Facade wall climbing inspection equipment

Abstract

The invention discloses facade wall climbing inspection equipment which comprises a control system, a vehicle body, an adsorption system, a navigation early warning system and a detection system, the adsorption system, the navigation early warning system and the detection system are arranged on the vehicle body, and the navigation early warning system is connected with the control system and used for planning a driving route according to the peripheral condition of the vehicle body. The vehicle body is connected with the control system and is used for advancing according to a driving route of the navigation early warning system, the detection system is connected with the control system and is used for detecting facade defects in the advancing process of the vehicle body, and the adsorption system is connected with the control system and is used for movably connecting the vehicle body with a facade; the method can also adapt to conditions such as vertical shafts, dams or wall surfaces, and is high in flexibility; according to the invention, the design of an auxiliary structure on a vertical surface is not needed, and the working difficulty and complexity are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of facade detection, and particularly to a facade wall-climbing inspection device. Background Art

[0002] When detecting vertical or inclined surfaces such as shafts, dams or walls, the relatively high and large vertical surface structures make manual detection difficult.

[0003] Existing wall-climbing detections, such as an automatic wall-climbing external wall detection system with the patent number CN110865128A, fixedly set a roof track along the roof edge, a roof trolley that can slide along the roof track is arranged on the roof track, and a ground trolley and the roof trolley are connected by a flexible connecting component; a wall-climbing robot that can move up and down along the flexible connecting component is arranged on the flexible connecting component, and the wall-climbing robot extends a telescopic mechanical arm towards the wall surface, and a local detection device is arranged at the front end of the telescopic mechanical arm. It is necessary to set tracks on the upper and lower parts of the external wall, and tracks also need to be set after setting the upper and lower tracks. For situations such as shafts or dams in the actual working process, it is difficult to set tracks and the cost is high. Summary of the Invention

[0004] The purpose of the invention is to provide a facade wall-climbing inspection device, which solves the problem that the existing wall-climbing devices are limited in use.

[0005] The present invention is implemented as follows. A facade wall-climbing inspection device includes a control system, a vehicle body, and an adsorption system, a navigation and warning system, and a detection system arranged on the vehicle body. The navigation and warning system is connected to the control system for planning a driving route according to the situation outside the vehicle body. The vehicle body is connected to the control system for advancing according to the driving route of the navigation and warning system. The detection system is connected to the control system for detecting facade defects during the advancement of the vehicle body. The adsorption system is connected to the control system for movably connecting the vehicle body to the facade.

[0006] The vehicle body of the present invention generates a thrust through the adsorption system so that there is a frictional force between the vehicle body and the facade, offsetting the gravity of the vehicle body and making the vehicle body stable on the facade. The navigation and warning system obtains the situation outside the vehicle body and transmits it to the control system. The control system processes the information and plans the driving route. The vehicle body advances according to this driving route. During the advancement, the detection system detects the facade, thereby completing the inspection of the facade. Through the facade inspection device in the present invention, the staff can hold a remote control terminal. Through the communication between the control system and the remote control terminal, the vehicle body moves to the facade to be detected, and then the vehicle body moves to inspect the facade. It can be seen that the present invention can also adapt to situations such as shafts, dams or walls, with high flexibility. The present invention does not require the design of auxiliary structures on the facade, reducing the work difficulty and complexity.

[0007] A further technical solution of the present invention is: the vehicle body comprises a vehicle body and front wheels and rear wheels disposed on the vehicle body, and the vehicle body is provided with a connecting rod for preventing the vehicle body from getting stuck on an obstacle.

[0008] When the vehicle body passes through some small obstacles, in order to ensure the firmness of the vehicle body and the facade, the connecting rod can effectively cross the obstacles to ensure the smooth progress of the inspection equipment.

[0009] A further technical solution of the present invention is: the connecting rod includes a front wheel bridge frame, a main bridge frame and a deflection bridge frame, the front wheel bridge frame is used to connect the front wheels on the same side of the vehicle body and is movably connected to the vehicle body, the main bridge frame is movably connected to the vehicle body and the two ends of the main bridge frame are respectively connected to the front wheel bridge frame and the rear wheel, the deflection bridge frame is a connecting rod mechanism, the deflection bridge frame is movably connected to the top of the vehicle body, and the two ends of the deflection bridge frame are movably connected to the main bridge frame.

[0010] It is connected through the front wheel bridge frame, and the front wheel bridge frame is connected to the main bridge frame through an axle; the main bridge frame is connected to the vehicle body through an axle, and the deflected bridge frame is above the vehicle body. When a single-sided wheel crosses an obstacle, the deflected bridge frame can be used to make the wheel on the other side move in the opposite direction, so that the obstacle can be crossed more smoothly and the vehicle body can be prevented from being stuck on the obstacle.

[0011] A further technical solution of the present invention is: the adsorption system includes a brushless motor ducted fan and a negative pressure suction cup, the brushless motor ducted fan is placed at the front and rear ends of the vehicle body, the brushless motor ducted fan can generate wind force away from the vehicle body to bring the vehicle body into contact with the facade, and the negative pressure suction cup is arranged in the middle of the vehicle body.

[0012] The brushless motor ducted fans are installed at the front and rear ends of the vehicle body. When the brushless motor ducted fans are started, they can generate wind away from the vehicle body, so that the vehicle body can be stabilized on the facade. When encountering bad weather, the wind force is reduced due to a malfunction of the ducted fan, or temporary parking is required in an area that requires key inspection, the negative pressure suction cup is used to adsorb the facade in the middle of the vehicle body, ensuring that the vehicle body and the facade are stably adsorbed, further ensuring the stability of the vehicle body and the facade.

[0013] A further technical solution of the present invention is: the negative pressure suction cup includes a variable frequency motor, a centrifugal impeller and a sealing cover, and the variable frequency motor is connected to the centrifugal impeller to form a negative pressure in the sealing cover.

[0014] The frequency conversion motor is connected to the centrifugal impeller, so that the sealing cover below the centrifugal impeller can form negative pressure to adsorb the opposite surface.

[0015] A further technical solution of the present invention is: the sealing cover is opened by a spring to be close to the vertical surface, and the skirt of the sealing cover is made of silicone material and has a wavy shape.

[0016] The skirt of the sealing cover is made of silica gel and is corrugated in shape. It can provide sealing while reducing friction with the wall surface, facilitating the movement of the vehicle.

[0017] A further technical solution of the present invention is that the warning and navigation system includes a camera, a lighting lamp, a radar, and an ultrasonic radar. The camera is arranged at the end of the vehicle body to transmit the captured pictures to the control system for processing. The lighting lamp is used to provide illumination. The radar is used for long-distance warning. The ultrasonic radar is placed around the vehicle body for collision warning.

[0018] The warning and navigation system can process and analyze the peripheral environment during the operation of the vehicle body, provide route guidance for the operation of the vehicle body, and ensure the smoothness of the movement of the vehicle body.

[0019] A further technical solution of the present invention is that the detection system includes a multispectral camera, a microwave crack radar, and an ultrasonic tomograph. The multispectral camera is placed at the tail of the vehicle body and is connected to the control system for identifying chemical corrosion. The microwave crack radar is placed inside the vehicle body and is connected to the control system for identifying cracks on the vertical surface. The ultrasonic tomograph is placed on the vehicle body and is connected to the control system for detecting vertical surface cracks, cavities, and delamination conditions.

[0020] The detection system can effectively obtain the defects on the surface.

[0021] A further technical solution of the present invention is that the control system includes a control module placed on the vehicle body and a communication antenna. The control module is communicatively connected to the remote control terminal through the communication antenna.

[0022] A further technical solution of the present invention is that the inspection device further includes a lithium battery pack for providing electric energy.

[0023] The beneficial effects of the present invention: The vehicle body of the present invention generates thrust through the adsorption system, so that there is friction between the vehicle body and the vertical surface, making the vehicle body stable on the vertical surface. The navigation and warning system obtains the situation outside the vehicle body and transmits it to the control system. The control system processes the information and plans the driving route. The vehicle body advances according to this driving route. During the advancing process, the detection system detects the vertical surface, thus completing the inspection of the vertical surface. Through the vertical surface inspection device in the present invention, the staff can hold the remote control terminal. Through the communication between the control system and the remote control terminal, the vehicle body moves to the vertical surface to be detected, and then the vehicle body moves to inspect the vertical surface. It can be seen that the present invention can also adapt to situations such as shafts, dams, or walls, with high flexibility. The present invention does not require the design of auxiliary structures on the vertical surface, reducing the work difficulty and complexity. Description of the Drawings

[0024] Figure 1 It is the top view of a facade wall-climbing inspection device provided by the present invention;

[0025] Figure 2 It is the front view of a facade wall-climbing inspection device provided by the present invention;

[0026] Figure 3 It is the rear layout view of a facade wall-climbing inspection device provided by the present invention;

[0027] Figure 4 It is the top view of the functional module layout provided by the present invention;

[0028] Figure 5 It is the front view of the functional module layout provided by the present invention;

[0029] Figure 6 It is the front-end functional module layout view provided by the present invention;

[0030] Figure 7 It is the structural schematic diagram of the sealing cover provided by the present invention.

[0031] Reference numerals: 11. Vehicle body, 12. Front wheel, 13. Rear wheel, 131. Brushless hub motor, 14. Front-wheel bridge, 15. Main bridge, 16. Deviating bridge,

[0032] 2. Adsorption system, 21. Brushless motor ducted fan, 22. Variable-frequency motor, 23. Centrifugal impeller, 24. Sealing cover, 25. Spring,

[0033] 3. Navigation and warning system, 31. Camera, 311. Cloud platform, 32. Lighting lamp, 33. Radar, 34. Ultrasonic radar,

[0034] 4. Detection system, 41. Multispectral camera, 411. Camera cloud platform, 42. Microwave crack radar, 43. Ultrasonic tomography scanner,

[0035] 5. Control system, 51. Communication antenna,

[0036] 6. Lithium battery pack. Detailed implementation manners

[0037] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0038] Example 1:

[0039] Figures 1-7 A facade wall-climbing inspection device is shown, which includes a control system 5, a vehicle body 1, and an adsorption system 2, a navigation and warning system 3, and a detection system 4 provided on the vehicle body 1. The navigation and warning system 3 is connected to the control system 5 to plan a driving route according to the situation outside the vehicle body 1. The vehicle body 1 is connected to the control system 5 to move forward according to the driving route of the navigation and warning system 3. The detection system 4 is connected to the control system 5 to detect facade defects during the movement of the vehicle body 1. The adsorption system 2 is connected to the control system 5 to movably connect the vehicle body 1 to the facade.

[0040] The vehicle body of the present invention generates a thrust through the adsorption system so that there is a frictional force between the vehicle body and the facade, making the vehicle body stable on the facade. The navigation and warning system obtains the situation outside the vehicle body and transmits it to the control system. The control system processes the information and plans the driving route. The vehicle body moves forward according to this driving route. During the forward movement, the detection system detects the facade, thereby completing the inspection of the facade. Through the facade inspection device in the present invention, the staff can hold the remote control terminal. Through the communication between the control system and the remote control terminal, the vehicle body moves to the facade to be detected, and then the vehicle body moves to inspect the facade. It can be seen that the present invention can also adapt to situations such as vertical shafts, dams, or walls, with high flexibility. The present invention needs to design auxiliary structures on the facade to reduce the work difficulty and complexity.

[0041] In this embodiment, the vehicle body 1 includes a vehicle body 11, a front wheel 12 and a rear wheel 13 placed on the vehicle body 11. A connecting rod for preventing the vehicle body 1 from getting stuck on an obstacle is provided on the vehicle body 11.

[0042] When the vehicle body passes some small obstacles, in order to ensure the firmness of the vehicle body and the facade, the connecting rod can effectively cross the obstacle to ensure the smooth progress of the inspection device.

[0043] In this embodiment, the connecting rod includes a front wheel bridge 14, a main bridge 15, and a bias bridge 16. The front wheel bridge 14 is used to connect the front wheels 12 on the same side of the vehicle body 11 and is movably connected to the vehicle body 11. The main bridge 15 is movably connected to the vehicle body 11, and both ends of the main bridge 15 are respectively connected to the front wheel bridge 14 and the rear wheel 13. The bias bridge 16 is a connecting rod mechanism, and the bias bridge 16 is movably connected above the vehicle body 11. Both ends of the bias bridge 16 are movably connected to the main bridge 15.

[0044] It is connected through the front wheel bridge frame, and the front wheel bridge frame is connected to the main bridge frame through an axle; the main bridge frame is connected to the vehicle body through an axle, and the deflected bridge frame is above the vehicle body. When a single-sided wheel crosses an obstacle, the deflected bridge frame can be used to make the wheel on the other side move in the opposite direction, so that the obstacle can be crossed more smoothly and the vehicle body can be prevented from being stuck on the obstacle.

[0045] In this embodiment, the vehicle body consists of 6 wheels symmetrically distributed on both sides of the vehicle body, with 2 front wheels, and the offset bridge is connected to the vehicle body through an axle; the wheels include front wheels and rear wheels, and the wheels are driven by brushless hub motors, and steering is achieved by changing the rotation speed of the wheels on both sides of the vehicle body.

[0046] In this embodiment, the offset bridge frame includes a cross frame spanning the vehicle body, the cross frame is rotatably connected to the vehicle body through an axis, short cross frames are rotatably connected to both ends of the cross frame, and the short cross frames are rotatably connected to the main bridge frame through an axis.

[0047] In this embodiment, the adsorption system 2 includes a brushless motor ducted fan 21 and a negative pressure suction cup. The brushless motor ducted fan 21 is placed at the front and rear ends of the vehicle body 1. The brushless motor ducted fan 21 can generate wind force away from the vehicle body 1 to bring the vehicle body 1 into contact with the facade. The negative pressure suction cup is arranged in the middle of the vehicle body 1 and is used for adsorption with the facade.

[0048] The brushless motor ducted fans are installed at the front and rear ends of the vehicle body. When the brushless motor ducted fans are started, they can generate wind away from the vehicle body, so that the vehicle body can be stabilized on the facade. When encountering bad weather or areas that require key inspection, the negative pressure suction cup is used to adsorb the facade in the middle of the vehicle body to ensure stable adsorption of the vehicle body and the facade, further ensuring the stability of the vehicle body and the facade.

[0049] In this embodiment, the negative pressure suction cup includes a variable frequency motor 22 , a centrifugal impeller 23 and a sealing cover 24 . The variable frequency motor 22 is connected to the centrifugal impeller 23 to form a negative pressure in the sealing cover 24 .

[0050] The frequency conversion motor is connected to the centrifugal impeller, so that the sealing cover below the centrifugal impeller can form negative pressure to adsorb the opposite surface.

[0051] In this embodiment, the sealing cover 24 is stretched open by a spring 25 to be close to the vertical surface, and the skirt of the sealing cover is made of silicone and has a wavy shape.

[0052] The skirt of the sealing cover is made of silicone material and has a corrugated shape. It can provide sealing while reducing friction with the wall to facilitate the movement of the vehicle.

[0053] In this embodiment, the warning navigation system 3 includes a camera 31, a lighting lamp 32, a radar 33, and an ultrasonic radar 34. The camera 31 is disposed at the end of the vehicle body 1 for transmitting the captured pictures to the control system for processing. The lighting lamp 32 is used to provide illumination. The radar 33 is used for long-distance warning. The ultrasonic radar 34 is placed around the vehicle body 1 for collision warning.

[0054] The warning navigation system can process and analyze the peripheral environment during the operation of the vehicle body, provide route guidance for the operation of the vehicle body, and ensure the smoothness of the movement of the vehicle body.

[0055] In this embodiment, the camera 31 is connected to the vehicle body through a pan-tilt 311.

[0056] In this embodiment, the detection system 4 includes a multispectral camera 41, a microwave crack radar 42, and an ultrasonic tomograph 43. The multispectral camera 41 is placed at the tail of the vehicle body 1. The multispectral camera 41 is connected to the control system for identifying chemical corrosion. The microwave crack radar 42 is placed inside the vehicle body 1. The microwave crack radar 42 is connected to the control system for identifying cracks on the facade. The ultrasonic tomograph 43 is placed on the vehicle body 1. The ultrasonic tomograph 43 is connected to the control system for detecting cracks, cavities, and delamination on the facade.

[0057] The detection system effectively obtains the defects on the surface.

[0058] In this embodiment, the multispectral camera 41 is connected to the vehicle body through a camera pan-tilt 411.

[0059] In this embodiment, the control system 5 includes a control module placed on the vehicle body 1 and a communication antenna 51. The control module is communicatively connected to the remote control terminal through the communication antenna 51.

[0060] In this embodiment, the inspection device further includes a lithium battery pack 6) for providing electric energy.

[0061] In this embodiment, the inspection device mainly includes two major modules, namely, a wall-climbing inspection vehicle and a non-destructive testing system.

[0062] The wall-climbing inspection vehicle consists of a body, wheels, connecting rods, brushless motor ducted fans, obstacle recognition and avoidance modules, ultrasonic arrays, lithium battery packs, control systems and communication antennas, and negative pressure suction cups. The body is made of lightweight carbon fiber, and the connecting rods are made of lightweight metal; the wheels are made of rubber, and the wheel drive system is a brushless hub motor 131; there are four brushless motor ducted fans, which are arranged at the four corners of the body structure; the early warning navigation system includes an obstacle recognition and avoidance module, which is mainly composed of a high-definition camera, a lighting lamp, a millimeter-wave radar, and an ultrasonic array; the ultrasonic array is composed of 8 ultrasonic radars; the lithium battery pack is replaceable; the control system communicates with the remote control terminal through a communication antenna; the negative pressure suction cup is composed of a sealing cover, a centrifugal impeller, and a variable frequency motor.

[0063] In this embodiment, the nondestructive testing system consists of a multispectral camera at the rear of the vehicle, a microwave crack radar inside the vehicle body, and an ultrasonic tomography scanner.

[0064] Working method of inspection equipment:

[0065] Navigation and warning system: The car is driven by remote control, and the high-definition camera on the front of the car is used to set the driving trajectory, identify larger obstacles, and plan a reasonable driving route; the lighting provides illumination; the radar includes millimeter-wave radar and laser radar, and the millimeter-wave radar is used for long-distance warning; the laser radar and millimeter-wave radar system can locate its own position in real time and build an environmental map. Ultrasonic arrays are distributed on the four sides of the car body for collision warning.

[0066] Vehicle body: The vehicle body consists of 6 wheels symmetrically distributed on both sides of the vehicle body, with 2 front wheels connected by a front wheel bridge frame, and the front wheel bridge frame is connected to the main bridge frame by an axle; the main bridge frame is connected to the vehicle body by an axle, and the deflected bridge frame is above the vehicle body. When a single-sided wheel crosses an obstacle, the deflected bridge frame can make the wheel on the other side move in the opposite direction, so that the obstacle can be crossed more smoothly and the vehicle body can be prevented from being stuck on the obstacle; the deflected bridge frame is connected to the vehicle body through the deflected bridge shaft; the wheels are driven by brushless hub motors, and steering is achieved by changing the rotation speed of the wheels on both sides of the vehicle body.

[0067] The adsorption system is a turbofan pneumatic adsorption system: the system consists of four brushless motor ducted fans and two vortex negative pressure suction cups. The brushless motor ducted fans generate wind force away from the vehicle body, and press the vehicle body against the wall through the reaction force. The vortex negative pressure suction cup consists of a variable frequency motor, a centrifugal impeller and a sealing cover. The sealing cover is opened by a spring and close to the wall. The negative pressure generated is adsorbed on the wall to provide additional adsorption force. The skirt of the sealing cover is made of silicone material and is corrugated in shape, which further ensures the stability of the vehicle body and the wall in special circumstances. The vehicle is powered by a lithium battery pack.

[0068] The non-destructive testing system consists of a multi-spectral camera at the rear of the vehicle, a microwave crack radar built into the vehicle body, and an ultrasonic tomography scanner. The multi-spectral camera is used to identify subtle chemical corrosion, with wavelengths ranging from 400 to 1000 nm. The microwave crack radar is used to identify cracks in the wall, with a detection depth of 0 to 500 mm. The ultrasonic tomography scanner is a high-frequency array module dedicated to concrete, which can detect cracks, voids, and delamination in concrete.

[0069] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A facade wall-climbing inspection device, characterized in that: The invention comprises a control system (5), a vehicle body (1), an adsorption system (2) arranged on the vehicle body (1), a navigation warning system (3), and a detection system (4); the navigation warning system (3) is connected to the control system (5) for planning a driving route according to the peripheral conditions of the vehicle body (1); the vehicle body (1) is connected to the control system (5) for moving forward according to the driving route of the navigation warning system (3); the detection system (4) is connected to the control system (5) for detecting facade defects during the movement of the vehicle body (1); and the adsorption system (2) is connected to the control system (5) for movably connecting the vehicle body (1) to the facade.

2. The facade wall-climbing inspection equipment according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle body (11) and a front wheel (12) and a rear wheel (13) disposed on the vehicle body (11); the vehicle body (11) is provided with a connecting rod for preventing the vehicle body (1) from getting stuck on an obstacle.

3. The facade wall-climbing inspection equipment according to claim 2, characterized in that: The connecting rod comprises a front wheel bridge frame (14), a main bridge frame (15) and a deflection bridge frame (16); the front wheel bridge frame (14) is used to connect the front wheel (12) on the same side of the vehicle body (11) and is movably connected to the vehicle body (11); the main bridge frame (15) is movably connected to the vehicle body (11) and two ends of the main bridge frame (15) are respectively connected to the front wheel bridge frame (14) and the rear wheel (13); the deflection bridge frame (16) is a connecting rod mechanism, the deflection bridge frame (16) is movably connected to the upper part of the vehicle body (11), and two ends of the deflection bridge frame (16) are movably connected to the main bridge frame (15).

4. The facade wall-climbing inspection device according to claim 1, wherein: The adsorption system (2) comprises a brushless motor ducted fan (21) and a negative pressure suction cup. The brushless motor ducted fan (21) is disposed at the front and rear ends of the vehicle body (1). The brushless motor ducted fan (21) can generate wind force away from the vehicle body (1) for bringing the vehicle body (1) into contact with a vertical surface. The negative pressure suction cup is disposed in the middle of the vehicle body (1).

5. The facade wall-climbing inspection equipment according to claim 4, characterized in that: The negative pressure suction cup comprises a variable frequency motor (22), a centrifugal impeller (23) and a sealing cover (24); the variable frequency motor (22) is connected to the centrifugal impeller (23) to form a negative pressure in the sealing cover (24).

6. The facade wall-climbing inspection equipment according to claim 5, characterized in that: The sealing cover (24) is stretched open by a spring (25) to be in close contact with the vertical surface; the skirt of the sealing cover (24) is made of silicone material and has a wavy shape.

7. The facade wall-climbing inspection equipment according to claim 1, characterized in that: The early warning navigation system (3) comprises a camera (31), a lighting lamp (32), a radar (33) and an ultrasonic radar (34); the camera (31) is arranged at the end of the vehicle body (1) and is used to transmit the captured image to the control system for processing; the lighting lamp (32) is used to provide lighting; the radar (33) is used to perform long-distance early warning; and the ultrasonic radar (34) is arranged around the vehicle body (1) and is used for collision warning.

8. The facade wall-climbing inspection equipment according to claim 1, characterized in that: The detection system (4) includes a multispectral camera (41), a microwave crack radar (42), and an ultrasonic tomography scanner (43). The multispectral camera (41) is placed at the tail of the vehicle body (1), and the multispectral camera (41) is connected to the control system for identifying chemical corrosion. The microwave crack radar (42) is placed inside the vehicle body (1), and the microwave crack radar (42) is connected to the control system for identifying cracks on the facade. The ultrasonic tomography scanner (43) is placed on the vehicle body (1), and the ultrasonic tomography scanner (43) is connected to the control system for detecting cracks, cavities, and delamination on the facade.

9. The facade wall-climbing inspection equipment according to claim 1, characterized in that: The control system (5) includes a control module placed on the vehicle body (1) and a communication antenna (51). The control module is communicatively connected to the remote control end through the communication antenna (51).

10. The facade wall-climbing inspection equipment according to claim 1, characterized in that: The inspection device further includes a lithium battery pack (6) for providing electrical energy.

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