Wall-climbing robot and air preheater detection device

Abstract

The invention provides a wall-climbing robot and an air preheater detection device. The wall-climbing robot comprises a chassis; the walking part comprises a walking wheel assembly, and the walking wheel assembly is arranged on the chassis so that the walking part can drive the chassis to walk; the magnetic attraction assembly comprises a first magnetic attraction part and a second magnetic attraction part, the first magnetic attraction part is located at the end, arranged in the walking direction, of the chassis, and the first magnetic attraction part is used for being matched with the walking wall face in a magnetic attraction mode; and the second magnetic attraction part is arranged at the bottom of the chassis and is used for being in magnetic attraction fit with the walking wall surface. According to the scheme, the problem that in the prior art, when a magnetic attraction part is arranged at the bottom of a chassis of the wall-climbing robot and the wall-climbing robot needs to be transited between two wall faces with an included angle, the adsorption force between the magnetic attraction part and the walking wall face is insufficient, and consequently the wall-climbing robot falls off can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of air preheater detection, and in particular to a wall-climbing robot and an air preheater detection device. Background Art

[0002] With the development of science and technology, wall-climbing robots have been widely used in various industrial inspection and maintenance scenarios. Existing wall-climbing robots usually include a chassis, a walking part and a magnetic part. The walking part and the magnetic part are both arranged on the chassis. The magnetic part is magnetically coupled with the walking wall surface. The walking wheels are used to drive the chassis to walk on the walking wall surface.

[0003] Usually, the magnetic part is set at the bottom of the chassis to reduce the distance between the magnetic part and the walking wall and improve the magnetic attraction effect between the magnetic part and the walking wall. However, when encountering two walls with an angle, that is, when the wall-climbing robot needs to transition from one wall to another, the wall-climbing robot in the prior art has the possibility of insufficient adsorption force between the magnetic part and the walking wall, causing the wall-climbing robot to fall off. Summary of the invention

[0004] The present invention provides a wall-climbing robot and an air preheater detection device to solve the problem in the prior art that a magnetic attraction portion is arranged at the bottom of a chassis of the wall-climbing robot, and when the wall-climbing robot needs to transition between two wall surfaces with an angle, the adsorption force between the magnetic attraction portion and the walking wall surface is insufficient, causing the wall-climbing robot to fall off.

[0005] According to one aspect of the present invention, there is provided a wall-climbing robot, which comprises: a chassis; a walking part, comprising a walking wheel assembly, which is arranged on the chassis so that the walking part drives the chassis to walk; a magnetic attraction assembly, comprising a first magnetic attraction part and a second magnetic attraction part, the first magnetic attraction part is located on the end of the chassis arranged along the walking direction, and the first magnetic attraction part is used to magnetically cooperate with the walking wall surface; the second magnetic attraction part is arranged at the bottom of the chassis, and the second magnetic attraction part is used to magnetically cooperate with the walking wall surface.

[0006] Furthermore, the chassis has a front end and a rear end arranged opposite to each other along the walking direction, and two first magnetic attraction parts are provided, and the two first magnetic attraction parts are respectively arranged on the front end and the rear end of the chassis. Such an arrangement can further enhance the magnetic attraction effect of the device and enhance the stability of the chassis when walking.

[0007] Furthermore, two groups of running wheel assemblies are provided, and the two groups of running wheel assemblies are respectively arranged at the front end and the rear end of the chassis, and along the walking direction of the chassis, the circumference of the running wheel of the running wheel assembly protrudes outwardly corresponding to the first magnetic attraction part. Such arrangement makes the circumference of the running wheel of the running wheel assembly protrude outward, so that when the robot needs to transition from one wall surface to another vertical wall surface, the running wheel can contact the new wall surface before the first magnetic attraction part. This design reduces the interference effect that may be generated when the first magnetic attraction part directly contacts the new wall surface, reduces the uneven distribution of adsorption force caused by the improper contact angle between the first magnetic attraction part and the wall surface, and the running wheel assembly contacts the new wall surface first, which can provide preliminary support for the robot during the right-angle transition, ensure that the robot can smoothly transition when the wall angle changes sharply, avoid the shaking of the robot caused by the direct contact of the magnetic attraction part, and improve the stability of the robot during the right-angle transition. Furthermore, the end of the first magnetic attraction portion away from the chassis has a first magnetic attraction surface, which is an arc-shaped surface protruding in the direction away from the chassis, and the arc-shaped surface is coaxial with the running wheel of the running wheel assembly. Such an arrangement can increase the effective magnetic attraction area of ​​the first magnetic attraction portion and enhance the magnetic attraction effect of the first magnetic attraction portion.

[0008] Furthermore, the first magnetic attraction part includes: a first magnetic conductive part, which is arranged on the end surface of the chassis; a first magnet, which is arranged on the end surface of the first magnetic conductive part away from the chassis; a second magnet, which has opposite magnetism to the first magnet, and is arranged on the end surface of the first magnetic conductive part away from the chassis, and the second magnet and the first magnet are distributed on the first magnetic conductive part at intervals; a first magnetic isolation part, which is arranged on the end surface of the first magnetic conductive part away from the chassis and is located between the first magnet and the second magnet. Such an arrangement can enhance the magnetic attraction effect of the first magnetic attraction part.

[0009] Furthermore, the first magnet and the second magnet have the same shape, and the end faces of the first magnet and the second magnet away from the first magnetic conductive member are both first magnetic attraction faces, and the first magnetic attraction faces protrude from the first magnetic shielding member in a direction away from the first magnetic conductive member. Such an arrangement can improve the compactness of the structure of the device.

[0010] Furthermore, the second magnetic attraction part includes: a second magnetic conductive part, which is arranged on the bottom surface of the chassis; a third magnet, which is arranged on the bottom surface of the second magnetic conductive part; a fourth magnet, which has a magnetic property opposite to that of the third magnet, and is arranged on the bottom surface of the second magnetic conductive part, and the fourth magnet and the third magnet are distributed on the second magnetic conductive part at intervals; and a second magnetic isolation part, which is arranged on the bottom surface of the second magnetic conductive part and is located between the fourth magnet and the third magnet. Such an arrangement can enhance the magnetic attraction effect of the second magnetic attraction part.

[0011] According to another aspect of the present invention, there is provided an air preheater detection device, which includes the above-mentioned wall-climbing robot; an air pressure detection unit, which is arranged on the chassis of the wall-climbing robot, and the air pressure detection unit is used to detect the air pressure of the air preheater.

[0012] Furthermore, the air preheater detection device further includes: a position detection unit, which is used to detect the coordinates of the projection of the detection end of the air pressure detection unit in the coordinate system of the walking wall.

[0013] Furthermore, the position detection unit includes: a distance sensor, which is arranged on the chassis, and the distance sensor is used to detect the coordinates of the projection of a reference point in the coordinate system of the walking wall, and the reference point is located on the chassis; a data processor, which is electrically connected to the distance sensor, and the data processor determines the coordinates of the projection of the detection end of the air pressure detection unit in the coordinate system of the walking wall according to the coordinates of the projection of the reference point in the coordinate system of the walking wall, the design size of the chassis, and the setting position of the detection end of the air pressure detection unit on the chassis.

[0014] By applying the technical solution of the present invention, by respectively arranging the second magnetic attraction part and the first magnetic attraction part at the bottom and the end of the chassis, it is ensured that the robot can stably adsorb under different wall shapes (including right-angle transitions), thereby improving the adaptability and flexibility of the robot. Specifically, after the wall-climbing robot is started, the second magnetic attraction part located at the bottom of the chassis cooperates with the magnetic attraction of the wall of the air preheater to generate an adsorption force, thereby ensuring the stable adsorption of the robot on the plane. When the robot needs to transition from one plane (such as the side of the air preheater) to another plane (such as the top or bottom), for example, when transitioning between two vertical walls, the first magnetic attraction part plays a role at the end of the wall-climbing robot, forming a magnetic attraction with the wall to be contacted, and the first magnetic attraction part provides additional adsorption force for the transition of the right-angle wall at the end of the wall-climbing robot, thereby improving the stable adsorption ability and movement smoothness of the wall-climbing robot during the right-angle transition. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic structural diagram of a first viewing angle of an air preheater detection device provided by an embodiment of the present invention is shown;

[0017] Figure 2 A schematic structural diagram of a second viewing angle of an air preheater detection device provided by an embodiment of the present invention is shown;

[0018] Figure 3 A schematic diagram showing the state of the local structure of the wall-climbing robot provided by an embodiment of the present invention when walking on the first wall;

[0019] Figure 4 A schematic diagram showing a state of a local structure of a wall-climbing robot provided by an embodiment of the present invention when transitioning between a first wall surface and a second wall surface;

[0020] Figure 5 A schematic diagram showing a state of a local structure of a wall-climbing robot provided by an embodiment of the present invention when walking on a second wall surface;

[0021] Figure 6 A schematic structural diagram of a first magnetic attraction portion provided in an embodiment of the present invention is shown;

[0022] Figure 7 A schematic diagram of the structure of a second magnetic attraction portion provided in an embodiment of the present invention is shown;

[0023] Figure 8 A schematic diagram showing the working principle of the position detection unit provided by an embodiment of the present invention is shown.

[0024] The above drawings include the following reference numerals:

[0025] 10. Chassis;

[0026] 20. Walking part;

[0027] 30. Magnetic suction component;

[0028] 31. first magnetic attraction portion; 3101. first magnetic attraction surface;

[0029] 311, first magnetic conductive member; 312, first magnet; 313, second magnet; 314, first magnetic shielding member;

[0030] 32. A second magnetic attraction portion;

[0031] 321, second magnetic conductive member; 322, third magnet; 323, fourth magnet; 324, second magnetic shielding member;

[0032] 40. Air pressure detection unit; 41. Detection body; 42. Air pipe;

[0033] 51. First laser sensor; 52. Second laser sensor; 53. Third laser sensor; 54. Fourth laser sensor; 55. Posture sensor. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0035] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a wall-climbing robot, which includes a chassis 10, a walking part 20 and a magnetic attraction assembly 30. The walking part 20 includes a walking wheel assembly, which is arranged on the chassis 10 so that the walking part 20 drives the chassis 10 to walk; the magnetic attraction assembly 30 includes a first magnetic attraction part 31 and a second magnetic attraction part 32, the first magnetic attraction part 31 is located on the end of the chassis 10 arranged along the walking direction, and the first magnetic attraction part 31 is used to magnetically cooperate with the walking wall surface; the second magnetic attraction part 32 is arranged at the bottom of the chassis 10, and the second magnetic attraction part 32 is used to magnetically cooperate with the walking wall surface.

[0036] By applying the technical solution of the present invention, by respectively arranging the second magnetic attraction portion 32 and the first magnetic attraction portion 31 at the bottom and the end of the chassis 10, it is ensured that the robot can stably adsorb on different wall shapes (including right-angle transitions), thereby improving the adaptability and flexibility of the robot.

[0037] Specifically, after the wall-climbing robot is started, the second magnetic attraction part 32 at the bottom of the chassis 10 cooperates with the wall of the air preheater to generate an adsorption force to ensure the stable adsorption of the robot on the plane. When the robot needs to transition from one plane (such as the side of the air preheater) to another plane (such as the top or bottom), for example, when transitioning between two vertical walls, while the second magnetic attraction part 32 is adsorbed on the wall, the first magnetic attraction part 31 plays a role at the end of the wall-climbing robot, forming a magnetic attraction with the wall to be contacted. The first magnetic attraction part 31 provides additional adsorption force for the transition of the right-angle wall at the end of the wall-climbing robot, thereby improving the stable adsorption ability and movement stability of the wall-climbing robot during the right-angle transition.

[0038] like Figures 1 to 5As shown, specifically, the chassis 10 has a front end and a rear end that are relatively arranged along the walking direction, and two first magnetic suction parts 31 are provided, and the two first magnetic suction parts 31 are respectively arranged on the front end and the rear end of the chassis 10. In this way, when the wall-climbing robot is started and enters the working state, the second magnetic suction part 32 located at the bottom of the chassis 10 first contacts the wall surface of the air preheater, generates sufficient adsorption force, and ensures the initial stability of the robot on the wall surface. As the robot moves on the wall surface, when encountering a wall surface that needs to be transitioned (such as transitioning from one side to the top or bottom), the two first magnetic suction parts 31 located at the front end and the rear end of the chassis 10 begin to play a role. When the robot approaches the transition wall surface, the first magnetic suction part 31 at the front end first forms a magnetic suction match with the new wall surface to generate adsorption force, while the first magnetic suction part 31 at the rear end maintains an adsorption state with the original wall surface, jointly ensuring the stability of the robot during the transition process between the two walls. As the robot continues to move, the first magnetic attraction portion 31 at the rear end gradually breaks away from the original wall surface, while strengthening the adsorption force with the new wall surface, ensuring that the robot can stably adsorb on the new wall surface and continue to walk after completing the transition.

[0039] The coordinated use of the two first magnetic parts 31 improves the stability of the robot during the wall transition and avoids the risk of the robot falling off the wall. In addition, by respectively arranging the first magnetic parts 31 at the front and rear ends of the wall-climbing robot, the robot can effectively adapt to the right-angle transition of the wall in both the forward and backward states, thereby improving the robot's two-way transition capability and operational flexibility, and enabling the robot to perform detection operations in complex wall environments more freely.

[0040] Furthermore, two groups of running wheel assemblies are provided, and the two groups of running wheel assemblies are respectively arranged at the front end and the rear end of the chassis 10. Along the walking direction of the chassis 10, the circumference of the running wheel of the running wheel assembly protrudes outwardly corresponding to the first magnetic attraction portion 31. The circumference of the running wheel of the running wheel assembly protrudes outward, so that when the robot needs to transition from one wall surface to another vertical wall surface, the running wheel can contact the new wall surface before the first magnetic attraction portion 31. This design reduces the interference that may be generated when the first magnetic attraction portion 31 directly contacts the new wall surface, and reduces the uneven distribution of adsorption force caused by the improper contact angle between the first magnetic attraction portion 31 and the wall surface. In addition, the running wheel assembly contacts the new wall surface first, which can provide preliminary support for the robot during the right-angle transition, ensure that the robot can smoothly transition when the wall angle changes sharply, avoid the shaking of the robot caused by direct contact with the magnetic attraction portion, and improve the stability of the robot during the right-angle transition.

[0041] Specifically, in the embodiment of the present invention, the wheel assembly includes a drive shaft and wheels disposed at both ends of the drive shaft, and the drive shaft is rotatably disposed on the chassis 10. The walking part 20 also includes a driving member, which is disposed on the chassis 10 and is drivingly connected to the drive shaft.

[0042] like Figure 2 and Figure 6 As shown, further, the end of the first magnetic attraction portion 31 away from the chassis 10 has a first magnetic attraction surface 3101, and the first magnetic attraction surface 3101 is an arc-shaped surface protruding in the direction away from the chassis 10, and the arc-shaped surface is coaxial with the running wheel of the running wheel assembly. Such a configuration can increase the effective magnetic attraction area between the second magnetic attraction portion 32 and the new wall surface, optimize the adsorption force distribution between the second magnetic attraction portion 32 and the wall surface, and further improve the stability of the robot walking on the wall surface.

[0043] In the embodiment of the present scheme, the first magnetic attraction part 31 includes a first magnetic conductive part 311, a first magnet 312, a second magnet 313 and a first magnetic shielding part 314. Among them, the first magnetic conductive part 311 is arranged on the end surface of the chassis 10; the first magnet 312 is arranged on the end surface of the first magnetic conductive part 311 away from the chassis 10; the second magnet 313 has opposite magnetic properties to the first magnet 312, and the second magnet 313 is arranged on the end surface of the first magnetic conductive part 311 away from the chassis 10, and the second magnet 313 and the first magnet 312 are distributed on the first magnetic conductive part 311 at intervals; the first magnetic shielding part 314 is arranged on the end surface of the first magnetic conductive part 311 away from the chassis 10, and is located between the first magnet 312 and the second magnet 313. The first magnet 312 and the second magnet 313 are distributed on the first magnetic conductive part 311 at intervals, and the magnetic properties of the two are opposite, which can form a more stable magnetic field distribution. This magnetic field distribution can enhance the adsorption force between the magnetic attraction part and the wall surface, and ensure the stability of the robot when walking on the wall surface.

[0044] The first magnetic isolation member 314 is located between the first magnet 312 and the second magnet 313. The application of magnetic isolation material can effectively reduce the mutual interference of the magnetic fields between the first magnet 312 and the second magnet 313, thereby ensuring that the magnetic force of each magnet can act independently and effectively on the wall, reducing the possibility of a decrease in adsorption force due to magnetic field interference, and improving the reliability of the robot walking on the wall.

[0045] Specifically, the first magnet 312, the first magnetic shielding member 314 and the second magnet 313 are distributed along the width direction of the chassis 10. The above arrangement makes the first magnetic attraction portion 31 a modular design, and the first magnet 312, the second magnet 313 and the first magnetic shielding member 314 can be replaced independently, thereby improving the convenience of maintaining the first magnetic attraction portion 31.

[0046] In the embodiment of this solution, a plurality of first magnetic attraction portions 31 may be provided, and the plurality of first magnetic attraction portions 31 are spaced apart and distributed along the width direction of the chassis 10 .

[0047] Furthermore, the first magnet 312 and the second magnet 313 have the same shape, and the end surfaces of the first magnet 312 and the second magnet 313 away from the first magnetic conductive member 311 are both first magnetic attraction surfaces 3101, and the first magnetic attraction surfaces 3101 protrude the first magnetic shielding member 314 in a direction away from the first magnetic conductive member 311. The above arrangement can reduce the leakage of the magnetic field, make the magnetic force more concentrated between the robot and the wall, and improve the magnetic attraction effect.

[0048] Specifically, the first magnet 312 and the second magnet 313 are both arc-shaped strip structures, the first magnetic shielding member 314 is a rectangular strip structure, and the first magnet 312 and the second magnet 313 are symmetrically distributed on both sides of the length direction of the first magnetic shielding member 314. The first magnetic conductive member 311 has a first arc-shaped protrusion and a second arc-shaped protrusion on one side facing the first magnet 312 and the second magnet 313, respectively, and the first arc-shaped protrusion and the contour are adapted to the first magnet 312, and the second arc-shaped protrusion is adapted to the second magnet 313. Such a configuration can improve the compactness of the structure of the first magnetic attraction portion 31 and the stability of the connection.

[0049] like Figure 2 and Figure 7 As shown, in the embodiment of the present scheme, the second magnetic attraction portion 32 includes a second magnetic conductive member 321, a third magnet 322, a fourth magnet 323 and a second magnetic shielding member 324. The second magnetic conductive member 321 is arranged on the bottom surface of the chassis 10; the third magnet 322 is arranged on the bottom surface of the second magnetic conductive member 321; the fourth magnet 323 has opposite magnetic properties to the third magnet 322, and the fourth magnet 323 is arranged on the bottom surface of the second magnetic conductive member 321, and the fourth magnet 323 and the third magnet 322 are spaced apart on the second magnetic conductive member 321; the second magnetic shielding member 324 is arranged on the bottom surface of the second magnetic conductive member 321, and is located between the fourth magnet 323 and the third magnet 322.

[0050] Furthermore, the third magnet 322 and the fourth magnet 323 have the same shape, both of which are rectangular block structures. The third magnet 322 and the fourth magnet 323 are symmetrically arranged on both sides of the second magnetic isolation member 324. The third magnet 322 and the fourth magnet 323 are distributed along the walking direction of the chassis 10. The bottom surfaces of the third magnet 322 and the fourth magnet 323 form a second magnetic surface, and the second magnetic surface is a plane. The bottom surface of the walking wheel of the walking wheel assembly protrudes downward from the second magnetic surface. Such a configuration can enhance the adsorption effect between the second magnetic portion 32 and the straight walking wall surface, and enhance the stability of the wall-climbing robot walking on the straight walking wall surface.

[0051] Specifically, in the embodiment of the present solution, two second magnetic attraction parts 32 are provided, and the two second magnetic attraction parts 32 are respectively close to the two sides of the walking direction of the chassis 10, that is, the two second magnetic attraction parts 32 are respectively provided close to the two first magnetic attraction parts 31. The two second magnetic attraction parts 32 are respectively provided close to the two first magnetic attraction parts 31, which can increase the stability of the robot. When the robot walks along the wall or makes a right-angle transition, the two lateral magnetic attraction forces can better balance the robot, prevent side slipping or deviation, and ensure the robot's stable walking on a complex wall.

[0052] like Figure 1 As shown, an embodiment of the present invention further provides an air preheater detection device, which includes the above-mentioned wall-climbing robot and an air pressure detection unit 40, the air pressure detection unit 40 is arranged on the chassis 10 of the wall-climbing robot, and the air pressure detection unit 40 is used to detect the air pressure of the air preheater. The air pressure detection unit 40 is arranged on the chassis 10 of the wall-climbing robot, and can accurately detect the air pressure changes at different positions of the air preheater as the robot moves steadily on the wall surface, perform real-time analysis on the detected air pressure data, and quickly identify the leakage point.

[0053] Specifically, in the embodiment of the present scheme, the air pressure detection unit 40 includes a detection body 41 and an air pipe 42 that are interconnected. The detection body 41 is arranged on the top of the chassis 10, and a plurality of air pipes 42 are arranged. The plurality of air pipes 42 are all located at the front end of the chassis 10 of the wall-climbing robot, and the plurality of air pipes 42 are spaced apart along the width direction of the chassis 10.

[0054] Furthermore, an air pipe 42 is provided between two adjacent first magnetic attraction parts 31. Such a configuration can improve the compactness of the structure of the device. Moreover, the air pipe 42 is made of a magnetic isolation material. Such a configuration enables the air pipe 42 to have a certain magnetic isolation effect, thereby reducing the magnetic interference between the two adjacent first magnetic attraction parts 31 and improving the magnetic attraction effect of the first magnetic attraction parts 31.

[0055] Furthermore, the air preheater detection device further includes a position detection unit, which is used to detect the coordinates of the projection of the detection end of the air pressure detection unit 40 in the coordinate system of the walking wall. The position detection unit can detect the coordinates of the detection end of the air pressure detection unit 40 in the walking wall coordinate system in real time, specifically the coordinates in the coordinate system of the end face of the air preheater, to ensure that the position information of the detection point is accurate, and provide a reliable basis for subsequent leakage point positioning and data analysis.

[0056] Specifically, the position detection unit includes a distance sensor and a data processor. The distance sensor is arranged on the chassis 10. The distance sensor is used to detect the coordinates of the projection of the reference point in the coordinate system of the walking wall, and the reference point is located on the chassis 10. The data processor is electrically connected to the distance sensor. The data processor determines the coordinates of the projection of the detection end of the air pressure detection unit 40 in the coordinate system of the walking wall according to the coordinates of the projection of the reference point in the coordinate system of the walking wall, the design size of the chassis 10, and the setting position of the detection end of the air pressure detection unit 40 on the chassis 10. The distance sensor can detect the coordinates of the reference point in the wall coordinate system in real time. The data processor accurately calculates the real-time coordinates of the detection end on the wall according to these coordinate data, the design size of the chassis 10, and the specific position of the detection end of the air pressure detection unit 40 on the chassis, thereby ensuring the accuracy of the detection data and the accuracy of the spatial positioning.

[0057] In the embodiment of the present solution, the distance sensor includes a first laser sensor 51, a second laser sensor 52, a third laser sensor 53, a fourth laser sensor 54 and a posture sensor 55. The posture sensor 55 is located at the center of a side wall in the extension direction of the chassis 10, and the center of the chassis 10 is defined as the position of the reference point A. The first laser sensor 51 and the second laser sensor 52 are spaced apart along the walking direction of the chassis 10. The third laser sensor 53 and the fourth laser sensor 54 are spaced apart along the width direction of the chassis 10.

[0058] like Figure 8As shown, the walking wall has a first edge, a second edge, a third edge and a fourth edge. When it is necessary to detect the position and posture of the wall-climbing robot relative to the walking wall, the first laser sensor 51 detects the distance L1 between the reference point and the first edge, and L1 extends along the laser emission direction of the first laser sensor 51; the second laser sensor 52 detects the distance L2 between the reference point and the second edge, and L2 extends along the laser emission direction of the second laser sensor; the third laser sensor 53 detects the distance L3 between the reference point and the third edge, and L3 extends along the laser emission direction of the third laser sensor 53; the fourth laser sensor 54 detects the distance L4 between the reference point and the fourth edge, and L4 extends along the laser emission direction of the fourth laser sensor 54. The posture sensor 55 detects the angle a between the vertical direction between the reference point and the first edge of the wall-climbing robot and the laser emission direction of the first laser sensor 51, the angle b between the vertical direction between the reference point and the second edge and the laser emission direction of the second laser sensor 52, the angle c between the vertical direction between the reference point and the third edge and the laser emission direction of the third laser sensor 53, and the angle d between the vertical direction between the reference point and the fourth edge and the laser emission direction of the fourth laser sensor 54. After the detection is completed, the data processor accurately calculates the real-time coordinates of the detection end on the wall surface based on these coordinate data, the design size of the chassis 10, and the specific position of the detection end of the air pressure detection unit 40 on the chassis, ensuring the accuracy of the detection data and the accuracy of spatial positioning.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0060] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0061] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0062] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0063] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: include: Chassis (10); A walking part (20) comprising a walking wheel assembly, wherein the walking wheel assembly is arranged on the chassis (10) so that the walking part (20) drives the chassis (10) to walk; The magnetic attraction component (30) comprises a first magnetic attraction portion (31) and a second magnetic attraction portion (32), wherein the first magnetic attraction portion (31) is arranged on an end portion of the chassis (10) arranged along a walking direction, and the first magnetic attraction portion (31) is used to magnetically cooperate with a walking wall surface; and the second magnetic attraction portion (32) is arranged at the bottom of the chassis (10), and the second magnetic attraction portion (32) is used to magnetically cooperate with a walking wall surface.

2. The wall-climbing robot according to claim 1, characterized in that: The chassis (10) has a front end and a rear end arranged opposite to each other in the walking direction, and two first magnetic attraction parts (31) are provided, and the two first magnetic attraction parts (31) are respectively arranged on the front end and the rear end of the chassis (10).

3. The wall-climbing robot according to claim 2, characterized in that: The walking wheel assembly is provided in two groups, and the two groups of the walking wheel assembly are respectively arranged at the front end and the rear end of the chassis (10). Along the walking direction of the chassis (10), the circumference of the walking wheel of the walking wheel assembly protrudes outwardly with the corresponding first magnetic attraction portion (31).

4. The wall-climbing robot according to claim 3, characterized in that: The end of the first magnetic attraction portion (31) away from the chassis (10) has a first magnetic attraction surface (3101), and the first magnetic attraction surface (3101) is an arc-shaped surface protruding in a direction away from the chassis (10), and the arc-shaped surface is coaxial with the running wheel of the running wheel assembly.

5. The wall-climbing robot according to claim 4, characterized in that: The first magnetic attraction portion (31) comprises: A first magnetic conductive member (311) is arranged on an end surface of the chassis (10); A first magnet (312) is arranged on an end surface of the first magnetic conductive member (311) away from the chassis (10); a second magnet (313) having a magnetic property opposite to that of the first magnet (312), the second magnet (313) being arranged on an end surface of the first magnetic conductive member (311) away from the chassis (10), the second magnet (313) and the first magnet (312) being spaced apart and distributed on the first magnetic conductive member (311); The first magnetic isolation member (314) is arranged on the end surface of the first magnetic conductive member (311) away from the chassis (10), and is located between the first magnet (312) and the second magnet (313).

6. The wall-climbing robot according to claim 5, characterized in that: The first magnet (312) and the second magnet (313) have the same shape; the end faces of the first magnet (312) and the second magnet (313) away from the first magnetic conductive member (311) are both the first magnetic attraction surface (3101); the first magnetic attraction surface (3101) protrudes from the first magnetic isolation member (314) in a direction away from the first magnetic conductive member (311).

7. The wall-climbing robot according to claim 1, characterized in that: The second magnetic attraction portion (32) comprises: A second magnetic conductive member (321) is arranged on the bottom surface of the chassis (10); A third magnet (322) is arranged on the bottom surface of the second magnetic conductive member (321); a fourth magnet (323) having a magnetic property opposite to that of the third magnet (322), the fourth magnet (323) being arranged on the bottom surface of the second magnetic conductive member (321), the fourth magnet (323) and the third magnet (322) being spaced apart and distributed on the second magnetic conductive member (321); The second magnetic isolation member (324) is arranged on the bottom surface of the second magnetic conductive member (321) and is located between the fourth magnet (323) and the third magnet (322).

8. An air preheater detection device, characterized in that: include: The wall-climbing robot according to any one of claims 1 to 7; An air pressure detection unit (40) is arranged on the chassis (10) of the wall-climbing robot, and the air pressure detection unit (40) is used to detect the air pressure of the air preheater.

9. The air preheater detection device according to claim 8, characterized in that: The air preheater detection device also includes: The position detection unit is used to detect the coordinates of the projection of the detection end of the air pressure detection unit (40) in the coordinate system of the walking wall surface.

10. The air preheater detection device according to claim 9, characterized in that: The position detection unit comprises: A distance sensor is arranged on the chassis (10), and is used to detect the coordinates of a reference point projected on the coordinate system of the walking wall, wherein the reference point is located on the chassis (10); A data processor is electrically connected to the distance sensor, and the data processor determines the coordinates of the projection of the detection end of the air pressure detection unit (40) in the coordinate system of the walking wall surface according to the coordinates of the projection of the reference point in the coordinate system of the walking wall surface, the design size of the chassis (10), and the setting position of the detection end of the air pressure detection unit (40) on the chassis (10).

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