CN113485457A

CN113485457A - Filling and repairing type intelligent building detection system and method thereof

Info

Publication number: CN113485457A
Application number: CN202110794559.6A
Authority: CN
Inventors: 周文波
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-10-08

Abstract

The filling and repairing type intelligent building detection system comprises an outer wall scanning device, an outer wall repairing device, a filling and fixing device and a controller, wherein the outer wall scanning device comprises a first wall climbing robot, a three-dimensional laser scanner, a second wall climbing robot, a construction cover body and a transverse plate telescopic mechanism, the outer wall repairing device comprises an outer ring cutting groove, an outer ring rail mechanism, an outer ring telescopic mechanism, a multi-angle cutting mechanism, an inner ring cutting groove, an inner ring rail mechanism and a telescopic cutting mechanism, the filling and fixing mechanism comprises a pop-up fixing mechanism, a colloid sealing mechanism, a collision telescopic mechanism, a magnetic collision touch disk, a magnetic absorption fixed disk and an outer ring expanding mechanism, through implementation of the intelligent building detection system, cracks in a repairing area of a building can be automatically identified, the crack area is cut, then the first wall climbing robot enters the cut groove body to be filled and automatically sealed, the probability of crack water inflow is reduced.

Description

Filling and repairing type intelligent building detection system and method thereof

Technical Field

The invention relates to the field of building detection, in particular to a filling and repairing type intelligent building detection system and a method thereof.

Background

The wall body cracks are mainly caused by that on one hand, the wall body is built with cracks, the strength grade of the building mortar is lower, the mortar category is not properly used, the mixture ratio is not well mastered for building the mixed mortar, so that the strength is reduced, the integrity of the building body is poor, and the building body is easy to be weathered and loosened too early; the mortar is not compact and full in the wall building construction process, or cracks are caused by through seams, empty seams and blind seams generated by errors of a building method.

When the width of the crack of the building exceeds a certain limit value, the crack becomes a harmful crack, the existence of the harmful crack seriously affects the durability and the applicability of the structure, and the current short-distance measuring method of the crack of the building is commonly used as follows: a clearance gauge or a crack width comparison card, a crack microscope, a crack width tester with image display and manual interpretation, a full-automatic crack width tester and the like; the detection of the cracks of the outer wall of the high-rise building is particularly difficult, on one hand, the high-rise building is high in height and difficult to climb, and the manual climbing detection efficiency is low and the danger is high; on the other hand, cracks often present irregularities, and it is difficult to measure their width, length, etc. scale characteristics.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, embodiments of the present invention provide a filling and repairing type intelligent building detection system and a method thereof, which can effectively solve the problems related to the background art.

The technical scheme is as follows:

fill and repair formula intelligence building detecting system, including outer wall scanning device, outer wall prosthetic devices, fill fixing device and respectively with outer wall scanning device, outer wall prosthetic devices, fill the controller that fixing device is connected, its characterized in that:

the outer wall scanning device comprises a first wall-climbing robot, a three-dimensional laser scanner, a second wall-climbing robot, a construction cover body and a transverse plate telescopic mechanism; the first and second wall climbing robots are arranged in the building rooftop storage bin; the three-dimensional laser scanner is arranged outside the first and second wall climbing robots and adopts a three-dimensional laser scanning imaging system; the construction cover body is arranged at the top end of the second wall-climbing robot; the transverse plate telescopic mechanism is arranged on the bottom surface of the second wall climbing robot;

the outer wall repairing device comprises an outer ring cutting groove, an outer ring track mechanism, an outer ring telescopic mechanism, a multi-angle cutting mechanism, an inner ring cutting groove, an inner ring track mechanism and a telescopic cutting mechanism, wherein the outer ring cutting groove is formed in the periphery of the first wall climbing robot; the outer ring track is arranged in the outer ring cutting groove; the outer ring track mechanism is arranged in the outer ring cutting groove and corresponds to the outer ring track; the outer ring telescoping mechanism is respectively connected with the outer ring track mechanism and the multi-angle cutting mechanism; the multi-angle cutting mechanism is arranged at the front end of the outer ring telescopic mechanism; the inner ring cutting groove is arranged on the bottom surface of the first wall climbing robot and is annular; the inner ring track is arranged in the inner ring cutting groove; the inner ring track mechanism is arranged in the inner ring cutting groove and corresponds to the inner ring track; the telescopic cutting mechanism is arranged at the top end of the inner ring track mechanism;

the filling fixing mechanism comprises a pop-up fixing mechanism, a colloid sealing mechanism, a collision telescopic mechanism, a magnetic contact disc, a magnetic fixed disc and an outer ring expansion mechanism; the pop-up fixing mechanism is arranged on the periphery of the first wall climbing robot; the glue sealing mechanism is arranged in the first wall climbing robot, and the glue spraying port is arranged on the periphery of the first wall climbing robot; the collision telescopic mechanism is arranged in the center of the bottom surface of the first wall-climbing robot and is connected with the magnetic collision disk; the magnetic attraction ground contact disc is arranged at the front end of the conflict telescopic mechanism; the magnetic attraction fixed disc is magnetically connected with the magnetic attraction abutting disc; the outer ring extension mechanism is arranged on the periphery of the magnetic attraction fixing disc.

As a preferred mode of the present invention, the exterior wall repairing device includes a recovery robot, a recovery frame, and a dust adsorbing device, wherein the recovery robot is built in the building rooftop storage bin and is connected to the controller; the recovery frame body is arranged outside the recovery robot; the dust adsorption equipment is arranged in the recovery robot, and the adsorption ports are distributed at the top end of the recovery frame body and outside the recovery robot and are connected with the controller.

As a preferred mode of the invention, the robot further comprises an area protection device, wherein the area protection device comprises a sliding rail self-driving mechanism, a glass cleaning scraping strip and a liquid spraying mechanism, and the sliding rail self-driving mechanism is arranged on the bottom surface of the second wall-climbing robot, is connected with the glass cleaning scraping strip and is connected with the controller; the glass cleaning scraping strip is connected with the sliding rail self-driving mechanism; the liquid spraying mechanism is arranged in the second wall climbing robot, a spraying opening is formed in the bottom surface of the second wall climbing robot, and the liquid spraying mechanism is connected with the controller.

As a preferable mode of the present invention, the area guard further includes a penetration inspection lamp and a collision fixing mechanism, the penetration inspection lamp is disposed on the bottom surface of the second wall-climbing robot and connected to the controller, and the collision fixing mechanism is disposed on the periphery of the second wall-climbing robot and connected to the controller.

As a preferred mode of the present invention, the area protection device further includes a magnetic interference absorption section and a coating spraying mechanism, wherein the magnetic interference absorption section is disposed at the periphery of the second wall climbing robot and the recovery robot and connected to the controller; the coating spraying mechanism is arranged in the second wall climbing robot, a liquid spraying opening is formed in the bottom surface of the second wall climbing robot, and the coating spraying mechanism is connected with the controller.

As a preferred mode of the invention, the building monitoring device comprises a monitoring camera, a ground high-pressure injection mechanism and a floor high-pressure injection mechanism, wherein the monitoring camera is distributed outside the building and on the ground of the area where the building is located and is connected with the controller; the ground high-pressure injection mechanism is arranged on the ground of the area where the building is located and is connected with the controller; the floor high-pressure injection mechanisms are distributed outside all floors of the building and are connected with the controller.

As a preferable mode of the invention, the building detection device further comprises a patrol unmanned aerial vehicle and an AR camera, the patrol unmanned aerial vehicle is arranged in the building balcony storage bin and connected with the controller, and the AR camera is arranged outside the patrol unmanned aerial vehicle and connected with the controller.

The filling and repairing type intelligent building detection method is used for the filling and repairing type intelligent building detection system, and comprises the following steps:

the method comprises the steps that a controller sends building scanning signals to a preset number of first wall climbing robots and three-dimensional laser scanners according to building monitoring signals sent by a regional building management and control center, the first wall climbing robots perform regular patrol in the region of the outer wall of a building according to the building scanning signals, and meanwhile the three-dimensional laser scanners scan building information in real time according to the scanning signals and feed back the building outer wall information to the controller;

the controller generates a building three-dimensional model according to the building information and analyzes whether a crack exists on the outer wall of the building in real time;

if so, the controller analyzes whether cracks existing in the outer wall of the building are in a repair interval in real time;

if the crack moving signal exists, the controller sends a crack moving signal to a first wall climbing robot, sends a recovery signal to a recovery robot and sends a construction sealing signal to a second wall climbing robot, the first wall climbing robot moves to a crack area of a building according to the crack moving signal, the recovery robot moves to the lower end position of the first wall climbing robot according to the recovery signal and enables a recovery frame body to be abutted against an outer wall, and the second wall climbing robot moves to the positions of the first wall climbing robot and the recovery robot according to the construction sealing signal;

the controller sends a construction sealing signal to the construction cover body, an outer wall collision signal to the transverse plate telescoping mechanism and a starting signal to the dust adsorption mechanism, the construction cover body stretches according to the construction sealing signal to carry out cage sealing on the area where the second wall climbing robot is located, the transverse plate telescoping mechanism stretches out according to the outer wall collision signal to collide with the outer wall, and the dust adsorption mechanism enters a dust adsorption state according to the starting signal;

the controller sends real-time cutting signals to the first wall climbing robot, telescopic signals to the outer ring telescopic mechanism, crack cutting signals to the multi-angle cutting mechanism and cutting adjusting signals to the outer ring track mechanism;

the outer ring telescoping mechanism drives the connected multi-angle cutting mechanism to extend out according to a telescoping signal, the multi-angle cutting mechanism is matched with the outer ring telescoping mechanism to cut a crack region of the building according to a crack cutting signal, the outer ring track mechanism is matched with the multi-angle cutting mechanism to cut the crack region according to a cutting adjusting signal, and the first wall climbing robot moves to the position of the transverse plate telescoping mechanism and is matched with the multi-angle cutting mechanism to cut the crack region of the building according to a real-time cutting signal until a filling groove is formed;

the controller sends a cell body corresponding signal to a first wall climbing robot after cutting is finished and sends a conflict cutting signal to the inner ring track mechanism and the telescopic cutting mechanism, the first wall climbing robot corresponds the bottom center to the center of the filling groove according to the cell body corresponding signal, and the inner ring track mechanism and the telescopic cutting mechanism cooperate with the filling groove bottom to cut to form a conflict groove matched with the magnetic attraction fixing disc according to the conflict cutting signal;

the controller sends a disk body collision signal to the collision telescopic mechanism and sends a disk body fixing signal to the outer ring expansion mechanism, the collision telescopic mechanism drives the magnetic attraction contact disk to fill the magnetic attraction fixing disk into the collision groove according to the disk body collision signal, and the outer ring expansion mechanism expands the periphery of the magnetic attraction fixing disk according to the disk body fixing signal and fixes the magnetic attraction fixing disk with the collision groove;

the controller sends shrink entering signal and sends fixed signal and send the cell body to popping out formula fixed establishment and sending the cell body filling signal to colloid sealing mechanism to conflicting telescopic machanism, conflict telescopic machanism and pull into the filling tank with first wall climbing robot according to shrink entering signal shrink, pop out formula fixed establishment and pop out according to fixed signal and contradict fixedly in the filling tank, colloid sealing mechanism fills the state according to the cell body and gets into the colloid and spray until will fill the tank and pass through the colloid and seal.

As a preferred mode of the present invention, when the first wall climbing robot patrols, the method further includes:

the controller sends a glass self-checking signal to the second wall climbing robot, and the second wall climbing robot moves to the position of the building glass according to the glass self-checking signal and controls the liquid spraying mechanism to spray cleaning liquid to the building glass;

the second wall climbing robot controls the sliding rail self-driving mechanism to drive the glass cleaning scraping strip to perform cleaning motion on the outer surface of the building glass, and controls the liquid spraying mechanism to spray flaw detection agent to the cleaned building glass after cleaning is finished;

the second wall climbing robot controls the sliding rail self-driving mechanism to drive the glass cleaning scraping strip to perform cleaning movement on the outer surface of the building glass again, and controls the construction cover body to extend to seal the building glass area after cleaning is finished;

the second wall climbing robot controls and controls the penetration inspection lamp to irradiate the architectural glass area and feeds back an irradiation image of the architectural glass area to the controller;

the controller analyzes whether the building glass has cracks or fractures according to the irradiation image;

and if so, sending an area protection signal to the second wall climbing robot, controlling the abutting and fixing mechanism to extend out of the area of the building glass according to the area protection signal by the second wall climbing robot to be fixed with the area of the building glass, and controlling the film coating and spraying mechanism to spray film forming colloid on the building glass.

As a preferred mode of the present invention, the method further comprises the steps of:

the controller sends a building monitoring signal to the monitoring camera and sends a timing patrol signal to the patrol unmanned aerial vehicle, the monitoring camera starts to acquire a building area image in real time according to the building monitoring signal, and the patrol unmanned aerial vehicle enters a timing patrol state according to the timing patrol signal;

if the controller identifies that the building area has high altitude parabolas and can collide with a human body according to the building area image, identifying object track information through the building monitoring image and/or the building three-dimensional model and sending a parabola offset signal to a ground high-pressure injection mechanism or a floor high-pressure injection mechanism with the object track information closest to the ground high-pressure injection mechanism or the floor high-pressure injection mechanism;

the ground high-pressure injection mechanism or the floor high-pressure injection mechanism emits high-pressure water flow according to the parabolic deviation signal to change the dropping direction of the parabola until the parabola is harmless;

when the patrol unmanned aerial vehicle patrols, the AR camera is controlled to scan the building in real time, and the building entity image is compared with the built-in building AR model to generate building comparison information;

the controller analyzes whether the building deviates from the building AR model or not according to the building comparison information;

and if so, the controller sends building comparison information to the regional building management and control center, the building maintenance center and the regional safety protection center.

The invention realizes the following beneficial effects:

1. by implementing the method, a first wall climbing robot is located on the surface of a building at regular time for patrol and identifies crack information of the surface of the building through a three-dimensional laser scanner, when cracks exist on the surface of the building and are located in a repair area, the nearest first wall climbing robot is controlled to move to a crack area and a recovery robot is controlled to move to the lower end of the crack area to correspond to the first wall climbing robot, then a second wall climbing robot is controlled to cover the first wall climbing robot, the recovery robot and the crack area and seal the area by using a construction cover body, then a transverse plate stretching mechanism is controlled to stretch out to be in contact with the wall body and the first wall climbing robot is controlled to cut the crack area to form a filling groove by using an outer ring track mechanism, an outer ring stretching mechanism and a multi-angle cutting mechanism, then an inner ring track mechanism and a stretching cutting mechanism are controlled to cut in the filling groove to form a contact groove and a magnetic attraction fixing disc is placed in the contact groove, then fixed and draw in the filling groove through conflict telescopic machanism and magnetism ground touching with the first climbing robot of shrink through conflict telescopic machanism and magnetism, then the formula of popping out fixed establishment of control first climbing robot contradicts fixedly with the filling groove and control colloid sealing mechanism and utilize the colloid to seal the filling groove to avoid the crack of building outer wall to inside infiltration of wall body.

2. By implementing the method, the second wall climbing robot regularly inspects the building glass and cleans the building glass by using the liquid spraying mechanism, the slide rail self-driving mechanism and the glass cleaning scraping strip, then the flaw detection agent is sprayed and cleaned again, then the construction cover body is used for covering the building glass area and the penetration flaw detection lamp is used for imaging so as to facilitate observation, and after the crack or fracture of the building glass is identified, a matched number of second wall climbing robots are dispatched to seal the building glass area and the coating spraying mechanism is used for spraying the coating colloid to the building glass area so as to prevent the problem that the building glass falls on the ground after being fractured.

3. By implementing the method, the building area is monitored in real time through the monitoring camera, and after the high-altitude parabolic object harmful to the life body is identified, the high-pressure water flow is sprayed by the ground high-pressure spraying mechanism or the floor high-pressure spraying mechanism which is closest to the building area to change the falling position of the high-altitude parabolic object; the method comprises the steps that a patrol unmanned aerial vehicle and an AR camera are used for carrying out timing detection on a building, and if the building is identified to deviate or incline, automatic early warning is carried out.

Drawings

Fig. 1 is a connection relationship diagram of the intelligent building detection system provided by the invention.

Fig. 2 is a schematic view of a storage bottom surface of the first wall climbing robot provided by the present invention.

Fig. 3 is a schematic storage diagram of the first wall climbing robot provided by the present invention.

Fig. 4 is an expanded schematic view of the first wall-climbing robot provided by the present invention.

Fig. 5 is a schematic operation diagram of transverse plates of the first wall climbing robot provided by the invention.

Fig. 6 is a schematic diagram of an adsorption conflict of the first wall-climbing robot provided by the present invention.

Fig. 7 is a schematic view of fixing a tank of the first wall-climbing robot according to the present invention.

Fig. 8 is an expanded schematic view of a second wall-climbing robot provided by the present invention.

Fig. 9 is a schematic closed view of a second wall-climbing robot provided by the present invention.

Fig. 10 is a schematic view of a recycling robot provided in the present invention.

Description of reference numerals:

1 outer wall scanning device

2 outer wall repairing device

3 filling and fixing device

4 controller

5 zone guard

6 building monitoring devices

100 first wall climbing robot

101 three-dimensional laser scanner

102 second wall climbing robot

103 construction cover body

104 transverse plate telescoping mechanism

200 outer ring cutting groove

201 outer ring track

202 outer ring track mechanism

203 outer ring telescoping mechanism

204 multi-angle cutting mechanism

205 inner ring cutting groove

206 inner ring orbit

207 inner ring track mechanism

208 telescopic cutting mechanism

209 recovery robot

210 recovery frame

211 dust adsorbing device

300 pop-up fixing mechanism

301 colloid sealing mechanism

302 collision telescopic mechanism

303 magnetic attraction contact disc

304 magnetic fixed disk

305 outer ring expanding mechanism

500 slide rail is from driving mechanism

501 cleaning scraping strip for glass

502 liquid spraying mechanism

503 penetration flaw detection lamp

504 abutting fixing mechanism

505 magnetic attraction contact section

506 coating film spraying mechanism

600 monitoring camera

601 ground high-pressure injection mechanism

602 floor high pressure injection mechanism

603 patrol unmanned plane

604 AR camera.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example one

As shown with reference to fig. 1-10.

Specifically, this embodiment provides filling and repairing formula intelligence building detecting system, including outer wall scanning device 1, outer wall prosthetic devices 2, fill fixing device 3 and respectively with this outer wall scanning device 1, outer wall prosthetic devices 2, fill controller 4 that fixing device 3 is connected.

The outer wall scanning device 1 comprises a first wall climbing robot 100, a three-dimensional laser scanner 101, a second wall climbing robot 102, a construction cover body 103 and a transverse plate telescopic mechanism 104, wherein the first wall climbing robot and the second wall climbing robot are arranged in a building rooftop storage bin; the three-dimensional laser scanner 101 is arranged outside the first and second wall-climbing robots and adopts a three-dimensional laser scanning imaging system; the construction cover body 103 is arranged at the top end of the second wall-climbing robot 102; the horizontal plate telescoping mechanism 104 is disposed on the bottom surface of the second wall-climbing robot 102.

The first wall climbing robot 100 corresponds to a set repair interval in size, and the first wall climbing robot 100 and the second wall climbing robot 102 achieve wall climbing by adopting a method including but not limited to magnetic force, a vacuum chuck, bionic tiger claws, micro needling and electrostatic adhesion; this first wall climbing robot 100 is used for cutting the regional wall body of crack and fills self to the cell body after the cutting is accomplished in, this first wall climbing robot 100 is provided with first camera, moving motor and removal track, and this first camera is used for ingesting the environment image around the first wall climbing robot 100, and the removal track that this moving motor drive is connected drives first wall climbing robot 100 and removes in horizontal board or ground region.

The three-dimensional laser scanner 101 scans information of the building surface and generates corresponding three-dimensional information of the building surface; this construction cover body 103 adopts the fluffy body of flexible folded form, and adopts wear-resisting, shock-resistant high strength nylon fabric to make, stops piece and dust that produce when the cutting, and extends through folding and to carry out the cage with first wall climbing robot 100, crack region and recovery robot 209.

The transverse plate telescoping mechanism 104 comprises a first telescoping motor, a first telescoping column and a transverse plate, and the telescoping motor is connected with the first telescoping column in a driving manner to push the transverse plate to extend out to be abutted against the surface of the wall body, so that the moving track of the first wall climbing robot 100 is moved, and the energy consumption of the first wall climbing robot 100 during wall climbing is reduced; the second wall-climbing robot 102 is larger in size than the first wall-climbing robot 100.

This second wall climbing robot 102 is provided with second camera and auxiliary lighting lamp, and this second camera is used for shooing the environment image around the second wall climbing robot 102, and this auxiliary lighting lamp is used for providing the construction illumination.

The outer wall repairing device 2 comprises an outer ring cutting groove 200, an outer ring track 201, an outer ring track mechanism 202, an outer ring telescopic mechanism 203, a multi-angle cutting mechanism 204, an inner ring cutting groove 205, an inner ring track 206, an inner ring track mechanism 207 and a telescopic cutting mechanism 208, wherein the outer ring cutting groove 200 is arranged on the periphery of the first wall climbing robot 100; the outer ring track 201 is arranged in the outer ring cutting groove 200; the outer ring track mechanism 202 is arranged in the outer ring cutting groove 200 and corresponds to the outer ring track 201; the outer ring telescoping mechanism 203 is respectively connected with the outer ring track mechanism 202 and the multi-angle cutting mechanism 204; the multi-angle cutting mechanism 204 is arranged at the front end of the outer ring telescopic mechanism 203; the inner ring cutting groove 205 is disposed on the bottom surface of the first wall climbing robot 100 and is annular; the inner ring track 206 is internally provided with an inner ring cutting groove 205; the inner ring track mechanism 207 is arranged in the inner ring cutting groove 205 and corresponds to the inner ring track 206; the telescopic cutting mechanism 208 is disposed at the top end of the inner ring track mechanism 207.

Wherein, the outer ring cutting groove 200 is disposed at the left side, the upper side and the right side of the first wall climbing robot 100, and is used for providing the outer ring track mechanism 202 for movement; the outer ring track 201 is embedded in the inner wall of the outer ring cutting groove 200, and is used for providing the outer ring track 201 roller of the outer ring track mechanism 202 for movement.

The outer ring track mechanism 202 comprises an outer ring moving shell, an outer ring moving motor and an outer ring track 201 roller, wherein the outer ring moving motor drives the connected outer ring track 201 roller to drive the outer ring moving shell to move at the position of the outer ring track 201; the outer ring telescoping mechanism 203 comprises a second telescoping motor, a second telescoping column and a cutting platform, wherein the second telescoping motor is respectively connected with the second telescoping column and the outer ring moving shell and is used for driving the connected second telescoping strut to telescope the cutting platform; the cutting platform is connected with the second telescopic column and the angle rotating shaft of the multi-angle cutting mechanism 204 respectively.

The multi-angle cutting mechanism 204 comprises an outer ring cutting motor, an angle rotating shaft and an outer ring cutting blade, wherein the outer ring cutting motor is respectively connected with the angle rotating shaft and the outer ring cutting blade and is used for driving the connected outer ring cutting blade to run; the angle rotating shaft is used for driving the connected outer ring cutting motor to rotate so as to adjust the cutting angle of the outer ring cutting blade; the outer ring cutting blade is used for cutting a crack area of the wall body.

The inner ring cutting groove 205 is disposed at a bottom position of the first wall-climbing robot 100, and when the first wall-climbing robot 100 is located on a wall, the inner ring cutting groove 205 corresponds to a surface of the wall and is used for providing the inner ring track mechanism 207 to move; the inner ring track 206 is embedded in the inner ring cutting groove 205 and is used for providing the roller movement of the inner ring track 206 shell; the inner ring track mechanism 207 comprises an inner ring track 206 shell, an inner ring moving motor and an inner ring track 206 roller, wherein the inner ring moving motor drives the connected inner ring track 206 roller to drive the inner ring track 206 shell to move at the position of the inner ring track 206; the telescopic cutting mechanism 208 comprises a third telescopic motor, a third telescopic column and wall slotting equipment, the third telescopic column connected with the third telescopic motor is driven to stretch the wall slotting equipment at the front end, and the wall slotting equipment comprises but is not limited to a combination of a small-sized cutting host and a flywheel blade, a small-sized wall slotting machine and the like.

The filling fixing mechanism comprises a pop-up fixing mechanism 300, a colloid sealing mechanism 301, a collision telescopic mechanism 302, a magnetic contact disc 303, a magnetic fixed disc 304 and an outer ring expansion mechanism 305, wherein the pop-up fixing mechanism 300 is arranged on the periphery of the first wall-climbing robot 100; the glue sealing mechanism 301 is arranged in the first wall-climbing robot 100, and a glue spraying opening is arranged on the periphery of the first wall-climbing robot 100; the collision telescopic mechanism 302 is arranged at the center of the bottom surface of the first wall-climbing robot 100 and is connected with the magnetic collision disk 303; the magnetic ground contact plate is arranged at the front end of the abutting telescopic mechanism 302; the magnetic fixed disk 304 is magnetically connected with the magnetic contact disk 303; the outer ring expanding mechanism 305 is disposed on the periphery of the magnetic fixed disk 304.

The pop-up fixing mechanism 300 comprises a pop-up motor, a pop-up support and a fixing plate, wherein the pop-up motor drives the pop-up support connected with the pop-up motor to pop up the fixing plate at the front end into a fixed state; the colloid sealing mechanism 301 comprises a colloid bin, an extrusion pump, a colloid conduit and a colloid spraying port, wherein the colloid bin is arranged in the first wall climbing robot 100 and used for storing waterproof quick-drying colloid; the extrusion pump is respectively connected with the colloid cabin and the colloid guide pipe and is used for pressurizing and guiding the waterproof quick-drying colloid in the colloid cabin into the colloid guide pipe and spraying the waterproof quick-drying colloid from the colloid spraying port; the glue spraying port is connected with the glue conduit and is used for spraying waterproof quick-drying glue.

The collision telescopic mechanism 302 comprises a telescopic slot, a fourth telescopic motor and a fourth telescopic column, wherein the telescopic slot is positioned in the center of the bottom surface of the first wall-climbing robot 100 and is used for providing the magnetic attraction to the collision disc 303 to be telescopic; the fourth telescopic motor drives the connected fourth telescopic driving magnetic attraction contact disc 303 to be telescopic; the magnetic attraction contact disc 303 is arranged at the front end of the fourth telescopic column and provided with a magnetic attraction function.

The magnetic fixed disc 304 is stored at the front end of the magnetic abutting disc 303 and is used for abutting against the bottom surface of an annular groove formed by cutting wall slotting equipment; this outer loop extension mechanism 305 includes the flexible motor of fifth, the flexible post of fifth and arc piece, and this flexible motor of fifth distributes in magnetism and inhales fixed disk 304 periphery and be connected with the flexible post of fifth for the fifth flexible post that the drive is connected stretches out the arc piece of front end, and this arc piece is connected with the flexible post of fifth, is used for with wall body fluting equipment cutting formation's the interior week conflict of ring channel.

The controller 4 is respectively connected with a first wall climbing robot 100, a three-dimensional laser scanner 101, a second wall climbing robot 102, a construction cover body 103, a transverse plate telescopic mechanism 104, an outer ring track mechanism 202, an outer ring telescopic mechanism 203, a multi-angle cutting mechanism 204, an inner ring track mechanism 207, a telescopic cutting mechanism 208, a pop-up fixing mechanism 300, a colloid sealing mechanism 301, a collision telescopic mechanism 302, a magnetic collision contact disc 303, a magnetic fixed disc 304, an outer ring expansion mechanism 305, a regional building management and control center, a building maintenance center and a regional safety protection center.

The regional building management and control center includes, but is not limited to, the property of the region where the building is located.

Preferably, the exterior wall repairing device 2 comprises a recovery robot 209, a recovery frame 210 and a dust adsorption device 211, wherein the recovery robot 209 is arranged in the building rooftop storage bin and is connected with the controller 4; the recovery frame 210 is provided outside the recovery robot 209; the dust adsorbing device 211 is built in the recovery robot 209, and has adsorbing ports distributed at the top end of the recovery frame 210 and outside the recovery robot 209, and is connected to the controller 4.

Wherein, the recovery robot 209 also adopts the wall climbing technology; the recycling frame 210 is used for receiving and cutting the debris and dust of the wall; the dust adsorbing device 211 is used to adsorb dust formed at the time of cutting.

The embodiment provides a filling and repairing type intelligent building detection method, which is used for a filling and repairing type intelligent building detection system and comprises the following steps:

s1, the controller 4 sends a building scanning signal to a preset number of first wall-climbing robots 100 and the three-dimensional laser scanners 101 according to the building monitoring signal sent by the area building management and control center, where the first wall-climbing robots 100 perform timed patrol in the area of the outer wall of the building according to the building scanning signal, and the three-dimensional laser scanners 101 scan the building information in real time according to the scanning signal and feed back the information of the outer wall of the building to the controller 4.

The preset number is set by the regional building management and control center to ensure that the first wall climbing robot 100 can detect the surface of the finished building and has no detection dead angle; the patrol time of the timing patrol is set by the regional building management and control center, and is preferably once per week in this embodiment.

And S2, the controller 4 generates a building three-dimensional model according to the building information and analyzes whether a crack exists on the building outer wall in real time.

And S3, if so, the controller 4 analyzes whether cracks existing in the building outer wall are in a repair interval in real time.

Wherein, should repair the interval by regional building management and control center set for the size and correspond with first wall climbing robot 100, be less than the crack of repairing the interval and carry out repairing process through spraying waterproof fast dry colloid, exceed repair interval's crack then inform building maintenance center and regional safety protection center to carry out urgent maintenance.

S4, if yes, the controller 4 sends a crack movement signal to the first wall climbing robot 100, sends a recovery signal to the recovery robot 209, and sends a construction sealing signal to the second wall climbing robot 102, the first wall climbing robot 100 moves to the crack area of the building according to the crack movement signal, the recovery robot 209 moves to the lower end position of the first wall climbing robot 100 according to the recovery signal and collides the recovery frame 210 with the outer wall, and the second wall climbing robot 102 moves to the positions of the first wall climbing robot 100 and the recovery robot 209 according to the construction sealing signal.

When the first wall climbing robot 100 and the recycling robot 209 move to the crack area and the position adjustment is completed, the second wall climbing robot 102 covers the first wall climbing robot 100, the recycling robot 209 and the crack area.

S5, the controller 4 sends a construction sealing signal to the construction cover body 103, sends an outer wall collision signal to the transverse plate telescopic mechanism 104 and sends a starting signal to the dust adsorption mechanism, the construction cover body 103 stretches to carry out cage sealing on the area where the second wall-climbing robot 102 is located according to the construction sealing signal, the transverse plate telescopic mechanism 104 stretches out to collide with the outer wall according to the outer wall collision signal, and the dust adsorption mechanism enters a dust adsorption state according to the starting signal.

After the second wall climbing robot 102 finishes moving, the construction cover body 103 is controlled to pop out to enter a sealing state, and light entering the second wall climbing robot is turned on; after the horizontal plate of the horizontal plate telescoping mechanism 104 is in contact with the wall, the first wall-climbing robot 100 moves to the horizontal plate position and then moves at the horizontal plate position by moving the crawler.

S6, the controller 4 sends real-time cutting signals to the first wall-climbing robot 100, sends telescoping signals to the outer ring telescoping mechanism 203, sends crack cutting signals to the multi-angle cutting mechanism 204, and sends cutting adjustment signals to the outer ring track mechanism 202.

S7, the outer ring telescoping mechanism 203 drives the connected multi-angle cutting mechanism 204 to extend out according to the telescopic signal, the multi-angle cutting mechanism 204 cuts the crack region of the building according to the crack cutting signal matched with the outer ring telescoping mechanism 203, the outer ring track mechanism 202 is matched with the multi-angle cutting mechanism 204 to cut the crack region according to the cutting adjusting signal, and the first wall climbing robot 100 moves to the position of the transverse plate telescoping mechanism 104 and is matched with the multi-angle cutting mechanism 204 to cut the crack region of the building until the filling groove is formed.

The outer ring telescoping mechanism 203 adjusts the angle of the multi-angle cutting mechanism 204 in real time so as to facilitate the multi-angle cutting mechanism 204 to cut a crack area, the storage of a filling groove formed by cutting corresponds to the size of the first wall-climbing robot 100 and is larger than the size of the first wall-climbing robot 100, the size of the filling groove is set by an area building management and control center, in the embodiment, the size of the filling groove is preferably 2 cm larger than the size of the first wall-climbing robot 100, namely, the length and the width of the filling groove are 2 cm larger than the length and the width of the first wall-climbing robot 100, the depth of the filling groove is matched with the height of the first wall-climbing robot 100, and after the first wall-climbing robot 100 enters the filling groove, the outer surface of the first wall-climbing robot 100 and the wall around the filling groove keep the same horizontal plane; the outer ring track mechanism 202 adjusts the position of the multi-angle cutting mechanism 204 in real time to facilitate the multi-angle cutting mechanism 204 to cut the crack area.

S8, the controller 4 sends a slot-corresponding signal to the first wall-climbing robot 100 after the cutting is completed and sends a collision cutting signal to the inner ring track mechanism 207 and the telescopic cutting mechanism 208, the first wall-climbing robot 100 corresponds the bottom center to the center of the filling slot according to the slot-corresponding signal, and the inner ring track mechanism 207 and the telescopic cutting mechanism 208 form a collision slot matching with the magnetic attraction fixing disc 304 by cutting on the bottom of the filling slot according to the collision cutting signal.

Wherein, after the cutting of filling groove is accomplished, carry out conflict groove cutting to the filling groove bottom surface by inner ring rail mechanism 207 and flexible cutting mechanism 208, conflict groove radius size is greater than magnetism and inhales fixed disk 304 radius size, and sets for by regional building management and control center, preferably is greater than 2 centimetres in this embodiment, and conflict groove degree of depth and magnetism inhale fixed disk 304 degree of depth and match.

S9, the controller 4 sends a disk collision signal to the collision telescopic mechanism 302 and sends a disk fixing signal to the outer ring expansion mechanism 305, the collision telescopic mechanism 302 drives the magnetic attraction contact disk 303 to fill the magnetic attraction fixing disk 304 into the collision slot according to the disk collision signal, and the outer ring expansion mechanism 305 expands the periphery of the magnetic attraction fixing disk 304 according to the disk fixing signal and fixes the magnetic attraction fixing disk with the collision slot.

Wherein, after conflict groove cutting is accomplished, inhale the touch panel 303 through contradicting telescopic machanism 302 drive magnetism and stretch out to inhale fixed disk 304 and fill to conflict inslot with magnetism, be about to inhale the center of fixed disk 304 and conflict groove center and correspond, then utilize outer loop expanding mechanism 305 to stretch out the arc piece and conflict with conflict inslot week to inhale fixed disk 304 fixed and conflict inslot with magnetism, when convenient conflict telescopic machanism 302 is when the shrink, drive the first wall robot 100 that climbs after the shrink and get into the filling tank.

S10, the controller 4 sends a shrink entry signal to the collision telescoping mechanism 302, sends a fixing signal to the pop-up fixing mechanism 300, and sends a slot filling signal to the colloid sealing mechanism 301, the collision telescoping mechanism 302 shrinks to pull the first wall-climbing robot 100 into the filling slot according to the shrink entry signal, the pop-up fixing mechanism 300 pops up according to the fixing signal to collide and fix with the filling slot, and the colloid sealing mechanism 301 enters a colloid spraying state according to the slot filling signal until the filling slot is sealed by colloid.

After the magnetic fixed disc 304 is abutted and fixed with the abutting groove, the climbing part of the first wall-climbing robot 100 is contracted, and then the abutting telescopic mechanism 302 is contracted to pull the first wall-climbing robot 100 into the filling groove; while the pop-up fixing mechanism 300 pops up, the colloid sealing mechanism 301 enters a colloid spraying state until the filling groove is sealed by colloid, so that water seepage from cracks is avoided; when the first wall climbing robot 100 is required to leave from the filling groove, the colloid is dissolved by maintenance personnel, the first wall climbing robot 100 is automatically released from the filling groove for fixing, and then automatically climbs and leaves.

The cutting function can be set for the second wall climbing robot 102, the first wall climbing robot 100 has the functions of scanning, magnetic attraction drawing, tank body fixing and colloid sealing, and the function of the first wall climbing robot 100 can be determined according to the market wall climbing robot technology, so that the cost of the first wall climbing robot 100 can be reduced.

Example two

Referring to fig. 1, fig. 8-9.

The embodiment is an extension of the first embodiment, and in this embodiment, the apparatus further includes an area protection device 5, where the area protection device 5 includes a sliding rail self-driving mechanism 500, a glass cleaning scraper 501, and a liquid spraying mechanism 502, the sliding rail self-driving mechanism 500 is disposed on the bottom surface of the second wall climbing robot 102, connected to the glass cleaning scraper 501, and connected to the controller 4; the glass cleaning scraping strip 501 is connected with the sliding rail self-driving mechanism 500; the liquid spraying mechanism 502 is disposed inside the second wall climbing robot 102, and a spraying opening is disposed on the bottom surface of the second wall climbing robot 102, and is connected to the controller 4.

The slide rail self-driving mechanism 500 comprises an electric slide rail and a slide rail shell, wherein the electric slide rail is internally provided with the bottom surface of the second wall-climbing robot 102 and is used for driving the connected slide rail shell to reciprocate up and down; the slide rail shell is connected with the glass cleaning scraping strip 501 and is used for driving the glass cleaning scraping strip 501 to move; the glass cleaning wiper strip 501 is used for cleaning the glass surface; the liquid spraying mechanism 502 comprises a flaw detection agent storage bin, a glass cleaning agent storage bin, a spraying conduit and a spraying opening, wherein the flaw detection agent storage bin is used for storing a penetrating flaw detection agent, the glass cleaning agent storage bin is used for storing a glass cleaning agent, the spraying conduit is connected with the flaw detection agent storage bin or the glass cleaning agent storage bin, the spraying opening is connected with the spraying conduit, and the spraying opening is used for spraying liquid introduced by the spraying conduit; and if the glass cleaning agent storage bin needs to be cleaned, controlling the spray opening corresponding to the glass cleaning agent storage bin to be started, and if the flaw detection agent storage bin needs to be detected, controlling the spray opening corresponding to the flaw detection agent storage bin to be started.

Preferably, the area protection device 5 further includes a penetration testing lamp 503 and an interference fixing mechanism 504, the penetration testing lamp 503 is disposed on the bottom surface of the second wall-climbing robot 102 and is connected with the controller 4, and the interference fixing mechanism 504 is disposed on the periphery of the second wall-climbing robot 102 and is connected with the controller 4.

The penetrant inspection lamp 503 includes, but is not limited to, a black light lamp and a white light lamp, and is used to irradiate a glass area for imaging; the abutting fixing mechanism 504 includes a hydraulic pump, a hydraulic rod, and an abutting plate, and the hydraulic pump is used for driving the abutting plate for driving connection to extend and retract.

Preferably, the area protection device 5 further includes a magnetic interference absorption section 505 and a coating spraying mechanism 506, wherein the magnetic interference absorption section 505 is disposed at the periphery of the second wall climbing robot 102 and the recovery robot 209 and connected to the controller 4; the coating spraying mechanism 506 is disposed inside the second wall-climbing robot 102, and a liquid spraying opening is disposed on the bottom surface of the second wall-climbing robot 102, and is connected to the controller 4.

The magnetic collision attraction section 505 is used for providing magnetic attraction splicing between the second wall-climbing robot 102 and other second wall-climbing robots 102 or the recovery robot 209; this coating film spraying mechanism 506 includes film-forming colloid storage bin, film-forming pipe and hydrojet, and this film-forming colloid storage bin is used for the glue solution that the storage can the rapid-curing cutback film-forming, and this film-forming pipe is connected with film-forming colloid storage bin and hydrojet respectively, and this hydrojet is used for spraying the glue solution of film-forming colloid storage bin storage.

Preferably, when the first wall climbing robot 100 patrols, the method further includes the steps of:

s100, the controller 4 sends a glass self-inspection signal to the second wall climbing robot 102, and the second wall climbing robot 102 moves to the position of the building glass according to the glass self-inspection signal and controls the liquid spraying mechanism 502 to spray cleaning liquid to the building glass.

The second wall climbing robot 102 moves to each position of the architectural glass according to the distance and detects the position.

S101, the second wall climbing robot 102 controls the slide rail self-driving mechanism 500 to drive the glass cleaning scraping strip 501 to perform cleaning movement on the outer surface of the building glass, and controls the liquid spraying mechanism 502 to spray flaw detection agents to the cleaned building glass after the cleaning is finished.

The cleaning motion is to control the sliding rail self-driving mechanism 500 to drive the glass cleaning scraping strip 501 to reciprocate up and down on the outer surface of the building glass so as to clean the glass, and the number of times of moving up and down is set by the regional building control center.

S102, the second wall climbing robot 102 controls the sliding rail self-driving mechanism 500 to drive the glass cleaning scraping strip 501 to perform cleaning movement on the outer surface of the building glass again, and controls the construction cover body 103 to extend to close the area of the building glass after cleaning is finished.

After the penetrant flaw detector is cleaned, the construction cover body 103 is used for sealing the architectural glass area so as to facilitate penetration of the searchlight for irradiation and development.

S103, the second wall climbing robot 102 controls and controls the penetration inspection lamp 503 to irradiate the architectural glass area and feeds back the irradiation image of the architectural glass area to the controller 4.

And S104, the controller 4 analyzes whether the building glass has cracks or breaks according to the irradiation image.

Wherein, through system automatic identification and manual work cooperation discernment, dual judgement building glass has whether to have the crack or break.

And S105, if so, sending an area protection signal to the second wall-climbing robot 102, and controlling the second wall-climbing robot 102 to abut against the fixing mechanism 504 to extend out of the area of the architectural glass to be fixed according to the area protection signal and to control the coating spraying mechanism 506 to spray the film-forming colloid to the architectural glass.

Wherein, after discerning that there is building glass to have the crack or break, the construction cover body 103 of this second wall climbing robot 102 shrink and reset, then send the second wall climbing robot 102 of matching quantity according to building glass storage to splice through conflict magnetic attraction interval 505 and fix through conflict fixed establishment 504 in the building glass region, utilize coating film spraying mechanism 506 to spray the film colloid to this building glass simultaneously to prevent that crack or cracked glass piece from dropping ground.

EXAMPLE III

As shown with reference to fig. 1.

The embodiment is an extension of the second embodiment, and specifically, in this embodiment, the building monitoring device 6 is further included, the building monitoring device 6 includes a monitoring camera 600, a ground high-pressure injection mechanism 601 and a floor high-pressure injection mechanism 602, and the monitoring camera 600 is distributed outside the building and on the ground of the area where the building is located and connected to the controller 4; the ground high-pressure injection mechanism 601 is arranged on the ground of the area where the building is located and is connected with the controller 4; the floor high-pressure injection mechanisms 602 are distributed outside each floor of the building and are connected with the controller 4.

The monitoring cameras 600 are used for capturing the environment images of the areas, and all the monitoring cameras 600 in the building areas are combined to form the monitoring environment images of the building areas; this ground high pressure injection mechanism 601 and floor high pressure spraying mechanism are high pressure water flow injection equipment and can multi-angle adjustment.

Preferably, this building detection device still includes patrolling unmanned aerial vehicle 603 and AR camera 604, should patrol unmanned aerial vehicle 603 and place in the building balcony storage storehouse and be connected with controller 4, this AR camera 604 sets up in patrolling unmanned aerial vehicle 603 outside and be connected with controller 4.

The AR camera 604 has a built-in architectural AR model.

Preferably, after the controller 4 receives the building monitoring signal, the method further comprises the steps of:

s1000, the controller 4 sends a building monitoring signal to the monitoring camera 600 and sends a timing patrol signal to the patrol unmanned aerial vehicle 603, the monitoring camera 600 starts to acquire a building area image in real time according to the building monitoring signal, and the patrol unmanned aerial vehicle 603 enters a timing patrol state according to the timing patrol signal.

The timing patrol of the patrol unmanned aerial vehicle 603 corresponds to the timing patrol time of the first wall climbing robot 100.

And S1001, if the controller 4 recognizes that the building area has high altitude parabolas and collides with a human body according to the building area image, recognizing object track information through the building monitoring image and/or the building three-dimensional model and sending a parabola offset signal to the ground high-pressure injection mechanism 601 or the floor high-pressure injection mechanism 602 with the object track information closest to the object track information.

After the high-altitude parabolic object is identified, life bodies and moving tracks of areas around the building are judged, and then whether the high-altitude parabolic object collides with the life bodies is judged.

And S1002, the ground high-pressure spraying mechanism 601 or the floor high-pressure spraying mechanism 602 emits high-pressure water flow according to the parabolic offset signal to change the dropping direction of the parabola until the parabola is harmless.

The high-pressure water flow is started to spray by controlling the ground high-pressure spraying mechanism 601 or the floor high-pressure spraying mechanism 602 which is closest to the high-altitude parabolic object, so as to impact the high-altitude parabolic object and change the falling position of the high-altitude parabolic object until the high-pressure parabolic object does not collide with a living body.

And S1003, when the patrol unmanned aerial vehicle 603 patrols, controlling the AR camera 604 to scan the building in real time and comparing the building entity image with the built-in building AR model to generate building comparison information.

S1004, the controller 4 analyzes whether the building deviates from the building AR model according to the building comparison information.

Wherein it is determined whether the building is currently deviating, inclined, etc. from the AR model of the building recorded at the time of construction.

And S1005, if so, the controller 4 sends building comparison information to the regional building management and control center, the building maintenance center and the regional safety protection center.

For convenience of description, the dimensions of the various features shown in the drawings are not necessarily drawn to scale. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

Spatially relative terms, such as "disposed above … …," "disposed above … …," "disposed above … …, above," and the like, may be used herein for ease of description to describe the spatial relationship of one device or feature to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "disposed above … …" can include both an orientation of "disposed above … …" and "disposed below … …". The device may be otherwise variously positioned and the spatially relative descriptors used herein interpreted accordingly.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. Fill and repair formula intelligence building detecting system, including outer wall scanning device, outer wall prosthetic devices, fill fixing device and respectively with outer wall scanning device, outer wall prosthetic devices, fill the controller that fixing device is connected, its characterized in that:

2. The filling and repairing type intelligent building detection system according to claim 1, wherein the outer wall repairing device comprises a recovery robot, a recovery frame body and a dust adsorption device, wherein the recovery robot is arranged in the building rooftop storage bin and is connected with the controller; the recovery frame body is arranged outside the recovery robot; the dust adsorption equipment is arranged in the recovery robot, and the adsorption ports are distributed at the top end of the recovery frame body and outside the recovery robot and are connected with the controller.

3. The filling and repairing type intelligent building detection system according to claim 2, further comprising an area protection device, wherein the area protection device comprises a slide rail self-driving mechanism, a glass cleaning scraper and a liquid spraying mechanism, the slide rail self-driving mechanism is arranged on the bottom surface of the second wall climbing robot, is connected with the glass cleaning scraper and is connected with the controller; the glass cleaning scraping strip is connected with the sliding rail self-driving mechanism; the liquid spraying mechanism is arranged in the second wall climbing robot, a spraying opening is formed in the bottom surface of the second wall climbing robot, and the liquid spraying mechanism is connected with the controller.

4. The filling and repairing type intelligent building detection system according to claim 3, wherein the area protection device further comprises a penetration inspection lamp and an interference fixing mechanism, the penetration inspection lamp is arranged on the bottom surface of the second wall climbing robot and is connected with the controller, and the interference fixing mechanism is arranged on the periphery of the second wall climbing robot and is connected with the controller.

5. The filling and repairing type intelligent building detection system according to claim 4, wherein the area protection device further comprises a magnetic interference and attraction section and a coating spraying mechanism, wherein the magnetic interference and attraction section is arranged at the periphery of the second wall climbing robot and the recovery robot and is connected with the controller; the coating spraying mechanism is arranged in the second wall climbing robot, a liquid spraying opening is formed in the bottom surface of the second wall climbing robot, and the coating spraying mechanism is connected with the controller.

6. The filling and repairing type intelligent building detection system according to claim 1, further comprising a building monitoring device, wherein the building monitoring device comprises a monitoring camera, a ground high-pressure injection mechanism and a floor high-pressure injection mechanism, and the monitoring camera is distributed outside the building and on the ground of the area where the building is located and is connected with the controller; the ground high-pressure injection mechanism is arranged on the ground of the area where the building is located and is connected with the controller; the floor high-pressure injection mechanisms are distributed outside all floors of the building and are connected with the controller.

7. The fill-repair type intelligent building detection system according to claim 6, wherein the building detection device further comprises a patrol drone and an AR camera, the patrol drone is arranged in the building rooftop storage bin and connected with the controller, and the AR camera is arranged outside the patrol drone and connected with the controller.

8. A method of fill-and-repair intelligent building detection using the fill-and-repair intelligent building detection system of any one of claims 1-7, the method comprising the steps of:

9. The fill-repair type smart building detection method according to claim 8, wherein when the first wall-climbing robot patrols, the method further comprises the steps of:

10. The fill-and-repair intelligent building detection method according to claim 9, wherein after the controller receives the building monitoring signal, the method further comprises the steps of: