305 results about "Wall climbing" patented technology

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 discloses an underwater curved surface active self-adaptive adsorption cleaning robot which comprises a rack, a control cabin, a sensor system, an underwater propelling system and four Bernoulli suckers. The Bernoulli sucking disc comprises a connecting shell, a Bernoulli sucking disc surface and a sucking disc power source; the connecting shell is rotatably connected with the rack through the rotating flange bearing and the rotating shaft; a driving push rod is connected between the connecting shell and the rack; the active angle self-adaption of the Bernoulli suction cup is realized through the active push rod; the control cabin completes reconstruction of a working curved surface through the sound wave range finder, the angle of each Bernoulli suction cup needing to rotate is calculated, then the length of each driving push rod is controlled to enable the corresponding Bernoulli suction cup to rotate to the calculated angle, and finally the suction cup power source is controlled to enable the robot to be attached to the working surface. The wall-climbing cleaning device can adapt to most special-shaped curved surfaces, wall-climbing cleaning work can be carried out on the complex and changeable curved surfaces, and no mandatory requirement for surface materials of the adsorption curved surfaces exists.

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 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 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.

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 utility model discloses a swimming pool cleaning robot capable of improving wall climbing capacity. The swimming pool cleaning robot comprises a robot body and a tail pushing motor. The machine body is provided with front wheels, rear wheels and a rolling brush. A driving motor is arranged in the machine body and drives the front wheel, the rear wheel and the rolling brush to rotate; the tail pushing motor is arranged in the tail end of the machine body, and a tail pushing water opening is formed in the tail of the machine body. According to the cleaning robot, the tail pushing motor is additionally arranged to provide pushing force, and meanwhile it can be guaranteed that the robot stably climbs a wall to clean the side wall of a swimming pool through suction force provided when the water pumping motor pumps water.

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 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.

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.

This invention discloses a wall-climbing cleaning robot and system, relating to the technical field of cleaning equipment for fluidized bed reactors in polyethylene plants. The wall-climbing cleaning robot has a mounting frame equipped with a drive unit, drive wheels, auxiliary wheels, a magnetic device, an air-blowing device, and a remote control module. The drive wheels are connected to the drive unit, and the air-blowing device is used for dust removal. The remote control module is connected to both the drive unit and the air-blowing device. Thus, the wall-climbing cleaning robot can adhere to iron walls via the magnetic device. The remote control module controls the drive unit, which drives the drive wheels and auxiliary wheels to move along the iron walls. It can move along the side and top walls of the fluidized bed reactor in a polyethylene plant and enter areas within cleaning dead zones. The air-blowing device removes dust adsorbed on the walls, achieving the beneficial effects of reducing cleaning dead zones in the fluidized bed reactor and lowering the safety risks for cleaning personnel.

The utility model relates to a high-flexibility wheel-track combined curtain wall crawling robot, and relates to the field of curtain wall crawling robots, the high-flexibility wheel-track combined curtain wall crawling robot comprises a machine body, a plurality of mechanical arms and a plurality of wall climbing assemblies, one ends of the mechanical arms are fixed on the machine body, the other ends of the mechanical arms are connected with the wall climbing assemblies, and the wall climbing assemblies are used for being adsorbed on a curtain wall and sliding on the curtain wall; the mechanical arm is used for driving the wall-climbing assembly to move relative to the machine body. The unmanned climbing robot has the effect of improving the obstacle crossing ability and the steering flexibility of the unmanned climbing robot.

The application discloses a free-turning curved-surface adaptive magnetic adsorption wall-climbing robot and a control method, relates to the field of wall-climbing robots, and comprises a frame unit, a front driving mechanism and a rear driving mechanism. The front driving mechanism is used for driving the robot to move in a first direction. The rear driving mechanism is used for driving the robot to move in a second direction. The first direction and the second direction are perpendicular to each other in a horizontal plane. The rear driving mechanism comprises a rear driving motor, an omnidirectional wheel assembly, a central shaft and a suspension-type permanent magnet unit. The suspension-type permanent magnet unit is passively rotatably sleeved on the central shaft through a bearing and can rotate around the central shaft with the change of the curvature of a magnetic guide surface, so that the magnetic force direction always points to the normal direction of a wall surface. The omnidirectional wheel assembly is fixedly connected with the central shaft in a concentric mode. The application can realize in-situ turning without setting an independent turning motor. The rear driving mechanism integrates the functions of turning driving and curved-surface self-adaptive adsorption. The application has a compact structure, can adapt to complex wall surfaces such as curved surfaces, and has stable adsorption and strong passability.

The utility model relates to automatic detection technical field and propose a kind of wall-climbing robot, comprising: at least two main bodies, the side of mutually approaching of adjacent two main bodies is hinged connection;Several magnetic roller assemblies, the side of mutually moving away of at least two main bodies is set to rotate, for magnetically adsorbed on the surface of measured object, and rolling on the surface of measured object, the advancing direction of several magnetic roller assemblies is parallel with the hinge axis of adjacent two main bodies;At least two adjusting assemblies, one-to-one corresponding setting on the at least two main bodies, and located the front end of main body along advancing direction;At least two detection units, one-to-one corresponding setting in the at least two adjusting assemblies, for when adjacent two main bodies mutually rotate to adapt to the curvature of measured object, each adjusting assembly always keeps corresponding detection unit facing the surface of measured object.

The application discloses a wall-climbing chassis with a negative pressure adsorption type and a rolling wheel skirt cooperative sealing, and belongs to the technical field of wall inspection. The wall-climbing chassis comprises a machine body shell, a driving mechanism arranged in the machine body shell, a vacuum chamber arranged in the machine body shell, a negative pressure mechanism arranged between the vacuum chamber and the machine body shell, flexible skirts arranged on both sides of the bottom of the machine body shell, rolling wheels arranged at the front end and the rear end of the machine body shell respectively, limiting mechanisms respectively arranged on both sides of the rolling wheels, and an adjusting mechanism arranged between the rolling wheels and the flexible skirts. During operation, the negative pressure mechanism extracts air in the vacuum chamber, the flexible skirts are closely combined with a wall surface under the action of negative pressure, and a reliable sealing structure is formed; the driving mechanism is used for realizing the movement of the machine body shell along the wall surface; meanwhile, the rolling wheels convert static friction into sliding friction, and energy consumption is reduced; the adjusting mechanism keeps sealing when being static, releases part of pressure when being in motion, and avoids excessive friction.

The invention relates to a magnetic type draught fan tower outer wall defect integrated treatment wall-climbing robot and an operation method thereof.The magnetic type draught fan tower outer wall defect integrated treatment wall-climbing robot comprises a vehicle shell, the top of the vehicle shell is connected with a defect treatment mechanism through a six-degree-of-freedom mechanical arm, a magnetic adsorption module is arranged at the bottom of the vehicle shell, and the vehicle shell is in magnetic adsorption fit with the wall face of a tower through the magnetic adsorption module; a passive flexible mechanism and a walking driving mechanism are fixedly installed on the vehicle shell and are in transmission connection with walking wheels used for walking on the wall face together. A composite structure of the Halbach array, the multi-deformation magnetic unit and the conical pole shoe is innovatively adopted, a magnetic field is superimposed through 90-degree gradient magnetizing, the adsorption force is improved by 50% compared with a traditional adsorption force, the adsorption force is matched with the curved surface of a tower drum, and heavy-load stable walking is guaranteed; and meanwhile, the six-axis flexible mechanical arm is integrated with a detection, grinding and spraying integrated module, layout is simplified, the load is reduced, the high-altitude movement risk is avoided, and operation flexibility and safety are both considered.

The utility model discloses an underwater wall-climbing cleaning robot facing the inner wall of a factory culture pond, and relates to the technical field of wall-climbing cleaning, the underwater wall-climbing cleaning robot comprises a shell, a brushing system, an adsorption filtration system, a propulsion system and a control system, the shell is a bionic flexible shell, and the front and rear sides of the top of the shell are connected with rapid maintenance plates through buckles; the right end of the shell is connected with a tail fin, the left end of an inner cavity of the shell is connected with a semicircular top plate, the right end of the semicircular top plate is connected with a front supporting plate, the top of the middle of the inner cavity of the shell is connected with a middle supporting plate, and the top of the right side of the inner cavity of the shell is connected with a rear supporting plate. The device does not make contact with the pond wall during advancing, abrasion to the pond wall is reduced, the device adapts to different culture pond wall faces, filtered reuse water is converted into propelling power, and the energy utilization rate is remarkably increased.

The application discloses a wall-climbing robot structure with a passive self-adaptive variable-curvature magnetic-conducting wall surface, which comprises a frame unit, self-adaptive moving mechanisms and a control box, wherein the two self-adaptive moving mechanisms are symmetrically hinged in copper sleeve mounting holes reserved on both sides of the frame unit; the wall-climbing robot structure is designed with self-adaptive wheel sets and a frame unit capable of self-adaptive deformation, so that the driving wheels and the driven wheels are always closely attached to the wall surface, the effective contact points of the synchronous belt wall surface are increased, the friction force is increased to prevent slipping, the safety of the robot in wall surface operation is improved, and the wall-climbing robot structure can also realize obstacle crossing, thereby ensuring the practicability of the equipment. In addition, the permanent magnets on the driving wheels and the driven wheels adopt an embedded permanent magnet mode, which avoids the problem of adsorption force deviation caused by the multi-hinge structure of the robot, and the structure is more compact. The arrangement of multiple groups of permanent magnetic adsorption elements enables the wall-climbing robot structure to simultaneously adapt to the concave and convex surfaces of a magnetic-conducting vertical surface.

The application discloses a multi-wall surface operation path planning method and system for an underwater wall-climbing cleaning robot, and belongs to the technical field of special robots. The method comprises the following steps: constructing a three-dimensional motion model of the underwater wall-climbing cleaning robot according to a basic motion form of the underwater wall-climbing cleaning robot; performing stress analysis on the three-dimensional motion model to obtain an energy efficiency coefficient of the underwater wall-climbing cleaning robot; constructing an underwater three-dimensional multi-wall surface operation target model; establishing a target function with the purpose of minimizing the total energy consumption generated by the underwater wall-climbing cleaning robot during the motion process; obtaining the motion speed of the underwater robot; and solving the target function by using a simulated annealing algorithm according to the motion speed and the corresponding energy efficiency coefficient to obtain an optimal energy consumption operation path of the underwater wall-climbing cleaning robot. The method can improve the efficiency and accuracy of multi-wall surface operation path planning, and solves the problem that the existing technology has a method for evaluating the power consumption of an underwater robot which is too complex and not universal.

The device comprises a wall climbing assembly, a mechanical arm, a cutter, a first detection part, a second detection part and a control module, and the wall climbing assembly is used for walking on the wall face of the containment; the mechanical arm is fixed to the wall climbing assembly, the cutter is fixed to the mechanical arm, the mechanical arm is arranged to allow the cutter to move in a three-dimensional mode, and the first detection component is used for detecting and obtaining position data and environment data of surface accessories; the second detection component is used for identifying the appearance of the surface accessory; the control module is in bidirectional signal connection with the first detection part, the second detection part, the wall climbing assembly and the mechanical arm, and the control module is used for collecting and calculating data of the first detection part and the second detection part and outputting an action path of the cutter to the mechanical arm or outputting a moving path to the wall climbing assembly. By means of the device, surface accessories can be efficiently removed, and residual areas can be ground.

The invention discloses a spherical tank space wall surface line patrol control method for a wall-climbing detection robot. The method comprises the following steps: step 1, deploying a robot and a base station; 2, the real-time state of the wall-climbing detection robot on the surface of the spherical tank is obtained; step 3, generating an expected trajectory; 4, calculating the position state error of the wall-climbing detection robot; 5, designing a sliding mode controller BSMC based on a backstepping method, and deducing a control law according to the state error to generate an expected ideal linear speed and an expected ideal angular speed of the robot; 6, the generated ideal linear speed and the ideal angular speed are converted into control signals of a left wheel motor and a right wheel motor, and the robot is driven to move along an expected track; and 7, outputting the tracking state of the robot to the expected space trajectory in real time. The controller is designed in combination with the sliding mode control theory, it is ensured that the robot can conduct high-precision tracking on the expected space trajectory on the complex spherical tank wall face, and the precision and stability of line patrol control are remarkably improved.

This invention discloses a biomimetic octopus suction cup negative pressure adaptive adsorption structure, belonging to the field of biomimetic adsorption technology. This structure simulates the collaborative working mechanism of the flexible ring at the edge of an octopus suction cup and the central negative pressure cavity. It employs a flexible lip, a deformation compensation cavity, and a negative pressure control unit to achieve strong adaptive adsorption on irregular surfaces. This solves the problems of poor adaptation to curved surfaces, easy air leakage, and insufficient adsorption force of traditional suction cups. It can be applied to wall-climbing robots, underwater gripping devices, and flexible clamping equipment.