744 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 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 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 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 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.

A wall-climbing robot for cleaning a swimming pool is provided. The cleaning robot includes a machine body, walking assemblies located on both sides of the machine body, and a roller brush assembly located at a front side of the machine body. The roller brush assembly includes a support shaft and two sections of roller brush bodies rotatably arranged on the support shaft. The support shaft is connected to the machine body. Each walking assembly includes a walking motor, and a first output end and a second output end connected to the walking motor. The first output end is connected to a walking crawler belt and the second output end is connected to the roller brush body. The walking crawler belt and the roller brush body on the same side of the machine body can accelerate and decelerate synchronously.

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 relates to a negative pressure wall-climbing robot based on an organ type plush sealing ring and a variable-diameter tire structure, which comprises a base, the bottom of the base is provided with an adsorption unit, and the adsorption unit is detachably connected with the base; a negative pressure unit is arranged on the base, and the negative pressure unit is fixedly arranged on the base and is communicated with the adsorption unit; a plurality of parallel driving units are arranged on the adsorption unit, telescopic rods are arranged on the driving units, variable-diameter tires are arranged on the two sides of the base and connected with the telescopic rods, and the variable-diameter tires are driven by the driving units to rotate to move; a telescopic structure is arranged on the side, close to the variable-diameter tire, of the base, a telescopic driving module is arranged on the telescopic structure, a side plate is arranged on the telescopic driving module, and the side plate is connected with a telescopic rod in a matched mode. The invention aims to solve the problems of contact adaptability and movement stability of the negative-pressure wall-climbing robot on wall surfaces with different curvatures and roughness or when the negative-pressure wall-climbing robot passes through a narrow space.

An automated order fulfillment system and mobile robot are disclosed, where the mobile robot includes a compliant drive for moving between levels of a multilevel storage structure. In one example, the compliant drive comprises a drive shaft having splines configured to provide rotational play that prevents jamming of a vertical drive gear on the end of the shaft with a rack in a vertical track.

The invention relates to the field of climbing robots, and discloses a modularized climbing robot suitable for different surfaces, which comprises at least one transmission module, a plurality of rigid connecting rod clamping sub-modules and a plurality of flexible strip wheel clamping sub-modules, each transmission module comprises two output ends, and the two output ends are located on the two sides of the machine body shell correspondingly. The output end of at least one transmission module is connected with a rigid connecting rod clamping sub-module; the flexible strip wheel clamping submodule is connected to the output end, away from one end of the rigid connecting rod clamping submodule, of the transmission module. The robot has the beneficial effects that the rigid connecting rod clamping sub-modules and the flexible strip wheel clamping sub-modules are combined, so that the climbing speed and the adaptive capacity of the robot are synchronously improved, and the requirements of complex scenes are met.

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 relates to a magnetic type wall-climbing robot chassis structure and a control method thereof.The magnetic type wall-climbing robot chassis structure comprises an adsorption walking device and an adjusting device, the adsorption walking device comprises a first adsorption wheel assembly and a second adsorption wheel assembly, and the adjusting device comprises an adjusting mechanism and a driving adjusting device; power for driving the adjusting device is configured to be selectively or proportionally distributed to the adjusting mechanism, so that the adjusting mechanism can selectively enter a first state, a second state and a third state, in the first state, the adjusting mechanism adjusts the relative angle between the first adsorption wheel assembly and the second adsorption wheel assembly, and in the third state, the adjusting mechanism adjusts the relative angle between the first adsorption wheel assembly and the second adsorption wheel assembly; in the second state, the adjusting mechanism adjusts the distance between the first adsorption wheel assembly and the second adsorption wheel assembly, and in the third state, the adjusting mechanism adjusts the relative angle and distance between the first adsorption wheel assembly and the second adsorption wheel assembly at the same time. And by arranging the adjusting mechanism and the driving adjusting device, the whole chassis structure is deformed according to the actual situation, and it is guaranteed that the device can stably walk on the ferromagnetic wall face.

The embodiment of the invention provides a climbing robot and a climbing method thereof.The climbing robot comprises at least three clamping mechanisms, a connecting arm and a driving mechanism, each clamping mechanism is provided with a clamping part, and the connecting arm is rotationally connected with the adjacent clamping mechanism in the length direction of a lightning rod; the driving mechanism comprises a torsion assembly 1 for driving the connecting arm to twist in the circumferential direction and a climbing assembly for driving the connecting arm to rotate in the axial direction, the multiple clamping mechanisms and the torsional connecting arm structure are arranged, the driving mechanism is matched to achieve axial climbing and circumferential obstacle avoidance actions, and the problems that a traditional robot is unstable in clamping and poor in obstacle avoidance capacity are solved. The robot has the advantages that the clamping stability is improved, the circumferential obstacle avoidance function is achieved, and the coordination of climbing actions is improved.

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 invention relates to the technical field of outer wall repairing robots, in particular to a high-rise outer wall repairing comprehensive monitoring robot device which comprises a wall-climbing robot body, a slurry forming structure is arranged at the top of the wall-climbing robot body, and the slurry forming structure comprises a charging barrel fixed to the top of the wall-climbing robot body; a supporting frame is fixed to the side wall of the wall-climbing robot body, a motor is fixed to the top of the supporting frame, a worm is fixed to the output end of the motor, a material injection opening is opened by rotating a baffle, and then mortar raw materials for repairing the wall face are injected into a material barrel. Then the output end of a first electric push rod extends out to drive an insertion block to be inserted into an insertion groove in the top of a rotating shaft, then connection of the first electric push rod and the rotating shaft is completed, a motor is started to drive a worm to rotate, then a worm gear, the first electric push rod and the rotating shaft are driven to rotate, and first stirring blades and second stirring blades are driven to rotate when the rotating shaft rotates; and thus, the materials are mixed to prepare the repairing mortar.

The invention relates to the technical field of robot equipment, and particularly discloses a negative pressure adsorption type wall-climbing robot. Comprising a supporting frame, crawler-type advancing systems symmetrically arranged on the two sides of the supporting frame, a negative pressure adsorption system used for providing negative pressure for the crawler-type advancing systems, a plurality of spiral hoses used for supporting the corresponding crawler-type advancing systems and an intelligent control system used for controlling the robot to advance. Through the unique design of the crawler-type advancing system, the negative pressure adsorption system and the intelligent control system, the problems that an existing wall-climbing robot is unstable in adsorption, poor in movement flexibility and narrow in application range are solved, and efficient, safe and stable wall face operation is achieved.

The invention discloses a working face adsorption and desorption control method and system of a magnetic adsorption type rotor unmanned vehicle, and relates to the technical field of wall-climbing robots. The method comprises the steps of obtaining state data of a machine body; the state data comprises three-axis inclination angle data, three-axis acceleration data and relative position data; when an adsorption instruction is received, the operation state of each rotor wing is controlled according to the state data, so that each magnetic wheel is adsorbed to a working surface; when a desorption instruction is received, each rotor is controlled to rotate so as to provide hovering lift force; after the hovering lift force reaches a preset range, the driving push rods are controlled to extend until the tail ends make contact with the working face; according to the state data, the extension state of each driving push rod is controlled to push the machine body to be away from the working surface, and meanwhile, the rotating speed of each rotor is regulated until each magnetic wheel is separated from the adsorption state; and controlling each driving push rod to contract to an initial state. According to the invention, stable and reliable adsorption and safe and stable separation of the magnetic wheel on a magnetic conductive working surface can be realized by cooperatively controlling the rotors and driving the push rods.

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 invention discloses a curtain wall panel stability detection system and method based on a wall-climbing robot, and the system comprises the wall-climbing robot which is provided with a knocking mechanism for knocking a curtain wall panel, a vibration detection mechanism for detecting the vibration parameters of the curtain wall panel, and a detection mechanism for detecting the stability of the curtain wall panel. The wireless transmission module is connected with the wall climbing robot control mechanism, the knocking mechanism and the vibration detection mechanism; the system further comprises a ground control terminal which is connected with the wireless transmission module and used for controlling the wall climbing robot and the knocking mechanism to execute actions, receiving the detection result of the vibration detection mechanism and judging the panel stability after analyzing the result. According to the invention, high-efficiency and high-precision stability detection of the curtain wall panel can be realized, the device can be used for safety detection of building outer walls such as high-rise or super high-rise glass curtain walls, stone curtain walls, metal curtain walls, ceramic plate curtain walls and the like, unstable panels can be found in time, timely repairing and safety measure taking are facilitated, accidents are avoided, and the safety of the building outer walls is ensured. And the problem of stability detection of the curtain wall panel is really solved.

The invention discloses a double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, and relates to the technical field of detection robot production, the double-wheel magnetic wall-climbing robot comprises a main frame, a wheel base adjusting mechanism, a front frame and a rear frame, and the wheel base adjusting mechanism is connected with the front frame and the rear frame; the vehicle further comprises deformation magnetic wheels, the deformation magnetic wheels are arranged on the front vehicle frame and the rear vehicle frame, the deformation magnetic wheels comprise permanent magnet wheels and supporting wheels, deformation driving mechanisms are arranged in the deformation magnetic wheels, and the deformation driving mechanisms drive the supporting wheels and the permanent magnet wheels to be separated and deformed. The axle distance adjusting mechanism drives the front frame and the rear frame to keep rotating, and the axle distance between the deformation magnetic wheels on the front frame and the rear frame is adjusted. According to the double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, the front frame and the rear frame are driven by the axle distance adjusting mechanism to keep rotating, and the axle distance between the front deformation magnetic wheel and the rear deformation magnetic wheel can be synchronously adjusted; and the safety and the environment adaptability of the robot during high-risk crawling on the surface of the complex steel structure can be remarkably enhanced.

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.