CN106314768B - Novel clean unmanned plane - Google Patents

Novel clean unmanned plane Download PDF

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Publication number
CN106314768B
CN106314768B CN201610863938.5A CN201610863938A CN106314768B CN 106314768 B CN106314768 B CN 106314768B CN 201610863938 A CN201610863938 A CN 201610863938A CN 106314768 B CN106314768 B CN 106314768B
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CN
China
Prior art keywords
unmanned plane
unit
signal
rotor
holder
Prior art date
Application number
CN201610863938.5A
Other languages
Chinese (zh)
Other versions
CN106314768A (en
Inventor
孙晓伟
王伟
杨昀
管国新
潘刚
燕伟
Original Assignee
安徽翼讯飞行安全技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 安徽翼讯飞行安全技术有限公司 filed Critical 安徽翼讯飞行安全技术有限公司
Priority to CN201610863938.5A priority Critical patent/CN106314768B/en
Publication of CN106314768A publication Critical patent/CN106314768A/en
Application granted granted Critical
Publication of CN106314768B publication Critical patent/CN106314768B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04Cleaning involving contact with liquid
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/02Arrangements or adaptations of signal or lighting devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64FGROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00Ground or aircraft-carrier-deck installations
    • B64F1/02Arresting gear; Liquid barriers
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/14Unmanned aerial vehicles; Equipment therefor characterised by flight control
    • B64C2201/146Remote controls
    • B64C2201/148Remote controls using tethers for connecting to ground station

Abstract

Present invention discloses a kind of Novel clean unmanned plane, including unmanned plane unit and surface units, signal wire, power supply line constitute work cable together with water pipe bondage, are connected between the unmanned plane unit and surface units by work cable;The advantage of the invention is that easy to use, can safe and efficient progress exterior wall cleaning, and only need one man operation, reduce the labor intensity of cleaning outer wall work.

Description

Novel clean unmanned plane

Technical field

The present invention relates to unmanned plane field, more particularly, to clean unmanned plane.

Background technique

Currently, require " spider-man " climbing greatly when high-lager building carries out exterior wall cleaning and manually cleaned on exterior wall, this There is only risks for item work, and staff is also required to ceaselessly go up and down supply replacement cleaning equipment, bothersome laborious.

Summary of the invention

The technical problem to be solved by the present invention is to realize it is a kind of utilize unmanned plane carry out the clean equipment of exterior wall.

To achieve the goals above, the technical solution adopted by the present invention are as follows: Novel clean unmanned plane, including unmanned plane unit And surface units, signal wire, power supply line constitute work cable, the unmanned plane unit and surface units together with water pipe bondage Between pass through work cable connect;

Unmanned plane unit: it is fixed with holder below rotor wing unmanned aerial vehicle, hair brush motor, the hairbrush are fixed on the holder The output shaft of motor is horizontally disposed towards the front of holder, is fixed with brush plate on the output shaft, the brush plate includes outer Surface is equipped with the external disk of hairbrush and edge is inner disc that is round and being slidably connected with external disk, sets between the inner disc and external disk There is cavity, the external disk is affixed with output shaft and is evenly distributed with through-hole, and the inner disc and hair brush motor are affixed, the water pipe one End is fixed in external disk and is connected to cavity;

Surface units: including liquid storage container, power supply, controller, spacing radar and reel, the power supply connects power supply line, For the reel for folding and unfolding work cable and by coiling motor driven, the water pipe other end connects water pump, and the water pump extracts Liquid in liquid storage container, the spacing radar are fixed on universal base for detecting the distance between unmanned plane unit, institute Spacing radar output distance signal is stated to controller, the controller connection signal line simultaneously outputs control signals to coiling motor, Remote controler for remote controlled rotary-wing unmanned plane, hair brush motor, water pump connects controller.

The hair brush motor is fixed on electric machine support, and the electric machine support is fixed on the sliding rail of holder, the motor Support spring is equipped between bracket and holder, the support spring is axial identical as the glide direction of sliding rail, the sliding rail arrangement Direction is identical as hair brush motor output axis direction.

The holder rear is equipped with propulsion rotor fixed vertically, and the propulsions rotor is by rotor wing unmanned aerial vehicle to holder front It promotes, pressure sensor, the pressure sensor output inductive signal to letter is equipped between the support spring and electric machine support Number line.

The holder surrounding is respectively and fixedly provided with barrier radar, and the barrier radar output distance signal is until signal wire.

The surface units are fixed on trolley, and the trolley has halting mechanism, and the trolley is equipped with for parking Unmanned plane unit parks platform, the fixing belt or stationary fixture parked platform and be equipped with fixed unmanned plane unit.

The reel is equipped with the length measurement unit that unreels that length is released for measuring work cable, described to unreel length Measuring unit exports length signals to controller, and the water storage container is interior to be equipped with water level sensing unit, the water level sensing unit Water level signal is exported to controller, the controller is furnished with alarm unit and display.

Institute's holder is equipped with the sensing unit for receiving spacing radar signal, the sensing unit connection signal line.

Control method based on the Novel clean unmanned plane:

After the starting of Novel clean unmanned plane, by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working;

When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just Turn, overturning or stop, the unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, The safe distance increases at a distance from surface units with unmanned plane unit and is increased;

When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure The numerical value of sensor maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, pressure The smaller propulsion rotor revolving speed of the numerical value of force snesor is faster;When promoting in rotor start-up course, if pressure sensor no pressure is believed Number, then close propulsion rotor.

Following arbitrary signal is obtained when the work of Novel clean unmanned plane, then is alarmed and gives corresponding prompt;

1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range;

2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold;

3) when spacing radar works, the radar signal of spacing radar is not detected in sensing unit;

4) when barrier detections of radar to obstacle distance is less than preset threshold;

5) when unreel length measurement unit detect unreel length greater than preset threshold when;

6) when electric quantity of power supply is lower than default safety value.

The advantage of the invention is that easy to use, can safe and efficient progress exterior wall cleaning, and only need one man operation , reduce the labor intensity of cleaning outer wall work.

Detailed description of the invention

The content of width attached drawing every in description of the invention expression is briefly described below:

Fig. 1 is Novel clean unmanned plane structural block diagram.

Specific embodiment

Novel clean unmanned plane of the present invention includes unmanned plane unit and surface units, between unmanned plane unit and surface units It is connected by work cable, work cable is made of together with water pipe bondage signal wire, power supply line, by Novel clean unmanned plane It is divided into above-mentioned two part, the flexibility of unmanned plane unit and the cruising ability of aerial work can greatly be improved.

Unmanned plane unit main body aviation mechanism is rotor wing unmanned aerial vehicle, and holder, holder point are fixed with below rotor wing unmanned aerial vehicle Front and back, holder front are fixed with hair brush motor, and the output shaft of hair brush motor is horizontally disposed towards the front of holder, output Brush plate is fixed on axis, brush plate is used for cleaning outer wall.

Brush plate includes external disk and inner disc, and outer surface is equipped with hairbrush, and inner disc edge is round and is slidably connected with external disk, outside It is equipped with cavity between disk and inner disc and can relatively rotate, external disk is affixed with output shaft and is evenly distributed with through-hole, inner disc and hair Brush motor is affixed, i.e., external disk rotation inner disc is static, and when hair brush motor work, output shaft drives external disk to rotate cleaning outer wall, interior Disk is kept fixed stationary state, and water pipe one end is fixed in external disk and is connected to cavity, then water energy enough passes through through-hole and uniformly sprays, It is rotated with external disk and generates rotation and uniform water flow, secondary.

Reliability and safety when to ensure to whitewash a wall, hair brush motor are fixed on electric machine support, and electric machine support is fixed on On the sliding rail of holder, support spring is equipped between electric machine support and holder, the existing buffer function of spring avoids unmanned plane and exterior wall Shock is generated, can also cooperate and promote rotor that brush plate is made to squeeze exterior wall, improves cleaning effect, support spring is axial with sliding rail Glide direction is identical, and sliding rail arranged direction is identical as hair brush motor output axis direction.Holder rear is equipped with propulsion fixed vertically Rotor promotes rotor that rotor wing unmanned aerial vehicle to propulsion in front of holder, is equipped with pressure sensor between support spring and electric machine support, Pressure sensor exports inductive signal to signal wire.It is capable of detecting when that brush plate squeezes the dynamics of outside by pressure sensor, To which closed-loop control promotes rotor.

Holder surrounding is respectively and fixedly provided with barrier radar, and barrier radar exports distance signal until signal wire, passes through obstacle Object radar be understood unmanned plane unit at a distance from peripheral obstacle (also including exterior wall) by can be allowed staff in real time, to avoid view Feel blind area and the collimation error that hypertelorism generates, improve the reliability of operation, barrier radar can lead to display and show phase Answer data.

Surface units include that liquid storage container, power supply, controller, spacing radar and reel, surface units are fixed on trolley, Facilitate transhipment, trolley has halting mechanism, and when guaranteeing device work, trolley will not be moved arbitrarily, improves operational safety, trolley It is equipped with and parks platform for park unmanned plane unit, park fixing belt or fixation that platform is equipped with fixed unmanned plane unit Fixture can guarantee will not falling for unmanned plane unit when trolley is mobile.

Power supply is the power supply of entire unmanned plane unit by power supply line, is also surface units power supply, is effectively equipped with electricity for power supply Pond administrative unit, and battery data is delivered to display and is shown, allow staff to understand power supply status in real time.

For reel for folding and unfolding work cable and by coiling motor driven, the water pipe other end connects water pump, and water pump extracts liquid storage Liquid in container, water storage container is interior to be equipped with water level sensing unit, and water level sensing unit exports water level signal to controller, water level Data can be shown over the display, and in the too low alarm of water level, staff be facilitated to feed in time.

For the unwrapping wire length of automation control work cable, spacing radar is fixed on universal base for detection and nobody The distance between machine unit, spacing radar export distance signal to controller, and controller controls coiling electricity by the distance signal Machine work, to control the length of unwrapping wire, holder is equipped with the sensing unit for receiving spacing radar signal, sensing unit connection letter Number line, and inductive signal is delivered to controller, when unmanned plane unit flies out the range of spacing radar, i.e., sensing unit is without letter Number, then it can then pass through the direction for adjusting universal base with warning note, staff, lasting monitoring is between the two away to rationally control The releasing length of work cable processed.

Reel, which is equipped with, releases length for measuring work cable and unreels length measurement unit, unreels length measurement unit Length signals are exported to controller, controller is furnished with alarm unit and display, can show different parameters, data, and benefit Give the corresponding warning note of staff with alarm unit, for remote controlled rotary-wing unmanned plane, hair brush motor, water pump remote controler Controller is connected, controller connection signal line issues control signal to unmanned plane unit.

Since reel work is rotation status, the reel end of work cable has a rotary joint and surface units Each equipment connection, rotary joint includes the rotary joint of water pipe rotary joint and power supply line and signal wire, due to line, There are three pipe tools, can be affixed with reel by section components, keeps synchronous rotary, can also be gone out respectively using reel both ends The mode of line, pipe solves the problems, such as wiring, adapter tube.

Control method based on above-mentioned Novel clean unmanned plane:

After the starting of Novel clean unmanned plane, by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working, remote control letter Number include rotor wing unmanned aerial vehicle flight, the opening and closing of hair brush motor and water pump;

When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just Turn, overturning or stop, unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, it is described Safe distance increases at a distance from surface units with unmanned plane unit and is increased, so that work cable be made to remain at a peace Complete unreels in length;

When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure The numerical value of sensor maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, pressure The smaller propulsion rotor revolving speed of the numerical value of force snesor is faster, automatic electrodeless adjustment;When promoting in rotor start-up course, if pressure passes Sensor no pressure signal then closes propulsion rotor.Rotor is promoted to be provided with revolving speed bound, rotational speed regulation range when work Within this bound, control promotes rotor opening and closing and revolving speed through the above way, so that the easy to operate of cleaning can It leans on, the degree of automation is higher, but also cleaning is more safe.

Following arbitrary signal is obtained when the work of Novel clean unmanned plane, then is alarmed and gives corresponding prompt;

1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range;

2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold;

3) when spacing radar works, the radar signal of spacing radar is not detected in sensing unit;

4) when barrier detections of radar to obstacle distance is less than preset threshold;

5) when unreel length measurement unit detect unreel length greater than preset threshold when;

6) when electric quantity of power supply is lower than default safety value.

By above-mentioned early warning, so that device work is more safe and reliable.

Claims (7)

1. cleaning unmanned plane, it is characterised in that: including unmanned plane unit and surface units, signal wire, power supply line and water pipe bondage Work cable is constituted together, is connected between the unmanned plane unit and surface units by work cable;
Unmanned plane unit: it is fixed with holder below rotor wing unmanned aerial vehicle, hair brush motor, the hair brush motor are fixed on the holder Output shaft it is horizontally disposed towards the front of holder, be fixed with brush plate on the output shaft, the brush plate includes outer surface External disk and edge equipped with hairbrush are inner disc that is round and being slidably connected with external disk, and sky is equipped between the inner disc and external disk Chamber, the external disk is affixed with output shaft and is evenly distributed with through-hole, and the inner disc and hair brush motor are affixed, and described water pipe one end is solid It is scheduled in external disk and is connected to cavity;
Surface units: including liquid storage container, power supply, controller, spacing radar and reel, the power supply connects power supply line, described For reel for folding and unfolding work cable and by coiling motor driven, the water pipe other end connects water pump, and the water pump extracts liquid storage Liquid in container, the spacing radar are fixed on universal base for detecting the distance between unmanned plane unit, between described Away from radar output distance signal to controller, the controller connection signal line simultaneously outputs control signals to coiling motor, is used for Remote controlled rotary-wing unmanned plane, hair brush motor, water pump remote controler connect controller;
The control method of the cleaning unmanned plane:
After cleaning unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working;
When rotor wing unmanned aerial vehicle takes off, controller rotates forward according to unmanned plane unit and the distance controlling coiling motor of surface units, is anti- Turn or stop, the coiling motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, the peace Full distance increases at a distance from surface units with unmanned plane unit and is increased;
The holder rear is equipped with propulsion rotor fixed vertically, and the propulsion rotor pushes away rotor wing unmanned aerial vehicle to holder front Into equipped with pressure sensor between support spring and electric machine support, the pressure sensor exports inductive signal to signal wire;
When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure sensing The numerical value of device maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, and pressure passes The smaller propulsion rotor revolving speed of the numerical value of sensor is faster;When promoting in rotor start-up course, if pressure sensor no pressure signal, It closes and promotes rotor.
2. cleaning unmanned plane according to claim 1, it is characterised in that: the hair brush motor is fixed on electric machine support, The electric machine support is fixed on the sliding rail of holder, and support spring, the support bullet are equipped between the electric machine support and holder Spring is axial identical as the glide direction of sliding rail, and the sliding rail arranged direction is identical as hair brush motor output axis direction.
3. cleaning unmanned plane according to claim 1, it is characterised in that: the holder surrounding is respectively and fixedly provided with barrier thunder It reaches, the barrier radar output distance signal is until signal wire.
4. cleaning unmanned plane according to claim 1,2 or 3, it is characterised in that: the surface units are fixed on trolley, The trolley has halting mechanism, and the trolley is equipped with the platform of parking for parking unmanned plane unit, described to park platform It is equipped with the fixing belt or stationary fixture of fixed unmanned plane unit.
5. cleaning unmanned plane according to claim 4, it is characterised in that: the reel is equipped with for measuring work cable The length measurement unit that unreels of length is released, the length measurement unit that unreels exports length signals to controller, the liquid storage Water level sensing unit is equipped in container, the water level sensing unit exports water level signal to controller, and the controller is equipped with report Alert unit and display.
6. cleaning unmanned plane according to claim 1 or 5, it is characterised in that: the holder, which is equipped with, receives spacing radar The sensing unit of signal, the sensing unit connection signal line.
7. cleaning unmanned plane according to claim 1, it is characterised in that: obtained when cleaning unmanned plane work following any Signal is then alarmed and gives corresponding prompt;
1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range;
2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold;
3) when spacing radar works, the radar signal of spacing radar is not detected in sensing unit;
4) when barrier detections of radar to obstacle distance is less than preset threshold;
5) when unreel length measurement unit detect unreel length greater than preset threshold when;
6) when electric quantity of power supply is lower than default safety value.
CN201610863938.5A 2016-09-29 2016-09-29 Novel clean unmanned plane CN106314768B (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610863938.5A CN106314768B (en) 2016-09-29 2016-09-29 Novel clean unmanned plane

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CN106314768B true CN106314768B (en) 2018-12-21

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019119183A1 (en) * 2017-12-18 2019-06-27 深圳市大疆创新科技有限公司 Agricultural drone flight control method , radar system, and agricultural drone
CN110769728A (en) * 2018-10-27 2020-02-07 深圳市赫兹科技有限公司 Cleaning method and system based on unmanned aerial vehicle
CN110745245A (en) * 2019-09-30 2020-02-04 浙江工业职业技术学院 Clean unmanned aerial vehicle of solar photovoltaic board face
CN110745247A (en) * 2019-09-30 2020-02-04 浙江工业职业技术学院 Solar panel washs unmanned aerial vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001037544A (en) * 1999-07-28 2001-02-13 Motoi Asonuma Rotary brush device with damping float
CN103143519A (en) * 2013-03-28 2013-06-12 南通绿能环保设备有限公司 Machine for removing adlets
CN204623844U (en) * 2015-05-11 2015-09-09 厦门大学 A kind of cleaning curtain wall unmanned plane
CN205493723U (en) * 2015-12-01 2016-08-24 重庆智恒科技咨询有限公司 Clearance assembly of machine of sweeping floor
CN105599916B (en) * 2016-03-18 2017-08-15 浙江空行飞行器技术有限公司 A kind of unmanned plane feed flow electric power system
CN205440877U (en) * 2016-03-28 2016-08-10 金陵科技学院 Clean unmanned aerial vehicle for window

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