Intelligent building leakage detection device based on infrared thermal imaging

Abstract

The invention discloses a building leakage intelligent detection device based on infrared thermal imaging, and belongs to the technical field of building leakage detection.The building leakage intelligent detection device comprises a wall-climbing unmanned aerial vehicle, the top of the wall-climbing unmanned aerial vehicle is rotationally connected with a bottom plate, the top of the bottom plate is rotationally connected with a supporting rod, and the top end of the supporting rod is provided with an infrared thermal imager; a top plate is fixedly mounted at the tops of the supporting rods; two heating plates are mounted at the bottom of the top plate; and the air injection heat insulation mechanism comprises two sets of vertical spray heads and transverse spray heads, the transverse spray heads are fixedly installed at the bottom of the top plate, four symmetrically-arranged installation bases are fixedly installed at the bottom of the top plate, and the vertical spray heads are rotationally installed between the two installation bases on the same side. The infrared imaging detection effect is remarkably improved through the air curtain isolation and active heating technology, meanwhile, the heating energy consumption and the maintenance frequency can be reduced, operation is flexible, and infrared equipment can be isolated and protected.

Description

Technical Field

[0001] This invention belongs to the field of building leakage detection technology, specifically, it relates to an intelligent building leakage detection device based on infrared thermal imaging. Background Technology

[0002] With the increasing complexity of modern building structures, building leakage has become a significant factor affecting project quality and safety. Traditional leakage detection methods mainly rely on manual visual inspection or contact humidity measurement, which suffers from low detection efficiency, high-risk high-altitude operations, and difficulty in detecting hidden leaks. In recent years, infrared thermal imaging technology, due to its non-contact and high-efficiency characteristics, has gradually become an important means of building leakage detection. However, existing infrared detection solutions still face the following technical bottlenecks:

[0003] Existing infrared detection methods are prone to significant reductions in infrared imaging quality due to factors such as ambient temperature fluctuations and wind effects, leading to a decrease in the accuracy of leak area identification. This is especially true in winter or in areas with large temperature differences between day and night, where passive infrared detection often struggles to achieve ideal temperature difference comparison results.

[0004] Traditional fixed or handheld infrared devices cannot fully cover the exterior facades of high-rise buildings and areas with irregular structures (such as curtain wall joints and decorative lines). According to statistics, about 35% of building leaks occur in these hard-to-reach areas.

[0005] Existing infrared detection systems on drones mostly adopt hovering operation mode, which has problems such as poor stability and short flight time. When close-range detection is required, the rotor airflow will interfere with the temperature field of the building surface and affect the detection results.

[0006] To address the aforementioned issues, this application proposes an intelligent building leakage detection device based on infrared thermal imaging. Summary of the Invention

[0007] To address the problems in related technologies, this invention proposes an intelligent building leakage detection device based on infrared thermal imaging to overcome the aforementioned technical problems existing in existing related technologies.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] The intelligent building leakage detection device based on infrared thermal imaging includes a wall-climbing drone. The top of the wall-climbing drone is rotatably connected to a base plate, the top of the base plate is rotatably connected to a support rod, an infrared thermal imager is installed at the top of the support rod, a top plate is fixedly installed at the top of the support rod, and two heating plates are installed at the bottom of the top plate.

[0010] The jet insulation mechanism includes two sets of vertical nozzles and horizontal nozzles. The horizontal nozzles are fixedly installed at the bottom of the top plate, and four symmetrically arranged mounting seats are fixedly installed at the bottom of the top plate. The vertical nozzles are rotatably installed between two mounting seats on the same side.

[0011] The protective cleaning mechanism includes a protective box, which is slidably mounted on a support rod. The top of the protective box is open, and a cleaning cotton is installed on one inner wall of the protective box. The cleaning cotton works in conjunction with an infrared thermal imager.

[0012] A rotary motor is fixedly installed on one side of the wall-climbing drone. A rotating rod is fixedly installed on the output shaft of the rotary motor, and a drive gear is fixedly installed on the rotating rod. The side of the base plate is provided with teeth, and the drive gear meshes with the teeth.

[0013] Preferably, the jet insulation mechanism further includes a blower, which is installed on the top of the top plate. Three ducts are installed on the side of the blower, and one end of each of the three ducts is connected to two sets of vertical nozzles and one horizontal nozzle, respectively.

[0014] The blower is designed to introduce gas into two sets of vertical nozzles and one horizontal nozzle through three ducts. This, combined with the wall-climbing drone, creates a closed, isolated space, ensuring a stable temperature within the infrared thermal imager's scanning area. It also prevents heat loss from the heating plate heating the wall, thus achieving an active infrared thermal imaging detection effect.

[0015] Preferably, a mounting plate is fixedly installed on one side of the top plate, a drive motor is fixedly installed on the mounting plate, a drive rod is fixedly installed on the output shaft of the drive motor, and the drive rod is connected to two sets of vertical nozzles.

[0016] Preferably, the vertical nozzle is equipped with a positioning shaft at both the top and bottom, and two symmetrically arranged worm gears are fixedly installed on the drive rod. A worm wheel is fixedly installed at the top of the positioning shaft, and the worm gears and corresponding worm wheels mesh with each other.

[0017] The output shaft of the drive motor drives the drive rod to rotate. The drive rod, through the meshing of the worm and worm wheel, drives the positioning shaft to rotate, which in turn drives the vertical nozzle to change angle.

[0018] Preferably, an isolation box is rotatably connected to the positioning shaft, the isolation box is rotatably connected to the drive rod, and both the worm and the worm wheel are located inside the isolation box.

[0019] The isolation box stabilizes the meshing connection between the worm and the worm wheel, while also providing a sealed and isolated environment between them.

[0020] Preferably, the protective cleaning mechanism further includes two positioning seats, on which push rods are slidably connected. The two push rods are fixedly connected to the protective box, and two top rods are rotatably connected to the top of the base plate. The top rods are rotatably connected to the corresponding push rods.

[0021] The sliding connection between the positioning seat and the push rod limits the push rod, allowing it to stably push the protective box to move. The rotational connection with the top rod allows the push rod to change angle when its angle changes, causing one end of the top rod to shift laterally. Under the pushing action of the top rod, the push rod can be moved.

[0022] Preferably, a positioning plate is fixedly installed on the top of the base plate, and a cylinder is rotatably connected to the top of the positioning plate. The piston of the cylinder is rotatably connected to the bottom of the support rod.

[0023] The piston of the cylinder is connected to the strut by rotation, which can push the strut to change its angle, thereby facilitating the adjustment of the top plate angle and the scanning angle of the infrared thermal imager.

[0024] Preferably, a stabilizing base is installed on one side of the wall-climbing drone, and the stabilizing base is rotatably connected to the rotating rod.

[0025] By connecting the stabilizing seat and the rotating rod, the rotation of the rotating rod can be stabilized, thereby enabling the driving gear to mesh stably with the teeth.

[0026] In summary, the technical effects and advantages of this invention are as follows:

[0027] 1. Wall-climbing drone + infrared thermal imaging motion detection system

[0028] Adsorption-type wall-climbing drones: These drones utilize a vertically / horizontally movable carrier, overcoming the limitations of traditional inspection equipment that relies on manual labor or fixed supports. They are suitable for complex structures such as high-rise buildings, bridges, and tunnels.

[0029] Dynamic scanning adjustment: The angle of the support rod is adjusted by a cylinder, enabling the infrared thermal imager to scan from multiple angles, adapting to complex structures such as uneven walls and window sills, and improving detection coverage.

[0030] 2. Active temperature control insulation system (jet insulation mechanism)

[0031] Air curtain sealing technology: By combining a blower with vertical / horizontal nozzles, a dynamic air curtain isolation layer is formed around the detection area, reducing environmental temperature interference, improving the accuracy of infrared thermal imaging data, and making it more flexible in use, not limited by the shape of the wall, and not affecting the heat insulation operation.

[0032] Adjustable nozzle angle control:

[0033] The worm gear transmission mechanism enables synchronous reverse rotation of the two vertical nozzles, allowing for flexible adjustment of the isolation area.

[0034] The isolation box design protects the transmission components and prevents dust or airflow from interfering with the mechanical structure.

[0035] 3. Intelligent heating and heat management

[0036] Dual heating plate auxiliary detection: It actively radiates heat in the absence of light or in low temperature environment, enhances the temperature difference on the wall surface, and makes the leakage area (water-containing part) more prominent in thermal imaging.

[0037] Air curtain prevents heat loss: The jet system not only isolates environmental interference, but also locks in the heat generated by the heating plate, improving energy efficiency.

[0038] 4. Adaptive protection and cleaning mechanism

[0039] Foldable lens cleaning system:

[0040] When the support rod tilts down to its limit position, the linkage push rod pushes the protective box to cover the infrared thermal imager, and the lens is automatically wiped with a cleaning cotton to prevent dust from affecting the image quality. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the rear view structure of the present invention;

[0043] Figure 3 This is a schematic diagram of the transmission connection structure between the drive motor and the vertical nozzle of the present invention;

[0044] Figure 4 This is a schematic diagram of the support rod and protective cleaning mechanism of the present invention;

[0045] Figure 5 This is a schematic diagram of the protective box structure of the present invention;

[0046] Figure 6 For the present invention Figure 3 A schematic diagram of the structure of part A.

[0047] In the picture:

[0048] 1. Wall-climbing drone; 2. Support pole; 3. Top plate; 4. Jet insulation mechanism; 41. Vertical nozzle; 42. Horizontal nozzle; 43. Blower; 44. Duct; 45. Drive motor; 46. Drive rod; 47. Worm gear; 48. Worm wheel; 49. Mounting plate; 410. Isolation box; 411. Mounting base; 5. Protective cleaning mechanism; 51. Protective box; 52. Cleaning cotton; 53. Push rod; 54. Positioning seat; 55. Top rod; 6. Positioning plate; 7. Cylinder; 8. Infrared thermal imager; 9. Base plate; 10. Rotary motor; 11. Stabilizing base; 12. Drive gear; 13. Heating plate; 14. Rotating rod. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0050] Reference Figure 1-6 The intelligent building leakage detection device based on infrared thermal imaging includes a wall-climbing drone 1. The top of the wall-climbing drone 1 is rotatably connected to a base plate 9. The top of the base plate 9 is rotatably connected to a support rod 2. An infrared thermal imager 8 is installed at the top of the support rod 2. A top plate 3 is fixedly installed at the top of the support rod 2. Two heating plates 13 are installed at the bottom of the top plate 3.

[0051] The jet insulation mechanism 4 includes two sets of vertical nozzles 41 and horizontal nozzles 42. The horizontal nozzles 42 are fixedly installed at the bottom of the top plate 3. Four symmetrically arranged mounting seats 411 are fixedly installed at the bottom of the top plate 3. The vertical nozzles 41 are rotatably installed between two mounting seats 411 on the same side. The two sets of vertical nozzles 41 are rotatably installed between two mounting seats 411 at the bottom of the top plate 3 (e.g., Figure 2 This allows the vertical nozzle 41 to change angle back and forth, thereby adjusting the air curtain range when the vertical nozzle 41 sprays air.

[0052] The protective cleaning mechanism 5 includes a protective box 51, which is slidably mounted on the support rod 2. The top of the protective box 51 is open, and a cleaning cotton 52 is installed on one inner wall of the protective box 51. The cleaning cotton 52 cooperates with the infrared thermal imager 8.

[0053] A rotary motor 10 is fixedly installed on one side of the wall-climbing drone 1. A rotating rod 14 is fixedly installed on the output shaft of the rotary motor 10. An active gear 12 is fixedly installed on the rotating rod 14. The side of the base plate 9 is provided with teeth, and the active gear 12 meshes with the teeth.

[0054] Reference Figure 1 and Figure 4The jet insulation mechanism 4 also includes a blower 43, which is installed on the top of the top plate 3. Three ducts 44 are installed on the side of the blower 43. One end of each of the three ducts 44 is connected to two sets of vertical nozzles 41 and one horizontal nozzle 42. The blower 43 can introduce gas into the two sets of vertical nozzles 41 and one horizontal nozzle 42 through the three ducts 44. Thus, the two sets of vertical nozzles 41 and one horizontal nozzle 42, together with the wall-climbing drone 1, form a closed isolation space, which makes the scanning area of ​​the infrared thermal imager 8 form a stable temperature. At the same time, it can also prevent the heat generated when the heating plate 13 heats the wall from being lost, thereby forming an active infrared thermal imaging detection effect.

[0055] Reference Figure 4 A mounting plate 49 is fixedly installed on one side of the top plate 3. A drive motor 45 is fixedly installed on the mounting plate 49. A drive rod 46 is fixedly installed on the output shaft of the drive motor 45. The drive rod 46 is connected to two sets of vertical nozzles 41. A positioning shaft is installed at the top and bottom of each vertical nozzle 41. Two symmetrically arranged worm gears 47 are fixedly installed on the drive rod 46. A worm wheel 48 is fixedly installed at the top of the positioning shaft. The worm gears 47 and the corresponding worm wheels 48 mesh with each other. The output shaft of the drive motor 45 drives the drive rod 46 to rotate. The drive rod 46 can drive the positioning shaft to rotate through the meshing of the worm gears 47 and the worm wheels 48, thereby driving the vertical nozzles 41 to change angle. At the same time, through the symmetrical arrangement of the two worm gears 47, the two sets of vertical nozzles 41 rotate in opposite directions, thereby adjusting the range of the temperature isolation area, thereby enhancing the utilization efficiency of the heating plate 13 and the control effect for specific area detection.

[0056] Reference Figure 2 An isolation box 410 is rotatably connected to the positioning shaft. The isolation box 410 is rotatably connected to the drive rod 46, and the worm 47 and worm wheel 48 are both located inside the isolation box 410. The isolation box 410 can stabilize the meshing connection between the worm 47 and the worm wheel 48, and can also isolate and seal the worm 47 and the worm wheel 48.

[0057] Reference Figure 2 The protective cleaning mechanism 5 also includes two positioning seats 54, on which push rods 53 are slidably connected. The two push rods 53 are fixedly connected to the protective box 51. The top of the base plate 9 is rotatably connected to two top rods 55. The top rods 55 are rotatably connected to the corresponding push rods 53. Through the slidable connection between the positioning seats 54 and the push rods 53, the push rods 53 can be limited, so that the push rods 53 can stably push the protective box 51 to move. Through the rotatable connection with the top rods 55, when the push rods 53 change angle, they drive the top rods 55 to change angle. When the angle of the top rods 55 changes, one end of them forms a lateral displacement. Under the pushing action of the top rods 55, the push rods 53 can be pushed to move.

[0058] Reference Figure 2 A positioning plate 6 is fixedly installed on the top of the base plate 9. A cylinder 7 is rotatably connected to the top of the positioning plate 6. The piston of the cylinder 7 is rotatably connected to the bottom of the support rod 2. Through the rotatable connection between the piston of the cylinder 7 and the support rod 2, the support rod 2 can be pushed to change its angle, which in turn facilitates the angle change of the top plate 3 and adjusts the scanning angle of the infrared thermal imager 8.

[0059] Reference Figure 3 A stabilizing base 11 is installed on one side of the wall-climbing drone 1. The stabilizing base 11 is rotatably connected to the rotating rod 14. Through the rotatable connection between the stabilizing base 11 and the rotating rod 14, the rotation of the rotating rod 14 can be stabilized, thereby enabling the active gear 12 to mesh stably with the teeth.

[0060] Working Principle: During operation, the wall-climbing drone 1 allows the detection device to move freely on the wall for scanning. Simultaneously, the blower 43 is activated. The blower 43 introduces gas through three conduits 44 to two sets of vertical nozzles 41 and one horizontal nozzle 42. This, combined with the wall-climbing drone 1, forms a closed, isolated space, ensuring a stable temperature within the scanning area of ​​the infrared thermal imager 8. This prevents external environmental interference with the measured area. Furthermore, the air curtain isolation operation can be tailored to different building shapes, offering greater operational flexibility. The heating plate 13 allows for heating even in the absence of sunlight. The heating plate 13 emits a large amount of radiation, facilitating active infrared thermal imaging detection. The airflow prevents heat loss during heating of the wall by the heating plate 13, thus achieving active infrared thermal imaging detection. When adjusting the air-sealed area, the drive motor 45 is activated. The output shaft of the drive motor 45 rotates the drive rod 46. The drive rod 46, through the meshing of the worm gear 47 and worm wheel 48, rotates the positioning shaft, thereby adjusting the angle of the vertical nozzles 41. Simultaneously, the symmetrical arrangement of the two worm gears 47 allows the two sets of vertical nozzles 41 to rotate in opposite directions, adjusting the range of the temperature isolation area and enhancing the efficiency of the heating plate 13. The control effect of specific area detection is as follows: When it is necessary to detect protrusions on the building wall or window sills, the cylinder 7 switch is activated. The piston of the cylinder 7 is connected to the strut 2 through rotation, which pushes the strut 2 to change its angle. This facilitates the angle change of the top plate 3, adjusting the scanning angle of the infrared thermal imager 8, thus facilitating the detection of different wall protrusions. At the same time, the angle change of the top plate 3 drives the push rod 53 to change its angle. When the push rod 53 changes its angle, it drives the top rod 55 to change its angle. When the top rod 55 changes its angle, one end of it forms a lateral displacement. Under the pushing action of the top rod 55, the push rod 53 can be moved. When the top plate 3... When the angle is rotated downwards to the limit position, the push rod 53 pushes the protective box 51 to move onto the infrared thermal imager 8, thereby isolating and protecting the infrared thermal imager 8. With the help of the cleaning cotton 52, the lens of the infrared thermal imager 8 can be cleaned to prevent dust from affecting the infrared thermal imager 8 during detection. When the top plate 3 is rotated to the limit position, it can fold into place for easy storage. At the same time, the rotary motor 10 is switched on, and the output shaft of the rotary motor 10 drives the rotating rod 14 to rotate. The rotating rod 14 drives the bottom plate 9 to rotate through the meshing of the active gear 12 and the teeth, which in turn drives the top plate 3 to rotate to the side, making it convenient to continuously detect the lateral protrusion.

[0061] Dynamic temperature control isolation method

[0062] A three-stage airflow isolation technology is adopted: a blower drives a horizontal nozzle (horizontal airflow) and two adjustable vertical nozzles (vertical airflow) to construct a three-dimensional air curtain, forming a dynamic closed detection space. The airflow velocity is maintained in the range of 2.5-3.2m / s by a PID controller to ensure that the temperature fluctuation is ≤±0.5℃.

[0063] Adaptive angle adjustment algorithm: The drive motor realizes the synchronous counter-rotation of the two nozzles through the worm gear mechanism (adjustable from 0-90°). The optimal spray angle θ = arctan(h / d) is calculated in real time according to the curvature of the building surface, where h is the detection height and d is the distance between the drone and the wall. The Hall sensor in the isolation box provides real-time feedback of angle data.

[0064] Active infrared imaging method

[0065] Dual-band heating strategy: The heating plate uses 1850nm / 2950nm dual-band infrared radiation, with adjustable power density (50-200W / m²). 2 It works in conjunction with an STM32 controller to achieve pulse heating (duty cycle adjustable from 10-90%).

[0066] Heat conduction compensation model: Establish a wall material-heat flux density mapping table, automatically match heating parameters for different materials such as concrete / brick wall / glass, and compensate for differences in heat conduction through finite element analysis.

[0067] Intelligent path planning methods

[0068] The building facade is discretized into a grid map, and the UAV pose is updated in real time by combining IMU data. The temperature sampling point spacing Δx = λ / 2 (λ is the length of the heat diffusion feature) is set to form a serpentine scanning trajectory.

[0069] Protrusion avoidance strategy: When the lidar detects an obstacle height difference δ>30mm, a three-level response mechanism is triggered: ① The cylinder adjusts the strut elevation angle β=15°-75° ② The cleaning cotton self-check program is started ③ The local detection path is reconstructed.

[0070] Multimodal data fusion methods

[0071] Establish an infrared-visible light registration model: SIFT feature matching is used to align the thermal map with the visible light image, and wavelet transform is used for fusion processing to generate a BIM model with temperature annotations.

[0072] Leakage probability calculation: Based on the deep learning framework (improved ResNet-50), the temperature gradient distribution is analyzed, and the leakage probability P = σ(∑wi·ΔTi) is output, where wi is the weight coefficient of different regions.

[0073] Self-maintenance control method

[0074] Triggered cleaning mechanism: When the infrared sensor signal-to-noise ratio (SNR) is less than 15dB, the protective box is pushed by the push rod-push rod linkage mechanism to complete the mirror cleaning. The pressure sensor controls the contact force of the cleaning cotton within the range of 0.2-0.5N.

[0075] Gear wear compensation: The drive gear is equipped with a laser displacement monitoring module. When the backlash error ε>50μm, the transmission accuracy is maintained through motor current compensation.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart building leakage detection device based on infrared thermal imaging, comprising a wall-climbing drone (1), characterized in that, The top of the wall-climbing drone (1) is rotatably connected to a base plate (9), the top of the base plate (9) is rotatably connected to a support rod (2), an infrared thermal imager (8) is installed at the top of the support rod (2), a top plate (3) is fixedly installed at the top of the support rod (2), and two heating plates (13) are installed at the bottom of the top plate (3). The jet insulation mechanism (4) includes two sets of vertical nozzles (41) and horizontal nozzles (42). The horizontal nozzles (42) are fixedly installed at the bottom of the top plate (3). Four symmetrically arranged mounting seats (411) are fixedly installed at the bottom of the top plate (3). The vertical nozzles (41) are rotatably installed between two mounting seats (411) on the same side. The protective cleaning mechanism (5) includes a protective box (51), which is slidably mounted on the support rod (2). The top of the protective box (51) is open, and a cleaning cotton (52) is installed on one side of the inner wall of the protective box (51). The cleaning cotton (52) cooperates with the infrared thermal imager (8). A rotary motor (10) is fixedly installed on one side of the wall-climbing drone (1). A rotating rod (14) is fixedly installed on the output shaft of the rotary motor (10). An active gear (12) is fixedly installed on the rotating rod (14). The side of the base plate (9) is provided with teeth. The active gear (12) meshes with the teeth.

2. The intelligent building leakage detection device based on infrared thermal imaging according to claim 1, characterized in that, The jet insulation mechanism (4) also includes a blower (43), which is installed on the top of the top plate (3). Three ducts (44) are installed on the side of the blower (43), and one end of each of the three ducts (44) is connected to two sets of vertical nozzles (41) and one horizontal nozzle (42).

3. The intelligent building leakage detection device based on infrared thermal imaging according to claim 2, characterized in that, A mounting plate (49) is fixedly installed on one side of the top plate (3). A drive motor (45) is fixedly installed on the mounting plate (49). A drive rod (46) is fixedly installed on the output shaft of the drive motor (45). The drive rod (46) is connected to two sets of vertical nozzles (41) for transmission.

4. The intelligent building leakage detection device based on infrared thermal imaging according to claim 3, characterized in that, The vertical nozzle (41) is equipped with a positioning shaft at both the top and bottom. Two symmetrically arranged worm gears (47) are fixedly installed on the drive rod (46). A worm wheel (48) is fixedly installed at the top of the positioning shaft. The worm gear (47) and the corresponding worm wheel (48) mesh with each other.

5. The intelligent building leakage detection device based on infrared thermal imaging according to claim 4, characterized in that, An isolation box (410) is rotatably connected to the positioning shaft. The isolation box (410) is rotatably connected to the drive rod (46), and the worm (47) and worm wheel (48) are both located inside the isolation box (410).

6. The intelligent building leakage detection device based on infrared thermal imaging according to claim 1, characterized in that, The protective cleaning mechanism (5) also includes two positioning seats (54), on which push rods (53) are slidably connected. The two push rods (53) are fixedly connected to the protective box (51). The top of the base plate (9) is rotatably connected to two top rods (55), which are rotatably connected to the corresponding push rods (53).

7. The intelligent building leakage detection device based on infrared thermal imaging according to claim 1, characterized in that, A positioning plate (6) is fixedly installed on the top of the base plate (9), and a cylinder (7) is rotatably connected to the top of the positioning plate (6). The piston of the cylinder (7) is rotatably connected to the bottom of the support rod (2).

8. The intelligent building leakage detection device based on infrared thermal imaging according to claim 1, characterized in that, The wall-climbing drone (1) is equipped with a stabilizing base (11) on one side, and the stabilizing base (11) is rotatably connected to the rotating rod (14).

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