CN106430027A - System and method for achieving high-place dangling operation by means of multi-rotor unmanned aerial vehicle - Google Patents
System and method for achieving high-place dangling operation by means of multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN106430027A CN106430027A CN201611121076.5A CN201611121076A CN106430027A CN 106430027 A CN106430027 A CN 106430027A CN 201611121076 A CN201611121076 A CN 201611121076A CN 106430027 A CN106430027 A CN 106430027A
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- top surface
- unmanned aerial
- energy source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND 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
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a system and method for achieving high-place dangling operation by means of multi-rotor unmanned aerial vehicle. The system and method are suitable for high-place dangling operation. The system comprises a top face self-walking hanging device, a top face energy station, an umbilical cord system and a flying operation platform. The top face self-walking hanging device provides an installation position for the top face energy station, and the operation face of the flying operation platform is adjusted through walking of a self-walking trolley and telescoping of a cantilever crane; the top face energy station serves as a power source and a medium source of working of a whole system, and a control station can control a whole operation system; the umbilical cord system serves as a conveying channel of power and media for connecting the top face energy station and the flying operation platform, and the flying operation platform can conduct free flying operation within a certain range; the flying operation platform utilizes an active power-supply multi-rotor unmanned aerial vehicle carrying operation device to achieve unmanned high-place dangling operation.
Description
Technical field
The present invention relates to eminence is realized using many rotor wing unmanned aerial vehicles in a kind of eminence hanging operation field, more particularly to one kind hanging
The system and method for idle job.
Background technology
Eminence hanging operation is one kind of work high above the ground, mainly adopts hanging basket at this stage, and operating personnel is carried out in hanging basket
Construction operation, or even only colligation seat belt suspension operation.This operating type danger coefficient is very high, easily causes eminence personnel pendant
The casualty accident for falling.According to《Petrochemical industry is built》The statistics of page 2012.02 the 36th, high-rise working accident accounts for whole industry total number of accident
The 51.7% of amount.
On the other hand, as the suspension centre of hanging operation is arranged on the highest point of building, hanging basket and operating personnel are by gravity
Effect be only capable of in vertical position, can only operation in the vertical or subvertical scope of operation from top to bottom, when the scope of operation and
When ground becomes negative angle or manipulating object structure complex, operating personnel just cannot be close to, and make eminence hanging operation no
Method is realized.
Content of the invention
Technical problem：The present invention is mainly the problems of solution eminence hanging operation, a kind of using many so as to provide
Rotor wing unmanned aerial vehicle realizes the system and method for eminence hanging operation.
Technical scheme：The system for eminence hanging operation being realized using many rotor wing unmanned aerial vehicles of the present invention, including top surface voluntarily
Walk suspension apparatus, top surface energy source station, umbilical system, flight job platform.Described top surface is from suspension apparatus of walking from walking
On dolly, equipment mounting platform is provided with top surface energy source station, and described energy source station exports and be connected to umbilical system, described umbilicuss
Outwards and extended downwardly and be connected to flight job platform from the cantilever crane of suspension apparatus of walking by described top surface with system.
Described top surface self-propelling device is included from walking dolly, equipment mounting platform, cantilever crane, fixed block and walking
Pulley, described equipment mounting platform is from the deck of walking dolly, and described cantilever crane is arranged on the first from walking dolly
On plate, described fixed block and traveling wheel are on the hanging beam of cantilever crane.
Described top surface energy source station includes power distribution junction box, operation power station, hoist engine, system control station, and described joins
Connection box receives externally fed and provides power supply to system, and described operation power station is by medium hose with hoist engine even
Connect, described hoist engine stores and export umbilical system, described system control station is included from walking dolly control panel, the energy
Stand control panel, cantilever crane control panel, many rotor wing unmanned aerial vehicles actuation means, the control line of apparatus for work control panel and correlation
Road, above-mentioned control panel is integrated on a control station, forms system control station.
Described umbilical system includes flexible drag chain, end balancing weight, spring type flexible connection section and slip balancing weight.Even
Power cable, communication cable and the medium hose for connecing flight job platform is laid on flexible drag chain, described end balancing weight
It is arranged on the end of flexible drag chain, the power cable inside described spring type flexible connection section and flexible drag chain, communication cable
Connect with medium hose, described slip balancing weight is arranged in spring type flexible connection section.
Described flight job platform includes many rotor wing unmanned aerial vehicles, has line traffic control camera pan-tilt, wired image transmitting to take the photograph
Camera, apparatus for work, described many rotor wing unmanned aerial vehicles are equipped with line traffic control camera pan-tilt and are equipped with line image transmission shooting
Machine, described apparatus for work is installed in the top of many rotor wing unmanned aerial vehicles.
The method for eminence hanging operation being realized using many rotor wing unmanned aerial vehicles of said system, job step is as follows：
1. building top surface predetermined work position will be positioned over from walking dolly, and top surface energy source station and cantilever crane will be installed
From on the equipment mounting platform of walking dolly, the power cable inside top surface energy source station, control cable and medium hose are completed
Between connection；
2. flexible drag chain is drawn from the cylinder of hoist engine, and according to this by the fixed block on the cantilever crane and
Traveling wheel, installs end balancing weight in the end of flexible drag chain, completes flexible drag chain and spring type is flexible coupling the connection of section, and
Slip balancing weight is installed on spring type is flexible coupling section；
3. many rotor wing unmanned aerial vehicles are positioned near top surface self-propelling device, and have completed line traffic control camera pan-tilt, had
Line image transmission video camera, the installation of general installation pedestal and apparatus for work, and the spring type section that is flexible coupling is connected to flight and makees
On the corresponding interface of industry platform；
4. top surface energy source station and external power source, medium source connection are completed, starts the internal each part of top energy source station, be allowed to
In ready state；Cantilever crane is extended to predetermined work length, traveling wheel slides into predetermined work position；
5. flight job platform is started by the system control station inside the energy source station of top, and is allowed to predetermined rising of flying
Beginning job position；Apparatus for work is opened, and starts operation to be carried out to predetermined operation face；
6. by the retractable of the hoist engine inside top surface energy source station, the length of the flexible drag chain decentralization of adjustment, realize flight and make
Industry platform carries out operation on differing heights；
7. by walking forward, backward from walking dolly in top surface self-propelling device, adjust cantilever crane forward, backward
Position, realizing flight job platform carries out operation in the different forward and backward scope of operations；
8., after the completion of operation, control flight job platform to make rising by the system control station inside the energy source station of top and fly
OK, the hoist engine in the energy source station of top synchronously reclaims umbilical cord, realizes flight job platform and flexible drag chain synchronously rises, and will fly
Row job platform is recycled to building top surface.
Beneficial effect：Due to employing technique scheme, the present invention has advantages below compared with prior art：
(1) the personnel risk of prosthetic eminence hanging operation, using the job platform of unmanned plane carrying operation device, replaces
Artificial eminence hanging operation, is inherently eliminated personnel's high-rise working risk；
(2) working performance is high, and traditional hanging basket carries the work operating type of people, and operating personnel can only be in hanging basket or so and top
Handheld tool cover in the range of operation, after the completion of need drive hoist engine drop to another scope of operation, inefficiency；Flight
Job platform can do the omnibearing free flight operation in upper and lower, left and right in the length range that spring type is flexible coupling, and operation is imitated
Rate is greatly improved；
(3) operation effectiveness is good, Traditional Man by the way of handheld tool operation, according to the situation of operating personnel different and
It is difficult to ensure operation quality；The apparatus for work that flight job platform is carried, using ripe industrial operations flow process, operation quality can
Lean on and stable；
(4) working scene strong applicability, the mode of traditional hanging basket carrying manual work, are only capable of vertical or near vertical
Operation is carried out on elevation of building, becomes negative angle and baroque manipulating object then realize for ground；Flight operation
The apparatus for work that platform is carried, can not limited by manipulating object version, working scene in free flight in certain amplitude
The suitability is greatly improved.
Description of the drawings
Fig. 1 is total system schematic diagram of the present invention；
Fig. 2 is the top surface energy source station schematic diagram of the present invention；
In figure：1- top surface is from suspension apparatus of walking；2- top surface energy source station；3- umbilical system；4- flight job platform；1-1-
Top surface is from walking dolly；1-2- cantilever crane；1-3- fixed block；1-4- traveling wheel；2-1- power distribution junction box；2-2- high pressure is clear
Washing machine；2-3- hoist engine；2-4- system control station；3-1- flexibility drag chain；3-2- end balancing weight；3-3- spring type is flexibly connected
Section；3-4- slip balancing weight；The many rotor wing unmanned aerial vehicles of 4-1-；4-2- has line traffic control camera pan-tilt；The wired image transmitting of 4-3- is taken the photograph
Camera；4-4- washing and cleaning operation device.
Specific embodiment
Above-mentioned have plurality of application scenes using the system and method for realizing eminence hanging operation using many rotor wing unmanned aerial vehicles, under
Face is with the hanging washing and cleaning operation of eminence as example, and in conjunction with accompanying drawing, the invention will be further described：
As shown in figure 1, the system that many rotor wing unmanned aerial vehicles realize the hanging washing and cleaning operation of eminence, mainly by top surface from suspention of walking
Device 1, top surface energy source station 2, umbilical system 3 and flight job platform 4 are constituted.Described top surface is from suspension apparatus 1 of walking by pushing up
Face constitutes from walking dolly 1-1, cantilever crane 1-2, fixed block 1-3 and traveling wheel 1-4.Described top surface is from walking suspention dress
Put 1 top surface energy source station 2 is installed from walking dolly 1-1, described top surface energy source station 2 is exported and is connected to umbilical system 3,
Described umbilical system by described top surface from the cantilever crane 1-2 of suspension apparatus 1 of walking outwards and extend downwardly be connected to winged
Row job platform 4.Described top surface is from the base component that suspension apparatus 1 of walking are system work, and its equipment mounting platform is top
Face energy source station 2 provides installation site, and its cantilever crane 1-2 has the function of adjustment length, can be according to flight washing and cleaning operation platform 4
The scope of operation need adjust flexibility drag chain 3-1 hanging position, which can be according to flight washing and cleaning operation platform 4 from walking dolly 1-1
The scope of operation need forward, flexible adjustment position backward, its fixed block 1-3 plays a part of to dredge and conveys umbilical cord, its
While traveling wheel 1-4 plays a part of to dredge and convey umbilical cord, can according to the operation needs of flight washing and cleaning operation platform 4,
Flexibility drag chain 3-1 distance away from building facade is adjusted within the specific limits.Top surface energy source station 2 is the power source portion of system work
Point, it is that whole system work provides power, is that washing and cleaning operation device 4-4 provides cleansing medium source.Umbilical system 3 is used as connection top
Face energy source station 2 and the energy transfer passage of flight washing and cleaning operation platform 4, are that flight washing and cleaning operation platform 4 provides power, transmission control
Data signal processed, and convey the cleansing medium needed for washing and cleaning operation device 4-4.Flight washing and cleaning operation platform 4 is used as system end
End operation part, the washing and cleaning operation device 4-4 for being carried using many rotor wing unmanned aerial vehicles 4-1 realizes the hanging washing and cleaning operation of eminence.
Shown in Fig. 2, described top surface energy source station 2 by power distribution junction box 2-1, jetting machine 2-2, hoist engine 2-3 and is
System control station 2-4 composition.Jetting machine 2-2 outlet is connected to the cleansing medium interface of hoist engine 2-3 by medium hose.System
Corresponding cable interface on the power cable of system control station 2-4 and power distribution junction box 2-1, data signal cable and hoist engine 2-3
It is connected.The length of the umbilical cord 3 that hoist engine 2-3 is accommodated meets the requirement for height of washing and cleaning operation.
Described umbilical system 3 includes flexible drag chain 3-1, end balancing weight 3-2, spring type flexible connection section 3-3 and cunning
Dynamic balancing weight 3-4.The power cable of connection flight job platform (4), communication cable and high-pressure wash medium hose are laid in soft
On property drag chain 3-1, and guarantee flexible drag chain 3-1 as its bending radius of entirety and hoist engine 2-3 minimum capacity radius,
Fixed block 1-3 and the capacity radius from traveling wheel 1-4 match.Described end balancing weight 3-2 is arranged on flexible drag chain
The end of 3-1, its weight be enough to make flexible drag chain 3-1 in tensioning state, and coordinate hoist engine 2-3 to make umbilical cord 3 according to flight
The operation height change of job platform 4 is extended downwardly.Inside described spring type flexible connection section 3-3 and flexible drag chain 3-1
Described power cable, communication cable and medium hose connection, its effect is to enable flight job platform 4 flexible even in spring type
Free flight in the flexible amplitude of section 3-3 is connect, and is not affected by flexibility drag chain 3-1.Described slip balancing weight 3-4 is arranged on
Spring type is flexibly connected section 3-3, so that spring type flexible connection section 3-3 is below many rotor wing unmanned aerial vehicles 4-1, in case interference is many
The flight of rotor wing unmanned aerial vehicle 4-1.
Described flight job platform 4 by many rotor wing unmanned aerial vehicles 4-1, have line traffic control camera pan-tilt 4-2, have line image pass
Defeated video camera 4-3, washing and cleaning operation device 4-4 are constituted.Many rotor wing unmanned aerial vehicles 4-1 adopts actively powered design, and itself does not carry electricity
Pond, its advantage is the weight for having bigger output to ensure to be enough to carry cleaning device 4-4, while not cruising time limited
System.There is being designed with beneficial to control signal and image transmitting for line traffic control camera pan-tilt 4-2 and wired image transmitting video camera 4-3
The stability of signal, while save the equipment cost of controlled in wireless, transmission of wireless signals.Washing and cleaning operation device 4-4 is using having
The mode of line remote control is controlled opening and closing, adjusts operation attitude, so that washing and cleaning operation efficiently, is reliably carried out.
The method that the present invention realizes the hanging washing and cleaning operation of eminence using many rotor wing unmanned aerial vehicles, concrete job step is as follows：
1. from walking dolly 1-1, building top surface predetermined work position, power supply wiring case 2-1, high-pressure wash will be positioned over
Machine 2-2, hoist engine 2-3 and system control station 2-4 are arranged on from the equipment mounting platform of walking dolly 1-1；Complete cantilever crane
The assembling of 1-2 and the installation of fixed block 1-3, traveling wheel 1-4, and by the cantilever crane 1-2 being completed installed in voluntarily
Walk on the equipment platform of dolly 1-1；The medium hose of jetting machine 2-2 is connected on the Media Interface Connector of hoist engine 2-3, and
The power cable of electrical power distribution case 2-1 and system control station 2-4, communication cable are connected on the corresponding interface of hoist engine 2-3；
2. flexible drag chain 3-1 is drawn from hoist engine 2-3, and passes through fixed block 1-3 and traveling wheel 1-4 according to this,
In the end of flexible drag chain 3-1, end balancing weight 3-2 is installed；The spring type section 3-3 that is flexible coupling is connected to the end of flexible drag chain 3-1
Hold on corresponding interface, and slip balancing weight 3-4 is flexible coupling on 3-3 installed in spring type；
3. many rotor wing unmanned aerial vehicles 4-1 is positioned near top surface self-propelling device 1, and has completed line traffic control camera pan-tilt
The installation of 4-2, wired image transmitting video camera 4-3 and washing and cleaning operation device 4-4；By spring type be flexible coupling a section 3-3 be connected to winged
On the corresponding interface of row job platform 4；
4. top surface energy source station 2 and external power source, water source connection are completed, starts the internal each part of top energy source station 2, be allowed to
In ready state；Cantilever crane 1-2 is extended to by predetermined work by the system control station 2-4 inside top energy source station 2
Length, and so that traveling wheel 1-4 is walked to predetermined work position；
5. flight job platform 4 being started by the system control station 2-4 inside top energy source station 2, and flight is allowed to in advance
Fixed initial job position；Washing and cleaning operation device 4-4 is opened by the system control station 2-4 inside top energy source station 2, it is right to start
Predetermined operation face is carried out；
6. by the retractable of the hoist engine 2-3 inside top surface energy source station 2, the length of the flexible drag chain 3-1 decentralization of adjustment, with
Flight job platform 4 is made to carry out operation on differing heights；
7. by walking forward, backward from walking dolly 1-1 in top surface self-propelling device 1, adjust cantilever crane 1-2 to
Before, rearward position, realizing flight job platform 4 carries out operation in the different forward and backward scope of operations；
8., after the completion of washing and cleaning operation, flight job platform 4 is controlled by the system control station 2-4 inside top energy source station 2
Make upward flight, the hoist engine 2-3 in top energy source station 2 synchronously reclaims umbilical cord, realize flight job platform 4 and flexibility drag chain 3-
1 synchronous rising, and flight job platform 4 is recycled to building top surface.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, every using this
Equivalent or equivalent method conversion that bright content is made, or other related technical fields are directly or indirectly used in, all
Include in the same manner within the scope of the present invention.Therefore, the guarantor that protection scope of the present invention should be limited with claims
Shield scope is defined.
Claims (6)
1. a kind of system for realizing eminence hanging operation using many rotor wing unmanned aerial vehicles, it is characterised in that：It includes top surface from walking
Suspension apparatus (1), top surface energy source station (2), umbilical system (3), flight job platform (4)；Described top surface is from walking suspention dress
The equipment mounting platform from walking dolly (1-1) for putting (1) is provided with top surface energy source station (2), described top surface energy source station (2)
Export and be connected to umbilical system (3), described umbilical system (3) is by described top surface from the outstanding of suspension apparatus (1) of walking
Arm outwards hangs (1-2) and extends downwardly and is connected to flight job platform (4)；
Described top surface self-propelling device (1) is included from walking dolly (1-1), cantilever crane (1-2), fixed block (1-3) and row
Pulley (1-4) is walked, described equipment mounting platform is from the deck of walking dolly, and described cantilever crane (1-2) is installed in certainly
On the deck of walking dolly (1-1), described fixed block (1-3) and traveling wheel (1-4) are arranged on hanging for cantilever crane (1-2)
Liang Shang；
Described top surface energy source station (2) includes power distribution junction box (2-1), operation power station (2-2), hoist engine (2-3), system control
System station (2-4), described power distribution junction box (2-1) receives externally fed and provides power supply, described operation power station to system
(2-2) it is connected with hoist engine (2-3) by medium hose, described hoist engine (2-3) is stored and exports umbilical system, described
System control station (2-4) is included from walking dolly control panel, cantilever crane control panel, energy source station control panel, many rotors no
The control circuit of man-machine actuation means, apparatus for work control panel and correlation, above-mentioned control panel is integrated in a control station
On, form system control station (2-4)；
Described umbilical system (3) includes flexible drag chain (3-1), end balancing weight (3-2), spring type flexible connection section (3-3)
With slip balancing weight (3-4)；The power cable of connection flight job platform (4), communication cable and high-pressure medium flexible pipe are laid in
On flexible drag chain (3-1), described end balancing weight (3-2) is arranged on the end of flexible drag chain (3-1), and described spring type is soft
Property linkage section (3-3) power cable internal with flexible drag chain (3-1), communication cable and medium hose be connected, described slip
Balancing weight (3-4) is arranged on spring type flexible connection section (3-3)；
Described flight job platform (4) includes many rotor wing unmanned aerial vehicle (4-1), has line traffic control camera pan-tilt (4-2), has line chart
As transmission video camera (4-3), apparatus for work (4-4), described many rotor wing unmanned aerial vehicles (4-1) are equipped with line traffic control camera pan-tilt
(4-2) and line image transmission video camera (4-3) is equipped with, described apparatus for work (4-4) is arranged on many rotor wing unmanned aerial vehicle (4-1)
Top.
2. according to claim 1 using many rotor wing unmanned aerial vehicles, eminence hanging operation system is realized, it is characterised in that：Described
Apparatus for work (4-4) using many rotor wing unmanned aerial vehicle (4-1) carry, realize unmanned eminence hanging operation.
3. according to claim 1 using many rotor wing unmanned aerial vehicles, eminence hanging operation system is realized, it is characterised in that：Described
Many rotor wing unmanned aerial vehicles (4-1) adopt actively powered design.
4. according to claim 1 using many rotor wing unmanned aerial vehicles, eminence hanging operation system is realized, it is characterised in that：Described
The flexible drag chain (3-1) of umbilical system (3) terminally positioned have end balancing weight.
5. according to claim 1 using many rotor wing unmanned aerial vehicles, eminence hanging operation system is realized, it is characterised in that：Described
Flight job platform (4) and flexible drag chain (3-1) between be flexible coupling section (3-3) connection using spring type, and configure thereon
There is slip balancing weight (3-4).
6. the method for realizing eminence hanging operation using many rotor wing unmanned aerial vehicles according to any one of Claims 1 to 5, which is special
Levy and be to include that step is as follows：
1. from walking dolly (1-1) building top surface predetermined work position will be positioned over, and by top surface energy source station (2) and cantilever crane
(1-2) it is arranged on from the equipment mounting platform of walking dolly (1-1), completes the internal power cable of top surface energy source station (2), control
Connection between cable processed and medium hose；
2. flexible drag chain (3-1) is drawn from the cylinder of hoist engine (2-3), and according to this by cantilever crane (1-2)
Fixed block (1-3) and traveling wheel (1-4), flexible drag chain (3-1) end install end balancing weight (3-2), complete
Flexible drag chain (3-1) and spring type are flexible coupling the connection of section (3-3), and are flexible coupling in spring type that section (3-3) is upper to be installed slip and join
Pouring weight (3-4)；
3. many rotor wing unmanned aerial vehicles (4-1) are positioned near top surface self-propelling device (1), and have completed line traffic control camera pan-tilt
(4-2), the installation of wired image transmitting video camera (4-3) and apparatus for work (4-4), and spring type is flexible coupling section (3-3) even
It is connected on the corresponding interface of flight job platform (4)；
4. top surface energy source station (2) and external power source, medium source connection are completed, starts the internal each part in top energy source station (2), make
Be in ready state；Cantilever crane (1-2) is extended to predetermined work length, traveling wheel (1-4) slides into predetermined work
Make position；
5. flight job platform (4) is started by the internal system control station (2-4) of top energy source station (2), and is allowed to flight and arrive
Predetermined initial job position；Apparatus for work (4-4) is opened by the internal system control station (2-4) of top energy source station (2), is opened
Begin to carry out operation to predetermined operation face；
6. by the retractable of the internal hoist engine (2-3) of top surface energy source station (2), the length that the flexible drag chain (3-1) of adjustment is transferred,
Realizing flight job platform (4) carries out operation on differing heights；
7. by walking forward, backward from walking dolly (1-1) in top surface self-propelling device (1), cantilever crane (1-2) is adjusted
Forward, rearward position, realizing flight job platform (4) carries out operation in the different forward and backward scope of operations；
8., after the completion of operation, flight job platform (4) is controlled to make by the internal system control station (2-4) of top energy source station (2)
Upward flight, the hoist engine (2-3) in top energy source station (2) synchronously reclaims umbilical cord, realizes flight job platform (4) and flexibility is dragged
Chain (3-1) synchronously rises, and flight job platform (4) is recycled to building top surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611121076.5A CN106430027B (en) | 2016-12-08 | 2016-12-08 | A kind of system and method for realizing eminence hanging operation using multi-rotor unmanned aerial vehicle |
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| CN201611121076.5A CN106430027B (en) | 2016-12-08 | 2016-12-08 | A kind of system and method for realizing eminence hanging operation using multi-rotor unmanned aerial vehicle |
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| JP2020138640A (en) * | 2019-02-28 | 2020-09-03 | 株式会社旭テクノロジー | Structure inspection device using unmanned flight body |
| CN112062062A (en) * | 2020-09-17 | 2020-12-11 | 黄玲玲 | High-altitude operation system of wind driven generator blade and control method thereof |
| CN116946638A (en) * | 2023-09-15 | 2023-10-27 | 陕西省交通规划设计研究院有限公司 | High-idle-movement device and method for construction materials |
| WO2024085765A1 (en) * | 2022-10-18 | 2024-04-25 | Ktv Working Drone As | System and method for projecting a solution onto a facade of a structure |
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| CN2746877Y (en) * | 2004-12-09 | 2005-12-21 | 谭贵元 | Multi-functional machine for cleaning external walls |
| CN201029845Y (en) * | 2007-03-22 | 2008-03-05 | 吴让斌 | High-rise building external wall surface remote-controlling cleaning apparatus |
| WO2015150529A1 (en) * | 2014-04-03 | 2015-10-08 | Pardell Ricard | Agcfds: automated glass cleaning flying drone system |
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| CN205493730U (en) * | 2015-12-03 | 2016-08-24 | 王成忠 | Rotorcraft building outer wall washs and paint spraying machine ware people |
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| JP2020138640A (en) * | 2019-02-28 | 2020-09-03 | 株式会社旭テクノロジー | Structure inspection device using unmanned flight body |
| 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 |
| CN112062062A (en) * | 2020-09-17 | 2020-12-11 | 黄玲玲 | High-altitude operation system of wind driven generator blade and control method thereof |
| WO2024085765A1 (en) * | 2022-10-18 | 2024-04-25 | Ktv Working Drone As | System and method for projecting a solution onto a facade of a structure |
| CN116946638A (en) * | 2023-09-15 | 2023-10-27 | 陕西省交通规划设计研究院有限公司 | High-idle-movement device and method for construction materials |
| CN116946638B (en) * | 2023-09-15 | 2024-01-12 | 陕西省交通规划设计研究院有限公司 | High-idle-movement device and method for construction materials |
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