch plate 4555 encounters a bump or resistance during contact with the wall, the scratch plate 4555 is squeezed by the pressure, pushing the slide bar 4554 inward along the slide groove 4553, and simultaneously compressing the second spring 4556. This elastic buffer design can ensure that the scratch plate 4555 continuously acts on stubborn impurities with appropriate force, preventing damage to the building surface coating or structure due to excessive pressure. At the same time, the automatic reset feature of the spring ensures that the scratch plate 4555 always fits the wall surface, achieving efficient removal of stubborn impurities around complex cracks. See also Figures 1-9 The present invention provides a technical solution: the contact component 5 includes a contact frame 51, the side of the contact frame 51 is fixedly connected to the stair-climbing robot 1, both sides of the contact frame 51 are slidably connected to a connecting shaft 54, the other end of the connecting shaft 54 ​​is fixedly connected to a mounting plate 52, the upper and lower sides of the mounting plate 52 are slidably connected to the inner side of the contact frame 51, the side of the mounting plate 52 is evenly provided with square grooves 53, a third spring 55 is sleeved on the connecting shaft 54, one end of the third spring 55 is fixedly connected to the inner side of the contact frame 51, the other end of the third spring 55 is fixedly connected to the side of the mounting plate 52, and the middle part of the mounting plate 52 is rotatably connected to a scraper assembly 56; When the stair-climbing robot 1 climbs the building facade by means of the moving wheels 2, the mounting plate 52, with the help of the tensile force of the third spring 55, always presses against the side of the moving wheel 2 through the connecting shaft 54. At the same time, when the roller rolls, the scraper assembly 56 built into the mounting plate 52 will dynamically clean the side of the moving wheel 2, thereby preventing the accumulation of dust, gravel and other impurities on the surface of the moving wheel 2. This prevents the impurities from embedding in the wheel surface, causing a decrease in friction, movement jamming, and even damage to the wheel body structure, thereby improving the stability and reliability of the stair-climbing robot 1 when moving on complex building surfaces. See also Figures 1-10, the scraper assembly 56 includes a rotating cylinder 561, both ends of the rotating cylinder 561 are rotatably connected to the inner side of the square groove 53, both sides of the rotating cylinder 561 are slidably connected to a connecting rod 562, the other end of the connecting rod 562 is fixedly connected to a circular arc plate 563, both sides of the circular arc plate 563 are fixedly connected to scrapers 566, a fourth spring 567 is sleeved on the connecting rod 562, one end of the fourth spring 567 is fixedly connected to a side of the circular arc plate 563 close to the connecting rod 562, the other end of the fourth spring 567 is fixedly connected to the side of the rotating cylinder 561, and a rotating groove 564 is opened on both sides of the circular arc plate 563, and the inner side of the rotating groove 564 is rotatably connected to the wiping cylinder 565; When the moving wheels 2 drive the stair-climbing robot 1 to climb the facade of a building, the moving wheels 2 contact the mounting plate 52 in the contact frame 51 and rotate relative to each other, driving the rotating cylinder 561 to press the scrapers 566 on both sides against the sides of the moving wheels 2 via the arc plates 563. This can scrape off impurities such as mud, sand, and water stains attached to the surface of the moving wheels 2 in real time during their movement, avoiding a decrease in friction and loss of transmission efficiency due to the accumulation of impurities, thereby ensuring the stable operation of the stair-climbing robot 1 in complex exterior wall environments. During the contact process between the scraper 566 and the moving wheel 2, if the extrusion force between the two exceeds the preset tension threshold of the fourth spring 567, the spring will automatically contract, pulling the arc plate 563 toward the inside of the rotating cylinder 561 through the connecting rod 562, thereby preventing pressure overload between the scraper 566 and the moving wheel 2 and avoiding scratches, wear and other damage to the wheel surface caused by excessive extrusion. This ensures the impurity cleaning effect, extends the service life of the moving wheel 2, and reduces equipment maintenance costs. In addition, the wiping cylinders 565 arranged on both sides of the arc plate 563 can simultaneously dry-wipe the sides of the moving wheel 2 after the scraper 566 completes the initial cleaning, avoiding the risk of slipping caused by residual water stains, especially on rainy days or in a humid environment on the exterior walls of buildings. By keeping the wheel surface dry, the grip and safety of the climbing robot 1 during climbing are improved, ensuring that the inspection operation is carried out efficiently and stably.

[0013] Specific workflow: Use Aircraft 3 to plan a flight path around a high-rise building, setting a circling flight trajectory to cover the entire building facade and ensure there are no blind spots. Adjust flight altitude and speed based on building height and structural complexity to avoid image blur caused by flying too fast; Use a high-resolution camera to capture images of the building's facade, focusing on areas prone to cracking, such as door and window edges, wall corners, and decorative lines. Use continuous shooting mode to ensure an image overlap rate of ≥70%, providing a foundation for subsequent 3D modeling. Electromagnets are used to generate an adsorption force between the bottom of the stair-climbing robot 1 and the metal or magnetic surface. For permanent magnet adsorption, the permanent magnet itself has a fixed magnetic property and can continuously provide adsorption force. The electromagnet adjusts the magnetic force by controlling the current to achieve different adsorption requirements. When the stair-climbing robot 1 moves, the side surfaces of the moving wheels 2 are cleaned by the contact component 5 at the same time; Connecting component 4 uses an infrared thermal imager to detect abnormal temperature areas on the wall, such as temperature gradient changes caused by leakage points or structural defects, to preliminarily locate potential crack-related hazards; Connector 4 uses oblique photography technology to generate a three-dimensional point cloud model and digital twin of the building facade with centimeter-level accuracy for subsequent crack location and size measurement; The connecting component 4 calculates the three-dimensional coordinates of the crack through the parallax principle, measures the width, depth and extension direction of the crack, and takes close-up images to capture the subtle features of the crack edge; The connecting component 4 emits a laser beam to scan the crack surface, generates a crack cross-sectional profile through triangulation, and records the changes in the crack to determine the activity of the crack; For cracks suspected of internal defects, ultrasonic waves are transmitted through the wall. Based on the echo signal, the system analyzes whether there are hidden dangers such as hollowing and steel bar corrosion inside the wall, and assists in determining the cause of the cracks. The connecting component 4 transmits the detection data to the ground control terminal in real time. The operator can remotely monitor the detection process and instruct the robot to repeat the detection or adjust the angle for abnormal areas. Import the 3D model of the aircraft 3, infrared thermal imaging data, and high-precision detection data of the stair-climbing robot 1 into a unified GIS platform and match them through spatial coordinates; Establish a crack database, assign a unique ID to each crack, and associate its location, size, morphology, temperature characteristics, and surrounding environmental parameters; A deep learning model is used to perform pixel-level classification on crack images, automatically distinguishing between structural and non-structural cracks, and labeling the crack types.

[0014] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without making creative efforts should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention shall be implemented in accordance with conventional means in the field unless otherwise specified or limited.

Claims

1. A high-rise building crack detector based on drones and stair-climbing robots, characterized in that: include: A stair-climbing robot (1), wherein the sides of the stair-climbing robot (1) are rotatably connected to moving wheels (2), the bottom of the stair-climbing robot (1) is fixedly connected to an aircraft (3), and the sides of the stair-climbing robot (1) are fixedly connected to contact components (5); A connecting component (4), the connecting component (4) is used to detect cracks in a building, and the bottom of the connecting component (4) is rotatably connected to the top of the aircraft (3); The connecting component (4) includes a connecting seat (41), the inner side of the connecting seat (41) is rotatably connected to a connecting arm 1 (42), the other end of the connecting arm 1 (42) is fixedly connected to a detection mechanism (43), the inner side of the connecting seat (41) away from the connecting arm 1 (42) is rotatably connected to a connecting arm 2 (44), and the other side of the connecting arm 2 (44) is fixedly connected to a cleaning mechanism (45); The cleaning mechanism (45) comprises a connecting plate (451), a side of the connecting plate (451) is fixedly connected to a bracket (452), a side of the bracket (452) is fixedly connected to one end of the second connecting arm (44), a middle portion of the bracket (452) is fixedly connected to a driving member (453), an inner side of the connecting plate (451) is slidably connected to a cleaning assembly (454), a side of the bracket (452) away from the driving member (453) is rotatably connected to a scratching assembly (455), and an output end of the driving member (453) is fixedly connected to the scratching assembly (455).

2. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 1, characterized in that: The cleaning assembly (454) comprises a connecting block (4541), the inner side of the connecting block (4541) is slidably connected to a sliding rod (4542), the other end of the sliding rod (4542) is fixedly connected to a cleaning brush (4543), and a first spring (4544) is sleeved on the sliding rod (4542).

3. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 2, characterized in that: Both ends of the connecting block (4541) are fixedly connected to the inner side of the connecting plate (451), one end of the first spring (4544) is fixedly connected to the side of the connecting block (4541), and the other end of the first spring (4544) is fixedly connected to the side of the cleaning brush (4543).

4. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 1, characterized in that: The scratch assembly (455) includes a circular plate (4551), a side of the circular plate (4551) is evenly provided with a clearance groove (4552), a side of the circular plate (4551) away from the clearance groove (4552) is evenly provided with a sliding groove (4553), both sides of the inner cavity of the sliding groove (4553) are slidably connected to a sliding rod (4554), the other end of the sliding rod (4554) is fixedly connected to the scratch plate (4555), and a second spring (4556) is sleeved on the sliding rod (4554).

5. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 4, characterized in that: The side surface of the circular plate (4551) is fixedly connected to the output end of the driving member (453), the number of the scratch plates (4555) is four, and the four scratch plates (4555) are evenly arranged from high to low with the circular plate (4551) as the center, one end of the second spring (4556) is fixedly connected to the inner wall of the sliding groove (4553), and the other end of the second spring (4556) is fixedly connected to the side surface of the scratch plate (4555).

6. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 1, characterized in that: The contact component (5) includes a contact frame (51), the side of the contact frame (51) is fixedly connected to the stair-climbing robot (1), both sides of the contact frame (51) are slidably connected to a connecting shaft (54), the other end of the connecting shaft (54) is fixedly connected to a mounting plate (52), the side of the mounting plate (52) is evenly provided with square grooves (53), a third spring (55) is sleeved on the connecting shaft (54), and the middle of the mounting plate (52) is rotatably connected to a scraper assembly (56).

7. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 6, characterized in that: The upper and lower sides of the mounting plate (52) are both slidably connected to the inner side of the contact frame (51), one end of the third spring (55) is fixedly connected to the inner side of the contact frame (51), and the other end of the third spring (55) is fixedly connected to the side of the mounting plate (52).

8. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 6, characterized in that: The scraper assembly (56) comprises a rotating cylinder (561), both sides of the rotating cylinder (561) are slidably connected to connecting rods (562), the other end of the connecting rod (562) is fixedly connected to a circular arc plate (563), both sides of the circular arc plate (563) are fixedly connected to scrapers (566), a fourth spring (567) is sleeved on the connecting rod (562), both sides of the circular arc plate (563) are provided with rotating grooves (564), and the inner side of the rotating groove (564) is rotatably connected to a wiping cylinder (565).

9. The high-rise building crack detector based on a drone and a stair-climbing robot according to claim 8, characterized in that: Both ends of the rotating cylinder (561) are rotatably connected to the inner side of the square groove (53), one end of the fourth spring (567) is fixedly connected to a side of the arc plate (563) close to the connecting rod (562), and the other end of the fourth spring (567) is fixedly connected to the side of the rotating cylinder (561).

Images