Wall-climbing robot

Abstract

The utility model relates to special robot technical field, especially relates to wall -climbing robot, including central main part, is equipped with power unit, central control unit and transmission unit, walking mechanism is constituted by four completely independent multi -freedom degree mechanical arm, perception system is integrated on central main part, drive system includes four -way drive module that controls four multi -freedom degree mechanical arm movement independently, ultrasonic wave sensing array is distributedly installed at the key position on the lower side periphery of central main part and multi -freedom degree mechanical arm. The utility model four foot bionic structure collocation multi -sensor fusion technology, adapt complex wall surface steady barrier crossing, rely on multimode perception and autonomous path planning ability, greatly reduce artificial dependence, form double protection through ultrasonic wave sensing array and advanced algorithm, effectively avoid the risk of falling, interference, and the safety and reliability are extremely strong.

Description

Technical Field

[0001] This utility model relates to the field of special robot technology, and in particular to a wall-climbing robot. Background Technology

[0002] In many critical fields such as high-altitude building inspection, ship bulkhead inspection, bridge maintenance, and fire rescue, the work scenarios often involve complex vertical or inclined surfaces, with harsh working environments and limited space. Traditional work methods mainly rely on suspended platforms or scaffolding, which is not only cumbersome to set up and dismantle, resulting in low work efficiency, but also requires a large investment of manpower and material resources. More importantly, operators are directly exposed to the high-altitude environment, facing multiple safety risks such as falls and being struck by objects, making it difficult to guarantee operational safety. In addition, due to terrain limitations, some concealed areas are difficult to access.

[0003] Although existing technologies have developed magnetic or negative pressure adsorption wall-climbing robots to replace traditional manual methods, significant shortcomings remain. Most of these robots employ wheeled or tracked mobility structures, requiring extremely high wall flatness and unable to overcome common obstacles such as welds, rivets, and window frames, thus limiting their adaptability. Furthermore, most products lack multimodal perception and environmental modeling capabilities, making it difficult to accurately identify wall conditions. Their autonomous path planning and obstacle avoidance abilities are weak, resulting in low levels of intelligence. When operating on uneven or complex walls, they are prone to instability and falls due to unstable adsorption or collisions with obstacles, failing to meet practical operational needs. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing wall-climbing robots, such as poor terrain adaptability, low intelligence level, and unstable movement on uneven walls, and to propose a wall-climbing robot accordingly.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Wall-climbing robots, including: The main body contains a power unit, a central control unit, and a transmission unit; The walking mechanism consists of four completely independent multi-degree-of-freedom robotic arms, which are symmetrically arranged around the central body. Each multi-degree-of-freedom robotic arm is equipped with a negative pressure adsorption device at its end. The perception system, integrated into the central body, includes a visual processing module for acquiring wall image information and a radar modeling module for constructing a surrounding three-dimensional spatial model. The drive system includes a four-way drive module that independently controls the movement of four multi-degree-of-freedom robotic arms, and an overall robotic arm drive module that controls the coordinated movement of each joint of each multi-degree-of-freedom robotic arm. An ultrasonic sensor array is distributed and installed at key locations on the lower periphery of the central body and on the multi-degree-of-freedom robotic arm for near-field distance detection.

[0006] Preferably, the power unit consists of several battery packs, the central control unit consists of a main control computer, and the transmission unit consists of various transmission connectors.

[0007] Preferably, the central control unit integrates visual, radar, and ultrasonic data to generate a comprehensive environmental model that includes wall texture, three-dimensional geometry, and near-field obstacle information, and autonomously plans a safe movement path and robotic arm landing point based on this model.

[0008] Preferably, the walking mechanism is a biomimetic gait walking mode, and the central control unit controls the four-way drive module and the overall drive module of the robotic arm, so that the robot's four multi-degree-of-freedom robotic arms alternately perform the "lift-move-adhere" action.

[0009] Preferably, the negative pressure adsorption device is a suction cup with a flexible sealing edge and is connected to a vacuum generating device.

[0010] Preferably, a mounting platform is rotatably mounted on the top of the central body, the vision processing module is rotatably mounted on one side of the top of the mounting platform, and the radar modeling module is rotatably mounted on the other side of the top of the mounting platform.

[0011] Preferably, the visual processing module is composed of a high-definition camera, and the radar modeling module is composed of a lidar.

[0012] Preferably, all four multi-degree-of-freedom robotic arms are movably mounted on the central body via hinge joints, and the four multi-degree-of-freedom robotic arms have identical structures, with each multi-degree-of-freedom robotic arm consisting of multiple robotic arm links connected by joints.

[0013] Preferably, the ultrasonic sensing array includes multiple ultrasonic sensors mounted on the lower surface of the central body and miniature ultrasonic sensors mounted on the robotic arm linkage. The multiple ultrasonic sensors are symmetrically distributed and constitute the basic part of the ultrasonic sensing array, while the miniature ultrasonic sensors constitute the auxiliary part of the ultrasonic sensing array.

[0014] Preferably, the ultrasonic sensor array is configured for a wall distance monitoring mode and a near-field obstacle detection mode. The wall distance monitoring mode is used to continuously monitor the distance between the adsorption device and the wall during movement to ensure adsorption sealing. The near-field obstacle detection mode is used to detect obstacles below the robot's abdomen and on the movement path of the robotic arm.

[0015] Compared with the prior art, the advantages of this utility model are: 1. This utility model features a quadrupedal bionic structure combined with a multi-degree-of-freedom robotic arm, giving the robot extremely high mobility. Its end-effector negative pressure adsorption device can firmly adhere to the wall surface. Combined with the adsorption area map generated by the vision processing module and radar modeling module, it can accurately identify flat adsorption surfaces and obstacles such as window frames and pipes. It can achieve stable movement and smooth obstacle crossing on complex, non-continuous, and uneven walls. Compared with wheeled or tracked wall-climbing robots that rely on continuous contact surfaces, it has significant advantages in adaptability and passability.

[0016] 2. This utility model integrates a multi-sensor fusion system of high-definition camera, lidar, and ultrasonic sensor, which can comprehensively perceive the wall environment and construct a two-dimensional or three-dimensional environment model through data fusion technology, allowing the robot to clearly "understand" the working conditions. The central control unit can autonomously complete safe path planning and optimal landing point selection based on the environment model, without the need for real-time operator control, greatly reducing the dependence on manual operation and improving the automation level and efficiency of high-altitude operations.

[0017] 3. This utility model's ultrasonic sensor array provides dual safety protection. The ultrasonic sensor installed in the central main body monitors the distance between the suction cup and the wall in real time, ensuring the sealing and firmness of the negative pressure adsorption. Meanwhile, the miniature ultrasonic sensor on the robotic arm's linkage dynamically monitors the relative position of the robotic arm to the wall and other robotic arms, effectively avoiding the risk of motion interference. Combined with an advanced central control algorithm that adjusts the adsorption state and motion posture in real time, a redundant protection mechanism is formed, greatly reducing the safety hazards of accidental detachment or jamming, and ensuring stable and reliable operation.

[0018] 4. The main body of this utility model robot adopts a compact integrated design and has reserved a standardized installation interface. It can be flexibly equipped with functional modules such as robotic arms, high-altitude cleaning devices, and non-destructive testing sensors according to actual operation needs. It is suitable for various high-altitude operation scenarios such as building exterior wall cleaning, high-altitude equipment maintenance, and wall structure inspection, effectively expanding the application boundaries of the robot and improving the versatility and practical value of the equipment.

[0019] In summary, this novel quadrupedal adhesive wall-climbing robot boasts significant advantages. Its quadrupedal biomimetic structure, combined with multi-sensor fusion technology, enables stable obstacle crossing on complex walls, outperforming wheeled / tracked models. Leveraging multimodal perception and autonomous path planning capabilities, it significantly reduces reliance on manual labor. A dual-protection system, utilizing ultrasonic sensor arrays and advanced algorithms, effectively mitigates risks of detachment and interference, ensuring exceptional safety and reliability. Furthermore, the central body features a standardized interface, allowing for flexible integration of various functional modules and adaptability to diverse high-altitude work scenarios. Attached Figure Description

[0020] Figure 1 This is an isometric view of the wall-climbing robot proposed in this utility model.

[0021] Figure 2 This is a rear view of the wall-climbing robot proposed in this utility model.

[0022] Figure 3 This is a schematic diagram of the internal structure of the central body of the wall-climbing robot proposed in this utility model.

[0023] Figure 4 This is a bottom view of the wall-climbing robot proposed in this utility model.

[0024] In the diagram: 1. Central body, 2. Multi-degree-of-freedom robotic arm, 21. Robotic arm link, 22. Hinge joint, 3. Negative pressure adsorption device, 4. Vision processing module, 5. Radar modeling module, 6. Ultrasonic sensor array, 7. Mounting platform. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0026] Reference Figures 1 to 4 The wall-climbing robot includes a central body 1, which compactly integrates a power unit (battery), a central control unit (main control computer), a transmission unit (transmission connector), and other components for maintaining the operation of the device. The central body 1 is existing technology, and its specific structural design will not be described in detail here. A mounting platform 7 is rotatably mounted on the top of the central body 1. A vision processing module 4 is rotatably mounted on one side of the top of the mounting platform 7. The vision processing module 4 mainly uses a high-definition camera. A radar modeling module 5 is rotatably mounted on the other side of the top of the mounting platform 7. The radar modeling module 5 mainly uses lidar. Mounting the vision processing module 4 and the radar modeling module 5 on the top of the central body 1 can be used to obtain an unobstructed field of view. When the vision processing module 4 and the radar modeling module 5 are working, they scan the wall surface in front of them. After data fusion, a two-dimensional or three-dimensional map containing the adsorption area (flat surface) and obstacles (window frame, pipe) is generated.

[0027] The upper part of the central body 1 is equipped with four multi-degree-of-freedom robotic arms 2, which are movably mounted on all four sides via hinge joints 22. The four multi-degree-of-freedom robotic arms 2 are symmetrically arranged and have identical structures. Each multi-degree-of-freedom robotic arm 2 is composed of multiple robotic arm links 21 connected by joints and has multiple degrees of freedom of movement. The central body 1 is equipped with a four-way drive module and an overall robotic arm drive module. The four-way drive module is used to independently control the four multi-degree-of-freedom robotic arms 2, and the overall robotic arm drive module is used to control the coordinated movement of each joint of each multi-degree-of-freedom robotic arm 2. Each multi-degree-of-freedom robotic arm 2 has a negative pressure adsorption device 3 installed at its end. The negative pressure adsorption device 3 is mainly composed of a suction cup and is connected to a vacuum generating device (not shown in the figure, usually a built-in vacuum pump or Venturi tube structure). The central control unit controls the negative pressure adsorption devices 3 on the four multi-degree-of-freedom robotic arms 2 to simultaneously draw a vacuum, so that the robot can be firmly adsorbed to the wall surface. The central control unit can also control the operation of each negative pressure adsorption device 3 individually, which facilitates the control of the robot to walk on the wall surface.

[0028] An ultrasonic sensor array 6 is provided on the lower side of the central body 1 and on the robotic arm link 21 at key locations. The ultrasonic sensor array 6 includes multiple ultrasonic sensors mounted on the lower surface of the central body 1 and miniature ultrasonic sensors (not shown in the figure) mounted on the robotic arm link 21. The multiple ultrasonic sensors are symmetrically distributed and constitute the basic part of the ultrasonic sensor array 6. They are used to continuously measure the distance between the suction cup and the wall to ensure good suction and sealing. The miniature ultrasonic sensors constitute the auxiliary part of the ultrasonic sensor array 6. They are used to monitor the relative position of the multi-degree-of-freedom robotic arm 2 and the wall or other multi-degree-of-freedom robotic arms 2 during movement to prevent motion interference.

[0029] The main body 1 can also be equipped with robotic arms, cleaning devices, detection sensors, etc., according to actual needs, to perform various high-altitude operations and improve the applicability of the device.

[0030] In use, the operator places the entire device against a wall. The central control unit inside the device controls the negative pressure adsorption devices 3 on the four multi-degree-of-freedom robotic arms 2 to simultaneously create a vacuum, allowing the robot to firmly adhere to the wall. Then, the vision processing module 4 and radar modeling module 5 on top of the robot begin scanning the wall in front. After data fusion, a 2D / 3D map is generated, containing the adsorption area (flat surface) and obstacles (window frames, pipes). The central control unit then plans a safe path based on the map and calculates the optimal sequence of "landing points" for each step. Subsequently, it controls the drive system: first, the negative pressure adsorption device 3 of one multi-degree-of-freedom robotic arm 2 (e.g., the right forearm) breaks the vacuum and lifts up; then, the overall drive module of the multi-degree-of-freedom robotic arm 2 controls the coordinated movement of each joint of the arm, moving the negative pressure adsorption device 3 to the next predetermined landing point; then, the negative pressure adsorption device 3 adsorbs; finally, this process is repeated, moving the left rear arm, and so on, forming a stable triangular or quadrilateral gait, propelling the robot forward. Throughout the movement, the ultrasonic sensor continuously measures the distance between the negative pressure adsorption device 3 and the wall to ensure good adsorption sealing; at the same time, it monitors the area under the robot's abdomen, and stops moving immediately upon detecting an obstacle, awaiting new instructions.

[0031] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A wall-climbing robot, characterized in that, include: The main body (1) is equipped with a power unit, a central control unit and a transmission unit; The walking mechanism consists of four completely independent multi-degree-of-freedom robotic arms (2), which are symmetrically arranged around the central body (1) in a circumferential manner. Each multi-degree-of-freedom robotic arm (2) is equipped with a negative pressure adsorption device (3) at its end. The perception system, integrated on the central body (1), includes a visual processing module (4) for acquiring wall image information and a radar modeling module (5) for constructing a surrounding three-dimensional space model. The drive system includes a four-way drive module that independently controls the movement of four multi-degree-of-freedom robotic arms (2), and an overall robotic arm drive module that controls the coordinated movement of each joint of each multi-degree-of-freedom robotic arm (2). An ultrasonic sensor array (6) is distributed and installed at key locations on the lower periphery of the central body (1) and on the multi-degree-of-freedom robotic arm (2) for near-field distance detection.

2. The wall-climbing robot according to claim 1, characterized in that, The power unit consists of several battery packs, the central control unit consists of a main control computer, and the transmission unit consists of various transmission connectors.

3. The wall-climbing robot according to claim 2, characterized in that, The central control unit integrates visual, radar, and ultrasonic data to generate a comprehensive environmental model that includes wall texture, three-dimensional geometry, and near-field obstacle information. Based on this model, it autonomously plans safe movement paths and robotic arm landing points.

4. The wall-climbing robot according to claim 3, characterized in that, The walking mechanism is a biomimetic gait walking mode. The central control unit controls the four-way drive module and the overall drive module of the robot arm, so that the robot's four multi-degree-of-freedom robotic arms (2) alternately perform the "lift-move-adhere" action.

5. The wall-climbing robot according to claim 1, characterized in that, The negative pressure adsorption device (3) is a suction cup with a flexible sealing edge and is connected to a vacuum generating device.

6. The wall-climbing robot according to claim 1, characterized in that, The top of the central body (1) is rotatably mounted on a mounting platform (7), the visual processing module (4) is rotatably mounted on one side of the top of the mounting platform (7), and the radar modeling module (5) is rotatably mounted on the other side of the top of the mounting platform (7).

7. The wall-climbing robot according to claim 6, characterized in that, The visual processing module (4) is composed of a high-definition camera, and the radar modeling module (5) is composed of a lidar.

8. The wall-climbing robot according to claim 1, characterized in that, All four multi-degree-of-freedom robotic arms (2) are movably mounted on the central body (1) through hinge joints (22), and the structures of the four multi-degree-of-freedom robotic arms (2) are exactly the same. Each multi-degree-of-freedom robotic arm (2) is formed by connecting multiple robotic arm links (21) through joints.

9. The wall-climbing robot according to claim 1, characterized in that, The ultrasonic sensor array (6) includes multiple ultrasonic sensors mounted on the lower surface of the central body (1) and miniature ultrasonic sensors mounted on the robotic arm link (21). The multiple ultrasonic sensors are symmetrically distributed and constitute the basic part of the ultrasonic sensor array (6), while the miniature ultrasonic sensors constitute the auxiliary part of the ultrasonic sensor array (6).

10. The wall-climbing robot according to claim 9, characterized in that, The ultrasonic sensor array (6) is configured for a wall distance monitoring mode and a near-field obstacle detection mode. The wall distance monitoring mode is used to continuously monitor the distance between the adsorption device and the wall during movement to ensure adsorption sealing. The near-field obstacle detection mode is used to detect obstacles below the robot's abdomen and on the movement path of the robotic arm.

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