CN107472548A - Service robot system based on unmanned plane - Google Patents
Service robot system based on unmanned plane Download PDFInfo
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- CN107472548A CN107472548A CN201710799769.8A CN201710799769A CN107472548A CN 107472548 A CN107472548 A CN 107472548A CN 201710799769 A CN201710799769 A CN 201710799769A CN 107472548 A CN107472548 A CN 107472548A
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- Prior art keywords
- unmanned plane
- uas
- base station
- unit
- service robot
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- 238000003032 molecular docking Methods 0.000 claims abstract description 42
- 239000000523 sample Substances 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 28
- 210000000078 claw Anatomy 0.000 claims description 20
- 239000012528 membrane Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 9
- 230000003993 interaction Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of service robot system based on unmanned plane, including UAS, unmanned plane hovering base station and control centre, UAS, unmanned plane hovering base station can communicate with control centre；The unmanned plane hovering base station is fixedly installed on the position being above the ground level, and the UAS can stop or depart from the unmanned plane hovering base station unmanned plane hovering base station and perform task；The UAS includes unmanned plane body and the probe unit on the unmanned plane body；The service robot system based on unmanned plane of the present invention is mainly comprising UAS and unmanned plane hovering base station two parts; aerial docking can be realized by docking unit between the two; UAS can perform the tasks such as patrol, IMAQ; the landing of taking off of UAS need not confirm environmental safety and need not take ground space, and preferable basis has been laid for the automation use of unmanned plane.
Description
Technical field
The present invention relates to service robot field, more particularly to a kind of service robot system.
Background technology
The application field of current multi-rotor unmanned aerial vehicle is more single, and multi-rotor unmanned aerial vehicle is being applied except its toy attribute
Field is mainly used in taking photo by plane, and unmanned plane is such as used as service robot because its flight attribute can be applied to many occasions, nobody
Need to take off when machine performs task, general unmanned plane is set on the ground, and each execution task is required to confirm whether environment pacifies
Entirely, this just needs artificial judgment or by high sensor, and taking off for unmanned plane needs space of taking off, and can waste ground face
Product.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention, which provides one kind, can make UAS
Hovering in the air, without the environment that confirms to take off, the service robot system based on unmanned plane of floor area need not be taken.
Technical scheme：To achieve the above object, the service robot system of the invention based on unmanned plane includes unmanned plane
System, unmanned plane hovering base station and control centre, UAS, unmanned plane hovering base station can communicate with control centre；
The unmanned plane hovering base station is fixedly installed on the position being above the ground level, and the UAS can be in unmanned plane hovering base
Stand and stop or depart from the unmanned plane hovering base station execution task；The UAS includes unmanned plane body and is arranged on
Probe unit on the unmanned plane body.
Further, docked between the UAS and unmanned plane hovering base station by docking unit, it is described
Docking unit includes the first docking unit being arranged on UAS and be arranged on unmanned plane hovering base station second
Unit is docked, the first docking unit includes first interface, and the second docking unit includes second interface, and described first connects
Mouth can dock realization electrical connection with second interface.
Further, the second docking unit includes catching mechanism, and the seizure mechanism can be relative to the unmanned plane
Hovering base station upper and lower translation and rotation, the first docking unit include coordinating the docking for catching the ring-type that mechanism uses
Flange.
Further, the seizure mechanism includes catching support, and circumference array is provided with least three on the seizure support
In individual claw the present embodiment be six, the claw can relative to it is described seizure support rotation, the claw include flat part-,
The flat part-one end be rotatably installed in it is described seizure support on, the flat part-the other end be provided with positioning shoulder-, in institute
State and catch in the state of mechanism captures the companion flange, the flat part of the claw-prolong along the axial direction of the seizure support
Stretch, the positioning shoulder-from flat part-end being extended radially outwardly to the seizure support；The motion of claw is by driving
Dynamic carriage drive, the axial direction lifting of seizure support described in promotion lower edge of the driving arm in the active bracket, and drive
Set and have elastic component between support and active bracket；It is convex that active bracket is provided with the flanging for being used to push down the companion flange
Edge-；Active bracket is driven by the drive device being arranged on the seizure support.
Further, it is provided between the UAS and unmanned plane hovering base station for aiding in determining both
The auxiliary docking system of relative position, auxiliary docking system include point being made up of multiple independent dispersal units of scattering device
Throwaway tuple and individually interactive separate unit can be carried out with each dispersal unit, in both dispersal unit group and separate unit
One of them is arranged on unmanned plane hovering base station, and another is arranged on UAS.
Further, one of the dispersal unit and the separate unit be RF transmitter, another
For infrared receiver.
Further, the dispersal unit is Quick Response Code, and the separate unit is reading code camera.
Further, the probe unit includes camera and environment detection element, and environment detection element includes infrared
Sensor, ultrasonic sensor, the one in laser radar three, secondly or all.
Further, execution unit is also equipped with the UAS, the execution unit includes Suction cup assembly, institute
Stating Suction cup assembly includes sucker, the tracheae of one end and sucker connection and the negative pressure generating element for producing negative pressure, tracheae
Other end direct or indirect connection negative pressure generating element；The unmanned plane body includes multiple wing arms, is included on each wing arm
There are motor, one end connection rotor of the output shaft of motor, the other end connection negative pressure generating element of the output shaft of motor.
Further, negative pressure generating element includes element housings, and elastic membrane, the elastic membrane are provided with the element housings
A chamber with air intake and gas outlet is surrounded between element housings inner chamber, air inlet valve, institute are provided with the air intake
State and air outlet valve is provided with gas outlet, the motor vibrates elastic membrane periodic reverse by drive mechanism.In the first implementation
In example, each negative pressure generating element is independently connected sucker by tracheae；The drive mechanism includes drive rod and is arranged on
Eccentric wheel on the output shaft of motor, is hinged relationship between one end of the drive rod and the eccentric wheel, the drive rod
The other end connect the elastic membrane.
Beneficial effect：The service robot system based on unmanned plane of the present invention mainly includes UAS and unmanned plane
Hover base station two parts, can realize aerial docking by docking unit between the two, the executable patrol of UAS, image are adopted
Task, the landing of taking off of UAS such as collection need not confirm environmental safety and need not take ground space, be unmanned plane
Preferable basis has been laid in automation use.
Brief description of the drawings
Accompanying drawing 1 is schemed for the system composition of the service robot system based on unmanned plane；
Accompanying drawing 2 is the entirety sectional view of docking unit；
Accompanying drawing 3 is the structure chart of the second docking unit；
Accompanying drawing 4 is the structure chart of the first docking unit；
Accompanying drawing 5 is the structure chart of UAS；
Accompanying drawing 6 is the structure chart of negative pressure generating element.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The service robot system based on unmanned plane as shown in Figure 1, including UAS 1 and unmanned plane hovering
Base station 2, unmanned plane hovering base station 2 are set in the air, specifically, unmanned plane hovering base station 2 can be fixedly mounted on wall,
Roof is suspended in midair by pallial siphuncle (rope, iron chains etc.), and the UAS 1 can rest on the unmanned plane hovering
Unmanned plane hovering base station 2 is flown away from base station 2, and unmanned plane hovers base station 2 except basic stop service, can also play for
UAS 1 provides charging, the effect of transmission signal；As shown in Figure 5, the UAS 1 includes unmanned plane body
11 and the probe unit 12 on the unmanned plane body 11.Probe unit 12 includes camera 12-1 and infrared biography
Sensor, ultrasonic sensor, the one in laser radar three, secondly or all.Camera 12-1 is used to overlook unmanned plane sheet
The situation of the lower section of body 11, plays image scanning function, and infrared sensor, ultrasonic sensor, laser radar are used to detect nobody
The surrounding enviroment information of machine body 11, play a part of anticollision and planned with secondary path.Also include being used to control UAS 1
Control centre 4, control centre 4 can obtain the positional information of the UAS 1 in real time, and UAS 1, unmanned plane hang
Stopping base station 2 can communicate with control centre 4.
Docked between the UAS 1 and unmanned plane hovering base station 2 by docking unit 3, such as accompanying drawing 2-4 institutes
Show, docking unit 3 includes that unit 32 can be docked with second with respect to the first docking unit 31 of division；The first docking unit 31
Including first interface 3101, the second docking unit 32 includes second interface 3201, first interface 3101 and second interface
Electrical connection can be produced after 3201 docking；First docking unit 31 also includes the companion flange 3102 of ring-type, the second docking unit
32 include pedestal 3202 and the seizure mechanism of center of circle positioning and axially position are carried out to the companion flange 3102, described to catch
Mechanism is caught to lift and rotate relative to the pedestal 3202；The second interface 3201 is fixed relative to pedestal 3202.Catch
It is parallel to catch the central shaft that the direction that mechanism lifts relative to pedestal 3202 rotates.
The seizure mechanism includes catching support 3203, and circumference array is provided with least three on the seizure support 3203
Claw 3204 (being six in the present embodiment), the claw 3204 can rotate relative to the seizure support 3203, the claw
3204 one end including flat part 3204-1, the flat part 3204-1 are rotatably installed on the seizure support 3203, described
The flat part 3204-1 other end is provided with positioning shoulder 3204-2, and the shape of the companion flange 3102 is captured in the seizure mechanism
Under state, the flat part 3204-1 of the claw 3204 is described to position shoulder 3204-2 along the axially extending of the seizure support 3203
From flat part 3204-1 end extending radially outwardly to the seizure support 3203；The motion of claw 3204 is by driving
Support 3206 drives, and the driving arm 3206 is under the promotion of the active bracket 3207 in the axle of the seizure support 3203
To lifting, and set between driving arm 3206 and active bracket 3207 and have elastic component 3208；Active bracket 3207 is provided with
For pushing down the flanging flange 3207-1 of the companion flange 3102；Active bracket 3207 is by being arranged on the seizure support 3203
On drive device driving.
Drive link 3205, the drive link 3205 are provided between the claw 3204 and the driving arm 3206
Both ends be respectively hinged on the claw 3204 and the driving arm 3206.
When seizure mechanism is docked with the companion flange 3102, when driving arm 3206 is to close to the side of companion flange 3102
To motion when, driving arm 3206 makes claw 3204 outwards rotate by drive link 3205 so that all claws 3204 from
The inside of companion flange 3102 is outwards burst forth, until the inner periphery that all claws 3204 prop up companion flange 3102 is completed to docking
The centering (i.e. radial positioning) of flange, now active bracket 3207 continue to move to close to the direction of companion flange 3102, due to
Flexible member 3208 is provided between active bracket 3207 and driving arm 3206, driving arm 3206 and then will not continue to move,
Flanging flange 3207-1 on active bracket 3207 promotes companion flange 3102 to be axially moved, until companion flange 3102 is against institute
The positioning shoulder 3204-2 stated on claw 3204 can not continue to move, and now axially position is completed.
The drive device includes the first leading screw 3209 being arranged on the seizure support 3203, the active bracket
3207 are provided with the screw thread being used cooperatively with first leading screw 3209, and first leading screw 3209 is driven by the first motor 3210
Rotate.Specifically, first gear 3211 is fixed with the leading screw, is provided with the output shaft of the motor and first tooth
The second gear 3212 of the engagement of wheel 3211.First leading screw 3209 is hollow lead screw, and second interface 3201 passes through the first leading screw 3209
Center, and second interface 3201 relative to catch support 3203 keep stationary state.
In order to realize the lifting and rotation that catch mechanism relative to pedestal 3202, the seizure mechanism integral installation is rising
On descending branch frame 3213, the seizure support 3203 can rotate relative to the lifting support 3213, and the lifting support 3213 can
Lifted relative to the pedestal 3202.The 3rd gear 3215, the lifting support 3213 are fixed with the seizure support 3203
On the second motor 3214 is installed, be provided with what is engaged with the 3rd gear 3215 on the output shaft of second motor 3214
4th gear 3216.The second leading screw 3218 and the 3rd electricity for driving the second leading screw 3218 are provided with the pedestal 3202
Machine 3217, the feed screw nut 3219 being used cooperatively with the second leading screw 3218 is provided with the lifting support 3213.
In order to be docked after being accurately aimed between first interface 3101 and second interface 3201 with contact, the first docking
Unit 31 also includes the first auxiliary and docks unit 3103, and the second docking unit 32 also includes the second auxiliary and docks unit 3220, the
It is optical signal launch source that one auxiliary docking unit 3103 docks one of them in unit 3220 with the second auxiliary, and another one is believed for light
Number source is received, when direct projection light that optical signal launch source is sent (being preferably infrared ray) receives source by optical signal to be received, said
Bright first interface 3101 is aligned with second interface 3201, can be docked.
The entire protocol that first interface 3101 docks with second interface 3201 is：First, catch mechanism and catch companion flange
3102, and companion flange 3102 is carried out to be radially positioned at axially position, then, it is overall relative to the pedestal to catch mechanism
3202 rotations, docked up to the first auxiliary between unit 3103 docks unit 322 with the second auxiliary and produce signal interaction, finally,
Catch mechanism integrally relative to pedestal 3202 to decline, first interface 3101 is docked with second interface 3201.
It is additionally provided with first interface 3101 and heart mark 3221, control centre is regarded by first on UAS 1
Feel element 11 by obtain image and extracting the feature of heart mark 3221 can adjust UAS 1 with perform robot 2 it
Between relative position so that approximate location between the two can be docked, then catch mechanism start catch companion flange
3102。
It is provided between the UAS 1 and unmanned plane hovering base station 2 for aiding in determining both relative positions
The auxiliary docking system 5 put, auxiliary docking system 5 include the scattered list being made up of multiple independent dispersal units of scattering device
Tuple and the separate unit 52 that independent interaction can be carried out with each dispersal unit 51, both dispersal unit group and separate unit 52
In one of them be arranged on unmanned plane hovering base station on, another be arranged on UAS on.
It should be noted that the interaction that the interaction between dispersal unit 51 and separate unit 52 herein can be signal (divides
Throwaway member 51 sends signal, another one reception signal with one of which in separate unit 52) or visual interaction
(dispersal unit 51 includes visually recognizable information with one of which in separate unit 52, and another one can be read and judge this
Information).
Specifically, the rectangular array of dispersal unit 51 distribution or circumference array are distributed on multiple concentric circles, this
The distribution mode of the latter is used in embodiment, when 51 groups of dispersal unit is arranged on unmanned plane 1, dispersal unit 51 is arranged on nothing
On the body part of man-machine body 11 and wing arm 111, equal linear array is placed with equal on the length direction of each wing arm 111
The dispersal unit 51 of quantity；First interface 3101 is located at the home position of concentric circles.When dispersal unit, 51 groups are arranged on unmanned plane
When hovering on base station 2, second interface 3201 is located at the home position of concentric circles.
In the first embodiment, the separate unit 52 is reading code camera, and the dispersal unit 51 is Quick Response Code, each
Quick Response Code is respectively provided with uniqueness.Reading code camera can be read 2 D code information and be decoded by control centre 4, control centre 4
The 2 D code information that can be read according to it determines UAS 1 and the relative position of unmanned plane hovering base station 2, and controls
UAS 1 processed carries out position compensation, in order that UAS 1 finally relatively accurately finds unmanned plane hovering base station 2
The center of upper second interface 3201, unmanned plane hovering are provided with for vision element seizure to heart mark 3221, institute on base station 2
State the cross pictorial symbolization that can be caught to heart mark 3221 for convenience of vision element or star graphic mark.
In second of embodiment, one of them in both the dispersal unit 51 and separate unit 52 is infrared emitting
Device, another is infrared receiver.
As shown in Figure 5, execution unit 6 is also equipped with the UAS 1, execution unit 6 includes Suction cup assembly,
The Suction cup assembly includes sucker 61, the tracheae 62 of one end and the connection of sucker 61 and the negative pressure generating element for producing negative pressure
63, the other end direct or indirect connection negative pressure generating element 63 of tracheae 62；The unmanned plane body 11 includes multiple wing arms
111, motor 112, one end connection rotor of the output shaft of motor 112, the output of motor 112 are included on each wing arm 111
The other end connection negative pressure generating element 63 of axle.
Negative pressure generating element 63 as shown in Figure 6 includes element housings 631, and elasticity is provided with the element housings 631
Film 632, a chamber with air intake and gas outlet is surrounded between elastic membrane 632 and element housings 631 inner chamber, it is described
Air inlet valve 633 is provided with air intake, is provided with air outlet valve 634 at the gas outlet, the motor 112 makes elasticity by drive mechanism
The periodic reverse of film 632 vibrates.In the first embodiment, each negative pressure generating element 63 is independently connected by tracheae 62 inhales
Disk 61；The drive mechanism includes drive rod 635 and the eccentric wheel 636 on the output shaft of motor 112, the driving
It is hinged relationship between one end of bar 635 and the eccentric wheel 636, the other end of the drive rod 635 connects the elastic membrane
632。
In second of embodiment, negative pressure generating element 63 connects negative pressure cavity, and all suckers 61 are connected with negative pressure cavity.
For the unmanned plane body 11 of more rotors, negative pressure generating element 63 can be each equipped with wing arm 111, can also be spaced
One or more wing arms 111 are provided with negative pressure generating element 63, such as eight rotor wing unmanned aerial vehicles, can be in four wings of its symmetric position
Negative pressure generating element 63 is set on arm 111, negative pressure generating element 63 is not provided with other wing arms 111.
For the ease of controlling the break-make of sucker 61, in addition to for controlling the magnetic valve 64 of the source of the gas break-make of sucker 61.
The service robot system based on unmanned plane of the present invention is mainly comprising UAS and unmanned plane hovering base station
Two parts, aerial docking can be realized by docking unit between the two, UAS can perform patrol, IMAQ etc. and appoint
Business, the landing of taking off of UAS need not confirm environmental safety and need not take ground space, be the automation of unmanned plane
Using having laid preferable basis.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. the service robot system based on unmanned plane, it is characterised in that：Including UAS (1), unmanned plane hovering base station
(2) and control centre (4), UAS (1), unmanned plane hovering base station (2) can communicate with control centre (4)；It is described
Unmanned plane hovering base station (2) is fixedly installed on the position being above the ground level, and the UAS (1) can be hovered in the unmanned plane
Stop or depart from unmanned plane hovering base station (2) and perform task in base station (2)；The UAS (1) includes unmanned plane sheet
Body (11) and the probe unit (12) on the unmanned plane body (11).
2. the service robot system according to claim 1 based on unmanned plane, it is characterised in that：The UAS
(1) docked between unmanned plane hovering base station (2) by docking unit (3), the docking unit (3) includes being arranged on nothing
First in man-machine system (1) the second docking unit for docking unit (31) and being arranged in unmanned plane hovering base station (2)
(32), the first docking unit (31) includes first interface (3101), and the second docking unit includes second interface
(3201), the first interface (3101) can dock realization electrical connection with second interface (3201).
3. the service robot system according to claim 2 based on unmanned plane, it is characterised in that：Second pair of order
First (32) include catching mechanism, and the seizure mechanism can hover base station (2) upper and lower translation and rotation relative to the unmanned plane,
The first docking unit (31) includes coordinating the companion flange (3102) for catching the ring-type that mechanism uses.
4. the service robot system according to claim 3 based on unmanned plane, it is characterised in that：Seizure mechanism bag
Include and catch support (3203), circumference array is provided with least three claws (3204) (this implementation on the seizure support (3203)
It is six in example), the claw (3204) can be relative to seizure support (3203) rotation, and the claw (3204) includes flat
Straight portion (3204-1), one end of the flat part (3204-1) is rotatably installed on the seizure support (3203), described straight
The other end in portion (3204-1) is provided with positioning shoulder (3204-2), and the shape of the companion flange 3102 is captured in the seizure mechanism
Under state, axially extending, the positioning shoulder of the flat part (3204-1) of the claw (3204) along the seizure support (3203)
(3204-2) extending radially outwardly from the end of flat part (3204-1) to seizure support (3203)；Claw
(3204) motion is driven by driving arm (3206), promotion of the driving arm (3206) in the active bracket (3207)
The axial direction lifting of support (3203) is caught described in lower edge, and bullet is provided between driving arm (3206) and active bracket (3207)
Property element (3208)；Active bracket (3207) is provided with the flanging flange (3207-1) for being used for pushing down the companion flange 3102；
Active bracket (3207) is driven by the drive device being arranged on the seizure support (3203).
5. the service robot system according to claim 2 based on unmanned plane, it is characterised in that：The UAS
(1) the auxiliary docking system for aiding in determining both relative positions is provided between unmanned plane hovering base station (2)
(5), aid in docking system (5) include by scattering device the dispersal unit group that forms of multiple independent dispersal units and can be with
Each dispersal unit (51) carries out individually interactive separate unit (52), in both dispersal unit group and separate unit (52) wherein
One of be arranged on unmanned plane hovering base station on, another be arranged on UAS on.
6. the service robot system according to claim 5 based on unmanned plane, it is characterised in that：The dispersal unit
(51) be with one of the separate unit (52) RF transmitter, another be infrared receiver.
7. the service robot system according to claim 5 based on unmanned plane, it is characterised in that：The dispersal unit
(51) it is Quick Response Code, the separate unit (52) is reading code camera.
8. according to the service robot system based on unmanned plane described in claim any one of 1-7, it is characterised in that：The spy
Surveying unit (12) includes camera and environment detection element, environment detection element including infrared sensor, ultrasonic sensor,
One in laser radar three, secondly or all.
9. the service robot system according to claim 1 based on unmanned plane, it is characterised in that：The UAS
(1) execution unit (6) is also equipped with, the execution unit (6) includes Suction cup assembly, and the Suction cup assembly includes sucker
(61) tracheae (62) that, one end and sucker (61) connect and the negative pressure generating element (63) for producing negative pressure, tracheae (62)
Other end direct or indirect connection negative pressure generating element (63)；The unmanned plane body (11) includes multiple wing arms (111), often
Include motor (112) on individual wing arm (111), one end connection rotor of the output shaft of motor (112), motor (112) it is defeated
The other end connection negative pressure generating element (63) of shaft.
10. the service robot system according to claim 9 based on unmanned plane, it is characterised in that：Negative pressure generating element
(63) include element housings (631), elastic membrane (632), the elastic membrane (632) and member are provided with the element housings (631)
A chamber with air intake and gas outlet is surrounded between part housing (631) inner chamber, air inlet valve is provided with the air intake
(633) air outlet valve (634), is provided with the gas outlet, the motor (112) makes elastic membrane (632) cycle by drive mechanism
Property is of reciprocating vibration.In the first embodiment, each negative pressure generating element (63) passes through tracheae (62) independent connection sucker
(61)；The drive mechanism includes drive rod (635) and the eccentric wheel (636) on the output shaft of motor (112), institute
It is hinged relationship to state between one end of drive rod (635) and the eccentric wheel (636), and the other end of the drive rod (635) connects
Connect the elastic membrane (632).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799769.8A CN107472548A (en) | 2017-09-07 | 2017-09-07 | Service robot system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799769.8A CN107472548A (en) | 2017-09-07 | 2017-09-07 | Service robot system based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107472548A true CN107472548A (en) | 2017-12-15 |
Family
ID=60584555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799769.8A Withdrawn CN107472548A (en) | 2017-09-07 | 2017-09-07 | Service robot system based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107472548A (en) |
-
2017
- 2017-09-07 CN CN201710799769.8A patent/CN107472548A/en not_active Withdrawn
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Application publication date: 20171215 |