Inclined surface moving machine and multi-robot system and method of using the same

Abstract

The present invention relates to an inclined surface moving machine, comprising a first split, a second split and a functional component, wherein the functional component comprises a moving mechanism, a flexible connecting device and an operating tool, wherein the operating tool is mounted on the first split and / or the second split and is used to perform the operation, wherein the flexible connecting device connects the first split and the second split and adjusts the distance between the first split and the second split, wherein the moving mechanism is mounted on the first split and / or the second split and is used to drive the first split and / or the second split to move on the inclined surface, wherein the first split comprises a suspension mechanism, wherein the suspension mechanism is used to connect and disconnect the inclined surface. The present invention also discloses a multi-robot system using the inclined surface moving machine and a method for using the same. The present invention allows the surface attachment device to work intermittently, shortens its working time, and significantly reduces the overall energy consumption of the machine. Even if the inclined surface moving machine fails, the inclined surface moving machine can still be safely suspended on the inclined surface without falling.

Description

Technical Field

[0001] The present invention belongs to the technical field of adsorption technology application, and in particular relates to an inclined surface moving machine and a multi-robot system and a use method thereof. Background Art

[0002] Specific tasks require implementation on inclined surfaces, such as crack detection on building exteriors and cleaning of tilted photovoltaic arrays. As labor costs increase, machines are gradually replacing human workers to complete these dangerous tasks.

[0003] Typically, wall-climbing machines are equipped with surface attachment devices. These devices achieve adhesion through methods such as magnetic technology (described in patent number CN201910983947.1), rotor reverse thrust technology (described in patent number CN201911117754.4), and negative pressure adsorption technology (described in patent number CN201910807463.1). This allows the wall-climbing machine to attach to inclined or vertical surfaces, move around, and carry working tools (e.g., cameras, flaw detection equipment, cleaning tools, etc.) to perform operations. Existing wall-climbing machines have the following disadvantages:

[0004] (1) The surface attachment device is the core component of the wall climbing machine. The surface attachment device must always be in working condition and generate stable adhesion. Otherwise, the wall climbing machine will fall.

[0005] (2) A surface attachment device that is always in operation consumes a lot of energy. Even when the wall climbing machine is parked on the working surface, the surface attachment device must be in operation all the time. When the wall climbing machine is powered by batteries, this will obviously greatly shorten the battery life.

[0006] (3) If the surface attachment device works for a long time, the failure rate will increase significantly. For example, a surface attachment device that uses negative pressure adsorption is prone to inhaling external dust or foreign matter during operation. Long-term inhalation of dust and foreign matter will cause damage to the vacuum pump and blockage of the vacuum pipeline. For another example, a surface attachment device that uses electromagnet adsorption will absorb magnetic dust (such as rust and iron filings) during operation. When the magnetic dust accumulates to a certain extent on the magnet, it will weaken the magnetic force. Therefore, if the surface attachment device works for a long time, the probability of the wall-climbing machine falling will increase.

[0007] (4) If the surface adsorption device moves over a large range on an inclined surface, the failure rate will increase significantly. For example, a surface adsorption device using a negative pressure adsorption method will inhale dust or foreign matter on the inclined surface when working. Obviously, the larger the range of movement of the surface adsorption device, the more dust and foreign matter it inhales, and the more likely it is to cause damage to the vacuum pump and blockage of the vacuum pipeline. For another example, a surface adsorption device using an electromagnet adsorption method will absorb magnetic dust (such as rust and iron filings) when working. When the magnetic dust accumulates to a certain extent on the magnet, it will weaken the magnetic force. Obviously, the larger the range of movement of the surface adsorption device, the more magnetic dust will accumulate on the surface adsorption device. Therefore, the large-scale movement of the surface adsorption device on an inclined surface will increase the probability of the wall-climbing machine falling. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an inclined surface moving machine and a multi-robot system and a method of using the same, which can enable a surface attachment device to work intermittently and move in a small range. The system has a simple structure and is easy to use.

[0009] The present invention is implemented in this way: a machine for moving an inclined surface is provided, comprising a first split, a second split and a functional component, wherein the functional component comprises a moving mechanism, a flexible connecting device and a working tool, the working tool being installed on the first split and / or the second split and being used to implement the working content, the flexible connecting device connecting the first split and the second split and adjusting the distance between the first split and the second split, the moving mechanism being installed on the first split and / or the second split and being used to drive the first split and / or the second split to move on the inclined surface, the first split comprising a suspension mechanism, and the suspension mechanism being used to connect and disconnect the inclined surface.

[0010] In the present invention, the angle between the surface referred to by the inclined surface and the horizontal plane can be an obtuse angle, a right angle, or an acute angle.

[0011] Furthermore, it also includes a split connection mechanism installed on the first split body and / or the second split body, which is used to connect and disconnect the first split body and the second split body.

[0012] Furthermore, the flexible connection device includes a rope and a rope winding mechanism for winding and unwinding the rope, and the rope driving mechanism changes the distance between the first split body and the second split body and tightens or relaxes the rope.

[0013] Furthermore, the rope driving mechanism includes a rope winding mechanism, which changes the length of the rope between the first sub-body and the second sub-body by winding the rope, and tightens or relaxes the rope.

[0014] Furthermore, the rope driving mechanism includes a rope climbing mechanism, which is arranged on the second split body and drives the second split body to move along the rope.

[0015] Furthermore, the functional component includes a surface attachment device, which is installed on the first split body and / or the second split body and is used for attaching to the inclined surface.

[0016] The present invention is implemented in this way, and also provides a method for using the inclined surface moving machine as described above, comprising the following steps:

[0017] Step i-1: the first split body and / or the second split body and the functional components mounted on the first split body and / or the second split body move on the inclined surface;

[0018] Step i-2: After the first split body moves to a designated position on the inclined surface, the suspension mechanism of the first split body is connected to the inclined surface;

[0019] Step i-3: The distance between the first and second sub-bodies is adjusted by the flexible connection device, and the second sub-bodies and the functional components mounted on the second sub-bodies move on the inclined surface. Simultaneously, the working tool performs the work on the inclined surface.

[0020] Step i-4: After completing the current round of operations, the suspension mechanism of the first split body is disengaged from the inclined surface;

[0021] Step i-5: Repeat steps i-2 to i-4 to continue the next round of operations.

[0022] Step i-6: the first split body and / or the second split body and the functional components installed on the first split body and / or the second split body are moved to the bottom of the inclined surface, thereby ending the operation of the inclined surface moving robot on the inclined surface.

[0023] The present invention is implemented in this way, and also provides a method for using the inclined surface moving machine as described above, comprising the following steps:

[0024] Step ii-1: The worker moves the inclined surface moving machine to the inclined surface to be operated;

[0025] Step ii-2: The suspension mechanism of the first split is connected to the inclined surface with the assistance of a worker;

[0026] Step ii-3: adjusting the distance between the first and second sub-bodies by the flexible connection device, and moving the second sub-bodies on the inclined surface; and at the same time, performing the work on the inclined surface by the working tool;

[0027] Step ii-4: After completing the current round of operations, the suspension mechanism of the first split is disengaged from the inclined surface with the assistance of the worker, and the inclined surface moving machine is removed from the inclined surface;

[0028] Step ii-5: The worker moves the inclined surface moving machine to another inclined surface to be operated, repeats the above steps ii-2 to ii-4, and implements the next round of operations until the operations on all inclined surfaces are completed.

[0029] The present invention is implemented in this way, and also provides a method for using the inclined surface moving machine as described above, comprising the following steps:

[0030] Step iii-1: The first body and the second body are combined into a whole, and the first body, the second body, and the functional components installed on the first body and the second body move on the inclined surface;

[0031] Step iii-2: The first and second split bodies and the functional components mounted on the first and second split bodies are moved to designated positions on the inclined surface, and the suspension mechanism of the first split body is connected to the inclined surface;

[0032] Step iii-3: The second body is disconnected from the first body, and the distance between the first body and the second body is adjusted by the flexible connection device. The second body and the functional components mounted on the second body move on the inclined surface, and the working tool performs the work on the inclined surface.

[0033] Step iii-4: After completing the operation of this round, the first and second sub-bodies are combined into a whole, the suspension mechanism is disengaged from the inclined surface, and the first and / or second sub-bodies and the functional components mounted on the first and / or second sub-bodies move on the inclined surface;

[0034] Step iii-5: Repeat steps iii-2 to iii-4 to continue the next round of operations.

[0035] Step iii-6: the first split body and / or the second split body and the functional components installed on the first split body and / or the second split body are moved to the bottom of the inclined surface, thereby ending the operation of the inclined surface moving robot on the inclined surface.

[0036] The present invention is implemented in this way, and also provides a method for using the inclined surface moving machine as described above, comprising the following steps:

[0037] Step iv-1: the first split body and the components mounted on the first split body move on the inclined surface, and the second split body and the functional components mounted on the second split body are located below the inclined surface;

[0038] Step iv-2: The first split body moves to a designated position on the inclined surface, and the suspension mechanism of the first split body is connected to the inclined surface;

[0039] Step iv-3: The distance between the second body and the first body is adjusted by the flexible connection device, and the second body and the functional components mounted on the second body move on the inclined surface. Simultaneously, the working tool performs the work on the inclined surface.

[0040] Step iv-4: After completing this round of operations, the second body and the functional components mounted thereon are moved below the inclined surface. The flexible connection device is in a relaxed state without tension. The suspension mechanism of the first body is disengaged from the inclined surface. The first body and the functional components mounted thereon are then moved on the inclined surface.

[0041] Step iv-5: Repeat steps iv-2 to iv-4 to continue the next round of operations.

[0042] Step iv-6: The first split body and the functional components installed on the first split body are moved to the bottom of the inclined surface, thereby completing the operation of the inclined surface moving robot on the inclined surface.

[0043] The present invention is implemented in this way. It also provides a multi-robot system, including the inclined surface moving machine as described above, and also including a handling machine. The handling machine includes a moving machine body and a machine docking mechanism. The moving machine body can move in space. The machine docking mechanism is installed on the moving machine body. The inclined surface moving machine and the handling machine can be combined and separated through the machine docking mechanism.

[0044] Furthermore, the mobile machine body is a flying machine flying in the air, or a vehicle body moving on the ground, or a ship body floating in the water.

[0045] Furthermore, the machine docking mechanism includes a bridge plate and a bridge plate adjustment mechanism, the bridge plate is installed on the bridge plate adjustment mechanism, the bridge plate adjustment mechanism is installed on the mobile machine body, the bridge plate adjustment mechanism adjusts the position and posture of the bridge plate, the inclined surface moving machine moves from the inclined surface to the bridge plate and combines with the transporting machine, or the inclined surface moving machine moves from the bridge plate to the inclined surface and separates from the transporting machine.

[0046] The present invention is implemented as follows: a method for using the multi-robot system as described above is provided, comprising the following steps:

[0047] Step v-1: The inclined surface moving machine and the transporting machine are connected to each other through a machine docking mechanism, and the transporting machine transports the inclined surface moving machine to the inclined surface to be operated;

[0048] Step v-2: the inclined surface moving machine and the transporting machine are separated from each other by the machine docking mechanism, and the inclined surface moving machine moves on the inclined surface;

[0049] Step v-3: The first split body moves to a designated position on the inclined surface, and the suspension mechanism of the first split body connects to the inclined surface;

[0050] Step v-4: The flexible connection device adjusts the distance between the first and second sub-bodies, and the second sub-bodies and the functional components mounted on the second sub-bodies move on the inclined surface, while the working tool performs the work;

[0051] Step v-5: After completing the current round of operations, some or all of the surface attachment devices and moving mechanisms are activated, the suspension mechanism of the first split body is disengaged from the inclined surface, and the inclined surface moving machine moves on the inclined surface;

[0052] Step v-6: Repeat steps v-3 to v-5 above to carry out the next round of operations at different positions on the inclined surface, or combine the inclined surface moving machine and the transporting machine with each other through a machine docking mechanism, and the transporting machine transports the inclined surface moving machine to another inclined surface, repeat steps v-2 to v-5 above, and carry out the next round of operations on another inclined surface until the operations on all inclined surfaces are completed.

[0053] Compared with the prior art, the inclined surface moving machine and multi-robot system and the method of using the same have the following features:

[0054] (1) The suspension mechanism forms a reliable fixed connection with the inclined surface. Even if the inclined surface mobile machine fails (for example, failure of the surface attachment device, failure of the moving mechanism, failure of the control program, failure of the working tool, etc.), the inclined surface mobile machine can still be safely suspended on the inclined surface and will not fall.

[0055] (2) When the suspension mechanism and the inclined surface are connected to each other, the flexible connection device can balance the weight of the second sub-body and the functional components mounted on the second sub-body. Therefore, the surface attachment device no longer needs to generate a large adsorption force to balance the weight. During the operation of the inclined surface moving machine, the surface adsorption device can be in a stopped state or a low-power operation state, which greatly reduces energy consumption.

[0056] (3) As described in (2) above, the surface attachment device can be in a stopped state, which shortens the working time. Therefore, the probability of failure of the surface attachment device is greatly reduced and the service life is greatly extended.

[0057] (4) The machine can climb onto the inclined surface to complete the placement and recovery of the suspension mechanism. The operator only needs to operate the machine on the ground. The operator does not need to climb onto the inclined surface to perform any operation, which completely eliminates the operator's high-altitude operation risks and greatly reduces the intensity and difficulty of the worker's work. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 、 Figure 2 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 1 of the present invention, wherein: Figure 1 This is a schematic diagram of the inclined surface moving machine (after the first and second parts are combined) adsorbed on the inclined surface and moving. Figure 2 A schematic diagram of a state in which a hook of a suspension mechanism of a machine for moving an inclined surface is suspended at the upper edge of the inclined surface, with the first and second split bodies separated from each other;

[0059] Figure 3 、 Figure 4 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 2 of the present invention, wherein: Figure 3 This is a schematic diagram of the state where the first part of the inclined surface moving machine is adsorbed on the inclined surface and moves, and the second part is on the horizontal surface below the inclined surface. Figure 4 This is a schematic diagram of a state in which a hook of a suspension mechanism of a machine for moving on an inclined surface is suspended on the upper edge of the inclined surface, with both the first split body and the second split body located on the inclined surface;

[0060] Figure 5 and Figure 6 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 3 of the present invention, wherein: Figure 5 This is a schematic diagram of the inclined surface moving machine adsorbing on the inclined surface of the photovoltaic module and moving. Figure 6 for Figure 5 Schematic diagram of the rope tightening pulley;

[0061] Figure 7 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 4 of the present invention. Figure 7 This is a schematic diagram of the inclined surface moving machine operating on the inclined surface of the photovoltaic module, with the rope winding mechanism being arranged on a plane below the inclined surface;

[0062] Figure 8 、 Figure 9 and Figure 10 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 5 of the present invention, wherein: Figure 8 This is a schematic diagram of the inclined surface moving machine (after the first split and the second split are combined) located at the corresponding position on the inclined surface of the photovoltaic module and moving. Figure 9 This is a schematic diagram of the state where the hook of the suspension mechanism of the inclined surface moving machine is suspended at the upper edge of the inclined surface of the photovoltaic module, and the first split and the second split are combined with each other. Figure 10 Schematic diagram of a state in which a hook of a suspension mechanism of an inclined surface moving machine is suspended at the upper edge of an inclined surface of a photovoltaic module, with the first split body and the second split body separated from each other;

[0063] Figure 11 and Figure 12 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 6 of the present invention, wherein: Figure 11 Schematic diagram of the second part of the inclined surface moving machine located on the ground below the inclined surface of the photovoltaic module. A worker uses a long pole to hang the hook of the suspension mechanism on the upper edge of the inclined surface of the photovoltaic module. Figure 12 Schematic diagram of the state where the first and second parts of the inclined surface moving machine are combined, and a worker uses a long pole to push the second part to hang the hook of the hanging mechanism on the upper edge of the inclined surface of the photovoltaic module;

[0064] Figure 13 and Figure 14 This is a schematic plan view of the structural principle of the inclined surface moving machine embodiment 7 of the present invention, wherein: Figure 13 The inclined surface moving machine is moved to the inclined surface of the photovoltaic panel in order to transport the machine. The schematic diagram of the inclined surface moving machine is ready to move from the bridge deck to the inclined surface. Figure 14 Schematic diagram of the inclined surface moving machine located on the inclined surface of the photovoltaic panel preparing to move from the inclined surface to the bridge deck. DETAILED DESCRIPTION

[0065] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0066] Example 1

[0067] Please also refer to Figure 1 as well as Figure 2 FIG. 1 shows a first embodiment of the structure and method of use of the inclined plane moving machine of the present invention.

[0068] The inclined surface moving machine of the present invention comprises a first body 1, a second body 2, and a functional assembly. The functional assembly includes a surface attachment device 3, a moving mechanism 4, a flexible connection device, and a working tool 7. The flexible connection device includes a rope 5 and a rope drive mechanism. The rope drive mechanism in this embodiment is a rope reel (not shown) that winds and unwinds the rope 5. A suspension mechanism is provided on the first body 1. This suspension mechanism comprises a rotating hook 6 that hooks onto the upper edge of the inclined surface P, forming a connection with the inclined surface P.

[0069] A work tool 7 is mounted on the second body 2 for performing work on an inclined surface. A surface attachment device 3 is mounted on the second body 2 for attaching to the inclined surface P. A moving mechanism 4 is mounted on the second body 2. In this embodiment, the moving mechanism 4 comprises a plurality of drive wheels mounted on the second body 2.

[0070] In the present invention, the up and down movement of the moving mechanism 4 is defined as longitudinal movement, and the movement parallel to the ground (eg, left and right movement or front and back movement on an inclined surface) is defined as lateral movement.

[0071] The first and second sub-sections 1 and 2 are connected via a flexible connection. A rope reel is mounted on the second sub-section. One end of a rope 5 is connected to the first sub-section, while the other end is connected to the rope reel. The rope reel adjusts the distance between the first and second sub-sections 1 and 2 and tightens or loosens the rope by reeling in and releasing it.

[0072] The present invention further discloses a first method for using the aforementioned inclined surface moving machine, comprising the following steps:

[0073] Step 11: The first and second sub-body parts 1 and 2 are combined into a single unit by tightening the flexible connection device. The surface attachment device 3 and the movable mechanism 4 mounted on the second sub-body part are activated. The surface attachment device 3 provides an adsorption force to the inclined surface P. This adsorption force generates friction between the movable mechanism 4 and the inclined surface P. This friction overcomes gravity and drives the first and second sub-body parts 1 and 2, as well as the functional components mounted thereon, to move along the inclined surface P.

[0074] Step 12. After the first split body 1 and the second split body 2 and the functional components installed on the first split body 1 and the second split body 2 are moved to the specified position of the inclined surface P (a position convenient for the hook 6 of the suspension mechanism to be hooked, for example, a protrusion, step, hook ring, edge, etc. on the inclined surface P. In this embodiment, the specified position is the upper edge of the inclined surface P), the hook 6 of the suspension mechanism rotates and hooks the upper edge of the inclined surface P, and the hook 6 and the inclined surface P form a connection relationship.

[0075] Step 13: The rope winding mechanism releases the rope, and the second part 2 is disengaged from the first part 1. The second part 2 is able to move longitudinally on the inclined surface P by extending and shortening the rope 5. The rope 5 is in a tensioned state, and the tension of the rope 5 acts on the second part 2, balancing the gravity of the second part 2 and the functional components installed on the second part 2. At this time, by reducing the adsorption force of the surface attachment device 3 or even completely closing the surface attachment device 3, the inclined surface moving machine can also be safely suspended on the inclined surface P without falling. In this embodiment, the working tool 7 is a camera, which is used to shoot the surface state of the inclined surface. The camera does not generate an operating reaction force during operation, so we can completely close the surface attachment device 3 to reduce energy consumption and protect the surface attachment device 3. In order to ensure the stability of the shooting process, we can also open the surface attachment device 3 to generate a very small adhesion force to prevent the second part 2 from shaking when moving on the inclined surface P.

[0076] Step 14: After completing the operation of this round, the rope winding mechanism tightens the rope 5, so that the first sub-body 1 and the second sub-body 2 are combined into a whole, and the surface attachment device 3 and the moving mechanism 4 are activated. Then, the hook 6 rotates to disengage from the upper edge of the inclined surface P. The surface attachment device 3 and the moving mechanism 4 drive the first sub-body 1 and the second sub-body 2 and the functional components installed on the first sub-body 1 and the second sub-body 2 to move on the inclined surface P.

[0077] Step 15: Repeat steps 12 to 14 to continue the next round of operations.

[0078] Step 16: The first body 1 and the second body 2 and the functional components installed on the first body 1 and the second body 2 are moved to the bottom of the inclined surface P, and the operation of the inclined surface moving robot on the inclined surface P is ended.

[0079] In this embodiment, the flexible connection device utilizes a flexible rope 5 and a rope winding mechanism to connect the first and second components 1 and 2. Compared to traditional mechanical connections, this ensures a simple yet highly flexible connection between the two components. The movement of the second component 2 is not restricted by rigidity. Furthermore, the flexible rope 5 is lightweight, compact, and easily stowed. This design significantly reduces the weight of the inclined surface mobile machine. Another benefit is that the inclined surface mobile machine can climb the inclined surface P with minimal suction force, significantly reducing overall power consumption.

[0080] Example 2

[0081] Please also refer to Figure 3 as well as Figure 4 FIG. 2 shows a second embodiment of the structure and method of use of the inclined plane moving machine of the present invention.

[0082] In this embodiment, a moving mechanism 4 and a surface attachment device 3 are mounted on the first body 1. The moving mechanism 4 and a working tool 7 are mounted on the second body 2. The moving mechanism 4 on the first body 1 includes a driving wheel with driving capability, while the moving mechanism 4 on the second body 2 can be either a driven wheel without driving capability or a driving wheel with driving capability. The suspension mechanism includes a rotating hook 6 that hooks onto the upper edge of the inclined surface P, forming a connection with the inclined surface P.

[0083] The other structures and functions are the same as those in Example 1 and will not be described in detail.

[0084] The present invention also discloses a method for using a second inclined surface moving machine, which uses the second inclined surface moving machine as described above, and includes the following steps:

[0085] Step 21: Start the surface attachment device 3 and the moving mechanism 4 installed on the first split body 1, driving the first split body 1 and the functional components installed on the first split body 1 to move on the inclined surface P. The second split body 2 and the functional components installed on the second split body 2 are below the inclined surface P. The rope winding mechanism releases the rope, so that the rope 5 is in a relaxed state without tension.

[0086] Step 22: After the first split body 1 is moved to a designated position on the inclined surface (a position convenient for hooking the hook 6 of the hanging mechanism, such as a protrusion, step, or hook ring on the inclined surface P; in this embodiment, the designated position is the upper edge of the inclined surface P), the hook 6 of the hanging mechanism rotates and hooks onto the upper edge of the inclined surface P, forming a connection between the hook 6 and the inclined surface P. Then, the surface attachment device 3 on the first split body 1 is closed.

[0087] Step 23: The rope winding mechanism reels in the rope, putting the rope 5 in a tensioned state. The rope 5 applies tension to the second body 2, balancing the gravity of the second body 2 and the functional components installed on the second body 2, pulling the second body 2 to move on the inclined surface P and perform the work content. At this time, even if the second body 2 is not installed with the surface attachment device 3, the second body 2 can be safely suspended on the inclined surface P without falling. In this embodiment, the working tool 7 is a drilling machine. The drilling machine will generate an operating reaction force during the drilling process. Therefore, a surface attachment device 3 is installed on the second body 2, which is used to generate an adsorption force to balance the operating reaction force. When the drilling operation is carried out, the surface attachment device 3 on the second body 2 is turned on to generate an operating reaction force to resist the drilling. When the drilling operation is not carried out, the surface attachment device 3 on the second body 2 is turned off to reduce energy consumption and protect the surface attachment device 3.

[0088] Step 24: After completing this round of operations, the second body 2 and the functional components mounted thereon are moved below the inclined surface P. The rope reel mechanism then releases the rope 5, releasing it from tension and slackening it. The rope 5 no longer exerts tension on the first body 1. The surface attachment device 3 and the moving mechanism 4 mounted on the first body 1 are activated, causing the hook 6 of the first body 1 to rotate and disengage from the upper edge of the inclined surface P. The first body 1 and the functional components mounted thereon to move along the inclined surface P.

[0089] Step 25: Repeat steps 22 to 24 to continue the next round of operations.

[0090] Step 26: The first split body 1 and the functional components installed on the first split body 1 are moved to the bottom of the inclined surface P, thus completing the operation of the inclined surface moving robot on the inclined surface.

[0091] Compared to Example 1, the inclined surface moving machine of this embodiment has another advantage. If the work tool 7 is heavy, the second body 2 of Example 1 cannot carry the work tool 7 up the inclined surface P. In this embodiment, however, the first body 1 is first mounted on the inclined surface P to place the suspension mechanism, and then the second body 2 and its work tool 7 are pulled by the flexible connection device provided on the first body 1. This effectively improves the load-bearing capacity and operational capabilities of the inclined surface moving machine.

[0092] In Examples 1 and 2, the suspension mechanism is a rotating hook 6. The suspension mechanism may be other structures, for example, the suspension mechanism is a collar that can fit over the protruding structure on the inclined surface P. The suspension mechanism may also be a mechanism with adsorption capability, for example, a magnet or a vacuum suction cup, and the suspension mechanism is connected to the inclined surface through adsorption. Although the magnet or vacuum suction cup of the suspension mechanism must always maintain an adsorption state, the adsorption position is always fixed. In other words, the magnet or vacuum suction cup does not need to move over a large range on the inclined surface P, thereby avoiding wear of the magnet or vacuum suction cup on the inclined surface P and reducing the amount of dust and foreign matter (such as dust and iron filings on the inclined surface P), which is beneficial to protecting the magnet or vacuum suction cup.

[0093] Example 3

[0094] This embodiment is another embodiment of embodiment 2. Figure 5 As shown, the rope drive mechanism is a rope climbing mechanism (not shown) that can move along the rope 5. There are many mechanisms that can achieve the function of moving along the rope. For example, Figure 6 As shown, the rope climbing mechanism includes two rope clamping wheels 8, which are installed on the second split body 2. The two rope clamping wheels 8 clamp the rope 5. The two rope clamping wheels 8 are as shown in FIG. Figure 6 The direction shown in FIG. 2 is rotated so that the second split 2 can be moved upwards along the rope 5. The two rope gripping wheels 8 rotate in the opposite direction so that the second split 2 can be moved downwards along the rope 5.

[0095] The other structures and functions are the same as those in Example 2 and will not be described in detail.

[0096] Example 4

[0097] This embodiment is another embodiment of embodiment 2. Figure 7As shown, the rope winding mechanism is disposed below the inclined surface P. A pulley 9 is provided on the first sub-body 1. A rope 5 passes through the pulley 9 and connects the rope winding mechanism 10 to the second sub-body 2. The rope winding mechanism 10 retracts and releases the rope 5 to change the distance between the first sub-body 1 and the second sub-body 2. At the same time, it applies tension to the second sub-body 2, driving the second sub-body 2 to move on the inclined surface P. Compared with Example 2, the advantage of this embodiment is that the rope winding mechanism 10 is not installed on the second sub-body 2, further reducing the weight of the second sub-body 2 and helping to reduce the labor intensity of workers when carrying and recovering the second sub-body 2.

[0098] The other structures and functions are the same as those in Example 2 and will not be described in detail.

[0099] Example 5

[0100] Please also refer to Figure 8 、 Figure 9 as well as Figure 10 FIG. 2 shows a fifth embodiment of the structure and method of use of the inclined plane moving machine of the present invention.

[0101] In this embodiment, the cleaning operation of an inclined photovoltaic module array is taken as an example to explain the present invention in more detail. Photovoltaic power stations are built in outdoor environments. Photovoltaic power stations are composed of a large number of photovoltaic module arrays, and each photovoltaic module array is composed of 10 to 20 photovoltaic panels arranged in an array. Photovoltaic module arrays are not connected to each other, and there is usually a 1 to 3 meter wide road between photovoltaic module arrays. Dust falls on the photovoltaic module array and blocks the effective sunlight, which will seriously affect the photoelectric conversion efficiency. In addition, the uneven illumination will cause local overheating and produce hot spots, which will damage the photovoltaic modules. There is a lot of dust in the air. Even after cleaning, the photovoltaic modules will be covered with dust again soon. Therefore, it is very necessary to clean the photovoltaic modules frequently.

[0102] At present, the cleaning operations of photovoltaic power stations are still mainly done by manual cleaning. However, due to the many disadvantages of manual cleaning (for example: high labor costs, low cleaning efficiency, unstable cleaning quality, easy damage to power generation panels, etc.), robot cleaning has begun to gradually replace manual cleaning. The patent application with application number CN201711115056.1 discloses a cleaning machine for photovoltaic module arrays. The cleaning machine includes an operating machine, a longitudinal walking track, and a transverse walking track. The operating machine is arranged on the longitudinal walking track, and the longitudinal walking track is arranged on the photovoltaic module array via the transverse walking track. The operating machine moves on the surface of the photovoltaic module array and performs operations such as cleaning and detection through the longitudinal walking track and the transverse walking track. The patent technology has the following problems:

[0103] (1) The longitudinal and transverse travel rails make the entire device bulky and heavy, which makes installation and disassembly arduous and complicated;

[0104] (2) There are hundreds of photovoltaic arrays in a photovoltaic power station. If each photovoltaic array is equipped with a cleaning machine of the invention, a photovoltaic power station will need to install hundreds of cleaning devices, which will result in extremely high initial investment costs and high subsequent operation and maintenance costs. In order to reduce the number of cleaning devices, the cleaning devices can be manually moved from one photovoltaic array to the next, increasing the reuse rate of the cleaning devices and thus reducing the number of cleaning machines. However, because the cleaning machines are large and heavy, the installation and removal work is arduous, complicated, and time-consuming.

[0105] The patent application number CN201810900530.X discloses a photovoltaic module array cleaning robot. The surface attachment device of the cleaning robot generates negative pressure, which enables the robot to move on the surface of the photovoltaic module and perform cleaning operations. Because the surface attachment device is always in working state, the energy consumption is very high, and a large-capacity battery is required to maintain long-term operation. In order to carry large-capacity batteries, a battery transporter needs to be configured on the ground, which moves with the cleaning robot and powers the cleaning robot through a cable. In addition, if the surface attachment device works for a long time, it will inhale dust or foreign matter on the surface of the photovoltaic module, which will cause damage to the vacuum pump and blockage of the vacuum pipeline.

[0106] This embodiment provides a mobile machine for cleaning photovoltaic arrays on inclined surfaces with lower energy consumption, lower weight, and greater safety. In this embodiment, it is referred to as a mobile cleaning machine. The mobile cleaning machine comprises a first body 1, a second body 2, and functional components. The functional components include a surface attachment device 3, a moving mechanism 4, a rope 5 of a flexible connection device, and a rope winding mechanism (not shown) for winding and unwinding the rope 5. The first body 1 comprises a hook 6. The surface attachment device 3 is a vacuum suction cup that generates negative pressure to adhere to the surface of the photovoltaic array and is mounted on the second body 2. The moving mechanism 4, also mounted on the second body 2, comprises multiple omnidirectional drive wheels, enabling the cleaning machine to move both horizontally and vertically on the inclined surface P of the photovoltaic array. The first body 1 and the second body 2 can be connected to form a single unit or disconnected via a separate connecting mechanism. The separate connecting mechanism comprises a swinging lever 11 and a magnet 12. The swinging lever 11 is mounted at the front end of the second body 2, and the magnet 12 is mounted at the front end of the swinging lever 11. The magnet 12 can attract the hook 6. The rope 5 connects the first body 1 and the second body 2. A rope winding mechanism (not shown) is mounted on the second body 2. One end of the rope 5 is fixed to the hook 6, and the other end is connected to the rope winding mechanism. The rope winding mechanism changes the length of the rope 5 and generates tension by winding and unwinding the rope. The second body 2 is also equipped with an operating tool 7, a soft scraper strip for cleaning operations. The moving mechanism 4 drives the second body 2 to move, thereby driving the soft scraper strip to move, thereby removing dust from the surface of the photovoltaic module. The operating tool 7 can also be other tools, such as a rotating brush. The second body 2 is also equipped with several edge detection sensors 13 for detecting the edges of the photovoltaic module array. The cleaning mobile machine is also equipped with an alarm (not shown in the figure) to indicate the status of the cleaning mobile machine.

[0107] The present invention also discloses a process of using the mobile cleaning machine, which includes the following steps:

[0108] Step 31: The magnet 12 at the front end of the swing lever 11 engages the hook 6, effectively connecting the first and second components 1 and 2 into a single unit. The worker then places the cleaning machine on the inclined surface P of the PV array. The vacuum cups and omnidirectional drive wheels mounted on the second component 2 are activated. The vacuum cups provide suction force against the inclined surface P, which in turn creates friction between the omnidirectional drive wheels and the surface. This friction overcomes gravity, driving the cleaning machine along the inclined surface P of the PV array.

[0109] Step 32: When the cleaning mobile machine moves to the upper edge of the inclined surface P, the edge detection sensor 13 detects the edge and the moving mechanism stops. The swing arm 11 swings downward, lowering the hook 6. The cleaning mobile machine moves longitudinally downward, and the hook 6 hooks the upper edge of the photovoltaic module array, and the vacuum suction cup stops working. Figure 9 shown.

[0110] Step 33: The swing rod 11 swings upward to disengage the magnet 10 and the hook 6, that is, the second split 2 is disengaged from the first split 1. The second split 2 is able to move longitudinally on the inclined surface P by extending and shortening the rope 5. The rope 5 is in a tensioned state and applies tension to the second split 2. The tension balances the gravity of the second split 2 and the functional components installed on the second split 2. At this time, the surface attachment device 3 is closed. During the movement of the second split 2, the working tool 7 starts the cleaning operation, such as Figure 10 As shown, the second split body 2's mobile mechanism 4 can also move laterally. By pulling the hook 6 with the rope 5, the mobile mechanism 4 can change its suspension position, allowing it to move and clean the entire surface of the inclined surface P. The edge detection sensor 13 of the second split body 2 can detect the edge of the photovoltaic array, ensuring that the cleaning machine does not fall off the inclined surface P.

[0111] Step 34: After completing the cleaning operation, the second body 2 moves upward to the vicinity of the hook 6. The swing arm 11 swings downward, and the magnet 12 attracts the hook 6, thereby combining the first and second bodies 1 and 2 into a single unit. The vacuum cups and omnidirectional drive wheels are activated. The cleaning robot then moves upward a short distance, allowing the hook 6 to clear the upper edge of the inclined surface P. The hook 6 is then rotated to completely disengage the upper edge of the inclined surface P. The cleaning robot then moves along the inclined surface P.

[0112] Step 35: Repeat steps 32 to 34 to continue cleaning other locations on the inclined surface of the photovoltaic module array or on other photovoltaic module arrays.

[0113] Step 36: The cleaning mobile machine moves to the bottom of the inclined surface P, ending the cleaning mobile machine's operation on the inclined surface, and the worker recycles the cleaning mobile machine.

[0114] Compared with existing photovoltaic array cleaning machines, the cleaning mobile machine of this embodiment has the following advantages:

[0115] (1) The hook 6 forms a reliable fixed connection with the upper edge of the photovoltaic array. Even if the cleaning mobile machine fails (for example, the vacuum suction cup fails, the omnidirectional drive wheel fails, the control program fails, the working tool fails, etc.), the cleaning mobile machine can still be safely hung on the photovoltaic array and will not fall.

[0116] (2) The vacuum suction cup is only turned on when the cleaning mobile machine places the hook 6 and retrieves the hook 6. During the cleaning operation of the cleaning mobile machine, the vacuum suction cup is in a stopped state. The working time of the vacuum suction cup is greatly shortened, which greatly reduces the overall energy consumption. It can work for a long time without the need for a large-capacity and heavy battery. In addition, the probability of failure of the vacuum suction cup 3 is greatly reduced, and the service life is also greatly extended.

[0117] (3) Rope 5 is used instead of the longitudinal walking track. Rope 5 weighs almost nothing and takes up very little space when wound on the rope winding mechanism. This makes the cleaning mobile machine light in weight and small in size, making it easy to carry and operate manually. It is precisely because of its light weight and small size that the omnidirectional drive wheel can drive the cleaning mobile machine to move horizontally.

[0118] (4) The cleaning mobile machine can complete the placement and recovery of the hook 6. The operator only needs to perform simple operations of placing and moving the machine on the ground, which greatly reduces the operator's working time, work intensity and difficulty.

[0119] (5) Because the time and effort required to place and move a cleaning machine are short, a single worker can manage multiple cleaning machines simultaneously. When multiple cleaning machines are working on different photovoltaic arrays, the cleaning machine that has completed its work sends a signal to the worker, who then follows the signal to the location of the cleaning machine, moves it to the next photovoltaic array, starts the cleaning machine, and then leaves. Therefore, a single worker has sufficient time and energy to manage multiple cleaning machines simultaneously.

[0120] Example 6

[0121] Please also refer to Figure 11 as well as Figure 12 FIG. 6 shows a sixth embodiment of the structure and method of use of the inclined surface moving machine of the present invention. The structure of the inclined surface moving machine of this embodiment differs from that of the fifth embodiment in that, in this embodiment, the connection and disconnection between the first split body 1 and the inclined surface P are performed by a worker.

[0122] Still taking the cleaning of the inclined surface of a photovoltaic array as an example, the use process of the cleaning mobile machine includes the following steps:

[0123] Step 41: The worker moves the cleaning mobile machine to a designated position on the inclined surface P to be worked.

[0124] Step 42: Figure 11As shown, a worker uses a long pole 14 with a magnet 12 mounted on one end. Magnet 12 attracts hook 6. The worker uses pole 14 to move hook 6 to the upper edge of the PV array and lowers it, securing it against the upper edge of the array. While the worker connects hook 6 to inclined surface P, second body 2 and its functional components remain below inclined surface P, and the rope reel mechanism unwinds, ensuring that rope 5 remains slack.

[0125] Step 43, the rope winding mechanism tightens the rope 5, and the second split 2 is able to move longitudinally on the inclined surface P through the extension and contraction of the rope 5. The rope 5 is in a tensioned state and exerts tension on the second split 2. The tension balances the gravity of the second split 2 and the functional components installed on the second split 2. During the movement of the second split 2, the working tool 7 starts the cleaning operation. The moving mechanism of the second split 2 can also move laterally, and the rope 5 pulls the hook to move laterally to change the hanging position, so that it can move and perform cleaning operations on the entire plane of the inclined surface P. The edge detection sensor 13 of the second split 2 can detect the edge of the photovoltaic module array to ensure that the cleaning mobile machine does not fall from the inclined surface.

[0126] Step 44: After completing the cleaning operation, the worker places the second split body 2 and the functional components installed on the second split body 2 under the inclined surface P, and then uses the long rod 14 to suck the hook 6 and remove the hook 6 from the upper edge of the inclined surface P.

[0127] Step 45: The worker moves the cleaning mobile machine to another location on the inclined surface P and repeats steps 42 to 44 above to carry out the next round of cleaning operations until the operations on all inclined surfaces are completed.

[0128] Figure 12 This is another method of operation in which the worker places the hook 6. The magnet 12 at the front end of the swing arm 11 attracts the hook 6, that is, the first split 1 and the second split 2 are combined into a whole through the split connection mechanism, and the worker places the cleaning mobile machine on the inclined surface P of the photovoltaic module array. Then, the worker uses a long pole 14 to support the cleaning mobile machine and pushes the cleaning mobile machine to move upward along the inclined surface P. When the cleaning mobile machine moves to the upper edge of the inclined surface P, the swing arm 11 swings downward, lowering the hook 6 and connecting it with the inclined surface P. When the cleaning operation is completed, the worker again uses the long pole 14 to support the cleaning mobile machine, and the swing arm 11 swings downward to cause the magnet 12 to attract the hook 6, and then the swing arm 11 swings upward, and the hook 6 disengages from the upper edge of the inclined surface P. The cleaning mobile machine moves downward, and the worker recovers the cleaning mobile machine and moves it to the inclined surface of the next photovoltaic module array.

[0129] In Examples 1 through 5 and Example 7 described below, the connection and disconnection of the suspension mechanism of the first split body 1 from the inclined surface P was performed without external intervention by a worker. In this embodiment, however, the connection and disconnection of the suspension mechanism of the first split body 1 from the inclined surface P was performed with the assistance of a worker. A long rod was used to manually assist the hook 6 in connecting and disconnecting from the upper edge of the inclined surface P. There are many ways to manually assist, such as having a worker stand on a herringbone ladder to connect the hook 6 to the inclined surface P. These examples are not listed here.

[0130] Compared with the embodiment without external intervention of workers, the advantages of the manual assistance method of this embodiment are:

[0131] (1) The cleaning mobile machine does not need to be equipped with a surface attachment device. Because the worker uses the long pole 14 to connect and disconnect the hook 6 and the upper edge of the inclined surface P, the cleaning mobile machine does not need to rely on suction force to move on the inclined surface P. This helps to further reduce the weight, power consumption and cost of the cleaning mobile machine.

[0132] (2) Manual assistance can enhance the operating capacity of the mobile cleaning machine. For example, in order to clean stubborn stains on the photovoltaic module array, the operating tools need to include a water tank, a water sprayer and a high-power brush. The water sprayer sprays water from the water tank onto the surface of the photovoltaic module to wet the stubborn stains, and the brush rotates at high speed to remove the stains, so that the stains are washed away by the water flow. The water tank, the water sprayer and the high-power brush will greatly increase the weight of the mobile cleaning machine. At the same time, the slippery surface will cause the wheels to slip. This will cause the mobile cleaning machine to be unable to move on the tilted photovoltaic module array, and it will not be able to move to the upper edge of the photovoltaic module array to complete the action of placing the hook 6 as in Example 5. Then, placing the hook 6 by manual assistance can well solve these problems.

[0133] Example 7

[0134] Please also refer to Figure 8 、 Figure 9 、 Figure 10 、 Figure 13 as well as Figure 14 FIG. 7 shows a seventh embodiment of the structure and method of use of the inclined surface moving machine of the present invention. The direction indicated by the arrow in the figure is the moving direction of the cleaning moving machine.

[0135] In the above embodiment, the operator is responsible for carrying and placing the cleaning mobile machine. This embodiment further proposes a solution that does not require human intervention.

[0136] The difference between this embodiment and embodiment 5 and embodiment 6 is that the robot system of this embodiment includes a cleaning mobile machine and a transporting machine. The transporting machine includes a mobile machine body and a machine docking mechanism. The mobile machine can move in space, for example, a drone flying in the air, a vehicle moving on the ground, or a ship floating in the water. The machine docking mechanism is installed on the mobile machine body, and the inclined surface mobile machine and the transporting machine can be combined and separated through the machine docking mechanism. In this embodiment, the mobile machine body is a trolley 15 that can move on the ground. The docking mechanism includes a bridge plate 16 and a bridge plate adjustment mechanism 17. The bridge plate adjustment mechanism 17 is installed on the trolley 15, and the bridge plate 16 is installed on the bridge plate adjustment mechanism 17. The bridge plate adjustment mechanism 17 can adjust the position and posture of the bridge plate 16.

[0137] The other structures and functions are the same as those in Example 5 and Example 6 and will not be described in detail.

[0138] The method for using the inclined surface mobile machine (i.e., the cleaning mobile machine) of this embodiment includes the following steps:

[0139] Step 51: The cleaning mobile machine is placed on the bridge plate 16 of the transporting machine, and the transporting machine transports the cleaning mobile machine to the designated photovoltaic module array.

[0140] Step 52: The transport machine's bridge adjustment mechanism 17 adjusts the position and posture of bridge 16 so that it is close to and aligned with the lower edge of the PV array's inclined surface P. The cleaning mobile machine moves from bridge 16 onto inclined surface P. Simultaneously, the cleaning mobile machine's vacuum suction cup is activated, and the cleaning mobile machine then moves across inclined surface P.

[0141] Step 53: When the cleaning mobile machine moves to the upper edge of the inclined surface P, the edge detection sensor 13 detects the edge and the moving mechanism 4 stops. The swing arm 11 swings downward, lowering the hook 6. The cleaning mobile machine moves longitudinally downward, and the hook 6 hooks the upper edge of the photovoltaic array. The vacuum cup stops working. Figure 9 shown.

[0142] Step 54: The swing rod 11 swings upward, disengaging the magnet 12 and the hook 6, that is, the second split 2 is disengaged from the first split 1. The second split 2 is able to move longitudinally on the inclined surface P by extending and shortening the rope 5. The rope 5 is in a tensioned state and applies tension to the second split 2. The tension balances the gravity of the second split 2 and the functional components installed on the second split 2. At this time, the surface attachment device 3 is closed. During the movement of the second split 2, the working tool 7 starts the cleaning operation, such as Figure 10As shown, the second split body 2's mobile mechanism 4 can also move laterally. By pulling the hook 6 with the rope 5, the mobile mechanism 4 can change its suspension position, enabling planar movement and cleaning operations on the inclined surface P. The edge detection sensor 13 of the second split body 2 can detect the edge of the photovoltaic array, ensuring that the cleaning machine does not fall off the inclined surface.

[0143] Step 55: After the cleaning operation is complete, the second body 2 moves upward to the vicinity of the hook 6. The swing arm 11 swings downward, and the magnet 12 attracts the hook 6, thereby combining the first and second bodies 1 and 2 into a single unit. The vacuum cups and omnidirectional drive wheels are activated, and the cleaning machine moves upward a distance, allowing the hook 6 to clear the upper edge of the inclined surface P. The hook 6 is then rotated to completely disengage the upper edge of the inclined surface P. The cleaning machine then moves along the inclined surface P.

[0144] Step 56: Repeat steps 53 to 55 above to perform the next round of cleaning operations at a different location on inclined surface P. Alternatively, the cleaning mobile robot sends a command signal to the transporting machine. After receiving the command signal, the transporting machine, guided by the satellite positioning system, moves to the bottom of inclined surface P where the cleaning mobile robot is located. The transporting machine's bridge plate adjustment mechanism 17 adjusts the position and posture of bridge plate 16 so that bridge plate 16 is close to and aligned with the lower edge of inclined surface P of the photovoltaic array. The cleaning mobile machine moves from inclined surface P to bridge plate 16, then closes the vacuum suction cup and repeats steps 52 to 55 above to perform the next round of cleaning operations on another inclined surface P of the photovoltaic array, until the operations on all inclined surfaces are completed.

[0145] Compared with Embodiment 5 and Embodiment 6, the cleaning mobile machine of this embodiment has the following advantages:

[0146] (1) No workers are required to participate, and the photovoltaic power station can be cleaned automatically.

[0147] (2) The cruising transport vehicle 15 does not need to participate in the cleaning process of the cleaning mobile machine, and there is no connecting cable between it and the cleaning mobile machine. Therefore, a one-to-many system (i.e., one cruising transport vehicle 15 to multiple cleaning mobile machines) can be constructed to improve the utilization rate of the cruising transport vehicle 15 and reduce the number of cruising transport vehicles 15 configured, which is conducive to reducing costs and reducing subsequent maintenance work.

[0148] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A machine for moving on an inclined surface, characterized in that: The body comprises a first body, a second body, and a functional assembly, wherein the functional assembly comprises a moving mechanism, a flexible connecting device, and a working tool, wherein the working tool is mounted on the first body and / or the second body and is used to perform work, the flexible connecting device connects the first body and the second body and adjusts the distance between the first body and the second body, the moving mechanism is mounted on the first body and / or the second body and is used to drive the first body and / or the second body to move on an inclined surface, and the first body comprises a suspension mechanism, which is used to connect to and disconnect from the inclined surface; The flexible connection device includes a rope and a rope driving mechanism, the rope driving mechanism changes the distance between the first split body and the second split body and tightens or relaxes the rope; The functional component includes a surface attachment device, which is installed on the first split body and / or the second split body and is used for attaching to the inclined surface.

2. The inclined surface moving machine according to claim 1, characterized in that: It also includes a split connection mechanism, which is installed on the first split body and / or the second split body and is used to connect and disconnect the first split body and the second split body.

3. The inclined surface moving machine according to claim 1, characterized in that: The rope driving mechanism includes a rope winding mechanism, which changes the length of the rope between the first sub-body and the second sub-body by winding the rope, and tightens or relaxes the rope.

4. The inclined surface moving machine according to claim 1, wherein: The rope driving mechanism includes a rope climbing mechanism, which is arranged on the second split body and drives the second split body to move along the rope.

5. A method for using the inclined surface moving machine according to any one of claims 1 to 4, characterized in that: The steps include: Step i-1: the first split body and / or the second split body and the functional components mounted on the first split body and / or the second split body move on the inclined surface; Step i-2: After the first split body moves to a designated position on the inclined surface, the suspension mechanism of the first split body is connected to the inclined surface; Step i-3: The distance between the first and second sub-bodies is adjusted by the flexible connection device, and the second sub-bodies and the functional components mounted on the second sub-bodies move on the inclined surface. Simultaneously, the working tool performs the work on the inclined surface. Step i-4: After completing the current round of operations, the suspension mechanism of the first split body is disengaged from the inclined surface; Step i-5: Repeat steps i-2 to i-4 to continue the next round of operations. Step i-6: the first split body and / or the second split body and the functional components installed on the first split body and / or the second split body are moved to the bottom of the inclined surface, thereby ending the operation of the inclined surface moving robot on the inclined surface.

6. A method for using the inclined surface moving machine according to any one of claims 1 to 4, characterized in that: The steps include: Step ii-1: The worker moves the inclined surface moving machine to the inclined surface to be operated; Step ii-2: The suspension mechanism of the first split is connected to the inclined surface with the assistance of a worker; Step ii-3: adjusting the distance between the first and second sub-bodies by the flexible connection device, and moving the second sub-bodies on the inclined surface; and at the same time, performing the work on the inclined surface by the working tool; Step ii-4: After completing the current round of operations, the suspension mechanism of the first split is disengaged from the inclined surface with the assistance of the worker, and the inclined surface moving machine is removed from the inclined surface; Step ii-5: The worker moves the inclined surface moving machine to another inclined surface to be operated, repeats the above steps ii-2 to ii-4, and implements the next round of operations until the operations on all inclined surfaces are completed.

7. A method for using the inclined surface moving machine according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step iii-1: The first body and the second body are combined into a whole, and the first body, the second body, and the functional components installed on the first body and the second body move on the inclined surface; Step iii-2: The first and second split bodies and the functional components mounted on the first and second split bodies are moved to designated positions on the inclined surface, and the suspension mechanism of the first split body is connected to the inclined surface; Step iii-3: The second body is disconnected from the first body, and the distance between the first body and the second body is adjusted by the flexible connection device. The second body and the functional components mounted on the second body move on the inclined surface, and the working tool performs the work on the inclined surface. Step iii-4: After completing the operation of this round, the first and second sub-bodies are combined into a whole, the suspension mechanism is disengaged from the inclined surface, and the first and / or second sub-bodies and the functional components mounted on the first and / or second sub-bodies move on the inclined surface; Step iii-5: Repeat steps iii-2 to iii-4 to continue the next round of operations. Step iii-6: the first split body and / or the second split body and the functional components installed on the first split body and / or the second split body are moved to the bottom of the inclined surface, thereby ending the operation of the inclined surface moving robot on the inclined surface.

8. A method for using the inclined surface moving machine according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step iv-1: the first split body and the components mounted on the first split body move on the inclined surface, and the second split body and the functional components mounted on the second split body are located below the inclined surface; Step iv-2: The first split body moves to a designated position on the inclined surface, and the suspension mechanism of the first split body is connected to the inclined surface; Step iv-3: The distance between the second body and the first body is adjusted by the flexible connection device, and the second body and the functional components mounted on the second body move on the inclined surface. Simultaneously, the working tool performs the work on the inclined surface. Step iv-4: After completing this round of operations, the second body and the functional components mounted thereon are moved below the inclined surface. The flexible connection device is in a relaxed state without tension, and the suspension mechanism of the first body is disengaged from the inclined surface. Then, the first body and the functional components mounted thereon are moved on the inclined surface. Step iv-5: Repeat steps iv-2 to iv-4 to continue the next round of operations. Step iv-6: The first split body and the functional components installed on the first split body are moved to the bottom of the inclined surface, thereby completing the operation of the inclined surface moving robot on the inclined surface.

9. A multi-robot system, characterized in that: It includes the inclined surface moving machine as described in any one of claims 1 to 4, and also includes a handling machine, the handling machine includes a moving machine body and a machine docking mechanism, the moving machine body can move in space, the machine docking mechanism is installed on the moving machine body, and the inclined surface moving machine and the handling machine can be combined and separated through the machine docking mechanism.

10. The multi-robot system according to claim 9, wherein: The mobile machine body is a flying machine flying in the air, or a vehicle body moving on the ground, or a ship body floating in the water.

11. The multi-robot system according to claim 9 or 10, characterized in that: The machine docking mechanism includes a bridge plate and a bridge plate adjustment mechanism. The bridge plate is installed on the bridge plate adjustment mechanism. The bridge plate adjustment mechanism is installed on the mobile machine body. The bridge plate adjustment mechanism adjusts the position and posture of the bridge plate. The inclined surface moving machine moves from the inclined surface to the bridge plate and combines with the transporting machine, or the inclined surface moving machine moves from the bridge plate to the inclined surface and separates from the transporting machine.

12. A method for using the multi-robot system according to any one of claims 9 to 11, characterized in that: The following steps are involved: Step v-1: The inclined surface moving machine and the transporting machine are connected to each other through a machine docking mechanism, and the transporting machine transports the inclined surface moving machine to the inclined surface to be operated; Step v-2: the inclined surface moving machine and the transporting machine are separated from each other by the machine docking mechanism, and the inclined surface moving machine moves on the inclined surface; Step v-3: The first split body moves to a designated position on the inclined surface, and the suspension mechanism of the first split body connects to the inclined surface; Step v-4: The flexible connection device adjusts the distance between the first and second sub-bodies, and the second sub-bodies and the functional components mounted on the second sub-bodies move on the inclined surface, while the working tool performs the work; Step v-5: After completing the current round of operations, some or all of the surface attachment devices and the moving mechanism are activated, the suspension mechanism of the first split body is disengaged from the inclined surface, and the inclined surface moving machine moves on the inclined surface; Step v-6: Repeat steps v-3 to v-5 above to carry out the next round of operations at different positions on the inclined surface, or combine the inclined surface moving machine and the transporting machine with each other through a machine docking mechanism, and the transporting machine transports the inclined surface moving machine to another inclined surface, repeat steps v-2 to v-5 above, and carry out the next round of operations on another inclined surface until the operations on all inclined surfaces are completed.

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