CN109965769A - It is a kind of that wall machine is automatically climbed using local electromagnetic signal positioning system - Google Patents
It is a kind of that wall machine is automatically climbed using local electromagnetic signal positioning system Download PDFInfo
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- CN109965769A CN109965769A CN201811616016.XA CN201811616016A CN109965769A CN 109965769 A CN109965769 A CN 109965769A CN 201811616016 A CN201811616016 A CN 201811616016A CN 109965769 A CN109965769 A CN 109965769A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Electrochemistry (AREA)
- Chemical & Material Sciences (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
It is a kind of automatically to climb wall work machine.Specifically include that mechanical aspects, climb wall machine ontology, multiple propellers and propeller motor driven systems, pose adjustment joint, with the rigid structure climbing wall machine ontology and be connected by pose adjustment joint；Electrical aspect, electric-control system, memory module, the real-time positioning apparatus based on local electromagnetic signal.Wall machine is climbed according to preset path and the model information stored, the real-time position information provided by real-time positioning apparatus carries out full AUTONOMOUS TASK under guiding.
Description
Technical field
The present invention relates to mechanical electronic equipments.
Background technique
Well known high-altitude wall operation, such as curtain cleaning there is no mature automation equipment to substitute artificial carry out partly
Idle job.And current known wall operating equipment, it needs artificial hanging operation being completed in midair, this increases not only works
Industry cost, and lead to human safety issues.
It uses automation equipment to replace the artificial purpose for realizing the operation of high-altitude wall to realize, once there is technical staff grinding
System has made a large amount of effort in terms of climbing wall work machine (climbing wall machine).Presently relevant well-known technique include: using hoist engine (i.e.
Fixed pinnacled motor drag equipment) it is dragged by cable to wall machine is climbed, moving up and down for wall machine is climbed in realization, i.e., longitudinally
Position control；The wind-force generated using propeller, is made to climb wall machine and is steadily attached on wall；Wheel is set on climbing wall machine,
To realize that climbing wall machine successfully moves up and down.
In order to improve the application portability for climbing wall machine, fully automatic working should be had the function of by climbing wall machine.Specifically, should
Setting in advance for task can be completed without artificial whole intervention.But with well known technology, there is no complete
Technical solution, which is realized, automatically climbs wall work machine.
Summary of the invention
The present invention provides a kind of implementations for automatically climbing wall machine.Specifically:
1. the setting information memory module in the electric-control system for climbing wall machine, for wall (such as curtain wall) and its adjunct where storing
The model information (three-dimensional structure information and location information including outer surface) of (such as window) and related with wall operation is climbed
Information (for example, the position for all glass to be cleaned, size, shape, material), these information can be manually entered in advance.
2. climbing on wall machine and real-time positioning apparatus being arranged.Real-time positioning apparatus can be coordinate real-time positioning apparatus, as GPS,
Differential GPS, Beidou positioning device etc..However, satellite-based positioning system, there are satellite-signals to block vulnerable to building, believe
Number frame frequency too low the shortcomings that being unfavorable for real-time control.It is real-time based on local electromagnetic signal that present invention further proposes one kind thus
Positioning device automatically climbs wall working rig.So-called local electromagnetic signal positioning system, refers to including base station, mobile terminal
All electromagnetic signal R-T units are all located at local.Wherein local is for long-range, for example, satellite is relative to ground
It is remote equipment, and the base station being arranged on same seat building is then clearly local device relative to this building.Therein
Ground electromagnetic signal positioning system can be UWB(Ultra Wideband) location technology, specifically: in multiple and different positions of wall
The fixed UWB module of place's setting is set, as base station module, and predefines the coordinate of good each base station.In order to ensure signal not by
It blocks, base station should be arranged at prominent position, or special be arranged protrudes bracket.By improving the setting quantity of base station, with
And the difference position of different base station is rationally set, the positioning accuracy of system can be improved.The conduct of UWB module is set on climbing wall machine
Label model, by transmission of electromagnetic signals and according to signal in base station module and label mould between base station module and label model
Transmission time between block carries out the range measurement between base station-label, and according between label model and multiple base station modules away from
From and the coordinate of each base station determine that label model climbs the coordinate of wall machine.Due to UWB(Ultra Wideband) positioning skill
Art is well known mature technology, therefore those skilled in the relevant art can be without making creative labor according to foregoing description
Implement to climb wall machine automatic positioning function based on UWB(Ultra Wideband) location technology under the premise of dynamic.
Climbing wall machine can also be using local real-time positioning apparatus, and (machine regards the vision positioning system such as based on Model Matching
Feel), ultrasonic wave (or laser) Scan orientation system based on Model Matching etc., be also possible to coordinate real-time positioning apparatus and part
The combination of real-time positioning apparatus；
3. according to preset and working path stored in memory and place wall stored in memory and its
Appendicular model information, the real-time position information provided by real-time positioning apparatus carry out autonomous to realize under guiding
Full AUTONOMOUS TASK.
It is provided by the invention to climb wall machine, mechanical structure mainly include climb wall machine ontology, be arranged in climb it is more on wall machine ontology
A propeller and propeller motor driven systems, for dragging the electronic actuator for climbing wall machine ontology.Electric-control system is main
Including controller, memory module, the real-time positioning apparatus based on local electromagnetic signal and power supply system.Wherein, controller, deposit
Storage module, real-time positioning apparatus are connected by electric signal.Motor driven systems and electric-control system are electrically connected with power supply system.
Climbing wall machine ontology mainly includes passing through frame constructed by connector as connecting rod.In order to reduce weight, connecting rod can be with
It is made of carbon fibre material, aluminum pipe or stainless steel tube can also be used, so as to the motor and power management being fixed thereon
The heat dissipation of device.
Propeller driving system can be dish type external-rotor-type brushless direct current motor system.Propeller driving system is electricity
When motivation, radiator can be set on motor.Radiator can be aluminium heat sink, and cooling fin passes through heat conductive silica gel
Bonding with the bottom of motor or surrounding shell, cooling fin is stretched over peripheral regions, and is mentioned by the wind of propeller generation
High heat dissipation effect.
In actual operation, it climbs wall machine ontology using the dragging of motor run device to move up and down, motor run device
It mainly include electric motor system, traction rope and traction rope wheel.The driving motor system of motor run device can fix
In the fixed position of wall eminence.The driving motor system of motor run device can also be directly anchored to climb wall machine ontology
On, while the other end of traction rope is connected to roof fixed position or on the motor-driven carrier of roof.
Preferably, it is dragged using single set motor driving system to wall machine ontology is climbed.More rotations are similar to using well known
The mode by adjusting revolution speed of propeller difference of wing UAV Attitude control adjusts the angle for climbing wall machine ontology, realizes and climbs wall machine
The dynamic equilibrium of posture.
Electronic governing system and brake gear and slowing-down structure are provided on motor run device.Wherein electronic speed regulation
System can be by conducting wire or the corresponding speed-regulating instruction signal of radio reception, and according to the command signal received to actuator
The size and Orientation of the speed of service adjusted in real time.The effect of brake gear is to prevent from climbing wall machine ontology falling and climbing
When wall machine ontology is fixed, it can use brake gear and block and climb wall machine, and stop the motor in motor run device
Operating, with save electric energy and carry out electric motor temperature reduction.Slowing-down structure can be made of series of gears, and effect is to motor
Output torque amplify.
In order to preferably to climbing drawing for wall machine ontology, the electronic governing system of motor run device may include
Encoder for position feedback.For this purpose, can be coaxial with encoder connected by the shaft of actuator driving motor.In this way,
Shaft drives the central axis rotation of encoder, to enable the encoder to measure the upper and lower displacement size for climbing wall machine ontology.
Propeller system includes propeller and propeller driving device.The driving device of propeller, which is fixed on, climbs wall machine ontology
On.In real work, climbs thrust caused by the propeller of wall machine and will climb wall machine ontology and push wall to, to make to climb wall machine ontology
It is stably adhered on wall.
Have the function of attitude regulation to make to climb wall machine, it is provided by the present invention to climb on wall machine that be provided with pose adjustment electronic
Joint, the electronic joint of pose adjustment have driving motor.It is provided in addition, climbing on wall machine for as pose adjustment supporter
Rigid structure, the rigid structure one end are connected with traction rope, and the other end is connected by pose adjustment joint with wall machine ontology is climbed.Just
Property structure on be higher than junction with pose adjustment joint with the junction of traction rope.In this way, in normal work, this is rigidly tied
Structure is pulled the upper pulling force of rope simultaneously and climbs the lower pulling force of wall machine ontology, and keeps vertical direction under the action of the two power
Posture it is constant, therefore rotated under the action of driving motor when pose adjustment joint, can be using rigid structure as supporter
Pose adjustment is carried out to wall machine ontology is climbed.
The electronic joint of pose adjustment that two series connections are set can be being climbed between wall machine ontology and above-mentioned rigid structure,
Two joints are respectively used to climb the pitching of wall machine ontology and the pose adjustment of roll both direction.
In order to mitigate weight, above-mentioned rigid rod can pass through the connection such as pipe clamp using carbon fiber pipe or aluminum pipe or stainless steel tube
Component composition.
In order to improve safety, shielded frame can be set around propeller, and protective net is arranged on shielded frame.
Shielded frame can use aluminium alloy, formed, can also be formed by connecting using connector by welding assembly.Shielded frame can also
To be formed using carbon fiber pipe.
Motor run device is drawn by traction rope to wall machine ontology is climbed, and climbs wall machine ontology under the draw
Realization moves up and down.It is steadily dragged to enable to climb wall machine ontology, digital processing unit and corresponding sensor can be used
Kinetic control system is established, for controlling the speed of service of the motor of motor driving system and the drive of support wheel transfer
The operation of dynamic motor and other driving motors.Used sensor may include: the acceleration for being fixed on and climbing on wall machine ontology
Degree meter (for measuring gravitational cue, judgement climbs whether wall machine ontology tilts), gyroscope angular speed meter or encoder.
In addition, moving horizontally for wall machine ontology is climbed in realization by horizontal movement motor actuator.For this purpose, can incite somebody to action
Motor run device is fixed on trolley, and automatic speed regulation system can be set in the wheel of trolley, and the wheel of trolley adjusts the speed automatically
System can receive the move from controller by wired mode, and wireless signal receiver also can be set, pass through
Wireless mode receives move signal.
The accurate position crosswise joint of wall machine is climbed in order to realize, climbs on wall machine and multiple propellers is set, and by propeller
Rotational plane slightly tilts, specifically: the normal vector (i.e. the direction of propeller rotational plane) of the rotational plane of propeller is having
While having the nonzero component perpendicular to wall plane, also there is while being parallel to the nonzero component of horizontal plane and metope.It is multiple
Propeller is arranged in the left and right sides, and the propeller of the left and right sides is tilted to two sides opposite direction respectively, thus the side of the wind generated
To inclined in opposite directions respectively.In this way, the relative size of the rotation speed by adjusting the propeller of the left and right sides, can adjust
The direction for the gross thrust that whole propeller generates in the horizontal direction and size, to realize that the lateral position for climbing wall machine is accurately adjusted
It is whole.
In order to realize continuous work, the power supply mode of the auxiliary device provided by the present invention climbed on wall machine ontology is: adopting
Electricity is taken from fixed position with long conducting wire.For this purpose, electric power controller is arranged on climbing wall machine.Electric power controller has input
End and output end, electric energy are inputted from its input terminal, defeated from output end after certain processing (as exchange turns direct current, decompression)
It is suitable for the voltage for the auxiliary device climbed on wall machine ontology out.In order to make the output voltage stabilization of electric power controller, power supply pipe
Filter circuit can be set in the input terminal or output end for managing device.When not needing long time continuous working (such as wall compared with
It is short), lithium battery power supply can be used.
In order to realize curtain cleaning, specific power tool is arranged in provided by the present invention climb on wall machine, and power tool can
To include wiper, wiper (for cleaning the windows) and spray head (being cleaned for spraying clear water).In order to ensure spraying swath,
The spray head of multiple parallel arrangeds can be used.Preferably, power tool (such as wiper, wiper), which is fixed on, climbs wall machine ontology
Top.
Can on climbing wall machine carry cleaning liquid agent container, detergent therein can by special micropump and with
Connected spray head be sprayed on wiper, wiper can be by motor-operated roller column structure.Spray head can be with
It is multiple Fan spray heads side by side, is also possible to straight line spray head.When spray head is straight line spray head, motor can be installed in
Shaft on, pass through its injection direction of motor control.
Pose adjustment is carried out by the electronic joint of pose adjustment, makes to climb wall machine ontology and is in forward-lean state, is installed on Pan Bi
The power tool of machine body upper part is in contact with curtain wall, moves up and down under the drive of motor run device at this time, realizes curtain
Wall cleaning.
In conclusion memory module is arranged in the electric-control system for climbing wall machine, for wall and its adjunct where storing
Model information and information related with wall operation is climbed, while real-time positioning apparatus is set.Real-time positioning apparatus can be entirely
Office's coordinate real-time positioning apparatus, is also possible to local real-time positioning apparatus, is also possible to world coordinates real-time positioning apparatus and office
The combination of portion's real-time positioning apparatus.According to preset and working path stored in memory and storage in memory
Place wall and its appendicular model information, the real-time position information provided by real-time positioning apparatus guide under, along pre-
The autonomous path first set is mobile.Specific move mode is: realizing and moves up and down under the dragging of motor run device；
By horizontal movement motor actuator, drive is climbed wall machine ontology and is moved horizontally, while by adjusting propeller in level side
The direction of the gross thrust generated upwards and size, to realize that the lateral position for climbing wall machine accurately adjusts.When climbing wall machine according to pre-
After the path first set is moved to designated position, by pose adjustment, make power tool and wall (or glass curtain wall, window glass
Glass etc.) it is in contact, carry out operation is moved up and down under the dragging of motor run device.
For the ease of the remote control in operation process, provided by the present invention climb on wall machine can install camera and wireless
Figure passes, and so as to carry out remote real-time monitoring to operation process, and carries out remote control to wall machine is climbed by remote earth station.
In order to realize flexible operation, provided by the present invention climb on wall machine ontology can install mechanical arm, and by operation work
It is fixed on the robotic arm to have (wiper, wiper, spray head).
Mechanical arm can be straight line screw rod type sliding mechanical arm, mainly by lead screw, driving lead screw rotation driving motor, lead
Rail and travelling arm are constituted.
In order to reduce weight, mechanical arm can be made of carbon fibre material.It can be with fixing camera on mechanical arm.
The beneficial effects of the present invention are: proposing one kind automatically climbs wall work machine.It specifically includes that mechanical aspects, climbs
Wall machine ontology, multiple propellers and propeller motor driven systems, pose adjustment joint, with climb wall machine ontology by posture tune
The connected rigid structure in whole joint；Electrical aspect, electric-control system, memory module, the real-time positioning dress based on local electromagnetic signal
It sets.Wall machine is climbed according to preset path and the model information stored, the real-time position provided by real-time positioning apparatus
Confidence breath guides the lower full AUTONOMOUS TASK of progress.
Detailed description of the invention
Fig. 1 is the side view provided by the present invention for climbing wall machine (sight is in the horizontal direction, parallel with metope).
Fig. 2 is the front view provided by the present invention for climbing wall machine (sight is in the horizontal direction, vertical with metope).
Fig. 3 is the top view (sight parallel with metope and straight down) of the part-structure provided by the present invention for climbing wall machine.
Fig. 4 is provided by the present invention to climb the integrated environment figure of wall machine in actual work.
In Fig. 1,1. climb wall machine ontology, 2. support rods (including support rod 2.1-2.3, as shown in Figure 3), 3. propellers (packet
Include propeller 3.1-3.4), 4. propeller driving motors (including driving motor 4.1-4.4), 5. pitch attitude angular adjustment electricity
Machine, 6. carrier bases, 7. power tools (eraser), 8. universal wheel steering shafts, 9. universal wheel wheel hubs, the use of 10. motor drawing devices
In the wheel of winding traction rope, the motor of 11. motor drawing devices, 12. traction ropes, 13. glass surfaces, 14. climb wall machine,
The mobile terminal (i.e. label model) of 15.UWB positioning system, fixed base stations (including the base station 16.1- of 16.UWB positioning system
16.4), 17. wall, 18. windowsills, 19. moving trolleys.
Specific embodiment
As shown in Figure 1, climbing wall machine (1) band there are four propeller (3), the Plane of rotation of propeller (3) is located at perpendicular
It is interior, therefore horizontal thrust can be generated when propeller (3) rotation.Wall machine (1) is climbed to seek connections with using the horizontal thrust in glass surface (13)
On.The motor run device for climbing wall machine (1) includes traction rope (12), wheel (10) and driving motor (11).In driving electricity
Under the driving effect of machine (11), wheel (10) rotation, drive is climbed wall machine ontology (1) and is moved up and down.
The pitch angle for climbing wall machine ontology (1) is adjusted by pitch attitude angular adjustment motor (5), can make to make
Industry tool (7) (and universal wheel wheel hub (9)) contacts (separation) or separation (contact) with wall.
When power tool (7) and wall (13) contact, under the driving effect of driving motor (11), wall machine ontology is climbed
(1) it moves up and down, realizes the cleaning to glass surface (13).When power tool (7) are far from glass surface (13), universal wheel wheel hub (9)
When contacting glass surface (13), it can move up and down to wall machine (1) is climbed.When climbing wall machine ontology (1) and moving up and down, lead to
Cross adjustment and climb the pitch angle of wall machine ontology (1), make the top for climbing wall machine ontology (1) successively contact with lower part/be detached from glass surface
(13) or wall (17) obstacle detouring, may be implemented.
As shown in Fig. 2, the rotational plane for climbing the propeller (3) of wall machine (1) has lateral inclination angle, and the left and right sides
Propeller (3) is tilted to two sides opposite direction respectively, so that inclined in opposite directions is distinguished in the direction of the wind generated.In this way, logical
The relative size of the rotation speed of the propeller (3) of the adjustment left and right sides is crossed, adjustable propeller (3) produces in the horizontal direction
The direction of raw gross thrust and size, to realize that the lateral position for climbing wall machine (1) accurately adjusts.In addition, by moving horizontally
Motor run device (11) realizes that the long range for climbing wall machine ontology (1) moves horizontally.
It climbs wall machine (1) to need to do transversely and horizontally mobile and move longitudinally up and down, in order to realize the flat of both movements simultaneously
Slip and structural complexity and system cost are reduced, is provided on climbing wall machine (1) and is made of steering shaft (8) and wheel hub (9)
Universal wheel.When the moving direction for climbing wall machine (1) changes, glass surface (13) or wall (17) suffered by wheel hub (9)
Under the action of frictional force, universal wheel wheel hub (9) is capable of the angle of adjust automatically rotational plane, makes it and climbs the movement of wall machine (1)
Direction is consistent.
Real-time positioning apparatus i.e. mobile terminal (the i.e. label of UWB positioning system is provided on wall machine (14) as shown in figure 4, climbing
Module) (15) can provide under the cooperation of the fixed base stations (16) of UWB positioning system and accurately climb wall machine (14) real-time position
Confidence breath.Under the guide of real-time positioning apparatus (15), according to the model information on wall (17) surface, climbs wall machine (14) and realize entirely
It automatically moves, obstacle and operation.
Claims (7)
1. one kind climbs wall machine, characterized in that specifically include that
Climb wall machine ontology；
For dragging the motor run device climbing wall machine ontology and moving up and down；
It is mounted on the propeller and propeller driving device climbed on wall machine ontology；
And the controller climbed on wall machine is set, information-storing device, the real-time positioning apparatus based on local electromagnetic signal, is supplied
Electric system；
The controller is connected with memory module, real-time positioning apparatus and motor driven systems by electric signal, and motor drives
Dynamic system and controller, information-storing device, real-time positioning apparatus are electrically connected with power supply system.
2. wall machine is climbed according to claim 1, it is characterized in that: the surfaces of revolution of the propeller has specific tilt angle,
I.e. when it is described climb wall machine and be attached on wall plane with normal operation mode when, the normal vector of the surfaces of revolution of the propeller is simultaneously
There is two nonzero components: one is the nonzero component vertical with wall plane, the other is simultaneously with horizontal plane and wall
The parallel nonzero component of body plane.
3. wall machine is climbed according to claim 2, it is characterized in that: the real-time positioning apparatus is local locating device.
4. wall machine is climbed according to claim 2, it is characterized in that: the real-time positioning apparatus is world coordinates positioning device drawn game
The combination of portion's positioning device.
5. wall machine is climbed according to claim 2, it is characterized in that: the actuator for climbing wall machine is fixed in moving trolley.
6. climbing wall machine according to claim 5, it is characterized in that: climbing the moving trolley where the actuator of wall machine, vehicle is had
Speed-regulating system is taken turns, which can receive speed-regulating instruction.
7. climbing wall machine according to claim 6, camera is provided with it is characterized in that: climbing on wall machine ontology.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017114451147 | 2017-12-27 | ||
| CN201711445114 | 2017-12-27 |
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| Publication Number | Publication Date |
|---|---|
| CN109965769A true CN109965769A (en) | 2019-07-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811616016.XA Pending CN109965769A (en) | 2017-12-27 | 2018-12-27 | It is a kind of that wall machine is automatically climbed using local electromagnetic signal positioning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021245694A1 (en) * | 2020-05-30 | 2021-12-09 | Dharun Eshwar Kandasamy Sudha | An automatic climbing machine for trees and poles of multi-profile and variable dimensions |
| CN113985910A (en) * | 2021-09-09 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle control method and system combining mobile network and satellite positioning |
-
2018
- 2018-12-27 CN CN201811616016.XA patent/CN109965769A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021245694A1 (en) * | 2020-05-30 | 2021-12-09 | Dharun Eshwar Kandasamy Sudha | An automatic climbing machine for trees and poles of multi-profile and variable dimensions |
| CN113985910A (en) * | 2021-09-09 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle control method and system combining mobile network and satellite positioning |
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Application publication date: 20190705 |