An outer waterproofing system and method for a fat bin

Abstract

The application discloses an outer waterproof operation system and method for a fat groove, and belongs to the technical field of underground engineering construction equipment. The system comprises a mobile chassis assembly, a multi-stage lifting module, a steering component assembly, a transverse movement module and an operation terminal. The mobile chassis travels on the roof of a station, and the multi-stage lifting module carries the operation terminal to enter a narrow fat groove space. The posture is adjusted through the steering component, and the transverse movement module drives a spray gun to perform horizontal reciprocating spraying. Closed-loop control is realized in cooperation with a distance sensor, so that the spraying quality is ensured. The application solves the problem that the fat groove space of an assembled station side wall is narrow and manual operation is impossible, realizes automatic and closely attached construction of an outer packaged waterproof coating, significantly improves the waterproof reliability of an underground structure, and reduces the size of a foundation pit excavation and the engineering cost.

Description

Technical Field

[0001] This invention relates to the field of construction control and automation equipment technology for prefabricated underground structures, and in particular to an external waterproofing system and method for a prefabricated trench. Background Technology

[0002] Prefabricated subway station structures have become an important development direction in the field of urban underground engineering construction in recent years. They have advantages such as industrialization, standardization, short construction cycle and small environmental impact, which can significantly improve the safety and construction efficiency of subway station construction.

[0003] However, waterproofing has always been a technical challenge in the practical application of prefabricated subway stations. In particular, the side wall joint structure is prone to leakage along weak points such as the overlapping surface due to the presence of natural gaps and the combined effects of water and soil loads and other environmental factors over the years. In severe cases, this can affect structural safety and construction quality.

[0004] Existing waterproofing techniques typically employ a "pre-laid reverse bonding" method, where waterproof membrane is pre-laid on the diaphragm wall or retaining piles before pouring the composite concrete layer, such as a 350mm precast layer followed by a 350mm cast-in-place layer. During the subsequent concrete pouring, operations such as rebar tying and concrete vibration can easily cause the pre-laid waterproof membrane to crack, perforate, or break. Furthermore, pre-laid membranes often fail to achieve perfect full adhesion to the subsequently poured concrete wall. If localized damage occurs, water can seep between the membrane and the structure, leading to waterproofing failure.

[0005] To save on construction costs, the "groove" between the side walls and the enclosure structure of subway stations is often designed to be very narrow, usually less than 1 meter, or even only a few tens of centimeters, or there is no groove at all. In such a narrow space that is up to 10 meters deep, it is impossible for people to enter to carry out subsequent waterproofing repairs or paint spraying.

[0006] In summary, the existing pre-applied waterproofing process has inherent shortcomings, and there is an urgent need for automated equipment that can enter narrow trenches to perform direct and close-fitting waterproofing on the outer surface of side walls. Summary of the Invention

[0007] In view of this, this application provides an external waterproofing system and method for trenches. The main objective is to solve the technical problems of existing technologies, such as the inability of manual labor to work in narrow and deep trenches and the poor waterproofing effect.

[0008] According to a first aspect of the present invention, an external waterproofing system for a trench is provided. The system is used for trenches in subway stations and includes: a mobile chassis assembly mounted on the top or middle slab of the subway station structure, serving as the ground base station for the entire system; a multi-stage lifting module, the fixed end of which is mounted on the mobile chassis assembly, and the telescopic end of which can extend vertically downward into the trench space between the side wall and the enclosure structure of the subway station, achieving a large-depth vertical operation capability; a steering component assembly disposed at the telescopic end of the multi-stage lifting module; a lateral movement module connected to the multi-stage lifting module via the steering component assembly, the lateral movement module being laterally displaced relative to the side wall within the trench; and a work terminal mounted on the lateral movement module for performing spraying or inspection operations on the outer surface of the side wall.

[0009] Furthermore, the mobile chassis assembly adopts AGV (Automated Guided Vehicle) technology and is equipped with four steering wheels, giving it omnidirectional mobility, namely, straight-line movement, lateral movement, and in-situ rotation, to enable flexible position adjustment in complex construction sites. The mobile chassis assembly described in this application includes: a chassis platform; and four steering wheels arranged in a rectangular shape at the bottom of the chassis platform. Each steering wheel is equipped with steering and walking drive capabilities, used to realize the straight-line movement, lateral movement, and in-situ turning functions of the mobile chassis assembly.

[0010] Furthermore, the multi-stage lifting module is constructed as a multi-stage electric push rod, a multi-stage screw jack, or a multi-stage scissor lift mechanism to ensure its lateral rigidity in the extended state. The maximum extension stroke of the multi-stage lifting module is within a first set range to meet the depth requirements of the subway station sidewall, the first set range being 8 to 10 meters, and the height of the multi-stage lifting module in the retracted state is less than the transport limit height of the mobile chassis assembly.

[0011] Furthermore, the steering component assembly includes: a rotating base fixed to the end of the multi-stage lifting module; and a rotary drive disposed on the rotating base, the output shaft of which is connected to the lateral movement module; wherein the rotary drive drives the lateral movement module to rotate in the horizontal plane, so that in the working state the lateral movement module is parallel to the side wall, and in the stored state the lateral movement module is folded into the projection range of the mobile chassis assembly.

[0012] 5. Further, the lateral movement module includes: a lateral guide rail connected to the steering component assembly via a connecting bracket; a slide table slidably fitted onto the lateral guide rail; a lateral movement drive mechanism driving the slide table to reciprocate along the lateral guide rail; and the working terminal detachably mounted on the slide table.

[0013] Furthermore, the external waterproofing operation system also includes a perception and control system, which includes: a distance sensor, installed on the lateral movement module or the operation terminal, for real-time detection of the vertical distance between the operation terminal and the side wall surface; and a controller, electrically connected to the mobile chassis assembly, the multi-stage lifting module, and the distance sensor; the controller controls and adjusts the position of the mobile chassis assembly or the angle of the steering component assembly based on the feedback signal from the distance sensor.

[0014] Furthermore, the working terminal includes a high-pressure spray gun, which is connected via a pipeline to a waterproof coating supply system located on the mobile chassis assembly or an external supply station; or, the working terminal includes a detection probe for detecting the flatness of the sidewall or the quality of the waterproof layer.

[0015] Furthermore, the mobile chassis assembly is also equipped with a hose reel assembly for reeling in and out the paint delivery pipe and power cable connected to the work terminal. The reeling speed of the hose reel assembly is synchronized with the extension and retraction speed of the multi-stage lifting module.

[0016] Furthermore, a method for waterproofing an external trough based on the system described in any one of the above inventions includes:

[0017] S1. Drive the mobile chassis assembly to the predetermined work position on the top or middle plate of the subway station, adjust the vehicle body posture and make the lateral moving module parallel to the side wall to be worked on.

[0018] S2. After the lateral moving module is parallel to the side wall to be worked on, the multi-stage lifting module is controlled to extend downwards, sending the working terminal into the fertilizer tank space and reaching the predetermined working depth.

[0019] S3. After the working terminal reaches the predetermined working depth in the fertilizer tank, it uses the distance sensor to detect the distance to the side wall to be worked on, and adjusts the working distance to the side wall to be worked on by adjusting the mobile chassis assembly or steering assembly.

[0020] S4. When the working distance between the working terminal and the side wall to be worked reaches a preset distance, the working terminal is started to spray, and at the same time the horizontal movement module is controlled to drive the working terminal to move in the horizontal direction to complete the single-layer width spraying operation.

[0021] S5. After completing the single-layer width spraying operation, control the multi-level lifting module to adjust the height of the spraying width upward or downward, and repeat step S4 until the side wall spraying is completed within the entire vertical height range corresponding to the predetermined work station.

[0022] S6. Control the mobile chassis assembly to move along the side wall to be worked to the next predetermined work station, and repeat steps S2 to S5.

[0023] Furthermore, in step S4, the material sprayed on the working terminal is a polyurethane polymer waterproof coating; before step S2, the method further includes the step of unfolding the lateral movement module to the working angle through the steering component assembly.

[0024] Beneficial Effects: This invention provides an external waterproofing system and method for foundation pits. This application utilizes a robotic arm that extends from above into the narrow foundation pit, eliminating the need for manual entry and solving the problem of construction in confined spaces. Because the robotic arm operation has low requirements for the width of the foundation pit, it reduces the external dimensions of the excavation, significantly lowering earthwork excavation and backfilling costs.

[0025] This application enables the direct spraying of waterproof coatings, such as polyurethane, onto the outer surface of side walls, forming a continuous, seamless, and tightly adhered waterproof layer, thus completely solving the problems of easy damage and poor adhesion of pre-laid roll materials.

[0026] In addition, this application integrates ranging and automatic control, ensuring the consistency and quality control of the spraying operation.

[0027] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0028] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0029] In the attached diagram:

[0030] Figure 1 This diagram illustrates the structure of an external waterproofing system for a fertilizer tank according to an embodiment of the present invention.

[0031] Figure 2 A flowchart illustrating the operation method of an external waterproofing system for a fertilizer tank, as provided in an embodiment of the present invention, is shown.

[0032] Icon labels:

[0033] 1. Mobile chassis assembly; 11. Chassis platform; 12. Steering wheel; 2. Multi-stage lifting module; 3. Steering component assembly; 4. Lateral movement module; 41. Lateral guide rail; 42. Slide table; 5. Working terminal; 6. Distance sensor; 7. Control cabin; 8. Hose reel assembly.

[0034] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Example 1

[0039] like Figure 1 As shown, the external waterproofing system for subway troughs provided in this application is a robotic arm system structure design. This invention provides an external waterproofing system for subway troughs, which mainly consists of four modules: a mobile chassis assembly 1, a multi-stage lifting module 2, a posture adjustment module, and an operating terminal 5 and its sensing and control system. The posture adjustment module includes a steering component assembly 3 and a lateral movement module 4.

[0040] In one feasible implementation, the mobile chassis assembly 1 is configured to travel on the top or middle slab of the subway station structure, serving as the ground base station for the entire system. The mobile chassis assembly 1 includes a rectangular frame platform 11 welded from high-strength steel, which has high load-bearing capacity and a low center of gravity to ensure anti-overturning stability.

[0041] The bottom of the chassis platform 11 is equipped with four steering wheels 12. The steering wheels 12 are wheel sets that integrate driving and steering, i.e., omnidirectional movement. The omnidirectional movement includes at least straight movement, lateral movement, and rotation in place, so as to flexibly adjust the position of the overall device in complex construction sites.

[0042] In this embodiment, the steering wheel 12 is designed to allow the mobile chassis assembly 1 to not only move forward and backward in a straight line, but also to translate laterally and rotate in place. This is crucial for aligning the robotic arm with the trench in narrow construction passages, such as the edge of a subway station roof slab.

[0043] In one feasible implementation, the multi-stage lifting module 2 is installed at the center or edge of the chassis platform 11. This embodiment preferably employs a multi-stage electric push rod or a multi-stage rigid chain structure, or a multi-stage sleeve screw jack.

[0044] In this embodiment, the maximum travel range of the multi-stage lifting module 2 is a pre-set first range, which is 8-10 meters in this embodiment, covering the height of the side wall of a standard subway station. The multi-stage lifting module 2 has a lower height when retracted, that is, the height in the retracted state is less than the transportation limit height of the mobile chassis assembly 1, which facilitates the transportation of the whole machine.

[0045] The fixed end of the multi-stage lifting module 2 is connected to the vehicle frame platform 11 through a high-strength flange, and its telescopic end extends downward into the trench to suspend subsequent components. In this embodiment, the telescopic end of the multi-stage lifting module 2 can extend vertically into the trench between the side wall of the subway station and the enclosure structure as an example.

[0046] In one feasible implementation, the steering component 3 is located at the end of the multi-stage lifting module 2, i.e., the telescopic end of the multi-stage lifting module 2. The steering component 3 is an electric rotary actuator that provides a vertical rotational degree of freedom. It has two functions: first, to fold and retract the transverse module during transportation to reduce its volume; and second, to rotate the transverse module to an angle parallel to the side wall during operation.

[0047] In this embodiment, the steering component assembly 3 includes: a rotating base fixed to the end of the multi-stage lifting module 2; and a rotary drive device disposed on the rotating base, the output shaft of which is connected to the lateral movement module 4. The rotary drive device drives the lateral movement module 4 to rotate in the horizontal plane, so that in the operating state, the lateral movement module 4 is parallel to the side wall, and in the retracted state, the lateral movement module 4 is retracted within the projection range of the mobile chassis assembly 1.

[0048] In one feasible implementation, the lateral movement module 4 is a working arm located within the trough. The lateral movement module 4 mainly includes a lateral guide rail 41, a slide table 42, and a lateral movement drive structure. The lateral guide rail 41 is a long strip of aluminum profile or a linear guide rail, connected to the steering component assembly 3 via a connecting bracket; the slide table 42 is slidably mounted on the lateral guide rail 41. The lateral movement module 4 drives the slide table 42 to reciprocate left and right along the lateral guide rail 41 via the lateral movement drive mechanism. In this application, the lateral movement drive mechanism can be a synchronous belt or a lead screw.

[0049] In this embodiment, the overall thickness of the lateral movement module 4 is designed to be very thin to accommodate the narrow, thick groove space.

[0050] In one feasible implementation, the work terminal 5 is detachably mounted on the slide table 42, and the work terminal 5 is typically configured as one or more high-pressure airless spray guns. The spray guns are connected to a feed pump on the ground via hoses.

[0051] In this embodiment, a sensing and control system is also integrated next to the work terminal 5. This system includes a distance sensor 6 and a controller. The distance sensor 6 is mounted on the lateral movement module 4 or the work terminal 5 and is used to detect the vertical distance between the work terminal 5 and the side wall surface in real time. The controller is electrically connected to the mobile chassis assembly 1, the multi-stage lifting module 2, and the distance sensor 6. Based on the feedback signal from the distance sensor 6, the controller controls and adjusts the position of the mobile chassis assembly 1 or the angle of the steering component assembly 3 to maintain its vertical distance within a preset spraying range. Preferably, the distance sensor 6 is a laser rangefinder or an ultrasonic sensor.

[0052] In another embodiment, the work terminal 5 includes a detection probe for detecting the flatness or waterproofing quality of the sidewall.

[0053] In one feasible implementation, the mobile chassis assembly 1 is further provided with a hose reel assembly 8 for reeling in and out the paint delivery pipe and power cable connected to the work terminal 5. The reeling speed of the hose reel assembly 8 is synchronized with the extension and retraction speed of the multi-stage lifting module 2.

[0054] Example 2

[0055] like Figure 2 As shown, this embodiment discloses a method for waterproofing an external fertilizer tank based on the system described in Embodiment 1, the method comprising:

[0056] S1. Drive the mobile chassis assembly 1 to the predetermined work position on the top or middle plate of the subway station, adjust the vehicle body posture and make the lateral moving module 4 parallel to the side wall to be worked on.

[0057] S2. After the lateral moving module 4 is parallel to the side wall to be worked on, the multi-stage lifting module 2 is controlled to extend downward, sending the working terminal 5 into the fertilizer tank space and reaching the predetermined working depth.

[0058] S3. After the working terminal 5 reaches the predetermined working depth in the fertilizer tank, it uses the distance sensor 6 to detect the distance to the side wall to be worked on, and adjusts the working distance to the side wall to be worked on by adjusting the mobile chassis assembly 1 or the steering component assembly 3.

[0059] S4. When the working distance between the working terminal 5 and the side wall to be worked reaches a preset distance, the working terminal 5 is started to spray, and at the same time the horizontal moving module 4 is controlled to drive the working terminal 5 to move in the horizontal direction to complete the single-layer width spraying operation.

[0060] S5. After completing the single-layer width spraying operation, control the multi-stage lifting module 2 to adjust the height of one spraying width upwards or downwards, and repeat step S4 until the side wall spraying within the entire vertical height range corresponding to the predetermined work station is completed.

[0061] S6. Control the mobile chassis assembly 1 to move along the side wall to be worked to the next predetermined work station, and repeat steps S2 to S5.

[0062] In this embodiment, in step S4, the material sprayed on the working terminal 5 is a polyurethane polymer waterproof coating; before step S2, the method further includes a step of unfolding the lateral movement module 4 to the working angle through the steering component assembly 3.

[0063] Example 3

[0064] This embodiment is a further detailed description of Embodiment 2. This embodiment discloses the dynamic working principle of an external waterproofing system for a sump and the method and construction process for performing external waterproofing operations on a sump based on the system described in Embodiment 1.

[0065] In one feasible implementation, the working logic of this system follows the sequence of "positioning-descending-deploying-operation": S1: Positioning and positioning: The chassis platform 11 travels to the edge of the subway station roof. Using the lateral movement function of the steering wheel 12, the position of the vehicle body is precisely adjusted so that the multi-stage lifting module 2 is vertically aligned with the center of the opening of the trough.

[0066] S2: Vertical Descending: The multi-stage lifting module 2 is activated, driving the end mechanism to extend vertically downward into the trough. At this time, the lateral movement module 4 is in a retracted state, that is, parallel to the direction of the trough or at a certain angle to avoid obstacles, and quickly descends to the predetermined bottom working starting height.

[0067] S3: Attitude Deployment and Calibration: After reaching the depth, the steering component 3 rotates, adjusting the lateral movement module 4 to be absolutely parallel to the side wall surface. The distance sensor 6 reads the data, the controller calculates the deviation, and the moving chassis component 1 makes a micro-motion or the steering component 3 makes a fine adjustment to ensure that the spraying distance is accurately met, for example, 300mm.

[0068] S4: Reciprocating Spraying: The operation begins, and the spray gun is activated. The lateral movement module 4 drives the spray gun to scan and spray horizontally from left to right. After spraying one row, the multi-stage lifting module 2 raises or lowers by one step, for example, 500mm, and the spray gun then sprays from right to left. This process repeats, forming a zigzag work path, until the entire vertical strip is sprayed.

[0069] S5: Repositioning: After completing the vertical strip of a predetermined workstation, the multi-stage lifting module 2 retracts, and the chassis platform 11 moves forward along the wall for one workstation width, repeating the above process.

[0070] In another feasible implementation, in addition to waterproof spraying, the system can also modularly replace the work terminal 5, so that the work terminal 5 has other work modes such as detection mode or grouting mode.

[0071] For example, when the work terminal 5 is in detection mode, the spray gun can be replaced with an industrial camera or a 3D laser scanner to automatically detect the joint quality of the side wall, the flatness of the concrete, or the thickness and uniformity of the sprayed waterproof layer.

[0072] When the working terminal 5 is in grouting mode: for the identified leakage points, grouting needles are installed to perform targeted grouting repairs.

[0073] Through the above structure and method, the present invention successfully realizes high-quality and standardized waterproofing construction in narrow spaces inaccessible to personnel, and has extremely high engineering application value.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An external waterproofing system for fertilizer tanks, characterized in that, include: The system is used for chutes in subway stations. A mobile chassis assembly (1) is mounted on the top or middle slab of a subway station structure for travel. The multi-stage lifting module (2) has its fixed end installed on the mobile chassis assembly (1) and its telescopic end can extend vertically downward into the groove between the side wall of the subway station and the enclosure structure. Steering component assembly (3) is located at the telescopic end of the multi-stage lifting module (2); The lateral movement module (4) is connected to the multi-stage lifting module (2) through the steering component assembly (3), and the lateral movement module (4) moves laterally relative to the side wall within the trough. The work terminal (5) is installed on the transverse moving module (4) and is used to perform spraying or inspection work on the outer surface of the side wall; The mobile chassis assembly (1) includes: a chassis platform (11); Four steering wheels (12) are arranged in a rectangular shape at the bottom of the chassis platform (11). Each steering wheel (12) is equipped with steering drive and walking drive capabilities, which are used to realize the straight-line, lateral and in-place turning functions of the mobile chassis assembly (1). The multi-stage lifting module (2) is constructed as a multi-stage electric push rod, a multi-stage screw jack, or a multi-stage scissor lift mechanism; The maximum extension stroke of the multi-stage lifting module (2) is a first set range, which is 8 to 10 meters, and the height of the multi-stage lifting module (2) in the retracted state is less than the transport limit height of the mobile chassis assembly (1). The steering component assembly (3) includes: a rotating base, fixed to the end of the multi-stage lifting module (2); A rotary drive is mounted on the rotating base, and its output shaft is connected to the transverse moving module (4); The rotary drive drives the lateral movement module (4) to rotate in the horizontal plane so that the lateral movement module (4) is parallel to the side wall in the working state, and the lateral movement module (4) is folded into the projection range of the mobile chassis assembly (1) in the storage state. The lateral movement module (4) includes: a lateral guide rail (41), which is connected to the steering component assembly (3) via a connecting bracket; The slide (42) is slidably fitted onto the transverse guide rail (41); A transverse drive mechanism drives the slide (42) to reciprocate along the transverse guide rail (41); The working terminal (5) is detachably mounted on the slide table (42); The system also includes a perception control system, which includes a distance sensor (6) disposed on the lateral movement module (4) or the work terminal (5) for real-time detection of the vertical distance between the work terminal (5) and the side wall surface. The controller is electrically connected to the mobile chassis assembly (1), the multi-stage lifting module (2), and the distance sensor (6); The controller adjusts the position of the mobile chassis assembly (1) or the angle of the steering assembly (3) based on the feedback signal from the distance sensor (6).

2. The external waterproofing system for fertilizer tanks according to claim 1, characterized in that, The working terminal (5) includes a high-pressure spray gun, which is connected to a waterproof coating supply system located on the mobile chassis assembly (1) or an external supply station via a pipeline. Alternatively, the work terminal (5) may include a detection probe for detecting the flatness of the sidewall or the quality of the waterproof layer.

3. The external waterproofing system for fertilizer tanks according to claim 2, characterized in that, The mobile chassis assembly (1) is also provided with a hose reel assembly (8) for reeling in and out the paint delivery pipe and power cable connected to the work terminal (5). The reeling and unreeling speed of the hose reel assembly (8) is synchronized with the extension and retraction speed of the multi-stage lifting module (2).

4. A method for external waterproofing of a fertilizer tank based on the system described in any one of claims 1 to 3, characterized in that, The method includes: S1. Drive the mobile chassis assembly (1) to the predetermined work position on the top or middle plate of the subway station, adjust the vehicle body posture and make the lateral moving module (4) parallel to the side wall to be worked on. S2. After the lateral movement module (4) is parallel to the side wall to be worked on, the multi-stage lifting module (2) is controlled to extend downwards, and the working terminal (5) is sent into the fertilizer tank space and reaches the predetermined working depth. S3. After the working terminal (5) reaches the predetermined working depth in the fertilizer tank, it uses the distance sensor (6) to detect the distance to the side wall to be worked on, and adjusts the working distance to the side wall to be worked on by adjusting the mobile chassis assembly (1) or the steering assembly (3). S4. When the working distance between the working terminal (5) and the side wall to be worked reaches the preset distance, the working terminal (5) is started to spray, and at the same time the horizontal moving module (4) is controlled to drive the working terminal (5) to move in the horizontal direction to complete the single-layer width spraying operation. S5. After completing the single-layer width spraying operation, control the multi-level lifting module (2) to adjust the height of one spraying width upward or downward, and repeat step S4 until the side wall spraying is completed within the entire vertical height range corresponding to the predetermined work station. S6. Control the mobile chassis assembly (1) to move along the side wall to be worked to the next predetermined work station, and repeat steps S2 to S5.

5. The method according to claim 4, characterized in that, In step S4, the material sprayed on the working terminal (5) is a polyurethane polymer waterproof coating; Before step S2, the method further includes the step of deploying the lateral movement module (4) to the working angle via the steering component assembly (3).

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