Wall-climbing robot and nondestructive testing method

Abstract

The invention relates to the technical field of robots, and provides a wall-climbing robot and a nondestructive testing method.The wall-climbing robot comprises a robot body and a cleaning mechanism, the robot body is configured to be capable of walking on a wall, and the cleaning mechanism is arranged on the robot body and connected with the robot body; wherein the cleaning mechanism comprises a cleaning unit and a self-cleaning unit, the cleaning unit is used for cleaning the wall, and the self-cleaning unit is used for processing the cleaning unit so as to restore the cleaning state of the cleaning end of the cleaning unit. When the cleaning mechanism performs long-time cleaning work or the cleaning end of the cleaning unit becomes dirty due to other factors, the cleaning state of the cleaning unit can be recovered through the self-cleaning unit of the cleaning mechanism, so that the cleaning unit can be put into wall cleaning work again; by means of the structure, the cleaning mechanism of the wall-climbing robot can conduct cleaning work for a long time, the cleaning efficiency is high, and the situation that the wall is more and more dirty can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a wall-climbing robot and a non-destructive testing method. Background Art

[0002] With the development of modern science and technology, wall-climbing robots have brought great convenience to people. Wall-climbing robots have adsorption functions, and are equipped with positioning, navigation systems, power systems, and control systems. The positioning and navigation systems enable them to move accurately on walls and execute specific paths according to task requirements. Wall-climbing robots use batteries or other types of power systems to provide driving and operating capabilities. The design and reference of wall-climbing robots vary in different fields. They are widely used in construction, manufacturing, energy, rescue and other industries, which can reduce manpower and risks and improve work efficiency and quality.

[0003] In the related art, some wall-climbing robots are used for cleaning walls. During the cleaning process, as the cleaning time increases, the cleaning part of the wall-climbing robot becomes dirty and needs to stop cleaning. The above-mentioned wall-climbing robots cannot perform cleaning work for a long time and have low cleaning efficiency. Summary of the invention

[0004] The present invention provides a wall-climbing robot, which is used to solve the problem in the related art that the wall-climbing robot cannot perform cleaning work for a long time and has low cleaning efficiency.

[0005] The present invention provides a wall-climbing robot, comprising: A robot body, wherein the robot body is configured to walk on a wall; A cleaning mechanism, the cleaning mechanism is disposed on the robot body and connected to the robot body; Wherein, the cleaning mechanism comprises a cleaning unit and a self-cleaning unit, the cleaning unit is used for cleaning the wall, and the self-cleaning unit is used for processing the cleaning unit to restore the cleaning state of the cleaning end of the cleaning unit.

[0006] According to a wall-climbing robot provided by the present invention, the cleaning unit comprises: A cleaning chamber, the cleaning chamber is connected to the robot body and is provided with a liquid storage chamber; A cleaning member, the cleaning member is disposed in the cleaning chamber and connected to the cleaning chamber, the cleaning member is used to receive the liquid in the liquid storage chamber and clean the wall; Wherein, the self-cleaning unit is arranged in the cleaning chamber and connected with the cleaning chamber, and the self-cleaning unit cooperates with the cleaning member.

[0007] According to a wall-climbing robot provided by the present invention, a first opening is provided on one side of the liquid storage cavity of the cleaning bin, the cleaning member is located in the liquid storage cavity, and the cleaning surface of the cleaning member can extend out of the first opening; Wherein, the cleaning chamber is provided with a sealing structure, and the sealing structure is arranged around the first opening of the liquid storage cavity, and the sealing structure is used to seal the gap between the edge of the first opening of the liquid storage cavity and the wall.

[0008] According to a wall-climbing robot provided by the present invention, the self-cleaning unit comprises: A water spraying member, the water spraying member cooperates with the cleaning unit and is used to spray water to flush the cleaning end of the cleaning unit; A scraping member is configured to be movable relative to the cleaning unit to decontaminate the cleaning end of the cleaning unit.

[0009] According to a wall-climbing robot provided by the present invention, the cleaning mechanism further includes a water removal unit, and after the cleaning unit cleans the wall, the water removal unit is used to remove liquid remaining on the wall.

[0010] According to a wall-climbing robot provided by the present invention, the water removal unit comprises: A wiper tank, the wiper tank is connected to the robot body, and the wiper tank is provided with a drainage cavity; A water absorbing member, which is disposed in the wiper compartment and connected to the wiper compartment, and is used to absorb liquid on the wall; A water discharge member is disposed in the wiper chamber and connected to the wiper chamber. The water discharge member can act on the water absorbing member so that the liquid absorbed by the water absorbing member flows into the drainage cavity.

[0011] According to a wall-climbing robot provided by the present invention, the cleaning mechanism is configured to be movably connected to the robot body, and the cleaning mechanism can move relative to the robot body to have a first position and a second position; When the cleaning mechanism is located at the first position, the cleaning mechanism abuts against the wall; When the cleaning mechanism is located at the second position, the cleaning mechanism is out of contact with the wall.

[0012] A wall-climbing robot provided according to the present invention further includes a safety protection mechanism, wherein the safety protection mechanism includes: A safety rope, one end of which is used to be mounted on the wall; A driving component is disposed on the robot body and connected to the robot body, and an output end of the driving component is transmission-connected to the safety rope to drive the safety rope to reciprocate relative to the wall and adjust the length of the safety rope.

[0013] According to a wall-climbing robot provided by the present invention, the robot body is provided with an ultrasonic detection module, and the ultrasonic detection module is used to detect the compressive strength inside the wall.

[0014] According to a wall-climbing robot provided by the present invention, the robot body is provided with an image acquisition module, and the image acquisition module can detect internal and external structural information of the wall.

[0015] According to a wall-climbing robot provided by the present invention, the image acquisition module includes a first infrared thermal imager, which is installed on the robot body and is used to detect the internal cavity information of the wall.

[0016] According to a wall-climbing robot provided by the present invention, the image acquisition module includes a camera device, which is installed on the robot body and is used to photograph the outer surface of the wall.

[0017] According to a wall-climbing robot provided by the present invention, the image acquisition module includes a hollow wall detection device, the hollow wall detection device is installed on the robot body, and the hollow wall detection device is used to detect the hollow wall information of the wall.

[0018] The present invention also provides a nondestructive testing method. According to the above-mentioned wall-climbing robot, the nondestructive testing method comprises the following steps: The wall is detected by a detection structure fixed to the robot body, and information parameters of the wall are analyzed.

[0019] According to a nondestructive testing method provided by the present invention, the detection structure includes an ultrasonic detection module, and the detection of the wall by the detection structure fixed to the robot body includes the following steps: Detecting the interior of the wall through the ultrasonic detection module and obtaining feedback data; Determining the compressive strength of the wall according to the data fed back by the ultrasonic detection module; The data fed back by the ultrasonic detection module at least includes propagation time and amplitude.

[0020] The detection method according to claim 1, characterized in that:

[0021] According to a nondestructive testing method provided by the present invention, the detection structure includes an image acquisition module; the detection of the wall by the detection structure fixed to the robot body includes the following steps: Acquire the image of the wall by the image acquisition module; Analyze and identify defects such as internal cavities, external surface cracks, and external surface hollowing of the wall based on the collected images; Based on the image analysis results, the location and size of the defect are determined.

[0022] A wall-climbing robot provided by the present invention is provided with a cleaning mechanism on the robot body, the cleaning mechanism comprising a cleaning unit and a self-cleaning unit. When the cleaning end of the cleaning unit of the cleaning mechanism becomes dirty after a long period of cleaning work or other factors, the cleaning state of the cleaning unit can be restored by the self-cleaning unit of the cleaning mechanism, so that the cleaning unit can be put into the wall cleaning work again. The above structure enables the cleaning mechanism of the wall-climbing robot to perform the cleaning work for a long time with high cleaning efficiency, which can avoid the situation where the wall becomes dirtier the more it is washed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural schematic diagram of the wall-climbing robot provided by the present invention.

[0025] Figure 2 It is a side structural schematic diagram of the cleaning unit provided by the present invention.

[0026] Figure 3 It is a schematic diagram of the internal structure of the cleaning unit provided by the present invention.

[0027] Figure 4 yes Figure 3 A magnified schematic diagram of the structure in the middle.

[0028] Figure 5 It is a schematic diagram of the coordination structure of the cleaning element and the scraping element provided by the present invention.

[0029] Figure 6 It is a structural schematic diagram of the water removal unit provided by the present invention.

[0030] Figure 7 It is a schematic diagram of the internal structure of the water removal unit provided by the present invention.

[0031] Reference numerals: 100. robot body; 110. support rod; 200, cleaning unit; 210, cleaning chamber; 211, liquid storage chamber; 212, sealing structure; 220, cleaning element; 230, dual-axis motor; 240, threaded rod; 241, second telescopic cylinder; 2411, plug rod; 250, thread block; 260, linkage rod; 261, slot; 300, self-cleaning unit; 310, water spraying member; 320, scraping member; 400, water removal unit; 410, wiper tank; 411, liquid discharge chamber; 420, water absorption member; 430, water discharge member; 440, third telescopic cylinder; 450, fourth telescopic cylinder; 460, cross block; 470, connecting rod; 500, water delivery pipe; 600, fork pipe; 700, first water pumping pipe; 800, second water pumping pipe. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the related art, the wall-climbing robot uses its cleaning part (such as a scrubbing rag) to clean the dust and the like on the wall. However, after cleaning, the cleaning part will become dirty. If the dirty cleaning part is used for cleaning again, the wall will become dirtier and dirtier. Therefore, the above-mentioned wall-climbing robot cannot perform cleaning for a long time and has low cleaning efficiency.

[0034] Similarly, in order to prevent the risk of falling during operation, the related art often uses a safety rope to connect the robot. When the height of a building such as a residence is very high, the required safety rope is very long. However, during use, when there is an obstacle on the wall that the wall-climbing robot passes, the safety rope is too long and easily entangled with the obstacle, affecting the normal movement of the wall-climbing robot.

[0035] Combine the following Figure 1-Figure 7 The wall-climbing robot and the nondestructive testing method of the present invention are described. It should be noted that in the embodiment of the present invention, the above-mentioned wall-climbing robot is used to move on the walls of buildings such as residences to perform operations. Of course, in some embodiments, the wall-climbing robot can also be applied to work in other areas, such as the inspection, maintenance and cleaning of high-altitude equipment, etc., which is not limited here.

[0036] Reference Figures 1 to 5 The present invention provides a wall-climbing robot, including a robot body 100 and a cleaning mechanism. The robot body 100 is configured to be able to walk on the wall. The cleaning mechanism is arranged on the robot body 100 and connected to the robot body 100; wherein the cleaning mechanism includes a cleaning unit 200 and a self-cleaning unit 300. The cleaning unit 200 is used to clean the wall, and the self-cleaning unit 300 is used to process the cleaning unit 200 to restore the cleaning state of the cleaning end of the cleaning unit 200.

[0037] A wall-climbing robot provided by the present invention is provided with a cleaning mechanism on the robot body 100, and the cleaning mechanism includes a cleaning unit 200 and a self-cleaning unit 300. When the cleaning end of the cleaning unit 200 of the cleaning mechanism becomes dirty after a long period of cleaning or other factors, the cleaning state of the cleaning unit 200 can be restored by the self-cleaning unit 300 of the cleaning mechanism, so that the cleaning unit 200 can be put into the wall cleaning work again. The above structure enables the cleaning mechanism of the wall-climbing robot to perform cleaning work for a long time with high cleaning efficiency, which can avoid the situation where the wall becomes dirtier the more it is washed.

[0038] It should be noted that, in the embodiment of the present invention, the robot body 100 is equipped with a curvature adaptive mechanism, which can adapt to walls of different curvatures and facilitate movement on walls of different curvatures. Specifically, it can be understood that the curvature adaptive mechanism includes multiple walking modules and corresponding walking modules, and the multiple walking modules move independently and freely, and can adaptively walk on magnetic walls with variable curvatures. The robot body 100 of the wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption methods include negative pressure adsorption and permanent magnetic adsorption. The negative pressure method can be adsorbed on the wall by generating negative pressure in the suction cup, and is not limited by the wall material; the permanent magnetic adsorption method includes two methods, permanent magnet and electromagnet, which are suitable for adsorbing magnetic walls.

[0039] It is understandable that, referring to Figures 1 to 5 In an embodiment of the present invention, the cleaning mechanism is configured to be movably connected to the robot body 100, and the cleaning mechanism can move relative to the robot body 100 to have a first position and a second position; when the cleaning mechanism is in the first position, the cleaning mechanism abuts against the wall; when the cleaning mechanism is in the second position, the cleaning mechanism is out of contact with the wall.

[0040] Through the above structure, when the robot body 100 of the robot moves on the wall, the cleaning mechanism is located at the first position, and the cleaning mechanism contacts and cooperates with the wall to perform cleaning work; when the robot encounters an obstacle on the wall, such as a raised part, the cleaning mechanism can move to the second position, so that the robot body 100 can cross the raised part of the wall when moving, which is conducive to the normal movement of the wall-climbing robot.

[0041] Specifically, refer to Figure 1 In this embodiment, a support assembly is movably provided on the robot body 100, and the robot body 100 is also provided with a first driving mechanism, the first driving mechanism drives the support assembly to move toward or away from the wall relative to the robot body 100, and the support assembly is connected to the cleaning mechanism, so as to drive the cleaning mechanism to move, realize automatic obstacle avoidance, and improve the working efficiency of the robot. It should be noted that in this embodiment, the above-mentioned support assembly is the support rod 110, and the first driving mechanism is the first and second telescopic cylinders. Of course, in some embodiments, the above-mentioned first driving mechanism can also be an electric telescopic push rod, etc., which is not limited here.

[0042] Of course, in some other embodiments, the cleaning mechanism can also rotate relative to the robot body 100, and through the corresponding rotating structure and the first driving mechanism, the cleaning mechanism can be rotated to the first position or the second position to perform corresponding operations.

[0043] It is understandable that, referring to Figures 1 to 5 In an embodiment of the present invention, the cleaning unit 200 includes a cleaning chamber 210 and a cleaning piece 220. The cleaning chamber 210 is connected to the robot body 100. The cleaning chamber 210 is provided with a liquid storage chamber 211. The cleaning piece 220 is arranged in the cleaning chamber 210 and connected to the cleaning chamber 210. The cleaning piece 220 is used to receive the liquid in the liquid storage chamber 211 and clean the wall; wherein, the self-cleaning unit 300 is arranged in the cleaning chamber 210 and connected to the cleaning chamber 210, and the self-cleaning unit 300 cooperates with the cleaning piece 220.

[0044] With the above structure, when in use, the cleaning liquid is transported to the liquid storage chamber 211, and the wall is cleaned by the cleaning element 220 and the cleaning liquid. After cleaning, the cleaning element 220 can be cleaned by the self-cleaning unit 300 to facilitate cleaning work again, which can improve cleaning efficiency and reduce manual labor.

[0045] Specifically, refer to Figures 1 to 5In an embodiment of the present invention, a first opening is provided on one side of the liquid storage cavity 211 of the cleaning chamber 210, the cleaning member 220 is located in the liquid storage cavity 211, and the cleaning surface of the cleaning member 220 can extend out of the first opening; wherein, the cleaning chamber 210 is provided with a sealing structure 212, the sealing structure 212 is arranged around the first opening of the liquid storage cavity 211, and the sealing structure 212 is used to seal the gap between the edge of the first opening of the liquid storage cavity 211 and the wall.

[0046] Through the above structure, during the cleaning work, the sealing structure 212 is set, the sealing structure 212 blocks the gap between the first opening edge of the liquid storage chamber 211 and the wall, and then the cleaning liquid is introduced into the liquid storage chamber 211. The sealing structure 212 prevents the liquid inside the liquid storage chamber 211 from leaking out. The cleaning part 220 and the cleaning liquid clean the wall. At the same time, the cleaning liquid in the liquid storage chamber 211 can move in the robot body 100 to wet the wall, which can make the cleaning part 220 easier to clean the wall and improve the cleaning efficiency.

[0047] Specifically, refer to Figure 2 In the embodiment of the present invention, the sealing structure 212 is a sealing ring. The material of the sealing ring can be selected according to the needs. A flexible sealing ring can be selected to better adapt to the gap between the first opening edge of the liquid storage chamber 211 and the wall, thereby improving the sealing performance. Through the design of the cleaning chamber 210 and the sealing ring 5, clean water is injected into the liquid storage chamber 211 of the cleaning chamber 210, and then the wall is continuously cleaned by the cleaning drum. At this time, the water in the cleaning chamber 210 will become turbid, and the sewage after cleaning the wall is always inside the liquid storage chamber 211 of the cleaning chamber 210, which is conducive to preventing the sewage from falling.

[0048] It can be understood that, in the present embodiment, the cleaning member 220 is movably connected to the cleaning chamber 210. Of course, in some embodiments, the cleaning member 220 can also be fixedly connected to the cleaning chamber 210, which is not limited here.

[0049] Reference Figures 1 to 5In this embodiment, the cleaning part 220 is movably connected to the cleaning chamber 210. Specifically, it can be understood that the cleaning part 220 is rotatably connected to the cleaning chamber 210. The cleaning part 220 is a cleaning drum. The outer wall structure of the cleaning drum is configured to soak in liquid and expand. For example, it can be configured to be a water-absorbing sponge. Of course, the cleaning part 220 can also be a cleaning cloth, which is not limited here. The wall surface is cleaned by rotating the cleaning part 220 to ensure that the cleaning liquid evenly covers the entire wall surface to avoid holes or insufficiently cleaned areas; rotating the cleaning part 220 can enable the robot to cover a wider area, thereby improving the comprehensiveness of cleaning, including all corners and edges on the wall, and can complete the cleaning task more quickly, thereby improving the cleaning efficiency. Of course, in some embodiments, the above-mentioned cleaning part 220 is movably connected to the cleaning chamber 210, and cleaning is achieved by movement, which is not limited here.

[0050] It should be noted that, in the embodiment of the present invention, the cleaning chamber 210 is provided with a second driving mechanism, and the output end of the second driving mechanism is transmission-connected with the cleaning member 220 to drive the cleaning member 220 to rotate and clean, thereby realizing automated operation.

[0051] It is understandable that, referring to Figure 1 , Figure 3 and Figure 5 In this embodiment, the self-cleaning unit 300 includes a water spray component 310 and a scraper component 320. The water spray component 310 cooperates with the cleaning unit 200. The water spray component 310 is used to spray water to flush the cleaning end of the cleaning unit 200. The scraper component 320 is configured to be movable relative to the cleaning unit 200 to decontaminate the cleaning end of the cleaning unit 200.

[0052] With the above structure, after the cleaning of the cleaning unit 200 is completed, water is sprayed to the cleaning part 220 of the cleaning unit 200 through the water spray part 310 to wash away the impurities attached to the outer wall of the cleaning drum of the cleaning part 220, and then the scraper part 320 moves relative to the cleaning unit 200. It can be understood that the scraper part 320 is difficult to wash and scrape relative to the cleaning drum of the cleaning unit 200. Therefore, the deep cleaning of the cleaning drum is achieved through the cooperation of the water spray part 310 and the scraper part 320. After the cleaning drum itself is cleaned, the wall can continue to be cleaned, thereby increasing the working time of the cleaning mechanism and improving the cleaning efficiency.

[0053] Specifically, in this embodiment, the water spraying member 310 is a spray head, and the scraping member 320 is a scraper.

[0054] It is understandable that, referring to Figures 1 to 5In the present embodiment, specifically, the second driving mechanism is a dual-axis motor 230, which has a first output end and a second output end. The first output end of the dual-axis motor 230 is fixedly connected to the cleaning member 220, i.e., the cleaning drum, to drive the cleaning drum to rotate; a threaded rod 240 is rotatably connected to the liquid storage chamber 211 of the cleaning chamber 210, and a threaded block 250 is slidably connected to the outside of the threaded rod 240. The threaded block 250 is horizontally slidably connected to the top of the cleaning chamber 210, and a second telescopic cylinder is installed inside one end of the threaded rod 240. The output end of the second telescopic cylinder is fixedly connected to a plug rod 2411. A linkage rod 260 is rotatably connected to the liquid storage chamber 211 of the cleaning chamber 210, one end of the linkage rod 260 is located inside the liquid storage chamber 211 of the cleaning chamber 210, and the other end is located outside the cleaning chamber 210. A slot 261 is provided at one end of the linkage rod 260, and the plug rod 2411 and the slot 261 can be inserted and matched in linkage; The water spraying member 310 and the scraping member 320 are both fixedly connected to the threaded block 250 , and the second output end of the dual-axis motor 230 is rotationally connected to the linkage rod 260 .

[0055] When the cleaning part 220 is being cleaned, the second telescopic cylinder of the threaded rod 240 drives the plug rod 2411 to be inserted into the slot 261 of the linkage rod 260 to realize transmission. The second output end of the dual-axis motor 230 can drive the linkage rod 260 to rotate through belt transmission, gear transmission, etc., and the threaded rod 240 rotates relatively. The rotation of the threaded rod 240 realizes the rotation of the threaded block 250 relative to the liquid storage chamber 211 of the cleaning bin 210, thereby driving the water spraying part 310 and the scraping part 320 to move relative to the length direction of the cleaning part 220, i.e., the cleaning drum, to complete the cleaning work. After the cleaning work is completed, the second telescopic cylinder of the threaded rod 240 drives the plug rod 2411 to reset, disengage from the linkage relationship with the slot 261, so that the cleaning part 220 can be cleaned again. The cleaning work is started, and the self-cleaning unit 300 stops working; in the above structure, the rotation of the cleaning drum and the movement of the water spraying member 310 and the scraping member 320 achieve efficient and comprehensive cleaning effects through mechanical transmission and coordinated work, the structure is stable, the transmission is reliable, and the cleaning member 220 of the cleaning unit 200 and the water spraying member 310 and the scraping member 320 of the self-cleaning unit 300 share the second driving mechanism, namely the dual-axis motor 230 as the driving power source, which reduces the number of mechanical components in the system and simplifies the design structure; it helps to save space, which is particularly important when installing and laying out equipment in a limited space, can improve the overall efficiency of the system, and reduce energy waste; it reduces costs, makes maintenance simpler, and reduces the complexity of maintenance and troubleshooting.

[0056] It should be noted that in this embodiment, the diameter of the plug rod 2411 is smaller than the diameter of the slot 261. The plug rod 2411 is rectangular in shape, and the slot 261 is a rectangular slot. Of course, the plug rod 2411 can be a non-circular structure other than a rectangle. The second telescopic cylinder of the threaded rod 240 can also be replaced by an electric push rod; the scraper is provided with an arc concave position, which is adapted to the outer wall of the cleaning drum for scraping; of course, the scraper can also be provided with other shapes, which are not limited here.

[0057] It should also be noted that, referring to Figure 1 and Figure 3 In this embodiment, a water storage tank and a water collecting tank are provided in the corresponding area. A water pump is installed in the water storage tank, and a water pipe 500 is connected to the water pump. The water outlet of the water pipe 500 is divided into two branches, one of which is connected to the liquid storage chamber 211 of the cleaning bin 210, and the other branch is connected to the fork pipe 600. The fork pipe 600 is connected to the water spraying part 310. The setting of the fork pipe 600 is conducive to filling the water spraying part 310 with water, so that the water storage tank can supply water to the liquid storage chamber 211 and the water spraying part 310. The number of water storage tanks and water collecting tanks can be determined according to the cleaning area.

[0058] It is understandable that, referring to Figure 1 , Figure 6 and Figure 7 In the embodiment of the present invention, the cleaning mechanism further includes a water removal unit 400. After the cleaning unit 200 cleans the wall, the water removal unit 400 is used to remove the liquid remaining on the wall. After the cleaning unit 200 cleans the wall, the water stains under the overflow of the wall can be removed by the water removal unit 400. The combined use of the cleaning unit 200 and the water removal unit 400 can achieve comprehensive cleaning of the wall, ensure the surface is dry and clean, and improve the cleaning effect and work efficiency.

[0059] It is understandable that, referring to Figure 1 , Figure 6 and Figure 7 In this embodiment, the water removal unit 400 includes a wiper tank 410, a water absorption tank and a water unloading member 430. The wiper tank 410 is connected to the robot body 100. The wiper tank 410 is provided with a drainage chamber 411. The water absorption member 420 is arranged in the wiper tank 410 and connected to the wiper tank 410. The water absorption member 420 is used to absorb liquid on the wall. The water unloading member 430 is arranged in the wiper tank 410 and connected to the wiper tank 410. The water unloading member 430 can act on the water absorption member 420 so that the liquid absorbed by the water absorption member 420 flows into the drainage chamber 411.

[0060] Through the above-mentioned arrangement, through the combined operation of the wiper chamber 410, the water absorbing member 420 and the water discharge member 430, the liquid on the wall can be completely removed to keep the surface dry and clean; the combined use of the water absorbing member 420 and the water discharge member 430 can efficiently process the absorbed liquid to avoid secondary pollution and residue; the rationally designed structure of the water removal unit 400 is conducive to maintenance and cleaning, and improves the reliability and long-term use effect of the equipment; the wiper chamber 410, the water absorbing member 420 and the water discharge member 430 are integrated and work together to achieve the continuity and efficiency of the overall water removal work.

[0061] Specifically, referring to Figure 1 , Figure 6 and Figure 7 In this embodiment, one side of the drainage chamber 411 of the wiper chamber 410 has a second opening, the water absorbing member 420 is movably connected to the drainage chamber 411 of the wiper chamber 410, and is arranged to match the second opening of the drainage chamber 411, and the water unloading member 430 is movably connected to the side of the second opening of the drainage chamber 411 of the wiper chamber 410, the water absorbing member 420 moves to the second opening of the drainage chamber 411 to contact the wall and absorb water, and it will reset after absorbing water, and by moving the water unloading member 430 to the second opening of the drainage chamber 411, the water unloading member 430 corresponds to the water absorbing member 420, so that the water unloading action can be performed, so that the absorbed liquid flows into the drainage chamber 411 and is discharged to the water collecting tank, thereby completing the automated water removal operation and improving the working efficiency of the robot.

[0062] It should also be noted that, referring to Figure 1 , Figure 6 and Figure 7 In this embodiment, a third telescopic cylinder 440 is installed inside the wiper chamber 410, the water absorbing member 420 includes a pad and a water absorbing cotton arranged on the top of the pad, the inner wall of the drainage chamber 411 of the wiper chamber 410 is slidably connected to the pad, the output end of the third telescopic cylinder 440 is fixedly connected to the bottom of the pad, the water discharge member 430 is a baffle movably connected to the wiper chamber 410, and a fourth telescopic cylinder 450 is fixedly installed outside the wiper chamber 410, and a horizontal block 460 is fixed to the output end of the fourth telescopic cylinder 450, and the water discharge member 430 is rotatably connected to a connecting rod 470, and the connecting rod 470 is away from the other side of the water discharge member 430. One end is rotatably connected to the horizontal block 460 and moves to the second opening of the corresponding drainage chamber 411 through the baffle. The absorbent cotton is squeezed by the baffle, so that the liquid absorbed by the absorbent cotton is squeezed out, and then the baffle moves to the second opening of the offset drainage chamber 411. Thereafter, the absorbent cotton continues to absorb water stains, and the cycle is repeated. The telescopic cylinder and connecting rod 470 and other components are used to realize the automated process of liquid treatment. The absorbed liquid is effectively discharged through the movement and squeezing action of the water unloading part 430 to improve the cleaning effect. The cyclic operation ensures continuous treatment of water stains and improves work efficiency. By thoroughly treating the water stains, the wall looks cleaner and more translucent.

[0063] It should be noted that, refer to Figure 1 In this embodiment, the water collecting tank is connected to the first pumping pipe 700 and the second pumping pipe 800 through a water pump. The end of the first pumping pipe 700 is arranged inside the liquid storage chamber 211 of the cleaning chamber 210, and the end of the second pumping pipe 800 is arranged inside the drainage chamber 411 of the wiper chamber 410. The liquid in the liquid storage chamber 211 is drained to the water collecting chamber through the first pumping pipe 700 for collection, and the liquid in the drainage chamber 411 is drained to the water collecting tank for collection through the second pumping pipe 800.

[0064] It should also be noted that, referring to Figure 1 In the embodiment of the present invention, there are two support rods 110, which are respectively located at opposite ends of the robot body 100, one of the support rods 110 is connected to the clean water tank, and the other support rod 110 is connected to the wiper tank 410, and the output end of the first telescopic cylinder can be transmission-connected to the two support rods 110.

[0065] It can be understood that, in the embodiment of the present invention, the working principle of the cleaning mechanism is as follows: The interior of the water storage tank is used to load clean water for cleaning the wall, and the water collecting tank is used to collect water discharged from the absorbent cotton. When the wall needs to be cleaned, the first telescopic cylinder moves with the two support rods 110. When the support rods 110 move, the cleaning chamber 210 and the wiper chamber 410 both move, and then the cleaning chamber 210 is tightly fitted to the wall. At this time, the sealing ring blocks the gap between the liquid storage chamber 211 of the cleaning chamber 210 and the wall, and then the water pump discharges the clean water in the water storage tank through the water pipe 500 to the liquid storage chamber 211 of the cleaning chamber 210. The sealing ring can prevent the water in the liquid storage chamber 211 of the cleaning chamber 210 from leaking out. The water in the liquid storage chamber 211 of the cleaning chamber 210 soaks the cleaning roller to make it expand for easy cleaning of the wall. Then when the robot moves, the water in the liquid storage chamber 211 of the cleaning chamber 210 wets the wall, and the wetted wall is more convenient for the cleaning roller to clean. The dual-axis motor 230 starts to drive the cleaning roller to rotate, and the wall is cleaned when the cleaning roller rotates.

[0066] It can be understood that the water pump can achieve dual purposes of pumping and draining. When the amount of sewage in the liquid storage chamber 211 of the cleaning chamber 210 increases, the water pump will pump out the sewage in the liquid storage chamber 211 of the cleaning chamber 210 through the first pumping pipe 700, and then the pumped sewage enters the interior of the water collecting tank. After the sewage in the liquid storage chamber 211 of the cleaning chamber 210 is pumped out, clean water is injected through the water pipe 500. The above operations are repeated to complete the cleaning of the wall, and no water will drip during the entire cleaning process.

[0067] When the cleaning drum is cleaned for a long time, impurities will be attached to the surface. At this time, the output end of the second telescopic cylinder extends out with a rectangular plug rod 2411 into the interior of the rectangular slot 261, and the linkage rod 260 is connected to the threaded rod 240. Then, when the dual-axis motor 230 is started, the linkage rod 260 and the threaded rod 240 are driven to rotate by belt transmission or the like. When the threaded rod 240 rotates, the threaded block 250 moves, and the fork tube 600 injects water into the nozzle. When the threaded block 250 moves, it drives the nozzle and the scraper to move. The water sprayed by the nozzle moves horizontally and sprays toward the cleaning drum to wash away the impurities attached to the surface of the cleaning drum. Then the scraper moves to scrape off the impurities on the surface of the cleaning drum. The deep cleaning of the cleaning drum is achieved through the cooperation of the nozzle and the scraper. When the cleaning drum itself is cleaned, the wall can continue to be cleaned.

[0068] At this time, water stains will be left on the wall or glass curtain wall after cleaning. When the support rod 110 moves, it moves with the wiper bin 410, and then the wiper bin 410 fits against the wall. At this time, the third telescopic cylinder 440 moves with the pad, and then the absorbent cotton on the surface of the pad fits tightly against the wall. When the robot moves, it drives the pad and the absorbent cotton to move, and the absorbent cotton absorbs the water stains on the wall or glass curtain. When the water stains on the glass curtain wall are absorbed, it makes it look cleaner and more translucent.

[0069] The absorbent cotton will be saturated with continuous water absorption. At this time, the third telescopic cylinder 440 retracts with the pad back into the drainage chamber 411 of the wiper chamber 410, and then the fourth telescopic cylinder 450 descends with the cross block 460. When the cross block 460 descends, the two connecting rods 470 move in opposite directions, and then the two baffles move in opposite directions to completely close the wiper chamber 410. Then the third telescopic cylinder 440 rises with the pad and the saturated absorbent cotton. When the saturated absorbent cotton rises, it is pressed by the two baffles and squeezes out the absorbed water. After squeezing out the water, the absorbent cotton can continue to absorb water. Then the water pump starts to send the squeezed water in the drainage chamber 411 into the interior of the water collecting tank through the second pumping pipe 800. Then the baffle opens the wiper chamber 410, and then the absorbent cotton continues to absorb water stains, and the cycle is repeated.

[0070] It is understandable that in the embodiment of the present invention, a safety protection mechanism is also included, the safety protection mechanism includes a safety rope and a driving member, one end of the safety rope is used to be installed on the wall, the driving member is provided on the robot body 100 and connected to the robot body 100, and the output end of the driving member is connected to the safety rope transmission to drive the safety rope to reciprocate relative to the wall and adjust the length of the safety rope. Through the above structure, the driving member can automatically adjust the length of the safety rope to prevent the safety rope from being entangled with obstacles due to being too long.

[0071] Specifically, in this embodiment, the driving component includes a motor, a take-up roller and a controller. The driving motor is connected to the take-up roller by transmission to drive the take-up roller to rotate. The outside of the take-up roller is wrapped with a rope. In the embodiment of the present invention, the robot moves by wheels or tracks, and completes adsorption on the wall through negative pressure adsorption technology. When the robot moves downward, the controller controls the motor to start, and the output end of the motor rotates in the opposite direction to make the take-up roller rotate in the opposite direction to release the rope. On the contrary, when the robot moves upward, the motor drives the take-up roller to rotate forward to tighten the rope, so that the rope is always in a taut state, and will not be entangled with obstacles because the rope is too loose. The robot of the embodiment of the present invention can automatically control the length of the rope according to the distance the robot moves, thereby preventing the rope from being too long and entangled.

[0072] It is understandable that in the embodiment of the present invention, the robot body 100 is provided with an ultrasonic detection module, which is used to detect the compressive strength of the interior of the wall. The ultrasonic detection module is used to detect the interior of the concrete of the high-altitude residential building, and the compressive strength of the house is judged according to the information fed back by the ultrasonic wave to achieve non-destructive testing.

[0073] It can be understood that, in the embodiment of the present invention, the robot body 100 is provided with an image acquisition module, and the image acquisition module can detect the internal and external structural information of the wall.

[0074] Specifically, in the embodiment of the present invention, the image acquisition module includes a first infrared thermal imager, which is installed on the robot body 100. The first infrared thermal imager is used to detect the cavity information inside the wall, so as to judge the concrete disease.

[0075] Specifically, in the embodiment of the present invention, the image acquisition module includes a camera device (a high-definition camera), which is installed on the robot body 100. The camera device is used to photograph the outer surface of the wall to observe whether the wall is cracked.

[0076] Specifically, in the embodiment of the present invention, the image acquisition module includes a hollowing detection device, which is installed on the robot body 100 and is used to detect hollowing information of the wall.

[0077] Specifically, it can be understood that in an embodiment of the present invention, the hollow drum detection device includes a first infrared thermal imager, a pigment tank, a booster pump, a first through pipe, a pigment nozzle, a coolant nozzle, a coolant tank, and a second through pipe. The infrared thermal imager is provided with a retractable probe. The coolant in the coolant tank enters the interior of the second through pipe through the booster pump, and the second through pipe is connected to the coolant nozzle.

[0078] The coolant enters the interior of the coolant nozzle through the second through-pipe and is sprayed toward the exterior wall of the building, which is conducive to widening the temperature difference between the hollow area and the non-hollow area on the exterior wall of the building, thereby improving the accuracy of imaging. Since the thermal conductivity of the air in the hollow area is different from that of the insulation layer and the bonding layer, the hollow area and the non-hollow area have different temperatures, and the temperature of the hollow area will be higher than that of the non-hollow area. Then, the probe of the first infrared thermal imager is extended to form an image. The higher the temperature, the shorter the wavelength of the emitted infrared light, indicating that there is a hollow area. After it is determined to be a hollow area, the red pigment in the pigment bin will enter the interior of the pigment nozzle through the first through-pipe and be sprayed out under the action of the booster pump. Then, the robot moves horizontally and vertically along the hollow area, and the pigment nozzle also moves with the robot to enclose the hollow area with a square or rectangle for easy marking, so as to facilitate later maintenance.

[0079] It should also be noted that, in the present embodiment, the first infrared thermal imager and the second infrared thermal imager may be the same or different as required, which is not limited here.

[0080] In this embodiment, the hollow drum detection device also includes a material receiving hopper, which extends to the bottom of the paint nozzle before the nozzle sprays the paint. When spraying red paint, it is helpful to collect the dripping paint to prevent the paint from dripping onto the normal wall surface. At the same time, the collected paint can be reused. Specifically, the material receiving hopper is connected to the paint bin by a hose. Since the height of the material receiving hopper is higher than the height of the paint bin, the paint collected in the material receiving bin returns to the inside of the paint bin through the hose, which is conducive to reuse.

[0081] It should be noted that, in the embodiment of the present invention, detection components may be provided in both the clean water tank and the wiper tank 410 to facilitate detection of when to perform corresponding operations such as cleaning, wiping, and drainage.

[0082] It can be understood that in the embodiment of the present invention, the information fed back by the ultrasonic detection, the images generated by the infrared thermal imager, and the images taken by the high-definition camera are all transmitted back to the control end connected to the robot, and then the control end analyzes the received information.

[0083] It is understandable that in the embodiment of the present invention, based on the above-mentioned wall-climbing robot, the nondestructive testing method includes the following steps: testing the wall through the detection structure fixed to the robot body 100, and analyzing the information parameters of the wall. It should be noted that the information parameters include compressive strength, internal cavities, external surface cracks and external surface hollowing, etc.

[0084] Specifically, in this embodiment, the detection structure includes an ultrasonic detection module, and detecting the wall through the detection structure fixed to the robot body 100 includes the following steps: The inside of the wall is inspected through an ultrasonic detection module, and feedback data is obtained; Determine the compressive strength of the wall based on the data fed back by the ultrasonic detection module; The data fed back by the ultrasonic detection module at least includes propagation time and amplitude.

[0085] Through the above detection method, ultrasonic waves are sent to the inside of the wall, and then the reflected ultrasonic signals are received by the ultrasonic detection module, which acquires and records data such as the propagation time and amplitude of the ultrasonic signals. By analyzing data such as the propagation time and amplitude, the density, structure and possible defects of the wall material can be evaluated, thereby inferring the compressive strength of the wall.

[0086] It is understood that ultrasonic testing is a non-invasive testing method that will not cause damage to the wall. The propagation time and amplitude data provided by the ultrasonic testing module can relatively accurately assess the compressive strength of the wall and help assess the health of the building structure. By regularly using the ultrasonic testing module to test the wall, potential structural problems can be discovered in time, helping to prevent possible damage and accidents.

[0087] Specifically, in this embodiment, the detection structure includes an image acquisition module; detecting the wall by the detection structure fixed to the robot body 100 includes the following steps: Collecting the image of the wall through the image acquisition module; Analyze and identify the defects of internal cavities, external surface cracks and external surface hollowing of the wall based on the collected images; Based on the image analysis results, the location and size of the defect are determined.

[0088] Through the above detection method, an image acquisition module is used to obtain images of the wall, and these images will be used for subsequent analysis and identification; the cavity inside the wall is detected through image analysis technology; the image is analyzed to identify cracks on the outer surface of the wall; hollowing defects on the outer surface of the wall are detected through image processing algorithms; based on the results of image analysis, the exact location of the detected cavity, crack and hollowing defects is determined; through image processing technology, the size of the defect is estimated and determined; the detection structure on the robot body 100 is used to perform automated wall detection to improve efficiency and accuracy; through image acquisition and analysis, problems such as cavities inside the wall, cracks on the outer surface and hollowing defects can be fully identified, the location and size of the defects can be accurately determined, and further repair and maintenance work can be assisted. It can detect and identify problems of the building in a timely manner, which helps to take preventive measures and avoid potential structural safety problems.

[0089] In this embodiment, the image acquisition module includes a first infrared thermal imager, a camera device and a hollow drum detection device. The image information collected by the above-mentioned image acquisition module is transmitted back to the control end connected to the robot, and then the control end analyzes the received image information.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wall-climbing robot, characterized in that: include: A robot body (100), wherein the robot body (100) is configured to be able to walk on a wall; a cleaning mechanism, the cleaning mechanism being arranged on the robot body (100) and connected to the robot body (100); The cleaning mechanism comprises a cleaning unit (200) and a self-cleaning unit (300), wherein the cleaning unit (200) is used for cleaning a wall, and the self-cleaning unit (300) is used for processing the cleaning unit (200) to restore the cleaning state of the cleaning end of the cleaning unit (200).

2. The wall-climbing robot according to claim 1, characterized in that: The cleaning unit (200) comprises: A cleaning chamber (210), the cleaning chamber (210) being connected to the robot body (100), the cleaning chamber (210) being provided with a liquid storage chamber (211); a cleaning member (220), the cleaning member (220) being disposed in the cleaning chamber (210) and connected to the cleaning chamber (210), the cleaning member (220) being used to receive liquid in the liquid storage chamber (211) and to clean the wall; The self-cleaning unit (300) is disposed in the cleaning chamber (210) and connected to the cleaning chamber (210), and the self-cleaning unit (300) cooperates with the cleaning component (220).

3. The wall-climbing robot according to claim 2, characterized in that: A first opening is provided on one side of the liquid storage cavity (211) of the cleaning chamber (210); the cleaning element (220) is located in the liquid storage cavity (211), and a cleaning surface of the cleaning element (220) can extend out of the first opening; The cleaning chamber (210) is provided with a sealing structure (212), the sealing structure (212) being arranged around the first opening of the liquid storage chamber (211), and the sealing structure (212) being used to seal the gap between the edge of the first opening of the liquid storage chamber (211) and the wall.

4. The wall-climbing robot according to claim 1, characterized in that: The self-cleaning unit (300) comprises: A water spraying member (310), the water spraying member (310) cooperates with the cleaning unit (200), and the water spraying member (310) is used to spray water to flush the cleaning end of the cleaning unit (200); A scraping member (320) is configured to be movable relative to the cleaning unit (200) so as to decontaminate a cleaning end of the cleaning unit (200).

5. The wall-climbing robot according to claim 1, characterized in that: The cleaning mechanism further comprises a water removal unit (400), and after the cleaning unit (200) cleans the wall, the water removal unit (400) is used to remove liquid remaining on the wall.

6. The wall-climbing robot according to claim 6, characterized in that: The water removal unit (400) comprises: A wiper chamber (410), the wiper chamber (410) being connected to the robot body (100), the wiper chamber (410) being provided with a drainage chamber (411); a water absorbing member (420), the water absorbing member (420) being arranged on the water scraping chamber (410) and connected to the water scraping chamber (410), the water absorbing member (420) being used to absorb liquid on the wall; A water discharge member (430) is disposed in the wiper chamber (410) and connected to the wiper chamber (410); the water discharge member (430) can act on the water absorbing member (420) so that the liquid absorbed by the water absorbing member (420) flows into the liquid discharge chamber (411).

7. The wall-climbing robot according to any one of claims 1 to 6, characterized in that: The cleaning mechanism is configured to be movably connected to the robot body (100), and the cleaning mechanism can move relative to the robot body (100) to have a first position and a second position; When the cleaning mechanism is located at the first position, the cleaning mechanism abuts against the wall; When the cleaning mechanism is located at the second position, the cleaning mechanism is out of contact with the wall.

8. The wall-climbing robot according to claim 1, characterized in that: It also includes a safety protection mechanism, which includes: A safety rope, one end of which is used to be mounted on the wall; A driving component is provided on the robot body (100) and connected to the robot body (100); an output end of the driving component is transmission-connected to the safety rope to drive the safety rope to reciprocate relative to the wall and to adjust the length of the safety rope.

9. The wall-climbing robot according to claim 1, characterized in that: The robot body (100) is provided with an ultrasonic detection module, and the ultrasonic detection module is used to detect the compressive strength inside the wall.

10. The wall-climbing robot according to claim 1, characterized in that: The robot body (100) is provided with an image acquisition module, and the image acquisition module is capable of detecting internal and external structural information of the wall.

11. The wall-climbing robot according to claim 10, characterized in that: The image acquisition module comprises a first infrared thermal imager, the first infrared thermal imager is installed on the robot body (100), and the first infrared thermal imager is used to detect the internal cavity information of the wall.

12. The wall-climbing robot according to claim 10, characterized in that: The image acquisition module comprises a camera device, which is installed on the robot body (100) and is used to photograph the outer surface of the wall.

13. The wall-climbing robot according to claim 10, characterized in that: The image acquisition module comprises a hollowing detection device, which is installed on the robot body (100) and is used to detect hollowing information of the wall.

14. A non-destructive testing method, characterized in that: According to the wall-climbing robot according to any one of claims 1 to 13, the non-destructive testing method comprises the following steps: The wall is detected by a detection structure fixed to the robot body (100), and information parameters of the wall are analyzed.

15. The nondestructive testing method according to claim 14, characterized in that: The detection structure comprises an ultrasonic detection module, and the detection of the wall by means of the detection structure fixed to the robot body (100) comprises the following steps: Detecting the interior of the wall through the ultrasonic detection module and obtaining feedback data; Determining the compressive strength of the wall according to the data fed back by the ultrasonic detection module; The data fed back by the ultrasonic detection module at least includes propagation time and amplitude.

16. The nondestructive testing method according to claim 15, characterized in that: The detection structure comprises an image acquisition module; the detection of the wall by means of the detection structure fixed to the robot body (100) comprises the following steps: Acquire the image of the wall by the image acquisition module; Analyze and identify defects such as internal cavities, external surface cracks, and external surface hollowing of the wall based on the collected images; Based on the image analysis results, the location and size of the defect are determined.

Images