Building facade hollow detection wall climbing robot

Abstract

The application discloses a building facade hollow detection wall-climbing robot, which comprises a robot body, a walking support mechanism, a rope guide mechanism, a propeller system and a control monitoring system are installed on the robot body; a knocking hammer module is installed on the walking support mechanism, and the knocking hammer module is used for knocking the wall surface; the rope guide mechanism is used for moving the robot body up and down through a safety rope hung on the building outer wall; the rope guide mechanism and the propeller system are electrically connected with the control monitoring system, the control monitoring system is used for controlling the movement of the robot body, and audio signals generated when the knocking hammer module knocks the wall surface are collected. The application converts artificial sound recognition into intelligent audio recognition, improves accuracy and traceability. The robot body is lifted up through the walking support mechanism, the propeller system only needs to maintain low-speed operation to ensure stable wall sticking state, so that the noise caused by high-speed operation of the propeller system is reduced, and the detection accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a wall-climbing robot for detecting hollow areas on building facades. Background Technology

[0002] Hollow areas are prone to develop in building exterior walls due to factors such as material aging, construction quality issues, climate changes, and uneven stress distribution. With the continuous influence of seasonal temperature changes, sun and rain exposure, and construction vibrations, the hollow areas gradually expand, leading to cracks and eventually wall peeling, causing serious consequences. To prevent accidents, it is necessary to detect and delineate hollow areas in their early and middle stages so that engineers can assess and address them.

[0003] Existing methods for detecting hollow areas in walls include visual inspection, touch, ultrasonic testing, infrared imaging, and tapping. Visual inspection and touch are only applicable when the hollow areas are already severe, requiring immediate reinforcement. Ultrasonic testing is suitable for small areas, but a coupling agent must be applied between the ultrasonic probe and the wall surface. The tapping method is the most widely used, involving gently tapping the wall with a small hammer and observing changes in sound. All of these methods are implemented at low elevations. While infrared imaging seems simple, it requires verification because variations in wall temperature, sunlight reflection, the uniformity of building materials, and humidity can all affect the infrared image; hollow areas are just one of many factors that can cause changes in the infrared image.

[0004] Currently, the most common method for inspecting building facades is the tapping method. When inspecting tall buildings, inspectors typically ride in a suspended platform, holding a hollow-sounding hammer as the platform moves up and down, listening to the sounds to identify and record any hollow areas. However, this method requires installing a load-bearing device, a suspended platform support, and a winch on the roof, as well as a relatively open space below to construct the platform. Inspecting a single exterior wall can take several days of preparation time, impacting the living environment of residents. Inspectors must tap and record while working in the platform, and the construction facilities must be dismantled after the on-site inspection, making it extremely cumbersome. Moreover, there will inevitably be errors in judgment between different inspectors. When locating hollow areas on tall walls, it is easy to make mistakes in pinpointing the location and extent of hollow areas, and once an error is made, it is difficult to remedy.

[0005] To address this issue, we provide a wall-climbing robot for detecting hollow areas on building facades, thus resolving the problems existing in the aforementioned prior art. Summary of the Invention

[0006] The purpose of this invention is to provide a wall-climbing robot for detecting hollow areas on building facades, so as to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides a wall-climbing robot for detecting hollow areas on building facades, comprising a robot body, on which a walking support mechanism, a rope guiding mechanism, a propeller system and a control and monitoring system are installed;

[0008] The walking support mechanism is used to provide lateral support for the robot body and control the angle between the robot body and the wall; a hammer module is installed on the walking support mechanism, which is used to strike the wall.

[0009] The rope guiding mechanism is used to move the robot body up and down via a safety rope suspended from the exterior wall of the building;

[0010] The propeller system is used to provide thrust that keeps the robot body pressed against the wall.

[0011] Both the rope guiding mechanism and the propeller system are electrically connected to the control and monitoring system, which is used to control the movement of the robot body and collect the audio signals generated when the hammer module strikes the wall.

[0012] Preferably, the walking support mechanism includes:

[0013] Two mounting beams are respectively disposed on both sides of the robot body. One end of the mounting beam is hinged to the robot body, and the other end of the mounting beam is hinged to the hammer module.

[0014] A lifting support rod is provided, with its two ends detachably connected to two mounting beams, and the mounting beams change their angle with the robot body via the lifting support rod.

[0015] Two wheel axles, each with a wheel mounted at both ends; one wheel axle is mounted on the robot body via a bearing, and the other wheel axle is mounted on the mounting beam via a bearing.

[0016] Preferably, both ends of the lifting support rod are provided with support rod buckles, and the lifting support rod is detachably connected to the mounting beam through the support rod buckles.

[0017] Preferably, the striking hammer module includes:

[0018] A fixed beam is provided, on which multiple bearing seats are fixedly connected. A hammer bearing is installed on each bearing seat. Two of the bearing seats located in the middle of the fixed beam are hinged to the ends of the mounting beam.

[0019] A hammer drive link is rotatably connected to the bearing housing via the hammer bearing;

[0020] The motor is fixedly installed at one end of the fixed beam, and the output shaft of the motor is driven by the hammer drive linkage.

[0021] Multiple hammer assemblies, the hammer assemblies being mounted on a fixed beam;

[0022] Multiple striking shafts are fixedly mounted on the striking hammer drive link. Each striking shaft corresponds to a striking hammer assembly. The multiple striking shafts are arranged in a spiral along the striking hammer drive link, and the number of turns of the spiral around the multiple striking shafts is no more than one turn.

[0023] Preferably, a damping hinge is fixedly connected to the end of the mounting beam away from the robot body, and the mounting beam is hinged to the bearing seat through the damping hinge.

[0024] Preferably, the striking hammer assembly includes a first spring plate, a second spring plate, and a striking hammer head; one end of the first spring plate is fixedly connected to the bottom of the fixed beam, the second spring plate is disposed at the top of the fixed beam, and the end of the second spring plate near the fixed beam is connected to the first spring plate via a fixing steel wire; the other end of the second spring plate is connected to a hammer head fixing screw, and the other end of the first spring plate and the striking hammer head are sequentially connected and fixed to the second spring plate via the hammer head fixing screw; the striking shaft is correspondingly disposed to the second spring plate.

[0025] Preferably, a through-weight is provided on the side of the hammer head near the spring sheet, and the through-weight is sleeved on the hammer head.

[0026] Preferably, the rope guiding mechanism includes a rope inlet buckle, a pulley, a turntable, and a rope guide, which are sequentially arranged at the bottom of the robot body; there are two pulleys, and the safety rope suspended on the exterior wall of the building passes through the rope inlet buckle, the first pulley, the turntable, the second pulley, and the rope guide in sequence; a drive assembly is provided inside the robot body, and the drive assembly is in transmission cooperation with the turntable; a weight block is installed at the bottom end of the safety rope.

[0027] Preferably, the propeller system includes a brushless motor and a propeller, the propeller being driven by the brushless motor, and the brushless motor being mounted on both sides of the front end of the robot body.

[0028] Preferably, the control and monitoring system includes:

[0029] The antenna is used to receive remote control signals and send data feedback signals.

[0030] A switch is used to control the opening and closing of the robot body;

[0031] A microphone is installed at one end of the robot body near the hammer module. The microphone is used to collect the audio signal generated by striking the wall.

[0032] A camera is mounted on the end of the robot body away from the microphone, and the camera is electrically connected to the antenna;

[0033] An RTK positioning module is installed on one end of the robot body near the microphone, and the RTK positioning module is electrically connected to the antenna. The RTK positioning module is used to receive and transmit positioning data to achieve centimeter-level real-time positioning.

[0034] Compared with the prior art, the present invention has the following advantages and technical effects:

[0035] The wall-climbing robot for detecting hollow areas on building facades provided by this invention transforms human auditory identification into intelligent audio recognition, improving accuracy and traceability. By lifting the robot body through a walking support mechanism and changing the angle between the robot body and the wall, the shift in the robot's center of gravity significantly enhances the component of gravity along the wall's normal direction, thereby increasing the normal force against the wall. This allows the propeller system to maintain a stable contact with the wall without external force, ensuring stable wall contact while the robot body remains stationary at low speed. This reduces noise from the high-speed operation of the propeller system and improves detection accuracy. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the wall-climbing robot for detecting hollow areas on building facades according to the present invention.

[0038] Figure 2 This is a schematic diagram of the walking support mechanism of the present invention;

[0039] Figure 3 This is a schematic diagram of the rope guiding mechanism of the present invention;

[0040] Figure 4 This is a schematic diagram of the hammer module of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the hammer assembly of the present invention;

[0042] In the diagram: 1. Propeller; 2. Camera; 3. Brushless motor; 4. Wheel; 5. Bearing; 6. Support rod clip; 7. Robot body; 8. Antenna; 9. Switch; 10. Microphone; 11. Wheel axle; 12. Weight block; 13. Rope inlet clip; 14. Rope guide; 15. Turntable; 16. Pulley; 17. Cooling fan; 18. Hammer bearing; 19. Safety rope; 20. Lifting support rod; 21. Hammer axle actuator; 22. Hammer head; 23. Through-center counterweight; 24. Hammer head fixing screw; 25. Hammer drive linkage; 26. Motor; 27. Fixing wire; 28. Spring plate one; 29. ​​Spring plate two; 30. Damping hinge; 31. RTK positioning module. Detailed Implementation

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] like Figures 1 to 5 As shown, the present invention provides a wall-climbing robot for detecting hollow areas on building facades, including a robot body 7. The robot body 7 is equipped with a cooling fan 17 to cool the internal circuitry of the robot and ensure stable equipment temperature during long-term continuous operation. At the same time, a rear cover is provided on the robot body 7 for replacing the battery or repairing internal components. The rear cover is provided with ventilation slots to achieve good heat dissipation in conjunction with the cooling fan 17.

[0045] The robot body 7 is equipped with a walking support mechanism, a rope guidance mechanism, a propeller system, and a control and monitoring system.

[0046] The walking support mechanism is used to provide lateral support for the robot body 7 and control the angle between the robot body 7 and the wall. A hammer module is installed on the walking support mechanism, which is used to strike the wall.

[0047] The rope guiding mechanism is used to move the robot body 7 up and down via a safety rope 19 suspended from the exterior wall of the building.

[0048] The propeller system is used to provide thrust to keep the robot body 7 pressed tightly against the wall;

[0049] Both the rope guiding mechanism and the propeller system are electrically connected to the control and monitoring system, which is used to control the movement of the robot body 7 and collect the audio signals generated when the hammer module strikes the wall.

[0050] This invention lifts the robot body 7 using a walking support mechanism, changing the angle between the robot body 7 and the wall. The shift in the center of gravity of the robot body 7 significantly enhances the component of gravity in the normal direction of the wall, thereby increasing the normal force against the wall. This allows the propeller system to maintain a stable wall-hugging state without external force, while the propeller system only needs to maintain low-speed operation. This reduces the noise caused by the high-speed operation of the propeller system and improves detection accuracy.

[0051] The design has been further optimized, and the walking support mechanism includes:

[0052] Two mounting beams are respectively set on both sides of the robot body 7. One end of the mounting beam is hinged to the robot body 7, and the other end of the mounting beam is hinged to the hammer module.

[0053] The lifting support rod 20 is detachably connected to two mounting beams at both ends. The mounting beams change the angle between themselves and the robot body 7 through the lifting support rod 20. The lifting support rod 20 is used to hold and lift the robot body 7, thereby raising the robot body 7 and changing the angle between the robot body 7 and the wall, increasing the positive pressure against the wall.

[0054] There are two wheel axles 11, with wheels 4 mounted at both ends of each axle 11. One wheel axle 11 is mounted on the robot body 7 via a bearing 5, and the other wheel axle 11 is mounted on the mounting beam via a bearing 5. The wheels 4 are unpowered and rotate flexibly only through the bearings 5 ​​and the wheel axles 11.

[0055] The design was further optimized by installing support rod clips 6 at both ends of the lifting support rod 20, which are detachably connected to the installation beam via the support rod clips 6.

[0056] The design has been further optimized, and the hammer module includes:

[0057] A fixed beam is fixedly connected to multiple bearing seats, and a hammer bearing 18 is installed on the bearing seats. Two bearing seats located in the middle of the fixed beam are hinged to the ends of the mounting beam.

[0058] The hammer drive link 25 is rotatably connected to the bearing housing via the hammer bearing 18.

[0059] Motor 26 is fixedly installed at one end of the fixed beam, and the output shaft of motor 26 is in transmission cooperation with the hammer drive linkage 25.

[0060] Multiple hammer assemblies, which are mounted on a fixed beam;

[0061] Multiple striking shaft levers 21 are fixedly installed on the striking hammer drive linkage 25. Each striking shaft lever 21 corresponds to a striking hammer assembly. The multiple striking shaft levers 21 are arranged in a spiral along the striking hammer drive linkage 25, and the number of turns of the spiral around the multiple striking shaft levers 21 is no more than one turn.

[0062] By setting the striking pivot 21, multiple striking hammer assemblies strike the wall sequentially at preset time intervals during the rotation of the striking hammer drive linkage 25. In one working cycle, all striking hammer assemblies complete one strike, thereby simultaneously obtaining striking audio signals from multiple detection points in the horizontal direction.

[0063] The design was further optimized by fixing a damping hinge 30 to the end of the mounting beam away from the robot body 7, and the mounting beam is hinged to the bearing seat through the damping hinge 30.

[0064] The design is further optimized. The hammer assembly includes a first spring plate 28, a second spring plate 29, and a hammer head 22. One end of the first spring plate 28 is fixedly connected to the bottom of the fixed beam, and the second spring plate 29 is located at the top of the fixed beam. The end of the second spring plate 29 closest to the fixed beam is connected to the first spring plate 28 via a fixing wire 27. The other end of the second spring plate 29 is connected to a hammer head fixing screw 24. The other end of the first spring plate 28 and the hammer head 22 are sequentially connected and fixed to the second spring plate 29 via the hammer head fixing screw 24. The hammering shaft 21 is correspondingly arranged with the second spring plate 29.

[0065] When the striking axle 21 rotates, it sequentially presses down on and releases the spring plates 29 at preset angles and positions, enabling sequential multi-hammer strikes and preventing simultaneous striking at multiple points during wall tapping. Each striking hammer 22 is linked to the striking axle 21 via a spring plate. The spring plate has elastic deformation capability, allowing it to flexibly avoid external forces when detecting expansion joints or other local unevenness on the wall surface. This enables the wall-climbing robot to continuously pass through small gaps without affecting the continuity and accuracy of the tapping detection.

[0066] To further optimize the design, a through-weight 23 is provided on the side of the hammer head 22 near the spring plate 28, and the through-weight 23 is fitted onto the hammer head 22.

[0067] The through-hole counterweight 23 can effectively absorb excess energy during the fall, preventing the hammer head 22 from resonating and affecting the accuracy of audio acquisition.

[0068] The size of the hammer head 22, the stiffness of the spring plate, and the mass of the through counterweight 23 can be adjusted according to the actual wall thickness or material to meet the requirements of hollow detection for different strengths, different wall materials, and different striking forces.

[0069] Further optimization of the design includes a rope guiding mechanism comprising a rope inlet buckle 13, a pulley 16, a turntable 15, and a rope guide 14 sequentially arranged at the bottom of the robot body 7. Two pulleys 16 are provided, and the safety rope 19 suspended from the building's exterior wall passes sequentially through the rope inlet buckle 13, the first pulley 16, the turntable 15, the second pulley 16, and the rope guide 14, preventing the safety rope 19 from falling off or becoming tangled during operation. A drive assembly is installed inside the robot body 7, which works in conjunction with the turntable 15 to achieve the climbing function through friction between the turntable 15 and the safety rope 19. The pulley 16 works in conjunction with the safety rope 19 to change its direction of travel and assist the turntable 15 in rope transmission. The resulting rope tension allows the turntable 15 and the two pulleys 16 of the robot body 7 to hold the safety rope 19 in place. A weight block 12 is installed at the bottom of the safety rope 19, which keeps the safety rope 19 as taut as possible at high altitudes, preventing tangling and reducing wind disturbance and rope sway.

[0070] Further optimization of the design: the propeller system includes a brushless motor 3 and a propeller 1. The propeller 1 and the brushless motor 3 are driven together. The brushless motor 3 is installed on both sides of the front end of the robot body 7.

[0071] The brushless motor 3 drives the propeller 1 to rotate, generating controllable thrust to ensure that the robot can stably stick to the wall, thereby compensating for the swaying of the robot body 7 caused by wind or other disturbances.

[0072] The scheme has been further optimized, and the control and monitoring system includes:

[0073] Antenna 8 is used to receive remote control signals and send data feedback signals to achieve remote control and monitoring.

[0074] Switch 9 is used to control the opening and closing of the robot body 7;

[0075] The microphone 10 is installed at one end of the robot body 7 near the hammer module. The microphone 10 is used to collect the audio signal generated by striking the wall, which is used for subsequent hollow sound detection.

[0076] Camera 2 is installed at the end of the robot body 7 away from the microphone 10. Camera 2 is electrically connected to antenna 8 and works with antenna 8 to provide real-time video feedback to the operator, making it convenient to monitor the robot's operating status, wall conditions, etc. on the ground.

[0077] The RTK positioning module 31 is installed at one end of the robot body 7 near the microphone 10, and the RTK positioning module 31 is electrically connected to the antenna 8. The RTK positioning module 31 is used to receive and transmit positioning data to achieve centimeter-level real-time positioning.

[0078] In use, the remote controller sends movement commands, tapping frequency commands, or pause commands to the robot body 7; real-time image and audio data are transmitted back to the ground receiver via the antenna 8. After processing the data from the microphone 10, it can be determined whether there are hollow drums in each detection area, and the audio can be recorded and a report generated when needed; combined with the positioning data given by the RTK positioning module 31, the location of the hollow drum can be located.

[0079] The wall-climbing robot for detecting hollow areas on building facades provided by this invention operates as follows:

[0080] The operator turns on the robot via switch 9 and checks the battery level, wireless connection status, and camera feed from camera 2.

[0081] The upper end of the safety rope 19 is fixed to the top of the building. The robot body 7 guides the safety rope 19 into the rope conduit 14 through the rope inlet buckle 13 and places the weight block 12 at the bottom end of the safety rope 19.

[0082] Adjust the lifting support rod 20 to raise the robot body 7, so that the robot body 7 approaches the wall at an appropriate tilt and obtains initial wall-attaching pressure; start the brushless motor 3 to make the propeller 1 run at low speed.

[0083] Activate the drive component inside the robot body 7 to drive the turntable 15, and move the robot body 7 up or down along the rope to the target detection height.

[0084] Once the predetermined detection position is reached, the motor 26 drives the striking shaft 21 to rotate; the striking shaft 21 sequentially pushes up the spring plate 29, causing the striking hammer head 22 to rhythmically strike the wall; the microphone 10 collects the striking audio signal and transmits it to the onboard computer for hollow drum identification.

[0085] The robot body 7 moves slowly along the outer wall, performing tapping tests in each vertical and horizontal section; the audio signal is stable and reliable because the through-weight block 23 avoids secondary rebound of the hammer head 22.

[0086] After the test is completed, turn off the motor 26 of the hammer module, move it to a safe position using the rope guide mechanism, reduce the angle of the lifting support rod 20, and finally the operator removes the robot body 7 from the safety rope 19 and turns off the switch 9.

[0087] The wall-climbing robot for detecting hollow areas on building facades provided by this invention can utilize the lifting support rod 20 to form a lever mechanical structure, significantly improving the stability of wall contact and reducing the propeller 1 speed required for stable wall contact, thereby reducing the noise caused by the high-speed rotation of the propeller 1. The multi-hammer sequential action design combining the striking shaft device 21 and a single motor 26 makes the robot significantly superior to traditional manual methods in terms of detection efficiency and accuracy. In particular, the through-center counterweight 23 effectively eliminates the resonance interference caused by secondary rebound, obtaining audio characteristics similar to manual striking, which facilitates subsequent audio recognition and hollow area determination. The whole machine uses a camera 2, a microphone 10 and an antenna 8 for real-time monitoring and data transmission, ensuring safe operation and complete information recording, and can be widely used in the detection of hollow areas on the exterior walls of high-rise buildings.

[0088] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A wall-climbing robot for detecting hollow areas on building facades, characterized in that, Includes a robot body (7), on which a walking support mechanism, a rope guiding mechanism, a propeller system and a control and monitoring system are installed; The walking support mechanism is used to provide lateral support for the robot body (7) and control the angle between the robot body (7) and the wall; a hammer module is installed on the walking support mechanism, and the hammer module is used to strike the wall. The rope guiding mechanism is used to move the robot body (7) up and down by means of a safety rope (19) suspended from the exterior wall of the building; The propeller system is used to provide thrust to keep the robot body (7) pressed against the wall; The rope guiding mechanism and the propeller system are both electrically connected to the control and monitoring system. The control and monitoring system is used to control the movement of the robot body (7) and collect the audio signal generated when the hammer module strikes the wall. The walking support mechanism includes: Two mounting beams are respectively set on both sides of the robot body (7), one end of the mounting beam is hinged to the robot body (7), and the other end of the mounting beam is hinged to the hammer module. Lifting support rod (20), the two ends of the lifting support rod (20) are detachably connected to the two mounting beams respectively, and the mounting beams change the angle between themselves and the robot body (7) through the lifting support rod (20); Two wheel axles (11), each end of which is equipped with a wheel (4); one wheel axle (11) is mounted on the robot body (7) via a bearing (5), and the other wheel axle (11) is mounted on the mounting beam via a bearing (5); The striking hammer module includes: A fixed beam is provided, on which multiple bearing seats are fixedly connected. A hammer bearing (18) is installed on the bearing seats. Two of the bearing seats located in the middle of the fixed beam are hinged to the ends of the mounting beam. The hammer drive link (25) is rotatably connected to the bearing seat via the hammer bearing (18); The motor (26) is fixedly installed at one end of the fixed beam, and the output shaft of the motor (26) is in transmission cooperation with the hammer drive linkage (25); Multiple hammer assemblies, the hammer assemblies being mounted on a fixed beam; Multiple striking shafts (21) are fixedly installed on the striking hammer drive link (25). Each striking shaft (21) is arranged in a corresponding manner to the striking hammer assembly. The multiple striking shafts (21) are arranged in a spiral along the striking hammer drive link (25), and the number of turns of the spiral of the multiple striking shafts (21) is no more than one turn.

2. The wall-climbing robot for detecting hollow areas on building facades according to claim 1, characterized in that, Both ends of the lifting support rod (20) are provided with support rod buckles (6), and the lifting support rod (20) is detachably connected to the mounting beam through the support rod buckles (6).

3. The wall-climbing robot for detecting hollow areas in building facades according to claim 1, characterized in that, A damping hinge (30) is fixedly connected to one end of the mounting beam away from the robot body (7), and the mounting beam is hinged to the bearing seat through the damping hinge (30).

4. The wall-climbing robot for detecting hollow areas in building facades according to claim 1, characterized in that, The hammer assembly includes a first spring plate (28), a second spring plate (29), and a hammer head (22). One end of the first spring plate (28) is fixedly connected to the bottom of the fixed beam, and the second spring plate (29) is disposed at the top of the fixed beam. The end of the second spring plate (29) near the fixed beam is connected to the first spring plate (28) via a fixing wire (27). The other end of the second spring plate (29) is connected to a hammer head fixing screw (24). The other end of the first spring plate (28) and the hammer head (22) are sequentially connected and fixed to the second spring plate (29) via the hammer head fixing screw (24). The hammering shaft (21) is correspondingly disposed to the second spring plate (29).

5. The wall-climbing robot for detecting hollow areas in building facades according to claim 4, characterized in that, The hammer head (22) is provided with a through-weight (23) on the side near the spring sheet (28), and the through-weight (23) is sleeved on the hammer head (22).

6. The wall-climbing robot for detecting hollow areas in building facades according to claim 1, characterized in that, The rope guiding mechanism includes a rope entry buckle (13), a pulley (16), a turntable (15), and a rope guide (14) arranged sequentially at the bottom of the robot body (7); there are two pulleys (16), and the safety rope (19) suspended on the exterior wall of the building passes through the rope entry buckle (13), the first pulley (16), the turntable (15), the second pulley (16), and the rope guide (14) in sequence; a drive assembly is provided inside the robot body (7), and the drive assembly is in transmission cooperation with the turntable (15); a weight block (12) is installed at the bottom end of the safety rope (19).

7. The wall-climbing robot for detecting hollow areas in building facades according to claim 1, characterized in that, The propeller system includes a brushless motor (3) and a propeller (1). The propeller (1) is driven by the brushless motor (3). The brushless motor (3) is installed on both sides of the front end of the robot body (7).

8. The wall-climbing robot for detecting hollow areas in building facades according to claim 1, characterized in that, The control and monitoring system includes: Antenna (8) is used to receive remote control signals and send data return signals; Switch (9) is used to control the opening and closing of the robot body (7); A microphone (10) is installed on one end of the robot body (7) near the hammer module. The microphone (10) is used to collect the audio signal generated by striking the wall. A camera (2) is installed on the robot body (7) at the end away from the microphone (10), and the camera (2) is electrically connected to the antenna (8); An RTK positioning module (31) is installed on one end of the robot body (7) near the microphone (10), and the RTK positioning module (31) is electrically connected to the antenna (8). The RTK positioning module (31) is used to receive and transmit positioning data to achieve centimeter-level real-time positioning.

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