Self-adaptive adsorption and hybrid drive climbing system of high-rise building robot

Abstract

The invention relates to a self-adaptive adsorption and hybrid drive climbing system of a high-rise building robot. The self-adaptive adsorption and hybrid drive climbing system comprises a three-mode dynamic adsorption module, a four-state hybrid drive mechanism module, a three-level safety protection module and a redundant energy module. The three-mode dynamic adsorption module comprises an electromagnetic adsorption unit, a vacuum adsorption unit and a micro anchoring unit, and adsorption modes are dynamically switched based on the resistivity rho value of the climbing surface; the four-state hybrid driving mechanism module comprises a magneto-rheological track and a hydraulic auxiliary supporting leg, and unification of high-speed climbing and high obstacle crossing ability is achieved by constructing a four-state driving mode; the three-stage safety protection module comprises a progressive response mechanism, and the progressive response mechanism comprises L1-stage posture correction, L2-stage adsorption strengthening and L3-stage mechanical anchoring; the redundant energy module comprises a ground power supply umbilical cord and an airborne super capacitor bank. According to the invention, rho-value-oriented adsorption-driving-protection full-chain autonomous decision-making is realized, and a'heavy load-high speed-obstacle crossing 'impossible triangle is broken through.

Description

Technical Field

[0001] This invention relates to the field of climbing robot technology, specifically to an adaptive adsorption and hybrid drive climbing system for high-rise building robots. Technical Background

[0002] The maintenance of curtain walls and fire rescue in super high-rise buildings (≥200m) face severe technical challenges: the working height of traditional aerial work platforms is limited to ≤100m, resulting in reliance on high-risk manual operation in areas above 150m; the surface resistivity ρ of hybrid curtain walls spans from 5Ω·m (glass) to 1200Ω·m (concrete), and the failure risk of a single adsorption mode is >60%. The German FFT Crawler measured an adsorption force attenuation of over 60% on concrete surfaces; the fire spread speed in fire scenarios is ≥1m / s, and the golden window for action is <10 minutes, but the obstacle-crossing height of existing robots is ≤150mm, which cannot cross the 250-300mm standard window sill.

[0003] Existing wall-climbing robots face technical challenges under multiple physical constraints, mainly manifested in the difficulty of coordinating adsorption compatibility, load capacity, and obstacle-crossing efficiency: vacuum or magnetic single adsorption modes cannot be compatible with multiple surfaces, and the traditional electromagnetic adsorption field strength is ≤1.2T (load limit 80kg), which is difficult to meet the needs of transporting fire-fighting equipment ≥200kg; tracked drive has a friction coefficient μ<0.3 on rough wall surfaces, and multi-legged speed is <0.5m / s, with speed and obstacle-crossing ability being negatively correlated (crossing a 300mm windowsill takes >30s); in terms of safety protection, 90% of the equipment lacks an active fall interception mechanism, the free fall response time is >500ms (exceeding the safety threshold of 200ms), and a broken power cable will cause the system to collapse.

[0004] High-rise fire scenarios further exacerbate technical contradictions: Although drones (such as the Zowing ZTX260) can achieve an operating height of 200m, their 120kg payload is insufficient for the requirements of heavy water cannons, while the wall-climbing robot has a adhesion reliability of only 40% on concrete surfaces, an attitude instability rate of >45% under strong winds (≥8), and lacks thermal expansion sealing compensation design; in the field of energy security, single-point tethered power supply has no emergency anchoring mechanism, the interval from power outage to fall is <100ms, and the response delay of existing safety anchor patents is >500ms.

[0005] In published patent applications, for example, Chinese Invention Patent Application Publication No. CN112274072B discloses a climbing method based on a climbing robot, comprising: a climbing robot including: a robot body, a lateral support device installed below the robot body, and walking devices installed on both sides of the lateral support device, wherein the walking devices and the lateral support device are elastically connected; the present invention, by means of the lateral support device, enables the walking devices to abut against the two vertical sides of the semi-framed glass curtain wall, thereby providing sufficient support for the robot body, and by means of the walking devices, the robot body can be driven to move up and down between the two vertical sides of the semi-framed glass curtain wall, and different functions of the robot body can be replaced as needed to work on the glass curtain wall.

[0006] For example, Chinese invention patent application publication number CN118949326B discloses a high-rise building exterior wall pipe climbing firefighting robot, including a shell, a moving mechanism, and a firefighting mechanism. The moving mechanism includes a hydraulic cylinder and auxiliary components. A swing plate is hinged to the output end of the hydraulic cylinder, and an electric telescopic rod is fixedly installed at the top of the swing plate. A U-shaped plate is fixedly installed at the output end of the electric telescopic rod. A rotation adjuster is installed on the side of the inner wall of the U-shaped plate, and a first clamping block is installed at the output end of the rotation adjuster. The firefighting mechanism includes a rotating worktable, and a fire monitor is fixedly installed at the rotating end of the rotating worktable. A swirling water nozzle is installed at the top of the fire monitor, and a fire hose is connected to the bottom of the fire monitor. An elastic support strip is fixedly installed on the outer circumference of the fire monitor near the fire hose. This high-rise building exterior wall pipe climbing firefighting robot achieves rapid climbing, reduces the impact of pipe clamps, and makes climbing smooth, safe, and reliable.

[0007] For example, Chinese invention patent application publication number CN114748814B discloses a climbing fire-fighting robot, including a walking system, a fire-fighting system installed on the walking system, and a battery. The walking system includes a chassis and a track mechanism. The chassis houses a walking motor and an output shaft. The track mechanism includes a drive gear, a track body, and a wall-climbing device. The walking motor is connected to the drive gear and drives the track body. The wall-climbing device includes a controllable suction cup and a vacuum generator in the track body. The suction cup opening faces outward to adhere to the wall. The vacuum generator is connected to the controllable suction cup to generate negative pressure. Both the walking motor and the vacuum generator are connected to the battery. The climbing fire-fighting robot can move in normal terrain using the track mechanism. When wall climbing is required, the vacuum generator, in conjunction with the controllable suction cup, generates negative pressure to adhere to the wall, thus enabling the robot to climb. The structure of the climbing fire-fighting robot allows it to adapt to more scenarios, improving its versatility.

[0008] None of the aforementioned patent applications have achieved a balance between adsorption compatibility, load capacity, and obstacle-crossing efficiency.

[0009] Based on the defects or problems existing in the above-mentioned technologies, there is an urgent need to provide an adaptive adsorption and hybrid drive climbing system for high-rise building robots. Summary of the Invention

[0010] This invention proposes an adaptive adsorption and hybrid drive climbing system for high-rise building robots.

[0011] The adaptive adsorption and hybrid drive climbing system for high-rise building robots includes: a three-mode dynamic adsorption module, a four-state hybrid drive mechanism module, a three-level safety protection module, and a redundant energy module.

[0012] The three-mode dynamic adsorption module includes an electromagnetic adsorption unit, a vacuum adsorption unit, and a micro-anchoring unit, which dynamically switches the adsorption mode based on the resistivity ρ value of the climbing surface.

[0013] The four-state hybrid drive mechanism module includes magnetorheological tracks and hydraulically assisted outriggers, which achieve a balance between high-speed climbing and high obstacle-crossing capabilities by constructing a four-state drive mode;

[0014] The three-level safety protection module includes a progressive response mechanism, which includes L1 level attitude correction, L2 level adsorption enhancement and L3 level mechanical anchoring.

[0015] The redundant energy module includes a ground-based power umbilical and an airborne supercapacitor bank.

[0016] Furthermore, the electromagnetic adsorption unit adopts a composite structure of Halbach permanent magnet array and electromagnetic enhancement coil. The single pole unit size of the Halbach permanent magnet array is 80mm×80mm×20mm, and the array layout of the Halbach permanent magnet array is 6×8.

[0017] The magnetic field strength of the Halbach permanent magnet array is greater than or equal to 1.5T;

[0018] The Halbach permanent magnet array adopts a honeycomb compartmentalized unit isolation design, with permalloy magnetic separators placed between adjacent compartments.

[0019] Furthermore, the vacuum adsorption unit includes a dual-turbo fan system, wherein the main turbo fan has a flow rate of 400 L / min and a power consumption of 2.5 kW, and the backup turbo fan has a response time of <50 ms;

[0020] The vacuum adsorption unit is equipped with a sealing edge made of shape memory alloy. The sealing edge undergoes a phase change at high temperature to increase its thickness and expand the contact area with the climbing surface.

[0021] Furthermore, the micro-anchoring unit includes a tungsten carbide puncture needle array, the density of which is 16 needles / cm². 2The single needle puncture force of the tungsten carbide puncture needle array is 5kN. The tungsten carbide puncture needle array generates 20kHz / 50μm ultrasonic vibration through piezoelectric ceramic excitation to reduce the penetration resistance of concrete.

[0022] The surface of the tungsten carbide puncture needle array is covered with a 200μm thick ZrO2 ceramic coating, and the interior is equipped with a micro-circulating phase change liquid cooling channel of n-octadecane + nano copper powder.

[0023] Furthermore, the magnetorheological track comprises an aramid fiber woven layer matrix and a magnetorheological medium of carbonyl iron powder + silicone oil;

[0024] The magnetorheological track applies a magnetic field through an embedded coil, enabling the viscosity of the magnetorheological medium to be adjustable from 0.3 Pa·s to 8.0 Pa·s, and the friction coefficient of the magnetorheological track to be adjustable from 0.3 to 0.8.

[0025] Furthermore, the hydraulically assisted outrigger includes a three-degree-of-freedom joint with ±90° pitch, ±45° yaw, and 0-200mm telescopic extension, and outputs a torque of 1500 N·m and a thrust of 12 kN.

[0026] The foot integrates a six-dimensional force sensor, an infrared thermometer, and a gripper.

[0027] Furthermore, the triggering logic of the three-level security protection module is as follows:

[0028] L1 level attitude correction: When the IMU detects that the robot's pitch / roll angle is >15° for >100ms, the friction coefficient of the magnetorheological track is increased to 0.8 and the reverse torque compensation of the hydraulic auxiliary outrigger is activated.

[0029] L2 level adsorption enhancement: When the adsorption force decreases by more than 30%, the electromagnetic field strength is increased, or the backup turbofan is activated, or the ultrasonic amplitude is increased, depending on the current adsorption mode of the three-mode dynamic adsorption module.

[0030] L3 level mechanical anchoring: When the robot's vertical acceleration is >0.5g and lasts for >50ms, the propellant is triggered to drive the anchor bolt to be fired into the building structure at a projectile speed of 80m / s, and the expansion sleeve forms an anchoring depth of ≥50mm.

[0031] Furthermore, the ground power supply umbilical cord in the redundant energy module is wrapped with a 10mm thick Kevlar tensile layer. 2 600V DC cable;

[0032] The onboard supercapacitor has a capacity of 5kWh, which ensures that the three-mode dynamic adsorption module, the hydraulic auxiliary outriggers, and the robot control system can maintain their operation for ≥10 minutes.

[0033] Furthermore, the L3 level mechanical anchor has a gunpowder-driven anchor bolt with a spring velocity ≥80m / s, an anchoring depth ≥50mm, and a holding force ≥70kN.

[0034] Compared with the prior art in this field, the adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention has the following superior technical effects:

[0035] 1. The adaptive adsorption and hybrid drive climbing system for high-rise buildings described in this invention is the first to adopt a three-mode adsorption dynamic decision-making mechanism based on surface resistivity ρ. Through intelligent switching between electromagnetic mode (ρ < 10 Ω·m glass / metal), vacuum mode (10–1000 Ω·m ceramic tile / coating), and micro-anchoring mode (ρ > 1000 Ω·m concrete), it overcomes the global challenge of traditional single adsorption methods failing to adapt to varying wall surfaces. Combined with a four-state hybrid drive mechanism (high-speed / obstacle crossing / rock climbing / emergency mode), it achieves real-time control of the magnetorheological track friction coefficient μ (0.3–0.8) and synergistic 300mm obstacle-crossing capability with hydraulically assisted outriggers. It can bear a 250kg load at a speed of 1.63m / s on glass curtain walls and pass through concrete walls with 16 needles / cm. 2 The tungsten carbide piercing array achieves an anchoring force of 76.5kN (safety factor 3.9), significantly improving its adaptability to complex building surfaces and covering a variety of common curtain wall materials, including glass, metal, ceramic tiles, paint, and concrete.

[0036] 2. The adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention uses a Halbach permanent magnet array superimposed with 200A instantaneous current enhancement technology to increase the electromagnetic adsorption field strength to 1.8T (traditional ≤1.2T), and the glass surface adsorption force reaches 82.4kN (106% higher than the benchmark); combined with a dual-turbo fan vacuum system (backup response <50ms) and ultrasonic drag reduction puncture technology (concrete penetration resistance reduced by 60%), the theoretical maximum load capacity reaches 300kg (275% higher); the ground power supply umbilical (15kW continuous power) and 5kWh airborne supercapacitor group form a redundant energy source to support continuous system operation and 10-minute emergency safe recovery;

[0037] 3. The adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention constructs a three-level fall protection system: Level 1 triggers an instantaneous increase in the μ value of the magnetorheological track to 0.8 and outrigger torque compensation (response 80ms) by detecting an attitude angle >15° using an IMU; Level 2 strengthens the electromagnetic field to 2.7T or activates a backup turbofan when the adsorption force decreases by >30%; Level 3 detonates explosives to drive the anchor bolts into the structure at a projectile velocity of 80m / s (anchoring depth ≥50mm, gripping force 70kN) in response to free fall signs of vertical acceleration >0.5g lasting 50ms. In simulated failure tests, it exhibits extremely high reliability with a system failure rate <10%. -6 / hour (reaching ISO 13849PL e level), setting a new standard for high-altitude work safety;

[0038] 4. The adaptive adsorption and hybrid drive climbing system for high-rise buildings described in this invention is the first to propose and realize ρ-value-guided autonomous decision-making across the entire adsorption-drive-protection chain, breaking through the impossible triangle of "heavy load-high speed-obstacle crossing". Core technologies such as magnetorheological track medium formulation (carbonyl iron powder 50-200μm gradient distribution) and SMA sealing edge phase change control (TiNiPd alloy 305℃ trigger) constitute patent barriers. In engineering applications, it realizes rapid adaptive switching of hybrid curtain wall adsorption mode (typical time 1.2s), attitude correction in strong wind environment (80ms recovery in 8-level gusts), and seamless takeover in case of sudden power failure (12ms response of supercapacitor), addressing pain points in the operation and maintenance of ultra-high-rise buildings. It provides a highly reliable robot platform solution for the detection, cleaning, and rescue operations of 200m+ high-rise buildings. Attached Figure Description

[0039] Figure 1 This is a block diagram of the structure of the adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention.

[0040] Figure 2 This is a schematic diagram of the magnetorheological track in the adaptive adsorption and hybrid drive climbing system of the high-rise building robot described in this invention.

[0041] Figure 3 This is a schematic diagram of the electromagnetic adsorption unit in the adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention.

[0042] Figure 4 This is a schematic diagram of the structural connection of the adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention.

[0043] Figure 5 This is a schematic diagram of the working logic of the three-mode dynamic adsorption module of the adaptive adsorption and hybrid drive climbing system for high-rise building robots described in this invention.

[0044] The components include: 1. Aramid fiber braided matrix; 2. Embedded coil; 3. Carbonyl iron powder; 4. Silicone oil; 5. Monopole unit; 6. Permalloy magnetic separator. Detailed Implementation

[0045] To better understand the principles and features of this invention, the appendix to the specification is now provided. Figures 1-4 This invention provides a detailed description of the specific implementation of the adaptive adsorption and hybrid drive climbing system for high-rise building robots.

[0046] Example

[0047] like Figure 1 and Figure 5 As shown, the adaptive adsorption and hybrid drive climbing system for high-rise building robots of the present invention includes:

[0048] The system consists of a three-mode dynamic adsorption module, a four-state hybrid drive mechanism module, a three-level safety protection module, and a redundant energy module.

[0049] The three-mode dynamic adsorption module includes an electromagnetic adsorption unit, a vacuum adsorption unit, and a micro-anchoring unit, which dynamically switches the adsorption mode based on the resistivity ρ value of the climbing surface.

[0050] like Figure 3 As shown, the electromagnetic adsorption unit adopts a composite structure of a Halbach permanent magnet array composed of N52 neodymium iron boron and an electromagnetic enhancement coil. The electromagnetic enhancement coil is set according to the magnetic field distribution. The size of the single pole unit 5 of the Halbach permanent magnet array is 80mm×80mm×20mm. The array layout of the Halbach permanent magnet array is 6×8, with a total of 48 single pole units 5.

[0051] The magnetic field strength of the Halbach permanent magnet array is greater than or equal to 1.5T. When the magnetic field strength needs to be increased, an instantaneous current of 200A peak value is passed through the electromagnetic enhancement coil, which causes the local field strength to jump from 1.5T to 1.8T. The effective adsorption force measured on the surface of Q235 steel keel covered by 12mm tempered glass is 82.4kN (at a field strength of 1.8T).

[0052] Redundant design of electromagnetic adsorption unit: The Halbach permanent magnet array adopts a honeycomb cavity unit isolation design. Each monopole unit 5 has an independent honeycomb sealed cavity, and a permalloy magnetic separator 6 is set between adjacent cavities. When a single cavity fails, the magnetic field of the adjacent cavity is automatically strengthened, and the adsorption force loss compensation rate is >90%.

[0053] The vacuum adsorption unit includes a dual-turbo fan system, in which the main turbo fan has a flow rate of 400L / min and a power consumption of 2.5kW, used to maintain a negative pressure of -0.95bar, and the backup turbo fan has a response time of <50ms, used to seamlessly take over when the main turbo fan fails.

[0054] The vacuum adsorption unit is equipped with an adaptive sealing edge made of shape memory alloy. The adaptive sealing edge triggers a phase change at 400°C, increasing its thickness by 1.2 mm and expanding its contact area with the climbing surface by 23.5%.

[0055] The micro-anchoring unit includes an array of tungsten carbide puncture needles, with the needle body material being tungsten carbide (hardness 92 HRA); the density of the tungsten carbide puncture needle array is 16 needles / cm². 2 The single-needle puncture force of the tungsten carbide puncture needle array is 5kN. The tungsten carbide puncture needle array generates 20kHz / 50μm ultrasonic vibration through piezoelectric ceramic excitation, which reduces the concrete penetration resistance by 60%.

[0056] The tungsten carbide puncture needle array is equipped with thermal protection measures. The needle body surface is covered with a 200μm thick ZrO2 ceramic coating, which can withstand high temperatures up to 1200℃. The internal cooling channel is set with a micro-circulation phase change liquid of n-octadecane + nano copper powder, and the power consumption is <500W.

[0057] The mode switching control logic of the three-mode dynamic adsorption module is as follows: the resistivity sensor set on the robot detects the ρ value of the climbing surface. The resistivity sensor detects the equivalent resistivity of the building surface, not the intrinsic resistivity of the climbing surface material. When the ρ value is ≤10Ω·m, the electromagnetic adsorption unit is selected; when the ρ value is ≤1000Ω·m, the vacuum adsorption unit is selected; and when the ρ value is greater than 1000Ω·m, the micro anchoring unit is selected.

[0058] The four-state hybrid drive mechanism module includes magnetorheological tracks and hydraulically assisted outriggers, which achieve a balance between high-speed climbing and high obstacle-crossing capabilities by constructing a four-state drive mode;

[0059] like Figure 2 As shown, the magnetorheological track includes an aramid fiber braided matrix 1 and a magnetorheological medium of carbonyl iron powder 3 + silicone oil 4. The tensile strength of the aramid fiber braided matrix 1 is not less than 80 kN / m, and the viscosity of the silicone oil 4 is 0.1 Pa·s. The magnetorheological medium is completely encapsulated inside the aramid fiber braided layer. The magnetorheological medium does not directly contact the climbing surface, but interacts with the climbing surface through the grid pores of the aramid fiber braided matrix 1.

[0060] The magnetorheological track applies a magnetic field through an embedded coil 2. When a magnetic field of 0-1T is applied, the viscosity of the magnetorheological medium can be adjusted from 0.3 Pa·s to 8.0 Pa·s, thereby making the friction coefficient of the magnetorheological track adjustable from 0.3 to 0.8.

[0061] The core principle of magnetorheological tracks lies in dynamically controlling the coefficient of friction (μ) through a magnetic field. In the zero magnetic field state, the magnetorheological medium is in a liquid state with a low apparent viscosity of about 0.3 Pa·s. At this time, the iron powder inside can flow freely, providing strong lubrication to the contact surface, keeping the coefficient of friction at a low level (μ≈0.3). However, once a magnetic field (e.g., 1T) is applied, the iron powder will rapidly (millisecond response) arrange into a chain structure under the action of the magnetic field. This arrangement transformation causes the entire medium to change from a fluid state to a semi-solid or near-solid state, and its apparent viscosity increases significantly to about 8.0 Pa·s. More importantly, these oriented iron powder chains penetrate the oil film on the contact surface like microscopic "iron powder tooth chains" and form a mechanical interlock with the grinding surface. This makes the actual contact area increase significantly from about 30% when there is no magnetic field to about 85% (this data is verified by SEM electron microscopy). The friction mechanism thus changes from boundary lubrication to solid friction dominated by rough peak mechanical meshing, and the coefficient of friction increases to μ≈0.8.

[0062] The law of friction coefficient changing with magnetic field was accurately verified by experiment. Under specific experimental conditions (tempered glass surface, Ra = 0.05 μm, load 200 kg, magnetic field strength adjustable from 0 to 1 T), the experiment showed that the friction coefficient μ increases monotonically with the increase of magnetic induction intensity B. When B = 0 T, μ ≈ 0.3, and when B = 1 T, μ ≈ 0.8.

[0063] This friction control method based on magnetorheological media differs fundamentally from traditional rubber tracks. The coefficient of friction of ordinary rubber tracks is relatively fixed (μ≈0.5 in a dry state), and adjustment typically relies on material replacement, with terrain adaptability requiring prediction. In contrast, the magnetorheological track of this invention achieves real-time magnetic field control of the friction coefficient, with a response speed on the order of 10 milliseconds. It can dynamically adapt to different surfaces (such as glass, concrete, and metal), automatically matching the required coefficient of friction (μ value), with a limiting coefficient of friction reaching μ≈0.8. This is mainly due to the microscopic puncture effect formed by the iron powder chains.

[0064] To ensure the reliability and lifespan of magnetorheological track technology in engineering applications, an aramid matrix is ​​used to encapsulate the magnetorheological medium to achieve an effective seal with a pressure resistance of up to 1.5 MPa. A wear compensation mechanism is designed to automatically replenish 5% of iron powder through the powder storage chamber inside the track every 100 km of operation. In terms of thermal management, a silicone oil-based liquid containing nano-copper powder is selected, which increases its thermal conductivity by 300% and effectively improves heat dissipation performance.

[0065] It should be noted that the magnetorheological medium in this invention is mainly used for friction control, rather than directly providing adsorption force. This is complementary to the function of electromagnetic adsorption: electromagnetic adsorption mainly provides a normal force perpendicular to the contact surface (e.g., for resisting falls), while magnetorheological friction control provides a tangential force (for resisting slippage). Furthermore, the magnetorheological track can also work in conjunction with a hydraulically assisted outrigger system: in scenarios requiring greater traction, such as obstacle crossing, the hydraulically assisted outrigger can locally pressurize the track, increasing the pressure on the contact surface, thereby further improving the coefficient of friction (μ value) in that area, providing the necessary basic friction force for high-speed movement or overcoming obstacles.

[0066] The hydraulic outrigger includes a three-degree-of-freedom joint with ±90° pitch, ±45° yaw, and 0-200mm telescopic extension. The pitch joint outputs a torque of 1500 N·m, the yaw joint rotates at 30 rpm, and the telescopic joint has a thrust of 12 kN.

[0067] The device integrates a six-dimensional force sensor with a range of ±10kN and an accuracy of 0.5%, an infrared thermometer with a range of -20 to 600℃ and an error of ±1℃, a claw, a vacuum adsorption unit, and a micro-anchoring unit.

[0068] The working logic of the four-state hybrid drive mechanism module defines four drive states to adapt to different wall environments and working conditions, and has intelligent switching capabilities:

[0069] High-speed mode: Designed for flat glass or metal curtain walls, in this mode the tracks maintain full contact with the wall surface, and the coefficient of friction μ is stabilized at 0.8 through magnetorheological technology; the outriggers are in a retracted state to reduce resistance; the system maintains a travel speed of not less than 1.5m / s.

[0070] Obstacle crossing mode: Used to cross obstacles with a height greater than 100mm (such as windowsills or decorative protrusions). Its working sequence is as follows: the outriggers extend, and the hook pierces the obstacle protrusion at a precise angle of 45°±2°; the hydraulic cylinder retracts, pulling the machine body to complete the crossing action; finally, the system resets. This mode can complete the crossing of a 300mm obstacle in 3.2 seconds.

[0071] Climbing mode: Suitable for traveling on rough concrete walls. In this mode, the friction coefficient μ of the tracks actively decreases to 0.3; the outriggers undertake the main propulsion task, outputting 80% ± 5% of the total propulsion force; at the same time, the grappling hook is temporarily fixed to the rough concrete surface through periodic (interval of about 200mm) micro-anchoring unit piercing action, providing additional anchoring force. This mode can achieve a speed of no less than 0.78m / s on rough surfaces.

[0072] Emergency Mode: Activated in emergency situations where one outrigger fails. This mode locks the remaining three diagonal outriggers; increases the track friction coefficient μ to 0.8 to enhance traction; and strictly limits the travel speed to below 0.3 m / s. The core requirement of this mode is to ensure that at least three outriggers are effectively operational, and the overall system rollover resistance coefficient must be greater than 1.8 to guarantee safety.

[0073] State transitions are precisely triggered by preset conditions:

[0074] The condition for switching from high-speed mode to obstacle crossing mode is: the ToF sensor (accuracy ±2mm) detects an obstacle height greater than 100mm.

[0075] The condition for switching from high-speed mode to rock climbing mode is: the six-dimensional force sensor (accuracy ±0.02) detects that the wall friction coefficient μ is continuously below 0.4 for more than 1 second.

[0076] The conditions for returning from obstacle-crossing mode to high-speed mode are: the binocular vision system and IMU (attitude angle accuracy ±0.5°) confirm that the obstacle has been cleared and the fuselage attitude angle is less than 5°.

[0077] The condition for switching from obstacle crossing mode to rock climbing mode is: the white light interferometer (accuracy Ra±1μm) detects a wall roughness Ra>20μm.

[0078] The condition for returning to high-speed mode from rock climbing mode is: the laser profilometer (flatness accuracy ±3%) detects that the surface flatness on a continuous 1-meter travel path is greater than 85%.

[0079] The conditions for transitioning from climbing mode to emergency mode are: the joint torque sensor (accuracy ±1% FS) detects a torque fluctuation of more than 30% in any outrigger, and this abnormal state lasts for more than 500 milliseconds.

[0080] This logic and parameter system ensures that the mechanism can operate autonomously, efficiently, and safely in complex wall environments, and has sufficient redundancy in case of failure.

[0081] The three-level safety protection module includes a progressive response mechanism, which includes L1 level attitude correction, L2 level adsorption enhancement and L3 level mechanical anchoring.

[0082] The triggering logic for the Level 3 security protection module is as follows:

[0083] Level L1 attitude correction: When the IMU detects that the robot's pitch / roll angle is >15° for >100ms, the friction coefficient of the magnetorheological track is increased to 0.8, the response time is 10ms, and the reverse hydraulic auxiliary legs are extended by 50mm to generate reverse torque compensation.

[0084] L2 level adsorption enhancement: When the adsorption force sensor reading drops by more than 30%, the electromagnetic field strength is increased to 2.7T or the backup turbofan is activated or the ultrasonic amplitude is increased to 85μm, depending on the current adsorption mode of the three-mode dynamic adsorption module.

[0085] Python

[0086] if mode == "electromagnetic":

[0087] enhance_coil_current(200%) # Temporarily increase the field strength to 2.7T

[0088] elif mode=="vacuum":

[0089] activate_backup_fan() # Start the backup turbofan else: # Micro-anchoring

[0090] increase_vibration_amp(70%) # Amplitude increased to 85μm

[0091] L3 level mechanical anchoring: When the robot's vertical acceleration is >0.5g and lasts for >50ms, producing signs of free fall, the propellant is triggered to drive the anchor bolt into the building structure at a projectile speed of 80m / s. The expansion sleeve unfolds to form a deep anchoring of ≥50mm, and the anchor bolt holding force is ≥70kN.

[0092] The redundant energy modules include a ground-based power umbilical and an airborne supercapacitor bank.

[0093] The ground power supply umbilical cord in the redundant energy module is wrapped with a 10mm thick Kevlar tensile layer. 2 The 600V DC cable ground power supply umbilical can withstand a continuous power of 15kW and a peak power of 30kW. The ground power supply umbilical adopts PID tension control + spiral anti-winding guide groove management to ensure that the tension is maintained at 200±50N and the extension speed is maintained at 2m / s.

[0094] The robot is equipped with an onboard supercapacitor bank with an emergency capacity of 5kWh to ensure the locking action of the three-mode dynamic adsorption module, the hydraulic auxiliary legs, and the emergency maintenance of the robot's core control system for ≥10 minutes.

[0095] Fault diagnosis and emergency handling logic:

[0096] When the system detects a fault signal, it will automatically trigger the corresponding emergency response strategy based on the identified fault type:

[0097] Outrigger failure: If the diagnosis result is a single outrigger failure, the system will immediately activate the diagonal outrigger locking mechanism, forcibly locking the other outrigger that is diagonally opposite to the failed outrigger, forming a stable three-point support configuration, and then enter emergency mode.

[0098] Sensor malfunction: When critical sensors, such as Time-of-Flight (ToF) sensors, force sensors, and vision systems used for state determination, malfunction or their data becomes unreliable, the system switches to a model-based predictive control (MPC) strategy. This strategy utilizes the system dynamics model and limited information from the remaining available sensors for state estimation and predictive control. The core objective is to maintain the current operating state as much as possible, avoiding unnecessary mode switching or downtime due to sensor failure, until the fault is resolved or the system enters a safer condition.

[0099] Power Interruption Failure: Upon detection of a primary power supply interruption, the system will momentarily switch to backup onboard supercapacitors. The supercapacitors provide short-duration high-power output to support critical system operations, with the core task of entering a safety degrade mode. The primary objective of this mode is to control the aircraft to detach from the wall in a controlled manner or descend to a safe height / position. Typically, all active propulsion actions will immediately cease, maintaining only essential sensing, communication, and braking functions, and executing pre-set safe landing or hovering procedures to minimize the risk of a fall.

[0100] This fault handling logic ensures that when a critical subsystem fails, the system can take the most appropriate countermeasures based on the nature of the fault, either maintaining basic functions or proactively entering a safe state, significantly improving overall reliability and security.

[0101] Example:

[0102] Taking a 150m glass-concrete hybrid curtain wall climbing as an example:

[0103] Phase 1: Surface Recognition and Adsorption Mode Selection

[0104] For the 0-50m section, which is a glass curtain wall: Detect ρ = 5Ω·m → Activate electromagnetic mode (1.8T field strength).

[0105] 50-80m is concrete: Detect ρ = 1200Ω·m → Switch to micro-anchoring mode (vibration penetration depth 2.8±0.3mm)

[0106] Phase 2: Obstacle crossing maneuver executed, encountering a 300mm windowsill at 80m;

[0107] Python

[0108] if obstacle_height>100mm:

[0109] switch_drive_mode("obstacle crossing mode")# Deploy hydraulic auxiliary outriggers

[0110] deploy_claws(angle=45°) # Claws pierce the upper edge of the windowsill

[0111] retract_legs() #Retract the legs to cross the obstacle

[0112] resume_speed_mode() # Restores high-speed track mode

[0113] Phase 3: Surface Recognition and Adsorption Mode Selection

[0114] 80-150m is concrete: Detect ρ = 1200Ω·m → Switch to micro-anchoring mode (vibration penetration depth 2.8±0.3mm)

[0115] Phase 4: Safety Protection Trigger (Artificial simulation of strong winds causing robot tilting)

[0116] IMU detected a pitch angle of 18° → Level 1 response: Magnetorheological track μ increased to 0.8.

[0117] The adsorption force sensor showed a 35% decrease → Secondary response: The backup turbofan was activated, and the electromagnetic field strength was increased to 2.7T.

[0118] The system stabilized within 3 seconds, and the level 3 anchor bolts were not triggered.

[0119] Technical effectiveness verification:

[0120] This invention surpasses existing technologies in all key performance indicators. Taking the FFT Crawler as an example, the specific improvements are as follows:

[0121] Maximum load: increased from 80kg to 300kg, an increase of 275%;

[0122] Glass adsorption force increased from 40kN to 82.4kN, an increase of 106%;

[0123] Concrete adsorption reliability: A new micro-anchoring puncture mechanism has been added to achieve a puncture depth of 2.8mm (which cannot be supported by existing technology);

[0124] Obstacle clearance height: increased from 150mm to 300mm, a 100% increase;

[0125] Fall response time: For the first time, a safety mechanism is introduced, with a response time of <200ms.

[0126] The technical effects of the present invention are verified item by item:

[0127] 1. Adsorption performance test

[0128] The present invention adapts to different surface adsorption modes, and the measured data are as follows:

[0129] Glass curtain wall with Q235 steel keel covered by 12mm tempered glass (electromagnetic mode): adsorption force 82.4kN, safety factor 5.12;

[0130] Tiles (vacuum mode): Adsorption force 78.2kN, safety factor 4.86;

[0131] C40 concrete (micro-anchoring mode): puncture depth 2.8±0.3mm, 16 needles / cm 2 The array has a total adsorption force of 76.5kN and can bear a load of 200kg (theoretically, the requirement is only 19.6kN). The measured safety factor is 3.9 (including structural redundancy design).

[0132] Note: The safety factor is based on the ratio of the measured adsorption force to the maximum working load requirement.

[0133] 2. Driver performance test

[0134] Performance under various load scenarios:

[0135] 90° glass curtain wall (glass curtain wall structure as above) (high-speed mode): speed reaches 1.63m / s under 250kg load;

[0136] 300mm windowsill crossing (obstacle crossing mode): 200kg load completed in just 3.2 seconds;

[0137] 25° rough concrete slope (climbing mode): Can still climb at 0.78m / s with a 220kg load.

[0138] 3. Security Response Test

[0139] The Level 3 emergency response mechanism employs rigorous fault simulation:

[0140] Unilateral vacuum chamber rupture (second-order response): Adsorption force recovers to 85% within 120ms;

[0141] Strong winds (gusts up to level 8) (Level 1 response): Stabilize attitude in 80ms, tilt angle < 8°;

[0142] Power cable breakage (Level 3 preparatory response): Capacitor takeover system within 12ms, achieving zero downtime.

[0143] 4. Other tests

[0144] Mode switching efficiency: Switching from electromagnetic to vacuum mode takes only 1.2 seconds, demonstrating dynamic adaptability;

[0145] Energy consumption for overcoming obstacles: It only consumes 0.8kWh to cross a 300mm windowsill, significantly optimizing energy efficiency;

[0146] System reliability: In 50 simulated failure tests, the success rate of Level 3 response reached 100%.

[0147] This invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims.

Claims

1. A high-rise building robot adaptive adsorption and hybrid drive climbing system, characterized in that, include: The system consists of a three-mode dynamic adsorption module, a four-state hybrid drive mechanism module, a three-level safety protection module, and a redundant energy module. The three-mode dynamic adsorption module includes an electromagnetic adsorption unit, a vacuum adsorption unit, and a micro-anchoring unit, which dynamically switches the adsorption mode based on the resistivity ρ value of the climbing surface. The four-state hybrid drive mechanism module includes magnetorheological tracks and hydraulically assisted outriggers, which achieve a balance between high-speed climbing and high obstacle-crossing capabilities by constructing a four-state drive mode; The three-level safety protection module includes a progressive response mechanism, which includes L1 level attitude correction, L2 level adsorption enhancement and L3 level mechanical anchoring. The redundant energy module includes a ground-based power umbilical and an airborne supercapacitor bank.

2. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The electromagnetic adsorption unit adopts a composite structure of Halbach permanent magnet array and electromagnetic enhancement coil. The size of the single pole unit of the Halbach permanent magnet array is 80mm×80mm×20mm, and the array layout of the Halbach permanent magnet array is 6×8. The magnetic field strength of the Halbach permanent magnet array is greater than or equal to 1.5T; The Halbach permanent magnet array adopts a honeycomb compartmentalized unit isolation design, with permalloy magnetic separators placed between adjacent compartments.

3. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The vacuum adsorption unit includes a dual-turbo fan system, wherein the main turbo fan has a flow rate of 400L / min and a power consumption of 2.5kW, and the backup turbo fan has a response time of <50ms. The vacuum adsorption unit is equipped with a sealing edge made of shape memory alloy. The sealing edge undergoes a phase change at high temperature to increase its thickness and expand the contact area with the climbing surface.

4. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The micro-anchoring unit includes an array of tungsten carbide puncture needles, the density of which is 16 needles / cm². 2 The single needle puncture force of the tungsten carbide puncture needle array is 5kN. The tungsten carbide puncture needle array generates 20kHz / 50μm ultrasonic vibration through piezoelectric ceramic excitation to reduce the penetration resistance of concrete. The surface of the tungsten carbide puncture needle array is covered with a 200μm thick ZrO2 ceramic coating, and the interior is equipped with a micro-circulating phase change liquid cooling channel of n-octadecane + nano copper powder.

5. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The magnetorheological track comprises an aramid fiber woven layer matrix and a magnetorheological medium of carbonyl iron powder + silicone oil. The magnetorheological track applies a magnetic field through an embedded coil, enabling the viscosity of the magnetorheological medium to be adjustable from 0.3 Pa·s to 8.0 Pa·s, and the friction coefficient of the magnetorheological track to be adjustable from 0.3 to 0.

8.

6. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The hydraulically assisted outrigger includes a three-degree-of-freedom joint with ±90° pitch, ±45° yaw, and 0-200mm telescopic extension, and outputs a torque of 1500 N·m and a thrust of 12 kN. The foot integrates a six-dimensional force sensor, an infrared thermometer, a gripper, and a vacuum adsorption unit.

7. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The triggering logic of the three-level security protection module is as follows: L1 level attitude correction: When the IMU detects that the robot's pitch / roll angle is >15° for >100ms, the friction coefficient of the magnetorheological track is increased to 0.8 and the reverse torque compensation of the hydraulic auxiliary outrigger is activated. L2 level adsorption enhancement: When the adsorption force decreases by more than 30%, the electromagnetic field strength is increased, or the backup turbofan is activated, or the ultrasonic amplitude is increased, depending on the current adsorption mode of the three-mode dynamic adsorption module. L3 level mechanical anchoring: When the robot's vertical acceleration is >0.5g and lasts for >50ms, the propellant is triggered to drive the anchor bolt to be fired into the building structure at a projectile speed of 80m / s, and the expansion sleeve forms an anchoring depth of ≥50mm.

8. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 1, characterized in that, The ground power supply umbilical cord in the redundant energy module is wrapped with a 10mm thick Kevlar tensile layer. 2 600V DC cable; The onboard supercapacitor has a capacity of 5kWh, which ensures that the three-mode dynamic adsorption module, the hydraulic auxiliary outriggers, and the robot control system can maintain their operation for ≥10 minutes.

9. The adaptive adsorption and hybrid drive climbing system for high-rise building robots according to claim 7, characterized in that... , The holding force of the L3 level mechanical anchor is ≥70kN.

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