Wall-climbing robot for removing masonry ancient building blocks and working method of wall-climbing robot

Abstract

The invention belongs to the technical field of ancient building protection and maintenance, and discloses a wall-climbing robot for removing masonry ancient building blocks and a working method thereof. The wall-climbing robot comprises a robot body, a microwave irradiation device and a block removing device; the robot body is used for being adsorbed to the wall face of a building in a negative pressure adsorption mode and can move on the wall face of the building. The microwave irradiation device and the building block removing device are both installed on the robot body. The microwave irradiation device is used for radiating microwave energy to the to-be-removed building blocks on the wall surface of the building so as to heat and soften the to-be-removed building blocks; the building block removing device is used for mechanically removing the heated and softened building blocks to be removed; the wall-climbing robot has the advantages that the removal efficiency is improved, secondary damage is reduced, the adaptability is high, and the robot is environmentally friendly and free of damage, and has important significance in promoting progress of a masonry ancient building protection technology and inheritance of cultural heritage.

Description

Technical Field

[0001] The invention belongs to the technical field of ancient building protection and maintenance, and in particular relates to a wall-climbing robot used for removing building blocks of ancient masonry buildings and a working method thereof. Background Art

[0002] Brick and stone ancient buildings refer to ancient buildings with bricks and stones as the main building materials. Due to their age, brick and stone ancient buildings often face problems such as weathering and breakage of blocks, which seriously affect the stability and aesthetics of the buildings. For the weathering protection of brick and stone ancient buildings, it is usually necessary to remove the weathered or damaged blocks. At present, traditional block removal methods, such as mechanical crushing or manual chiseling, are not only inefficient, but also easy to cause secondary damage to the surrounding intact blocks, and may even destroy the overall structure of the ancient building. In addition, for blocks that are high up in the building or difficult to access, manual operation faces many challenges. Therefore, there is an urgent need for a new, efficient, environmentally friendly and non-destructive block removal and replacement equipment to solve the above problems. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a wall-climbing robot and a working method for removing blocks of ancient masonry buildings, so as to solve the technical problems that the existing block removal method is inefficient and easily causes secondary damage to the surrounding intact blocks.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: The present invention provides a wall-climbing robot for removing blocks of ancient masonry buildings, comprising a robot body, a microwave irradiation device and a block removal device; The robot body is adsorbed on the building wall by negative pressure adsorption and can move on the building wall; The microwave irradiation device and the block removal device are both installed on the robot body; The microwave irradiation device is used to radiate microwave energy to the blocks to be removed on the wall surface of the building, so that the blocks to be removed are heated and softened; The block removal device is used to mechanically remove the heat-softened blocks to be removed.

[0005] Furthermore, the robot body includes a chassis assembly and a walking device; The chassis assembly is adsorbed on the building wall surface by negative pressure adsorption; the walking device is installed at the four corners of the chassis assembly and is used to drive the chassis assembly to move on the building wall surface.

[0006] Furthermore, the chassis assembly includes a chassis body, a negative pressure adsorption generating device and a chassis sealing structure; The bottom surface of the chassis body is provided with a negative pressure chamber; A mounting through hole is provided at the center of the top surface of the chassis body, and the negative pressure adsorption device is installed at the mounting through hole; the negative pressure adsorption generating device is used to extract the air in the negative pressure cavity; The chassis sealing structure is arranged around the chassis body, one end of the chassis sealing structure is connected to the lower ends of the chassis body, and the other end of the chassis sealing structure is in contact with the building wall.

[0007] Furthermore, the microwave irradiation device includes a microwave generator, an elbow waveguide and a microwave focusing antenna; The microwave generator is installed at the top of the robot body and is used to generate a preset microwave signal; the output end of the microwave generator is connected to the input end of the elbow waveguide, the output end of the elbow waveguide is connected to the input end of the microwave focusing antenna, and the output end of the microwave focusing antenna extends toward the building wall.

[0008] Furthermore, the microwave irradiation device also includes a circulator and an impedance matcher; the circulator and the impedance matcher are sequentially arranged between the microwave generator and the elbow waveguide.

[0009] Furthermore, the distance between the output end of the microwave focusing antenna and the building block to be removed is less than or equal to 5 mm.

[0010] Further, the block removal device includes a mechanical arm, a drill drive mechanism and a drill bit; The fixed end of the mechanical arm is installed at the front end of the robot body, and the drill driving mechanism is installed at the movable end of the mechanical arm; the drill is installed at the output end of the drill driving mechanism; wherein the drill driving mechanism is used to drive the drill to rotate or vibrate.

[0011] Furthermore, it also includes a control module, a video image acquisition device, an optical sensor and an ultrasonic sensor; The output ends of the video image acquisition device, the optical sensor and the ultrasonic sensor are all connected to the input end of the control module, and the output end of the control module is connected to the input ends of the microwave irradiation device and the block rejection device; The video image acquisition device is used to collect real-time image data during the movement of the wall-climbing robot; The optical sensor is used to monitor the output end position of the microwave irradiation device in real time; The ultrasonic sensor is used to obtain a topographic map of the area on the building wall where blocks have been removed; The control module is used to receive real-time image data of the wall-climbing robot during its movement, the output end position of the microwave irradiation device, and a topographic map of the area on the building wall where blocks have been removed, and to control the robot body, the microwave irradiation device, and the block removal device.

[0012] Furthermore, the control module is arranged at the top of the robot body; the video image acquisition device is located at the front end of the robot body and is placed between the microwave irradiation device and the block removal device; the optical sensor is arranged on the side wall of the output end of the microwave irradiation device; and the ultrasonic sensor is arranged on the top surface of the microwave irradiation device.

[0013] The present invention also provides a working method of a wall-climbing robot for removing blocks of ancient masonry buildings, comprising: Under negative pressure adsorption, the robot body is moved to the area on the building wall where the blocks are to be removed; Using a microwave irradiation device to radiate microwave energy to the blocks to be removed, so that the blocks to be removed are heated and softened; The block removal device is used to mechanically remove the heat-softened blocks to be removed.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a wall-climbing robot for removing blocks of ancient masonry buildings and a working method thereof. The robot body is adsorbed to the building wall surface by negative pressure adsorption, and can move freely on the building wall surface, quickly locate the position of the blocks to be removed, and greatly shorten the operation time; a microwave irradiation device is used to radiate microwave energy to the blocks to be removed, so that the blocks are softened by heat. Compared with the traditional method of directly crushing by mechanical force, the microwave heating and softening treatment can reduce the impact force during the removal process, thereby effectively reducing the damage to the surrounding blocks and protecting the integrity and stability of the ancient building; at the same time, the use of Non-destructive technical means reduce the generation of dust and noise, avoid the mechanical shock and vibration in traditional methods, and are of great significance to the environmental protection and non-destructive restoration of ancient buildings; secondly, the wall-climbing robot is adsorbed on the wall of the building by negative pressure adsorption, can operate stably in various complex environments, is not restricted by height or position, and is particularly suitable for the removal of blocks at high places or inaccessible places; the wall-climbing robot described in the present invention has the advantages of improving removal efficiency, reducing secondary damage, strong adaptability, environmental protection and non-destructiveness, and is of great significance to promoting the advancement of masonry ancient building protection technology and the inheritance of cultural heritage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of the overall structure of a wall-climbing robot for removing blocks of ancient masonry buildings provided in an embodiment; Figure 2 It is a structural schematic diagram of the chassis body in the embodiment; Figure 3 It is a schematic structural diagram of a negative pressure adsorption generating device in an embodiment; Figure 4 is a schematic structural diagram of a microwave irradiation device in an embodiment; Figure 5 It is a structural schematic diagram of the traveling device in the embodiment; Figure 6 It is a structural schematic diagram of a block removal device in an embodiment; Figure 7 It is a structural schematic diagram of a video image acquisition device in an embodiment; Figure 8 Schematic diagram of the working principle of the microwave focusing antenna in the embodiment.

[0017] Among them, 1 chassis assembly, 2 body body, 3 walking device, 4 microwave irradiation device, 5 block removal device, 6 power supply device, 7 control module, 8 video image acquisition device, 9 signal transmission module, 10 optical sensor, 11 ultrasonic sensor; 101 chassis body, 102 negative pressure adsorption generating device, 103 chassis sealing structure; 1011 negative pressure chamber; 1021 cylindrical duct, 1022 synchronous DC motor, 1023 fan blade rotor; 301 mounting support, 302 drive motor, 303 walking roller; 401 microwave generator, 402 circulator, 403 impedance matcher, 404 quartz isolation window, 405 elbow waveguide, 406 microwave focusing antenna, 407 shielding box; 501 mechanical arm, 502 drill drive mechanism, 503 drill; 801 mounting bracket, 802 camera. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects solved by this application clearer, the technical solutions in the embodiments of this application will be described clearly and completely in combination with the drawings in the embodiments of this application; obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The present invention provides a wall-climbing robot for removing blocks of ancient masonry buildings, comprising a robot body, a microwave irradiation device 4 and a block removal device 5; the robot body is adsorbed on the building wall surface by negative pressure adsorption and can move on the building wall surface; the microwave irradiation device 4 and the block removal device 5 are both installed on the robot body; the microwave irradiation device 4 is used to radiate microwave energy to the blocks to be removed on the building wall surface so that the blocks to be removed are softened by heat; the block removal device 5 is used to mechanically remove the heat-softened blocks to be removed.

[0020] The wall-climbing robot for removing building blocks of ancient masonry buildings described in the present invention is adsorbed on the wall surface of the building by means of negative pressure adsorption. Based on the negative pressure adsorption principle, the wall-climbing robot can autonomously climb the wall surface of the ancient building, and is suitable for removing building blocks at high places or inaccessible places. A microwave irradiation device is used to radiate microwave energy to the building blocks to be removed so that they are softened by heat, and the building block removal device is used to mechanically remove the heat-softened building blocks to be removed, so as to achieve accurate removal of weathered and alkali-softened building blocks, thereby reducing the impact force during the removal process, effectively reducing damage to surrounding building blocks, and protecting the integrity and stability of the ancient building.

[0021] The present invention can significantly improve the efficiency and accuracy of ancient building maintenance, overcome the problems of low efficiency and easy damage to surrounding blocks and ancient building structures in traditional methods, not only ensure the accuracy of the restoration process, but also effectively reduce the damage to the original building, and can effectively respond to the repair needs of brick and stone blocks in ancient buildings due to weathering, damage and other reasons.

[0022] The following is a further explanation of the wall-climbing robot for removing blocks of ancient masonry buildings provided by the present invention with reference to a specific embodiment: Example As attached Figure 1-7 As shown, this embodiment provides a wall-climbing robot for removing blocks of ancient masonry buildings, including a robot body, a walking device 3, a microwave irradiation device 4, a block removal device 5, a power supply device 6, a control module 7, a video image acquisition device, a signal transmission module 9, an optical sensor 10 and an ultrasonic sensor 11.

[0023] The robot body is adsorbed on the building wall by negative pressure adsorption and can move on the building wall; specifically, the robot body includes a chassis component 1, a vehicle body 2 and a walking device 3.

[0024] The chassis assembly 1 is adsorbed on the building wall by negative pressure; the chassis assembly 1 includes a chassis body 101, a negative pressure adsorption generating device 102 and a chassis sealing structure 103; a negative pressure cavity 1011 is provided on the bottom surface of the chassis body 101, and the negative pressure cavity 1011 is sealed and connected to the building wall; wherein, a negative pressure area is formed between the negative pressure cavity 1011 and the building wall, so that the chassis assembly 1 is adsorbed on the building wall.

[0025] A mounting through hole is provided on the top surface of the chassis body 101, one end of the mounting through hole is connected to the negative pressure chamber 1011, and the other end of the mounting through hole is connected to the top surface of the chassis body 101; the negative pressure adsorption generating device 102 is installed at the mounting through hole, and is used to extract the air in the negative pressure chamber 1011; it should be noted that when the chassis assembly 1 needs to move, the rate at which the negative pressure adsorption device 102 extracts the air in the negative pressure chamber 1011 is adjusted to adjust the adsorption effect of the adsorption chamber 1011, so that the chassis assembly 1 can be adsorbed on the surface of the building wall while avoiding desorption from the building wall, and then the chassis body 101 is driven to move under the driving action of the walking device 3.

[0026] The negative pressure adsorption generating device 102 includes a cylindrical duct 1021, a synchronous DC motor 1022 and a blade rotor 1023; the cylindrical duct 1021 is installed at the installation through hole and is sealed and connected to the installation through hole to form a sealed adsorption area; the synchronous DC motor 1022 is installed at the top of the cylindrical duct 1021; wherein the output shaft of the synchronous DC motor 1022 is arranged toward the negative pressure chamber 1011; the blade rotor 1023 is arranged in the cylindrical duct 1021 and fixed on the output shaft of the synchronous DC motor 1022; The fan blade rotor 1023 is arranged in the cylindrical duct 1021 and fixed on the output shaft of the synchronous DC motor 1022 to achieve efficient airflow delivery and provide a stable negative pressure adsorption effect; it should be noted that the top surface height of the negative pressure adsorption generating device 102 is higher than the top surface height of the chassis body 1, and the installation height of the synchronous DC motor 1022 is placed above the top surface of the vehicle body 2, and the cylindrical duct 1021, the synchronous DC motor 1022 and the fan blade rotor 1023 are firmly connected to ensure the efficient operation and stability of the negative pressure adsorption generating device 102.

[0027] The chassis sealing structure 103 is arranged around the chassis body 101, one end of the chassis sealing structure 103 is connected to the lower end of the chassis body 101, and the other end of the chassis sealing structure 103 is in contact with the building wall; wherein, the chassis sealing structure 103 is arranged in a ring shape around the lower end of the chassis body 101, and the chassis sealing structure 103, the bottom surface of the chassis body 101 and the surface of the building wall form a closed cavity to improve the adsorption effect of the negative pressure chamber 1011, thereby ensuring reliable adsorption between the chassis component 1 and the building wall, and ensuring the stable movement of the wall-climbing robot on the building wall; preferably, the chassis sealing structure 103 is made of flexible material.

[0028] The vehicle body 2 is a platform of a plate-like structure and is horizontally fixed on the top surface of the chassis body 101; the microwave irradiation device 4, the block removal device 5, the power supply device 6, the control module 7, the video image acquisition device, the signal transmission module 9 and the ultrasonic sensor 11 are all installed on the vehicle body 2; that is, the vehicle body 2 provides an installation position for the microwave irradiation device 4, the block removal device 5, the power supply device 6, the control module 7, the video image acquisition device, the signal transmission module 9 and the ultrasonic sensor 11.

[0029] The walking device 3 is installed at the four corners of the chassis assembly 1, and is used to drive the chassis assembly 1 to move on the wall of the building; specifically, the walking device 3 includes a mounting support 301, a drive motor 302 and a walking roller 303; the mounting support 301 is installed on the top surface of the corner of the chassis body 101, and the drive motor 302 is installed on the mounting support 301; wherein, the output shaft of the drive motor 302 extends toward the outside of the side of the chassis body 101; the walking roller 303 is arranged on the outside of the side of the chassis body 101 and is fixed on the output shaft of the drive motor 302; it should be noted that the mounting bracket 303 is L-shaped, and the bottom end of the mounting bracket 303 is fixedly connected to the chassis body 101 to ensure the stability and efficient operation of the traveling device; the output shaft of the drive motor 302 is connected to the walking roller 303 through a coupling.

[0030] The microwave irradiation device 4 is installed on the top surface of the first end of the vehicle body 2 and is arranged close to the front end side of the chassis assembly 1; the microwave irradiation device 4 is used to radiate microwave energy to the blocks to be removed on the building wall so that the blocks to be removed are heated and softened; specifically, the microwave irradiation device 4 is used to generate and control the emission of microwave signals, and the microwave frequency is dynamically adjusted according to the material, thickness and moisture content of the blocks to be removed, ensuring that the microwave energy can accurately act on the surface of the blocks to be removed, thereby avoiding power loss and effectively preventing damage to the block structure, thereby achieving the purpose of efficient removal.

[0031] The microwave irradiation device 4 includes a microwave generator 401, a circulator 402, an impedance matcher 403, a quartz isolation window 404, an elbow waveguide 405, a microwave focusing antenna 406 and a shielding box 407; the shielding box 407 is installed on the top surface of the first end of the vehicle body 2, and the shielding box 407 is a hollow box structure; the microwave generator 401, the circulator 402, and the impedance matcher 403 are all arranged in the shielding box 407; wherein the output end of the microwave generator 401 is connected to the input end of the circulator 402; the quartz isolation window 404 is arranged on the front side wall of the shielding box 407, and the output end of the circulator 402 is connected to the first end of the quartz isolation window 404 ; The impedance matcher 403 is arranged on the outside of the circulator 402 and close to one side of the quartz isolation window 404; the elbow waveguide 405 is arranged on the outside of the front end of the shielding box 407, and the elbow waveguide 405 is a 90° elbow waveguide structure; wherein, the input end of the elbow waveguide 405 is connected to the second end of the quartz isolation window 404, the output end of the elbow waveguide 405 extends toward the building wall, and the output end of the elbow waveguide 405 is perpendicular to the building wall; the microwave focusing antenna 406 is arranged at the output end of the elbow waveguide 405, the output end of the elbow waveguide 405 is connected to the input end of the microwave focusing antenna 406, and the output end of the microwave focusing antenna 406 extends toward the building wall.

[0032] The microwave generator 401 is arranged in the shielding box 407 and is used to generate microwave signals; the microwave generator 401 can convert direct current into electromagnetic wave energy in the microwave frequency band; the circulator 402 is used to isolate the sending and receiving paths of the signal to prevent signal reflection and interference, which allows the microwave signal to be transmitted in one direction while preventing the signal from being transmitted in the opposite direction, thereby improving the stability and efficiency of the system and protecting the microwave generator 401 from damage by reflected signals; the impedance matcher 403 is used to adjust the impedance of the transmission line to match the impedance between the microwave generator 401 and the microwave focusing antenna 406 to ensure the transmission efficiency of microwave energy; preferably, the impedance matcher 403 has a signal frequency of not less than 200 Hz. The signal collection frequency is ensured to ensure real-time adjustment to adapt to the change of microwave output; at the same time, the pin matching action time inside the impedance matcher 403 is within 0.1s; the quartz isolation window 404 is used to prevent pollutants such as gas and dust from entering the interior of the shielding box 407, while maintaining the transmission efficiency of the microwave signal; the elbow waveguide 405 is used to smoothly transform the microwave signal from a direction parallel to the building wall to a direction perpendicular to the building wall, while maintaining the transmission efficiency of the microwave signal; the microwave focusing antenna 406 is used to focus the microwave signal to the surface of the block to be removed, thereby effectively heating and softening the block to be removed, so that the block material can be removed without damaging the surrounding structure, so as to improve the accuracy and efficiency of microwave irradiation, as shown in the attached Figure 8 As shown; preferably, the distance between the output end of the microwave focusing antenna 406 and the building block to be removed is less than or equal to 5mm, and the output power density of the microwave focusing antenna 406 is not less than 100W / cm², so as to ensure that sufficient energy is concentrated on the surface of the building block to be removed, and then the energy is transferred to the building block to be removed, resulting in thermal stress on its surface to cause the building block to loosen; the shielding box 407 is used to effectively shield the microwave signal to prevent microwave radiation from interfering with the surrounding environment or equipment; by setting up the shielding box, it is possible to ensure the microwave shielding effect during the working process without affecting the normal operation of the equipment; the microwave generator 401 is arranged inside the shielding box 407 to provide a stable continuous wave output of high-power microwaves, which ensures the efficient transmission of microwave energy through an efficient conversion mechanism, and can adjust the output power within a preset frequency range to meet the needs of removing different building blocks, while avoiding interference from the external environment to ensure the stability and accuracy of the working process.

[0033] The block removal device 5 is installed on the robot body, and is used for mechanically removing the heat-softened blocks to be removed; specifically, the block removal device 5 includes a mechanical arm 501, a drill driving mechanism 502 and a drill 503; the fixed end of the mechanical arm 501 is installed on the front side of the second end of the vehicle body 2, and the drill driving mechanism 502 is installed on the movable end of the mechanical arm 501; the drill 503 is installed at the output end of the drill driving mechanism 502; wherein the drill driving mechanism 502 is used to drive the drill 503 to rotate or vibrate; it should be noted that after the microwave irradiation device 4 heats the blocks to be removed and softens their material through the thermal effect, the mechanical arm 501 uses the drill 503 to gently remove the blocks through precise control, thereby avoiding any damage to the surrounding blocks and ensuring the efficiency and safety of the removal process.

[0034] The power supply device 6 is arranged on the top surface of the second end of the vehicle body 2, and is used to provide electrical energy; specifically, the output end of the power supply device 6 is connected to the power supply ends of the synchronous DC motor 1022, the drive motor 302, the microwave generator 401, the robotic arm 501, the drill drive mechanism 502, the control module 7, the video image acquisition device 8, the signal transmission module 9, the optical sensor 10 and the ultrasonic sensor 11; it should be noted that the power supply device 6 is also provided with a power monitoring module for monitoring the remaining power of the power supply device 6; wherein, when the residual current of the power supply device 6 is lower than 20%, a low power warning signal will be output to enable the wall-climbing robot to return to charge as soon as possible to prevent falling.

[0035] The control module 7 and the signal transmission module 9 are both arranged at the top of the robot body; specifically, the control module 7 is installed in the middle of the top surface of the body body 2 and is arranged close to the front end side of the chassis assembly 1; the signal transmission module 9 is installed in the middle of the top surface of the body body 2 and is arranged close to the rear end side of the chassis assembly 1; the video image acquisition device 8 is located at the front end of the robot body and is placed between the microwave irradiation device 4 and the block removal device 5; the optical sensor 10 is arranged on the side wall of the output end of the microwave irradiation device 4; the ultrasonic sensor 11 is installed at the front end of the top surface of the shielding box 407 and is arranged close to the front end side of the chassis assembly 1.

[0036] The output ends of the video image acquisition device 8, the optical sensor 10 and the ultrasonic sensor 11 are connected to the input end of the signal transmission module 9, the output end of the signal transmission module 9 is connected to the input end of the control module 7, the output end of the control module 7 is connected to the walking device 3, the microwave irradiation device 4, the block removal device 5 and the negative pressure adsorption device 102; specifically, the output end of the control module 7 is connected to the control ends of the synchronous DC motor 1022, the drive motor 302, the microwave generator 401, the mechanical arm 501 and the drill drive mechanism 502.

[0037] The video image acquisition device 8 is used to collect real-time image data during the movement of the wall-climbing robot; wherein, the video image acquisition device 8 includes a mounting bracket 801 and a camera 802, wherein the first end of the mounting bracket 801 is fixedly connected to the middle of the front end of the vehicle body 2, and the second end of the mounting bracket 801 extends toward a side away from the vehicle body 2; the camera 802 is mounted on the second end of the mounting bracket 801; wherein, the camera 802 is used to capture real-time images during the movement, and the real-time image data fed back by the camera 802 is used to ensure that the microwave irradiation device 4 The block removal device 5 can accurately align with the surface of the blocks to be removed to improve the accuracy of the removal process; the optical sensor 10 is used to monitor the output end position of the microwave irradiation device 4 in real time; the ultrasonic sensor 11 is used to obtain the topographic map of the area where the blocks have been removed on the building wall; the control module 7 is used to receive real-time image data of the wall-climbing robot during its movement, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall, and control the walking device 3, the microwave irradiation device 4, the block removal device 5 and the negative pressure adsorption device 102.

[0038] Specifically, the control module 7 includes a chassis negative pressure control unit, a walking control unit, a microwave control unit, a mechanical arm control unit and a camera control unit; the chassis negative pressure control unit is used to control the synchronous DC motor 1022 in the negative pressure adsorption generating device 1022 according to the real-time image data during the movement of the wall-climbing robot, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall; the walking control unit is used to control the drive motor 302 in the walking device 3 according to the real-time image data during the movement of the wall-climbing robot, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall; the microwave control unit is used to control the microwave generator 401 in the microwave irradiation device 4 according to the real-time image data during the movement of the wall-climbing robot, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall, combined with the moisture content of the area where the blocks to be removed are located and the dielectric parameters of the blocks; the mechanical arm control unit is used to control the microwave generator 401 in the microwave irradiation device 4 according to the real-time image data during the movement of the wall-climbing robot, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall; The robot arm 501 and the drill driving mechanism 502 in the block removal device 5 are controlled according to the real-time picture data during the process, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall; the camera control unit is used to adjust the camera angle of the camera 802 according to the real-time picture data during the movement of the wall-climbing robot, the output end position of the microwave irradiation device 4 and the topographic map of the area where the blocks have been removed on the building wall; by integrating the chassis negative pressure control unit, the walking control unit, the microwave control unit, the robot arm control unit and the camera control unit in the control module 7, the accuracy and efficiency of the entire block removal process are ensured; another implementation method of the control module 7 is: using artificial intelligence technology, it can process the feedback information of each unit module in real time to realize automatic and intelligent operation; through the coordinated control of each unit module, the system can automatically adjust the intensity of microwave irradiation, the movement of the robot arm, the angle of view of the camera equipment and the movement path of the traveling device according to the actual situation, so as to optimize the working efficiency and effectively avoid interference with the surrounding structures.

[0039] In this embodiment, the control module 7 ensures the accuracy and efficiency of the rejection process by scheduling and controlling the coordinated work of the microwave irradiation device 4, the video image acquisition device 8 and the mechanical rejection device 5. The control module 7 integrates preset algorithms and artificial intelligence technology, autonomously perceives environmental information, analyzes in real time and dynamically adjusts operating parameters to achieve precise control of the robot operation.

[0040] The signal transmission module 9 is used to receive data information collected by the video image acquisition device, optical sensor and ultrasonic sensor, and transmit the collected information in real time to the control module 7 and the preset mobile client, so as to monitor and analyze the current state, detection process and working environment of the robot; through the wireless transmission of the signal transmission module, the operator can view the state and operation progress of the wall-climbing robot in real time in the remote monitoring system, thereby ensuring the smooth progress of the working process.

[0041] The optical sensor 10 is arranged on the side wall of the output end of the microwave focusing antenna 406, and is used to monitor and locate the position information of the microwave focusing antenna 406 in real time; wherein, the optical sensor 10 ensures that the output end of the microwave focusing antenna 406 is perfectly aligned with the rejection area stored after scanning under vertical projection through a precise visual feedback system, thereby ensuring the accuracy of microwave irradiation and avoiding the impact on the surrounding irrelevant areas; the ultrasonic sensor 11 is arranged on the top of the shielding box 407, and is used to scan the demolition area as a whole, and obtain the distance information and surface features of the demolition area in real time; the ultrasonic sensor 11 can draw a topographic map of the demolition area with high precision by emitting ultrasonic signals and receiving echoes, and transmit the data to the control module, providing an accurate reference for the block rejection operation.

[0042] In this embodiment, the microwave energy emitted by the microwave irradiation device is used to selectively heat bricks and stones, so that the surface strength of the blocks to be removed is deteriorated, thereby minimizing the disturbance caused by the removal and not affecting the stability of the surrounding and overall structure; combined with the negative pressure adsorption technology, a negative pressure adsorption generating device is used to enable the wall-climbing robot to be stably attached to the facade of the ancient building; at the same time, combined with the block removal device, external force is applied after microwave irradiation to efficiently remove the softened blocks; the present invention innovatively combines microwave heating, negative pressure adsorption and mechanical removal, effectively avoiding damage to surrounding blocks or structures in traditional methods, and providing an efficient, non-destructive and precise solution for ancient building maintenance.

[0043] Working method and block removal process: The wall-climbing robot for removing blocks of ancient masonry buildings described in this embodiment, when working, first moves the robot body to the area of ​​the building wall where blocks are to be removed in a negative pressure adsorption mode; uses a microwave irradiation device 4 to radiate microwave energy to the blocks to be removed so that the blocks to be removed are heated and softened; uses a block removal device 5 to mechanically remove the heat-softened blocks to be removed; the specific process is as follows: First, the synchronous DC motor 1022 in the negative pressure adsorption generating device 102 starts to run to extract gas from the negative pressure chamber 1011. The airflow is sucked in through the gap between the chassis sealing structure 103 and the building wall, and discharged from the top of the cylindrical duct 1021, forming a pressure difference between the inside and outside of the negative pressure chamber 1011, thereby realizing negative pressure adsorption. It should be noted that one end of the chassis sealing structure is arranged toward the building wall so that the walking device 3 is in contact with the facade, and the negative pressure adsorption generating device 102 continuously extracts air from one side of the building wall to the other side, so that the negative pressure adsorption detection wall-climbing robot can be stably adsorbed on the wall.

[0044] Afterwards, the drive motor 302 in the walking device 3 starts working, enabling it to move freely on the facade of the ancient building; specifically, when a negative pressure state is formed in the negative pressure chamber 102 and the wall-climbing robot is adsorbed on the wall of the building, the drive motor 302 is controlled to run at the same time; the drive motor 302 drives the rotation of the walking roller 303 through the coupling, thereby realizing the forward or backward movement of the robot; by adjusting the rotation speed of the walking rollers 303 on both sides, the robot is controlled to go straight or turn; at the same time, the video image acquisition device 8 continues to perform real-time video or photography to record image data of the working area, so as to ensure that the robot can accurately move along the wall, and at the same time provide necessary visual information for subsequent data analysis and operation records, thereby improving the intelligence and automation level of the operation.

[0045] Finally, according to the predetermined irradiation time t, the microwave irradiation device 4 is used to radiate microwave energy to the blocks to be removed so that the blocks to be removed are heated and softened; then, the block removal device 5 is turned on to mechanically remove the heat-softened blocks to be removed.

[0046] It should be noted that before the microwave irradiation device 4 is used to radiate microwave energy to the blocks to be removed, a sampling test operation is also included; wherein the specific process of the sampling test operation is as follows: In the area to be demolished, m sampling points are randomly selected. The sampling points are located on the surface between any two adjacent blocks, and non-destructive rebound testers are used for sampling; non-destructive rebound testers are used at m sampling points for rebound test; the rebound data of m sampling points are analyzed to obtain the strength values ​​of m blocks; the thickness values ​​of the main body layers of m blocks are determined and obtained by combining data inspection and field experience; the average strength value A of the m blocks is obtained by averaging the strength values ​​of the m blocks. 1 , take the average thickness of the m blocks and get the average thickness of the blocks A 2 ; Measure the moisture content of m blocks (such as discarded bricks or scraps) to obtain the moisture content of the m blocks’ body layers; average the moisture content of the m blocks’ body layers to obtain the average moisture content β 1 ; According to the average moisture content β 1, determine the dielectric parameters of the blocks; according to the average strength value A of the blocks 1 , average thickness of blocks A 2 and average moisture content β 1 , establish a 1:1 finite element model, simulate the actual situation of microwave irradiation through finite element analysis, and obtain the microwave irradiation time t; specifically, according to the preset test power, the preset test temperature, the preset microwave frequency and the established finite element model, simulate the irradiation process in the finite element software to obtain a temperature distribution diagram that changes with time; analyze the time required for the highest temperature in the temperature distribution diagram to reach the preset test temperature as the irradiation time t.

[0047] The wall-climbing robot described in the present invention adopts a negative pressure adsorption method to ensure that the wall-climbing robot can stably climb on the surface of an ancient brick and stone building. The negative pressure adsorption technology is used to ensure the stable crawling of the wall-climbing robot on the facade of the ancient building, and the microwave heating technology is combined to accurately soften the building blocks, ultimately achieving safe removal and replacement of the building blocks, which helps to extend the service life of the ancient building and maintain its historical and cultural value.

[0048] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention.

Claims

1. A wall-climbing robot for removing blocks from ancient masonry buildings, characterized in that: It comprises a robot body, a microwave irradiation device (4) and a block removal device (5); The robot body is adsorbed on the building wall by negative pressure adsorption and can move on the building wall; The microwave irradiation device (4) and the block removal device (5) are both installed on the robot body; The microwave irradiation device (4) is used to radiate microwave energy to the blocks to be removed on the wall surface of the building, so that the blocks to be removed are heated and softened; The block removal device (5) is used to mechanically remove the heat-softened blocks to be removed.

2. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 1, characterized in that: The robot body comprises a chassis component (1) and a walking device (3); The chassis component (1) is adsorbed on the building wall surface by means of negative pressure adsorption; the walking device (3) is installed at the four corners of the chassis component (1) and is used to drive the chassis component (1) to move on the building wall surface.

3. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 2, characterized in that: The chassis assembly (1) comprises a chassis body (101), a negative pressure adsorption generating device (102) and a chassis sealing structure (103); The bottom surface of the chassis body (101) is provided with a negative pressure chamber (1011); A mounting through hole is provided at the centre of the top surface of the chassis body (101), and the negative pressure adsorption device (102) is mounted at the mounting through hole; the negative pressure adsorption generating device (102) is used to extract air from the negative pressure chamber (1011); The chassis sealing structure (103) is arranged around the chassis body (101), one end of the chassis sealing structure (103) is connected to the lower ends of the chassis body (101) around the chassis body (101), and the other end of the chassis sealing structure (103) is in contact with the building wall.

4. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 1, characterized in that: The microwave irradiation device (4) comprises a microwave generator (401), an elbow waveguide (405) and a microwave focusing antenna (406); The microwave generator (401) is installed at the top of the robot body and is used to generate a preset microwave signal; the output end of the microwave generator (401) is connected to the input end of the elbow waveguide (405), the output end of the elbow waveguide (405) is connected to the input end of the microwave focusing antenna (406), and the output end of the microwave focusing antenna (406) extends toward the building wall.

5. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 4, characterized in that: The microwave irradiation device (4) further comprises a circulator (402) and an impedance matcher (403); the circulator (402) and the impedance matcher (403) are arranged in sequence between the microwave generator (401) and the elbow waveguide (405).

6. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 4, characterized in that: The distance between the output end of the microwave focusing antenna (406) and the building block to be removed is less than or equal to 5 mm.

7. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 1, characterized in that: The block removal device (5) comprises a mechanical arm (501), a drill driving mechanism (502) and a drill (503); The fixed end of the mechanical arm (501) is mounted at the front end of the robot body, and the drill driving mechanism (502) is mounted at the movable end of the mechanical arm (501); the drill (503) is mounted at the output end of the drill driving mechanism (502); wherein the drill driving mechanism (502) is used to drive the drill (503) to rotate or vibrate.

8. The wall-climbing robot for removing blocks of ancient masonry buildings according to claim 1, characterized in that: It also includes a control module (7), a video image acquisition device (8), an optical sensor (10) and an ultrasonic sensor (11); The output ends of the video image acquisition device (8), the optical sensor (10) and the ultrasonic sensor (11) are all connected to the input end of the control module (7), and the output end of the control module (7) is all connected to the input ends of the microwave irradiation device (4) and the block rejection device (5); The video image acquisition device (8) is used to acquire real-time image data during the movement of the wall-climbing robot; The optical sensor (10) is used to monitor the output end position of the microwave irradiation device (4) in real time; The ultrasonic sensor (11) is used to obtain a topographic map of the area on the building wall where blocks have been removed; The control module (7) is used to receive real-time image data of the wall-climbing robot during its movement, the output end position of the microwave irradiation device (4), and a topographic map of the area on the building wall where the blocks have been removed, and to control the robot body, the microwave irradiation device (4), and the block removal device (5).

9. A wall-climbing robot for removing blocks of ancient masonry buildings according to claim 8, characterized in that: The control module (7) is arranged at the top of the robot body; the video image acquisition device (8) is located at the front end of the robot body and is placed between the microwave irradiation device (4) and the block removal device (5); the optical sensor (10) is arranged on the side wall of the output end of the microwave irradiation device (4); and the ultrasonic sensor (11) is arranged on the top surface of the microwave irradiation device (4).

10. A working method of a wall-climbing robot for removing blocks of ancient masonry buildings as claimed in any one of claims 1 to 9, characterized in that: include: Under negative pressure adsorption, the robot body is moved to the area on the building wall where the blocks are to be removed; Using a microwave irradiation device (4) to radiate microwave energy to the blocks to be removed, so that the blocks to be removed are heated and softened; The building block removal device (5) is used to mechanically remove the building blocks to be removed that have been softened by heat.

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