High-rise building outer wall hollow detection and repair integrated robot and working method

Abstract

The application discloses a high-rise building outer wall hollowing detection and repair integrated robot and a working method, relates to the technical field of intelligent operation and maintenance of building outer walls and high-altitude automatic operation robots, and comprises a robot which takes a construction basket main body as a carrier, and integrates a hollowing detection layer, an adsorption fixing layer and a hollowing repair layer. The hollowing detection layer drives multiple groups of knockers to mechanically knock the outer wall through a rotating shaft, a signal acquisition instrument collects sound signals, an edge calculator performs real-time spectrum analysis and determines the hollowing position and degree in combination with a built-in acoustic characteristic database; the adsorption fixing layer firmly connects the basket and the wall surface through multiple groups of electric telescopic suction disc devices; the hollowing repair layer locks the three-dimensional position of the hollowing through a high-precision GNSS positioning module and a horizontal position locator, an intelligent drilling device is provided with a depth sensor to accurately drill holes, an intelligent grouting / gel device is integrated with pressure and flow sensors to realize closed-loop control, and secondary knocking detection is performed to verify the repair effect. The application realizes the full-process automation of detection, positioning, repair and verification, has high detection precision, good repair quality and high efficiency.

Description

Technical Field

[0001] This invention relates to the fields of intelligent operation and maintenance of building exterior walls and automated high-altitude operation robots, and more specifically to the fields of integrated robots and working methods for detecting and repairing hollow areas in the exterior walls of high-rise buildings. Background Technology

[0002] The exterior wall insulation and finishing layers of high-rise buildings are constantly affected by environmental temperature differences, wind and rain erosion, structural settlement, and material aging, making them highly susceptible to defects such as interlayer separation and internal hollowing. Exterior wall hollowing is a high-risk, hidden defect that cannot be directly identified by the naked eye. If it is not detected and reinforced for a long time, it can lead to loosening, cracking, and detachment of the exterior wall finishing layer, causing falling object accidents and seriously threatening pedestrian safety and the building's lifespan. Therefore, it is a core rectification project for the daily operation and maintenance and safety inspection of high-rise buildings.

[0003] Currently, the maintenance of wall hollowing is still mainly carried out using traditional manual methods, which have many unavoidable technical defects and safety hazards. 1) High-altitude operations are extremely unsafe. Currently, hollow area detection and repair rely on manual labor in suspended baskets and climbing to work at heights. Accidents of falling from heights and falling materials occur frequently. Construction is impossible in bad weather, and the risk of operation is extremely high. 2) Hollow spot detection has low accuracy and is highly subjective. Traditional operations rely on manual hand tools to tap the wall and judge hollow spots by listening experience. There is no standardized detection and judgment standard. Minor hollow spots and edge hollow spots are easy to be missed or misjudged, and it is impossible to accurately define the specific range of hollow spots. 3) Separation of inspection and repair operations: Whether it is manual inspection and marking or hollow detection by wall-climbing robots or drones, a second entry is required to carry out grouting repair operations. The process is complicated, the construction period is long, the labor cost is high, and the alignment deviation between marking and repair is large. 4) The quality of manual grouting repair is not standardized. The drilling depth, grouting pressure and grout filling amount are entirely controlled by manual labor, which can easily lead to problems such as drilling too deep and damaging the wall, insufficient grouting, and secondary delamination, resulting in poor repair durability.

[0004] In recent years, with the development of intelligent building operation and maintenance technology, some scholars and engineers have attempted to use automated methods for detecting hollow areas in exterior walls. For example, infrared thermal imaging technology is used to identify hollow areas by detecting temperature differences on the exterior wall surface. However, this method is greatly affected by ambient temperature and sunlight conditions, resulting in limited detection accuracy. Other studies have used ultrasonic detection technology for hollow detection, but ultrasonic waves attenuate significantly when propagating on complex building facades and require coupling agents, making implementation difficult under high-altitude conditions. Furthermore, existing wall-climbing robots mostly focus on single functions, such as exterior wall cleaning, coating inspection, or localized repair, lacking an integrated solution that organically combines hollow detection and repair functions.

[0005] In terms of hollow wall repair, existing automated grouting equipment is mainly used indoors or in areas accessible from the ground. For high-rise building exterior wall construction, there is no mature automated repair equipment. Traditional manual grouting repair suffers from quality problems such as unstable grouting pressure, grout ratio deviation, and incomplete filling. Furthermore, there is a lack of effective quality verification methods after repair, leading to the recurrence of hollow wall defects.

[0006] Therefore, developing a robot for repairing hollow exterior walls of high-rise buildings that integrates acoustic detection of hollow areas, intelligent positioning, adsorption fixation, and automated drilling and grouting repair, and automating the entire process of detection, positioning, repair, and verification, has significant engineering value and practical significance for improving the efficiency of building exterior wall maintenance, ensuring the safety of high-altitude operations, and improving repair quality. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problems of poor safety, low accuracy, and separate procedures in the detection and repair of hollow exterior walls of high-rise buildings in the existing technology. This invention provides an integrated robot and working method for the detection and repair of hollow exterior walls of high-rise buildings.

[0008] To achieve the above objectives, the present invention specifically adopts the following technical solution: One aspect of the present invention provides an integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings, comprising a suspended platform body, a hollow area detection layer installed on the suspended platform body for real-time tapping of the exterior wall and identifying hollow areas based on acoustic signal analysis, an adsorption and fixing layer installed on the suspended platform body for adsorbing and fixing the suspended platform body to the exterior wall surface after detecting hollow areas, a hollow area repair layer installed on the suspended platform body for drilling and grouting / adhesive repair of the identified hollow areas, a power supply box for power supply, and a storage box for storing grout / adhesive materials; The hollow repair layer includes a high-definition panoramic camera, an intelligent drill, an intelligent grouting / adhesive injector, a high-precision GNSS positioning module, and a guide rail. The guide rail is horizontally arranged on the main body of the suspended platform. The intelligent drill and the intelligent grouting / adhesive injector are slidably engaged with the main body of the suspended platform. The high-definition panoramic camera and the high-precision GNSS positioning module are arranged on the side of the main body of the suspended platform near the outer wall. The high-precision GNSS positioning module is used to lock the vertical height position of the hollow area. The intelligent drill bit includes a first start receiver, a first horizontal position locator, a first telescopic rod and a drill bit connected in sequence. The intelligent drill bit moves to the hollow position via the guide rail, the horizontal position is determined by the first horizontal position locator, and the drill bit is brought into contact with the hollow part of the external wall and drilled through the first telescopic rod. The intelligent grouting / glueing device includes a second start receiver, a second horizontal position locator, a second telescopic rod, and a grouting / glueing head; The intelligent grouting / adhesive injector moves to the drilling position via the guide rail, and its horizontal position is determined by the second horizontal position locator. The second telescopic rod brings the grouting / adhesive head into contact with the drilling site, injecting the grout or adhesive stored in the storage box into the hollow area. The high-definition panoramic camera is used to observe the repair process in real time. The power supply box provides power to all electrical components.

[0009] In one embodiment, the hollow detection layer includes a rotating shaft, a tapper, a signal acquisition device, and an edge calculator; the rotating shaft is laterally rotatably mounted on the main body of the suspended basket, and the tapper is radially mounted on the rotating shaft; The tapping device includes a third telescopic rod connected to the rotating shaft and a tapping ball connected to the free end of the third telescopic rod. The length of the third telescopic rod is adapted according to the distance between the main body of the suspended basket and the wall. The tapping ball is driven by the rotating shaft to tap the exterior wall and generate a tapping sound. The signal acquisition instrument is used to collect the tapping sound signal generated by the tapping device. The edge calculator is electrically connected to the signal acquisition instrument and is used to analyze the spectral characteristics of the collected tapping sound signal in real time to determine whether there is a hollow area on the wall and the location of the hollow area.

[0010] In one embodiment, the adsorption and fixing layer includes multiple electrically operated telescopic suction cups installed on the main body of the suspended platform. Each of the electrically operated telescopic suction cups includes a receiver, a fourth telescopic rod, and a suction cup head arranged sequentially. When a hollow area is detected that needs to be repaired, the edge calculator sends a command to the receiver, and the fourth telescopic rod extends to make the suction cup head fit tightly against the outer wall surface. A vacuum negative pressure is formed inside the suction cup head, so that the main body of the suspended platform and the outer wall surface are integrated through the electrically operated telescopic suction cups, providing support for the repair of the hollow area.

[0011] In one embodiment, multiple percussion devices are provided, and the multiple percussion devices are distributed along the rotation axis. Each percussion device corresponds to a different percussion frequency range. The edge calculator comprehensively determines the range and degree of the hollow area by comparing the energy distribution differences of the corresponding spectrum of each percussion device.

[0012] In one embodiment, the edge calculator has a built-in acoustic feature database of hollow areas. The database contains percussion sound spectrum feature templates corresponding to different wall materials, different hollow depths, and different hollow areas. The edge calculator matches the real-time collected spectrum with the templates in the database and outputs the hollow type identification result.

[0013] In one embodiment, multiple sets of the electric telescopic suction cups are provided and evenly arranged along the side of the main body of the suspended basket facing the outer wall. Each set of electric telescopic suction cups is independently controlled and the extension and retraction of each fourth telescopic rod is adaptively adjusted according to the flatness of the outer wall to ensure that all suction cup heads are evenly attached to the outer wall.

[0014] In one embodiment, the drill bit of the intelligent driller is equipped with a depth sensor, which monitors the drilling depth in real time and feeds the data back to the edge calculator. The edge calculator automatically controls the drilling depth according to preset wall structure parameters to prevent drilling through the wall. The edge calculator connects to the remote monitoring center via a wireless communication module, uploading detection data and repair process data in real time, and receiving remote control commands.

[0015] In one embodiment, the grouting / glue head of the intelligent grouting / glueing device integrates a pressure sensor and a flow sensor. The edge calculator adjusts the grouting pressure and grouting speed in real time based on the feedback data from the pressure sensor and the flow sensor to ensure that the grout is fully filled and does not overflow.

[0016] In one embodiment, the hollow repair layer further includes a repair quality verification module, which includes a secondary impact detection unit. After grouting / adhesive injection is completed, the secondary impact detection unit performs another acoustic impact test on the repair area, compares the spectral characteristics after repair with the spectral characteristics before repair, verifies the repair effect, and if the repair is deemed unqualified, a secondary grouting repair process is triggered. The suspended platform body is equipped with a vertical lifting drive mechanism and a horizontal moving mechanism. The vertical lifting drive mechanism is used to drive the suspended platform body to move vertically along the building's exterior wall, and the horizontal moving mechanism is used to drive the suspended platform body to move horizontally along the building's exterior wall, thereby achieving full facade coverage.

[0017] A second aspect of the present invention provides a method for operating an integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings, comprising the following steps: S1. The main body of the suspended platform moves along the exterior wall of the building. The hollow detection layer drives the knocker to knock on the exterior wall in real time through the rotating shaft. The signal acquisition instrument collects the knocking sound signal, and the edge calculator analyzes the spectrum characteristics in real time to determine whether there is a hollow and records the position coordinates of the hollow. S2. When a void is detected, the main body of the suspended platform moves to the void position, the high-precision GNSS positioning module locks the vertical height of the void, and the electric telescopic suction cup of the adsorption and fixing layer is activated to fix the main body of the suspended platform to the outer wall to form a whole. S3. The intelligent drill bit moves to the hollow position via the guide rail. After being precisely positioned by the first horizontal position locator, the drill bit contacts the wall surface and drills through the first telescopic rod. The drilling depth is monitored by the depth sensor. S4. After the intelligent driller is removed, the intelligent grouting / adhesive injector moves to the drilling position via the guide rail. After being precisely positioned by the second horizontal position locator, the grouting / adhesive head contacts the drilling position via the second telescopic rod, injecting the grout or adhesive in the storage tank into the hollow area. The grouting pressure and speed are monitored in real time by the pressure sensor and the flow sensor. S5. After the grouting is completed, the hollow detection layer will conduct a second tapping test on the repaired area to verify the repair effect. If it is not qualified, repeat step S4 to perform a second grouting until it is qualified. S6. After the repair is completed, the adsorption fixation layer is released, and the main body of the suspended platform continues to move to the next location for inspection and repair.

[0018] The beneficial effects of this invention are as follows: 1. This invention integrates the functions of acoustic detection of hollow walls, intelligent positioning, adsorption fixation, and automated drilling and grouting repair into the same suspended platform body, realizing the full automation of the process of detection, positioning, repair and verification of hollow walls in high-rise buildings. It eliminates the need for manual high-altitude operations, fundamentally eliminating the safety hazards of falling from heights and falling materials. The operation is not limited by severe weather, can work continuously for a long time, and is highly safe, low-cost and efficient.

[0019] 2. The hollow drum detection layer adopts a combination of mechanical tapping and acoustic spectrum analysis. It uses an edge calculator to perform real-time spectrum analysis of the tapping sound signal and combines it with the built-in hollow drum acoustic feature database for template matching. It can objectively and accurately identify the location and range of hollow drums, avoiding the subjectivity and uncertainty of traditional manual tapping based on experience. It has high detection accuracy, and it is not easy to miss minor hollow drums and edge hollow drums. It can also quantitatively assess the severity of hollow drums.

[0020] 3. The adsorption and fixing layer uses multiple independently controlled electric telescopic suction cups to firmly connect the main body of the suspended platform to the external wall during repair work, forming a whole. This provides stable reaction force support for drilling and grouting operations. At the same time, the suction cups can adaptively adjust according to the flatness of the wall surface, ensuring reliable fixing under various wall surface conditions, which significantly improves the stability and safety of high-altitude repair operations.

[0021] 4. The hollow repair layer adopts a dual positioning method combining a high-precision GNSS positioning module and a horizontal positioner, which can accurately lock the three-dimensional spatial position of the hollow area. The intelligent drill is equipped with a depth sensor to achieve precise control of the drilling depth, and the intelligent grouting / glue injector integrates pressure and flow sensors to achieve real-time closed-loop control of grouting parameters, ensuring the standardization and consistency of repair quality, avoiding common problems in manual repair such as drilling too deep and insufficient grouting, and providing good repair durability.

[0022] 5. This invention includes a repair quality verification module, which objectively verifies the repair effect through secondary tapping tests, forming a closed-loop quality control system of testing-repair-verification. This ensures that the repair of each hollow area achieves the expected results and avoids the problem of secondary hollowing after repair.

[0023] 6. This invention solves the core industry pain points of the separation of functions between testing and repair equipment and the fragmentation of processes in the prior art. After the testing is completed, there is no need to enter the site again. All operations from testing to repair can be completed at the same workstation, which greatly shortens the construction period, reduces labor costs, and the testing and repair positions correspond completely, eliminating the misalignment between marking and repair.

[0024] 7. This invention has a wide range of applications and can be applied to high-rise buildings of different heights and facade styles. It can treat various types of hollow wall defects such as hollow insulation layer, hollow finishing layer, and interlayer separation. It is highly practical and has broad prospects for promotion and application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is an overall schematic diagram of the robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to the present invention; Figure 2 This is a schematic diagram of the hollow detection layer of the present invention.

[0027] Figure 3 This is a schematic diagram of the adsorption and fixation layer of the present invention.

[0028] Figure 4 This is a schematic diagram of the electric telescopic suction cup device of the present invention.

[0029] Figure 5 This is a schematic diagram of the hollow repair layer of the present invention.

[0030] Figure 6This is a schematic diagram of the intelligent drill bit of the present invention.

[0031] Figure 7 This is a schematic diagram of the intelligent grouting (adhesive) device of the present invention.

[0032] Attached reference numerals: 1. Hollow area detection layer; 2. Rotating shaft; 3. Impactor; 4. Signal acquisition instrument; 5. Edge calculator; 6. Adsorption and fixing layer; 7. Electric telescopic suction cup; 8. Hollow area repair layer; 9. High-definition panoramic camera; 10. Intelligent drill; 11. Intelligent grouting / adhesive injector; 12. High-precision GNSS positioning module; 13. Guide rail; 14. Power supply box; 15. Material storage box; 16. Suspended basket body; 301. Third telescopic bar; 302. Striking ball; 701. Receiver; 702. Fourth telescopic rod; 703. Suction cup head; 1001, First start receiver; 1002, First horizontal position locator; 1003, First telescopic rod; 1004, Drill bit; 1101. Second start receiver; 1102. Second horizontal position locator; 1103. Second telescopic rod; 1104. Grouting / glue head. Detailed Implementation

[0033] To make the technical problems, technical solutions, and technical effects of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0037] like Figures 1 to 7 As shown, one aspect of the present invention provides an integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings, including a suspended platform body 16, a hollow detection layer 1 installed on the suspended platform body 16 for real-time tapping of the exterior wall and identifying hollow areas based on acoustic signal analysis, an adsorption and fixing layer 6 installed on the suspended platform body 16 for adsorbing and fixing the suspended platform body 16 to the exterior wall surface after detecting hollow areas, a hollow repair layer 8 installed on the suspended platform body 16 for drilling and grouting / adhesive repair of the identified hollow areas, a power supply box 14 for power supply, and a storage box 15 for storing grout / adhesive materials; The hollow repair layer 8 includes a high-definition panoramic camera 9, an intelligent drill 10, an intelligent grouting / adhesive injector 11, a high-precision GNSS positioning module 12, and a guide rail 13; the guide rail 13 is horizontally arranged on the suspended platform body 16, the intelligent drill 10 and the intelligent grouting / adhesive injector 11 are slidably engaged on the suspended platform body 16, the high-definition panoramic camera 9 and the high-precision GNSS positioning module 12 are arranged on the suspended platform body 16 near the outer wall, and the high-precision GNSS positioning module 12 is used to lock the vertical height position of the hollow area; The intelligent drill 10 includes a first start receiver 1001, a first horizontal position locator 1002, a first telescopic rod 1003 and a drill bit 1004 connected in sequence. The intelligent drill 10 moves to the hollow position via the guide rail 13, the horizontal position is determined by the first horizontal position locator 1002, and the drill bit 1004 is brought into contact with the hollow part of the outer wall by the first telescopic rod 1003 to drill a hole. The intelligent grouting / glueing device 11 includes a second start receiver 1101, a second horizontal position locator 1102, a second telescopic rod 1103, and a grouting / glueing head 1404. The intelligent grouting / adhesive injector 11 moves to the drilling position via the guide rail 13, and its horizontal position is determined by the second horizontal position locator 1102. The second telescopic rod 1103 brings the grouting / adhesive head 1404 into contact with the drilling position, injecting the grout or adhesive stored in the storage box 15 into the hollow area. The high-definition panoramic camera 9 is used to observe the repair process in real time. The power supply box 14 provides power to each electrical component.

[0038] In one embodiment, the hollow detection layer 1 includes a rotating shaft 2, a tapper 3, a signal acquisition device 4, and an edge calculator 5; the rotating shaft 2 is laterally rotatably mounted on the suspended basket body 16, and the tapper 3 is radially mounted on the rotating shaft 2; The tapper 3 includes a third telescopic rod 301 connected to the rotating shaft 2 and a tapping ball 302 connected to the free end of the third telescopic rod 301. The length of the third telescopic rod 301 is adapted according to the distance between the suspended basket body 16 and the wall. The tapping ball 302 taps the exterior wall surface and generates a tapping sound through the drive of the rotating shaft 2. The signal acquisition instrument 4 is used to collect the tapping sound signal generated by the tapper 3. The edge calculator 5 is electrically connected to the signal acquisition instrument 4 and is used to analyze the spectral characteristics of the collected tapping sound signal in real time to determine whether there is a hollow area on the wall surface and the location of the hollow area.

[0039] In one embodiment, the adsorption and fixing layer 6 includes multiple electrically operated telescopic suction cups 7 installed on the main body of the suspended basket. Each of the electrically operated telescopic suction cups 7 includes a receiver 701, a fourth telescopic rod 702, and a suction cup head 703 arranged sequentially. When a hollow area is detected that needs to be repaired, the edge calculator 5 sends a command to the receiver 701. The fourth telescopic rod 702 extends to make the suction cup head 703 fit tightly against the outer wall surface. A vacuum negative pressure is formed inside the suction cup head 703, so that the main body of the suspended basket 16 and the outer wall surface are integrated through the electrically operated telescopic suction cups 7, providing support for the repair of the hollow area.

[0040] In one embodiment, multiple percussion devices 3 are provided, and the multiple percussion devices 3 are distributed along the axial direction of the rotation axis 2. Each percussion device 3 corresponds to a different percussion frequency range. The edge calculator 5 comprehensively determines the range and degree of the hollow area by comparing the energy distribution differences of the corresponding spectrum of each percussion device 3.

[0041] In one embodiment, the edge calculator 5 has a built-in acoustic feature database of hollow areas. The database contains percussion sound spectrum feature templates corresponding to different wall materials, different hollow depths, and different hollow areas. The edge calculator 5 matches the real-time collected spectrum with the templates in the database and outputs the hollow type identification result.

[0042] In one embodiment, multiple sets of the electric telescopic suction cups 7 are provided and evenly arranged along the side of the suspended basket body 16 facing the outer wall. Each set of electric telescopic suction cups 7 is independently controlled and the extension and retraction of each fourth telescopic rod 702 is adaptively adjusted according to the flatness of the outer wall to ensure that all suction cup heads 703 are evenly attached to the outer wall.

[0043] In one embodiment, the drill bit 1004 of the intelligent driller 10 is equipped with a depth sensor, which monitors the drilling depth in real time and feeds the data back to the edge calculator 5. The edge calculator 5 automatically controls the drilling depth according to preset wall structure parameters to prevent drilling through the wall. The edge calculator 5 is connected to the remote monitoring center via a wireless communication module, which uploads detection data and repair process data in real time and receives remote control commands.

[0044] In one embodiment, the grouting / glue head 1404 of the intelligent grouting / glueing device 11 integrates a pressure sensor and a flow sensor. The edge calculator 5 adjusts the grouting pressure and grouting speed in real time based on the feedback data from the pressure sensor and the flow sensor to ensure that the grout is fully filled and does not overflow.

[0045] In one embodiment, the hollow repair layer 8 further includes a repair quality verification module, which includes a secondary impact detection unit. After grouting / adhesive injection is completed, the secondary impact detection unit performs another acoustic impact test on the repair area, compares the spectral characteristics after repair with the spectral characteristics before repair, verifies the repair effect, and if the repair is deemed unqualified, triggers a secondary grouting repair process. The suspended platform body 16 is equipped with a vertical lifting drive mechanism and a horizontal moving mechanism. The vertical lifting drive mechanism is used to drive the suspended platform body 16 to move vertically along the building's exterior wall, and the horizontal moving mechanism is used to drive the suspended platform body 16 to move horizontally along the building's exterior wall, thereby achieving full facade coverage.

[0046] A second aspect of the present invention provides a method for operating an integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings, comprising the following steps: S1. The main body of the suspended platform 16 moves along the outer wall of the building. The hollow detection layer 1 drives the knocker 3 to knock on the outer wall in real time through the rotating shaft 2. The signal acquisition instrument 4 collects the knocking sound signal. The edge calculator 5 analyzes the spectrum characteristics in real time to determine whether there is a hollow and records the position coordinates of the hollow. S2. When a void is detected, the main body 16 of the suspended platform moves to the void position, the high-precision GNSS positioning module 12 locks the vertical height of the void, and the electric telescopic suction cup 7 of the adsorption and fixing layer 6 is activated to fix the main body 16 of the suspended platform to the outer wall to form an integral whole. S3. The intelligent drill 10 moves to the hollow position via the guide rail 13. After being precisely positioned by the first horizontal position locator 1002, the drill bit 1004 contacts the wall surface and drills through the first telescopic rod 1003. The drilling depth is monitored by the depth sensor. S4. After the intelligent driller 10 is removed, the intelligent grouting / adhesive injector 11 moves to the drilling position via the guide rail 13. After being precisely positioned by the second horizontal position locator 1102, the grouting / adhesive head 1404 contacts the drilling position via the second telescopic rod 1103, injecting the grout or adhesive in the storage box 15 into the hollow area. The grouting pressure and speed are monitored in real time by the pressure sensor and the flow sensor. S5. After grouting is completed, the hollow detection layer 1 performs a second tapping test on the repaired area to verify the repair effect. If it is not qualified, repeat step S4 to perform a second grouting until it is qualified. S6. After the repair is completed, the adsorption and fixation layer 6 is released, and the main body of the suspended basket 16 continues to move to the next position for inspection and repair.

[0047] The following discloses several typical embodiments of the present invention.

[0048] Example 1 like Figure 1 As shown in the figure, this embodiment provides an integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings. The robot uses the main body 16 of the construction basket as a carrier and integrates three major functional modules on the main body 16: a hollow area detection layer 1, an adsorption and fixing layer 6, and a hollow area repair layer 8, to realize the automated detection and integrated repair of hollow areas in the exterior walls of high-rise buildings.

[0049] like Figure 1 and Figure 2 As shown, the hollow detection layer 1 includes a rotating shaft 2, a knocker 3, a signal acquisition instrument 4, and an edge calculator 5.

[0050] The rotating shaft 2 is installed on the upper part of the suspended platform body 16 and is driven by a servo motor, allowing it to rotate precisely around its axis. Multiple striking devices 3 (four in this embodiment) are evenly distributed along the axial direction of the rotating shaft 2. Each striking device 3 includes a third telescopic rod 301 and a striking ball 302. The third telescopic rod 301 employs an electric push rod structure, and its length can be automatically adjusted according to the real-time distance between the suspended platform body 16 and the exterior wall surface, ensuring that the striking ball 302 can strike the wall surface with appropriate force. The striking ball 302 is made of high-hardness alloy steel, with a polished surface and a diameter of 15mm. Driven by the rotating shaft 2, it strikes the exterior wall surface at a set frequency and force, producing a clear striking sound.

[0051] The signal acquisition device 4 employs a high-sensitivity array microphone, positioned near the percussioners 3, to acquire the striking sound signals generated by each percussioner 3 in real time. The sampling frequency of the signal acquisition device 4 is set to 44.1kHz, and the quantization bit depth is 24bit, enabling it to completely capture the spectral information of the striking sound.

[0052] The edge calculator 5 uses an embedded edge computing device with a built-in high-performance DSP chip, and connects to the signal acquisition device 4 via a high-speed data interface. The edge calculator 5 receives the tapping sound signal collected by the signal acquisition device 4 in real time, and converts the time-domain signal into a frequency-domain spectrum through the Fast Fourier Transform (FFT) algorithm, extracting characteristic parameters from the spectrum, including the dominant frequency, harmonic distribution, attenuation coefficient, and frequency band energy ratio.

[0053] Edge Calculator 5 incorporates a hollow acoustic feature database, established through extensive experimentation. This database includes impact sound spectrum feature templates corresponding to different wall materials (such as ceramic tiles, paint, stone, aluminum panels, etc.), hollow depths (such as 5mm, 10mm, 15mm, 20mm, etc.), and hollow areas (such as diameters of 50mm, 100mm, 200mm, etc.). Edge Calculator 5 performs pattern matching between the real-time acquired spectrum features and the templates in the database, calculating a similarity score. When the similarity exceeds a set threshold (such as 0.85), it determines that a hollow exists at the impact location and outputs the hollow type identification result, including an estimated hollow depth and an estimated hollow area.

[0054] During the inspection process, the suspended platform 16 moves vertically downwards along the building's exterior wall. The hollow detection layer 1, driven by the rotating shaft 2, continuously taps the exterior wall with each tapper 3. Each tapper 3 corresponds to a different tapping frequency range (e.g., 50Hz, 200Hz, 200Hz, 500Hz, 500Hz, 1000Hz, 1000Hz, 2000Hz). Through multi-band comprehensive analysis, the accuracy of hollow detection and the sensitivity to hollows of different depths are improved. When a hollow is detected, the edge calculator 5 records the vertical height (obtained through the high-precision GNSS positioning module 12) and horizontal position (determined by the tapper 3's number and rotation angle), forming a spatial coordinate database of hollow defects.

[0055] Example 2 like Figure 1 , Figure 3 and Figure 4 As shown, this embodiment is a further optimization based on embodiment 1, specifically: The adsorption and fixing layer 6 includes multiple sets of electric telescopic suction cups 7 (6 sets in this embodiment), which are evenly arranged along the side of the main body 16 facing the outer wall.

[0056] Each set of motorized telescopic suction cups 7 includes a receiver 701, a fourth telescopic rod 702, and a suction cup head 703. The receiver 701 is a wireless signal receiving module used to receive control commands sent by the edge calculator 5. The fourth telescopic rod 702 adopts a motorized push rod structure with a stroke of 200mm and a thrust of 500N. The suction cup head 703 adopts a vacuum suction cup structure with a diameter of 150mm, and integrates a vacuum pump and a vacuum sensor.

[0057] When the hollow detection layer 1 detects a hollow area requiring repair, the edge calculator 5 sends a suction and fixing command to the receiver 701 of each electric telescopic suction cup 7. Each fourth telescopic rod 702 begins to extend, adaptively adjusting the extension amount according to the wall's flatness to ensure all suction cup heads 703 are tightly fitted to the exterior wall. The vacuum pump inside the suction cup head 703 starts, creating a vacuum negative pressure state (vacuum degree reaching above 0.08 MPa) between the suction cup head 703 and the wall, thus firmly connecting the suspended platform body 16 to the exterior wall through the electric telescopic suction cups 7, forming a unified whole.

[0058] Each group of electric telescopic suction cups 7 is independently controlled. When a group of suction cup heads 703 cannot effectively adhere due to uneven wall surface or obstacles, the other groups can still work normally, ensuring the reliability of the overall fixation. After the adhesion and fixation are completed, the main body 16 of the suspended platform is constrained in both the vertical and horizontal directions, providing stable reaction force support for subsequent drilling and grouting operations, and preventing the suspended platform from shaking or displacing due to drilling reaction force or grouting pressure.

[0059] Example 3 like Figure 1 , Figure 5 and Figure 6 As shown, this embodiment is a further optimization based on embodiment 2, specifically: The hollow repair layer 8 includes a high-definition panoramic camera 9, an intelligent drill 10, an intelligent grouting / adhesive injector 11, a high-precision GNSS positioning module 12, and a guide rail 13.

[0060] Once the hollow detection layer 1 detects a hollow area and records its spatial position, the suspended platform body 16 descends along the wall to the location of the hollow area. The high-precision GNSS positioning module 12 (using RTK and GNSS technology, with positioning accuracy down to the centimeter level) locks the vertical height position of the hollow area, and simultaneously determines the horizontal position of the hollow area based on the number and rotation angle data of the tapper 3.

[0061] The adsorption and fixing layer 6 is activated, firmly fixing the suspended platform body 16 to the outer wall. At this time, the intelligent drill 10 begins to work. The intelligent drill 10 includes a first start receiver 1001, a first horizontal position locator 1002, a first telescopic rod 1003, and a drill bit 1004. After the first start receiver 1001 receives the drilling command from the edge calculator 5, the intelligent drill 10 moves on the suspended platform body 16 via the guide rail 13. The guide rail 13 is a high-precision linear guide rail driven by a linear motor, with a positioning accuracy of ±0.5mm.

[0062] The first horizontal position locator 1002 uses a combination of laser ranging and visual recognition to accurately determine the horizontal position of the drill bit 1004 relative to the center of the hollow area. When the drill bit 1004 is aligned with the center of the hollow area, the first telescopic rod 1003 (electric push rod structure, stroke 150mm) extends, bringing the drill bit 1004 into close contact with the hollow area of ​​the exterior wall.

[0063] Drill bit 1004 is a carbide drill bit with a diameter of 8mm, equipped with a depth sensor (using an encoder-type displacement sensor with an accuracy of 0.1mm). Edge calculator 5 automatically calculates the safe drilling depth based on preset wall structure parameters (including insulation layer thickness, finishing layer thickness, and base wall type) and monitors the actual drilling depth in real time. When the drilling depth reaches the set value, edge calculator 5 automatically issues a stop command, the first telescopic rod 1003 retracts, drill bit 1004 leaves the wall, and intelligent driller 10 moves away via guide rail 13, making room for grouting operations.

[0064] Example 4 like Figure 1 , Figure 5 and Figure 7 As shown, this embodiment is a further optimization based on embodiment 3, specifically: After the intelligent driller 10 completes drilling and is removed, the intelligent grouting / adhesive injector 11 begins to work. The intelligent grouting / adhesive injector 11 includes a second start receiver 1101, a second horizontal position locator 1102, a second telescopic rod 1103, and a grouting / adhesive head 1404.

[0065] After receiving the grouting command from the edge calculator 5, the second start receiver 1101 moves the intelligent grouting / adhesive injector 11 to the drilling position via the guide rail 13. The second horizontal positioner 1102 uses the same positioning method as the intelligent driller 10 to ensure that the grouting / adhesive head 1404 is accurately aligned with the drilling position. The second telescopic rod 1103 extends to insert the grouting / adhesive head 1404 into the drill hole. An elastic sealing ring is used to seal the grouting / adhesive head 1404 with the drill hole wall to prevent grout from overflowing.

[0066] A pressure sensor (measuring range: 0-2 MPa, accuracy: 0.01 MPa) and a flow sensor (measuring range: 0-500 mL / min, accuracy: 1%) are integrated inside the grouting / gluing head 1404. A pre-prepared polymer grouting material or structural adhesive is stored in the material storage tank 15, and the slurry is delivered to the grouting / gluing head 1404 by a peristaltic pump.

[0067] The edge calculator 5 automatically calculates the required grouting amount and grouting pressure curve according to the identification result of the hollowing type (hollowing depth and area). During the grouting process, the edge calculator 5 monitors the grouting pressure and grouting flow in real time, and adopts a PID control algorithm to dynamically adjust the rotating speed of the peristaltic pump, so that the actual grouting parameters track the preset curve. When the grouting amount reaches the calculated value and the grouting pressure is stable within the set range, it is determined that grouting is completed, the peristaltic pump stops, the second telescopic rod 1103 retracts, and the grouting / gluing head 1404 leaves the drilled hole.

[0068] After grouting is completed, the edge calculator 5 controls the intelligent grouting / gluing device 11 to perform surface sealing treatment on the drilled hole opening, and fills the drilled hole opening with quick-drying sealant to restore the appearance of the wall surface.

[0069] Example 5 as shown in Figure 1 , Figure 5 and Figure 7 , this example is further optimized on the basis of Example 4, specifically: This example is further provided with a repair quality verification module, which is integrated in the hollowing detection layer 1. After grouting / gluing is completed, the edge calculator 5 controls the hollowing detection layer 1 to perform another acoustic tapping detection (secondary tapping detection) on the repaired area.

[0070] The secondary tapping detection adopts the same tapper and signal acquisition parameters as the initial detection, and compares the spectral features after repair with the spectral features before repair. If the similarity between the spectral features after repair and the spectral template of a normal wall (without hollowing) exceeds 0.90, the repair is determined to be qualified; if the similarity is lower than 0.90, the repair is determined to be unqualified, and the edge calculator 5 automatically triggers the secondary grouting repair process to perform supplementary grouting on the area until the verification is qualified.

[0071] After the repair quality verification is completed, the edge calculator 5 generates a repair report for the point, including pre-repair hollowing parameters, repair process parameters, post-repair verification results, etc., and uploads it to the remote monitoring center for archiving through the wireless communication module.

Claims

1. An integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings, characterized in that: The system includes a suspended platform body (16), a hollow detection layer (1) installed on the suspended platform body (16) for real-time tapping of the exterior wall and identification of hollow areas based on acoustic signal analysis, an adsorption and fixing layer (6) installed on the suspended platform body (16) for adsorbing and fixing the suspended platform body (16) to the exterior wall after detecting hollow areas, a hollow repair layer (8) installed on the suspended platform body (16) for drilling and grouting / adhesive repair of the identified hollow areas, a power supply box (14) for power supply, and a storage box (15) for storing grout / adhesive materials. The hollow repair layer (8) includes a high-definition panoramic camera (9), an intelligent drill (10), an intelligent grouting / adhesive injector (11), a high-precision GNSS positioning module (12), and a guide rail (13); the guide rail (13) is horizontally arranged on the suspended basket body (16), the intelligent drill (10) and the intelligent grouting / adhesive injector (11) are slidably engaged on the suspended basket body (16), the high-definition panoramic camera (9) and the high-precision GNSS positioning module (12) are arranged on the suspended basket body (16) near the outer wall, and the high-precision GNSS positioning module (12) is used to lock the vertical height position of the hollow area; The intelligent drill (10) includes a first start receiver (1001), a first horizontal position locator (1002), a first telescopic rod (1003), and a drill bit (1004) connected in sequence. The intelligent drill (10) moves to the hollow position via the guide rail (13), the horizontal position is determined by the first horizontal position locator (1002), and the drill bit (1004) is brought into contact with the hollow part of the outer wall and drilled through the first telescopic rod (1003). The intelligent grouting / glueing device (11) includes a second start receiver (1101), a second horizontal position locator (1102), a second telescopic rod (1103), and a grouting / glueing head (1404). The intelligent grouting / adhesive injector (11) moves to the drilling position via the guide rail (13), and the horizontal position is determined by the second horizontal position locator (1102). The grouting / adhesive head (1404) is brought into contact with the drilling position via the second telescopic rod (1103) to inject the grout or adhesive stored in the storage box (15) into the hollow area. The high-definition panoramic camera (9) is used to observe the repair process in real time. The power supply box (14) provides power to each electrical component.

2. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 1, characterized in that, The hollow detection layer (1) includes a rotating shaft (2), a knocker (3), a signal acquisition device (4), and an edge calculator (5); the rotating shaft (2) is rotatably mounted on the main body of the hanging basket (16), and the knocker (3) is radially mounted on the rotating shaft (2); The tapper (3) includes a third telescopic rod (301) connected to the rotating shaft (2) and a tapping ball (302) connected to the free end of the third telescopic rod (301). The length of the third telescopic rod (301) is adapted according to the distance between the main body of the hanging basket (16) and the wall. The tapping ball (302) taps the outer wall surface and generates a tapping sound through the drive of the rotating shaft (2). The signal acquisition instrument (4) is used to collect the tapping sound signal generated by the tapper (3). The edge calculator (5) is electrically connected to the signal acquisition instrument (4) and is used to analyze the spectral characteristics of the collected tapping sound signal in real time to determine whether there is a hollow area on the wall surface and the location of the hollow area.

3. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 2, characterized in that, The adsorption fixing layer (6) includes multiple electric telescopic suction cups (7) installed on the main body of the suspended basket. Each electric telescopic suction cup (7) includes a receiver (701), a fourth telescopic rod (702), and a suction cup head (703) arranged in sequence. When a hollow area is detected that needs to be repaired, the edge calculator (5) sends a command to the receiver (701). The fourth telescopic rod (702) extends to make the suction cup head (703) fit tightly against the outer wall surface. A vacuum negative pressure state is formed inside the suction cup head (703), so that the main body of the suspended basket (16) and the outer wall surface form an integral whole through the electric telescopic suction cups (7), providing support for the repair of hollow areas.

4. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 3, characterized in that, The percussion device (3) is provided in multiple ways. The multiple percussion devices (3) are distributed along the rotation axis (2). Each percussion device (3) corresponds to a different range of percussion frequencies. The edge calculator (5) comprehensively determines the range and degree of the hollow area by comparing the energy distribution differences of the corresponding spectrum of each percussion device (3).

5. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 4, characterized in that, The edge calculator (5) has a built-in acoustic feature database of hollow drums. The database contains knocking sound spectrum feature templates corresponding to different wall materials, different hollow drum depths, and different hollow drum areas. The edge calculator (5) matches the real-time collected spectrum with the templates in the database and outputs the hollow drum type identification result.

6. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 4, characterized in that, Multiple sets of electric telescopic suction cups (7) are provided and are evenly arranged along the side of the main body (16) of the suspended basket facing the outer wall. Each set of electric telescopic suction cups (7) is independently controlled and the extension amount of each fourth telescopic rod (702) is adaptively adjusted according to the flatness of the outer wall to ensure that all suction cup heads (703) are evenly attached to the outer wall.

7. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 6, characterized in that, The drill bit (1004) of the intelligent driller (10) is equipped with a depth sensor. The depth sensor monitors the drilling depth in real time and feeds the data back to the edge calculator (5). The edge calculator (5) automatically controls the drilling depth according to the preset wall structure parameters to prevent drilling through the wall. The edge calculator (5) is connected to the remote monitoring center through a wireless communication module, which uploads detection data and repair process data in real time and receives remote control commands.

8. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 7, characterized in that, The grouting / glue head (1404) of the intelligent grouting / glueing device (11) integrates a pressure sensor and a flow sensor. The edge calculator (5) adjusts the grouting pressure and grouting speed in real time based on the feedback data from the pressure sensor and the flow sensor to ensure that the grout is fully filled and does not overflow.

9. The integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 1, characterized in that, The hollow repair layer (8) also includes a repair quality verification module. The repair quality verification module includes a secondary impact detection unit. After the grouting / adhesive is completed, the secondary impact detection unit performs another acoustic impact test on the repair area, compares the spectral characteristics after repair with the spectral characteristics before repair, and verifies the repair effect. If the repair is deemed unqualified, the secondary grouting repair process is triggered. The suspended platform body (16) is provided with a vertical lifting drive mechanism and a horizontal moving mechanism. The vertical lifting drive mechanism is used to drive the suspended platform body (16) to move vertically along the building exterior wall, and the horizontal moving mechanism is used to drive the suspended platform body (16) to move horizontally along the building exterior wall, so as to achieve full facade coverage operation.

10. The working method of the integrated robot for detecting and repairing hollow areas in the exterior walls of high-rise buildings according to claim 9, characterized in that, Includes the following steps: S1. The main body of the suspended basket (16) moves along the outer wall of the building. The hollow detection layer (1) drives the knocker (3) to knock on the outer wall in real time through the rotating shaft (2). The signal acquisition instrument (4) collects the knocking sound signal. The edge calculator (5) analyzes the spectrum characteristics in real time to determine whether there is a hollow and records the position coordinates of the hollow. S2. When a hollow area is detected, the main body of the suspended platform (16) moves to the hollow area position, the high-precision GNSS positioning module (12) locks the vertical height of the hollow area, and the electric telescopic suction cup (7) of the adsorption and fixing layer (6) is activated to fix the main body of the suspended platform (16) to the outer wall surface to form an integral whole. S3. The intelligent drill (10) moves to the hollow position via the guide rail (13). After being precisely positioned by the first horizontal position locator (1002), the drill bit (1004) contacts the wall surface and drills through the first telescopic rod (1003). The drilling depth is monitored by the depth sensor. S4. After the intelligent driller (10) is removed, the intelligent grouting / adhesive injector (11) moves to the drilling position via the guide rail (13). After being precisely positioned by the second horizontal position locator (1102), the grouting / adhesive head (1404) contacts the drilling position via the second telescopic rod (1103) and injects the grout or adhesive in the storage box (15) into the hollow area. The grouting pressure and speed are monitored in real time by the pressure sensor and the flow sensor. S5. After the grouting is completed, the hollow detection layer (1) will conduct a second tapping test on the repaired area to verify the repair effect. If it is not qualified, repeat step S4 to perform a second grouting until it is qualified. S6. After the repair is completed, the adsorption fixation layer (6) is released, and the main body of the basket (16) continues to move to carry out the next position of inspection and repair work.

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