CN109085852B - Flying robot system suitable for high-rise uneven structure - Google Patents
Flying robot system suitable for high-rise uneven structure Download PDFInfo
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- CN109085852B CN109085852B CN201811104324.4A CN201811104324A CN109085852B CN 109085852 B CN109085852 B CN 109085852B CN 201811104324 A CN201811104324 A CN 201811104324A CN 109085852 B CN109085852 B CN 109085852B
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- 238000004891 communication Methods 0.000 claims abstract description 26
- 239000002131 composite material Substances 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 91
- 238000004804 winding Methods 0.000 claims description 19
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 5
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- 230000005540 biological transmission Effects 0.000 description 4
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- 230000004048 modification Effects 0.000 description 2
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- 238000013528 artificial neural network Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The embodiment of the invention relates to the technical field of inspection of high-rise uneven structures, in particular to a flying robot system suitable for the high-rise uneven structures, which comprises the following components: the coiling machine, the mooring cable, the aircraft body, the light stream sensor subassembly, laser rangefinder sensor subassembly, laser radar and real-time dynamic measurement appearance, the one end of mooring cable is connected in the coiling machine, the other end is connected in the aircraft body, the mooring cable is the photoelectric composite cable, the light stream sensor subassembly, laser rangefinder sensor subassembly, laser radar and real-time dynamic measurement appearance all set up in the aircraft body and with set up in the main control chip communication connection of aircraft body, still with mooring cable communication connection, mooring cable still with a base station communication connection, so, can guarantee that this flying robot system has higher reliability when patrolling and examining in high-rise non-level structure.
Description
Technical Field
The embodiment of the invention relates to the technical field of inspection of high-rise uneven structures, in particular to a flying robot system suitable for the high-rise uneven structures.
Background
With the rapid development of society, a large number of high-rise buildings stand out in cities. The high-rise building can be exposed to the sun and rain in the use process, the building structure part can be aged or damaged, and especially the aging or damage condition of the non-flat structure part of the high-rise building is more serious, so that the inspection of the high-rise non-flat structure is more important, and the aging or damage condition of the high-rise non-flat structure is obtained in time.
At present, based on the flying speed development of unmanned aerial vehicles, the prior art generally adopts unmanned aerial vehicles to patrol and examine high-rise uneven structure, but the reliability is lower under most of the circumstances.
Disclosure of Invention
In view of this, the present invention provides a flying robot system suitable for a high-rise uneven structure, and the flying robot system has high reliability when inspecting in the high-rise uneven structure.
The embodiment of the invention provides a flying robot system suitable for a high-rise uneven structure, which comprises: the system comprises a winding machine, a mooring cable, an aircraft body, an optical flow sensor assembly, a laser ranging sensor assembly, a laser radar and a real-time dynamic measuring instrument;
one end of the mooring cable is connected to the winding machine, the other end of the mooring cable is connected to the aircraft body, and the mooring cable is a photoelectric composite cable;
the optical flow sensor assembly is arranged on the aircraft body, the laser ranging sensor is arranged at a position, close to the optical flow sensor assembly, of the aircraft body, the laser radar is arranged at a position, close to the optical flow sensor assembly and the laser ranging sensor assembly, of the aircraft body, and the real-time dynamic measuring instrument is arranged at a position, close to the laser radar, of the aircraft body;
a main control chip is embedded in the aircraft body and is in communication connection with the mooring cable, the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument respectively;
the mooring cable is in communication connection with the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument respectively, and is also in communication connection with a base station, and is used for supplying power to the aircraft body, receiving data collected by the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument in real time and transmitting the data to the base station.
Optionally, the aircraft body comprises a first carrier plate;
the laser radar is arranged in the center of the first carrier plate;
the optical flow sensor assembly, the laser ranging sensor assembly and the real-time dynamic measuring instrument are arranged at the position, close to the edge, of the first carrier plate, and the optical flow sensor, the laser ranging sensor assembly and the real-time dynamic measuring instrument surround the laser radar.
Optionally, a first cable interface is further disposed in the center of the first carrier, and one end of the mooring cable is connected to the winding machine, and the other end of the mooring cable is connected to the first cable interface.
Optionally, the first carrier plate is further provided with a protective cover, and the protective cover is provided with a plurality of grids.
Optionally, the optical flow sensor assembly comprises a first optical flow sensor and a second optical flow sensor, the laser ranging sensor comprises a first laser ranging sensor and a second laser ranging sensor, and the real-time dynamic gauge comprises a first real-time dynamic gauge and a second real-time dynamic gauge;
the first optical flow sensor and the first laser ranging sensor are fixed at the position, close to a first edge, of the first carrier plate, and the second optical flow sensor and the second laser ranging sensor are fixed at the position, close to a second edge, of the first carrier plate, wherein the second edge is opposite to the first edge;
the first real-time dynamic measuring instrument is fixed at a position, close to a third edge, of the first carrier plate, and the second real-time dynamic measuring instrument is fixed at a position, close to a fourth edge, of the first carrier plate, wherein the third edge is opposite to the fourth edge;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument surround the laser radar;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument are in communication connection with the main control chip;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument are all in communication connection with the mooring cable.
Optionally, the aircraft body further comprises a second carrier plate, the optical flow sensor assembly further comprises a third optical flow sensor, the laser ranging sensor assembly further comprises a third laser ranging sensor;
the second carrier plate is fixedly connected with the first carrier plate, and the main control chip is arranged between the first carrier plate and the second carrier plate;
the third optical flow sensor and the third laser ranging sensor are fixed on one side, far away from the first carrier plate, of the second carrier plate;
the third optical flow sensor and the third laser ranging sensor are in communication connection with the main control chip;
the third optical flow sensor and the third laser ranging sensor are both in communication connection with the tethered cable.
Optionally, a second cable interface is further disposed in the center of the second carrier, and one end of the mooring cable is connected to the winding machine, and the other end of the mooring cable is connected to the second cable interface.
Optionally, the flying robot system further includes a pan-tilt camera, the pan-tilt camera is fixed to one side of the second carrier plate far away from the first carrier plate, and the pan-tilt camera is far away from the third optical flow sensor and the third laser ranging sensor.
Optionally, the flying robot system further includes a spare lithium battery, the spare lithium battery is disposed between the first carrier plate and the second carrier plate, and the spare lithium battery is in communication connection with the main control chip;
and when the main control chip does not receive the electric energy transmitted by the mooring cable, the main control chip is used for extracting the electric energy from the standby lithium battery.
Optionally, the main control chip is in communication connection with the winding machine;
the main control chip is used for acquiring the flight height of the aircraft body, generating an adjusting instruction for adjusting the length of the mooring cable according to the flight height, and sending the adjusting instruction to the winding machine;
the winding machine is used for receiving the adjusting instruction and adjusting the length of the mooring cable according to the adjusting instruction.
According to the flying robot system suitable for the high-rise non-flat structure, the mooring cable adopts the photoelectric composite cable, the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the data collected by the real-time dynamic measuring instrument can be received in real time while the power is supplied to the aircraft body, on one hand, the cruising ability of the whole flying robot system can be improved, the flying robot system can be ensured to be patrolled for a long time, on the other hand, the data can be received in real time and transmitted to the base station, the timeliness of the data is ensured, and the reliability of the flying robot system in the high-rise non-flat structure during the patrolling is further ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a flying robot system suitable for a high-rise uneven structure according to an embodiment of the present invention.
Fig. 2 is another schematic structural diagram of a flying robot system suitable for a high-rise non-flat structure according to an embodiment of the present invention.
Fig. 3 is a schematic view of a first perspective view of an aircraft body according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of inspection of a flying robot system suitable for a high-rise uneven structure according to an embodiment of the present invention.
Fig. 5 is a schematic positioning diagram of a flying robot system suitable for a high-rise uneven structure according to an embodiment of the present invention.
Icon:
100-a flying robot system suitable for high-rise uneven structures;
1-a winding machine;
2-mooring cable
31-a first carrier plate; 311-a first cable interface; 312-a shield; 32-a second carrier plate; 321-a second cable interface;
41-a first optical flow sensor; 42-a second optical flow sensor; 43-a third optical flow sensor;
51-a first laser ranging sensor; 52-a second laser ranging sensor; 53-a third laser ranging sensor;
6-laser radar;
71-a first real-time dynamic gauge; 72-a second real-time dynamic measuring instrument;
8-cloud deck camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The inventor finds through the investigation that the reliability of the existing technology of adopting the unmanned aerial vehicle to patrol and examine the high-rise uneven structure is lower, and the inventor carefully analyzes and discovers that the existing unmanned aerial vehicle has weak cruising ability and delay in data information transmission when patrolling and examining the high-rise uneven structure aiming at the existing unmanned aerial vehicle patrol and examine technology, and the data information collected by the sensor is inaccurate.
The above prior art solutions have shortcomings which are the results of practical and careful study of the inventor, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventor to the present invention in the course of the present invention.
Based on the research, the embodiment of the invention provides a flying robot system suitable for a high-rise uneven structure, and the flying robot system has higher reliability when patrolling in the high-rise uneven structure.
Firstly, based on the problems existing in the prior art, the present embodiment replaces a general cable with the photoelectric composite cable, on one hand, reliable power supply can be realized, and the cruising ability of the flying robot system is ensured, on the other hand, the photoelectric composite cable can be used for transmitting data signals, and the timeliness of data transmission is ensured.
Fig. 1 shows a flying robot system 100 suitable for a high-rise uneven structure according to an embodiment of the present invention, and as can be seen from the figure, the flying robot system 100 includes a winding machine 1, a mooring cable 2, an aircraft body, an optical flow sensor assembly, a laser ranging sensor assembly, a laser radar 6, a real-time dynamic measuring instrument, a pan-tilt camera, and a backup lithium battery.
The aircraft body comprises a first carrier plate 31 and a second carrier plate 32, and it can be understood that the first carrier plate 31 is an upper carrier plate, the second carrier plate 32 is a lower carrier plate, the first carrier plate 31 and the second carrier plate 32 are fixedly connected, and a main control chip is arranged between the first carrier plate 31 and the second carrier plate 32.
Further, the optical flow sensor assembly comprises a first optical flow sensor 41, a second optical flow sensor 42 and a third optical flow sensor 43, wherein the first optical flow sensor 41 and the second optical flow sensor 42 are horizontal optical flow sensors, the third optical flow sensor 43 is a downward optical flow sensor, the laser ranging sensor assembly comprises a first laser ranging sensor 51, a second laser ranging sensor 52 and a third laser ranging sensor 53, wherein the first laser ranging sensor 51 and the second laser ranging sensor 52 are horizontal laser ranging sensors, the third laser ranging sensor 53 is a downward laser ranging sensor, and the real-time dynamic measuring instrument comprises a first real-time dynamic measuring instrument 71 and a second real-time dynamic measuring instrument 72.
Referring to fig. 1, the lidar 6 is disposed at the center of the first carrier plate 31, the first optical flow sensor 41 and the first laser ranging sensor 51 are fixed at a position of the first carrier plate 31 near the first edge, the second optical flow sensor 42 and the second laser ranging sensor 52 are fixed at a position of the first carrier plate 31 near the second edge, wherein the second edge is opposite to the first edge, the first real-time dynamic measuring instrument 71 is fixed at a position of the first carrier plate 31 near the third edge, and the second real-time dynamic measuring instrument 72 is fixed at a position of the first carrier plate 31 near the fourth edge, wherein the fourth edge is opposite to the third edge. It is understood that the first optical flow sensor 41, the first laser ranging sensor 51, the first real-time dynamic measuring instrument 71, the second optical flow sensor 42, the second laser ranging sensor 52 and the second real-time dynamic measuring instrument 72 surround the laser radar 6.
Referring to fig. 2, the third optical flow sensor 43 and the third laser ranging sensor 53 are fixed on a side of the second carrier plate 32 away from the first carrier plate 31, wherein the third optical flow sensor 43 and the third laser ranging sensor 53 face the ground, the pan-tilt camera 8 is fixed on a side of the second carrier plate 32 away from the first carrier plate 31, and the pan-tilt camera 8 is away from the third optical flow sensor 43 and the third laser ranging sensor 53.
Referring to fig. 1 and fig. 2, the first optical flow sensor 41, the second optical flow sensor 42, the third optical flow sensor 43, the first laser ranging sensor 51, the first laser ranging sensor 52, the third laser ranging sensor 53, the laser radar 6, the first real-time dynamic measuring instrument 71, the second real-time dynamic measuring instrument 72, and the pan/tilt camera 8 are all in communication connection with the main control chip, and meanwhile, the first optical flow sensor 41, the second optical flow sensor 42, the third optical flow sensor 43, the first laser ranging sensor 51, the first laser ranging sensor 52, the third laser ranging sensor 53, the laser radar 6, the first real-time dynamic measuring instrument 71, the second real-time dynamic measuring instrument 72, and the pan/tilt camera 8 are also in communication connection with the mooring cable 2.
Optionally, the mooring cable 2 is also in communication connection with a ground base station, the mooring cable 2 is used for supplying power to the aircraft body, for example, to the sensors, the measuring instruments, the main control chip and the rotor, and at the same time, since the mooring cable 2 is an optical-electrical composite cable, it can also receive in real time the data information collected by the first optical flow sensor 41, the second optical flow sensor 42, the third optical flow sensor 43, the first laser ranging sensor 51, the first laser ranging sensor 52, the third laser ranging sensor 53, the laser radar 6, the first real-time dynamic measuring instrument 71, the second real-time dynamic measuring instrument 72 and the pan-tilt camera 8, such as optical flow data, ranging data, radar scanning data and video data, etc., which can be transmitted to the base station through the mooring cable 2, so as to ensure the endurance of the whole flying robot system 100, and the timeliness of data information acquisition and acquisition can be ensured, so that the reliability of the whole flying robot system 100 in inspection in a high-rise non-flat structure is improved.
In this embodiment, the laser ranging sensor is a TOF sensor, and the real-time kinematic measuring instrument is an RTK.
Optionally, reserve lithium cell sets up between first support plate and second support plate, reserve lithium cell and main control chip communication connection, when main control chip does not receive the electric energy of mooring cable transmission, main control chip can draw the electric energy from reserve lithium cell, so set up, can guarantee that the aircraft body when meeting with the outage suddenly, still can rely on reserve lithium cell to descend back to ground, for example, if main control chip begins to extract the electric energy from reserve lithium cell, main control chip can refuse all operating instructions that the operation end sent, and then automatic control aircraft body descends back to ground, so set up, can guarantee when the outage suddenly, the aircraft body can not suffer damage.
Optionally, with continuing to refer to fig. 1 and fig. 2, the main control chip is in communication connection with the winding machine 1, and the main control chip may be further configured to obtain a flying height of the aircraft body, generate an adjustment instruction for adjusting the length of the mooring cable 2 according to the flying height, and send the adjustment instruction to the winding machine 1. Coiling machine 1 is used for receiving the adjustment instruction, adjusts the length of mooring cable according to the adjustment instruction, so sets up, can reduce mooring cable 2 to the resistance of aircraft body as far as possible at the flight in-process, improves flight efficiency.
In addition, when measuring a high-rise uneven structure such as a dam, the altitude of the winding machine is generally higher than that of the aircraft body, the existing aircraft body generally arranges a cable interface at the lower part of the aircraft body, in this case, the traction of the mooring cable to the aircraft body may be increased, the flight efficiency of the aircraft may be reduced, in view of the above, the embodiment of the present invention is also modified correspondingly, and referring to fig. 3, it can be seen that a first cable port 311 is disposed in the center of the first carrier 31, a second cable port 321 is disposed in the center of the second carrier 32, it will be appreciated that the mooring cable 2 may be connected to the first cable interface 311, to the second cable interface 321, so arranged, the traction force of the mooring cable 2 to the aircraft body can be well eliminated, and for example, the mooring cable 2 may be connected to the second cable interface when the winder is at a lower altitude than the aircraft body.
Further, please continue to refer to fig. 3, the first carrier plate 31 is further provided with a protective cover 312, the protective cover 312 is provided with a plurality of grids, the protective cover 312 is configured to prevent the mooring cable 2 from being wound around the rotor (propeller) to cause an accident, and the grids are configured to ensure the airflow generated by the rotor (propeller), so as to ensure that the aircraft body can fly.
Referring to fig. 4, it can be seen that, during flying, the aircraft body drives the mooring cable 2, and further, in order to reduce the transverse pulling force of the mooring cable 2 on the aircraft body, the mooring cable 2 may be pulled out by a sufficient length and touch the bottom of the high-rise non-flat structure, and then the aircraft body is controlled to move transversely.
Referring to fig. 5, it can be seen that the laser radar can scan the plane where the aircraft body is located in real time to obtain the peripheral obstacle information of the aircraft body. The optical flow sensor assembly, the laser ranging sensor assembly and the real-time dynamic measuring instrument can be cooperatively used for positioning the space position and the space attitude of the aircraft body. For example, a first optical flow sensor and a first laser ranging sensor collect optical flow data and ranging data of an area A, a second optical flow sensor and a second laser ranging sensor collect optical flow data and ranging data of an area B, a third optical flow sensor and a third laser ranging sensor collect optical flow data and ranging data of an area C, a main control chip obtains the data information, and then spatial position information and spatial attitude information of an aircraft body are calculated through a fusion positioning algorithm and a convolution neural network, so that the aircraft body is accurately positioned.
Optionally, if the mooring cable is hung on the barrier, the main control chip can control the mooring cable to be separated, and then the aircraft body is guaranteed. For example, if the main control chip receives the control command, but the acquired data information (optical flow data, ranging data, video data, and the like) does not change, indicating that the tethered cable can be hung on the obstacle, at this time, the main control chip controls the tethered cable to be separated from the first cable interface/the second cable interface, so as to ensure the flight of the aircraft body.
In summary, the aircraft system suitable for the high-rise uneven structure provided by the embodiment of the invention has the advantages of strong cruising ability, timely data information acquisition and transmission, accurate positioning and higher reliability when the high-rise uneven structure is inspected.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A flying robot system suitable for high-rise non-flat structures, comprising: the system comprises a winding machine, a mooring cable, an aircraft body, an optical flow sensor assembly, a laser ranging sensor assembly, a laser radar and a real-time dynamic measuring instrument;
one end of the mooring cable is connected to the winding machine, the other end of the mooring cable is connected to the aircraft body, and the mooring cable is a photoelectric composite cable;
the optical flow sensor assembly is arranged on the aircraft body, the laser ranging sensor is arranged at a position, close to the optical flow sensor assembly, of the aircraft body, the laser radar is arranged at a position, close to the optical flow sensor assembly and the laser ranging sensor assembly, of the aircraft body, and the real-time dynamic measuring instrument is arranged at a position, close to the laser radar, of the aircraft body;
a main control chip is embedded in the aircraft body and is in communication connection with the mooring cable, the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument respectively;
the mooring cable is respectively in communication connection with the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument, and is also in communication connection with a base station, and is used for supplying power to the aircraft body, receiving data collected by the optical flow sensor assembly, the laser ranging sensor assembly, the laser radar and the real-time dynamic measuring instrument in real time and transmitting the data to the base station;
the aircraft body comprises a first carrier plate;
the laser radar is arranged in the center of the first carrier plate; the optical flow sensor assembly, the laser ranging sensor assembly and the real-time dynamic measuring instrument are arranged at the position, close to the edge, of the first carrier plate, and the optical flow sensor assembly, the laser ranging sensor assembly and the real-time dynamic measuring instrument surround the laser radar;
the optical flow sensor assembly comprises a first optical flow sensor and a second optical flow sensor, the laser ranging sensor comprises a first laser ranging sensor and a second laser ranging sensor, and the real-time dynamic measuring instrument comprises a first real-time dynamic measuring instrument and a second real-time dynamic measuring instrument;
the first optical flow sensor and the first laser ranging sensor are fixed at the position, close to a first edge, of the first carrier plate, and the second optical flow sensor and the second laser ranging sensor are fixed at the position, close to a second edge, of the first carrier plate, wherein the second edge is opposite to the first edge;
the first real-time dynamic measuring instrument is fixed at a position, close to a third edge, of the first carrier plate, and the second real-time dynamic measuring instrument is fixed at a position, close to a fourth edge, of the first carrier plate, wherein the third edge is opposite to the fourth edge;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument surround the laser radar;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument are in communication connection with the main control chip;
the first optical flow sensor, the first laser ranging sensor, the first real-time dynamic measuring instrument, the second optical flow sensor, the second laser ranging sensor and the second real-time dynamic measuring instrument are all in communication connection with the mooring cable;
the main control chip is in communication connection with the winding machine;
the main control chip is used for acquiring the flight height of the aircraft body, generating an adjusting instruction for adjusting the length of the mooring cable according to the flight height, and sending the adjusting instruction to the winding machine;
the winding machine is used for receiving the adjusting instruction and adjusting the length of the mooring cable according to the adjusting instruction;
the first carrier plate is also provided with a protective cover, and the protective cover is provided with a plurality of grids;
when the mooring cable is hung on the barrier, the main control chip controls the mooring cable to be separated.
2. The flying robot system suitable for the high-rise uneven structure as claimed in claim 1, wherein a first cable interface is further arranged in the center of the first carrier plate, and one end of the mooring cable is connected to the winding machine while the other end is connected to the first cable interface.
3. A flying robot system suitable for high-rise non-flat structures according to claim 1, wherein the aircraft body further comprises a second carrier plate, the optical flow sensor assembly further comprises a third optical flow sensor, and the laser ranging sensor assembly further comprises a third laser ranging sensor;
the second carrier plate is fixedly connected with the first carrier plate, and the main control chip is arranged between the first carrier plate and the second carrier plate;
the third optical flow sensor and the third laser ranging sensor are fixed on one side, far away from the first carrier plate, of the second carrier plate;
the third optical flow sensor and the third laser ranging sensor are in communication connection with the main control chip;
the third optical flow sensor and the third laser ranging sensor are both in communication connection with the tethered cable.
4. The flying robot system suitable for the high-rise uneven structure as claimed in claim 3, wherein a second cable interface is further arranged in the center of the second carrier plate, one end of the mooring cable is connected to the winding machine, and the other end of the mooring cable is connected to the second cable interface.
5. A flying robot system suitable for high-rise non-flat structures according to claim 3, further comprising a pan-tilt camera fixed to the second carrier plate on the side away from the first carrier plate, the pan-tilt camera being away from the third optical flow sensor and the third laser ranging sensor.
6. The flying robot system suitable for the high-rise uneven structure as claimed in claim 3, further comprising a spare lithium battery, wherein the spare lithium battery is arranged between the first carrier plate and the second carrier plate, and is in communication connection with the main control chip;
and when the main control chip does not receive the electric energy transmitted by the mooring cable, the main control chip is used for extracting the electric energy from the standby lithium battery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811104324.4A CN109085852B (en) | 2018-09-20 | 2018-09-20 | Flying robot system suitable for high-rise uneven structure |
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| CN201811104324.4A CN109085852B (en) | 2018-09-20 | 2018-09-20 | Flying robot system suitable for high-rise uneven structure |
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| CN109085852A CN109085852A (en) | 2018-12-25 |
| CN109085852B true CN109085852B (en) | 2020-05-08 |
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