CN105945903B - Space fast reserve is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, system and method - Google Patents
Space fast reserve is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, system and method Download PDFInfo
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- CN105945903B CN105945903B CN201610290348.8A CN201610290348A CN105945903B CN 105945903 B CN105945903 B CN 105945903B CN 201610290348 A CN201610290348 A CN 201610290348A CN 105945903 B CN105945903 B CN 105945903B
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- control
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- effective monitoring
- illegal activities
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
It deploys to ensure effective monitoring and control of illegal activities primary-secondary type robot, system and method the present invention relates to a kind of space fast reserve, primary-secondary type robot includes aircraft space mobile unit, the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of at least one task, is arranged in the motor-driven mission payload deployed to ensure effective monitoring and control of illegal activities on unit of task and detachably connectable unit corresponding with the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task；The system of deploying to ensure effective monitoring and control of illegal activities includes above-mentioned primary-secondary type robot and earth station.The present invention can realize the fast reserve deployment and recycling of mission payload in three dimensions, have the advantages that low in energy consumption, small, noise is low, at low cost and be easy to hidden, has a wide range of applications in fields such as public safety, fire control and disaster rescue, forest fire protection and modern agriculture.
Description
Technical field
It deploys to ensure effective monitoring and control of illegal activities robot technology the present invention relates to three dimensions fast reserve, especially a kind of space fast reserve is deployed to ensure effective monitoring and control of illegal activities son
Matrix robot, system and method.
Background technology
Traditional monitoring deployment scheme needs manually set up scaffold, and monitoring device is deployed to specified position by laying wires
It sets, this process needs considerably long deployment time, and often there are many limitations for the position disposed.In some provisional prisons
It controls in deployment scenario, the deployment time of permission is often shorter, it is therefore desirable to which new space maneuver is deployed to ensure effective monitoring and control of illegal activities system and method.
Patent 201420683770.6 discloses a kind of all-weather movable monitoring robot, by the way that monitoring system to be fixed on
It can be in free-moving robot, it may be convenient to by the movement of wireless control robot, to reach real time monitoring
Purpose.However the robot movement speed is slower, can not move to the three-dimensional space positions such as ceiling, does not have separation, space
Ability is deployed to ensure effective monitoring and control of illegal activities and recycles, and the working time is shorter.
Patent 201110322551.6 discloses a kind of airflight and comprehensive absorption microrobot, by adsorbing mould
Block makes robot, and body surface inhabites absorption in the air, which does not have separation, space is deployed to ensure effective monitoring and control of illegal activities and recycles ability, Er Qieti
Product is larger, is unfavorable for hidden.
Invention content
It is an object of the invention to solve the problems, such as the fast reserve of three dimensions monitoring device deployment and recycling, one kind is provided
Space fast reserve is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, system and method.
Realize that the technical solution of the object of the invention is：A kind of space fast reserve is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, including flight
The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of device space mobile unit, at least one task is arranged in the motor-driven mission payload deployed to ensure effective monitoring and control of illegal activities on unit of task
And detachably connectable unit corresponding with the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task；
The aircraft space mobile unit is for carrying motor-driven unit and the mission payload of deploying to ensure effective monitoring and control of illegal activities of task；
The detachably connectable unit for realizing aircraft space mobile unit and the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task connection
And separation；
The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of the task includes adsorption module, wireless data transfer module and control module, adsorption module
For deploying to ensure effective monitoring and control of illegal activities unit and mission payload is fixed on specified absorption position by task is motor-driven, wireless data transfer module will be for that will acquire
To data be sent to earth station, control module is for controlling adsorption module and wireless data transfer module work；
The mission payload is in real time sent collected data for gathered data and by the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task
To earth station.
A kind of space fast reserve is deployed to ensure effective monitoring and control of illegal activities system, including earth station, aircraft space mobile unit, at least one task
Motor-driven unit of deploying to ensure effective monitoring and control of illegal activities, be arranged the motor-driven mission payload deployed to ensure effective monitoring and control of illegal activities on unit of task and it is corresponding with the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task can
Detach connection unit；
The aircraft space mobile unit is used to provide three dimensions for the space fast reserve primary-secondary type robot that deploys to ensure effective monitoring and control of illegal activities
Locomitivity；
The detachably connectable unit for realizing task motor-driven deploy to ensure effective monitoring and control of illegal activities unit and mission payload deployment and recycling；
The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of the task includes adsorption module, wireless data transfer module and control module, adsorption module
For deploying to ensure effective monitoring and control of illegal activities unit and mission payload is fixed on specified absorption position by task is motor-driven, wireless data transfer module will be for that will acquire
To data be sent to earth station, control module is for controlling adsorption module and wireless data transfer module work；
The mission payload is for acquiring testing data and by the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task that collected data are real-time
It is sent to earth station；
Earth station is used for the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of remote control tasks, receives display and the collected number of store tasks load
According to.
A kind of space fast reserve supervision method, including deployment process and removal process, deployment process include：
Aircraft space mobile unit carries that task is motor-driven to deploy to ensure effective monitoring and control of illegal activities unit and mission payload flies to specified location area；
The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task is adsorbed on designated position surface；
After the completion of absorption, detachably connectable unit separation, aircraft space mobile unit flies away from specified location area, task
Motor-driven unit of deploying to ensure effective monitoring and control of illegal activities carries mission payload and works in designated position；
Removal process includes：
Aircraft space mobile unit is flown to specified location area；
Aircraft space mobile unit is docked by detachably connectable unit with the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task；
The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task desorbs, and aircraft space mobile unit takes motor-driven unit and the task load of deploying to ensure effective monitoring and control of illegal activities of task
Lotus returns.
Compared with prior art, the present invention its remarkable advantage is：(1) space fast reserve of the invention is deployed to ensure effective monitoring and control of illegal activities primary-secondary type machine
Device people can realize the deployment and recycling of mission payload under plurality of application scenes, have rapidity and mobility, be suitble to burst
The reply of event, the restrictive condition that the placement location of mission payload is subject to is less, can be in such as ceiling, eminence wall, electricity
The places such as line bar execute task；(2) present invention can be realized arbitrarily using an aircraft aerial mobile unit as female unit
The deployment and recycling of quantity task motor-driven deploy to ensure effective monitoring and control of illegal activities unit and mission payload, save cost；(3) present invention is connected by separable
Order member deploys to ensure effective monitoring and control of illegal activities unit and mission payload is arranged in monitoring point by task is motor-driven, reduces volume, weight and power consumption, improves hidden
Secret property, increases the working time of robot.
Description of the drawings
Fig. 1 is that space fast reserve of the present invention is deployed to ensure effective monitoring and control of illegal activities the structural schematic diagram of system.
Fig. 2 is the structural schematic diagram of the detachably connectable unit of the present invention.
Fig. 3 is the first link block structural schematic diagram in Fig. 2.
Fig. 4 is the second link block structural schematic diagram in Fig. 2.
Fig. 5 is the structural schematic diagram of task of the present invention motor-driven deploy to ensure effective monitoring and control of illegal activities unit and mission payload.
Fig. 6 (a) is that aircraft aerial mobile unit carries that task is motor-driven to deploy to ensure effective monitoring and control of illegal activities unit and mission payload in three dimensions
Schematic diagram is moved, Fig. 6 (b) is the adsorption module operating diagram of the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task, and Fig. 6 (c) is detachably connectable list
Member separation schematic diagram.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
In conjunction with Fig. 1, a kind of space fast reserve of the invention is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, including aircraft space movement is single
Member 1, the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of at least one task, be arranged the motor-driven mission payload 4 deployed to ensure effective monitoring and control of illegal activities on unit 3 of task and with appoint
It is engaged in the corresponding detachably connectable unit of motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities 2；
The aircraft space mobile unit 1 is for carrying motor-driven unit 3 and the mission payload 4 of deploying to ensure effective monitoring and control of illegal activities of task；
The detachably connectable unit 2 for realizing aircraft space mobile unit 1 and the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task company
It connects and detaches；
The motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of the task includes adsorption module, wireless data transfer module and control module, adsorption module
For deploying to ensure effective monitoring and control of illegal activities unit 3 and mission payload 4 is fixed on specified absorption position by task is motor-driven, wireless data transfer module will be for that will adopt
The data collected are sent to earth station, and control module is for controlling adsorption module and wireless data transfer module work；
The mission payload 4 is in real time sent out collected data for gathered data and by the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task
Give earth station.
In conjunction with Fig. 2, the detachably connectable unit 2 include the first link block 7 and the second link block 6, described first
Link block 7 is arranged in aircraft space mobile unit 1, and the setting of the second link block 6 is deployed to ensure effective monitoring and control of illegal activities on unit 3 task is motor-driven；
The detachably connectable unit 2 tool is there are two working condition, and the first link block 7 and second connects when the first working condition
Module 6 connects, the first link block 7 and the separation of the second link block 6 when the second working condition.
The detachably connectable unit packet further includes that separation control 8, executing agency 16, mark point modules 14 and vision are caught
Module 15 is caught, the mark point modules 14 and vision capture module 15 are separately positioned on the second link block 6 and first connection mould
On block 7, vision capture module 15 obtains appearance of first link block 7 relative to the second link block 6 by mark point modules 14
State, executing agency's setting 16 is between the first link block 7 and aircraft space mobile unit 1, according to separation control
8 instruction controls the first link block 7 and connects and detach with the second link block 6.
In conjunction with Fig. 3, the first link block 7 includes conical sleeve 17, handgrip 18 and contact-making switch 20, the handgrip 18
Setting is provided with handgrip rubber layer 19 in 17 outside of conical sleeve, 18 finger tip of handgrip, and the contact-making switch 20 is arranged in circular cone
Inside shape sleeve 17, whether the second link block is entrapped in sleeve completely for identification；
In conjunction with Fig. 4, second link block 6 includes cone and the equal diameter cylinder being connect with cone bottom
Body, the cone periphery and the inner circumferential of conical sleeve 17 coordinate, and the cylinder periphery is provided with annular groove 21, described
Annular groove 21 coordinates with handgrip rubber layer 19, for fastening the first link block 7 and the second link block 6.
The adsorption module 10 of the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of the task is using negative-pressure adsorption, Electrostatic Absorption, bionical absorption or machinery
Grasp mode.
Further, the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of the task further includes motion module, and the motion module is adsorbed for adjusting
The posture of module and mission payload；Motion module uses an axis holder, two axis holders or multiaxis cloud in present embodiment
Platform；
Deploy to ensure effective monitoring and control of illegal activities system the present invention also provides a kind of space fast reserve, including earth station 5, aircraft space mobile unit 1,
The motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of at least one task is arranged in the motor-driven mission payload 4 deployed to ensure effective monitoring and control of illegal activities on unit 3 of task and and task engine
The corresponding detachably connectable unit of dynamic unit 3 of deploying to ensure effective monitoring and control of illegal activities 2；
The aircraft space mobile unit 1 is for carrying motor-driven unit 3 and the mission payload 4 of deploying to ensure effective monitoring and control of illegal activities of task；
The detachably connectable unit 2 for realizing aircraft space mobile unit 1 and the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task company
It connects and detaches；
The motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of the task includes adsorption module, wireless data transfer module and control module, adsorption module
For deploying to ensure effective monitoring and control of illegal activities unit 3 and mission payload 4 is fixed on specified absorption position by task is motor-driven, wireless data transfer module will be for that will adopt
The data collected are sent to earth station, and control module is for controlling adsorption module and wireless data transfer module work；
The mission payload 4 is in real time sent out collected data for gathered data and by the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task
Give earth station 5；
Earth station 5 is used for the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of remote control tasks, receives display and the collected number of store tasks load
According to.
The detachably connectable unit 2 includes the first link block 7 and the second link block 6, first link block
7 are arranged in aircraft space mobile unit 1, and the setting of the second link block 6 is deployed to ensure effective monitoring and control of illegal activities on unit 3 task is motor-driven；It is described to divide
From the tool of connection unit 2 there are two working condition, the first link block 7 and the connection of the second link block 6 when the first working condition,
First link block 7 and the separation of the second link block 6 when its second working condition.The detachably connectable unit packet further includes point
From controller 8, executing agency 16, mark point modules 14 and vision capture module 15, the mark point modules 14 and vision capture
Module 15 is separately positioned in the second link block 6 and the first link block 7, and vision capture module 15 passes through mark point modules 14
Posture of first link block 7 relative to the second link block 6 is obtained, the executing agency 16 is arranged in the first link block 7
Between aircraft space mobile unit 1, the first link block 7 is controlled according to the instruction of separation control 8 and connect mould with second
Block 6 connects and separation.
First link block 7 includes conical sleeve 17, handgrip 18 and contact-making switch 20, and the handgrip 18 is arranged in circular cone
17 outside of shape sleeve, 18 finger tip of handgrip are provided with handgrip rubber layer 19, and the contact-making switch 20 is arranged in conical sleeve 17
Portion, for identification the second link block whether be entrapped in sleeve completely；
Second link block 6 includes cone and the equal diameter cylinder being connect with cone bottom, the circle
Cone periphery and the inner circumferential of conical sleeve 17 coordinate, and the cylinder periphery is provided with annular groove 21, the annular groove
21 coordinate with handgrip rubber layer 19, for fastening the first link block 7 and the second link block 6.
The adsorption module 10 of the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of the task is using negative-pressure adsorption, Electrostatic Absorption, bionical absorption or machinery
Grasp mode.
Further, the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of the task further includes motion module, and the motion module is adsorbed for adjusting
The posture of module and mission payload；
As shown in Fig. 6 (a), Fig. 6 (b), Fig. 6 (c), the present invention also provides a kind of space fast reserve supervision methods, including
Deployment process and removal process, deployment process include：
1 carrying task of aircraft space mobile unit is motor-driven to deploy to ensure effective monitoring and control of illegal activities unit 3 and the flight of mission payload 4 to designated position area
Domain；
The motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task is adsorbed on designated position surface；
After the completion of absorption, detachably connectable unit 2 detaches, and aircraft space mobile unit 1 flies away from specified location area, appoints
The motor-driven carrying mission payload 4 of unit 3 of deploying to ensure effective monitoring and control of illegal activities be engaged in designated position work；
Removal process includes：
Aircraft space mobile unit 1 is flown to specified location area；
Aircraft space mobile unit 1 is docked by detachably connectable unit 2 with the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task；
The motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task desorbs, aircraft space mobile unit 1 take task it is motor-driven deploy to ensure effective monitoring and control of illegal activities unit 3 and appoint
Load 4 of being engaged in returns.
The present invention is further explained in the light of specific embodiments.
Embodiment
As shown in Figure 1, the space fast reserve system of deploying to ensure effective monitoring and control of illegal activities of the present embodiment includes aircraft aerial mobile unit 1, can divide
From connection unit 2, the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task, mission payload 4 and earth station 5.
Aircraft aerial mobile unit 1 provides the fortune of three dimensions for a whole set of space fast reserve primary-secondary type robot that deploys to ensure effective monitoring and control of illegal activities
Kinetic force can use the aircraft such as more rotors and helicopter, and the present embodiment utilizes branch by taking quadrotor as an example on body
Bar is rigidly connected detachably connectable unit 2.
Detachably connectable unit 2, as shown in Fig. 2, be responsible for realization task motor-driven deploy to ensure effective monitoring and control of illegal activities unit and mission payload separation and
The process of recycling, the present embodiment realize that locking and release, detachably connectable unit 2 include the first company for buckling realization method
Connection module 7, the second link block 6, separation control 8, executing agency 16, Mark point modules 14 and vision capture module 15.
First link block 7, as shown in figure 3, including conical sleeve 17, handgrip 18 and contact-making switch 20, the handgrip
18 settings are provided with handgrip rubber layer 19 in 17 outside of conical sleeve, 18 finger tip of handgrip, and the contact-making switch 20 is arranged in circle
Inside conical sleeve 17, whether the second link block is entrapped in sleeve completely for identification.
Second link block 6, as shown in figure 4, including cone and the equal diameter cylinder being connect with cone bottom,
The cone periphery and the inner circumferential of conical sleeve 17 coordinate, and the cylinder periphery is provided with annular groove 21, the ring
Connected in star 21 coordinates with handgrip rubber layer 19, ensure that the first link block 7 and the second link block 6 will not relative rotation；Even
When connecing, cone top is stretched into conical sleeve 17, after contact-making switch 20 senses cone top, separation control control
Handgrip 18 acts, and realizes the first link block 7 and the connection of the second link block 6.
Four round LED lamps are used on Mark point modules 14 as mark points, are distributed in 0 degree of annulus, 90 degree, 180
Degree, is fixed on by a strut in the second link block 6 by 270 degree, and one of LED lamp is red, and the other three is green
Color, brightness ensure that vision capture module 15 can also observe mark points in poor lighting conditions；Executing agency 16
It is connect with handgrip 18, control handgrip is closed or opens.
As shown in figure 5, the motor-driven unit 3 of deploying to ensure effective monitoring and control of illegal activities of task includes the motor-driven cell body 9 of deploying to ensure effective monitoring and control of illegal activities of task, adsorption module 10, power supply
13, control module, motion module 11 and wireless data transfer module 12；
Adsorption module 10 is responsible for deploying to ensure effective monitoring and control of illegal activities unit 3 and mission payload 4 is fixed on designated position by task is motor-driven；This example uses
Negative-pressure adsorption mode, including sucker 22, vacuum pump 26 and adsorption module holder 23, the vacuum pump 26 coordinate with sucker 22
Realize that absorption, the adsorption module holder 23 are arranged below sucker 22, for fixed absorption angle.
Control module uses embedded controller in the present embodiment, is arranged inside the motor-driven cell body 9 of deploying to ensure effective monitoring and control of illegal activities of task.
Power supply 13 deploys to ensure effective monitoring and control of illegal activities unit 3 and mission payload 4 provides energy for task is motor-driven.
Motion module 11 uses two axis holders, including the first holder steering engine 24 and the second holder steering engine 25, is responsible for adsorbing
Before module is adsorbed, the posture of adsorption module is adjusted, task surface can be contacted with suitable posture；And it is carried in task
During lotus execution task, mission payload posture is adjusted.
Wireless data transfer module 12 is responsible for forming wireless network between the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of multiple tasks, will be collected
Data send back earth station 5.
Wireless data transfer module 12 and power supply 13 are fixed on that task is motor-driven to deploy to ensure effective monitoring and control of illegal activities in cell body 9, and task is motor-driven to deploy to ensure effective monitoring and control of illegal activities
Cell body 9 is connect by motion module 11 with adsorption module 10.
In mission payload 4, including visual sensor, sound transducer, temperature sensor and humidity sensor it is a kind of or
A variety of, mission payload 4 is fixed on that task is motor-driven to deploy to ensure effective monitoring and control of illegal activities in cell body 9 by strut.
Earth station, can remote control motion module adjust posture, receive show the collected data of mission payload, simultaneously
It is stored.
The space fast reserve supervision method of the present invention includes deployment process and removal process, and deployment process includes：1) fly
Row device aerial mobile 1 carrying task of unit is motor-driven to deploy to ensure effective monitoring and control of illegal activities unit 3 and mission payload 4 is flown under the control of earth station 5 to specified
Near position；2) the holder steering engine of motion module is adjusted by earth station so that adsorption module 10 is adsorbed on suitable posture
Designated position surface, adsorption module 10 are started to work；3) after the baroceptor of adsorption module 10 reaches specified threshold, ground
Face station 5 sends out separation order, and the separation control 8 of detachably connectable unit controls executing agency 16 and starts to work at this time, drives
Handgrip 18 opens, detachably connectable unit separation；4) earth station 5 controls aircraft aerial mobile unit 1 and flies away from；5) earth station 5
Two axis holders are controlled, task load, which is adjusted to suitable posture, starts to work, and the data of acquisition are passed through wireless data transmission mould
Block 12 is back to earth station 5.
Space fast reserve deploy to ensure effective monitoring and control of illegal activities primary-secondary type robot removal process be above-mentioned deployment process inverse process, it is specific to wrap
It includes：1) aircraft aerial mobile unit 1 flies under the control of earth station 5 near designated position；2) vision capture module
Mark points position on 15 visual perception mark point modules 14, is calculated the first link block 7 relative to the second link block 6
Posture, two axis holders of control adjust posture, make the first link block 7 with suitable posture towards the second link block 6；Flight
Device aerial mobile unit 1 is gradually close, and the cone of the second link block 6 is completely embedded into the conical sleeve of the first link block 7
In cylinder 17；After contact-making switch 20 detects that cone is completely superposed with conical sleeve 17, the separation of detachably connectable unit
Controller 8 drives executing agency's work, handgrip 18 to contact and be bonded with groove 21, and detachably connectable unit locking, is completed at this time
Docking mission；3) adsorption module 10 is stopped；4) aircraft aerial mobile unit 1 carries motor-driven 3 He of unit of deploying to ensure effective monitoring and control of illegal activities of task
Mission payload 4 is returned along planning path.
The space fast reserve of the present invention primary-secondary type robot that deploys to ensure effective monitoring and control of illegal activities be a kind of with aircraft space mobile unit is female carry
Body and the motor-driven device that unit is subelement of deploying to ensure effective monitoring and control of illegal activities of task, can utilize aircraft space mobile unit rapid motor-driven to three-dimensional space
Between in designated position and pass through the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities of task and carry out mission payload deployment and recycling；Task engine is utilized after separation
The dynamic adsorption module deployed to ensure effective monitoring and control of illegal activities on unit is inhabited in designated position, realizes what three dimensions fast reserve was deployed to ensure effective monitoring and control of illegal activities and detached and recycled
Ability, and it is low in energy consumption, small, it is easy to hidden and works long hours, compensates for conventional apparatus deployment and recovery time is long, deployment
The limited disadvantage in position.
Claims (4)
- The primary-secondary type robot 1. a kind of space fast reserve is deployed to ensure effective monitoring and control of illegal activities, which is characterized in that including aircraft space mobile unit (1), The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of at least one task, be arranged mission payload (4) on the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task and with The corresponding detachably connectable unit (2) of the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task；The aircraft space mobile unit (1) is for carrying the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task and mission payload (4)；The detachably connectable unit (2) is for realizing aircraft space mobile unit (1) and the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task Connection and separation；The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of the task includes adsorption module, wireless data transfer module, control module and motion module, Adsorption module is used to the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task and mission payload (4) being fixed on specified absorption position, wireless data transmission Module is used to collected data being sent to earth station, and control module is for controlling adsorption module and wireless data transfer module Work；Motion module is used to adjust the posture of adsorption module and mission payload；The mission payload (4) is in real time sent out collected data for gathered data and by the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task Give earth station；The detachably connectable unit (2) includes the first link block (7) and the second link block (6), the first connection mould Block (7) is arranged in aircraft space mobile unit (1), and the second link block (6) is arranged in the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task On；The detachably connectable unit (2) tool is there are two working condition, the first link block (7) and the when the first working condition Two link blocks (6) connect, and the first link block (7) and the second link block (6) detach when the second working condition；The detachably connectable unit further includes that separation control (8), executing agency (16), mark point modules (14) and vision are caught Module (15) is caught, the mark point modules (14) and vision capture module (15) are separately positioned on the second link block (6) and In one link block (7), vision capture module (15) obtains the first link block (7) relative to the by mark point modules (14) The posture of two link blocks (6), the executing agency (16) are arranged in the first link block (7) and aircraft space mobile unit (1) between, the first link block (7) is controlled according to the instruction of separation control (8) and connect and divides with the second link block (6) From；First link block (7) includes conical sleeve (17), handgrip (18) and contact-making switch (20), handgrip (18) setting On the outside of conical sleeve (17), handgrip (18) finger tip is provided with handgrip rubber layer (19), and contact-making switch (20) setting exists Conical sleeve (17) is internal, and whether the second link block is entrapped in sleeve completely for identification；Second link block (6) includes cone and the equal diameter cylinder being connect with cone bottom, the circular cone External week and the inner circumferential of conical sleeve (17) coordinate, and the cylinder periphery is provided with annular groove (21), and the annular is recessed Slot (21) coordinates with handgrip rubber layer (19), for fastening the first link block (7) and the second link block (6).
- The primary-secondary type robot 2. space fast reserve according to claim 1 is deployed to ensure effective monitoring and control of illegal activities, which is characterized in that the task is motor-driven Deploy to ensure effective monitoring and control of illegal activities unit adsorption module using negative-pressure adsorption, Electrostatic Absorption, bionical absorption or mechanical grasp mode.
- 3. a kind of deployed to ensure effective monitoring and control of illegal activities based on the deploy to ensure effective monitoring and control of illegal activities space fast reserve of primary-secondary type robot of space fast reserve described in claims 1 or 2 System, which is characterized in that system further includes earth station (5), and the earth station (5) is used for the motor-driven list of deploying to ensure effective monitoring and control of illegal activities of remote control tasks Member receives display and the collected data of store tasks load.
- 4. a kind of deployed to ensure effective monitoring and control of illegal activities based on the deploy to ensure effective monitoring and control of illegal activities space fast reserve of primary-secondary type robot of space fast reserve described in claims 1 or 2 Method, which is characterized in that include including deployment process and removal process, deployment process：The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of aircraft space mobile unit (1) carrying task and mission payload (4) fly to designated position area Domain；The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task is adsorbed on designated position surface；After the completion of absorption, detachably connectable unit (2) separation, aircraft space mobile unit (1) flies away from specified location area, appoints Motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) carrying mission payload (4) be engaged in designated position work；Removal process includes：Aircraft space mobile unit (1) is flown to specified location area；Aircraft space mobile unit (1) is docked by detachably connectable unit (2) with the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task；The motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task desorbs, aircraft space mobile unit (1) take the motor-driven unit of deploying to ensure effective monitoring and control of illegal activities (3) of task and Mission payload (4) returns.
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| CN108502154B (en) * | 2018-03-21 | 2020-09-04 | 北京航空航天大学 | Docking mechanism for separating multi-rotor robot from multi-legged walking robot in fit |
| CN109173125A (en) * | 2018-09-29 | 2019-01-11 | 北京力升高科科技有限公司 | A kind of collaboration working method and system of fire-fighting robot |
| CN110435370A (en) * | 2019-07-30 | 2019-11-12 | 南京理工大学 | A kind of three for complex environment are dwelt detector |
| CN111268127A (en) * | 2020-02-26 | 2020-06-12 | 西安交通大学 | Flight reconnaissance robot and multi-spherical mobile reconnaissance robot composite reconnaissance system |
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