Climbable warehouse inspection robot integrating material identification and cleaning functions

Abstract

The present application relates to warehousing inspection robot technical field, specifically to a kind of integrated material identification and cleaning function's climbable warehousing inspection robot.It includes base, duct fan negative pressure suction device, wheeled moving device, active cleaning device, material identification device and control unit.Duct fan negative pressure suction device makes robot suction on wall surface;Wheeled moving device drives robot to move;Active cleaning device includes cleaning wheel and cleaning motor, for cleaning wall surface;Material identification device obtains material type information by contact;Control unit is electrically connected with duct fan negative pressure suction device, wheeled moving device, active cleaning device and material identification device.It can be stably suctioned on vertical wall surface, flexibly moves, and can adjust cleaning strength and suction force according to the surface material characteristics synchronously.

Description

Technical Field

[0001] This invention relates to the field of warehouse inspection robot technology, specifically a climbable warehouse inspection robot that integrates material identification and cleaning functions. Background Technology

[0002] In modern warehousing and logistics management, regular inspections and cleaning of warehouse walls, shelving facades, and elevated structures are crucial for ensuring safe and hygienic warehouse operations. Currently, this work primarily relies on manual labor or ground-based mobile equipment, which presents challenges such as high labor intensity, low efficiency, and high risks. To address these issues, wall-climbing robots have emerged. These robots can adhere to vertical walls and move, replacing or assisting manual labor in high-altitude operations.

[0003] Existing wall-climbing robots mainly focus on two basic functions: adhesion and movement. However, they have the following shortcomings in terms of functional expansion: 1. Lack of proactive cleaning capabilities and simplistic cleaning strategies. Most existing wall-climbing robots are equipped with cameras for wall inspection or image acquisition. While some designs incorporate cleaning components, these are mostly fixed scrapers or pads, offering only a simple wiping effect with limited cleaning capabilities. They cannot effectively remove common dust and stains found in warehouse environments. More importantly, the cleaning action is mechanically fixed and cannot be adjusted according to the characteristics of the surface to be cleaned (such as the roughness of different packaging materials and the adhesion of stains), posing a risk of insufficient cleaning or damage to the surface of the goods.

[0004] 2. The adsorption force adjustment method is singular and lacks adaptive capability based on surface characteristics. Existing wall-climbing robots typically employ constant negative pressure adsorption or adjust adsorption force based on motion posture (such as turning, acceleration, and deceleration), but they cannot dynamically change the adsorption force according to the material properties of the wall or cargo surface (such as smooth metal, rough corrugated paper, porous wood, etc.). This results in excessive adsorption force and wasted energy on smooth surfaces, while insufficient adsorption force and risk of falling off on rough or porous surfaces.

[0005] 3. The material identification and execution mechanisms are isolated, failing to achieve closed-loop collaboration between perception, decision-making, and execution. It should be noted that the basic technology of material identification based on the principle of micro thermoelectric generators (MTEG) is known (for example, existing academic research and patents have disclosed methods for identifying materials such as metals and wood using MTEG). However, these existing technologies only remain at the level of verifying the material identification principle and have not been integrated with the cleaning and adsorption devices of wall-climbing robots. In existing robots, functional modules such as material identification, cleaning, and adsorption adjustment often work in isolation or are simply superimposed, lacking a central control unit that coordinates the adjustment of cleaning parameters and adsorption force based on real-time identified material information. For example, it is impossible to achieve an intelligent closed-loop operation from identifying rough surfaces to automatically increasing adsorption force and enhancing cleaning power.

[0006] Furthermore, some existing technologies focus on improving the robot's obstacle-crossing ability (such as using a multi-suction cup flexible connection structure), but these are complex and costly, and still do not solve the aforementioned problems of intelligent cleaning and adaptive suction force. Other floor cleaning robots, while integrating material recognition functions, lack the ability to climb walls. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention provides a climbable warehouse inspection robot that integrates material recognition and cleaning functions. This integrated wall-climbing robot can stably adhere to vertical walls, move flexibly, and synchronously adjust its cleaning and adhesion forces according to the characteristics of the contact surface materials.

[0008] To achieve the above objectives, the present invention employs the following technical solution: A climbable warehouse inspection robot integrating material recognition and cleaning functions includes a base, a ducted fan negative pressure adsorption device, a wheeled movement device, an active cleaning device, a material recognition device, and a control unit. The ducted fan negative pressure adsorption device is mounted on the base to generate negative pressure, allowing the robot to adhere to a wall surface. The wheeled movement device is mounted on the bottom of the base to drive the robot to move along the wall surface. The active cleaning device is mounted on one side of the base and includes at least one cleaning wheel and a cleaning motor that drives its rotation, used to clean the wall surface. The material recognition device is mounted below the base to acquire material information by contacting the surface to be identified. The control unit is electrically connected to the ducted fan negative pressure adsorption device, the wheeled movement device, the active cleaning device, and the material recognition device. During the robot's movement along the wall surface, the control unit simultaneously controls the material recognition device to perform material recognition operations and adjusts the operating parameters of the active cleaning device to perform differentiated cleaning operations based on the material information fed back by the material recognition device. Simultaneously, the control unit adjusts the operating parameters of the ducted fan negative pressure adsorption device to change the adsorption force.

[0009] Furthermore, the ducted fan negative pressure adsorption device includes a circular tube, a drive motor, a rotating rod, and blades; the circular tube is installed on the upper surface of the base, the drive motor is installed inside the circular tube, the rotating rod is connected to the output shaft of the drive motor, and multiple blades are evenly distributed around the circumference and fixed to the rotating rod. The drive motor drives the blades to rotate inside the circular tube, drawing in the air near the wall of the circular tube and discharging it to the side, thereby generating negative pressure to allow the robot to adhere to the wall.

[0010] Furthermore, the sidewall of the circular tube is connected to multiple pipes arranged in a circular array.

[0011] Furthermore, the material identification device is a material identification device based on micro thermoelectric generator (MTEG), which includes a flexible heating head, a flexible MTEG material identification probe, and an MTEG material identification data processing module. The flexible heating head is used to apply heat to the surface of the contact target. The flexible MTEG material identification probe is used to sense the thermal response of the contact target surface due to the difference in thermal conductivity and convert the thermal response into an electrical signal. The MTEG material identification data processing module is electrically connected to the flexible MTEG material identification probe and is used to receive and process the electrical signal to identify the material type of the contact target.

[0012] Furthermore, the wheeled moving device includes rollers mounted on the bottom of the base via a bracket, and a rotary motor that drives the rollers to rotate.

[0013] Furthermore, the wheeled mobile device also includes a steering mechanism, which includes a steering wheel rotatably connected to the bottom of the base via a mounting bracket, a push plate fixedly connected to the mounting bracket, and an electric push rod with one end fixed to the base and the other end hinged to the push plate via a connecting plate.

[0014] Furthermore, the output shaft of the rotary motor is provided with a drive gear, and the rotating rod of the roller is provided with a drive gear that meshes with the drive gear.

[0015] Furthermore, a cylinder is fixedly installed at the bottom of the base, and a rotating column is rotatably connected inside the cylinder via a bearing. The mounting frame of the steering mechanism is connected to the rotating column. Ball bearings are embedded at the bottom of the cylinder, and a buffer plate and an arc-shaped plate that fits against the surface of the rotating column are provided on the inner wall.

[0016] Furthermore, the active cleaning device includes three sweeping wheels arranged side by side, and the cleaning motor is a stepper motor. Its output shaft is fixedly connected to the rotating shaft of the middle sweeping wheel, and a first gear is fixed on the rotating shaft. Second gears that mesh with the first gear are fixed on the rotating shafts of the sweeping wheels on both sides.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. It achieves differentiated cleaning based on material recognition, achieving both cleaning effectiveness and safety. This invention integrates a material identification device based on micro thermoelectric generators (MTEG), enabling real-time acquisition of the material type (such as smooth metal, rough corrugated paper, porous wood, etc.) of contact surfaces during robot movement. Based on the identification results, the control unit dynamically adjusts the operating parameters of the active cleaning device (such as cleaning wheel speed, cleaning duration, and start / stop sequence) to achieve personalized cleaning for different material surfaces. For example, a low-speed, gentle cleaning method is used for delicate or fragile surfaces, while a high-speed, intensive cleaning method is used for surfaces with strong stain adhesion. Compared to existing fixed cleaning components with a single cleaning strategy, this invention avoids the potential for insufficient cleaning or surface damage caused by a "one-size-fits-all" cleaning approach, significantly improving cleaning effectiveness and operational safety.

[0018] 2. It achieves adaptive adjustment of adsorption force based on material recognition, balancing stability and energy saving. Existing wall-climbing robots typically employ constant negative pressure adsorption or adjust adsorption force solely based on movement posture, failing to adapt to the varying properties of different wall materials. In this invention, the control unit, based on surface material information fed back by a material identification device, determines the roughness, porosity, and other characteristics of the contact surface, and dynamically adjusts the adsorption force of the ducted fan negative pressure adsorption device accordingly. On smooth surfaces, where sealing is good, the adsorption force is appropriately reduced to save energy and reduce noise; on rough or porous surfaces, the adsorption force is increased to prevent the risk of detachment due to air leakage. This adaptive adjustment mechanism enables the robot to achieve safe, stable, and energy-efficient adsorption and movement under various wall surface conditions.

[0019] 3. Stable, flexible, and energy-efficient adsorption and movement have been achieved. Fast adsorption response and energy saving: The use of a ducted fan to generate negative pressure offers advantages over some existing technologies that use multiple independent suction cup components or traditional vacuum pumps, including a compact structure, rapid negative pressure establishment and de-pressure, and relatively low energy consumption. The annular array of channels on the sidewall of the circular tube further optimizes airflow and improves adsorption efficiency.

[0020] Flexible and precise movement: The robot adopts a movement method that directly drives the rollers with motors, combined with an independent steering wheel mechanism driven by electric push rods. This allows the robot to not only move straight on the wall, but also to achieve flexible steering and fine-tuning of posture, improving its passability in complex warehouse environments (such as avoiding obstacles and walking along the edge of shelves) and the flexibility of inspection path planning.

[0021] High stability: The specially designed cylindrical buffer structure (including bearings, balls, buffer plates and arc plates) provides stable, smooth and shock-resistant support for the steering mechanism, effectively absorbing vibrations during movement and steering, ensuring the stability of the robot body and the clarity of inspection images / data when working at heights, and also extending the service life of the mechanical structure.

[0022] 4. Compact structure, high integration, and strong adaptability This invention highly integrates a ducted fan negative pressure adsorption device, a wheeled moving device, an active cleaning device, and a material identification device onto a single base, resulting in a compact overall structure. The active cleaning device employs a gear-linked multi-sweeping wheel design for reliable power transmission; the steering mechanism is equipped with a buffer structure for stable movement. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0024] Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another angle.

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of the base of the present invention.

[0026] Figure 4 This is a three-dimensional structural diagram of the cylindrical part of the present invention.

[0027] Figure 5 This is a schematic diagram of the material identification device based on MTEG according to the present invention.

[0028] In the diagram: 1. Base; 2. Circular tube; 3. Drive motor; 4. Rotating rod; 5. Blade; 6. Bracket; 7. Rotating rod; 8. Roller; 9. Drive gear; 10. Rotating motor; 11. Drive gear; 12. Mounting bracket; 13. Steering wheel; 14. Push plate; 15. Connecting plate; 16. Electric push rod; 17. Pipe; 18. Cylinder; 19. Bearing; 20. Rotating column; 21. Retaining ring; 22. Ball bearing; 23. Buffer plate; 24. Arc plate; 25. Vertical plate; 26. Cleaning wheel; 27. First gear; 28. Second gear; 29. ​​L-shaped frame; 30. Stepper motor; 32. Flexible heating head; 33. Flexible MTEG material identification probe; 34. MTEG material identification data processing module. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below. 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 embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and does not constitute any limitation on the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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 limitations on this invention.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] In the description of this invention, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0034] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0035] like Figures 1 to 5 As shown in the figure, this embodiment of the invention provides a climbable warehouse inspection robot integrating material identification and cleaning functions. It includes a supporting body, a negative pressure adsorption system, a movement and steering system, a cleaning system, a control system (not shown in the figure, typically integrated inside the base 1), and a material identification device based on MTEG. Its core design concept is: the negative pressure adsorption system allows the robot to firmly attach to the wall surface; the wheeled movement system enables flexible walking and steering; during movement, the material identification device acquires surface material information in real time, while the active cleaning device performs personalized cleaning based on the identification information, and the control unit adjusts the adsorption force. All systems are coordinated and scheduled by the internal control unit, integrating inspection, identification, cleaning, and adaptive adsorption functions into one intelligent and integrated operation.

[0036] Detailed structure and connection relationship of each component 1. Supporting Body The robot's supporting structure is the base 1, which provides the mounting base for all other functional modules. The base 1 is typically made of lightweight, high-strength materials (such as aluminum alloy or engineering plastics) and may have internal cavities to accommodate control units, batteries, etc. In this embodiment, the base 1 is rectangular.

[0037] 2. Negative pressure adsorption system The negative pressure adsorption system is a ducted fan type negative pressure adsorption device, the core of which is a circular tube 2 installed on the upper surface of the base 1. The circular tube 2 forms a duct. A drive motor 3 is fixedly installed on the inner bottom wall of the circular tube 2. The output shaft of the drive motor 3 extends upward and is fixedly installed with a rotating rod 4, on which blades 5 are installed. When the drive motor 3 starts, it drives the blades 5 to rotate at high speed inside the circular tube 2, drawing in air from the bottom of the circular tube 2 (the side near the wall) and discharging it to the side, thereby creating a continuous negative pressure in the inlet area at the bottom of the circular tube 2, generating an adsorption force on the wall.

[0038] To achieve stable adsorption and allow the robot to move on the wall, a key improvement in this embodiment is that a flexible sealing skirt (made of highly elastic rubber, silicone, or dense bristle material) is fixedly attached around the bottom opening edge of the circular tube 2. The original length of this flexible sealing skirt slightly extends beyond the bottom edge of the circular tube 2. When the robot approaches the wall, the skirt first contacts the wall and is compressed. When the drive motor 3 starts and the blades 5 rotate at high speed, drawing air upwards from the bottom of the circular tube 2, a dynamic negative pressure chamber is formed between the bottom of the circular tube 2, the flexible sealing skirt, and the wall. This chamber is the physical basis for the robot's adsorption function.

[0039] To optimize airflow and improve adsorption efficiency and stability, multiple pipes 17 are connected to the side wall of the circular tube 2. In this embodiment, there are five pipes 17, which are evenly distributed in a circular array on the surface of the circular tube 2 to guide and disperse the exhaust airflow.

[0040] 3. Movement and Steering System The movement and steering system is integrated at the bottom of the base 1 and mainly includes the driving and walking parts and the steering parts.

[0041] Drive mechanism: A bracket 6 is fixedly installed at the bottom of the base 1. A rotating rod 7 is rotatably connected inside the bracket 6 via bearings. Rollers 8 are fixedly installed on both sides of the rotating rod 7. A drive gear 9 is also fixedly installed on the surface of the rotating rod 7. A rotary motor 10 is also fixedly installed at the bottom of the base 1. A drive gear 11 is fixedly installed on the output shaft of the rotary motor 10, and this drive gear 11 meshes with the drive gear 9. When the rotary motor 10 operates, the meshing transmission between the drive gear 11 and the drive gear 9 drives the rotating rod 7 and the rollers 8 on both sides to rotate synchronously, thereby driving the robot to move linearly along the wall surface.

[0042] Steering Components: To enable flexible steering of the robot, a mounting bracket 12 is provided on one side of the bottom of the base 1. A steering wheel 13 is rotatably connected to the mounting bracket 12 via bearings. A push plate 14 is fixedly mounted on one side of the mounting bracket 12. A connecting plate 15 is rotatably connected to one side of the push plate 14 via a pivot. An electric push rod 16 is rotatably connected to the other side of the connecting plate 15 via a pivot. The cylinder end of the electric push rod 16 is fixedly connected to one side of the bottom of the base 1. By controlling the extension and retraction of the electric push rod 16, the connecting plate 15 can be pushed or pulled, thereby causing the entire mounting bracket 12 and the steering wheel 13 to rotate around their vertical axis via the push plate 14, thus achieving the robot's steering function.

[0043] Steering Buffer Structure: To improve steering smoothness and overall stability, a cylinder 18 is fixedly installed at the bottom of the base 1. A bearing 19 is fixedly installed on the inner top wall of the cylinder 18. The mounting bracket 12 is connected to the inner ring of the bearing 19 via a rotating column 20, thereby achieving a rotatable connection. A retaining ring 21 is threadedly connected to the bottom of the cylinder 18 for limiting and sealing. Several balls 22 are embedded in the bottom of the cylinder 18. During steering, the lower end of the rotating column 20 contacts the balls 22, resulting in low frictional resistance. A buffer plate 23 is also fixedly installed on the inner wall of the cylinder 18. An arc-shaped plate 24 is fixedly installed on one side of the buffer plate 23, and one side of the arc-shaped plate 24 flexibly fits against the surface of the rotating column 20. This structure can effectively absorb vibrations and impacts during steering and movement.

[0044] 4. Cleaning System The cleaning system is an active cleaning device installed on one side of the base 1 (e.g., the side opposite the steering wheel 13). It includes two vertical plates 25 fixedly mounted on one side of the base 1. Three parallel sweeping wheels 26 are rotatably connected between the two vertical plates 25 via bearings. The sweeping wheels 26 may be composed of rollers covered with cleaning bristles or sponges.

[0045] To achieve efficient power transmission and synchronized cleaning, one end of the shaft of the central sweeping wheel 26 passes through one of the vertical plates 25, and a first gear 27 is fixedly installed at its end. The ends of the shafts of the sweeping wheels 26 on both sides also pass through the vertical plates 25, and second gears 28 are fixedly installed on them respectively. Both second gears 28 mesh with the first gears 27. An L-shaped frame 29 is fixedly installed on the outside of the vertical plate 25, and a stepper motor 30 is fixedly installed on the L-shaped frame 29. The output shaft of the stepper motor 30 is fixedly connected to the shaft of the central sweeping wheel 26 (i.e., the shaft on which the first gear 27 is installed). When the stepper motor 30 is working, it directly drives the central sweeping wheel 26 to rotate, and at the same time, through the meshing of the first gear 27 and the two second gears 28, it drives the sweeping wheels 26 on both sides to rotate synchronously in opposite directions or in the same direction, forming a highly efficient cleaning surface.

[0046] 5. Material Identification System The material identification system is a contact-based identification device based on the principle of micro thermoelectric generators (MTEG). It includes: a flexible heating head 32 for applying instantaneous micro-heat to the surface of the object to be identified; a flexible MTEG material identification probe 33 for sensing the thermal response (temperature change) caused by differences in the thermal conductivity of materials and converting it into an electrical signal; and an MTEG material identification data processing module 34 for processing the electrical signal and identifying the material type by comparing it with a pre-stored material feature database.

[0047] To ensure stable and effective signal acquisition by maintaining stable contact between the probe and the wall or cargo surface during movement, the flexible MTEG material identification probe 33 is mounted below the base 1 via an elastic mounting component (such as a spring or elastic cantilever), ensuring it is always pressed firmly against the surface to be identified with a certain pre-pressure. The probe contact surface may be covered with highly thermally conductive silicone grease or a flexible metal sheet to improve thermal contact.

[0048] 6. Control System To achieve efficient, safe, and intelligent collaborative operation of the various functional subsystems, this invention integrates a core control unit. This control unit, based on a programmable logic controller (PLC), is integrated into a cavity inside the base 1 or a dedicated control box, and is responsible for receiving instructions, processing data, and sending control signals.

[0049] The control unit is electrically connected to the drive motor 3, the rotary motor 10, the stepper motor 30 (cleaning motor), the electric push rod 16, and the material identification device based on micro thermoelectric devices (MTEG) via electrical circuits, forming a complete sensing and control loop. Simultaneously, the control unit is also communicatively connected to any inspection sensors that may be mounted (such as high-definition cameras or infrared thermal imagers) for collecting and processing multi-source sensing data.

[0050] The control unit is pre-configured or can be programmed via a host computer to implement the following core collaborative control logic: Adhesion force maintenance and motion safety coordination: Throughout the operation, the core task of the control unit is to ensure adhesion safety. It continuously monitors and dynamically adjusts the power of the drive motor 3 through a built-in algorithm, keeping its speed stable within a preset range. This ensures that, in any moving or stationary posture, the robot's adhesion force on the wall is higher than the safety threshold calculated based on the robot's own weight and working conditions, fundamentally preventing the risk of falling from heights.

[0051] Intelligent Synchronization of Movement, Cleaning, and Material Recognition: The control unit achieves deep coordination among the three major operations of movement, cleaning, and recognition. When the robot moves along the planned path, the control unit simultaneously activates the rotary motor 10 to drive the rollers 8 and the stepper motor 30 to drive the sweeping wheels 26 to rotate for basic cleaning. Crucially, the control unit schedules the material recognition device to work, receiving the thermal response signals collected from the surface of the goods. After processing the signals using a built-in algorithm and comparing them with a database, the control unit obtains the precise material type in real time. Based on this information, the control unit dynamically adjusts the speed or start / stop sequence of the stepper motor 30 according to pre-stored cleaning strategies (such as cleaning intensity and duration) corresponding to different material types, achieving personalized cleaning of different material surfaces and avoiding damage to delicate or fragile surfaces.

[0052] Precise steering and path tracking: The control unit sends precise extension and retraction control signals to the electric push rod 16 according to the preset inspection and cleaning path or the received real-time remote control command, thereby controlling the deflection angle and direction of the steering wheel 13, so as to realize the robot's flexible steering and precise path tracking in complex shelving environments.

[0053] Adsorption force adaptive adjustment: The control unit is also configured to determine the roughness, porosity, or material properties of the contact surface based on the material type information fed back by the material identification device, and dynamically adjust the speed of the drive motor 3 in the ducted fan negative pressure adsorption device accordingly, thereby changing the adsorption force. For example, when the surface is identified as smooth metal or dense plastic, the seal between the wall and the robot is good, and the control unit appropriately reduces the speed of the drive motor 3 to reduce the adsorption force, thereby saving energy. When the surface is identified as rough corrugated paper, porous wood, or fabric, there may be slight air leakage between the flexible sealing skirt and the wall, so the control unit increases the speed of the drive motor 3 to increase the adsorption force and prevent the robot from falling off. Through the above-mentioned material identification-based adaptive adjustment of adsorption force, the robot can achieve stable and energy-saving adsorption and movement under different wall conditions.

[0054] The working principle and process of this invention are as follows: When the robot is working, it is coordinated by a control unit. Its core working principle and control logic are as follows: 1. Synergistic realization of adsorption and migration: The control unit first starts drive motor 3, causing blade 5 to rotate at high speed. This generates negative pressure within the cavity formed by the flexible sealing skirt and the wall, firmly adhering the robot to the wall. Subsequently, the control unit starts rotary motor 10 to drive the robot to move.

[0055] During movement, the flexible sealing skirt at the front may undergo slight deformation or momentarily detach due to dragging, allowing a small amount of air to seep into the chamber. However, the ducted fan (blade 5) at the rear operates continuously at high speed, quickly extracting this infiltrated air and dynamically maintaining the overall negative pressure within the chamber above the safe threshold. By appropriately matching the fan power, chamber volume, and the elasticity and sealing properties of the skirt material, the robot can achieve stable operation on a vertical wall surface by "adsorbing and moving simultaneously."

[0056] When a turn is required, the control unit controls the electric push rod 16 to move. To compensate for the increased local air leakage and fluctuations in adsorption force in the chamber that may be caused by changes in the body posture during the turn, the control unit can simultaneously fine-tune the power of the drive motor 3 to temporarily increase the pumping rate, so as to ensure adsorption stability during the turn.

[0057] 2. Intelligent collaboration between material identification and cleaning: During the movement along the wall, the control unit simultaneously schedules the material identification device and the active cleaning device to work.

[0058] Material Recognition Modes: Material recognition can employ two modes. The first is continuous scanning mode, where the flexible MTEG probe 33, with its elastic compression, continuously collects thermal signals from the surfaces it passes during uniform movement. This mode is suitable for rapid surveying of regular surfaces. The second is fixed-point recognition mode, where the control unit can briefly decelerate or pause the robot when it anticipates the target area or reaches a preset position, allowing the probe 33 to achieve a more stable and longer contact time for accurate identification and reliable acquisition of material types.

[0059] Personalized Cleaning: The control unit receives material type data from the material identification data processing module 34 in real time. The control unit has pre-stored cleaning strategies (such as rotation speed and duration) corresponding to different material types. Based on the identification results, the control unit dynamically adjusts the rotation speed, direction, or start / stop sequence of the stepper motor 30 to achieve differentiated and personalized cleaning of different material surfaces.

[0060] Cleaning torque compensation: When the cleaning wheel 26 rotates for cleaning, it generates a reaction torque on the robot body. The control unit can calculate this reaction torque in real time based on the current working state (speed and direction) of the stepper motor 30, and dynamically compensate for it by finely adjusting the output torque of the rotating motor 10, thereby offsetting its influence and ensuring that the robot's movement trajectory and adsorption posture are not disturbed by the cleaning operation.

[0061] 3. Adsorption force adaptive adjustment During the robot's movement and cleaning process, the control unit continuously receives real-time feedback from the material identification device regarding the type of wall material. When a smooth surface (such as metal or hard plastic) is detected, the control unit determines that the flexible sealing skirt can form a good seal with the wall surface and that the air leakage in the negative pressure chamber is small. Therefore, it appropriately reduces the speed of the drive motor 3, reducing the suction force to just the level that meets the safety threshold, thereby reducing energy consumption and fan noise.

[0062] When a rough or porous surface (such as corrugated cardboard, uncoated wood, or fabric) is detected, the control unit determines that there are tiny gaps or air infiltration between the sealing skirt and the wall. Maintaining pressure in the negative pressure chamber requires a higher suction rate, therefore increasing the rotation speed of the drive motor 3 to increase the suction force and ensure the robot adheres firmly. This adjustment process is continuous, dynamic, and coordinated with the cleaning operation—for example, in high-suction mode, the friction of the cleaning wheels 26 may increase, and the control unit can synchronously fine-tune the torque of the rotating motor 10 to maintain smooth movement.

[0063] 4. Overall Work Process: In summary, the intelligent operation process of this robot is as follows: adhering to the wall surface → starting to move → simultaneously performing material identification and basic cleaning → executing personalized cleaning strategies in real time based on the identification results. Throughout the movement, turning, and cleaning process, closed-loop control maintains stable adsorption and movement trajectory.

[0064] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A climbable warehouse inspection robot integrating material recognition and cleaning functions, characterized in that: Includes a base (1), a ducted fan negative pressure adsorption device, a wheeled moving device, an active cleaning device, a material identification device, and a control unit; The ducted fan negative pressure adsorption device is installed on the base (1) to generate negative pressure so that the robot can be adsorbed onto the wall surface; The wheeled mobile device is installed at the bottom of the base (1) and is used to drive the robot to move on the wall surface; The active cleaning device is installed on one side of the base (1) and includes at least one cleaning wheel (26) and a cleaning motor that drives it to rotate, for cleaning the wall surface; The material identification device is installed below the base (1) and obtains material information by contacting the surface to be identified; The control unit is electrically connected to the ducted fan negative pressure adsorption device, the wheeled moving device, the active cleaning device, and the material identification device. During the robot's movement on the wall, the control unit synchronously controls the material identification device to perform material identification operations, and adjusts the working parameters of the active cleaning device to perform differentiated cleaning operations based on the material information fed back by the material identification device. At the same time, the control unit adjusts the working parameters of the ducted fan negative pressure adsorption device to change the adsorption force.

2. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 1, characterized in that: The ducted fan negative pressure adsorption device includes a circular tube (2), a drive motor (3), a rotating rod (4), and blades (5). The circular tube (2) is installed on the upper surface of the base (1), the drive motor (3) is installed inside the circular tube (2), the rotating rod (4) is connected to the output shaft of the drive motor (3), and multiple blades (5) are evenly distributed around the circumference and fixed to the rotating rod (4). The drive motor (3) drives the blades (5) to rotate inside the circular tube (2), drawing in the air near the wall of the circular tube (2) and discharging it to the side, thereby generating negative pressure so that the robot can be adsorbed onto the wall.

3. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 2, characterized in that: The sidewall of the circular tube (2) is connected to multiple pipes (17) arranged in a circular array.

4. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 1, characterized in that: The material identification device is a material identification device based on micro thermoelectric generator (MTEG), which includes a flexible heating head (32), a flexible MTEG material identification probe (33), and an MTEG material identification data processing module (34). The flexible heating head (32) is used to apply heat to the surface of the contact target; the flexible MTEG material identification probe (33) is used to sense the thermal response of the surface of the contact target due to the difference in thermal conductivity and convert the thermal response into an electrical signal; the MTEG material identification data processing module (34) is electrically connected to the flexible MTEG material identification probe (33) and is used to receive and process the electrical signal to identify the material type of the contact target.

5. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 1, characterized in that: The wheeled mobile device includes a roller (8) mounted on the bottom of the base (1) via a bracket (6), and a rotary motor (10) that drives the roller (8) to rotate.

6. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 5, characterized in that: The wheeled mobile device also includes a steering mechanism, which includes a steering wheel (13) rotatably connected to the bottom of the base (1) via a mounting bracket (12), a push plate (14) fixedly connected to the mounting bracket (12), and an electric push rod (16) with one end fixedly connected to the base (1) and the other end hinged to the push plate (14) via a connecting plate (15).

7. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 5, characterized in that: The output shaft of the rotating motor (10) is provided with a drive gear (11), and the rotating rod (7) of the roller (8) is provided with a drive gear (9) that meshes with the drive gear (11).

8. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 6, characterized in that: A cylinder (18) is fixedly installed at the bottom of the base (1). A rotating column (20) is rotatably connected inside the cylinder (18) via a bearing (19). The mounting frame (12) of the steering mechanism is connected to the rotating column (20). A ball bearing (22) is embedded at the bottom of the cylinder (18). A buffer plate (23) and an arc plate (24) that fits against the surface of the rotating column (20) are provided on the inner wall.

9. The climbable warehouse inspection robot with integrated material identification and cleaning functions according to claim 1, characterized in that: The active cleaning device includes three cleaning wheels (26) arranged side by side. The cleaning motor is a stepper motor (30), whose output shaft is fixedly connected to the rotating shaft of the middle cleaning wheel (26). A first gear (27) is fixed on the rotating shaft, and a second gear (28) that meshes with the first gear (27) is fixed on the rotating shaft of the two cleaning wheels (26).

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