1169 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 bridge pier stud crack automatic detection system based on a wall-climbing robot, and relates to the technical field of crack detection, and the system realizes closed-loop operation from accurate crack detection to intelligent repair through a crack detection module and a repair material intelligent spraying detection module. The crack detection module uses a multispectral imaging device, a thermal imaging camera and a laser scanning technology, can collect a multispectral difference value G (x, y), surface temperature distribution T (x, y) and a depth matrix D (x, y) of a crack area, extracts a crack boundary B (x, y) through a high-precision algorithm, and calculates a crack volume Vc. And the repairing material intelligent spraying detection module dynamically calculates the volume Vm of the repairing material according to the volume of the crack, and the SLAM technology is utilized to optimize the spraying path and parameters, so that uniform coverage and efficient utilization of the repairing material are ensured. The system greatly improves the precision of crack detection and repair, and avoids material waste and repair omission.

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

The invention discloses a crane steel wire rope flaw detection device and a flaw detection method, and belongs to the technical field of nondestructive flaw detection. The device comprises a magnetic memory flaw detection module and a wheel type rope climbing robot device for driving the magnetic memory flaw detection module to move along a crane steel wire rope, the magnetic memory flaw detection module comprises a hollow flaw detection shell, the flaw detection shell is longitudinally provided with a central through hole for a crane steel wire rope to penetrate through, and a plurality of giant magneto-impedance effect magnetic sensors are evenly arranged in the flaw detection shell in the circumferential direction of the central through hole. Therefore, a sensor array used for detecting the leakage magnetic field intensity of the crane steel wire rope is formed, and the giant magneto-impedance effect magnetic sensors are arranged in a coplanar mode. The device is mainly based on the giant magneto-impedance effect magnetic sensor and the metal magnetic memory principle, extremely weak magnetic nondestructive testing is conducted on the crane steel wire rope, and the device is convenient to use, high in detection precision, simple in structure and suitable for various steel wire rope detection environments.

The invention relates to the technical field of electric power inspection, and discloses a climbing robot device of a power transmission tower and a control system thereof, the climbing robot device comprises a safety device deployment robot, the safety device deployment robot comprises a device box, the bottom of the device box is fixedly connected with an anti-collision plate, and the top of the anti-collision plate is provided with a supporting seat. A safety device is arranged to deploy cooperative use of a robot and a control system, an STM32F407ZET6 is used as a main control chip, a traditional PID control theory is improved, a YOLOv8 lightweight detection algorithm is improved, camera vision, wireless communication and man-machine interaction are fused to jointly complete a foot nail climbing operation task, and the problems that a currently common method is manual inspection, manual inspection is not needed, and the operation efficiency is high are solved. The problems that manual inspection is large in workload, hard in condition, long in inspection period and low in efficiency, and life dangers are prone to occurring when electric power workers climb an angle steel tower of a power transmission line to conduct detection and maintenance are solved.

The invention relates to a crawler-type magnetic adsorption wall-climbing robot, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises a main body bracket, a control module, a driving module, an adsorption module and a mechanical arm module, the main body support is a frame of a hollow structure and comprises a bottom plate, side plates arranged on the two sides of a chassis and a cover plate connected with the tops of the side plates, and a power source is arranged in the main body support. The control module is arranged in the main body bracket and is electrically connected with a power supply, and the control module comprises a wireless communication unit. The robot is simple in structure and high in obstacle crossing capacity, permanent magnet magnetic poles are arranged in a Halbach array, the upper sides and the lower sides of the magnetic poles are in an upper strong magnetic state and a lower weak magnetic state, and the magnetic adsorption force to the wall face is greatly improved.

The invention discloses a wind tower body derusting magnetic adsorption wall-climbing robot, which belongs to the technical field of robots and comprises a moving trolley, an adsorption mechanism, a polishing mechanism and a walking motor. The moving trolley comprises a chassis frame and four Mecanum wheels installed on the chassis frame. The adsorption mechanism comprises two adsorption assemblies which are symmetrically arranged front and back. Each adsorption assembly comprises a magnet device and a gap adjusting device used for driving the magnet device to move up and down. An ultrasonic sensor used for detecting the size of a gap between the magnet device and the wall face of the wind tower body is arranged on the bottom face of the magnet device. The grinding mechanism comprises a base, a sliding table, a supporting arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera. The grinding disc can move left and right and move up and down, and the rust removal efficiency is improved. The problems that in the wall-climbing process of an existing wind tower wall-climbing robot, due to the fact that the preset safety adsorption force is too large and the structure of the robot is poor, flexibility is poor, and operation efficiency is low are solved.

The invention discloses a telescopic obstacle-avoiding tree-climbing robot. The telescopic obstacle-avoiding tree-climbing robot comprises a clamping mechanism, a moving mechanism and a telescopic mechanism, the three clamping mechanisms are arranged in parallel up and down and are the same in structure, each clamping mechanism is formed by connecting five arc-shaped blocks and two knuckles through a steering engine, and the knuckles and the arc-shaped blocks are controlled by the steering engines to extrude and clamp the tree trunk inwards; the moving mechanism is mounted on the arc-shaped block in the middle and used for moving and avoiding obstacles when the clamping mechanism is unfolded; the telescopic mechanism is installed on the platform, a roller is connected with the second arc-shaped block and the fourth arc-shaped block through a belt, a motor controls rotation of a gear, the belt is driven to contract the second arc-shaped block and the fourth arc-shaped block of the clamping mechanism into a third arc-shaped block, and crotches can be conveniently avoided during obstacle avoidance. By means of the clamping mechanism, the moving mechanism, the telescopic mechanism and the like, obstacle-avoiding crawling and self-adaptive clamping capacity can be achieved on a tree trunk with a certain crotch, and the problem that an existing tree-climbing robot is difficult to crawl on the tree trunk with the crotch is solved.

The invention discloses a bionic climbing robot cluster formation input sharing control method, and particularly relates to the field of robots, and the method comprises the following steps: S1, a plurality of bionic climbing robots are connected through a wireless communication module to form a cluster, and a main robot is selected as a cluster control center; s2, all the bionic climbing robots obtain environment data through respective environment sensing modules and upload the data to the cluster control center in real time; s3, the cluster control center generates a control instruction according to the collected environment data in combination with a preset task target and a formation strategy; s4, the cluster control center broadcasts the generated control instruction to all the bionic climbing robots in the cluster through a wireless communication module; and S5, the bionic climbing robots execute corresponding actions according to the received control instructions, and cluster formation and collaborative operation are achieved. The method has the advantages that automatic obstacle avoidance and conflict adjustment can be achieved, and efficient operation and cooperation in a complex environment can be achieved.

The invention relates to a wall-climbing laser cleaning robot weld joint identification tracking control method and device, and belongs to the technical field of robot tracking control. The maximum curvature of the arc length between the position point of the robot at the current moment and a preview point is determined, the maximum longitudinal speed corresponding to the maximum curvature is determined, and the preview point is any point on the weld joint track in the advancing direction of the robot; and determining a predicted position of the robot at the next moment according to the maximum curvature and the maximum longitudinal speed, and controlling the robot to move to the predicted position. The method solves the problem that the precision of a dynamical model and an operation control strategy of the wall-climbing robot is low because the wall surface motion control of the wall-climbing robot does not consider the influence of adsorption force and gravity.

The invention discloses a video inspection robot and method for a first supporting plate of a steam generator, and the robot comprises a sub-video inspection robot which runs on the first supporting plate of the steam generator and inspects a heat transfer pipe; the mother wall-climbing robot comprises a shell, and one side of the shell is rotationally provided with a frame mechanism which is suitable for carrying the son video inspection robot and conveying the son video inspection robot to the first supporting plate of the steam generator; according to the video inspection robot disclosed by the invention, the whole set of robot can easily enter the inner wall of a steam generator coaming through a hand hole in a mode of combining the child robot and the mother robot, and the mother wall-climbing robot carries the child video inspection robot to climb to the first supporting plate along the inner wall of the steam generator coaming; and then the sub-video inspection robot runs on the first supporting plate to carry out video inspection operation, corresponding standard operation procedures can be completed autonomously, and the problem that the central pipe gallery of the first supporting plate of the steam generator cannot be inspected is solved.

The invention provides a climbing robot. The climbing robot comprises a fixing frame, a box body arranged on the fixing frame, an obstacle crossing mechanism arranged on the box body and a climbing mechanism arranged on the obstacle crossing mechanism. A movable block is installed on the rotating shaft through a first spring, threaded rods are movably installed at the two ends of the movable block, bearing seats are installed on the threaded rods on the periphery of the first bevel gear, a fixed block is installed between the two bearing seats, and a rotating block is arranged in the fixed block and fixedly connected with the second bevel gear. Clamping blocks are installed at the lower ends of the rotating shafts and matched with movable grooves in the rotating blocks. And through the obstacle crossing mechanism, a large space is formed between the device and the climbing object for obstacle crossing, after obstacle crossing is completed, the device is attached to the climbing object again, wind resistance is reduced, and the climbing stability is improved. The climbing mechanism comprises moving arms on the two sides, shells are fixedly connected to the lower ends of the moving arms, driving rollers are fixed to the shell on the driving side, auxiliary rollers are fixed to the shell on the driven side, and the climbing efficiency can be effectively improved.

The present invention discloses a wall-climbing robot for weld detection, which includes a top plate, a flaw detection mechanism, a magnetic wheel mechanism, a sensor assembly, a liquid supply mechanism, a gravity feedback mechanism, and a controller. An industrial camera in the sensor assembly detects the weld. The controller drives the rotation of four groups of magnetic wheel mechanisms for weld tracking according to the weld detection result. The gravity feedback mechanism drives the water pump in the liquid supply mechanism to continuously spray magnetic suspension liquid on the weld to be detected according to the gravity detection result. The first servo motor in the flaw detection mechanism drives the magnetic particle flaw detector to move downwards to continuously detect the weld to be detected. The device has a simple structure. Through four independent groups of magnetic wheel mechanisms, it can adapt to different container wall surfaces. At the same time, through gravity detection, continuous liquid supply of the liquid supply mechanism is realized, improving the efficiency, accuracy and reliability of weld detection.

The invention provides a magnetic wall-climbing milling robot. Comprising a vehicle body, a driving mechanism, a crawler walking mechanism, a welding seam milling mechanism, an adsorption assembly, a line patrol assembly, a scrap blowing assembly and upper and lower wall seats, the driving mechanism is arranged at one end of the vehicle body, and the crawler walking mechanisms are symmetrically arranged on two sides of the vehicle body to drive the vehicle body to walk. Wherein a transmission chain is arranged, a magnet is arranged on the transmission chain, and the vehicle body is adsorbed on the wall surface; the milling mechanism is arranged in the middle of the vehicle body and provided with a milling cutter for welding seam milling along with the vehicle body; the adsorption assembly is an adjustable strong magnet, is arranged at the other end of the vehicle body and has adsorption force to adsorb the vehicle body on the wall surface; the line patrol assemblies are arranged at the front end of the vehicle body and beside the milling cutter correspondingly and used for guaranteeing the line patrol state of the vehicle body and guaranteeing automatic deviation rectification under the condition that a weld bead is dislocated. The scrap blowing assembly is arranged around the milling cutter and used for discharging scraps milled by the milling cutter; the upper and lower wall seats are rubber platforms, can magnetically attract the vehicle body and the cylinder and are used for assembling and disassembling the vehicle body on the surface of the cylinder.

The invention relates to the technical field of robots, in particular to a heterogeneous robot cooperative three-dimensional inspection planning method under a vertical structure facility. Obtaining point cloud data of a target facility of a vertical structure; according to the point cloud data, a three-dimensional convex hull enhancement algorithm is adopted to generate a target facility minimum convex polygon describing a vertical structure; determining a cruise starting point and a cruise ending point of the unmanned aerial vehicle based on the minimum convex polygon; performing path planning between the cruise starting point and the cruise ending point of the unmanned aerial vehicle by adopting an improved A star algorithm, and determining a global inspection path of the unmanned aerial vehicle; performing routing inspection according to the determined global routing inspection path to obtain a global routing inspection result; determining a to-be-inspected position of the climbing robot in the minimum convex polygon according to the global inspection result; and determining a vertical inspection path of the climbing robot by adopting an improved branch and bound algorithm according to the to-be-inspected position. According to the invention, more efficient, safer and more intelligent inspection operation can be realized, and the flexibility and efficiency of task execution are improved while a wider area is covered.

The invention relates to the technical field of high-rise building crack detection, and particularly discloses a high-rise building crack detector based on an unmanned aerial vehicle and a stair-climbing robot, the bottom of the stair-climbing robot is fixedly connected with an aircraft, and the side surface of the stair-climbing robot is fixedly connected with a contact component. According to the high-rise building crack detector based on the unmanned aerial vehicle and the stair-climbing robot, the sweeping assembly is arranged, when a second connecting arm drives a connecting plate to approach to a to-be-detected area and a sweeping brush makes contact with a wall surface, a first spring immediately generates stretching deformation, a sliding rod is promoted to flexibly slide in a connecting block, and through elastic adjustment of the spring, the sweeping assembly is arranged; the cleaning brush can be adaptively matched with wall surfaces with different flatness, it is ensured that the cleaning brush tightly abuts against an area to be detected all the time, efficient cleaning force can be kept even if the cleaning brush faces the uneven wall surfaces, and therefore a clean and reliable working face is provided for follow-up high-precision crack detection, and the accuracy and reliability of a detection result are improved.

The invention provides a steel formwork surface grinding device. The steel formwork surface grinding device comprises a wall-climbing robot, a mounting mechanism and a grinding mechanism. The wall-climbing robot is provided with an installation position, the installation mechanism comprises a frame assembly and a driving assembly, the frame assembly is detachably connected to the installation position, the driving assembly is installed on the frame assembly, the grinding mechanism comprises a first flange, a rotating rod, an end plate, a steel wire grinding piece and a diamond abrasive grinding piece, one end of the rotating rod is fixedly connected with the first flange, and the other end of the rotating rod is fixedly connected with the end plate. The steel wire grinding piece and the diamond grinding piece are both installed on the end plate, the steel wire grinding piece is arranged on the outer side of the diamond grinding piece in a surrounding mode, and the first flange can be connected to the driving assembly so that the driving assembly can drive the grinding mechanism to rotate. In this way, the grinding mechanism is driven to rotate through the driving assembly, and the wall-climbing robot moves on the to-be-ground steel formwork, so that concrete sticky skin and rust on the steel formwork can be cleaned up.

The invention relates to a visual bird nest cleaning robot capable of automatically climbing a pole, and the robot comprises a tower climbing mechanism which is of an inchworm structure and carries out the vertical climbing operation; the mechanical arm mechanism is arranged at one end of the tower climbing mechanism, a mechanical clamping jaw is arranged at the free end of the mechanical arm mechanism, the relative position of the mechanical clamping jaw is adjusted through the mechanical arm mechanism, the bird nest is damaged and removed through the mechanical clamping jaw, and a camera is arranged in the center of the mechanical clamping jaw; according to the visual bird nest cleaning robot capable of automatically climbing the pole, an operator stands under a pole tower, the pole-climbing robot is remotely controlled to carry out climbing operation, a mechanical arm can be controlled to work at any time through a mobile phone terminal, and the bird nest removing condition is known.

The invention relates to the technical field of cable defect detection, and provides a climbing robot for cable defect detection and a detection method. The climbing robot is used for carrying out surface defect detection and internal defect detection on a cable simultaneously, and comprises a main body rack of a frame structure, and a clamping walking unit mounted in the frame structure of the main body rack, a cable penetrating through the two ends of a frame structure of a main body rack is clamped through at least one main driving wheel and at least two clamping wheels in a clamping walking unit, and surface defect detection and internal defect detection are conducted on the cable through a visual detection module and a magnetic flux leakage detection module which are installed at the two ends of the rack; the driving unit installed on the frame structure of the main body rack drives the main driving wheel to rotate, so that the main body frame automatically walks on the cable along the length direction. Therefore, while real-time and synchronous detection of internal defects and external defects of the cable is realized, comprehensive detection of the total length of the cable is realized through autonomous movement.

The invention provides an aerial cleaning robot system and a control method, and aims to solve the problems of high danger, low coverage rate of a wall-climbing robot, poor mobility and inaccurate system positioning in a cleaning process when a glass curtain wall of a high-rise building is cleaned manually in the prior art. The system is composed of a six-rotor unmanned aerial vehicle and a cleaning device. The unmanned aerial vehicle main body comprises a special rack, a power system and a control system, the power system is composed of a servo motor, a rotor wing, a motor and a battery, and the control system is integrated with a flight control and GPS module. The cleaning device comprises a sensing module, a three-connecting-rod mechanical arm and a cleaning system. Through the integrated design, the flying capability of the unmanned aerial vehicle is combined with the cleaning function, and the safety and efficiency of high-altitude cleaning are improved. The special arm design enables the unmanned aerial vehicle to realize front and back power output without adjusting the attitude, and the positioning and control process is simplified. The mechanical arm adopts an inner and outer ring control method, high-precision position control and excellent anti-interference performance are achieved, and it is ensured that cleaning work is stable and reliable.

The invention discloses a wall-climbing robot positioning and path planning method based on unmanned aerial vehicle cooperation, and the method comprises the steps: constructing and updating a three-dimensional map based on the point cloud and image data of a laser radar and a camera; based on the three-dimensional map, the two-dimensional code of the wall-climbing robot is identified by using the unmanned aerial vehicle, and the accurate positioning information of the wall-climbing robot is obtained by combining self-positioning and cross validation and fusion correction of the ground control unit; updating a map by synchronizing sensing data, and optimizing a climbing track based on the obtained positioning information and a global planning path of the ground control unit; for positioning information and environment information of the wall-climbing robot, the unmanned aerial vehicle adopts a trajectory prediction control algorithm to adjust the attitude, and meanwhile, sudden obstacles are avoided in real time through path planning. According to the invention, through laser vision fusion SLAM and unmanned aerial vehicle collaborative operation, the environment perception capability is enhanced, and through combination of a dynamic map and visual word bag optimization, the functions of operation map construction, accurate positioning, path planning, autonomous navigation obstacle avoidance and the like of the wall-climbing robot are realized.

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 relates to the technical field of climbing robots, in particular to a wheel-wing double-drive high-mobility climbing robot which comprises a base, a first driving part, a second driving part, an inertial measurement unit, a Hall sensor, a depth camera and a control module. The control module can integrate data of the depth camera and the inertial measurement unit to deduce whether the climbing robot has a trend of crossing a corner structure; and when the corner structure crossing trend exists, whether the crossing strategy of the second driving part is started or not is selected based on the Hall sensor data. When the climbing robot in the scheme adopts a wheel type driving mode and is difficult to cross a corner structure, the ducted fan is started to form a wheel-wing dual-driving mode, so that the defects of single wheel type driving are overcome, the maneuverability of the climbing robot is enhanced, and meanwhile, the remote control operation complexity of the climbing robot passing through the corner structure difficult to cross is greatly reduced.

The invention discloses a magnetic array adsorption module, a design method thereof and a wall-climbing robot. The magnetic array adsorption module comprises a first magnetic assembly and a second magnetic assembly, the first magnetic assembly comprises a plurality of first magnets distributed in an array mode in the first direction and the second direction, every two adjacent first magnets are spaced and opposite in magnetism in the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other; the second magnetic assembly comprises a plurality of second magnets, each second magnet is connected with two adjacent first magnets, an air gap exists between the two adjacent second magnets, and the magnetism of the two adjacent second magnets is opposite in the first direction or the second direction. By designing the magnetic array adsorption module arranged in the circumferential direction, the permanent magnet utilization rate of the magnetic array adsorption module is superior to that of a linear classic Halbach magnetic array adsorption module under the same magnet volume, and magnetic attenuation caused by the end effect is improved. And meanwhile, the air gap can be used as a replacement space of the mounting hole, so that magnetic loss caused by opening a hole in the magnet is avoided.

The invention provides a wall-climbing robot and a control method. The robot comprises a supporting plate, an outer foot assembly slidably arranged at the top of the supporting plate, an inner foot assembly arranged at the bottom of the supporting plate and a motion posture sensor. The outer foot assembly comprises a second rack and a plurality of first swing adsorption units; the linear driving mechanism is arranged on the top face of the supporting plate, and the second rack is connected with the moving end of the linear driving mechanism. The inner foot assembly comprises a first rack, a plurality of second swing adsorption units and a rotating mechanism, the first rack comprises a plurality of supporting arms, and the second swing adsorption units are correspondingly arranged at the extending ends of the supporting arms respectively; the rotating end of the rotating mechanism is connected with the supporting plate; the first swing adsorption unit and the second swing adsorption unit respectively comprise a swing mechanism, a suction cup arranged at the swing end of the swing mechanism and a negative pressure air pump; the motion attitude sensor is in communication connection with the negative pressure air pump; the wall-climbing robot is not easy to fall off and can realize large-span obstacle crossing.

The invention discloses a telescopic gripper type climbing mechanism, relates to the technical field of climbing robots, and solves the problem that the effect of a climbing robot during forestry protection operation is affected as the climbing robot is difficult to freely and automatically climb trees in different shapes. The telescopic gripper type climbing mechanism comprises a lower base and an upper platform, a plurality of supporting columns are installed at the included angle of the top of the lower base, the upper platform is welded to the tops of the supporting columns, a plurality of gripper type climbing mechanical arms are installed between the lower base and the upper platform, and each gripper type climbing mechanical arm comprises a multi-angle rotating assembly. The multi-angle rotating assembly is installed between the lower base and the upper platform. In the invention, the climbing robot has two main working modes, and can freely and flexibly climb on trees with irregular growth postures such as bending, so that the effects of the climbing robot during forestry protection and tree branch cutting operation are improved.

The invention discloses a wall surface self-adaptive wheel type magnetic adsorption pipeline wall-climbing robot, which relates to the technical field of intelligent machinery and comprises a vehicle body, a passive self-adaptive device, a driving device, a permanent magnet adsorption magnetic wheel group and a sensing device, through mutual cooperation of the passive self-adaptive device, the driving device, the permanent magnet adsorption magnetic wheel set and the sensing device, the problem that when the wheel type magnetic adsorption wall-climbing robot walks on an uneven working face, the rotating speeds of all wheels are not synchronous can be solved; the wheel type magnetic adsorption wall-climbing robot smoothly walks on the working face and crosses the external corner of the pipeline, the use reliability of the robot is improved, then the working efficiency of the robot is improved, the front and back network cameras can transmit image information in the pipeline in real time, and an operator can conveniently monitor and adjust the working state of the robot.

The invention relates to a modular bionic climbing robot and a multi-target continuous operation method thereof. The invention relates to a climbing robot simulating inchworm motion, in particular to a modular bionic climbing robot which is suitable for operations such as bamboo forest felling, forest pruning and tower inspection. The robot comprises a posture adjusting module, a self-adaptive clamping module, a replaceable tail end operation module and a visual navigation module. A battery is arranged in the posture adjusting module and supplies power through wiring of the arm body. The robot climbs, descends and transversely rotates along the rod through the pitching joint and the yawing joint. Based on the inchworm motion principle, the two clamping modules work alternately, and continuous transfer operation is achieved. When the distance between every two adjacent bamboo stalks is not larger than the arm span, multi-target continuous felling can be automatically completed, efficiency is remarkably improved, and cost is reduced.

The invention discloses an HPC curtain wall safety intelligent monitoring method and system, and the method comprises the steps: obtaining curtain wall multi-domain monitoring data and a cable climbing robot scanning record, recognizing a vibration abnormal component, generating a defect sensitivity coefficient, and constructing a damage response field domain; scanning and generating a modal capacity contour surface, setting a resonance early warning trigger node, extracting frequency response distribution to determine a resonance dangerous area, and generating a high-sensitivity monitoring area and a sensor control strategy; an environment load sequence is collected and projected to a damage response field domain to form an effective load bandwidth, and a safety control range is determined by combining structure bearing requirements; performing path search by applying a layered monitoring and adjusting scheme, identifying a stress concentration position through keel deformation modulation, and generating a structure control anchor; analyzing a structure control anchor to generate a fatigue accumulation rate, forming a damage development speed in combination with a scanning record, and extracting collaborative deformation parameters; and comparing the cooperative deformation parameter with a preset value to form a control deviation signal, and generating a self-adaptive control sequence to realize intelligent monitoring and active adjustment of structure safety.

The invention belongs to the technical field of miniature wall-climbing robots, and particularly relates to a miniature double-foot wall-climbing robot based on electrostatic adsorption, which comprises a bracket, two groups of symmetrically arranged driving devices, two actuating legs and two groups of electrostatic chucks, the driving devices are respectively arranged on two sides of the bracket, the output ends of the driving devices are connected with the actuating legs, and the electrostatic chucks are arranged at the lower ends of the actuating legs. The two sets of driving devices drive the actuating legs to drive the electrostatic chucks to alternately swing through alternate actuation, and the two feet alternately execute adsorption, swing and desorption actions in cooperation with alternate adsorption and desorption of the electrostatic chucks, so that the robot continuously and stably crawl on the wall face. A bionic gait mode is formed through alternate adsorption, desorption and swinging of the left and right feet, continuous adsorption of the suction cups on at least one side at any moment is ensured, instability caused by simultaneous desorption of the two feet is avoided, stable adsorption and continuous and efficient crawling on multiple types of wall surfaces are achieved, the structure is compact, and operation is convenient. The adaptability and the stability of the robot in a narrow space and a complex wall surface environment are improved.