High-rise building climbing robot based on fire-fighting hook ladder principle

Abstract

The invention provides a high-rise building climbing robot based on a fire-fighting hook ladder principle, the high-rise building climbing robot comprises a fixed machine body, a multiple safety redundancy and intelligent monitoring system is arranged in the climbing robot, and a control system of the climbing robot adopts local autonomous decision making and remote monitoring intervention; a double-unit alternate hooking system composed of a main hooking unit, an alternate driving mechanism and an auxiliary supporting unit and a self-adaptive fuselage structure are installed on the outer side of the fixed fuselage. By utilizing a double-unit alternate hooking system and a self-adaptive machine body structure, based on the safe hooking principle of a fire-fighting hook ladder, and by combining mechanical, electronic and intelligent control technologies, the climbing robot can adapt to climbing operation of a high-rise building with a podium protruding part on the bottom layer, a protruding structure in the middle of a floor and different building outer wall forms; barrier-free safe upward climbing is realized, and the climbing safety and efficiency are improved.

Description

Technical Field

[0001] The invention relates to a climbing robot, in particular to a high-rise building climbing robot based on the fire hook ladder principle, belonging to the technical field of special robots. Background Art

[0002] The rapid development of urban construction has led to a dramatic increase in the number of high-rise buildings, posing significant challenges to firefighting, rescue, exterior wall inspection, and maintenance. Traditionally, firefighters rely on fire hook ladders for climbing, but this method is entirely manual and labor-intensive. Furthermore, climbing efficiency is low and safety is difficult to guarantee when working with complex buildings with protruding podiums, mid-floor structures, and varying exterior wall forms.

[0003] Traditional climbing robots often have the following problems in practical applications: 1. It is difficult to adapt to the complex building exterior environment and cannot effectively avoid obstacles such as podiums and protruding structures; 2. The safety mechanism is not perfect, and there is a risk of falling during the climbing process; 3. The hanging method is single and cannot achieve stable hanging according to different exterior wall materials and structures.

[0004] To this end, a high-rise building climbing robot based on the fire hook ladder principle is proposed. Summary of the Invention

[0005] In view of this, the present invention provides a high-rise building climbing robot based on the fire hook ladder principle to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0006] The technical solution of an embodiment of the present invention is achieved as follows: a high-rise building climbing robot based on the fire hook ladder principle includes a fixed fuselage, the climbing robot having built-in multiple safety redundancies and an intelligent monitoring system, and the climbing robot's control system adopts local autonomous decision-making and remote monitoring intervention; a dual-unit alternating attachment system consisting of a main attachment unit, an alternating drive mechanism, and an auxiliary support unit, and an adaptive fuselage structure are installed on the outer side of the fixed fuselage, and the alternating drive mechanism is installed between the fixed fuselage and the main attachment unit, and between the fixed fuselage and the auxiliary support unit; The main attachment unit adopts an adaptive embracing structure with two independently movable clamping arms, which can automatically adjust the embracing angle according to the shape of the building's outer edge, increase the contact area, and improve friction and grip stability; The auxiliary support unit uses negative pressure to adsorb the climbing robot to the building wall, providing it with additional stable support. The alternating drive mechanism drives the main attachment unit and the auxiliary support unit to rise and fall alternately, so as to ensure the rapid and accurate switching of the dual-unit alternating attachment system; The adaptive fuselage structure adopts a modular joint design, and each joint has bending and length adjustment functions.

[0007] Further preferably, the main hook unit is composed of a hook body with two independently movable arc-shaped clamping arms at the head, an anti-slip ceramic sheet, a six-axis force sensor and an electromagnetic locking mechanism; Among them, the anti-slip ceramic sheet is embedded in the inner side of the two arc-shaped clamping arms, and the six-axis force sensor and electromagnetic locking mechanism are integrated and installed at the root of the hook body. The six-axis force sensor is used to detect the force conditions and torque changes of the hook body in the X, Y, and Z directions; the electromagnetic locking mechanism is used to generate magnetic force to adsorb and fix the hook body to the building structure.

[0008] Further preferably, the auxiliary support units are symmetrically arranged in two groups on the outside of the fixed fuselage, and each group of auxiliary support units is composed of a hydraulic push rod, a suction cup, a vacuum pump and a pressure sensor; Among them, the suction cup is installed at the end of the hydraulic push rod, and the vacuum pump and pressure sensor are both integrated and installed in the suction cup. The vacuum pump is used to extract the air in the suction cup so that it is adsorbed on the wall. The pressure sensor is used to monitor the negative pressure value in the suction cup in real time. The hydraulic push rod is also equipped with a displacement sensor, which can adjust the extension length of the hydraulic push rod according to the unevenness of the wall, and the suction cup can perform ±15° universal rotation around the end of the hydraulic push rod.

[0009] Further preferably, the alternating drive mechanism consists of a power transmission structure and a switching control structure; Among them, the power transmission structure includes a servo motor, a planetary reducer, a planetary reducer and a screw slider; the switching control structure includes a PLC controller In which, the servo motor is installed in a fixed fuselage, and the output shaft of the servo motor is connected to the ball screw pair through a planetary reducer. The planetary reducer is used to convert the high speed and low torque of the servo motor output shaft into the low speed and high torque of the ball screw. The screw slider is connected to the outer wall of the ball screw through ball sliding, and one side of the screw slider is connected to the main hanging unit or the auxiliary support unit; the PLC controller is electrically connected to the servo motor, and is used to control the forward and reverse rotation of the servo motor output shaft to realize the alternating lifting and lowering of the main hanging unit and the auxiliary support unit.

[0010] Further preferably, the adaptive fuselage structure is composed of a telescopic fuselage module, a rotary joint and a telescopic mechanism; The telescopic fuselage module has four sections in total, and the rotary joint is installed between each of the four sections of the telescopic fuselage module, so that the telescopic fuselage modules can achieve a large angle of bending of ±120°. The telescopic mechanism is integrated and installed inside each section of the telescopic fuselage module. The rotary joint is composed of an aluminum alloy housing, a cross roller bearing, a torque motor and an absolute encoder; The aluminum alloy shell is installed at the end of one of the telescopic fuselage modules, the torque motor and the absolute encoder are both installed in the inner cavity of the aluminum alloy shell, the outer ring of the cross roller bearing is fixed to the inner wall of the aluminum alloy shell, and its inner ring is connected to the output flange, which is rigidly connected to the other telescopic fuselage module. The output shaft of the torque motor drives the output flange through a coupling, and the absolute encoder is used to feedback the rotation angle of the telescopic fuselage module.

[0011] Further preferably, the multiple safety redundancies include a mechanical locking reinforcement structure, a power backup upgrade mechanism, and remote emergency stop optimization; The mechanical locking reinforcement structure is based on the built-in electromagnetic locking mechanism of the hook body, and a mechanical lock structure is added to the arc-shaped clamping arm. After the main hook unit is hooked, the mechanical lock on the arc-shaped clamping arm automatically pops out and locks into the building structure, forming a double insurance. Among them, the power backup upgrade mechanism adds a supercapacitor emergency power supply system on the basis of the robot's high-energy-density lithium polymer battery pack main power supply. When the main power supply fails or the power supply is interrupted, the supercapacitor can quickly switch to power the robot within 10ms.

[0012] Further preferably, the intelligent monitoring system includes environmental perception and image transmission and posture and motion monitoring; The environmental perception and image transmission are achieved by equipping the robot with a high-definition camera, an infrared thermal imager, and a gas sensor. Among them, the high-definition camera is used to collect real-time image information of the building's exterior wall, with a resolution of 4K and a frame rate of 30fps; Among them, the infrared thermal imager is used to detect the temperature distribution of the building's exterior wall, so as to promptly detect abnormal temperature areas, with a temperature detection accuracy of ±0.5°C; The gas sensor is used to monitor the concentration of harmful gases in the surrounding environment in real time, with a detection accuracy of ppm level.

[0013] Further preferably, the posture and motion monitoring is achieved by setting a high-precision inertial measurement unit in the climbing robot, wherein the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope and a magnetometer, which are used to measure the acceleration, angular velocity and posture angle of the climbing robot, and the sampling frequency is 1000Hz.

[0014] Further preferably, the local autonomous decision-making includes environmental perception and modeling, path planning and decision-making; Environmental perception and modeling is achieved by adding a 3D laser radar, binocular vision camera, and sensors to the front end of the climbing robot to collect real-time information about the surrounding environment. Multi-source data fusion technology is then used to fuse the laser radar’s point cloud data, visual image data, and sensor measurement data to construct a high-precision environmental model. Among them, the update frequency of the environmental model is synchronized with the sampling frequency of the sensor; Among them, path planning and decision-making are based on the environmental model, using path planning algorithm and reinforcement learning algorithm, combined with the climbing robot's own kinematic and dynamic models, to plan the optimal climbing path in real time.

[0015] Further preferably, the remote monitoring intervention includes data transmission and visualization, remote operation and control; Among them, data transmission and visualization are achieved by transmitting the real-time collected data to the ground control center through the high-speed wireless communication module of the climbing robot, and the ground control center uses visualization technology to display the data; Among them, remote operation and control is to switch the operation mode of the climbing robot to remote manual control mode through the ground control center when complex scenarios or local autonomous decisions are abnormal, so as to remotely and manually operate the climbing robot to perform actions.

[0016] The embodiment of the present invention adopts the above technical solution, which has the following advantages: 1. The present invention utilizes a dual-unit alternating attachment system and an adaptive fuselage structure, based on the safe attachment principle of fire hook ladders, and integrates mechanical, electronic, and intelligent control technologies. This enables the climbing robot to adapt to climbing operations on high-rise buildings with protruding podiums on the ground floor, protruding structures between floors, and different building exterior wall forms, achieving barrier-free and safe upward climbing, thereby improving climbing safety and efficiency.

[0017] 2. The present invention adopts a dual-unit alternating hanging system and utilizes a dual-unit alternating hanging method to ensure that the climbing robot always has at least one set of hooks rigidly connected to the building structure. Combined with multiple safety redundancies and intelligent monitoring systems, the safety of the climbing robot during the climbing process is guaranteed from multiple levels, effectively eliminating the risk of falling.

[0018] 3. Through the local autonomous decision-making system, the present invention enables the climbing robot to independently plan paths and complete climbing movements, reducing dependence on manpower and improving climbing efficiency; at the same time, the remote monitoring intervention function can perform manual operations in complex scenarios, further ensuring the smooth completion of the task.

[0019] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 It is a structural diagram of the present invention; Figure 2 Schematic diagram of the structure of the alternating drive mechanism of the present invention; Figure 3 This is a before-and-after comparison of the modular joint bending of the present invention.

[0022] Figure markings: 1. Fixed fuselage; 2. Telescopic fuselage module; 3. Rotary joint; 4. Aluminum alloy shell; 5. Cross roller bearing; 6. Torque motor; 7. Slide rail; 8. Adjustment slider; 9. Drive motor; 10. Main hanging unit; 101. Arc clamp arm; 102. Anti-slip ceramic sheet; 103. Six-axis force sensor; 104. Electromagnetic locking mechanism; 20. Alternating drive mechanism; 201. Servo motor; 202. Planetary reducer; 203. Ball screw; 204. Screw slider; 40. PLC controller; 30. Auxiliary support unit; 301. Hydraulic push rod; 302. Suction cup; 303. Vacuum pump; 304. Pressure sensor. DETAILED DESCRIPTION

[0023] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0024] It should be noted that the terms "first," "second," "symmetrical," and "array" are used solely for descriptive and positional purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Therefore, limitations on features such as "first" and "symmetrical" may explicitly or implicitly include one or more of these features. Similarly, when features are not limited in quantity using words such as "two" or "three," it should be noted that these features also explicitly or implicitly include one or more of these features.

[0025] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a high-rise building climbing robot based on the fire hook ladder principle, comprising a fixed fuselage 1. The climbing robot has built-in multiple safety redundancies and an intelligent monitoring system. The climbing robot's control system adopts local autonomous decision-making and remote monitoring intervention. A dual-unit alternating hanging system and an adaptive fuselage structure consisting of a main hanging unit 10, an alternating drive mechanism 20, and an auxiliary support unit 30 are installed on the outer side of the fixed fuselage 1. The alternating drive mechanism 20 is installed between the fixed fuselage 1 and the main hanging unit 10, and between the fixed fuselage 1 and the auxiliary support unit 30. The main attachment unit 10 adopts an adaptive embracing structure with two independently movable clamping arms, which can automatically adjust the embracing angle according to the shape of the building's outer edge, increase the contact area, and improve friction and grip stability; The auxiliary support unit 30 uses negative pressure to adsorb the climbing robot to the building wall, providing it with additional stable support. Among them, the alternating drive mechanism 20 drives the main hook unit 10 and the auxiliary support unit 30 to rise and fall alternately, so as to ensure the rapid and accurate switching of the dual-unit alternating hook system; Among them, the adaptive fuselage structure adopts a modular joint design, and each joint has bending and length adjustment functions.

[0027] In one embodiment, the main hook unit 10 is composed of a hook body with two independently movable arc-shaped clamping arms 101 at the head, an anti-slip ceramic plate 102, a six-axis force sensor 103 and an electromagnetic locking mechanism 104; Among them, the anti-slip ceramic sheet 102 is embedded in the inner side of the two arc-shaped clamping arms 101, and the six-axis force sensor 103 and the electromagnetic locking mechanism 104 are integrated and installed at the root of the hook body. The six-axis force sensor 103 is used to detect the force conditions and torque changes of the hook body in the X, Y, and Z directions; the electromagnetic locking mechanism 104 is used to generate magnetic force to adsorb and fix the hook body to the building structure.

[0028] The hook body is crafted from high-strength titanium alloy, boasting an excellent strength-to-weight ratio. It can withstand tensile forces of up to 10,000N, ensuring it will not deform or break when carrying the robot's own weight and any additional loads (such as rescue supplies). Two independently movable curved clamping arms 101 automatically adjust their angle to the building's exterior shape during hooking, increasing contact area, friction, and grip stability, ensuring reliable hooking even on smooth metal edges. The six-axis force sensor 103 has an accuracy of 0.1N. Once an abnormal connection is detected (such as uneven force or signs of looseness), the built-in electromagnetic locking mechanism 104 is instantly activated, generating a strong magnetic force through a powerful electromagnet to tightly adsorb the hook to the building structure to prevent accidental detachment. At the same time, the main connection unit 10 sends an alarm message to the control system.

[0029] In one embodiment, two groups of auxiliary support units 30 are symmetrically arranged on the outer side of the fixed fuselage 1 , and each group of auxiliary support units 30 is composed of a hydraulic push rod 301 , a suction cup 302 , a vacuum pump 303 and a pressure sensor 304 ; The suction cup 302 is mounted on the end of the hydraulic push rod 301. The vacuum pump 303 and the pressure sensor 304 are both integrated into the suction cup 302. The vacuum pump 303 is used to extract the air from the suction cup 302 so that it is adsorbed on the wall. The pressure sensor 304 is used to monitor the negative pressure value in the suction cup 302 in real time. The hydraulic push rod 301 is also equipped with a displacement sensor, which can adjust the extension length of the hydraulic push rod 301 according to the unevenness of the wall. The suction cup 302 can be universally rotated by ±15° around the end of the hydraulic push rod 301 to further enhance its adaptability to complex curved walls. The stroke of the hydraulic push rod 301 can be adjusted steplessly within the range of 0-200mm, and the maximum thrust can reach 500N. The suction cup 302 is made of highly elastic and wear-resistant silicone rubber material; When the robot approaches the wall, the vacuum pump 303 is activated, and the suction cup 302 forms a strong negative pressure in a short period of time, adsorbing it on the wall. The pressure sensor 304 monitors the negative pressure value in the suction cup 302 in real time to ensure that the adsorption force is stable at more than 5000Pa, providing additional stable support for the robot, which plays a key role especially on smooth walls or in the initial stage of main hook attachment.

[0030] In one embodiment, the alternating drive mechanism 20 is composed of a power transmission structure and a switching control structure; The power transmission structure includes a servo motor 201, a planetary reducer 202, a planetary reducer 202 and a lead screw slider 204; the switching control structure includes a PLC controller 40 Among them, the servo motor 201 is installed in the fixed fuselage 1, and the output shaft of the servo motor 201 is connected to the ball screw 203 pair through the planetary reducer 202. The planetary reducer 202 is used to convert the high speed and low torque of the output shaft of the servo motor 201 into the low speed and high torque of the ball screw 203 to achieve smooth and precise linear drive. The servo motor 201 has a fast response characteristic, and the start and stop time is less than 50ms, which can ensure the fast and accurate switching of the dual-unit hanging system; the screw slider 204 is connected to the outer wall of the ball screw 203 through ball sliding, and one side of the screw slider 204 is connected to the main hanging unit 10 or the auxiliary support unit 30; the PLC controller 40 is electrically connected to the servo motor 201, and is used to control the forward and reverse rotation of the output shaft of the servo motor 201, so as to realize the alternating lifting and lowering of the main hanging unit 10 and the auxiliary support unit 30; During the switching process, the PLC controller 40 uses sensors to monitor the position and status information of each unit in real time. Through preset safety logic, it ensures that when one group of units is not completely detached or hooked into place, the other group of units will not start to move, avoiding the robot from losing control due to misoperation. The reliability of the switching process reaches more than 99.9%.

[0031] In one embodiment, the adaptive fuselage structure is composed of a telescopic fuselage module 2, a rotary joint 3, and a telescopic mechanism; The telescopic fuselage module 2 has four sections, and the rotary joint 3 is installed between each of the four telescopic fuselage modules 2, so that the telescopic fuselage modules 2 can achieve a large angle of bending of ±120°. The telescopic mechanism is integrated and installed inside each telescopic fuselage module 2. The rotary joint 3 is composed of an aluminum alloy housing 4, a cross roller bearing 5, a torque motor 6 and an absolute encoder; An aluminum alloy housing 4 is mounted at the end of one telescopic fuselage module 2. A torque motor 6 and an absolute encoder are both installed within the inner cavity of the aluminum alloy housing 4. The outer ring of a crossed roller bearing 5 is fixed to the inner wall of the aluminum alloy housing 4, and its inner ring is connected to an output flange. This output flange is rigidly connected to the other telescopic fuselage module 2. The output shaft of the torque motor 6 drives the output flange through a coupling. The torque motor 6 can provide an output torque of up to 200 N·m, ensuring sufficient power for bending the fuselage. The absolute encoder is used to provide feedback on the rotation angle of the telescopic fuselage module 2. With a resolution of 0.01°, it can accurately and real-timely provide feedback on the rotation angle of the joint 3, providing accurate fuselage posture information to the control system. The telescopic mechanism may be composed of two screw-shaped slide rails 7, two adjustment sliders 8 and a drive motor 9; Among them, each section of the telescopic fuselage module 2 adopts an upper and lower segmented setting, the driving motor 9 is installed on the inner wall of the upper telescopic fuselage module 2, and the two adjusting sliders 8 are rotatably connected to the top of the upper telescopic fuselage module 2. One end of the two slide rails 7 passes through the inner wall of the upper telescopic fuselage module 2 and is fixedly connected to one end of the adjusting slider 8. The other ends of the two slide rails 7 are threadedly connected to the inner wall of the lower telescopic fuselage module 2. The driving motor 9 and the two adjusting sliders 8 are connected by a synchronous pulley transmission structure, which is used to use the power of the driving motor 9 to drive the adjusting slider 8 to drive the slide rail 7 to rotate.

[0032] Each joint of the adaptive fuselage structure can achieve a wide angle of ±120°. Combined with the control system's collaborative control algorithm, the fuselage can flexibly bypass various protruding structures in the middle of the floor, such as air conditioning outdoor unit platforms up to 1m wide and decorative waistlines. During the bending process, the torque and speed of each torque motor 6 are precisely controlled to ensure the smooth movement of the fuselage, avoiding imbalance of the robot's center of gravity due to sharp turns. In one embodiment, multiple safety redundancies include a mechanical locking reinforcement structure, a power backup upgrade mechanism, and remote emergency stop optimization; The enhanced mechanical locking structure incorporates a built-in electromagnetic locking mechanism 104 on the hook body, along with a mechanical latch on the curved clamp arm 101. Once the main hook unit 10 is attached, the latch automatically pops out and snaps into place, providing a double safeguard. Even if the electromagnetic locking mechanism 104 fails, the hook remains secure. The latch is constructed of high-strength alloy steel and can withstand tensile forces exceeding 5000N. Unlocking requires a specific mechanical action and control signal, effectively preventing accidental locking. The power backup upgrade mechanism adds a supercapacitor emergency power system to the robot's high-energy-density lithium-polymer battery pack. In the event of a main power failure or power outage, the supercapacitor quickly switches to powering the robot within 10ms, ensuring the robot has enough time to complete at least five hook-up maneuvers or perform emergency avoidance procedures, such as locking its current position and awaiting rescue. Supercapacitors offer advantages such as fast charge and discharge speeds and a long lifespan, enabling them to operate stably in harsh environments.

[0033] In one embodiment, the climbing robot supports multiple remote communication methods, including 5G, Wi-Fi, and Bluetooth, ensuring a stable connection with the ground control center. A remote emergency stop button is located on the control center's user interface, with prominent labeling and a design to prevent accidental touches. Once the remote emergency stop is triggered, the control signal is transmitted to the robot via a wireless communication link at millisecond speeds. The robot immediately cuts off power output to all motors and simultaneously activates the emergency locking devices of all hooks and suction cups 302, firmly securing the robot in its current position. The robot is also equipped with a backup safety rope. Made of high-strength aramid fiber, the rope has a diameter of 10 mm and a breaking strength exceeding 8,000 N. In an emergency, it can be automatically released and secured to the building structure, providing additional safety for the robot.

[0034] In one embodiment, the intelligent monitoring system includes environmental perception and image transmission and posture and motion monitoring; Among them, environmental perception and image transmission are achieved by equipping the robot with high-definition cameras, infrared thermal imagers and gas sensors; The high-definition camera is used to collect real-time image information of the building's exterior walls, with a resolution of 4K and a frame rate of 30fps, which can clearly capture minor cracks, damage, and other abnormalities on the wall. Among them, infrared thermal imagers are used to detect the temperature distribution of building exterior walls, so as to promptly detect abnormal temperature areas caused by fire hazards, electrical faults, etc., with a temperature detection accuracy of ±0.5°C; Gas sensors are used to monitor the concentration of harmful gases in the surrounding environment in real time, such as carbon monoxide and hydrogen sulfide. The detection range covers common types of harmful gases with a detection accuracy of ppm. The data collected by these sensors is transmitted to the ground control center in real time via wireless communication, providing operators with comprehensive environmental information to assist in judging the working status of the robot and the safety of the surrounding environment. Posture and motion monitoring is achieved by installing a high-precision inertial measurement unit (IMU) in the climbing robot. The IMU includes a three-axis accelerometer, a three-axis gyroscope, and a magnetometer. It is used to measure the acceleration, angular velocity, and posture angle of the climbing robot with a sampling frequency of 1000Hz.

[0035] By fusing IMU data with data from the three encoders at each joint and the telescopic mechanism's displacement sensors, the control system can monitor the robot's position, posture, and motion in real time. If the robot's tilt angle exceeds 10° or its motion speed is abnormal, the control system immediately initiates a posture correction or emergency braking program. By adjusting the torque and speed of each torque motor (6) and controlling the movement of the attachment unit, the robot is restored to a stable state, preventing a fall. In one embodiment, local autonomous decision-making includes environment perception and modeling, path planning and decision-making; Environmental perception and modeling is achieved by adding a 3D lidar, binocular vision camera, and sensors to the front end of the climbing robot to collect real-time information about the surrounding environment. Multi-source data fusion technology is used to integrate the lidar's point cloud data, visual image data, and sensor measurement data to construct a high-precision environmental model, including information such as building structure, exterior wall surface characteristics, and obstacle distribution. The environmental model's update frequency is synchronized with the sensor's sampling frequency, ensuring that the robot always obtains the latest environmental information, providing accurate data support for autonomous decision-making. Path planning and decision-making are based on an environmental model, employing classic path planning algorithms such as A* and Dijkstra, as well as intelligent algorithms such as reinforcement learning. Combined with the robot's own kinematic and dynamic models, the system plans the optimal climbing path in real time. During path planning, factors such as structural safety, attachment point reliability, and obstacle avoidance are fully considered to ensure a safe and efficient planned path. Furthermore, the robot dynamically adjusts its path planning strategy based on real-time environmental changes and its own state. For example, if a new obstacle appears or an attachment point becomes unavailable, the robot quickly replans the path to ensure smooth climbing. The decision-making system also features a risk assessment function, quantifying potential risks along the planned path and implementing appropriate countermeasures based on the risk level, such as reducing climbing speed and strengthening safety precautions.

[0036] In one embodiment, remote monitoring intervention includes data transmission and visualization, remote operation and control; Among them, data transmission and visualization are achieved by transmitting the real-time collected data to the ground control center through the high-speed wireless communication module of the climbing robot, and the ground control center uses visualization technology to display the data; The robot transmits real-time environmental information and its own status data (position, posture, battery level, component operating status, etc.) to the ground control center via high-speed wireless communication modules (5G or Wi-Fi). The control center's monitoring software uses advanced visualization technology to present this data to operators in an intuitive manner. This includes displaying the robot's real-time position on a 3D building model, charting various sensor data, and playing back images captured by cameras and infrared thermal imagers in real time. This monitoring software allows operators to fully and accurately understand the robot's operating status and promptly identify potential problems. Among them, remote operation and control is to switch the operation mode of the climbing robot to remote manual control mode through the ground control center when complex scenes or local autonomous decision-making are abnormal, so as to remotely and manually operate the climbing robot to perform actions; In complex scenarios or when the robot's autonomous decision-making fails, the operator can switch to remote manual control mode through the control center's interface. This interface is equipped with high-precision input devices such as joysticks and buttons, seamlessly integrating with the robot's motion control interface. By manipulating the input devices, the operator sends precise control commands to the robot, enabling comprehensive control over its movement, steering, attachment unit movements, and robotic arm operations. To ensure the safety and accuracy of remote operations, the control software incorporates multiple operational permissions and safety protection mechanisms, such as pre-verification of operational commands and the ready availability of an emergency stop button, to prevent hazards to the robot caused by misoperation.

[0037] In one embodiment, the climbing robot also has a complex scene adaptation design, including a climbing solution for the podium area and a strategy for adapting to multiple types of exterior walls; Among them, the climbing plan for the podium area: Path Planning and Perception - The robot's front end is equipped with a 3D LiDAR and a binocular vision camera. When approaching the podium area, the LiDAR scans the surrounding environment 10 times per second, creating a high-precision 3D map. The binocular vision camera simultaneously collects visual image information. By integrating LiDAR and visual data, a deep learning algorithm is used to quickly identify and locate features such as the podium edge and superstructure, planning the optimal diagonal climbing path. The accuracy of the path planning exceeds 95%.

[0038] Oblique Climbing - Once the control system confirms the climbing path, the robot first adjusts its body angle to 45°. Through the coordinated movement of the joints 3, the main hook and auxiliary support unit 30 are in the optimal attachment position. Driven by the servo motor 201, the main hook moves across the outer edge of the podium with a precise trajectory, attempting to attach to a reliable location on the superstructure, such as the edge of a window sill or a structural beam. Driven by the hydraulic push rod 301, the auxiliary suction cup 302 quickly attaches to the side of the podium, providing a counter-tensioning force to balance the force of gravity during the robot's oblique climbing and ensure the robot's stability during the transition.

[0039] Transition and Return - After the main hook is successfully attached and the auxiliary suction cup 302 maintains stable suction, the robot slowly ascends via the alternating drive mechanism 20, completing the transition from the podium to the superstructure. Once the robot reaches a certain height and detects that it has passed the podium area, the control system coordinates the movement of the various joints 3 to automatically return the robot to a vertical position, resuming normal vertical climbing mode. The entire transition is smooth and fluid, taking no more than 30 seconds.

[0040] Among them, the multi-type exterior wall adaptation strategy: Masonry / concrete exterior walls Enhanced attachment and friction - For masonry or concrete exterior walls, the main hook's "adaptive wraparound" structure is fully utilized, with the clamp arm tightly embracing the raised parts of the building's outer edge, such as brick edges and concrete pouring joints. At the same time, the hydraulic push rod 301 of the auxiliary support unit 30 presses the suction cup 302 against the wall. The friction between the suction cup 302 and the wall, as well as the mechanical engagement between the main hook and the building structure, work together to provide stable adhesion for the robot. In addition, a vibration sensor is installed at the bottom of the robot to monitor the vibration of the wall in real time. When abnormal vibration is detected due to aging of the building structure or external impact, the attachment position is adjusted in a timely manner or additional reinforcement measures are taken to ensure the safety of the robot. Surface Defect Treatment - The robot's onboard visual inspection system can promptly identify and assess the impact of potential defects such as holes and cracks on exterior wall surfaces. For smaller holes or cracks, the robot adjusts its attachment position to avoid the defective area. For larger defects, the control system directs the robot to remove filling materials (such as high-strength sealant and repair mortar) from its onboard storage tank and quickly repair the defect using its robotic arm, ensuring the wall surface meets climbing requirements and improving the robot's climbing reliability on these exterior walls.

[0041] Glass / metal curtain wall Adsorption and Fixation - When facing glass or metal curtain walls, the main hook switches to a hybrid "magnetic attraction and snap-on" structure. The hook head incorporates a powerful electromagnet. When brought close to the metal frame, the electromagnet energizes to generate a strong magnetic force, securing the hook to the frame with a force exceeding 2000N. Furthermore, the front end of the hook features a retractable snap-on claw that extends and snaps into the gap in the metal frame after attachment, further enhancing the secure hold. The vacuum cup 302 of the auxiliary support unit 30 performs the primary adsorption function on the glass curtain wall, working in conjunction with the main hook to ensure the robot's stable climbing performance.

[0042] Static Electricity Protection and Cleaning - Considering that glass curtain walls are prone to static electricity, which could affect the robot's electronic equipment, the robot's housing is constructed of anti-static materials, and an electrostatic shielding layer is installed around key electronic components. Furthermore, to prevent dust and other impurities from degrading the suction cup 302's adhesion to the glass surface, the robot is equipped with an ultrasonic self-cleaning device that regularly cleans the surface of the suction cup 302 to maintain its optimal adhesion.

[0043] lCurved / special-shaped exterior walls Real-time Scanning and Planning - For curved or irregularly shaped exterior walls, a 3D LiDAR and binocular vision camera continuously scan the wall in real time, updating the 3D model data every 0.5 seconds. The control system utilizes advanced path planning algorithms to dynamically calculate the optimal attachment point for the main hook and the support position for the auxiliary support unit 30 based on real-time wall contour information, ensuring the robot consistently conforms to the wall surface. Furthermore, real-time adjustments to the angles of the three joints and the length of the telescopic mechanism allow the robot to adapt to changes in wall curvature and maintain a stable posture.

[0044] Flexible Conformity and Adjustment - The robot's exterior is constructed of a flexible material, allowing it to conform to complex curved surfaces through its own flexible deformation. Furthermore, an array of pressure sensors 304 is installed at the points where the robot contacts the wall to monitor contact pressure distribution in real time. When excessive or insufficient pressure is detected, indicating poor contact, the control system automatically fine-tunes the robot's posture and the forces applied by each unit to achieve uniform force distribution, improving the robot's adaptability and stability when climbing curved and irregularly shaped exterior walls.

[0045] Example 1, taking the application in a masonry high-rise building (with a podium) as an example: Initial Preparation: Place the robot on flat ground at the base of a high-rise building and check that all components are functioning properly, ensuring that the main attachment unit 10, auxiliary support unit 30, and drive mechanism are in good condition. Power on the robot, initialize the control system, and start the 3D LiDAR and binocular vision cameras to scan and capture images of the surrounding environment, building an initial environmental model.

[0046] l Climbing in the podium area Path Planning: A 3D LiDAR system scans the podium and superstructure 360° at a rate of 10 times per second, while a binocular camera simultaneously captures images. A deep learning algorithm identifies the podium edge and superstructure structure, planning an oblique climbing path from the ground to the top of the podium.

[0047] Ø Oblique Climbing: The control system adjusts the robot's body angle to 45°. Driven by servo motor 201, the main attachment unit 10 precisely straddles the outer edge of the podium and attaches to the edge of the window sill above it. Simultaneously, the hydraulic push rod 301 of the auxiliary support unit 30 pushes the vacuum suction cup 302, causing it to adhere to the side of the podium, providing reverse pulling force.

[0048] Transition and Return: After the main attachment unit 10 is securely attached, the alternate drive mechanism 20 activates, raising the auxiliary support unit 30 to a certain height. The main attachment unit 10 then releases, rising under the drive mechanism, and reattaches at a higher position. This process repeats. Once the robot has passed the podium area, the control system coordinates the movement of the joints 3 on the fuselage, returning the robot to a vertical position.

[0049] Standard Floor Climbing: After the robot returns to its upright position, a laser ranging sensor measures the floor height in real time. Based on this data, the control system controls the motorized telescopic mechanism to adjust the robot's length to 3 meters (to accommodate the building's 3-meter floor height). The main attachment unit's 10 adaptive wraparound hook wraps around the edge of the bricks in the masonry building. Anti-slip ceramic plates 102 on the inside of the clamp arm enhance friction, and a torque sensor monitors the secureness of the attachment. The auxiliary support unit's 301 hydraulic push rod adjusts its extension length based on wall surface irregularities, while the vacuum suction cup 302 maintains contact with the wall. The alternating drive mechanism 20 controls the alternating raising and lowering of the main attachment unit 10 and auxiliary support unit 30, enabling the robot to climb. During the climbing process, a vibration sensor monitors wall vibration in real time and adjusts the attachment position if any anomalies are detected.

[0050] Encountering a protruding structure: When the robot reached a certain floor, the 3D LiDAR detected a 0.8m-wide protruding air conditioner unit. Based on this detection data, the control system controlled the bending of each joint 3 in the robot body: the joint 3 between the first and second sections bent 90°, and the joint 3 between the second and third sections bent 60°, allowing the robot to bypass the air conditioner unit. Simultaneously, the positions of the main attachment unit 10 and auxiliary support unit 30 were adjusted to ensure a stable attachment. After bypassing the protruding structure, the robot body returned to normal and continued climbing.

[0051] Example 2, taking the application in a glass curtain wall high-rise building as an example: Initial preparation: Same as Example 1, check the robot components, start the system, and perform environmental scanning and modeling.

[0052] Climbing Process: The main hook unit 10 switches to a hybrid "magnetic attraction and snap-in" structure. When approaching the metal frame of the glass curtain wall, the powerful electromagnet on the hook head energizes, generating a suction force exceeding 2000N, securing the hook to the metal frame. Simultaneously, the retractable snap-in claw extends and engages within the gaps in the metal frame. The vacuum suction cup 302 of the auxiliary support unit 30, propelled by a hydraulic push rod 301, adheres to the glass surface. An ultrasonic self-cleaning device regularly cleans the surface of the suction cup 302 to ensure stable suction. The alternating drive mechanism 20 controls the alternating raising and lowering of the main hook unit 10 and the auxiliary support unit 30, enabling the robot to climb the glass curtain wall. During the climbing process, an electrostatic shield prevents static electricity from affecting electronic equipment, and a high-definition camera and infrared thermal imager monitor the status of the glass curtain wall in real time.

[0053] Emergency Response: If the main power supply suddenly fails during climbing, the supercapacitor emergency power supply immediately switches over. The robot uses the remaining power to complete three hooking maneuvers, securing itself to the glass curtain wall and sending an alert to the ground control center via wireless communication. Upon receiving the alert, the ground operator triggers a remote emergency stop, locking all the robot's hooks and suction cups 302, and simultaneously releasing the backup safety rope to secure it to the metal frame.

[0054] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A high-rise building climbing robot based on the fire hook ladder principle, comprising a fixed body (1), characterized in that, The climbing robot has built-in multiple safety redundancies and intelligent monitoring systems, and the control system of the climbing robot adopts local autonomous decision-making and remote monitoring intervention; a dual-unit alternating hanging system and an adaptive fuselage structure consisting of a main hanging unit (10), an alternating drive mechanism (20) and an auxiliary support unit (30) are installed on the outside of the fixed fuselage (1), and the alternating drive mechanism (20) is installed between the fixed fuselage (1) and the main hanging unit (10), and between the fixed fuselage (1) and the auxiliary support unit (30); The main hook unit (10) adopts an adaptive embracing structure with two independently movable clamping arms, which can automatically adjust the embracing angle according to the shape of the building's outer edge, increase the contact area, and improve friction and gripping stability; The auxiliary support unit (30) uses negative pressure to adsorb the climbing robot onto the building wall, providing additional stable support for the robot. The alternating drive mechanism (20) drives the main hooking unit (10) and the auxiliary support unit (30) to alternately rise and fall, thereby ensuring rapid and accurate switching of the dual-unit alternating hooking system; The adaptive fuselage structure adopts a modular joint design, and each joint has bending and length adjustment functions.

2. The high-rise building climbing robot based on the fire hook ladder principle according to claim 1 is characterized in that: The main hook unit (10) is composed of a hook body with two independently movable arc-shaped clamping arms (101) at the head, an anti-slip ceramic sheet (102), a six-axis force sensor (103) and an electromagnetic locking mechanism (104); The anti-slip ceramic sheet (102) is embedded in the inner side of the two arc-shaped clamping arms (101), and the six-axis force sensor (103) and the electromagnetic locking mechanism (104) are integrated and installed at the root of the hook body. The six-axis force sensor (103) is used to detect the force conditions and torque changes of the hook body in the three directions of X, Y, and Z; the electromagnetic locking mechanism (104) is used to generate magnetic force to adsorb and fix the hook body to the building structure.

3. The high-rise building climbing robot based on the fire hook ladder principle according to claim 2 is characterized in that: The auxiliary support units (30) are symmetrically arranged in two groups on the outside of the fixed fuselage (1), and each group of auxiliary support units (30) is composed of a hydraulic push rod (301), a suction cup (302), a vacuum pump (303) and a pressure sensor (304); The suction cup (302) is mounted on the end of the hydraulic push rod (301), and the vacuum pump (303) and the pressure sensor (304) are both integrated and mounted in the suction cup (302). The vacuum pump (303) is used to extract the air in the suction cup (302) so that it is adsorbed on the wall surface. The pressure sensor (304) is used to monitor the negative pressure value in the suction cup (302) in real time. The hydraulic push rod (301) is also equipped with a displacement sensor, which can adjust the extension length of the hydraulic push rod (301) according to the unevenness of the wall surface, and the suction cup (302) can perform a universal rotation of ±15° around the end of the hydraulic push rod (301).

4. The high-rise building climbing robot based on the fire hook ladder principle according to claim 3 is characterized in that: The alternating drive mechanism (20) is composed of a power transmission structure and a switching control structure; The power transmission structure includes a servo motor (201), a planetary reducer (202), a planetary reducer (202) and a lead screw slider (204); the switching control structure includes a PLC controller (40) The servo motor (201) is installed in a fixed body (1); the output shaft of the servo motor (201) is connected to a ball screw (203) pair via a planetary reducer (202); the planetary reducer (202) is used to convert the high speed and low torque of the output shaft of the servo motor (201) into the low speed and high torque of the ball screw (203); the screw slider (204) is connected to the outer wall of the ball screw (203) via ball sliding; one side of the screw slider (204) is connected to the main hanging unit (10) or the auxiliary support unit (30); the PLC controller (40) is electrically connected to the servo motor (201) and is used to control the forward and reverse rotation of the output shaft of the servo motor (201) to achieve alternating lifting and lowering of the main hanging unit (10) and the auxiliary support unit (30).

5. The high-rise building climbing robot based on the fire hook ladder principle according to claim 1 is characterized in that: The adaptive fuselage structure consists of a telescopic fuselage module (2), a rotary joint (3) and a telescopic mechanism; The telescopic fuselage module (2) is provided with four sections in total, and the rotary joint (3) is installed between two of the four telescopic fuselage modules (2), so that the telescopic fuselage modules (2) can achieve a large angle bending of ±120°, and the telescopic mechanism is integrated and installed inside each section of the telescopic fuselage module (2); The rotary joint (3) is composed of an aluminum alloy housing (4), a cross roller bearing (5), a torque motor (6) and an absolute encoder; The aluminum alloy housing (4) is mounted on the end of one of the telescopic fuselage modules (2), the torque motor (6) and the absolute encoder are both mounted in the inner cavity of the aluminum alloy housing (4), the outer ring of the cross roller bearing (5) is fixed to the inner wall of the aluminum alloy housing (4), the inner ring is connected to the output flange, the output flange is rigidly connected to the other telescopic fuselage module (2), the output shaft of the torque motor (6) drives the output flange through a coupling, and the absolute encoder is used to feedback the rotation angle of the telescopic fuselage module (2).

6. The high-rise building climbing robot based on the fire hook ladder principle according to claim 2 is characterized in that: The multiple safety redundancies include a mechanical locking reinforcement structure, a power backup upgrade mechanism, and remote emergency stop optimization; The mechanical locking reinforcement structure is based on the built-in electromagnetic locking mechanism (104) of the hook body, and a mechanical lock structure is added to the arc-shaped clamping arm (101). After the main hanging unit (10) is hung, the mechanical lock on the arc-shaped clamping arm (101) automatically pops out and is locked into the building structure, forming a double insurance. Among them, the power backup upgrade mechanism adds a supercapacitor emergency power supply system on the basis of the robot's high-energy-density lithium polymer battery pack main power supply. When the main power supply fails or the power supply is interrupted, the supercapacitor can quickly switch to power the robot within 10ms.

7. The high-rise building climbing robot based on the fire hook ladder principle according to claim 1 is characterized in that: The intelligent monitoring system includes environmental perception and image transmission and posture and motion monitoring; The environmental perception and image transmission are achieved by equipping the robot with a high-definition camera, an infrared thermal imager, and a gas sensor. Among them, the high-definition camera is used to collect real-time image information of the building's exterior wall, with a resolution of 4K and a frame rate of 30fps; Among them, the infrared thermal imager is used to detect the temperature distribution of the building's exterior wall, so as to promptly detect abnormal temperature areas, with a temperature detection accuracy of ±0.5°C; The gas sensor is used to monitor the concentration of harmful gases in the surrounding environment in real time, with a detection accuracy of ppm level.

8. The high-rise building climbing robot based on the fire hook ladder principle according to claim 7 is characterized in that: The posture and motion monitoring is achieved by setting up a high-precision inertial measurement unit in the climbing robot. The inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope and a magnetometer, which are used to measure the acceleration, angular velocity and posture angle of the climbing robot with a sampling frequency of 1000Hz.

9. The high-rise building climbing robot based on the fire hook ladder principle according to claim 1 is characterized in that: The local autonomous decision-making includes environmental perception and modeling, path planning and decision-making; Environmental perception and modeling is achieved by adding a 3D laser radar, binocular vision camera, and sensors to the front end of the climbing robot to collect real-time information about the surrounding environment. Multi-source data fusion technology is then used to fuse the laser radar’s point cloud data, visual image data, and sensor measurement data to construct a high-precision environmental model. Among them, the update frequency of the environmental model is synchronized with the sampling frequency of the sensor; Among them, path planning and decision-making are based on the environmental model, using path planning algorithm and reinforcement learning algorithm, combined with the climbing robot's own kinematic and dynamic models, to plan the optimal climbing path in real time.

10. The high-rise building climbing robot based on the fire hook ladder principle according to claim 1 is characterized in that: Said remote monitoring intervention includes data transmission and visualization, remote operation and control; Among them, data transmission and visualization are achieved by transmitting the real-time collected data to the ground control center through the high-speed wireless communication module of the climbing robot, and the ground control center uses visualization technology to display the data; Among them, remote operation and control is to switch the operation mode of the climbing robot to remote manual control mode through the ground control center when complex scenarios or local autonomous decisions are abnormal, so as to remotely and manually operate the climbing robot to perform actions.

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