410 results about "Climbing robots" patented technology

The invention discloses a pole climbing robot for a wind power tower pole, which is characterized in that the robot mainly comprises a robot body, 4-8 pole climbing mechanisms, a snake-shaped swing arm and a movable studio, wherein the snake-shaped swing arm and the movable studio are mounted on one side of the robot body; the robot body is an annular body formed by combining two semicircular cambered bodies or three equal cambered bodies; the diameter of an internal ring of the circular body is matched with the diameter of the wind power tower pole; the pole climbing mechanisms mainly comprise upper foot wheels, lower foot wheels, connecting arms, driving gears, thrust screw rods, nut gears and supporting seats; the upper foot wheels are connected with the lower foot wheels by the connecting arms through wheel shafts; the connecting arms are connected with the thrust screw rods by connecting pin shafts on the connecting arms, and form movable hinges; the 4-8 pole climbing mechanisms are distributed in the circular robot body uniformly; the snake-shaped swing arm consists of three swing arm parts, namely a large arm, a middle arm and a small arm; and the movable studio comprises two paralleled linear guide rails, a walk driving device and an operation room.

The invention discloses a road damage identification and positioning method fused with multi-source information, and relates to the technical field of road and bridge facility health monitoring. The method comprises the following steps: S1, collecting multi-source image data of a road bridge through an unmanned aerial vehicle, a wall-climbing robot and / or an industrial camera; and S2, preprocessing the multi-source image data, respectively inputting the multi-source image data into a pre-trained deep learning recognition model, and outputting the type and initial position information of a disease. According to the method, the global view angle of the unmanned aerial vehicle and the local high-definition data of the wall-climbing robot / industrial camera are deeply fused, and the deep learning-based semantic segmentation model is utilized to perform pixel-level recognition on tiny diseases such as cracks, so that the recognition accuracy and reliability are greatly improved, and meanwhile, the recognition efficiency is improved. Image coordinates are accurately mapped to the three-dimensional live-action model through a coordinate transformation formula, centimeter-level space positioning of the disease is achieved, and detection accuracy and operation safety are remarkably improved.

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

The invention relates to a wall-climbing robot system for detecting a coating of a steel pipe truss structure and an application method, and the system comprises a self-adaptive magnetic adsorption mobile platform which can be adaptively and stably adsorbed on steel trusses with different pipe diameters to execute an inspection task; the robot platform is provided with an autonomous positioning navigation system composed of a laser radar, binocular vision and an airborne computer, and the position of the robot is positioned in the steel pipe truss without satellite signals through real-time mapping and a positioning algorithm of tight coupling of laser and vision. The front part of the robot is provided with an electrically foldable surrounding type array camera, so that full-surface coverage type shooting of a steel pipe component is realized, and real-time identification of coating apparent defects is executed in combination with an artificial intelligence disease identification algorithm in an airborne computer; and the lower part of the robot is provided with a telescopic elastic electromagnetic eddy current probe for detecting the thickness of the coating. The method has the advantages that the apparent diseases and the thicknesses of coatings of steel structures such as ceilings of high-speed rail stations and ceilings of large stadiums can be rapidly detected.

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.

The invention relates to the technical field of power grid equipment operation and inspection, in particular to a power transmission line tower climbing robot which comprises a tower climbing robot frame, the inner side of the tower climbing robot frame is rotationally connected with two transmission threaded rods through bearings, and the two transmission threaded rods are symmetrically distributed on the inner side of the tower climbing robot frame; the outer side of the transmission threaded rod is in transmission connection with a climbing arm assembly through threads, a driving assembly for driving the transmission threaded rod to rotate is arranged on the inner side of the tower climbing robot frame, and a connecting rod mechanical gripper capable of being opened and closed is arranged at the top end of the climbing arm assembly. And the top end of the climbing arm assembly controls the connecting rod mechanical gripper to realize opening and closing actions through the power assembly. The robot for climbing the power transmission line tower has the advantages that a steel pipe pole climbing robot replaces manual climbing, a hanging safety rope can be carried to a designated position, and it is ensured that after a follow-up maintainer hangs an anti-falling device on the safety rope, the safety rope always provides protection in the climbing process.

The invention discloses a curtain wall aluminum plate local hot melting welding device, and belongs to the technical field of curtain wall welding, the curtain wall aluminum plate local hot melting welding device comprises a climbing mechanism used for climbing along a keel and crossing an embedded plate, and the climbing mechanism is provided with a carrying mechanism used for driving a curtain wall aluminum plate to move to a designated installation position and a welding mechanism used for welding the curtain wall aluminum plate on the keel; through the climbing mechanism and the crossing module, the device can actively clamp and climb along a vertical keel through the wheel pasting module like a wall climbing robot, and when obstacles such as embedded plates are encountered, the device can alternately retract and lift the crossing module step by step, and lossless crossing is achieved; by means of multi-degree-of-freedom coordinated movement, a curtain wall aluminum plate can be extremely accurately conveyed to a designated installation position in a three-dimensional space, meanwhile, a photoelectric detection module on the welding mechanism can automatically scan and accurately position a seam, and accurate welding of local hot melting welding is achieved in cooperation with a plasma welding gun and an angle-adjustable wire feeding pipe.

The invention discloses a wall-climbing robot adsorption wheel and a wall-climbing robot, and relates to the technical field of robots, the wall-climbing robot adsorption wheel comprises a first driving device, a wheel body, a second driving device and a magnetic adsorption unit arranged in an inner cavity of the wheel body, and a body of the second driving device is fixedly connected to a wall-climbing robot body; an output shaft of the second driving device is fixedly connected with the magnetic adsorption unit, and when the wall-climbing robot walks on a straight metal wall face, the direction of the maximum adsorption force of the magnetic adsorption unit is perpendicular to the metal wall face where the robot is walking. When the wall-climbing robot moves forwards between a concave-convex curved surface or two wall surfaces intersecting at a certain angle, the direction of the maximum adsorption force of the magnetic adsorption units in the wheel bodies is changed, so that the direction of the maximum adsorption force of the magnetic adsorption units is perpendicular to the tangent line of the metal wall surface on which the robot is going to walk; the adsorption force between the magnetic adsorption unit and the metal wall surface to be adsorbed is improved, and the desorption and falling risks of the wall-climbing robot are reduced.

The utility model discloses a water-air cross medium wall-climbing robot for bridge inspection, which relates to the technical field of bridge inspection and comprises a bottom frame, buoys are symmetrically fixed at the bottom end of the bottom frame, a base frame is fixed at the upper end of the bottom frame, front vector motors are fixed on two sides of one end of the base frame, and rear vector motors are arranged on two sides of the other end of the base frame. An adsorption chassis is arranged in the center of the upper end of the base frame, a negative pressure fan is arranged on the inner side of the adsorption chassis, gear motors are fixed to the four end corners of the outer side of the adsorption chassis, and a rubber anti-skid wheel is fixed to the output end of each gear motor. According to the water-air cross-medium wall-climbing robot for bridge inspection, through the overall structural matching design, water-air amphibious rapid movement can be achieved to be close to a bridge pier, meanwhile, negative pressure can be generated to adsorb the robot to the wall face of the bridge pier, and then the robot is driven to achieve wall face rapid crawling to execute the inspection task.

The invention belongs to the technical field of leakage detection, and particularly relates to an existing building basement side wall leakage three-dimensional detection system and method based on an intelligent wall-climbing robot. The detection system comprises an intelligent wall-climbing robot platform, a multi-modal detection sensor group, a data processing and analysis system and a user interaction terminal, wherein the multi-modal detection sensor group is carried on the intelligent wall-climbing robot platform; the intelligent wall-climbing robot platform comprises a moving adsorption system, a moving mechanism, a positioning navigation system, a posture adjusting mechanism and a communication power supply device. The multi-modal detection sensor group comprises an infrared thermal imager, a high-resolution visible light camera, a 3D laser scanner, a wall penetrating radar, a capacitive humidity sensor and an ultrasonic thickness gauge; the data processing and analysis system comprises an edge computing unit and a cloud analysis platform; the edge calculation unit is responsible for real-time data acquisition, preprocessing, sensor control and motion control. According to the existing building basement side wall leakage three-dimensional detection system and method based on the intelligent wall-climbing robot, full-thickness detection coverage from the surface layer to the deep layer, conversion from manual operation to full-automatic wall climbing and crossing from single-point detection to path tracking are achieved.

The invention discloses a railway pier apparent crack intelligent detection method and device based on deep learning. Comprising the following steps: acquiring three-dimensional point cloud data of a bridge pier by using a laser radar, dynamically planning an optimal detection path, and acquiring an apparent image of the bridge pier by a wall-climbing robot according to the path; the images are preprocessed, screened according to the fracture development degree and then mixed, and a sample data set is formed; training the constructed deep learning neural network by using the sample data set; the number of channels of an encoder of the deep learning neural network is increased progressively according to a golden proportion, and the number of channels in a decoding stage is reduced according to the golden proportion; and after training, inputting an acquired crack image to mark the crack position, thereby completing intelligent recognition of the apparent crack of the railway pier. According to the method, image acquisition is carried out according to the optimal path, crack complexity quantitative evaluation is carried out according to the image, intelligent sample grading is realized, the detection efficiency and accuracy are greatly improved, and the method has strong generalization ability.

The wall-climbing robot comprises a robot main machine, a vertical obstacle crossing platform, a plurality of climbing obstacle crossing units, a control unit and an operation executing mechanism, the vertical obstacle crossing platform is fixedly connected to one side of the robot main machine, and the vertical obstacle crossing platform is perpendicular to the robot main machine. The multiple climbing obstacle crossing units are sequentially arranged at intervals in the length direction of the vertical obstacle crossing platform, all the climbing obstacle crossing units are in sliding fit with the vertical obstacle crossing platform, the climbing obstacle crossing units are arranged on the robot host through the vertical obstacle crossing platform, and the control unit is arranged in the robot host. The control unit is used for controlling the climbing obstacle crossing units to act alternately. The climbing obstacle-crossing unit is in sliding fit with the vertical obstacle-crossing platform, so that stable movement and obstacle-crossing operation of the robot host along the wall surface are realized, the path planning of the operation executing mechanism is greatly optimized, and the robot is particularly suitable for carrying a heavy operation executing mechanism.

The utility model discloses a four-wheel three-motor wall-climbing robot. The device comprises a main body frame, a pair of driving wheels connected to the front part of the main body frame, and a pair of driven modules which are hinged to the rear part of the main body frame and comprise driven wheels, a connecting rod capable of moving in the axial direction under the action of a steering device is arranged on the main body frame; the two ends of the connecting rod are hinged to the driven module through connecting rods. A sliding rail is arranged on the main body frame, a sliding block matched with the sliding rail is arranged on the sliding rail, and a connecting rod is arranged on one side of the sliding block. The robot has the advantages that a plurality of motors and drivers are arranged, and the control cabin used for overall dispatching and coordination is arranged, so that when the robot steers, two methods of differential rotation of a driving wheel and steering of a rear wheel through a steering mechanism can be selected and matched, different solutions can be provided for different working environments, and the adaptability is high; steering is achieved through meshing of the gear and the rack and the hinged relation of the connecting rods, the structure is simple, and steering torque is small.

The application discloses a kind of bridge pier column crack automatic detection system based on wall-climbing robot, it is related to crack detection technical field, the closed loop operation of accurate detection from crack to intelligent repair is realized by crack detection module and repair material intelligent spraying detection module.The crack detection module uses multispectral imaging equipment, thermal imaging camera and laser scanning technology, can collect the multispectral difference value G (x,y) of crack area, surface temperature distribution T (x,y) and depth matrix D (x,y), extract crack boundary B (x,y) by high-precision algorithm and calculate crack volume Vc.The repair material intelligent spraying detection module calculates the volume Vm of repair material according to crack volume, optimizes spraying path and parameter using SLAM technology, to ensure uniform coverage and efficient use of repair material.The system greatly improves the accuracy of crack detection and repair, avoids material waste and missed repair.

The application relates to the technical field of robots and discloses an active self-adaptive adsorption actuator based on vertical connecting rod and mortise and tenon assembly, which comprises an upper mounting plate, a lower mounting plate, a motor, an adapter, a fixed support column, an arc-shaped connecting rod, a suction disc, a suction disc adapter and a pneumatic joint; the motor drives the adapter to perform linear reciprocating motion; through the arc-shaped connecting rod hinged between the fixed support column and the suction disc, the edges of the suction disc are synchronously bent inward, active coating adsorption of a high-curvature or irregular special-shaped surface is realized; a spherical hinge is arranged between the arc-shaped connecting rod and the suction disc, mechanical interference and self-locking jamming of transmission components are avoided; the mortise and tenon structure is adopted at multiple positions of the active self-adaptive adsorption actuator for tool-free quick disassembly and assembly; the sponge suction disc has passive adaptive capacity and is better in air tightness than a traditional silica gel suction disc; the active self-adaptive adsorption actuator can be used as a foot end of a climbing robot and as a universal gripper of a mechanical arm, and is applicable to multiple fields.

The utility model provides a climbing track, a climbing assembly and a warehousing system. And the climbing track is used for the climbing robot to climb. The climbing track comprises an outer track and an inner track. The outer rail comprises a first side wall and a pair of second side walls fixed to the two opposite ends of the first side wall. A containing space is defined by the first side wall and the pair of second side walls. The inner rail is located in the containing space and comprises a first side wall and a pair of second side walls fixed to the two opposite ends of the first side wall. The pair of second side walls are respectively fixed with the pair of second side walls. The first side wall and the second side wall are oppositely arranged. The first side wall is provided with a plurality of holes which are sequentially arranged in the height direction of the first side wall. When the chain wheel of the climbing robot climbs along the climbing track, the teeth of the chain wheel are inserted into the holes. The climbing track is simple in structure, small, exquisite and compact, low in cost and beneficial to development of a warehousing system.

The utility model discloses a membrane type water-cooled wall climbing device and a membrane type water-cooled wall climbing robot. The membrane water wall climbing device comprises a vehicle body, a magnetic wheel assembly and a wheel track adjusting assembly. The magnetic wheel assembly comprises a rear wheel assembly and a front wheel assembly which are arranged at intervals in the advancing direction of the vehicle body, and the wheel track adjusting assembly is connected between the rear wheel assembly and the front wheel assembly and used for adjusting the distance between the rear wheel assembly and the front wheel assembly and preventing the front wheel assembly and the rear wheel assembly from being clamped in the interval between the adjacent pipe bodies at the same time. Therefore, the problem that movement is blocked when the vehicle body walks perpendicular to the water wall tube is solved. The front wheel assembly and the rear wheel assembly respectively comprise at least two magnetic wheel units, and each magnetic wheel unit comprises at least two detachably connected magnetic wheels; the axial width of the single magnetic wheel unit can be changed through the at least two detachably connected magnetic wheels, the situation that the left magnetic wheel unit and the right magnetic wheel unit sink into the interval between the adjacent pipe bodies at the same time is avoided, and therefore the problem that a vehicle body cannot steer when walking along the water wall pipe is solved.

The invention discloses an active reverse swing suppression device and method for a power line of a tower drum wall-climbing robot. The problem that the power line of the tower-climbing robot is affected by wind to generate risks is solved. According to the active reverse swing suppression device, a wall-climbing robot longitudinally climbs along the outer wall of a tower drum in a magnetic adsorption mode, the wall-climbing robot is connected with a power line, the power line is provided with a swing suppression device, and the tower drum is sleeved with the swing suppression device; an electric wire connecting piece in the swing restraining device is arranged on a power line, the two ends of the electric wire connecting piece are hinged to the upper ends of arc-shaped arms respectively, the two ends of an outer wall contact rod are hinged to the lower ends of the arc-shaped arms respectively, the electric wire connecting piece, the outer wall contact rod and the two arc-shaped arms define a main ring body, and the tower barrel is sleeved with the main ring body. The outer wall contact rod is attached to the outer wall of the tower drum; according to the method, the swing device annularly sleeves the tower drum and keeps a limited gap with the drum wall, so that swing in a small range meeting related requirements is formed; the limited shake motion reversely suppresses the swing of the power line.

Disclosed is a multi-link driven hexapod wall-climbing robot based on a tripod gait. A main suction unit mainly consists of a main frame plate (8) and three main suction feet fixedly connected to the main frame plate; an auxiliary suction unit mainly consists of three auxiliary suction feet; a power actuation unit is connected to the auxiliary suction unit by means of a driven unit; and the main suction unit is movably connected to both the driven unit and the power actuation unit, such that the wall-climbing robot adaptively steers. The main frame plate can move in the circumferential direction of an arc-shaped guide rail (1) by means of sliders, guide rods (15) are fixedly connected to the arc-shaped guide rail, and the sliders can move forwards and backwards in the axial direction of the guide rods. Electric motors are used to drive lead screws to rotate, thereby driving the auxiliary suction feet to move. The wall-climbing robot uses a multi-link driving structure, enhancing the load resistance, the power and the stability of the overall structure. The movement mode of the wall-climbing robot is a typical "triangular gait", and six legs are divided into two triangular supports, such that the robot has a low center of gravity and also has good stability.

The application provides a towing rope guiding cable operation system and method based on a wall-climbing robot, and belongs to the technical field of program-controlled mechanical hands. The system comprises a magnetic adsorption mobile chassis module, a cable loading and guiding release module, a posture sensing and safety monitoring module, a wireless remote control communication module and a power supply and energy management module. The method comprises six steps of system initialization and calibration, robot launching and hull attachment, cable loading and fixing, remote control climbing operation, cable release and handover and robot recovery. The application replaces manual cable throwing with robot autonomous climbing, eliminates the safety hazards of the traditional suspended cable operation in which the tugboat needs to approach the cable in front of the large ship, enables the cable guiding operation to be still operable under the condition of six-level wind, autonomously controls the cable time, and does not require high-altitude operation of the side personnel, thereby significantly improving the operation safety of the tugboat itself and the cable guiding success rate.

The application discloses a barrier-crossing pole-climbing robot and a barrier-crossing method thereof. The mechanism main body is composed of two support arm groups and a support main frame. Each support arm group is composed of two support arms, and the length of the support arms can be adjusted. The support arm groups are connected with elastic track supports through driven support mechanisms to drive tracks. Each group is connected with three driving tracks to form an equilateral triangle. Elastic elements are distributed on the tracks. When working, the arms are clamped to deform and adhere to the curved surface, which protects the pole body and makes it easier to climb. Each support arm group is connected with a servo motor, and the opening and closing of the support arm group is controlled through a control circuit. The two track driving mechanisms are arranged, and the arms are clamped and telescopic. The robot can climb poles of different diameters, cross obstacles on the ring-shaped pole and prominent obstacles, and retain the vertical climbing ability.

The invention discloses an automatic online and offline device for a contact line crawling robot, and relates to the technical field of contact lines, the automatic online and offline device comprises a contact line body, a crawling robot body is arranged on one side of the contact line body, and a sliding rod assembly is arranged between the contact line body and the crawling robot body; a sliding seat is arranged at the bottom of the crawling robot body, a connecting seat is fixedly connected to the top of the sliding seat, the top of the connecting seat is fixedly connected with the bottom of the crawling robot body, the sliding rod assembly comprises a hook, the hook is slidably connected to the contact line body, and a first hinge is hinged to the bottom of the hook. The contact line crawling robot can be automatically loaded and unloaded, the automation degree of a whole set of products is improved, the whole set of operation process can be completed through single-person operation, and the purposes of accurate positioning, stable operation and safe operation in the loading and unloading process of the robot are achieved. Convenience of operation in the on-line and off-line process of the machine is improved, and the labor intensity of operation personnel is reduced.

The rust removal and spraying robot comprises a wall climbing robot, a sand blasting and rust removal mechanism and a coating spraying mechanism are mounted at the top of the wall climbing robot, the sand blasting and rust removal mechanism is used for removing rust on the surface of a tower drum of the wind turbine generator, and the coating spraying mechanism is used for spraying the rust-removed position. A negative pressure recovery mechanism is installed at the bottom of the wall-climbing robot and collects pollutants drifting away in the rust removal and spraying process. The sand blasting derusting mechanism comprises a sand tank, and an air compressor, a control valve and a sand nozzle are installed on the sand tank. The device has the advantages of being safe and efficient, and the problems that when rust removal and paint spraying are conducted on a tower drum of an existing wind turbine generator, falling accidents are likely to happen through manual rust removal and spraying, the safety is reduced, a wall-climbing robot needs to be independently provided with a rust removal mechanism and a spraying mechanism, the working efficiency is low, and the maintenance cost is increased are solved.

The utility model relates to the field of testing tools, in particular to a multi-environment simulation testing tool which comprises a square stand column, a first cylinder installed on the side wall of the square stand column and a second cylinder installed on the side wall of the square stand column, the first cylinder is located on the side, away from the second cylinder, of the square stand column, and the second cylinder is located on the side, away from the second cylinder, of the square stand column. An included angle is formed between the first cylinder and the ground, and the second cylinder is parallel to the ground. The wall-climbing robot testing device has the advantages that the testing environment of the testing device is increased, the wall-climbing robot can be tested in various complex environments at the same time, and then the testing process of the wall-climbing robot is simplified.

This invention discloses an obstacle-crossing tree-climbing robot based on a differential telescopic mechanism, comprising: a telescopic mechanism; a gripper mechanism; and a torsional obstacle avoidance mechanism. Two telescopic mechanisms are connected in parallel to the connecting rod of the robot body, forming a parallelogram mechanism. A torsional motor is installed at the diagonal, enabling torsional obstacle avoidance. Combined with the telescopic mechanism, it can avoid obstacles on irregular quadrilaterals. The gripper mechanism is installed on the connecting rod of the robot body and is connected to the connecting rod via a motor. Torque is transmitted through helical gears to a gear below the drive shaft, which in turn drives the gripper to open and close. This invention, through the telescopic mechanism, gripper mechanism, and torsional obstacle avoidance mechanism, enables obstacle-avoiding climbing and gripping functions on irregular branches or tree trunks, overcoming various irregular obstacles and solving the problem of tree-climbing robots easily getting stuck on branches and tree trunks.

The utility model discloses a cable cleaning and deicing robot, which belongs to the technical field of cable climbing robots, and is characterized in that the cable cleaning and deicing robot comprises a robot body, four cable climbing wheel carriers and a cable are arranged in the robot body, and a cleaning mechanism and a deicing mechanism are arranged on the surface of the cable; the cleaning mechanism comprises two stabilizing columns, two cleaning frames, two cleaning sleeves, four supporting columns, four cleaning pads and two supporting plates, the sides, close to the cleaning sleeves, of the stabilizing columns are fixedly connected with the cleaning sleeves, the surfaces of the stabilizing columns make contact with the interiors of the supporting plates, the opposite sides of the two cleaning frames make contact with each other, and the cleaning pads make contact with the supporting plates. The opposite sides of the two cleaning frames are in close contact with the opposite sides of the two cleaning sleeves respectively, the problems that when an existing cable climbing robot faces a cable with greasy dirt or icing on the surface, a climbing mechanism of the cable climbing robot is likely to be not firmly grabbed or slip or cannot smoothly pass through and the like are solved, and therefore smooth operation of the robot is guaranteed.

The application discloses a safety anti-falling method and device of a wall-climbing robot, and relates to the field of safety anti-falling. The method comprises the following steps: in response to a first setting operation of a user on a driving device of the wall-climbing robot, the first setting operation is an operation of setting the driving device to an automatic mode; monitoring a first wire winding and unwinding speed of a current time, the first wire winding and unwinding speed is an actual wire winding and unwinding speed of the wall-climbing robot corresponding to the current time; acquiring a second wire winding and unwinding speed corresponding to the current time from a preset wire winding and unwinding time sequence diagram according to the current time, the second wire winding and unwinding speed is a preset wire winding and unwinding speed of the wall-climbing robot corresponding to the current time; judging whether the first wire winding and unwinding speed is greater than the second wire winding and unwinding speed; and if the first wire winding and unwinding speed is greater than the second wire winding and unwinding speed, stopping wire unwinding to prevent the wall-climbing robot from falling. The technical scheme provided by the application can solve the problem of falling risk of the wall-climbing robot during work.

The application provides a template surface residual polishing device and method for a mobile formwork, wherein the device comprises a wall-climbing robot and a polishing module arranged on the wall-climbing robot, the polishing module comprises an equipment mounting rack, a main polishing mechanism arranged below the equipment mounting rack and a secondary polishing mechanism arranged above the equipment mounting rack; the main polishing mechanism comprises a main polishing roller, and a driving mechanism for driving the main polishing roller to rotate is arranged on the equipment mounting rack; the secondary polishing mechanism comprises a support and a rotating frame rotatably arranged on the support, the rotating frame is obliquely arranged, one end of the rotating frame obliquely downward is provided with an extendable telescopic frame, and one end of the telescopic frame obliquely downward extends out of the rotating frame and is provided with a secondary polishing roller. The template surface residual polishing device and method for the mobile formwork can effectively clean the template surface residual of the mobile formwork, and has good polishing treatment effect and high polishing treatment efficiency.

The utility model provides a pole-climbing robot, which belongs to the technical field of pole-climbing robots, and comprises a plurality of climbing modules which can be quickly combined together, are used for clamping a pole body and climb upwards on the pole body, and two adjacent climbing modules can be quickly combined together through a connecting assembly. The climbing module comprises a supporting frame with the two ends capable of being synchronously close to or away from each other, the two ends of the supporting frame are rotationally connected with power wheels correspondingly, and power motors used for driving the power wheels to rotate are arranged at the two ends of the supporting frame correspondingly. By arranging the climbing modules and the connecting assemblies, the pole-climbing robot can axially move on the pole body, the connecting assemblies can quickly connect the multiple climbing modules together for use, and the limitation that in the prior art, the structure of the pole-climbing robot is fixed is changed; therefore, the pole-climbing robot can quickly adapt to and climb a pole body with a large diameter span.

The application discloses an image optimization method and device for a tower climbing robot and a storage medium, and belongs to the technical field of image processing. The optimization method comprises: performing step-by-step feature extraction and information gain on a to-be-processed image to determine a plurality of first representation results and a plurality of second representation results; performing first coupling processing on the plurality of first representation results to determine a first domain connection result from the plurality of first representation results; performing second coupling processing on the plurality of second representation results to determine a second domain connection result from the plurality of second representation results; and determining a target image based on the first domain connection result and the second domain connection result. The application performs step-by-step feature extraction and information gain on the to-be-processed image, so that the neural network focuses on positive information in the image, and the feature correlation between the positive information is strengthened, the quantity and intensity of interference information are squeezed from the negative side, and therefore, a higher image optimization effect is achieved.