CN110834382A - Aircraft operation method based on image recognition - Google Patents

Abstract

The invention discloses an aircraft operation method based on image recognition, which can adjust the high-altitude operation position according to the actual situation of a top wall through a camera, can simultaneously carry out drilling and fixing nail implantation operation, the bottom of a fixing nail is provided with a pushing mechanism, the pushing mechanism can be pressurized by starting an oil pump, linkage punching can be carried out between a drill bit and the fixing nail, the drill bit and the fixing nail alternately advance, so that the combined action of the drill bit and the fixing nail implanted between the top walls can be utilized to improve the drilling efficiency, the motor consumption is reduced, the fixing nail can be further improved to enter the wall, and meanwhile, the pushing mechanism is connected through an oil pipe, so that the fixing nail can be synchronously implanted into the top walls.

Description

Aircraft operation method based on image recognition

technical field

The invention relates to the technical field of high-altitude operations, in particular to an aircraft operation method based on image recognition.

Background technique

Due to its lightweight structure and wide operating range, UAVs have gradually replaced manual operations in various fields of life and have a wide range of applications. For example, Patent Document 1 discloses an unmanned aerial vehicle for port mineral sampling, which uses an unmanned aerial vehicle to carry a sampling device, so as to be able to sample powder minerals stacked in the port in all directions, and solve the problem of collecting samples in areas that cannot be reached manually. In the same way, in daily life and industrial applications, there will also be dangerous operations of manual operation, such as installing lights and ceiling fans on the roof, or installing cameras on the outside of the top floor of high-rise buildings, or any high-altitude needs to be drilled on the roof or For the operation of installing equipment, such as Patent Document 2, which discloses a wireless equipment installation device, which uses an unmanned aerial vehicle to drill holes on the top wall to install the wireless equipment on the top of the wall, but the installation device is installed in the wireless equipment. At the same time, the aircraft itself is also left on the top of the wall, resulting in a great waste of energy. At the same time, in this installation device, since the installation rod is slidably arranged on the installation plate 324, the installation plate 324 moves down with the trigger block 111, so , When starting to drill the top wall, the installation rod does not have enough upward driving force to drill the drill rod into the top of the wall, the drilling effect is poor, and the installation rod is not a standard drill bit, therefore, its manufacture The cost is bound to increase. When drilling the top of the wall, the two drill rods are driven and rotated by the driving gear on the installation shaft. The drill rod is only provided by the lower blade to provide the propulsion force to the top of the wall. There is no linkage drilling between them, and the propulsion force is only provided by the lifting force provided by the rotation of the blades. Therefore, when drilling holes on the top of the wall, it is necessary to increase the power of the driving motor or lengthen the size of the blades. It will inevitably increase the weight of the drone, further increase the cost and cause energy waste. At the same time, the drone only has lower blades, which can only lift and cannot fly horizontally, which further narrows the scope of the drone installation. Because it cannot feed back the situation of the top of the wall, it cannot accurately select the appropriate drilling point; another example is Patent Document 3, which discloses an auxiliary drilling drone for construction sites, which is realized by installing the entire electric drill on the drone. Auxiliary drilling of buildings, however, the drone can only drill holes, and cannot implant fixing nails on the top or top of the wall, and it cannot be implanted at the same time as drilling.

[Patent Document 1] CN106741946A

[Patent Document 2] CN108341058A

[Patent Document 3] CN108465843A

To sum up, none of the prior art provides a method that can adjust the working position at height according to the actual situation of the top wall, and can drill holes and implant fixing nails at the same time. The drill bit and the fixing nail between the top of the wall perform joint action to improve drilling efficiency and reduce motor consumption based on image recognition.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings of the existing aircraft operation, the present invention provides a technical solution, an aircraft operation method based on image recognition. The sleeve, the lifting blade and the horizontal propulsion mechanism, the drive motor is fixedly installed inside the casing, and the drive motor is a double-shaft motor, the rotating shaft is rotatably connected to the lower end of the drive motor, the rotating shaft passes through the outside of the casing and the end is connected with a Lifting the blade, the punching shaft is rotatably connected to the upper end of the driving motor, the end of the punching shaft is provided with a drill bit joint, and the upper surface of the drill bit joint is flush with the upper surface of the casing, and the drill bit is detachably installed on the drill bit joint, so The above-mentioned wall-top operation aircraft further includes a linkage mechanism, a pushing mechanism and a camera head, the upper end surface of the casing is provided with the camera head, and a plurality of the fixing nail sleeves are evenly arranged in the circumferential direction with the axis of the drill bit as the center. The fixing nail is slidably installed inside, the punching shaft rotates and connects the fixing nail through the linkage mechanism, the pushing mechanism is arranged at the lower end of the fixing nail sleeve, and the horizontal pushing mechanism is arranged on the side of the casing, which is used for the The horizontal movement provides power. The upper part of the drill bit and the fixing nail is a conical structure, and the conical structure is provided with a screw advance groove, so that after drilling into the top of the wall, the rotation of the drill bit or the fixing nail can be realized by providing a rotary motion. The apex of the upper end of the fixing nail is not lower than the apex of the upper end of the drill bit, and it is characterized in that: the operation method includes the following steps:

(1) Find a suitable punching point:

Start the driving motor of the aircraft to rotate, so that the lifting blades rotate, drive the aircraft to fly to the top of the wall, start the camera on the top of the aircraft, collect the image of the top of the wall, transmit the image back to the display screen on the joystick, and select the image by observing the top of the wall. If the position of the punching point is not suitable, start the rotating motor of the horizontal propulsion mechanism on the aircraft to change the horizontal position of the aircraft. When the position of the top of the wall is suitable, turn off the rotating motor and determine the appropriate punching point.

(2) Insert the fixing nails:

Increase the rotational speed of the drive motor, so that the aircraft has a larger jacking force, the rotation of the punching shaft drives the rotation of the fixing nail, the aircraft flies upward, squeeze the fixing nail and retract it into the fixing nail sleeve, and finally make the lower end edge of the fixing nail body touch. Connected to the upper end of the threaded rod joint, at this time, the pushing mechanism at the lower end of the fixing nail and the lifting force provided by the lifting blade jointly push it into the top of the wall;

(3) The drill bit extends into the top of the wall:

Continue to drive the casing to move upward until the drill bit in the middle of the fixing nail abuts on the top of the wall, and the drill bit starts to drill.

(4) Fixing nails and drills alternately extend into the top of the wall:

The fixing nail extends into the top of the wall: the cavity inside the push mechanism is filled with liquid until the push plate abuts against the lower end of the threaded rod structure;

The drill bit is inserted into the top of the wall: the oil in the cavity is discharged, so that the threaded rod joint can overcome the force of the pushing mechanism and can climb to the top of the threaded rod until the threaded rod joint abuts the lower edge of the fixing nail body;

Alternately carry out the steps of extending the fixing nail into the top of the wall and the drill bit into the top of the wall;

(5) Recycling aircraft:

When the image captured by the camera shows that the drill bit and the fixing nail are completely drilled into the top of the wall, the driving motor is reversed, so that the lifting blade generates a downward force, and at the same time, the drill bit also generates a reverse pushing force, which makes the aircraft fly. Away from the top of the wall, the fixing nail finally slides away from the fixing nail sleeve in the aircraft and stays on the top of the wall, and finally completes the drilling and implanting of the fixing nail.

Preferably, the apex of the upper end of the fixing nail is higher than the apex of the upper end of the drill bit.

Preferably, the linkage mechanism includes a threaded rod joint fixedly disposed on the outer end of the punching shaft and a threaded rod disposed on the lower end of the fixing nail, and the rotary connection between the drill bit and the fixing nail is achieved through the engagement of the threaded rod joint and the threaded rod.

Preferably, the fixing nail sleeve is a cylindrical sleeve suitable for the fixing nail, and a hole groove for the linkage mechanism to pass through is provided on the inner side of the sleeve, and the threaded rod joint extends into the fixing nail sleeve through the hole groove.

Preferably, the fixing nail includes a fixing nail body and a threaded rod at the lower end, and the diameter of the threaded rod is smaller than the diameter of the fixing nail body, so as to ensure that the threaded rod joint can be clamped on the fixing nail body through the threaded rod joint even when the thrust of the pushing mechanism is insufficient. In the way of the lower end, the lifting blade provides upward thrust for the fixing nail.

Preferably, the pushing mechanism includes a pushing plate, a spring and a cavity, the bottom of the fixing nail is arranged on the top of the pushing plate, the spring is installed between the pushing plate and the bottom plate of the fixing nail sleeve, and the spring can be drilled into the top of the wall for the fixing nail Provide driving force.

Preferably, hydraulic oil is also provided in the cavity, and the cavities in the plurality of pushing structures are connected by oil pipes, so that the pressure of each cavity is the same, thereby ensuring the same depth of the fixing nails into the top of the wall, so that the action of the fixing nails is the same. Synchronization is possible.

Preferably, an oil tank, a hydraulic pump and an electromagnetic reversing valve are also arranged in the housing, and the electromagnetic reversing valve is a three-position, two-way reversing valve. During normal operation, the electromagnetic reversing valve is located in the neutral position to ensure the flow between the cavities. The oil pipe is connected, and there is no oil entering or flowing out. When the camera detects that the fixing nail needs a larger propulsion force, the electromagnetic reversing valve is in the right position. At this time, the hydraulic oil in the hydraulic pump passes through the P of the electromagnetic reversing valve. The port enters the solenoid valve, flows out from port A, and enters the cavity through the oil pipe, which increases the oil pressure in the cavity and pushes the push plate to move upward, so that the fixing nail can generate a larger propulsion force and ensure that the fixing nail can be smoothly Drive into the top of the wall; when the camera judges that the fixing nail does not need propulsion, the electromagnetic reversing valve is in the left position. At this time, the hydraulic oil in the cavity is relieved, and the hydraulic oil passes through the B port of the electromagnetic reversing valve through the oil pipe. , and flow back to the fuel tank through the T port.

Preferably, the horizontal propulsion mechanism includes a rotary motor, a horizontal shaft and a propulsion blade, the rotary motor is installed on the inner side of the side of the casing, the rotary motor is rotatably connected to one end of the horizontal shaft, and the other end of the horizontal shaft is installed with a propulsion blade.

Preferably, the threaded rod is the size of the threaded rod of expansion bolts commonly used in daily life.

Preferably, in step (4), the step of filling the cavity inside the pushing mechanism with liquid is as follows: turn on the hydraulic pump, so that the electromagnetic reversing valve is located at the rightmost position, so that the oil flows in from the P port of the electromagnetic valve, A The port flows out, and the cavity is filled with liquid; in step (4), the step of discharging the oil in the cavity is as follows: the electromagnetic reversing valve is located at the leftmost position, so that the oil flows from the B port of the electromagnetic valve. , the T port flows out.

Preferably, contact sensors are respectively provided at the upper and lower ends of the threaded rod joint, and the contact sensors can touch the lower edge of the main body of the fixing nail or the edge of the push plate, and start the step condition of the fixing nail extending into the top of the wall in step (4). The contact sensor at the upper end of the threaded rod joint touches the lower edge of the main body of the fixing nail; the step of extending the drill bit into the wall top in the starting step (4) is adjusted so that the contact sensor at the lower end of the threaded rod joint touches the edge of the push plate.

The beneficial effects of the present invention are:

1), the aircraft operating method based on image recognition of the present invention adjusts the aircraft operating position by the wall image captured by the camera, and is provided with a push mechanism in the aircraft, and judges when the image of the push mechanism is captured by the camera. The cavity is replenished with oil, or when the oil in the cavity is depressurized, which improves the efficiency of the aircraft operation;

2), the aircraft in the aircraft operating method based on image recognition of the present invention, uses the drill bit and the fixing nail to drill into the top of the wall at the same time to carry out the wall top operation, and further through the linkage action between the drill bit and the fixing nail, with the help of the The fixing nail is used as the driving force to drive the drill bit into the top of the wall, together with the lifting force generated by the blades at the bottom of the aircraft, the drill bit is drilled into the top of the wall together. The linkage between the drill bit and the fixing nails is used for the top work on the wall;

3), the aircraft in the image recognition-based aircraft operation method of the present invention, after the aircraft completes the wall top operation, implants fixing nails, and completes the drilling operation, the aircraft can be reversed, and the aircraft can be controlled from the top of the wall or the top position. Return, so that the aircraft can be recycled and used for the next drilling, which improves the use efficiency and reduces the drilling cost;

4), the aircraft in the aircraft operating method based on image recognition of the present invention, a camera is installed on the top of the aircraft, so that the environment on the top of the wall can be photographed, and the image is transmitted to the user who manipulates the aircraft, such as by operating the handle. It can be realized by adding a display screen on the top of the wall, so as to carry out the wall top operation based on image recognition;

5), the aircraft in the aircraft operating method based on image recognition of the present invention is provided with a threaded rod structure at the bottom of the fixing nail, and through the threaded rod structure on the main motor shaft, while driving the fixing nail to rotate, the push mechanism at the bottom can be driven. Provide a propulsion force to drive into the top of the wall, further improve the efficiency of fixing nails;

6) The head of the fixing nail is similar in shape to the drill bit, and its head is helical, so that it can provide a force to push the top of the wall while rotating. The diameter of the head of the fixing nail is larger than the outer diameter of the threaded rod structure, so that it can be Provide a limit structure to avoid the disengagement of the drill bit and the fixing nail;

7), the aircraft in the aircraft operating method based on image recognition of the present invention is provided with blades whose rotating shafts are arranged horizontally around the aircraft housing, so that the horizontal movement of the aircraft can be realized. When it is judged that the punching position is not good, the action of the blades around the aircraft casing is driven, and the blades at the bottom of the casing are combined to adjust the position of the aircraft and achieve the purpose of accurate punching;

8) The aircraft in the image recognition-based aircraft operating method of the present invention is provided with a pushing mechanism that pushes the fixing nails into the wall below the fixing nails, and the pushing mechanisms are connected by oil pipes, so that the fixing nails can be connected between the fixing nails. The synchronization extends into the wall to improve the synchronization of the equipment;

9), the aircraft in the aircraft operating method based on image recognition of the present invention is also provided with a hydraulic pump, thereby increasing the driving force of the fixing nail by starting the hydraulic pump, and a spring is also provided in the pushing mechanism, which is suitable for punching holes. The top of the wall can be completely driven by the spring, and when the picture captured by the camera determines that the wall is difficult to drive through the image recognition technology, the hydraulic pump is started at this time, and the hydraulic oil is used to increase the driving force of the pushing mechanism. , to further improve the operating efficiency and intelligence of the equipment;

10) The drill bit of the aircraft in the image recognition-based aircraft operation method of the present invention is a detachable structure, and the drill bit is of a standard diameter, so there is no need to manufacture additional special-shaped drill bits, which further reduces the cost.

Description of drawings

Fig. 1 is the overall structure diagram of the wall-top working aircraft of the present invention;

Fig. 2 is the enlarged schematic diagram A of Fig. 1;

Fig. 3 is the hydraulic schematic diagram between the push mechanisms;

FIG. 4 is a flowchart of an aircraft operation method based on image recognition according to the present invention.

Label description

1. Housing; 2. Driving motor; 3. Rotating shaft; 4. Punching shaft; 5. Drill bit joint; 6. Drill bit; 7. Fixing nail; 8. Linkage structure; 9. Fixing nail sleeve; 10. Push Mechanism; 11, push plate; 12, spring; 13, cavity; 14, oil pipe; 15, hydraulic pump; 16, oil tank; 17, electromagnetic reversing valve; 18, camera; 19, fixing nail body; 20, threaded rod 21. Lifting blades; 22. Horizontal propulsion mechanism; 23. Rotary motor; 24. Horizontal shaft; 25. Propulsion blades;

Detailed ways

The present invention is further described below in conjunction with the examples, but the present invention is not limited in any way, and any transformation or replacement made based on the teachings of the present invention belongs to the protection scope of the present invention.

As shown in Figures 1-3, the wall-top operation aircraft based on image recognition of the present invention includes a casing 1, a drive motor 2, a rotating shaft 3, a punching shaft 4, a drill bit 6, a fixing nail 7, a linkage mechanism 8, a fixing The nail sleeve 9, the push mechanism 10, the camera 18, the lifting blade 21 and the horizontal push mechanism 22, the drive motor 2 is fixedly installed inside the housing 1, and the drive motor is a biaxial motor, and the rotating shaft 3 is rotatably connected to the drive motor At the lower end of 2, the rotating shaft 3 penetrates the outside of the casing 1 and is connected with a lifting blade 21 at the end, the punching shaft 4 is rotatably connected to the upper end of the driving motor 2, and the end of the punching shaft 4 is provided with a drill bit joint 5, and the drill bit joint The upper surface of 5 is flush with the upper surface of the casing 1, the drill bit 6 is detachably installed on the drill bit joint 5, the upper end surface of the casing 1 is provided with the camera head 18, and the axis of the drill bit 6 is uniformly arranged circumferentially. A plurality of the fixing nail sleeves 9, the fixing nails 7 are slidably installed in the fixing nail sleeve 9, the fixing nails 7 can slide and rotate along the axis in the fixing nail sleeve 9, and the punching shaft 4 passes through the linkage mechanism 8 The fixing nail 7 is connected by rotation, the pushing mechanism 10 is arranged at the lower end of the fixing nail sleeve 9, the horizontal pushing mechanism 22 is arranged at the side of the casing 1, and is used to provide power for the horizontal movement of the casing 1. The drill bit 6 and the The upper part of the fixing nail 7 is a conical structure, and the conical structure is provided with a screw propulsion groove, so that after drilling into the top of the wall, the screwing of the drill bit or the fixing nail can be realized by providing a rotary motion, and the upper end of the fixing nail 7 is apex. Not lower than the top apex of the drill bit 6, so that when the aircraft is flying on the wall and needs to be drilled on the wall, the fixing nail 7 first contacts the wall top or the fixing nail 7 and the drill bit 6 contact the wall top at the same time, so as to ensure that the aircraft is not damaged when drilling. The casing 1 does not rotate.

Preferably, the apex of the upper end of the fixing nail 7 is higher than the apex of the upper end of the drill bit 6 .

Preferably, the linkage mechanism 8 includes a threaded rod joint 26 fixedly disposed at the outer end of the punching shaft 4 and a threaded rod 20 disposed at the lower end of the fixing nail 7 . Rotational connection, the selection of threaded joints can avoid the phenomenon of "beating teeth" when the fixing nail 7 is separated from the fixing nail sleeve 9 or the fixing nail 7 is just in contact with the threaded rod joint 26. Of course, the linkage structure 8 can also be selected to be straight. In the gear transmission mechanism, at this time, the spur gears are fixedly arranged at the outer end of the punching shaft 4, and the spur gears are also arranged at the lower end of the fixing nails 7.

Preferably, the fixing nail sleeve 9 is a cylindrical sleeve compatible with the fixing nail 7, and a hole groove for the linkage mechanism 8 to pass through is provided on the inner side of the sleeve, and the threaded rod joint 26 extends into the fixing nail through the hole groove inside the sleeve 9.

Preferably, the fixing nail 7 includes a fixing nail main body 19 and a threaded rod 20 at the lower end. The diameter of the threaded rod 20 is smaller than the diameter of the fixing nail main body 19, so as to ensure that the threaded rod joint can also be used when the thrust of the pushing mechanism 10 is insufficient. 26 is clamped on the lower end of the fixing nail main body 19, and the lifting blade provides it with upward thrust.

Preferably, the pushing mechanism 10 includes a pushing plate 11, a spring 12 and a cavity 13, the bottom of the fixing nail 7 is arranged on the top of the pushing plate 11, the spring 12 is installed between the pushing plate 11 and the bottom plate of the fixing nail sleeve 9, The spring 12 can provide the driving force for the fixing nail 7 to drill into the top of the wall.

Preferably, hydraulic oil is also provided in the cavity 13, and the cavities 13 in the plurality of pushing structures 10 are connected by the oil pipes 14, so that the pressure of each cavity 13 is the same, thereby ensuring the depth of the fixing nail 7 being driven into the top of the wall In the same way, the movements of the fixing nails 7 can be synchronized.

Preferably, as shown in FIG. 3 , the housing 1 is also provided with an oil tank 16 , a hydraulic pump 15 and an electromagnetic reversing valve 17 . The electromagnetic reversing valve 17 is a three-position two-way reversing valve. During normal operation, the electromagnetic reversing valve 17 is The direction valve 17 is in the neutral position to ensure that the oil pipes 14 between the cavities 13 are connected, and no oil enters or flows out. When the camera 18 detects that the top of the wall on which the fixing nails 7 work is relatively hard or the fixing nails 7 protrude into the wall The length of the top is deep, and when a larger propulsion force is required, the electromagnetic reversing valve 17 is located in the right position. At this time, the hydraulic oil in the hydraulic pump 15 enters the electromagnetic valve through the P port of the electromagnetic reversing valve 17, and flows out from the A port. , enter into the cavity 13 through the oil pipe 14, so that the oil pressure in the cavity 13 increases, and pushes the push plate 11 to move upward, so that the fixing nail 7 can generate a larger propulsion force and ensure that the fixing nail 7 can be driven smoothly. The top of the wall; when the camera 18 determines that the fixing nail 7 has been driven into the top of the wall, the electromagnetic reversing valve 17 is in the left position. At this time, the hydraulic oil in the cavity 13 is depressurized, and the hydraulic oil passes through the oil pipe 14 through the electromagnetic reversing. After the B port of the valve, it flows back into the fuel tank 16 through the T port.

Preferably, the horizontal propulsion mechanism 22 includes a rotary motor 23, a horizontal shaft 24 and a propulsion blade 25. The rotary motor 23 is installed on the inner side of the side of the casing 1, the rotary motor 23 is rotatably connected to one end of the horizontal shaft 24, and the other end of the horizontal shaft 24 is installed There are propulsion blades 25, and when the aircraft needs to move horizontally, it is only necessary to drive the rotary motor 23 to rotate.

Preferably, the threaded rod 20 is selected to be the size of the threaded rod of the commonly used expansion bolts in daily life, so that the fixing nails 7 can be used normally after driving the fixing nails 7 into the top of the wall, and operations such as nailing expansion bolts are unnecessary.

Preferably, there are two fixing nails 7 .

Preferably, the casing 1 is a cylindrical casing.

Preferably, the horizontal propulsion mechanisms 22 are uniformly distributed on the side wall of the casing 1 in the circumferential direction.

Preferably, as shown in FIG. 4 , the image recognition-based aircraft operation method of the present invention includes the following steps:

(1) Find a suitable punching point:

The driving motor 2 of the aircraft is started to rotate, so that the lifting blades 21 are rotated, and the aircraft is driven to fly to the top of the wall. The top image selects the punching point. If the position is not suitable, start the action of the rotary motor 23 of the horizontal propulsion mechanism 22 on the aircraft to realize the change of the horizontal position of the aircraft. When the position of the top of the wall is suitable, turn off the rotary motor 23 to determine the appropriate punching point. .

(2) Insert the fixing nails:

Increase the rotational speed of the drive motor 2, so that the aircraft has a large jacking force, the rotation of the punching shaft 4 drives the fixing nail 7 to rotate, the aircraft flies upward, squeeze the fixing nail 7 and retract it into the fixing nail sleeve 9, and finally make the fixing nail The lower end edge of the main body 19 abuts the upper end of the threaded rod joint 26. At this time, the pushing mechanism 10 at the lower end of the fixing nail 7 and the lifting force provided by the lifting blade 21 are jointly pushed into the interior of the wall;

(3) The drill bit extends into the top of the wall:

Continue to drive the casing 1 to move up and down until the drill bit located in the middle of the fixing nail 7 abuts on the top of the wall, and the drill bit 6 starts to perform the drilling operation.

(4) Fixing nails and drills alternately extend into the top of the wall:

In order to speed up the work progress of the top of the wall, the cavity 13 inside the pushing mechanism 10 is filled with liquid. Specifically, the hydraulic pump 15 is turned on, so that the electromagnetic reversing valve 17 is located at the far right position, so that the oil flows into the P port of the electromagnetic valve. , the A port flows out, the cavity 13 is filled with liquid, and the fixing nail 7 is driven to extend into the interior of the wall, until the push plate 11 abuts the lower end of the threaded rod structure 26, so that the fixing nail extends into the wall roof; 7 protrudes into the interior of the wall, and the upper end of the threaded rod structure 26 is not abutted against the lower end of the fixing nail main body 19, therefore, the fixing nail 7 receives a large resistance and does not rotate at this time. The rod joint 26 will move upward along the thread on the threaded rod 20. At this time, the oil in the cavity 13 is discharged. Specifically, the electromagnetic reversing valve 17 is located at the leftmost position, so that the oil is discharged. It flows in from the B port of the solenoid valve and flows out from the T port, so that the threaded rod joint 26 can overcome the force of the pushing mechanism and can climb to the top of the threaded rod 20 until the threaded rod joint abuts the lower edge of the fixing nail main body 19 to achieve The drill bit protrudes into the top of the wall; finally, through the same steps, the fixing nail and the drill bit are alternately protruded into the top of the wall.

(5) Recycling aircraft:

When the image captured by the camera 18 shows that the drill bit and the fixing nail are completely drilled into the top of the wall, the driving motor 2 is reversed, so that the lifting blade 21 generates a downward force, and at the same time, the drill bit 6 also generates a reverse pushing force, As a result, the aircraft flies off the top of the wall, the fixing nails 7 finally slide away from the fixing nail sleeves 9 in the aircraft and stay on the top of the wall, and finally complete the drilling and implanting of the fixing nails.

The working process of the aircraft of the present invention is as follows: when the top of the house wall or the outer wall of the high-rise building needs to be punched, the driving motor 2 in the aircraft is controlled to start, and the lifting blades 21 are driven to rotate, so that the aircraft takes off and approaches the wall. top, start the camera 18 to work, the camera 18 takes a picture of the top of the wall, and transmits it to the display screen in the operator's remote control. The operator selects the punching position of the aircraft according to the image. The rotary motor 23 rotates to drive the aircraft to move sideways. After selecting the working position, the drilling shaft 4 drives the drill bit 6 to rotate, and at the same time drives the fixed nail 7 to rotate through the linkage mechanism 8. The fixed nail 7 first contacts the top of the wall, and the fixed nail sleeve The push mechanism 10 at the lower part of the cylinder 9 acts against the lower end of the fixing nail 7, and the lifting blade 21 provides upward thrust. After the fixing nail 7 is screwed into the top of the wall, the drill bit 6 also contacts the top of the wall. At this time, the drill bit 6 and the fixing nail 7 together When the drilling and screwing operation is performed, the drill bit 6 is provided with upward propulsion force by the lifting blade 21. When the camera 18 determines that the fixing nail 7 needs a larger thrust (for example, the fixing nail 7 has been submerged in most of the time), the hydraulic pump 15 sends the cavity to the cavity. Oil is supplied in 13 to provide upward thrust for the fixing nail 7 until the push plate 11 abuts against the lower end of the threaded rod joint 26. Since the fixing nail 7 protrudes into the interior of the wall, the resistance is large, and the threaded rod joint 26 does not work. When the lower end of the main body 19 of the fixing nail is contacted, the fixing nail cannot be rotated. At this time, the hydraulic oil in the cavity 13 is depressurized, and the threaded rod joint 26 can generate upward climbing force along the threaded rod 20. The jacking force is shared by the fixing nail 7 and the lifting blade 21, so the drilling rig is stronger and easier to work. The drill bit drills up into the top of the wall, the fixing nail 7 abuts against the push plate 11 and moves downward. When the threaded rod joint 26 abuts When the lower end of the fixing nail main body 19 is reached, due to the contact of the upper end of the threaded rod joint 26, the threaded rod joint 26 can be rotated again at this time, and at the same time, the oil supply into the cavity 13 is controlled, so that the fixing nail 7 can be used in the hydraulic oil again. Under the combined action of the rotary power of the driving motor and the driving motor, the drill is drilled into the top of the wall until the push plate 11 abuts against the lower end of the threaded rod joint 26, and the cycle is repeated continuously, so that the drill bit 6 and the fixing nail 7 are continuously extended. When the camera 18 detects that the drilling is completed, it controls the drive motor 2 to reverse, the lifting blade 21 generates a downward force, and the drill bit 6 also generates a force to push out the top of the wall. , the fixing nails 7 are also separated from the aircraft and stay on the top of the wall, and are used for the operation requiring fixing screws. At this time, the operations of drilling holes and driving the fixing nails are completed at the same time. The above control of the driving motor 2 can be realized by a microprocessor built in the casing 1, and the photos captured by the camera 18 can also be processed by the microprocessor, and the images can be processed by the built-in software, for example, a preset working process can be compared. Of course, the above-mentioned control can also be controlled and implemented by the operating handle of the aircraft. The control and implementation here are the prior art and are not the focus of the present invention. Therefore, they will not be discussed here. Repeat. It is also possible to control the action of the electromagnetic reversing valve 17 by setting contact sensors on the upper and lower end faces of the threaded rod joint 26 to control the oil in the cavity 13. For example, when the upper end face of the threaded rod joint 26 touches the fixed When the lower edge of the nail main body 19 is controlled, the electromagnetic reversing valve 17 is in the rightmost position, the cavity 13 is filled with liquid, and the fixing nail is driven to extend into the wall. , the electromagnetic reversing valve 17 is controlled to be in the leftmost position, and the cavity 13 is discharged, and the reciprocating operation is performed in this way to realize the efficient drilling of the drill bit and the fixing nail.

Claims (10)

1. An aircraft operation method based on image recognition comprises a shell (1), a driving motor (2), a rotating shaft (3), a drilling shaft (4), a drill bit (6), a fixing nail (7), a fixing nail sleeve (9), a lifting blade (21) and a horizontal propelling mechanism (22), wherein the driving motor (2) is fixedly arranged inside the shell (1), the driving motor is a double-shaft motor, the rotating shaft (3) is rotatably connected to the lower end of the driving motor (2), the rotating shaft (3) penetrates out of the shell (1) and the tail end of the rotating shaft is connected with the lifting blade (21), the drilling shaft (4) is rotatably connected to the upper end of the driving motor (2), a drill bit joint (5) is arranged at the tail end of the drilling shaft (4), the upper surface of the drill bit joint (5) is flush with the upper surface of the shell (1), and the drill bit (6) is detachably arranged on the drill bit joint (, the method is characterized in that: the wall top operation aircraft further comprises a linkage mechanism (8), a pushing mechanism (10) and a camera (18), the camera (18) is arranged on the upper end surface of the shell (1), a plurality of fixing nail sleeves (9) are uniformly arranged in a circumferential direction by taking the axis of the drill bit (6) as the center, the fixing nails (7) are arranged in the fixing nail sleeves (9) in a sliding manner, the drilling shaft (4) is rotatably connected with the fixing nails (7) through the linkage mechanism (8), the pushing mechanism (10) is arranged at the lower end of the fixing nail sleeves (9), a horizontal pushing mechanism (22) is arranged on the side edge of the shell (1) and used for providing power for the horizontal movement of the shell (1), the upper parts of the drill bit (6) and the fixing nails (7) are of conical structures, and spiral pushing grooves are arranged in the conical structures, so that the drill bit or the fixing nails can be screwed in by providing rotary motion after the drill bit or the fixing nails are drilled into the, staple (7) upper end summit is not less than drill bit (6) upper end summit, its characterized in that: the operation method comprises the following steps:

(one), searching a proper punching point:

the driving motor (2) that starts the aircraft is rotatory, it is rotatory to make to rise blade (21), it flies to the wall crown to drive the aircraft, start camera (18) work at aircraft top, gather the wall crown image, on transmitting the display screen on the operating handle back to the image, punch the point through observing wall crown image selection, if the position is improper, rotating electrical machines (23) action of horizontal advancing mechanism (22) on the start aircraft, realize aircraft horizontal position's change, after the wall crown position is suitable, close rotating electrical machines (23), confirm suitable punching point.

(II) driving in a fixing nail:

the rotating speed of the driving motor (2) is increased, so that the aircraft has larger jacking force, the drilling shaft (4) rotates to drive the fixing nail (7) to rotate, the aircraft flies upwards to extrude the fixing nail (7) to retract into the fixing nail sleeve (9), and finally the lower end edge of the fixing nail body (19) is abutted to the upper end of the threaded rod joint (26), and at the moment, the lifting force provided by the pushing mechanism (10) at the lower end of the fixing nail (7) and the lifting blade (21) pushes the fixing nail to be driven into the wall top together;

(III) the drill extends into the top of the wall:

continuing to drive the shell (1) to move upwards until the drill bit positioned in the middle of the fixing nail (7) abuts against the wall top, starting drilling operation by the drill bit (6), and at the moment, jointly extending the fixing nail and the drill bit into the wall top to perform drilling operation;

(IV), the fixing nail and the drill bit alternately extend into the wall top:

the fixing nail stretches into the wall top: filling liquid into a cavity (13) inside the pushing mechanism (10) until the pushing plate (11) abuts against the lower end of the threaded rod structure (26);

the drill bit stretches into the top of the wall: discharging the oil liquid in the cavity (13), so that the threaded rod joint (26) can climb to the top of the threaded rod (20) against the force of the pushing mechanism until the threaded rod joint abuts against the lower edge of the fixing nail body (19);

alternately carrying out the steps of extending the fixing nail into the wall top and extending the drill bit into the wall top;

(V) recovering the aircraft:

after the image display drill bit that camera (18) were shot and the staple all bored into the wall crown completely, made driving motor (2) reversal for rise blade (21) and produce decurrent power, simultaneously, drill bit (6) also produce the power of reverse promotion, thereby make the aircraft fly away from the wall crown, staple (7) slide at last and leave staple sleeve (9) in the aircraft and stay on the wall crown, accomplish at last and punch and implant the staple operation.

2. The image recognition-based aircraft operation method of claim 1, wherein: the top point of the upper end of the fixing nail (7) is higher than that of the upper end of the drill bit (6).

3. The image recognition-based aircraft operation method of claim 1, wherein: the linkage mechanism (8) comprises a threaded rod joint (26) fixedly arranged at the outer end of the drilling shaft (4) and a threaded rod (20) arranged at the lower end of the fixing nail (7), and the drill bit (6) is rotatably connected with the fixing nail (7) through the engagement of the threaded rod joint (26) and the threaded rod (20).

4. The image recognition-based aircraft operation method of claim 3, wherein: the fixing nail sleeve (9) is a cylindrical sleeve matched with the fixing nail (7), a hole groove for the linkage mechanism (8) to penetrate through is formed in the inner side of the sleeve, and the threaded rod joint (26) penetrates through the hole groove and extends into the fixing nail sleeve (9).

5. The image recognition-based aircraft operation method of claim 1, 3 or 4, wherein: the fixing nail (7) comprises a fixing nail main body (19) and a threaded rod (20) at the lower end, the diameter of the threaded rod (20) is smaller than that of the fixing nail main body (19), so that the situation that thrust of the pushing mechanism (10) is insufficient is guaranteed, the mode that the threaded rod is clamped at the lower end of the fixing nail main body (19) can be achieved through the threaded rod connector (26), and upward thrust is provided for the fixing nail (7) through lifting blades.

6. The image recognition-based aircraft operation method of claim 1, wherein: the pushing mechanism (10) comprises a pushing plate (11), a spring (12) and a cavity (13), the bottom of the fixing nail (7) is arranged at the top of the pushing plate (11), the spring (12) is installed between the pushing plate (11) and a bottom plate of the fixing nail sleeve (9), and the spring (12) can provide driving force for the fixing nail (7) to penetrate into the top of the wall.

7. The image recognition-based aircraft operation method of claim 6, wherein: still be provided with hydraulic oil in cavity (13), cavity (13) in a plurality of promotion structures (10) link to each other through oil pipe (14) to make the pressure of every cavity (13) the same, and then guarantee that staple (7) are hit into the degree of depth of wall top the same, make the action of staple (7) can carry out the synchronization.

8. The image recognition-based aircraft operation method according to claim 6 or 7, characterized in that: an oil tank (16), a hydraulic pump (15) and an electromagnetic directional valve (17) are also arranged in the shell (1), the electromagnetic directional valve (17) is a three-position two-way directional valve, when in normal work, the electromagnetic directional valve (17) is positioned at the middle position, the oil pipe (14) between the cavities (13) is ensured to be communicated, no oil enters or flows out, when the camera (18) detects that the fixing nail (7) needs larger propelling force, the electromagnetic directional valve (17) is positioned at the right position, at the moment, hydraulic oil in the hydraulic pump (15) enters the electromagnetic valve through a P port of the electromagnetic directional valve (17) and flows out from an A port of the electromagnetic directional valve (17), enters the cavity (13) through the oil pipe (14), so that the oil pressure in the cavity (13) is increased, the push plate (11) is pushed to move upwards, therefore, the fixing nail (7) can generate larger propelling force, and the fixing nail (7) can be smoothly driven into the wall top; when the camera (18) judges that the fixing nail (7) does not need propelling force, the electromagnetic directional valve (17) is located at the left position, at the moment, hydraulic oil in the cavity (13) is decompressed, and the hydraulic oil flows back into the oil tank (16) through the T port of the electromagnetic directional valve (17) after passing through the B port of the electromagnetic directional valve through the oil pipe (14).

9. The image recognition-based aircraft operation method of claim 8, wherein: in the step (IV), the step of filling the cavity (13) inside the pushing mechanism (10) is as follows: opening the hydraulic pump (15) to enable the electromagnetic directional valve (17) to be located at the rightmost position, enabling oil to flow in from a port P of the electromagnetic directional valve (17) and flow out from a port A of the electromagnetic directional valve (17), and filling liquid into the cavity (13); in the step (IV), the step of discharging the oil liquid in the cavity (13) comprises the following steps: the electromagnetic directional valve (17) is located at the leftmost position, so that oil flows in from the port B of the electromagnetic directional valve (17) and flows out from the port T of the electromagnetic directional valve (17).

10. The image recognition-based wall top operation aircraft of claim 5, wherein: contact sensors are respectively arranged at the upper end and the lower end of the threaded rod joint (26), the contact sensors can touch the lower edge of the fixing nail main body (19) or the upper edge of the pushing plate (11), and the step condition that the fixing nail extends into the wall top in the starting step (IV) is that the contact sensors at the upper end of the threaded rod joint (26) touch the lower edge of the fixing nail main body (19); and (5) in the starting step (IV), the step that the drill extends into the wall top is adjusted to ensure that the contact sensor at the lower end of the threaded rod joint (26) touches the upper edge of the push plate (11).

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