A wall-climbing robot and method for glass curtain wall optical fiber sensor laying

Abstract

The application provides a wall-climbing robot and method for glass curtain wall optical fiber sensor laying, and relates to the technical field of optical fiber sensor laying.The wall-climbing robot is firmly attached to the surface of the glass curtain wall through an adsorption unit, and replaces manual work for high-altitude operation, thereby eliminating the safety hazards caused by high-altitude operation.Secondly, the adsorption unit, the walking unit and the optical fiber laying unit are controlled by a control unit, so that the optical fiber sensor is accurately pasted and laid at a specified position, the optical fiber sensor is uniformly covered with glue, human operation deviation is effectively avoided, the laying consistency and accuracy of the optical fiber are ensured, the laying standardization of the optical fiber sensor is facilitated, finally, the wall-climbing robot can quickly complete the optical fiber laying task of a large-area glass curtain wall, the laying efficiency of the optical fiber sensor is improved, the laying cost is reduced, an efficient, stable and accurate technical means is provided for the safety monitoring of the curtain wall structure, and the application prospect of the optical fiber sensor is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical fiber sensor laying, in particular to a wall-climbing robot and method for laying optical fiber sensors on glass curtain walls. BACKGROUND

[0002] Glass curtain walls, as a kind of external envelope structure that does not bear the load of the main structure of the building, are widely used in high-rise building projects due to their light appearance and novel design. As of now, China has more glass curtain walls than most countries in the world, making it the country with the most production and use of glass curtain walls. However, as the service life of glass curtain walls increases, and as construction errors, aging of structural adhesives, and structural material defects occur during service, the safety performance of glass curtain walls gradually decreases, posing a significant safety risk to cities. Compared to other detection methods for glass curtain walls, optical fiber sensors are not electrically charged, have a small volume and light weight, are easy to bend, are resistant to high temperature and humidity, are corrosion-resistant, are resistant to electromagnetic interference, and have good radiation resistance, allowing them to work in harsh environments that traditional sensors cannot support.

[0003] In the prior art, optical fiber sensors are often laid by manual methods. However, the laying and sticking quality of optical fiber sensors is crucial to the monitoring accuracy of optical fiber sensors, especially for glass curtain wall structures of high-rise buildings. The prior art has the following problems. First, due to the special environment of high-rise buildings, manual laying is costly and has low safety, which can easily lead to safety accidents. Second, manual laying methods are prone to operational errors due to the skill level and personal ability of the operator, which cannot guarantee the accuracy of manual laying and cannot achieve standardization of optical fiber laying, thereby affecting the monitoring effect of optical fiber sensors. Finally, manual laying methods are inefficient and cannot be widely promoted and applied. SUMMARY

[0004] To solve the above problems in the prior art, the present application provides a wall-climbing robot and method for laying optical fiber sensors on glass curtain walls. The robot is firmly attached to the surface of the glass curtain wall by an adsorption unit, replacing manual high-altitude work and eliminating safety hazards associated with high-altitude work. The robot is controlled by a control unit to control the adsorption unit, walking unit, and optical fiber laying unit, ensuring accurate sticking and laying of optical fiber sensors at designated locations and uniform coverage of the optical fiber sensors with adhesive, effectively avoiding human operational deviations and ensuring the consistency and accuracy of optical fiber laying. This facilitates standardization of optical fiber sensor laying. The wall-climbing robot can quickly complete the optical fiber laying task for large-area glass curtain walls, improving the laying efficiency of optical fiber sensors and reducing the laying cost. The robot provides an efficient, stable, and accurate technical means for safety monitoring of curtain wall structures and improves the application prospects of optical fiber sensors. To achieve the above objectives, the technical solution is as follows:

[0005] In one aspect, the application provides a wall-climbing robot for glass curtain wall optical fiber sensor laying, comprising:

[0006] a suction unit for closely adhering to the surface of the glass curtain wall by negative pressure suction principle to ensure stable movement of the wall-climbing robot on the vertical surface;

[0007] a walking unit connected to the suction unit through a connecting rod for flexible movement and positioning of the wall-climbing robot on the glass curtain wall;

[0008] an optical fiber laying unit fixedly connected to the suction unit for laying optical fiber sensors;

[0009] a control unit for controlling the suction unit, the walking unit and the optical fiber laying unit to realize optical fiber sensor laying of the wall-climbing robot on the glass curtain wall.

[0010] Optionally, the suction unit comprises:

[0011] a servo motor for extracting air to form negative pressure, the body of the servo motor being connected to an impeller mounting shell, and the transmission shaft of the servo motor being connected to a centrifugal impeller;

[0012] the impeller mounting shell is through-connected with a vacuum shell in a cylindrical shape, and the side surface of the impeller mounting shell and the top surface of the impeller mounting shell are both holed;

[0013] the bottom of the vacuum shell is airtight connected with a sealing skirt, and two connecting rod through holes are arranged on both sides of the vacuum shell;

[0014] the sealing skirt and the surface of the glass curtain wall form a semi-enclosed suction cavity after being enclosed, preventing air from entering.

[0015] Optionally, the walking unit comprises:

[0016] a track belt for extensive contact with the glass curtain wall to enhance the stability and traction of the wall-climbing robot;

[0017] a drive wheel engaged with the track belt, the drive wheel being arranged at the edge of the track belt;

[0018] a drive motor fixedly connected with the drive wheel for driving the drive wheel to rotate and providing power for the wall-climbing robot;

[0019] an idler wheel having the same structure as the drive wheel, the drive wheel driving the idler wheel to rotate through the track belt, and the idler wheel and the drive wheel being rotatably connected to the connecting rod through holes of the suction unit through a connecting rod.

[0020] Optionally, the connection mode of the track belt comprises: track belt plates connected through pin shaft chains, and the track belt plates and the pin shafts being made of nylon material.

[0021] Optionally, the optical fiber laying unit comprises:

[0022] an optical fiber storage device for storing and managing the optical fiber sensor;

[0023] an optical fiber fixing device for fixing the position of the optical fiber sensor on the glass curtain wall;

[0024] a mechanical arm for multi-angle controlling the position and direction of the optical fiber storage device and the optical fiber fixing device, ensuring the optical fiber sensor to be laid to the target position.

[0025] Optionally, the optical fiber storage device comprises an optical fiber reel and a wire guide ring.

[0026] The optical fiber sensor to be laid is wound on the optical fiber reel, and the center hole of the optical fiber reel is sleeved on the cylindrical shaft of the first end of the mechanical arm.

[0027] The wire guide ring is fixed on the first end of the mechanical arm, and is used for guiding the optical fiber sensor to be laid to pass through the optical fiber fixing device.

[0028] Optionally, the optical fiber fixing device comprises:

[0029] an optical fiber fixing device shell for fixing an optical fiber positioner and a presser,

[0030] the optical fiber positioner is used for fixing the position of the optical fiber sensor to be laid,

[0031] a glue applicator for applying glue,

[0032] the presser is used for controlling the shape of the glue and ensuring the glue to tightly bond and wrap the optical fiber sensor by pressing;

[0033] The optical fiber fixing device shell is provided with a wire hole along the movement direction.

[0034] The optical fiber positioner and the presser are in the form of wheels, and have grooves on the surfaces thereof and are located inside the optical fiber fixing device shell. The bottoms of the optical fiber positioner and the presser are flush with the bottom of the optical fiber fixing device shell, and the optical fiber positioner and the presser can freely rotate around the shafts.

[0035] The glue applicator comprises a glue nozzle and a glue storage bin. The glue nozzle is in the form of a circular truncated cone, and the glue nozzle controls the spraying amount of the glue according to the instruction issued by the control unit. The glue storage bin is fixedly connected with the second end of the mechanical arm.

[0036] Optionally, the process of laying the optical fiber sensor comprises:

[0037] The optical fiber sensor to be laid on the optical fiber reel in the optical fiber laying unit is passed through the wire guide ring of the optical fiber laying unit, and the optical fiber sensor output by the optical fiber storage device is obtained.

[0038] The optical fiber sensor output by the optical fiber storage device is passed through the wire guide hole of the optical fiber fixing device shell in the optical fiber laying unit, and sequentially passes through the optical fiber position limiter of the optical fiber laying unit, the glue spraying head of the optical fiber laying unit and the extruder of the optical fiber laying unit, and the laid optical fiber sensor is obtained.

[0039] Optionally, the control unit comprises a controller and a wireless signal receiving device; the controller is connected with the servo motor of the adsorption unit, the driving motor of the walking unit and the glue spraying head of the optical fiber laying unit respectively, so as to realize the laying of the optical fiber sensor on the glass curtain wall by the wall-climbing robot; the wireless signal receiving device is connected with the controller, receives the control instruction issued by the operator and sends it to the controller.

[0040] In another aspect, the application provides a method for laying optical fiber sensors on a glass curtain wall, which is realized by a wall-climbing robot for laying optical fiber sensors on a glass curtain wall, and the method comprises:

[0041] S1, placing the wall-climbing robot on the glass curtain wall and starting the adsorption unit to obtain the wall-climbing robot adsorbed on the glass curtain wall;

[0042] S2, according to the wall-climbing robot adsorbed on the glass curtain wall, the optical fiber sensor to be laid is led out to the glass curtain wall through the optical fiber laying unit to obtain the wall-climbing robot with optical fiber leading;

[0043] S3, according to the control instruction issued by the operator, the control unit controls the walking unit and the spraying amount of glue of the optical fiber laying unit, and according to the control instruction issued by the operator, the running wall-climbing robot is obtained;

[0044] S4, according to the running wall-climbing robot, the laying task issued by the operator is completed to lay the optical fiber sensor, and the laid optical fiber sensor is obtained.

[0045] Compared with the prior art, the technical scheme of the application has at least the following beneficial effects:

[0046] The above scheme has the following advantages: on the one hand, the adsorption unit is firmly attached to the surface of the glass curtain wall, replacing manual high-altitude operation, and eliminating the safety hazards caused by high-altitude operation; on the second aspect, the control unit controls the adsorption unit, the walking unit and the optical fiber laying unit, ensuring the accurate pasting and laying of the optical fiber sensor at the specified position and the uniform covering of the optical fiber sensor by the colloid, effectively avoiding human operation deviation, ensuring the consistency and accuracy of the optical fiber laying, and being beneficial to realizing the standardization of the optical fiber sensor laying; on the third aspect, the wall-climbing robot can quickly complete the optical fiber laying task of a large-area glass curtain wall, improves the laying efficiency of the optical fiber sensor, reduces the laying cost, provides an efficient, stable and accurate technical means for the safety monitoring of the curtain wall structure, and improves the application prospect of the optical fiber sensor. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 is a structural schematic diagram of a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0049] Figure 2 is a structural schematic diagram of an adsorption unit in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0050] Figure 3 is a structural schematic diagram of a walking unit in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0051] Figure 4 is a structural schematic diagram of a track in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0052] Figure 5 is a structural schematic diagram of an optical fiber laying unit in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0053] Figure 6 is a structural schematic diagram of an optical fiber storage device in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0054] Figure 7 is a structural front oblique view of an optical fiber fixing device in a wall-climbing robot for optical fiber sensor laying of a glass curtain wall according to an embodiment of the present application;

[0055] Figure 8is a structure inverted perspective view of a fiber fixing device in a wall-climbing robot embodiment of the present application for glass curtain wall fiber sensor laying;

[0056] Figure 9 is a process flow chart of laying a fiber sensor in a wall-climbing robot embodiment of the present application for glass curtain wall fiber sensor laying;

[0057] Figure 10 is a structure schematic diagram of laying a fiber sensor in a wall-climbing robot embodiment of the present application for glass curtain wall fiber sensor laying;

[0058] Figure 11 is a flow chart of a method embodiment of the present application for glass curtain wall fiber sensor laying;

[0059] Figure 12 is a fiber laying schematic diagram of a wall-climbing robot in a method embodiment of the present application for glass curtain wall fiber sensor laying.

[0060] Figure label explanation: adsorption unit 1, walking unit 2, fiber laying unit 3, control unit 4, fiber sensor to be laid 5, laid fiber sensor 6, glass curtain wall 7, servo motor 101, impeller mounting shell 102, centrifugal impeller 103, vacuum shell 104, connecting rod through hole 105, sealing skirt 106, track 201, drive wheel 202, drive motor 203, idler 204, connecting rod 205, track plate 2011, pin shaft 2012, fiber storage device 301, fiber fixing device 302, mechanical arm 303, fiber spool 3011, wire guide ring 3012, fiber fixing device shell 3021, fiber position limiter 3022, glue applicator 3023, extruder 3024, wire guide hole 30211, glue nozzle 30231, glue storage bin 30232. DETAILED DESCRIPTION

[0061] The technical solutions in the present application will be described below with reference to the drawings.

[0062] In the embodiments of the present application, the words "example", "for example", and the like are used to represent an example, illustration, or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be either one of the two.

[0063] To make the technical problems, technical solutions, and advantages of the present application clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0064] AsFigure 1 The diagram shows a structural schematic of an embodiment of the wall-climbing robot for laying fiber optic sensors in glass curtain walls according to the present invention. The present invention provides a wall-climbing robot for laying fiber optic sensors in glass curtain walls, which can implement a method for laying fiber optic sensors in glass curtain walls. The wall-climbing robot includes:

[0065] Adsorption unit 1 is used to adhere tightly to the surface of the glass curtain wall through the principle of negative pressure adsorption, so as to ensure the stable movement of the wall-climbing robot on the vertical plane.

[0066] Specifically, such as Figure 2 The schematic diagram shown is of the structure of the adsorption unit in an embodiment of the wall-climbing robot for laying fiber optic sensors in glass curtain walls according to the present invention. The adsorption unit 1 includes:

[0067] Servo motor 101 is used to draw air and form negative pressure. The body of servo motor 101 is connected to impeller mounting housing 102, and the drive shaft of servo motor 101 is connected to centrifugal impeller 103.

[0068] The impeller mounting housing 102 is connected to the vacuum housing 104 and is cylindrical in shape. The side and top surfaces of the impeller mounting housing 102 are both open.

[0069] The bottom of the vacuum housing 104 is sealed to the sealing skirt 106, and two connecting rod through holes 105 are provided on each side of the vacuum housing;

[0070] The sealing skirt 106 forms a semi-closed adsorption cavity after it is closed with the surface of the glass curtain wall, preventing air from entering.

[0071] Furthermore, when the servo motor 101 rotates, it drives the centrifugal impeller 103 to rotate, thereby removing the air from the space inside the vacuum housing 104, forming a negative pressure, and thus achieving an adsorption effect. The centrifugal impeller 103 is installed below the impeller mounting housing 102. The centrifugal impeller 103 is a disc structure with a hub in the center, on which multiple curved blades are evenly distributed. The blades gradually bend outward from near the hub to form a smooth fluid channel. The vacuum housing 104 is the body of the wall-climbing robot, which is cubic in shape and has a cuboid space at the bottom.

[0072] The walking unit 2 is rotatably connected to the adsorption unit 1 via the connecting rod 205, which enables the wall-climbing robot to move and position flexibly on the glass curtain wall.

[0073] Specifically, such as Figure 3 The schematic diagram shown is of the structure of the walking unit in an embodiment of the wall-climbing robot for laying fiber optic sensors in glass curtain walls according to the present invention. The walking unit 2 includes:

[0074] A crawler 201 is used to contact with the glass curtain wall widely, to enhance the stability and traction of the wall climbing robot;

[0075] A driving wheel 202 is engaged with the crawler 201, and the driving wheel 202 is arranged at the edge of the crawler 201;

[0076] A driving motor 203 is fixedly connected with the driving wheel 202, and is used to drive the driving wheel 202 to rotate, to provide power for the wall climbing robot;

[0077] An idler wheel 204 is the same structure as the driving wheel 202, and the driving wheel 202 drives the idler wheel 204 to rotate through the crawler 201, and the driving motor 203 drives the driving wheel 202 to rotate, to transmit power to the crawler 201, so as to drive the wall climbing robot to walk, and the idler wheel 204 and the driving wheel 202 are rotatably connected with the connecting hole 105 of the adsorption unit 1 through a connecting rod 205, the driving wheel 202 is arranged at the rear side of the crawler 201 in the forward direction of the wall climbing robot, and the idler wheel 204 is arranged at the front side of the crawler 201 in the forward direction of the wall climbing robot.

[0078] Specifically, as shown in the structure schematic view of the crawler of the wall climbing robot for glass curtain wall optical fiber sensor laying in the embodiment of the present application, Figure 4 the connection mode of the crawler 201 comprises that the crawler plate 2011 is connected through the pin shaft 2012 chain, the crawler plate 2011 and the pin shaft 2012 are both nylon materials, and the outer side of the crawler plate 2011 is provided with anti-skid patterns.

[0079] Further, the wall climbing robot is provided with a group of symmetrically arranged walking units 2, which are respectively located at both sides of the robot body, and by adjusting the rotating speed and steering of the driving motor 203, the wall climbing robot can complete the tasks of straight walking or steering.

[0080] An optical fiber laying unit 3 is fixedly connected with the adsorption unit 1, and is used to lay the optical fiber sensor;

[0081] Specifically, as shown in the structure schematic view of the optical fiber laying unit in the embodiment of the wall climbing robot for glass curtain wall optical fiber sensor laying of the present application, Figure 5 the optical fiber laying unit 3 comprises:

[0082] An optical fiber storage device 301 is used to store and manage the optical fiber sensor;

[0083] Specifically, as shown in the structure schematic view of the optical fiber storage device in the embodiment of the wall climbing robot for glass curtain wall optical fiber sensor laying of the present application, Figure 6 the optical fiber storage device 301 comprises an optical fiber reel 3011 and a wire ring 3012;

[0084] The fiber spool 3011 is wound with the fiber sensor 5 to be laid, and the central hole of the fiber spool 3011 is sleeved on the cylindrical shaft of the first end of the mechanical arm 303;

[0085] The wire ring 3012 is fixed to the first end of the mechanical arm 303, and is used to guide the fiber sensor 5 to be laid to pass through the fiber fixing device 302.

[0086] The fiber fixing device 302 is used to fix the position of the fiber sensor on the glass curtain wall;

[0087] Specifically, as shown in the front view of the structure of the fiber fixing device in the wall-climbing robot embodiment of the application for fiber sensor laying of a glass curtain wall, Figure 7 as shown in the inverted view of the structure of the fiber fixing device in the wall-climbing robot embodiment of the application for fiber sensor laying of a glass curtain wall, Figure 8 the fiber fixing device 302 comprises:

[0088] The fiber fixing device shell 3021 is used to fix the fiber positioner 3022 and the extruder 3024,

[0089] The fiber positioner 3022 is used to fix the position of the fiber sensor 5 to be laid,

[0090] The glue applicator 3023 is used to apply glue,

[0091] The extruder 3024 is used to control the shape of the glue and ensure that the glue tightly bonds and wraps the fiber sensor through extrusion;

[0092] The fiber fixing device shell 3021 has a wire hole 30211 along the movement direction;

[0093] Further, the fiber fixing device shell 3021 is a circular cylinder with a bottom diameter of 40 mm and a height of 20 mm, a central cylindrical hole with a diameter of 12 mm is reserved, a passage with a height of 5 mm and a width of 10 mm is reserved at the bottom, a wire hole 30211 with a diameter of 1 mm is reserved on one side along the advancing direction, the wire hole can be passed through by the fiber sensor 5 to be laid, two semicircular grooves with a diameter of 12 mm are arranged inside, a circular shaft with a diameter of 2 mm is arranged at the center position, and the circular shaft is used to fix the fiber positioner 3022 and the extruder 3024.

[0094] The fiber positioner 3022 and the extruder 3024 are in the form of wheels, have grooves on the surfaces, are located inside the fiber fixing device shell 3021, the bottom of the fiber positioner 3022 and the bottom of the extruder 3024 are flush with the bottom of the fiber fixing device shell 3021, and the fiber positioner 3022 and the extruder 3024 can freely rotate around the shafts;

[0095] Further, the fiber position limiter 3022 and the extruder 3024 are made of soft material into a wheel structure with a diameter of 10 mm, the cross section of the groove of the fiber position limiter 3022 is a square with a width of 0.25 mm and a depth of 0.25 mm, and the cross section of the groove of the extruder 3024 is a semicircle with a diameter of 1.5 mm.

[0096] The glue applicator 3023 comprises a glue nozzle 30231 and a glue storage bin 30232, the glue nozzle 30231 is in the shape of a circular truncated cone, the glue nozzle 30231 controls the amount of glue sprayed according to the instructions issued by the control unit 4, and the glue storage bin 30232 is fixedly connected with the second end of the mechanical arm 303.

[0097] The mechanical arm 303 is used to control the position and direction of the fiber storage device 301 and the fiber fixing device 302 at multiple angles, so as to ensure that the fiber sensor is laid to the target position, and the position and direction of the fiber storage device and the fiber fixing device are controlled by the multi-joint design of the mechanical arm.

[0098] Specifically, as shown in the process flow chart of laying the fiber sensor in the wall climbing robot embodiment for laying the fiber sensor of the glass curtain wall of the present application and as shown in the structural schematic diagram of laying the fiber sensor in the wall climbing robot embodiment for laying the fiber sensor of the glass curtain wall of the present application, the process of laying the fiber sensor comprises: Figure 9 Figure 10 The fiber sensor 5 to be laid on the fiber reel in the fiber laying unit 3 is passed through the wire guide ring 3012 of the fiber laying unit 3 to obtain the fiber sensor output by the fiber storage device;

[0099] The fiber sensor output by the fiber storage device is inserted into the wire guide hole 30211 of the fiber fixing device housing 3021 of the fiber laying unit 3, and then sequentially passes through the fiber position limiter 3022 of the fiber laying unit 3, the glue nozzle 30231 of the fiber laying unit 3 and the extruder 3024 of the fiber laying unit 3 to obtain the laid fiber sensor 6.

[0100] The fiber sensor output by the fiber storage device is inserted into the wire guide hole 30211 of the fiber fixing device housing 3021 of the fiber laying unit 3, and then sequentially passes through the fiber position limiter 3022 of the fiber laying unit 3, the glue nozzle 30231 of the fiber laying unit 3 and the extruder 3024 of the fiber laying unit 3 to obtain the laid fiber sensor 6.

[0101] ​Furthermore, the fiber optic sensor 5 to be laid is guided into the wire hole 30211 by the wire ring 3012. The wire hole 30211 and the fiber optic limiter 3022 fix the fiber optic sensor 5 to be laid at a designated position on the glass curtain wall through the groove and lead it out to the bottom of the adhesive nozzle 30231. The adhesive nozzle 30231 sprays adhesive onto the fiber optic sensor 5 to be laid. The extruder 3024 extrudes the fiber optic sensor 5 to be laid and the adhesive on its surface into a fixed shape through the groove, ensuring the bonding quality of the fiber optic sensor 5 to be laid, thus obtaining the laid fiber optic sensor 6.

[0102] The control unit 4 controls the adsorption unit 1, the walking unit 2, and the fiber optic laying unit 3 to enable the wall-climbing robot to lay fiber optic sensors on the glass curtain wall.

[0103] Specifically, the control unit 4 includes a controller and a wireless signal receiving device; the controller is connected to the servo motor 101 of the adsorption unit 1, the drive motor 203 of the walking unit 2, and the glue nozzle 30231 of the fiber optic laying unit 3, respectively, so that the wall-climbing robot can complete the laying of fiber optic sensors on the glass curtain wall; the wireless signal receiving device is connected to the controller, receives the control commands issued by the operator and sends them to the controller.

[0104] like Figure 11 The flowchart and embodiment of the method for laying fiber optic sensors for glass curtain walls shown are illustrated in this paper. Figure 12 This is a schematic diagram of fiber optic cable laying using a wall-climbing robot in an embodiment of the method for laying fiber optic sensors for glass curtain walls according to the present invention. The present invention provides a method for laying fiber optic sensors for glass curtain walls, which is implemented by a wall-climbing robot for laying fiber optic sensors for glass curtain walls. The method includes:

[0105] S1. Place the wall-climbing robot on the glass curtain wall 7 and activate the adsorption unit to obtain the wall-climbing robot adsorbed on the glass curtain wall.

[0106] S2. Based on the climbing robot adsorbed on the glass curtain wall 7, the fiber optic sensor to be laid is led out to the glass curtain wall 7 through the fiber optic laying unit to obtain the fiber optic guided climbing robot.

[0107] S3. According to the control instructions issued by the operator, the control unit controls the amount of adhesive sprayed on the walking unit and the fiber optic laying unit, and obtains the running wall-climbing robot according to the control instructions issued by the operator.

[0108] S4. Based on the wall-climbing robot in operation, and in accordance with the laying task given by the operator, the fiber optic sensor is laid to obtain the laid fiber optic sensor 6.

[0109] The application provides a wall-climbing robot and method for glass curtain wall optical fiber sensor laying.

[0110] It can be understood that the application is described by the above embodiments, which should not be interpreted as a limitation on the embodiments and scope of the application. Those skilled in the art can make various changes or equivalent replacements to the features and embodiments without departing from the spirit and scope of the application. In addition, under the guidance of the application, the features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the application. Therefore, the application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the application are within the scope of the application.

Claims

1. A wall-climbing robot for laying fiber optic sensors on glass curtain walls, characterized in that, include: The adsorption unit is used to adhere tightly to the surface of the glass curtain wall through the principle of negative pressure adsorption, so as to ensure the stable movement of the wall-climbing robot on the vertical plane. The walking unit is rotatably connected to the adsorption unit via a linkage, which enables the wall-climbing robot to move flexibly and position itself on the glass curtain wall; The fiber optic laying unit is fixedly connected to the adsorption unit and is used to lay the fiber optic sensor; The control unit controls the adsorption unit, the walking unit, and the optical fiber laying unit to enable the wall-climbing robot to lay optical fiber sensors on the glass curtain wall. The walking unit includes: Tracks are used for extensive contact with the glass curtain wall, enhancing the stability and traction of the wall-climbing robot; The drive wheel meshes with the track, and the drive wheel is disposed on the edge of the track; The drive motor is fixedly connected to the drive wheel and is used to drive the drive wheel to rotate, providing power to the wall-climbing robot. The idler wheel has the same structure as the drive wheel. The drive wheel drives the idler wheel to rotate through the track. The idler wheel and the drive wheel are rotatably connected to the connecting rod through hole of the adsorption unit through a connecting rod. The track connection method includes: track plates are connected by pins and chains, and both the track plates and the pins are made of nylon material; The fiber optic laying unit includes: An optical fiber storage device for storing and managing the optical fiber sensor; Fiber optic fixing device, used to fix the position of the fiber optic sensor on the glass curtain wall; A robotic arm is used to control the position and orientation of the optical fiber storage device and the optical fiber fixing device from multiple angles, ensuring that the optical fiber sensor is laid to the target position; The fiber optic fixing device includes: Fiber optic fixing device housing, used to fix fiber optic limiters and clamps. The fiber optic limiter is used to fix the position of the fiber optic sensor to be laid. A glue applicator is used to apply glue. The extruder is used to control the shape of the adhesive and to ensure that the adhesive tightly bonds and encapsulates the fiber optic sensor through extrusion; The housing of the optical fiber fixing device has wire holes along the direction of movement; The fiber optic limiter and the extruder are wheel-shaped structures with grooves on their surfaces. They are located inside the housing of the fiber optic fixing device. The bottom of the fiber optic limiter and the bottom of the extruder are flush with the bottom of the housing of the fiber optic fixing device. The fiber optic limiter and the extruder can rotate freely around an axis. The glue applicator includes: a glue nozzle and a glue storage tank. The glue nozzle is frustum-shaped and controls the amount of glue sprayed according to the instructions issued by the control unit. The glue storage tank is fixedly connected to the second end of the robotic arm. The optical fiber storage device includes: an optical fiber reel and a conductor loop; The fiber optic sensor to be laid is wound on the fiber optic spool, and the central hole of the fiber optic spool is fitted onto the cylindrical shaft at the first end of the robotic arm. The guide loop is fixed to the first end of the robotic arm and is used to guide the fiber optic sensor to be laid through the fiber optic fixing device.

2. The wall-climbing robot for laying fiber optic sensors in glass curtain walls according to claim 1, characterized in that, The adsorption unit includes: A servo motor is used to draw air and create negative pressure. The body of the servo motor is connected to the impeller mounting housing, and the drive shaft of the servo motor is connected to the centrifugal impeller. The impeller mounting housing is connected to the vacuum housing and is cylindrical in shape. Both the side and top surfaces of the impeller mounting housing have openings. The bottom of the vacuum housing is sealed to the sealing skirt, and two connecting rod through holes are provided on each side of the vacuum housing; The sealing skirt, when it is closed with the surface of the glass curtain wall, forms a semi-closed adsorption cavity, preventing air from entering.

3. The wall-climbing robot for laying fiber optic sensors in glass curtain walls according to claim 1, characterized in that, The process of laying the fiber optic sensor includes: The fiber optic sensor to be laid on the fiber optic spool in the fiber optic laying unit is passed through the conductor loop of the fiber optic laying unit to obtain the fiber optic sensor output by the fiber optic storage device. The fiber optic sensor output from the fiber optic storage device is inserted into the wire hole of the fiber optic fixing device housing in the fiber optic laying unit, and then sequentially passes through the fiber optic limiter of the fiber optic laying unit, the glue nozzle of the fiber optic laying unit, and the extruder of the fiber optic laying unit to obtain the laid fiber optic sensor.

4. The wall-climbing robot for laying fiber optic sensors in glass curtain walls according to claim 1, characterized in that, The control unit includes a controller and a wireless signal receiving device; The controller is connected to the servo motor of the adsorption unit, the drive motor of the walking unit, and the glue nozzle of the fiber optic laying unit, respectively, so that the wall-climbing robot can complete the laying of fiber optic sensors on the glass curtain wall. The wireless signal receiving device is connected to the controller, receives control commands issued by the operator, and sends them to the controller.

5. A method for laying fiber optic sensors for glass curtain walls, wherein the method is implemented by the wall-climbing robot for laying fiber optic sensors for glass curtain walls according to any one of claims 1-4, characterized in that, The method includes: S1. Place the wall-climbing robot on the glass curtain wall and activate the adsorption unit to obtain the wall-climbing robot adsorbed on the glass curtain wall. S2. Based on the wall-climbing robot adsorbed on the glass curtain wall, the fiber optic sensor to be laid is led out to the glass curtain wall through the fiber optic laying unit to obtain the fiber optic guided wall-climbing robot. S3. According to the control instructions issued by the operator, the control unit controls the amount of adhesive sprayed on the walking unit and the optical fiber laying unit, and obtains the running wall-climbing robot according to the control instructions issued by the operator. S4. According to the wall-climbing robot in operation, the fiber optic sensor is laid according to the laying task given by the operator, and the laid fiber optic sensor is obtained.

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