Maintenance system and maintenance method for vertical flue of house

Abstract

The invention relates to the technical field of flue overhauling, in particular to a house vertical flue overhauling system and method. The upper end of the flue maintenance robot is connected with the traction rope, and the outer side wall of the flue maintenance robot is provided with a plurality of robot telescopic supporting legs capable of being contracted or supported on the inner wall of the flue; the detection system comprises a panoramic camera and an illuminating lamp which are arranged at the lower end of the flue maintenance robot; the paint spraying system comprises a paint storage and transportation device and an end effector arranged on the flue maintenance robot, and the end effector comprises a high-pressure spray head; the coating storage and transportation device is connected with the high-pressure spray head through a material injection pipe; and the end effector can rotate relative to the flue maintenance robot. The device is suitable for the cement prefabricated vertical flue in residential engineering, and defect detection, precise positioning and minimally invasive repairing operation can be conducted on the cement prefabricated vertical flue.

Description

Technical Field

[0001] This application relates to the field of flue maintenance technology, and in particular to a residential vertical flue maintenance system and method. Background Technology

[0002] Currently, most residential kitchens use prefabricated cement flues, which contain steel wire mesh reinforcement to balance strength and wall thickness. However, this structure is prone to developing hidden internal cracks or damage points during transportation and installation. The connection between upper and lower flues relies on polymer cement mortar for sealing, making it difficult to check the compactness of the mortar after construction. Furthermore, during the interior decoration phase, homeowners' actions such as fixing pipes to the flue wall and illegally nailing can damage the flue structure, ultimately leading to cracks and smoke leakage. These defects have become a core pain point for homeowners' complaints after the houses are delivered, seriously affecting the living experience.

[0003] Existing flue defect treatment technologies have significant limitations. Traditional repairs involve a process of "smoke testing for each household → dismantling of the renovation structure → manual grouting / sealing → restoration of the renovation → secondary testing". This process not only results in low accuracy in locating the smoke leak point and poor results due to limited space for manual repair, but also requires the large-scale removal of ceilings and walls, which is costly, time-consuming, and seriously disturbs residents.

[0004] Existing robotic technologies are also inadequate to meet the needs. Currently available pipeline inspection robots can only detect defects without repair capabilities and are only suitable for commercial stainless steel pipelines; pipeline cleaning robots focus on oil stain removal and are not suitable for precast concrete flues; industrial pipeline handling robots are only designed for horizontal industrial pipelines and lack autonomous defect identification and vertical operation capabilities. Furthermore, existing flue repair technologies require workers to risk their lives to repair pipes that can be accessed, and are limited by size and depth; while pipes that cannot be accessed require drilling and grouting or sealing plate repairs, which still damage the flue structure. Neither of these technologies can achieve minimally invasive, end-to-end remediation. Summary of the Invention

[0005] This application provides a residential vertical flue inspection system and method, applicable to precast concrete vertical flues in residential projects, capable of defect detection, precise location and minimally invasive repair.

[0006] Firstly, the residential vertical flue inspection system provided in this application includes a traction system, a flue inspection robot, a detection system, and a paint spraying system; The traction system includes a winch and a traction rope; The upper end of the flue inspection robot is connected to the traction rope, and the outer side wall of the flue inspection robot has multiple telescopic outriggers that can retract or be supported on the inner wall of the flue. The detection system includes a panoramic camera and a lighting lamp installed at the lower end of the flue inspection robot, and also includes a ranging algorithm module electrically connected to the panoramic camera; the panoramic camera can capture images of the inner wall of the flue, and the ranging algorithm module can calculate distance and length based on the images; The paint spraying system includes a paint storage and transportation device and an end effector mounted on the flue inspection robot. The end effector includes a high-pressure nozzle. The paint storage and transportation device and the high-pressure nozzle are connected by a filling pipe. The end effector is capable of rotating relative to the flue inspection robot.

[0007] In a preferred embodiment, the flue inspection robot includes a long and narrow robot body, and at least three telescopic robot legs are arranged circumferentially around the upper part of the robot body; the telescopic robot legs are hinged to the robot body to form an umbrella-shaped support structure. The robot's telescopic outrigger has at least two sections and is equipped with a telescopic motor inside, enabling the robot's telescopic outrigger to extend and retract along its length.

[0008] In a preferred embodiment, a pressure sensor is provided inside the support end of the robot's telescopic leg to detect the contact pressure between the robot's telescopic leg and the inner wall of the chimney.

[0009] In a preferred embodiment, the detection system further includes a 3D LiDAR scanner, an AI vision algorithm module, and an image recognition algorithm module. The 3D LiDAR scanner is used to acquire 3D point cloud data of the inner wall of the flue. The AI ​​vision algorithm module and the image recognition algorithm module are both electrically connected to the panoramic camera. The AI ​​vision algorithm module and the image recognition algorithm module can identify millimeter-level cracks, quantify the crack length, width, and depth parameters, and construct a 3D digital model.

[0010] In a preferred embodiment, the paint storage and transportation device includes a paint silo, the bottom outlet of which is connected to the injection pipe via a pipeline, and a throttling valve, a pressurizing pump, and a flow meter are installed on the pipeline.

[0011] In a preferred embodiment, both the traction system and the paint spraying system are equipped with omnidirectional wheels capable of braking.

[0012] In a preferred embodiment, the traction rope is a load-bearing composite cable, which has internal signal transmission cables and power supply cables, enabling it to perform load-bearing, power supply and signal transmission functions; the outer layer of the load-bearing composite cable is made of polyvinyl chloride. The feed tube is a flexible hose.

[0013] In a preferred embodiment, the end effector further includes a grinding brush, which includes a grinding rotary motor disposed within the flue maintenance robot and a brush head that is kinetically connected to the output end of the grinding rotary motor.

[0014] Secondly, this application also provides a maintenance method based on any one of the residential vertical flue maintenance systems, comprising the following steps: The traction system is used to lower the flue inspection robot into the target flue. The detection system determines the location to be repaired, and the traction system adjusts the flue inspection robot to the target location; the robot's telescopic outriggers are deployed to fix the flue inspection robot in the target flue. Based on the image information acquired by the detection system, the position of the high-pressure nozzle is adjusted so that it faces the location to be repaired. The paint spraying system sprays paint onto the area to be repaired using the high-pressure nozzle.

[0015] In a preferred embodiment, the method further includes the step of: collecting parameters of the target flue, including the flue's inner diameter, inner wall condition, and operating environment; Based on the information about the inner diameter of the flue, determine the dimensions of the flue maintenance robot and roughly adjust the length of the robot's telescopic outriggers; Based on the information about the inner wall condition, the location to be repaired and the extent of damage to the target flue are preliminarily determined. Based on the operating environment information, targeted protective measures are taken for the flue maintenance robot, the traction rope, and the injection pipe, and the composition of the coating is determined.

[0016] This application has the following beneficial effects: This application, through its body design, traction system, integrated detection system, and paint spraying system, is applicable to precast concrete vertical flues in residential engineering. It solves the problems of high labor intensity and high safety risks associated with traditional manual inspection and repair, and overcomes the shortcomings of traditional flue robots that can only walk in horizontal or gently sloping flues and have no repair function, thus realizing an integrated operation of the entire process of "inspection-cleaning-repair".

[0017] The "umbrella-style" active adaptive support structure enables automatic adaptation to flues of different diameters, while ensuring the machine body is centered and precisely positioned at the centimeter level. This avoids the repair quality problems caused by the traditional equipment's "one machine, one diameter" design, difficulties in operating in narrow spaces, and positioning deviations.

[0018] The detection system, designed with "3D LiDAR + AI vision algorithm", enables automatic identification, parameter quantification, and 3D modeling of millimeter-level microcracks, achieving an accuracy rate of ≥95%. This solves the shortcomings of traditional manual observation, which is prone to omissions and cannot quantify micro-defects, providing reliable data support for precise repair.

[0019] The integrated end effector that can rotate 360° enables collaborative grinding and spraying operations, avoiding spraying dead angles and improving work efficiency by 3-5 times compared to traditional manual methods, with a repair qualification rate of over 98%. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the first state of the flue maintenance system provided in the embodiments of this application; Figure 2 A schematic diagram of the second state of the flue maintenance system provided in the embodiments of this application; Figure 3 A schematic diagram of the third state of the flue maintenance system provided in the embodiments of this application; Figure 4 A schematic diagram of the fourth state of the flue maintenance system provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the flue gas maintenance robot provided in an embodiment of this application; Figure 6 This is a schematic diagram of the traction system provided in an embodiment of this application; Figure 7 This is a schematic diagram of a coating raw material silo system provided in an embodiment of this application; Numbering on the map: 1-Winder; 11-Drum; 12-Control device; 13-Motor; 14-Wheel base; 2-Torch rope; 3-Fluorescence inspection robot; 31-Robot telescopic legs; 32-Robot body structure; 33-Rotating shaft; 34-High-pressure nozzle; 35-Panoramic camera and lighting; 36-Solenoid valve; 37-Repair agent; 4-Paint storage and transportation device; 41-Paint silo; 42-Throttle valve; 43-Pressure pump; 44-Flow meter; 45-Cassette wheel base; 5-Structural floor slab; 6-Injection pipe; 7-Inner wall of flue. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and labeled in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] like Figures 1-7 As shown, this application first provides a residential vertical flue maintenance system. The maintenance system includes a traction system, a flue maintenance robot, a detection system, and a paint spraying system. The traction system includes a winch 1 and a traction rope 2; The upper end of the flue inspection robot 3 is connected to the traction rope 2, and the outer side wall of the flue inspection robot 3 has multiple telescopic robot legs 31 that can retract or be supported on the inner wall 7 of the flue. The detection system includes a panoramic camera and a lighting lamp 35 installed at the lower end of the flue inspection robot 3, and a ranging algorithm module electrically connected to the panoramic camera; the panoramic camera can capture images of the inner wall 7 of the flue, and the ranging algorithm module can calculate the distance and length based on the images; The paint spraying system includes a paint storage and transportation device 4 and an end effector mounted on a flue maintenance robot 3. The end effector includes a high-pressure nozzle 34. The paint storage and transportation device 4 and the high-pressure nozzle 34 are connected by a filling pipe 6. The end effector is capable of rotating relative to the flue maintenance robot 3.

[0030] Specifically, the winch 1 includes a drum 11, a control device 12, a motor 13, a caster wheel base 14, and a braking system. One end of the traction rope 2 is wound around the drum 11, and the other end is detachably connected to the rotating shaft 33 on the top of the robot structure body 32 of the flue inspection robot 3. The control device 12 is electrically connected to the motor 13 and the braking system through wires. The braking system is nested on one side of the drum 11 and works in conjunction with the control device 12 to lock the drum 11.

[0031] Specifically, the winch 1 is fixedly installed on the structural floor slab 5 outside the flue by expansion bolts. The universal wheel base 14 has a self-locking function, which facilitates fine-tuning of the position during installation. The motor 13 is a servo motor, which is connected to the drum 11 through a coupling. The control device 12 can adjust the output speed of the motor 13, thereby controlling the speed at which the drum 11 winds up and unwinds the traction rope 2, and driving the flue maintenance robot 3 to move up and down along the flue axis. The traction rope 2 uses a bearing-load-bearing composite cable with built-in copper core signal transmission lines and power lines, serving both power supply (powering various modules of the robot) and data transmission (transmitting detection images, pressure feedback, and other data). Its outer layer is made of oil-resistant and high-temperature-resistant polyvinyl chloride material with a temperature range of -20℃ to 80℃, suitable for old and oily flue environments. The control device 12 calculates the real-time position of the flue maintenance robot 3 by collecting tension feedback data from the bearing-load-bearing composite cable and combining it with the length of the bearing-load-bearing composite cable, controlling the positioning error within ±1cm to ensure precise alignment between the work point and the defect location. When the flue maintenance robot 3 reaches the target position, the control device 12 triggers the braking system, locking the drum 11 through frictional contact between the brake pads and the drum 11 to prevent the flue maintenance robot 3 from shifting. The injection pipe 6 is a flexible pressure-resistant hose, with its lower end wrapped around the traction rope 2, and its length can be adjusted synchronously with the winding and unwinding of the traction rope 2, continuously delivering sealing coating to the high-pressure nozzle 34.

[0032] Preferably, by setting the accuracy of the tension sensor of the bearing-loaded composite cable (range 0~500N, accuracy 0.1N) and combining it with the PID algorithm correction of the control device 12, the positioning error can be further controlled within ±0.5cm; at the same time, the binding distance between the injection pipe 6 and the bearing-loaded composite cable is set to 10cm to avoid relative friction between the two causing pipe damage or cable sheath wear.

[0033] In this embodiment, the flue gas maintenance robot 3 includes a robot body 32, an "umbrella" support structure, and a rotating shaft 33. The "umbrella" support structure includes 3-4 sets of robot telescopic legs 31 and built-in pressure sensors. The robot body 32 is made of a narrow aluminum alloy, and its top end is fixedly connected to the rotating shaft 33 through a flange. The inner wall of the rotating shaft 33 is provided with anti-slip texture and is connected to the connector buckle at the end of the traction rope 2. The robot telescopic legs 31 are distributed circumferentially along the outer wall of the robot body 32 (the included angle between adjacent robot telescopic legs 31 is 90° or 120°). The arm end of the robot telescopic legs 31 has a built-in pressure sensor (range 0-1MPa, accuracy 0.01MPa), and the robot telescopic legs 31 are connected to the hydraulic drive unit inside the robot body 32 through oil pipes.

[0034] Specifically, the robot body 32 is designed with a width of 280mm to accommodate a minimum flue diameter of 300mm, ensuring mobility in narrow spaces. The snap-fit ​​connection structure of the pivot 33 has an anti-detachment function, requiring manual unlocking to separate the traction rope 2 from the robot. When the "umbrella" support structure is in operation, the control device 12 sends a command to the hydraulic drive unit, and the hydraulic oil pushes the robot's telescopic legs 31 to extend outward until the arm end of the robot's telescopic legs 31 contacts the inner wall 7 of the flue. The pressure sensor collects the contact pressure value in real time and transmits the data to the control device 12. When the pressure reaches the preset threshold (generally, the preset threshold for concrete flues is ≤0.5MPa), the hydraulic drive unit stops supplying oil, and the robot's telescopic legs 31 stop extending, achieving automatic adaptation to flues with different diameters from 300mm to 1000mm. At the same time, the control device 12 compares the pressure data of each group of robot telescopic legs 31 and balances the contact pressure of each group of robot telescopic legs 31 (pressure difference ≤0.05MPa) by adjusting the oil supply pressure of the hydraulic drive unit, so that the robot body 32... Always maintain a centered position to avoid image distortion or uneven coating caused by machine tilt; the robot's telescopic legs 31 adopt a multi-stage telescopic design, with a single-stage telescopic length of 50mm~100mm, and through different stages of extension combination, it covers the full-diameter adaptation range.

[0035] Preferably, the arm end of the robot telescopic leg 31 is made of polyurethane anti-slip pad, which not only avoids scratching the concrete surface of the flue inner wall 7, but also increases the friction between the leg and the inner wall, further enhancing the stability of the machine body; at the same time, by setting the flow valve parameters of the hydraulic drive unit, the extension speed of the robot telescopic leg 31 is controlled at 5mm / s~10mm / s, preventing the robot telescopic leg 31 from extending too fast, causing a sudden increase in pressure and damaging the flue structure.

[0036] Alternatively, the traction system can be replaced with a wall-climbing mobile mechanism to meet the needs of use on lateral or gentle slopes.

[0037] In this embodiment, the detection system includes a panoramic camera and lighting 35 (specifically a 360° panoramic camera and LED shadowless lighting) and a ranging algorithm module. It may also include upgraded components such as a 3D LiDAR scanner, an AI vision algorithm module, and an infrared obstacle avoidance sensor. The panoramic camera and lighting 35 are arranged in a circular array along the front end of the robot structure 32 (each component is spaced 45° apart, for a total of 8 groups). The ranging algorithm module is integrated into the control motherboard inside the robot structure 32. The 3D LiDAR scanner (scanning accuracy 0.1mm) is fixed to the lower center of the 32 via a bracket and electrically connected to the AI ​​vision algorithm module via a data cable. The infrared obstacle avoidance sensor (detection distance 0.1m~1m) is embedded in the lower sidewall of the robot structure 32 and wirelessly connected to the path planning algorithm module.

[0038] Specifically, the LED shadowless lighting uses adjustable LED beads (brightness range 1000lm~5000lm), which can eliminate the shadow area on the inner wall 7 of the flue and provide a uniform lighting environment when turned on; the 360° panoramic camera is a 4K high-definition camera with a frame rate of 30fps, which can record video and capture still images in real time. The image data is transmitted to the remote control console through a bearing composite cable, allowing operators to observe surface defects such as cracks and damage on the inner wall; the ranging algorithm module calculates the real-time distance between the robot body and the side wall of the flue based on the image captured by the camera and the triangulation principle (measurement range 50mm~200mm), and feeds the data back to the control unit of the "umbrella" support structure to dynamically adjust the extension length of the robot's telescopic legs 31 to ensure that the distance between the panoramic camera and the inner wall 7 of the flue is constant (default 100mm) and improves the image clarity.

[0039] After phased upgrades, the 3D LiDAR scanner can perform a 360° scan of the inner wall of the flue, generating 3D point cloud data. The AI ​​vision algorithm module (based on a transfer learning model, with training samples including over 100,000 flue crack images) combines camera images and point cloud data to automatically identify micro-cracks with a minimum width of 0.1mm, quantify the crack length, width, and depth parameters (measurement error ≤0.05mm), and construct a 3D digital model of the crack. The infrared obstacle avoidance sensor can detect obstacles such as protrusions and foreign objects in the flue in real time. When an obstacle is detected at a distance ≤0.3m, a signal is sent to the path planning algorithm module. The algorithm module automatically calculates the detour path and controls the winch traction system to adjust the robot's position to avoid collisions.

[0040] Preferably, through iterative training of the AI ​​vision algorithm module, the crack recognition accuracy can be improved to ≥95%, and online updates of model parameters are supported to adapt to the characteristics of flue defects in different regions (such as high humidity areas and high oil fume areas); at the same time, the brightness adjustment of the LED shadowless lighting is linked with the exposure parameters of the 360° panoramic camera. When the camera detects that the reflectivity of the inner wall is ≥60%, the brightness of the light is automatically reduced to avoid overexposure of the image.

[0041] In this embodiment, the paint spraying system includes an end effector, a paint supply chain, a paint storage and transportation device 4, and an intelligent flow control module. The end effector includes a high-pressure nozzle 34, a rotating wire brush, and a harmonic reducer. The harmonic reducer (transmission accuracy 0.1°) is connected to a stepper motor in the middle of the robot structure 32 via gears. The high-pressure nozzle 34 and the rotating wire brush are arranged sequentially along the robot's axial direction (50mm spacing). The paint storage and transportation device 4 is located on the external floor and includes a paint silo 41 (capacity 50L). The bottom outlet of the paint silo 41 is connected to an injection pipe 6 via a pipeline. A throttling valve 42, a pressurizing pump 43 (pressure range 0~10MPa), and a flow meter 44 (range 0~5L / min, accuracy 0.01L / min) are installed on the pipeline. The injection pipe 6, throttling valve 42, pressurizing pump 43, and flow meter 44 constitute the paint supply chain.

[0042] Specifically, before operation, the operator injects the sealing coating into the coating hopper 41. The intelligent flow control module automatically calculates the required coating amount based on the crack parameters (length, width, and depth) output by the AI ​​vision algorithm module. During operation, the pressurization pump 43 starts, pressurizing the coating and delivering it to the throttling valve 42. The intelligent flow control module adjusts the opening of the throttling valve 42 to control the coating flow rate. The flow meter 44 monitors the coating flow rate in real time and feeds the data back to the intelligent flow control module. The PID algorithm dynamically corrects the valve opening to avoid flow fluctuations. At this time, the stepper motor drives the harmonic reducer to rotate, which in turn drives the end effector to rotate 360° around the robot axis. The rotating wire brush (the bristles are made of a nylon-steel wire composite material) is started first to grind the inner wall of the flue 7 to be repaired (speed 500r / min~1500r / min, higher speed when the oil stains are thick and lower speed when the oil stains are thin), removing floating dust and loose impurities. After grinding, the high-pressure nozzle 34 is turned on to spray the coating onto the crack area. The high-pressure nozzle 34 uses a detachable nozzle and is suitable for a diameter of 0.5~2mm (0.5mm nozzle for 0.1~0.5mm micro cracks, 1~2mm nozzle for >0.5mm cracks). Furthermore, the intelligent flow control module is integrated into the control motherboard and electrically connected to the flow meter 44 and the AI ​​vision algorithm module. The built-in feeding components include a small grouting pump (pressure 0~8MPa), a 5L~10L paint storage tank, and a level sensor (detection accuracy 1mm). The inner wall of the storage tank is coated with a polytetrafluoroethylene anti-corrosion coating, and the level sensor is embedded in the bottom of the tank. During spraying, the small grouting pump delivers the paint from the paint storage tank to the high-pressure nozzle 34. The level sensor monitors the remaining paint level in real time. When the remaining level is less than 10% of the total capacity, an audible and visual reminder for replenishment is sent to the remote control console. The end effector's rotation mechanism is equipped with an angle limit device, with a maximum rotation angle of 360°, to prevent excessive rotation from causing the injection tube 6 to become entangled.

[0043] Preferably, by setting the spray angle of the high-pressure nozzle 34 (adjustable from 0 to 45°) and combining it with the rotation speed of the end effector (10° / s to 30° / s), uniform spraying of the crack area can be achieved, with a coating thickness error of ≤0.1mm. At the same time, the polytetrafluoroethylene coating of the paint storage tank is compatible with acidic and alkaline sealing coatings, avoiding tank corrosion and extending service life.

[0044] This embodiment, through its elongated body design, traction / wall-climbing mobile mechanism, and integrated detection-repair module, breaks through the limitations of traditional equipment. It solves the problems of high labor intensity and high safety risks associated with traditional manual detection and repair, and overcomes the shortcomings of traditional flue robots that can only walk in horizontal or gently sloping flues and have no repair function. It can move flexibly in flues with various postures such as vertical, horizontal, and sloping, realizing the integrated operation of the entire process of "detection-cleaning-repair".

[0045] This embodiment achieves automatic adaptation of flues with different diameters by combining an "umbrella-type" active adaptive support structure with a traction system, while ensuring the machine body is centered and positioned with centimeter-level precision. This avoids the repair quality problems caused by the traditional equipment's "one machine, one diameter" design, difficulties in operating in narrow spaces, and positioning deviations.

[0046] This embodiment uses a detection system design combining "3D LiDAR + AI vision algorithm" to achieve automatic identification, parameter quantification, and 3D modeling of millimeter-level microcracks, with a detection accuracy of ≥95%. This solves the shortcomings of traditional manual observation, which is prone to omissions and cannot quantify micro-defects, and provides reliable data support for precise repair.

[0047] This embodiment achieves coordinated grinding and spraying operations and dynamic and precise control of paint usage through an integrated end effector that can rotate 360° and an intelligent flow control module. It avoids spraying dead spots and paint waste, and improves work efficiency by 3-5 times compared with traditional manual labor, with a repair qualification rate of over 98%.

[0048] In addition, this embodiment also provides a system-stage iterative process module, including a system iteration pre-work module, a system iteration first-stage module, a system iteration second-stage module, a system iteration third-stage module, and a system iteration completion stage module. The output of the system iteration pre-work module is connected to the input of the system iteration first-stage module via a data link, the output of the system iteration first-stage module is electrically connected to the input of the system iteration second-stage module, the output of the system iteration second-stage module is communicatively connected to the input of the system iteration third-stage module, and the output of the system iteration third-stage module is connected to the input of the system iteration completion stage module via a feedback link. These modules work together to achieve the gradual upgrade of the robot system from basic functions to fully intelligent functions.

[0049] Specifically, the pre-iteration work modules of the system include a flue parameter acquisition unit and a data analysis unit. The flue parameter acquisition unit collects key parameters of the target flue using on-site survey tools (such as laser rangefinders and endoscopes), including the diameter range (300mm~1000mm), the condition of the inner wall (cleanliness, oil thickness, existing defect types), and the requirements of the working environment (temperature, humidity, whether there are flammable and explosive hazards). The data analysis unit classifies and organizes the collected parameters and generates a "Flue Operation Parameter Report" to provide a basis for subsequent system module selection and parameter setting. Once the "Flue Operation Parameter Report" is approved, the first phase of the system iteration module is triggered.

[0050] The first phase of the system iteration module includes a basic functional module building unit. The building unit is equipped with a traction system, a flue inspection robot, a detection system, and a paint spraying operation system. During the building process, the traction system is first fixed to the outer structural floor slab 5 of the flue, then the flue inspection robot 3 is connected to the traction rope 2, followed by the integration of the hardware components of the manual auxiliary detection system, and finally the connection of the paint supply link of the paint spraying operation system to complete the assembly of the basic version system. This version can realize remote control of robot lifting, manual observation of defects, and manual adjustment of spraying operations, meeting the repair needs of simple flues (newly delivered without oil stains and with a single type of defect).

[0051] The second phase of the system iteration includes a detection and accessibility optimization unit. This optimization unit adds an AI vision + LiDAR detection component (including a 3D LiDAR scanner, an AI vision algorithm module, and an image recognition algorithm module), an infrared obstacle avoidance module (including an infrared obstacle avoidance sensor and a path planning algorithm module), and an oil stain adaptable spray component (including a high-pressure spraying unit and a nylon-steel wire hybrid bristle rotating wire brush). During the upgrade, the 3D LiDAR scanner is fixed to the center of the robot's front end and communicates with the existing 360° panoramic camera. The AI ​​vision algorithm module and the image recognition algorithm module are embedded in the control motherboard. An infrared obstacle avoidance sensor is embedded in the front side wall of the robot's structure and works in conjunction with the path planning algorithm module. After the upgrade, the system can automatically identify and quantify millimeter-level micro-cracks, automatically avoid obstacles in the flue, and perform pre-cleaning of old oil-stained flues, adapting to flue operation scenarios of moderate complexity.

[0052] The third phase of the system iteration includes a fully intelligent closed-loop construction unit. This construction unit upgrades the wall-climbing drive wheel + inertial navigation component (including the wall-climbing drive wheel, inertial navigation module, and 3D map construction module) and integrates an autonomous material supply system (including a small grouting pump, 5L~10L). The system includes a paint storage tank and a level sensor, and is equipped with precise spraying and data traceability functions (including an intelligent flow control module, a data storage module, and a report generation unit). During the upgrade, the robot's telescopic legs 31 are replaced with wall-climbing drive wheels (the surface is made of rubber with a friction coefficient ≥0.8, and has a built-in servo motor and braking mechanism). An inertial navigation module and a 3D map construction module are added inside the robot body. The external paint hopper 41 is replaced with an autonomous feeding system connected to the high-pressure nozzle 34 of the end effector. A data storage module and a report generation unit are integrated into the remote control console, enabling data exchange with the detection system and the spraying operation system. After the upgrade, the system can move autonomously and achieve centimeter-level positioning without being pulled by a winch. It automatically calculates paint usage and sprays precisely, automatically saves detection images, crack parameters, spraying usage, and other data, and generates a "Flue Repair Report," forming a closed-loop process of "autonomous detection - autonomous cleaning - autonomous repair - data traceability," meeting the operational needs of complex flues (old, oily, and defective).

[0053] The system iteration completion phase includes a functional verification unit and a parameter adjustment unit. The functional verification unit uses pressure testing tools (such as pressure sensors) to test the contact pressure stability of the "umbrella-type" support structure or the wall-climbing drive wheel (pressure fluctuation ≤ 0.05MPa), uses a laser positioning device to test the robot's positioning accuracy (error ≤ 1cm), and uses a smoke test to verify the sealing performance of the repaired flue (no smoke leakage). If the verification indicators do not meet the standards, the parameter adjustment unit feeds back to the corresponding module according to the error type. For example, if the positioning accuracy is not up to standard, the parameters of the inertial navigation module are adjusted; if the pressure is unstable, the oil supply pressure of the hydraulic drive unit is optimized, until all indicators meet the requirements of the "Flue Operation Parameter Report", and the system iteration is completed.

[0054] Preferably, by setting intermediate acceptance nodes at each iteration stage (such as after the basic version is assembled or after the second-stage upgrade is completed), module compatibility issues can be detected in a timely manner, avoiding large-scale rework in the future. At the same time, after the system iteration is completed, function expansion interfaces can be reserved (such as reserved sensor installation positions and algorithm upgrade ports) to facilitate further expansion of system functions (such as adding flue fire resistance detection function) according to new flue defect types or policy requirements.

[0055] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A residential vertical flue service system, characterized by, This includes a traction system, a flue maintenance robot, a testing system, and a paint spraying system; The traction system includes a winch and a traction rope; The upper end of the flue inspection robot is connected to the traction rope, and the outer side wall of the flue inspection robot has multiple telescopic outriggers that can retract or be supported on the inner wall of the flue. The detection system includes a panoramic camera and a lighting lamp installed at the lower end of the flue inspection robot, and also includes a ranging algorithm module electrically connected to the panoramic camera; the panoramic camera can capture images of the inner wall of the flue, and the ranging algorithm module can calculate distance and length based on the images; The paint spraying system includes a paint storage and transportation device and an end effector mounted on the flue inspection robot. The end effector includes a high-pressure nozzle. The paint storage and transportation device and the high-pressure nozzle are connected by a filling pipe. The end effector is capable of rotating relative to the flue inspection robot.

2. The residential vertical chimney access system of claim 1, wherein, The flue inspection robot includes a long and narrow robot body, with at least three telescopic robot legs arranged circumferentially around the upper part of the robot body; the telescopic robot legs are hinged to the robot body to form an "umbrella"-shaped support structure. The robot's telescopic outrigger has at least two sections and is equipped with a telescopic motor inside, enabling the robot's telescopic outrigger to extend and retract along its length.

3. The residential vertical chimney access system of claim 2, wherein, A pressure sensor is installed inside the support end of the robot's telescopic outrigger to detect the contact pressure between the robot's telescopic outrigger and the inner wall of the chimney.

4. The residential vertical chimney access system of claim 1, wherein, The detection system also includes a 3D LiDAR scanner, an AI vision algorithm module, and an image recognition algorithm module. The 3D LiDAR scanner is used to acquire 3D point cloud data of the inner wall of the flue. The AI ​​vision algorithm module and the image recognition algorithm module are both electrically connected to the panoramic camera. The AI ​​vision algorithm module and the image recognition algorithm module can identify millimeter-level cracks, quantify the crack length, width, and depth parameters, and construct a 3D digital model.

5. The residential vertical chimney access system of claim 1, wherein, The paint storage and transportation device includes a paint silo, the bottom outlet of which is connected to the injection pipe via a pipeline, and a throttling valve, a pressurizing pump and a flow meter are installed on the pipeline.

6. The residential vertical chimney access system of claim 1, wherein, Both the traction system and the paint spraying system are equipped with omnidirectional wheels capable of braking.

7. The residential vertical chimney access system of claim 1, wherein, The traction rope is a load-bearing composite cable, which contains signal transmission cables and power supply cables, enabling it to perform load-bearing, power supply and signal transmission functions; the outer layer of the load-bearing composite cable is made of polyvinyl chloride. The feed tube is a flexible hose.

8. The residential vertical chimney access system of claim 1, wherein, The end effector also includes a grinding brush, which includes a grinding rotary motor disposed in the flue maintenance robot and a brush head that is drivenly connected to the output end of the grinding rotary motor.

9. A maintenance method for a residential vertical flue maintenance system according to any one of claims 1 to 8, characterized in that, Includes the following steps: The traction system is used to lower the flue inspection robot into the target flue. The detection system determines the location to be repaired, and the traction system adjusts the flue inspection robot to the target location. Deploy the robot's telescopic outriggers to fix the flue inspection robot in the target flue; Based on the image information acquired by the detection system, the position of the high-pressure nozzle is adjusted so that it faces the location to be repaired; The paint spraying system sprays paint onto the area to be repaired using the high-pressure nozzle.

10. The maintenance method according to claim 9, characterized in that, It also includes the following steps: collecting parameters of the target flue, including the flue's inner diameter, inner wall condition, and operating environment; Based on the information about the inner diameter of the flue, determine the dimensions of the flue maintenance robot and roughly adjust the length of the robot's telescopic outriggers; Based on the information about the inner wall condition, the location to be repaired and the extent of damage to the target flue are preliminarily determined. Based on the operating environment information, targeted protective measures are taken for the flue maintenance robot, the traction rope, and the injection pipe, and the composition of the coating is determined.

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