CN105672692A - Full-automatic roof leakage finding and repairing robot and leakage finding and repairing method - Google Patents

Full-automatic roof leakage finding and repairing robot and leakage finding and repairing method Download PDF

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Publication number
CN105672692A
CN105672692A CN 201610202715 CN201610202715A CN105672692A CN 105672692 A CN105672692 A CN 105672692A CN 201610202715 CN201610202715 CN 201610202715 CN 201610202715 A CN201610202715 A CN 201610202715A CN 105672692 A CN105672692 A CN 105672692A
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trap
drive
microwave
robot
microwave directional
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CN 201610202715
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Chinese (zh)
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CN105672692B (en )
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鲍明松
郭亭亭
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山东国兴智能科技有限公司
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/02Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0203Arrangements for filling cracks or cavities in building constructions
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/02Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0281Repairing or restoring roofing or roof covering
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING STRUCTURES OR APPARATUS NOT OTHERWISE PROVIDED FOR
    • G01M3/00Investigating fluid-tightness of structures
    • G01M3/02Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point

Abstract

The invention relates to the technical field of automation and robots and particularly relates to a full-automatic roof leakage finding and repairing robot which comprises a chassis driving platform, a microwave directional transmission module, an infrared temperature directional detection mechanism, a control and electrical driving mechanism, a leakage repairing mechanism and a power lithium battery, wherein the microwave directional transmission module comprises a microwave directional transmission device, a microwave directional transmission turntable, a microwave directional transmission mechanical arm, a microwave directional transmission stand and a microwave directional transmission servo motor. The invention also discloses a leakage finding and repairing method using the robot. By utilizing the principle that the temperature of microwaves rises after the microwaves are absorbed by objects, directional detection of leakage points of a roof is realized; the robot is simple in principle, skillful in mechanical coordination and low in overall manufacturing cost; the robot can automatically finish the leakage repairing work, so that the finding cost and leakage repairing cost of the leakage points are lowered; and the current problems of family property loss and even life safety endangering caused by leakage repairing because of leakage of the roof can be solved.

Description

一种全自动楼顶查漏补漏机器人及查漏补漏方法 A fully automated robot roof leak trap and trap method of leak

技术领域 FIELD

[0001 ]本发明涉及自动化与机器人技术领域,尤其涉及一种全自动楼顶查漏补漏机器人。 [0001] The present invention relates to the field of robotics and automation, in particular to a roof leak trap automatic robot.

背景技术 Background technique

[0002]楼顶漏水是很多家庭的烦恼,渗漏的水轻者造成地板进入潮气等,重者浸泡沙发、文物等。 [0002] roof is leaking a lot of family troubles, causing light leakage of water into the floor moisture, severe soaked sofa and cultural relics. 解决屋顶漏水最直接的办法是补漏,但是很多时候,屋顶上的漏水口极小,肉眼很难观察到。 The most straightforward solution is to trap leaking roof, but a lot of times, a very small leak on the roof of the mouth, the naked eye is difficult to observe. 尤其是对于年代久远的小区,这种问题尤为突出。 Especially for the age-old community, this problem is particularly prominent. 如果无法查出漏水口,只能选择对整块屋顶进行涂抹防漏材料,这样不仅耗时耗力,而且造成很大浪费。 If you can not detect leaking mouth, you can only choose to smear entire roof leak-proof material, so that not only time-consuming, but also caused great waste. 并且,当屋顶出现二次漏水时,新的漏水口基本上无法查找,给居民带来很大困扰。 And, when the roof leaks occur secondary, new leaks mouth basically can not find, great distress to the residents. 并且当屋顶或者地面等出现漏水口时,需要工作人员前去维修。 And when the roof or ground such as leaking mouth, you need to go to the maintenance staff. 当然,通过当前的新闻报道可以知道,多数居民会自己选择购买补漏材料自行补漏。 Of course, to know by the current news reports, the majority of residents will choose to buy their own trap trapping material. 当居民自己查找补漏时,并且由于屋顶湿滑现象严重,极易发生坠楼事件。 When residents find themselves trap, and because of serious roof slippery, easily falls incident occurred.

[0003] 发明专利201210573412.5公布了一种屋面漏水的检测方法,包括如下步骤,可疑漏水位置打孔,涂刷发泡剂或通过气体仪表,在屋顶表面看到起泡位置或看到仪表显示,即为漏水点。 [0003] published patent 201210573412.5 roof leakage detection method, comprising the steps of suspected leakage punching position, a gas meter by brushing or blowing agent, or to see the position seen bubbling meter display surface of the roof, It is the leakage point. 该发明针对建筑结构的特性,发明出二种查漏点的检测方法,精准查出漏水点位置。 This invention is directed to characteristics of the building structure, the invention of two kinds of method for detecting leak points, find the precise location of the leakage point. 其保质期长、施工快、无三费排出,为全社会屋面漏水通病的治理达到完全彻底的解决。 Its long shelf life, fast construction, no three charges discharged, to achieve full and complete solution for the management of the common problem of the whole society leaky roof. 但是该发明同样存在需要工人人员进入屋顶进行人工操作的问题。 However, the invention is also a problem of workers who need to enter the manual operation of the roof. 另外由于需要在屋顶的每个地方都需要涂抹发泡剂,造成费用偏高的问题。 In addition, as in every place needs a roof needs to apply a foaming agent, resulting in the high cost.

发明内容 SUMMARY

[0004]本发明的目的在于针对现有技术的不足,提供一种利用微波被物体吸收后升温原理实现对楼顶漏水点的定向检测、原理简单、机械配合巧妙、机器人整体造价低的全自动楼顶查漏补漏机器人及查漏补漏方法。 [0004] The object of the present invention is the deficiency of the prior art, there is provided a use of microwave heating after being absorbed by objects on the roof of the principles and directional detecting leakage points, the principle is simple, ingenious mechanical fit, a low overall cost automatic robot roof leak trap robot and leak trap method.

[0005]本发明为实现上述目的采用的技术方案是:一种全自动楼顶查漏补漏机器人,其特征在于,其包括底盘驱动平台、微波定向发射模块、红外温度定向检测机构、控制和电气驱动机构、补漏机构和动力锂电池组;所述微波定向发射模块包括:微波定向发射器、微波定向发射转盘、微波定向发射机械臂、微波定向发射机座、微波定向发射伺服电机,所述微波定向发射器设置于微波定向发射转盘上,所述微博定向发射转盘的运动可以带动微波定向发射器的运动;所述微波定向发射转盘连接微波定向发射机械臂的顶端,所述微博定向发射机械臂的末端连接微波定向发射机座,所述微波定向发射机座固定在底盘驱动平台上,所述微波定向发射机械臂上安装有微波定向发射伺服电机,用于驱动微波定向发射机械臂关节的转动,进而带动微波定向发射器的方向变化 [0005] To achieve the aspect of the present invention is used in the above-mentioned object: a fully automatic robot trap roof leak, characterized in that it comprises a chassis drive platform, microwave directional transmission module, an infrared temperature detecting means oriented, control and electrical driving means, trap means and lithium batteries; the microwave directional transmitting module comprises: a microwave directional transmission, a turntable microwave directional transmission, microwave directional transmission manipulator, directional microwave transmitters seat, transmit microwave directional servo motor, said microwave directional transmission is disposed on the turntable in the microwave directional transmission, the micro-blog directional transmission can drive the movement of the turntable microwave directional motion transmitter; said microwave directional microwave emitter is connected to the top turntable manipulator directional transmission, the directional transmission Twitter end of the robot arm is connected to a microwave transmitter seat orientation, the orientation of the microwave transmitter housing fixed to the chassis drive platform, the microwave directional microwave directional transmission is mounted a servo motor for driving the microwave directional transmitter transmitting the manipulator joint manipulator rotation, so as to drive the microwave emitter orientation direction changes ,所述微波定向发射模块2安装在底盘驱动平台I的前端;所述红外温度定向检测机构包括:红外温度传感矩、支架,所述红外温度传感矩阵安装固定在支架上,支架固定安装在底盘驱动平台的后端;所述控制和电气驱动机构包括:CPU控制器、微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器、电源稳压模块,所述电源稳压模块连接动力锂电池组,电源稳压模块连接并为以下模块供电:CPU控制器、微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器,所述红外温度定向检测机构与CPU控制器连接;所述补 The front end is mounted on the chassis driving microwave internet directional transmission module I 2; orienting temperature of said infrared detection means comprises: an infrared temperature sensing torque, bracket, said infrared array temperature sensor fixed on a bracket fixedly mounted the drive chassis at the rear end of the platform; and controlling said electric drive means include: CPU controller, microwave directional emitter drive module, transmitting microwave directional servo motor drives, an infrared temperature sensing matrix drive module, the drive chassis drive platform, mechanical trap servo motor drives the arm, Li trap high pressure drive, the drive motor trap paint, power regulator module, a voltage regulator module is connected lithium batteries, and power regulator module is connected to the power supply modules: transmitting CPU controller, microwave directional drive module, the microwave directional transmission servo motor drives, an infrared temperature sensing matrix drive module chassis drive platform drive trap manipulator servo motor drives, to trap high pressure chestnut drive, trapping painting motor driver, said infrared temperature orientation detecting means and the CPU the controller is connected; the complement 机构包括:补漏喷嘴、补漏圆环毛刷、补漏机械臂、补漏机械臂伺服电机、补漏液管道、补漏高压栗、补漏粉刷盘、补漏粉刷电机、补漏液槽、补漏机座,所述补漏喷嘴藏于补漏圆环毛刷内,补漏圆环毛刷固定在补漏粉刷盘57上,补漏粉刷盘连接补漏机械臂的首端,补漏机械臂的末端连接补漏机座,补漏机座则安装固定在底盘驱动平台上,补漏机械臂上安装有补漏机械臂伺服电,用以驱动补漏机械臂的转动,进而带动补漏喷嘴运动,补漏粉刷盘上安装有补漏粉刷电机,通过控制补漏粉刷电机的旋转可以间接带动补漏粉刷盘的转动,补漏喷嘴通过补漏液管道连接补漏高压栗,通过补漏高压栗的运动带动补漏液从补漏喷嘴中的高速喷出,进入缝隙或者漏口中; Mechanism comprising: a trap nozzle, the annular brush trap, trap the robot arm, the robot arm trap servo motor, the liquid trap conduit, high pressure chestnut trap, trap plate painting, painting motor trap, trap tank, stand trap, the trap nozzle ring trap hidden in the brush, the brush is fixed to the ring trap trap paint tray 57, the disc is connected to trap trapping painting head end of the robot arm, the robot arm is connected to the end of trapping base trap, the trap is mounted fixed to the stand drive chassis platform mounted on the robotic arm trap with a trap servo robot arm, the robot arm for rotating the drive trap, thereby bringing the trap nozzle movement, the motor is mounted on the trap trapping paint tray paint, paint trap by rotating the control motor indirect trap paint disc driven in rotation, trap nozzle is connected by trap to trap high pressure fluid conduit Li, high-speed drive fluid discharged from trap to trap nozzle, or into the gap by the movement of the mouth of the drain trap high pressure chestnut;

[0006]进一步地,所述微波定向发射器数量为5个,组成矩阵状分布,均匀排列分布在微波定向发射转盘上; [0006] Further, the number of emitters microwave directional five, distributed in a matrix composition, arranged evenly distributed on a turntable in a microwave directional transmission;

[0007]进一步地,所述微波定向发射机座通过螺栓螺母结构安装固定在底盘驱动平台上; [0007] Furthermore, the orientation of the microwave transmitter seat mounting structure is fixed by a bolt nut drive chassis platform;

[0008]进一步地,所述红外温度传感矩阵具有探头,探头方向朝向地面; [0008] Further, the infrared temperature sensor having a matrix Probe, a direction toward the ground;

[0009]进一步地,所述CPU控制器与微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器连接并控制这些模块工作,进而驱动相应的电机工作; [0009] Further, the CPU controller microwave directional emitter drive module, the microwave directional transmission servo motor drives, an infrared temperature sensing matrix drive module chassis drive platform drive trap manipulator servo motor drives, to trap high pressure Chestnut Drive , trap paint motor driver and controls the module is connected, thereby driving the corresponding motor operation;

[0010]进一步地,所述补漏喷嘴数量为5个,均匀藏于补漏圆环毛刷内; [0010] Further, the number of nozzles 5 trap, trap hidden in the uniform brush ring;

[0011] 进一步地,所述底盘驱动平台为全地形山地车或四驱车,为整套机器人提供移动平台,可以实现直行、原地转弯、左转、右转和爬坡等功能。 [0011] Further, the drive chassis platform for four-wheel all-terrain or mountain bike, a mobile robot platform for the package, can be achieved straight, turning on the spot, turn left, turn right, and so on climbing.

[0012]本发明还公开了上述全自动楼顶查漏补漏机器人的查漏补漏方法,具体步骤如下: [0012] The present invention also discloses a method of the above-described automatic trapping leak roof leak trap robot, the following steps:

[0013]步骤一:底盘驱动平台I带动整套机器人在屋顶按照事先设定的轨迹进行运动; [0013] Step a: drive chassis platform I drive package robot motion trajectory according to pre-set on the roof;

[0014]步骤二:CPU控制器控制微波定向发射器驱动模块向地面某一区域发射微波,该过程中,底盘驱动平台I继续前进;并且CPU控制器通过控制微波定向发射机械臂上安装的微波定向发射伺服电机,用于驱动微波定向发射机械臂关节的转动,进而带动微波定向发射器的方向变化,从而适用于不同的空间范围; [0014] Step Two: CPU controller controls the microwave directional emitter drive module transmits microwaves to the ground a region, in the process, the drive chassis to move the platform I; and mounted on the microwave emission by controlling the robotic arm controller CPU microwave directional directional transmission servo motor, for rotationally driving the manipulator joint microwave directional transmission, so as to drive the microwave emitters oriented in the direction of the change, so that for different spatial range;

[0015]步骤三:CPU控制器控制红外温度传感矩阵驱动模块工作,实现对地面某一区域内的温度的测取;该过程中CPU工作原理为:利用微波被物体吸收后温度会明显上升的特性。 [0015] Step three: CPU controller controls the infrared temperature sensor matrix drive module work, taking the measured temperature to achieve a certain region of the surface; CPU during the working principle is: by the temperature rise will be significantly absorbed microwave object features. 即:微波能被水吸收,吸收微波后的水,温度会较之前大为升高,因此向外辐射较多的红外线。 Namely: microwave energy absorbed water, the water temperature will be much higher than that before the microwave absorption, and therefore more infrared radiation outward. 此时若使用红外传感器对物体进行检测,当发现某一点的物体温度明显升高时,说明该点存在较多的水,进而发现漏水点,从而可以确定防漏层下漏水的路径,查到漏源后机器人并对其进行全自动修补;当CHJ控制器41当发现楼顶某一区域内的温度急剧升高时,说明该区域存在漏水点; At this time, when the infrared sensor detects an object, the object temperature when finding a point significantly higher, indicating that there are more points of the water, and then found that leakage points, which can determine the path of the leakage barrier layer, found after drain-source robot and subjected to automatic repair; CHJ when the controller 41 when a sharp rise in temperature was found within a certain area of ​​the roof, indicating the presence of leakage points in the region;

[0016] 步骤四:此时底盘驱动平台停止运动,CPU控制器控制整套机器人重复步骤二和步骤三,进一步精确确定漏水点位置; [0016] Step Four: In this case the drive chassis platform motion stops, the CPU of the robot controller controls the whole repeating steps two and step three, more precisely determined position of the leakage point;

[0017] 步骤五:当CPU控制器确定精确的漏水点位置时,然后通过控制补漏粉刷盘上安装的补漏粉刷电机运动,控制补漏粉刷电机的旋转可以间接带动补漏粉刷盘的转动,从而使得补漏液更均匀的进入漏口中;该过程中,同时发生的动作为:补漏喷嘴通过补漏液管道连接补漏高压栗,CPU控制器通过补漏高压栗的运动带动补漏液从补漏喷嘴中的高速喷出,进入缝隙或者漏口中; [0017] Step Five: When the CPU of the controller determines the precise location of the leakage point, and by controlling the motor movement trap painting paint trap plate mounted on the control of the rotary electric machine can trap paint rotatably driven indirectly trap the paint tray, so that the trap fluid leakage into the mouth of a more uniform; this process, the simultaneous operation is: Li trap nozzle is connected through a trap to trap high pressure fluid conduit, the CPU controller driven by the movement of the liquid trap to trap high pressure discharged from Li speed trap nozzle, leakage into the slot or mouth;

[0018] 步骤六:补漏结束后,CPU控制器继续控制底盘驱动平台驱动器进而驱动底盘驱动平台向前运动,寻找其它新的漏水点;当一层楼顶所有楼面检查完毕时,机器人停止工作,完成一个工作周期。 [0018] Step Six: After the trap, the CPU controller continues to control the drive chassis internet driver in turn drives the drive chassis platform moves forward, the new look for other leakage points; when one roof floor all checked, the robot stops to complete a work cycle.

[0019]本发明的原理是:利用微波被物体吸收后温度会明显上升的特性。 Principle [0019] The present invention is: the use of microwave is significantly increased after absorption of body temperature. 即:微波能被水吸收,吸收微波后的水,温度会较之前大为升高,因此向外辐射较多的红外线。 Namely: microwave energy absorbed water, the water temperature will be much higher than that before the microwave absorption, and therefore more infrared radiation outward. 此时若使用红外传感器对物体进行检测,当发现某一点的物体温度明显升高时,说明该点存在较多的水,进而发现漏水点,从而可以确定防漏层下漏水的路径,查到漏源后机器人并对其进行全自动修补。 At this time, when the infrared sensor detects an object, the object temperature when finding a point significantly higher, indicating that there are more points of the water, and then found that leakage points, which can determine the path of the leakage barrier layer, found and subjected to automatic robot after repair drain source.

[0020]本发明的有益效果是: [0020] Advantageous effects of the present invention are:

[0021] I)本发明通过发明了一种全自动楼顶查漏补漏机器人,实现了对楼顶漏水点的自动查找,填补了目前市场上对楼顶查漏补漏自动化领域的空白,并且通过利用机器人自动完成补漏工作,降低了漏水点的查找成本和补漏成本,保证了工作人员或居民的人身财产安全,意义重大; [0021] I) The present invention invented a roof leak trap automatic robot to realize the automatic lookup of roof leakage points, to fill the market for automation trap roof leak current gaps, and by robot automatically trap work, reduce costs and fill gaps to find the cost of leakage points, to ensure the personal and property safety of staff or residents, is significant;

[0022] 2)本发明通过设置微波定向发射模块,配合微波定向发射器、微波定向发射转盘和微波定向发射机械臂的联动,实现了对楼顶漏水点的定向和全方位微波发射,进而为后期的漏水点的检测奠定了基础; [0022] 2) according to the present invention, by providing the microwave directional transmission module with directional microwave transmitters, microwave directional transmission turntable microwave directional transmission linkage manipulator, to achieve directional roof leakage point and full microwave transmitter, further to detect leakage points later laid the foundation;

[0023] 3)本发明配合上述的微波定向发射模块和红外温度定向检测机构,利用微波被物体吸收后升温原理,实现了对楼顶漏水点的定向检测,原理简单,机械配合巧妙,机器人整体造价低; [0023] 3) of the present invention with the above-described microwave directional orientation transmitting module and an infrared temperature detection means, after the object is absorbed by the microwave heating principle, to achieve the detection of the orientation of the roof leakage points, the principle is simple, ingenious mechanical fit, the entire robot low cost;

[0024] 4)本发明设计了全新的补漏机构,通过利用补漏喷嘴、补漏圆环毛刷、补漏高压栗及补漏粉刷盘的配合,实现了对漏水点的喷射补漏液及粉刷,机械机构配合巧妙、合理。 [0024] 4) The present invention contemplates a new trapping mechanism, by using the trap nozzle trap with a brush ring, Li trap high pressure and trap paint tray, to achieve the ejection of leakage points and trap liquid paint, with mechanical means clever and reasonable.

附图说明 BRIEF DESCRIPTION

[0025]图1为本发明一种全自动楼顶查漏补漏机器人的立体结构示意图; [0025] Figure 1 is a perspective schematic view of the structure of the robot leak trap a fully automatic roof invention;

[0026]图2为本发明一种全自动楼顶查漏补漏机器人的主视结构示意图; [0026] FIG. 2 is a schematic front view of the structure of the robot leak trap a fully automatic roof invention;

[0027]图3为本发明一种全自动楼顶查漏补漏机器人的俯视结构示意图; [0027] FIG. 3 is a schematic top view of the structure of the robot trap a fully automatic roof leak invention;

[0028]图4为本发明一种全自动楼顶查漏补漏机器人的补漏机构的局部立体结构示意图; Trap means to trap leak schematic partial perspective view of the robot of automatic roof structure of a [0028] FIG. 4 of the present invention;

[0029]图5为本发明一种全自动楼顶查漏补漏机器人的微波定向发射模块的局部主视结构示意图; [0029] FIG. 5 shows the orientation of the robot microwave trap leak schematic partial front view of the structure of the roof module to the invention a fully automatic transmission;

[0030]图6为本发明一种全自动楼顶查漏补漏机器人的补漏喷嘴和补漏圆环毛刷的局部主视结构示意图; [0030] FIG. 6 is a nozzle trap robots and a schematic partial front view of a brush ring structure trap to trap a fully automatic roof leak invention;

[0031]图7为本发明一种全自动楼顶查漏补漏机器人的控制和电气驱动机构的局部立体结构示意图。 [0031] Figure 7 is a partial perspective schematic electrical configuration of the control and driving mechanism of the robot leak trap a fully automated roof invention.

具体实施方式 detailed description

[0032]下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述。 [0032] The present invention in conjunction with the following drawings in the embodiments, the technical solutions in the embodiments of the present invention will be clearly and completely described. 基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。 Based on the embodiments of the present invention, all other embodiments of ordinary skill in the art without any creative effort shall fall within the scope of the present invention.

[0033] 实施例1: [0033] Example 1:

[0034] —种全自动楼顶查漏补漏机器人,包括:底盘驱动平台1、微波定向发射模块2、红外温度定向检测机构3、控制和电气驱动机构4、补漏机构5和动力锂电池组6。 [0034] - Full Auto roof leak trap robot, comprising: a drive chassis 1 platform, microwave directional transmission module 2, the infrared temperature detection means 3 is oriented, and the electric drive controlling mechanism 4, and a trapping mechanism 5 lithium batteries 6 .

[0035] 实施例2: [0035] Example 2:

[0036]所述微波定向发射模块2包括:微波定向发射器21、微波定向发射转盘22、微波定向发射机械臂23、微波定向发射机座24、微波定向发射伺服电机25。 [0036] The microwave directional transmitting module 2 comprising: a microwave directional transmitter 21, microwave directional transmission wheel 22, the arm 23 microwave directional transmission, microwave directional transmitter seat 24, transmit microwave directional servo motor 25. 上述微波定向发射器21共5个,组成矩阵状分布,均匀排列分布在微波定向发射转盘22上,微波定向发射转盘22的运动可以带动微波定向发射器21的运动。 Orienting the microwave transmitter 21 of five, consisting of a matrix distribution, a uniform distribution of the microwave directional transmission are arranged on the turntable 22, the turntable 22 the microwave directional transmission of motion can be driven by the microwave directional transmission of motion 21. 同时,微波定向发射转盘22连接微波定向发射机械臂23的顶端,微波定向发射机械臂23的末端连接微波定向发射机座24,而微波定向发射机座24通过螺栓螺母结构安装固定在底盘驱动平台I上。 Meanwhile, the microwave directional transmission wheel 22 connected to transmit microwave directional tip of the arm 23, the end of the microwave directional transmission robot arm 23 is connected to a microwave transmitter oriented holder 24, and the microwave directional transmitter housing 24 is mounted on a chassis fixed to the platform by a bolt and nut structure driven I on. 另外,微波定向发射机械臂23上安装有微波定向发射伺服电机25,用于驱动微波定向发射机械臂23关节的转动,进而带动微波定向发射器21的方向变化,从而适用于不同的空间范围。 Further, the microwave directional transmission mounted on the robot arm 23 with a microwave directional transmission servo motor 25, for rotationally driving the microwave directional transmission joint of the arm 23, thereby bringing the microwave directional transmitter 21 changes direction, whereby for different spatial range. 所述微波定向发射模块2安装在底盘驱动平台I的前端。 The front end of the microwave directional transmission drive platform mounted on the chassis module I 2.

[0037] 实施例3: [0037] Example 3:

[0038]所述红外温度定向检测机构3包括:红外温度传感矩阵31、支架32。 [0038] The directional infrared temperature detection means 3 comprises: an infrared temperature sensing matrix 31, the holder 32. 红外温度传感矩阵31安装固定在支架32上,而支架32则固定安装在底盘驱动平台I的后端。 Matrix infrared temperature sensor 31 is mounted on a bracket 32 ​​fixed, while the mounting bracket 32 ​​is fixed to the rear end of the chassis I drive platform. 其中,红外温度传感矩阵31的探头方向朝下,S卩:方向朝向地面。 Wherein the direction of the infrared temperature sensor probe 31 downward matrix, S Jie: a direction towards the ground. 上述红外温度定向检测机构3与CPU控制器41连接。 Orienting the infrared temperature detection means 3 is connected to the CPU controller 41.

[0039] 实施例4: [0039] Example 4:

[0040]所述补漏机构5包括:补漏喷嘴51、补漏圆环毛刷52、补漏机械臂53、补漏机械臂伺服电机54、补漏液管道55、补漏高压栗56、补漏粉刷盘57、补漏粉刷电机58、补漏液槽59、补漏机座510。 [0040] The trapping mechanism 5 comprising: a trap nozzle 51, ring brush 52 trap, trap manipulator 53, manipulator trap servo motor 54, the liquid trap conduit 55, a high pressure trap 56 Li, trap paint tray 57, trap paint motor 58, trap tank 59, trap base 510. 上述中,补漏喷嘴51数量为5个,均匀藏于补漏圆环毛刷52内,补漏圆环毛刷52固定在补漏粉刷盘57上,补漏粉刷盘57连接补漏机械臂53的首端,补漏机械臂53的末端连接补漏机座510,补漏机座510则安装固定在底盘驱动平台I上。 Above, the number of trap nozzle 51 is 5, a uniform trap hidden in the ring brush 52, ring brush 52 is fixed trap trapping the paint tray 57, the disc 57 is connected to trap trapping painting head end 53 of the robot arm, trapping end of the robot arm 53 is connected to base 510 trap, trapping a fixed base 510 mounted on the drive chassis platform I. 同样的,补漏机械臂53上安装有补漏机械臂伺服电机54,用以驱动补漏机械臂53的转动,进而带动补漏喷嘴51运动。 Similarly, the robotic arm trap with a trap 53 is mounted on the robot arm of the servo motor 54 for rotating the robot arm 53 is driven to trap, trap nozzle 51 so as to drive the motion. 另夕卜,补漏粉刷盘57上安装有补漏粉刷电机58,通过控制补漏粉刷电机58的旋转可以间接带动补漏粉刷盘57的转动,从而使得补漏液更均匀的进入漏口中。 Another Bu Xi, the motor 58 is mounted on the trap trapping paint paint tray 57, the rotary electric machine by controlling the painting trap 58 may be rotatably driven indirectly trap the paint tray 57, so that a more uniform liquid trap into the mouth of the drain. 最后,补漏喷嘴51通过补漏液管道55连接补漏高压栗56,通过补漏高压栗56的运动带动补漏液从补漏喷嘴51中的高速喷出,进入缝隙或者漏口中。 Finally, the nozzle 51 by trap to trap high pressure liquid line 55 is connected Li trap 56, driven by the movement of the liquid trap 56 to trap high pressure discharged from the trap Li nozzle 51 in high speed, into the slot or mouth leak.

[0041 ] 实施例5: [0041] Example 5:

[0042] —种全自动楼顶查漏补漏机器人查漏补漏的方法,具体步骤如下: [0042] - Full Auto method roof leak leak trap to trap the robot, the following steps:

[0043]步骤一:底盘驱动平台I带动整套机器人在屋顶按照事先设定的轨迹进行运动。 [0043] Step a: drive chassis platform I drive package robot motion trajectory according to pre-set the roof.

[0044]步骤二:CPU控制器41控制微波定向发射器驱动模块42向地面某一区域发射微波,该过程中,底盘驱动平台I继续前进;并且CPU控制器41通过控制微波定向发射机械臂23上安装的微波定向发射伺服电机25,用于驱动微波定向发射机械臂23关节的转动,进而带动微波定向发射器21的方向变化,从而适用于不同的空间范围。 [0044] Step Two: CPU controller 41 controls the microwave directional emitter drive module 42 to transmit a microwave region of the ground, in the process, the drive chassis to move the platform I; and the CPU controls the microwave controller 41 is transmitted through the arm 23 is oriented microwave directional servo motor mounted transmitter 25, for rotationally driving the microwave directional transmission joint of the arm 23, thereby bringing the microwave directional transmitter 21 changes direction, whereby for different spatial range.

[0045]步骤三:CPU控制器41控制红外温度传感矩阵驱动模块44工作,实现对地面某一区域内的温度的测取。 [0045] Step three: CPU controller 41 controls the infrared temperature sensor 44 is operated matrix drive module, taking the measured temperature of a certain ground area. 该过程中CPU工作原理为:利用微波被物体吸收后温度会明显上升的特性。 The CPU process works as follows: the use of microwave absorption characteristics significantly increase the temperature of the object. 即:微波能被水吸收,吸收微波后的水,温度会较之前大为升高,因此向外辐射较多的红外线。 Namely: microwave energy absorbed water, the water temperature will be much higher than that before the microwave absorption, and therefore more infrared radiation outward. 此时若使用红外传感器对物体进行检测,当发现某一点的物体温度明显升高时,说明该点存在较多的水,进而发现漏水点,从而可以确定防漏层下漏水的路径,查到漏源后机器人并对其进行全自动修补。 At this time, when the infrared sensor detects an object, the object temperature when finding a point significantly higher, indicating that there are more points of the water, and then found that leakage points, which can determine the path of the leakage barrier layer, found and subjected to automatic robot after repair drain source. 因此,CPU控制器41当发现楼顶某一区域内的温度急剧升高时,说明该区域存在漏水点。 Thus, the CPU 41 when the controller abruptly elevated temperatures found in an area roof, indicating the presence of leakage points in the region.

[0046] 步骤四:此时底盘驱动平台I停止运动,CPU控制器41控制整套机器人重复步骤二和步骤三,进一步精确确定漏水点位置。 [0046] Step Four: In this case the drive chassis internet I stop motion, the CPU 41 controls the entire robot controller repeats step two and step three, more precisely determined position of the leakage point.

[0047] 步骤五:当CPU控制器41确定精确的漏水点位置时,然后通过控制补漏粉刷盘57上安装的补漏粉刷电机58运动,控制补漏粉刷电机58的旋转可以间接带动补漏粉刷盘57的转动,从而使得补漏液更均匀的进入漏口中。 [0047] Step Five: When the CPU of the controller 41 determines the exact location of the leakage point, and the control disc Traps trap paint paint motor 58 mounted on the movement 57, the rotary electric machine control paint trap 58 may be driven indirectly trap the paint tray 57 rotation, so that more uniform liquid trap into the mouth of the drain. 该过程中,同时发生的动作为:补漏喷嘴51通过补漏液管道55连接补漏高压栗56,CPU控制器41通过补漏高压栗56的运动带动补漏液从补漏喷嘴51中的高速喷出,进入缝隙或者漏口中。 In this process, simultaneous operation as: Trapping trap nozzle 51 by the high pressure liquid line 55 is connected Li trap 56, the CPU controller 41 is ejected from the nozzle 51 in high speed trap by the movement of Li trap high pressure liquid trap 56 driven into the slot or mouth leak.

[0048] 步骤六:补漏结束后,CPU控制器41继续控制底盘驱动平台驱动器45进而驱动底盘驱动平台I向前运动,寻找其它新的漏水点。 [0048] Step Six: After the trap, the CPU continues to control the chassis controller 41 drives the drive platform 45 in turn drives the drive chassis is moved forward platform I, to find other new leakage points. 当一层楼顶所有楼面检查完毕时,机器人停止工作,完成一个工作周期。 When one roof all floor inspection is completed, the robot stops working, the completion of a work cycle.

[0049]上述实施例只是为了说明本发明的技术构思及特点,其目的是在于让本领域内的普通技术人员能够了解本发明的内容并据以实施,并不能以此限制本发明的保护范围。 [0049] The above-described embodiments are illustrative only technical concept and features of the invention, the aim is to enable ordinary skill in the art to understand the present invention and accordingly embodiment, and thus does not limit the scope of the present invention . 凡是根据本发明内容的实质所作出的等效的变化或修饰,都应涵盖在本发明的保护范围内。 Any equivalent variation or modification in accordance with the substance of the present invention is made, it shall fall within the protection scope of the present invention.

Claims (7)

  1. 1.一种全自动楼顶查漏补漏机器人,其特征在于,其包括底盘驱动平台、微波定向发射模块、红外温度定向检测机构、控制和电气驱动机构、补漏机构和动力锂电池组;所述微波定向发射模块包括:微波定向发射器、微波定向发射转盘、微波定向发射机械臂、微波定向发射机座、微波定向发射伺服电机,所述微波定向发射器设置于微波定向发射转盘上,所述微博定向发射转盘的运动可以带动微波定向发射器的运动;所述微波定向发射转盘连接微波定向发射机械臂的顶端,所述微博定向发射机械臂的末端连接微波定向发射机座,所述微波定向发射机座固定在底盘驱动平台上,所述微波定向发射机械臂上安装有微波定向发射伺服电机,用于驱动微波定向发射机械臂关节的转动,进而带动微波定向发射器的方向变化,所述微波定向发射模块安装在底盘驱动平 An automatic roof leak trap robot, characterized in that it comprises a chassis drive platform, microwave directional transmission module, an infrared temperature detecting means oriented, control and electrical drive means, trap means and lithium batteries; the microwave directional transmission module comprising: a microwave directional transmission, a turntable microwave directional transmission, microwave directional transmission manipulator, directional microwave transmitters seat, transmit microwave directional servo motor, said microwave emitter directional microwave directional transmission disposed on the turntable, the Twitter motion directional transmission can drive the turntable microwave directional motion transmitter; said microwave directional microwave directional emission tip of the emitter disk connected to the robot arm, the end of the robot arm Twitter directional transmission connection microwave directional transmitter seat, the microwave directional transmitter fixed to the chassis driving seat platform, the direction of microwave transmitter mounted microwave directional servo motor, for rotationally driving the manipulator joint microwave directional transmission, so as to drive the microwave directional emitter robot arm directional transmission change, the microwave directional transmission module mounted on the chassis drive level 的前端;所述红外温度定向检测机构包括:红外温度传感矩、支架,所述红外温度传感矩阵安装固定在支架上,支架固定安装在底盘驱动平台的后端;所述控制和电气驱动机构包括:CPU控制器、微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器、电源稳压模块,所述电源稳压模块连接动力锂电池组,电源稳压模块连接并为以下模块供电:CPU控制器、微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器,所述红外温度定向检测机构与(PU控制器连接;所述补漏机构包括:补漏喷嘴、补漏圆环毛刷、补漏机 A front end; orienting the infrared temperature detecting means comprises: an infrared temperature sensing torque, bracket, said infrared array temperature sensor fixed on a bracket fixedly mounted on the rear end of the drive chassis platform; and the electric drive control mechanism include: CPU controller, microwave directional emitter drive module, the microwave directional transmission servo motor drives, an infrared temperature sensing matrix drive module chassis drive platform drive trap manipulator servo motor drives, to trap high pressure chestnut drive, trapping painting motor driver , power regulator module, a voltage regulator module is connected lithium batteries, and power regulator module is connected to the power supply modules: CPU controller, microwave directional emitter drive module, transmitting microwave directional servo motor drives, pass infrared temperature flu matrix drive module chassis drive platform drive trap manipulator servo motor drives, to trap high pressure chestnut drive, trapping painting motor driver, said infrared temperature orientation detector mechanism (PU controller; said trap mechanism comprising: a trap nozzle, trapping ring brush, trap machine 臂、补漏机械臂伺服电机、补漏液管道、补漏高压栗、补漏粉刷盘、补漏粉刷电机、补漏液槽、补漏机座,所述补漏喷嘴藏于补漏圆环毛刷内,补漏圆环毛刷固定在补漏粉刷盘57上,补漏粉刷盘连接补漏机械臂的首端,补漏机械臂的末端连接补漏机座,补漏机座则安装固定在底盘驱动平台上,补漏机械臂上安装有补漏机械臂伺服电,用以驱动补漏机械臂的转动,进而带动补漏喷嘴运动,补漏粉刷盘上安装有补漏粉刷电机,通过控制补漏粉刷电机的旋转可以间接带动补漏粉刷盘的转动,补漏喷嘴通过补漏液管道连接补漏高压栗,通过补漏高压栗的运动带动补漏液从补漏喷嘴中的高速喷出,进入缝隙或者漏口中。 Arm manipulator trap servo motor, the liquid trap conduit, high pressure chestnut trap, trap plate painting, painting motor trap, trap tank, stand trap, the trap nozzle trap hidden in the brush ring, ring brush trap trapping is fixed to the paint tray 57, connected to the head end plate trap trap paint robot arm, trapping the end of the robot arm is connected to base trap, trap base drive platform fixed to the chassis, mounted on the robot arm installation trap trapping manipulator servo motor for rotatably driving the robot arm trap, the trap nozzle movement so as to drive, the motor is mounted on the trap trapping paint paint tray, rotatably driven indirectly trap paint disc by controlling the rotation of the motor paint trap, trap by trap liquid nozzle duct Li trap high pressure connection, the high-speed drive fluid discharged from trap to trap nozzle, or into the gap by the movement of the mouth of the drain trap high pressure chestnut.
  2. 2.如权利要求1所述的一种全自动楼顶查漏补漏机器人,其特征在于,所述微波定向发射器数量为5个,组成矩阵状分布,均匀排列分布在微波定向发射转盘上。 2. An automatic roof according to claim 1 leak trap robot, wherein the number of microwave emitters oriented to 5, consisting of a matrix distribution, arranged evenly distributed on a turntable in a microwave directional transmission.
  3. 3.如权利要求1所述的一种全自动楼顶查漏补漏机器人,其特征在于,所述微波定向发射机座通过螺栓螺母结构安装固定在底盘驱动平台上。 1, one of the automatic roof as claimed in claim leak trap robot, characterized in that the microwave transmitter is oriented seat mounting platform fixed to the chassis by bolts and nuts driven structure.
  4. 4.如权利要求1所述的一种全自动楼顶查漏补漏机器人,其特征在于,所述红外温度传感矩阵具有探头,探头方向朝向地面。 4. An automatic roof according to claim 1 leak trap robot, characterized in that the infrared temperature sensor having a matrix Probe, a direction toward the ground.
  5. 5.如权利要求4所述的一种全自动楼顶查漏补漏机器人,其特征在于,所述CPU控制器与微波定向发射器驱动模块、微波定向发射伺服电机驱动器、红外温度传感矩阵驱动模块、底盘驱动平台驱动器、补漏机械臂伺服电机驱动器、补漏高压栗驱动器、补漏粉刷电机驱动器连接并控制上述模块工作,进而驱动相应的电机工作。 5. An automatic roof according to Claim 4 leak trap robots claim, wherein said controller CPU microwave directional emitter drive module, transmitting microwave directional servo motor drives, an infrared temperature sensor matrix driving module, the drive chassis platform drive, servo motor drives the robot arm trap, trapping a high pressure drive Li, stucco trap and connected to a motor driver module to control the work, thereby driving the corresponding motor operates.
  6. 6.如权利要求1所述的一种全自动楼顶查漏补漏机器人,其特征在于,所述补漏喷嘴数量为5个,均匀藏于补漏圆环毛刷内。 6. An automatic roof according to claim 1 leak trap robot, characterized in that the number of trap nozzle 5 uniformly trap hidden in the brush ring.
  7. 7.如权利要求1所述的一种全自动楼顶查漏补漏机器人查漏补漏的方法,其特征在于,具体步骤如下: 步骤一:底盘驱动平台I带动整套机器人在屋顶按照事先设定的轨迹进行运动; 步骤二:CHJ控制器控制微波定向发射器驱动模块向地面某一区域发射微波,该过程中,底盘驱动平台I继续前进;并且CPU控制器通过控制微波定向发射机械臂上安装的微波定向发射伺服电机,用于驱动微波定向发射机械臂关节的转动,进而带动微波定向发射器的方向变化,从而适用于不同的空间范围; 步骤三:CPU控制器控制红外温度传感矩阵驱动模块工作,实现对地面某一区域内的温度的测取;该过程中CPU工作原理为:利用微波被物体吸收后温度会明显上升的特性,S卩:微波能被水吸收,吸收微波后的水,温度会较之前大为升高,因此向外辐射较多的红外线;此时若使用红外传感器对 7. An automatic roof according to claim 1 Robot Leak leak trap the trap, wherein the following steps: Step a: drive chassis platform I drive the robot on the roof package according to a preset motion trajectory; step two: CHJ microwave directional controller controls emitter drive module emitting microwaves to a region of the ground, in the process, the drive chassis to move the platform I; CPU and the controller controls the microwave directional transmission mounted on the robotic arm transmitting microwave directional servo motor, for rotationally driving the manipulator joint microwave directional transmission, and thus change the direction of microwave directional emitter driven thereby for different spatial range; step three: CPU controller controls the infrared temperature sensor matrix drive module work to achieve a temperature measurement taken in an area of ​​the ground; CPU during the working principle is: the use of microwave is significantly increased after absorption of body temperature, S Jie: microwave energy absorbed water, the water absorption of the microwave , the temperature will increase greatly than before, and therefore more outwardly infrared radiation; At this time, if infrared sensor 体进行检测,当发现某一点的物体温度明显升高时,说明该点存在水,进而发现漏水点,从而可以确定防漏层下漏水的路径,查到漏源后机器人并对其进行全自动修补;当CPU控制器41当发现楼顶某一区域内的温度急剧升高时,说明该区域存在漏水点; 步骤四:此时底盘驱动平台停止运动,CHJ控制器控制整套机器人重复步骤二和步骤三,进一步精确确定漏水点位置; 步骤五:当CPU控制器确定精确的漏水点位置时,然后通过控制补漏粉刷盘上安装的补漏粉刷电机运动,控制补漏粉刷电机的旋转可以间接带动补漏粉刷盘的转动,从而使得补漏液更均匀的进入漏口中;该过程中,同时发生的动作为:补漏喷嘴通过补漏液管道连接补漏高压栗,CPU控制器通过补漏高压栗的运动带动补漏液从补漏喷嘴中高速喷出,进入缝隙或者漏口中; 步骤六:补漏结束后,CPU控 Detecting body, when finding a point object temperature significantly increased, indicating the presence of water at that point, and then found that leakage points, which can determine the path of the leakage barrier layer, the drain-source robot and found its automatic repair; controller when the CPU 41 found a sharp rise when the temperature of the roof in an area, indicating the presence of leakage points in the region; step four: in this case the drive chassis platform motion is stopped, the controller controls entire robot CHJ repeating steps II and step three, more precisely determine the position of the leakage point; step five: when the CPU of the controller determines the precise location of the leakage point, and then moved by the motor control paint trap plate mounted on the trap stucco, stucco trap controls the rotation drive motor can be indirectly trap paint the rotary disk, so that a more uniform trapping fluid leakage into the mouth; the process, the simultaneous operation is: Li trap nozzle is connected through a trap to trap high pressure fluid conduit, the CPU controller to drive fluid from the trap by trap to trap high pressure movement chestnut high-speed spray nozzle, slit or the drain into the mouth; step six: after the end of the trap, the CPU controls 器继续控制底盘驱动平台驱动器进而驱动底盘驱动平台向前运动,寻找其它新的漏水点;当一层楼顶所有楼面检查完毕时,机器人停止工作,完成一个工作周期。 Continues to control the drive chassis internet driver in turn drives the drive chassis platform moves forward to find other new leakage points; when one roof floor all checked, the robot is stopped, the completion of a work cycle.
CN 201610202715 2016-04-01 2016-04-01 A fully automated robot roof leak trap and trap method of leak CN105672692B (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1205382A (en) * 1998-03-18 1999-01-20 李正德 Water isolating and leakage-proof method for cement roof of building
US20030029132A1 (en) * 2002-10-07 2003-02-13 Ward Stanley P. Pressure injection of flexible polymer grout into slate roofs
US6918219B1 (en) * 2003-06-05 2005-07-19 Knute S. Olson Roof vent hole patch and patching method
CN1924534A (en) * 2005-08-29 2007-03-07 李海军 Method for detection and stopping leak for concrete buildings leakage source
KR101065470B1 (en) * 2011-06-09 2011-09-19 메트로티엔씨 주식회사 Reinforcement method of construction for a roof or an outer wall
WO2012007761A1 (en) * 2010-07-14 2012-01-19 Geoffrey Fleet Method of treating a roof
CN102998068A (en) * 2012-12-26 2013-03-27 李春福 Detection method of roof leakage
US20150059283A1 (en) * 2013-09-05 2015-03-05 Garrick David Brown Method of roof repair

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1205382A (en) * 1998-03-18 1999-01-20 李正德 Water isolating and leakage-proof method for cement roof of building
US20030029132A1 (en) * 2002-10-07 2003-02-13 Ward Stanley P. Pressure injection of flexible polymer grout into slate roofs
US6918219B1 (en) * 2003-06-05 2005-07-19 Knute S. Olson Roof vent hole patch and patching method
CN1924534A (en) * 2005-08-29 2007-03-07 李海军 Method for detection and stopping leak for concrete buildings leakage source
WO2012007761A1 (en) * 2010-07-14 2012-01-19 Geoffrey Fleet Method of treating a roof
KR101065470B1 (en) * 2011-06-09 2011-09-19 메트로티엔씨 주식회사 Reinforcement method of construction for a roof or an outer wall
CN102998068A (en) * 2012-12-26 2013-03-27 李春福 Detection method of roof leakage
US20150059283A1 (en) * 2013-09-05 2015-03-05 Garrick David Brown Method of roof repair

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