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

Aircraft operation method based on image recognition Download PDF

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Publication number
CN110834382A
CN110834382A CN201911095804.3A CN201911095804A CN110834382A CN 110834382 A CN110834382 A CN 110834382A CN 201911095804 A CN201911095804 A CN 201911095804A CN 110834382 A CN110834382 A CN 110834382A
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CN
China
Prior art keywords
fixing nail
drill bit
aircraft
threaded rod
wall
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CN201911095804.3A
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Chinese (zh)
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CN110834382B (en
Inventor
王金伟
王明丹
王可翔
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Liming Vocational University
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Liming Vocational University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/005—Devices for the automatic drive or the program control of the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Portable Nailing Machines And Staplers (AREA)

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 aerial work, in particular to an aircraft working method based on image recognition.
Background
Unmanned aerial vehicle aircraft is owing to have the structure light and handy, and the operation range is wide, has gradually replaced manual work in each field of living, and the range of application is extensive. For example, patent document 1 discloses an unmanned aerial vehicle for sampling port minerals, which uses an unmanned aerial vehicle to carry a sampling device, so that powdery minerals stacked in a port can be sampled in all directions, and the problem that a regional sample cannot be acquired manually is solved; similarly, in the life and industrial application, the dangerous operation of manual operation is also encountered, such as installing electric lamps and ceiling fans on the roof, and installing cameras on the outer side of the top layer of a high-rise building, or drilling holes on the top plate or installing equipment at any high altitude, for example, patent document 2, which discloses a wireless equipment installation device, the wireless equipment is installed on the top wall by drilling the top wall in an unmanned aerial vehicle manner, but the installation device installs the wireless equipment and keeps the aircraft on the top wall at the same time, which causes great waste of energy, and meanwhile, because the installation rod is slidably arranged on the installation plate 324, the installation plate 324 moves downwards along with the trigger block 111, when the top wall drilling is started, the installation rod does not have enough upward driving force to drill the drill rod into the top wall, the drilling effect is poor, the installation rod is not a standard drill bit, and therefore, the manufacturing cost is inevitably increased, the two drill rods are driven to rotate by the driving gear on the installation shaft when the wall top is drilled, the drill rods only provide the propelling force to the top of the wall top by the lower blades, linkage drilling is not performed between the drill rods, and meanwhile, the propelling force is only provided by the lifting force provided by the rotation of the blades, so that, when the wall top is drilled, the power of a driving motor is necessarily increased or the size of a blade is necessarily increased, this will increase the weight of the unmanned aerial vehicle, further increase the cost and cause energy waste, and at the same time, the unmanned aerial vehicle only has blades at the lower part, can only be lifted and cannot carry out horizontal flight, so that the installation operation range of the unmanned aerial vehicle is further reduced, and the unmanned aerial vehicle cannot accurately select a proper drilling point at a high altitude because the condition of the top of a wall cannot be fed back; if like patent document 3 again, it discloses a building site is with supplementary drilling unmanned aerial vehicle, through installing whole electric drill on unmanned aerial vehicle to realize the supplementary punching of building, however, this unmanned aerial vehicle only can drill, can not implant the staple on wall crown or roof, can not implant when punching more.
[ patent document 1] CN106741946A
[ patent document 2] CN108341058A
[ patent document 3] CN108465843A
In summary, in the prior art, there is no aircraft operation method based on image recognition, which can adjust the position of the aerial work according to the actual situation of the top wall, drill and implant the fixing nails simultaneously, perform linkage drilling between the drill and the fixing nails, and perform joint action by using the drill and the fixing nails implanted between the top walls to improve the drilling efficiency and reduce the motor consumption.
Disclosure of Invention
In order to overcome the defects of the existing aircraft operation, the invention provides a technical scheme, an aircraft operation method based on image recognition is provided, the aircraft comprises a shell, a driving motor, a rotating shaft, a punching shaft, a drill bit, a fixing nail sleeve, a lifting blade and a horizontal propelling mechanism, the driving motor is fixedly arranged in the shell, the driving motor is a double-shaft motor, the rotating shaft is rotatably connected to the lower end of the driving motor, the rotating shaft penetrates out of the shell, the tail end of the rotating shaft is connected with the lifting blade, the punching shaft is rotatably connected to the upper end of the driving motor, the tail end of the punching shaft is provided with the drill bit joint, the upper surface of the drill bit joint is flush with the upper surface of the shell, the drill bit is detachably arranged on the drill bit joint, the wall top operation aircraft further comprises a linkage mechanism, a pushing mechanism and a camera, use the axis of drill bit evenly to have arranged a plurality ofly as center circumference the staple sleeve, slidable mounting has in the staple sleeve the staple, the axle that punches rotates through link gear and connects the staple, pushing mechanism sets up in the telescopic lower extreme of staple, and horizontal feed mechanism sets up in the side of casing for the horizontal direction of casing removes and provides power, and the upper portion of drill bit and staple is the toper structure, and is provided with the screw propulsion groove in the toper structure, thereby makes after boring into the wall top, can realize the precession of drill bit or staple through providing rotary motion, and staple upper end summit is not less than drill bit upper end summit, its characterized in that: the operation method comprises the following steps:
(one), searching a proper punching point:
the driving motor that starts the aircraft is rotatory for it is rotatory to rise the blade, and it flies to the wall crown to drive the aircraft, starts the camera work at aircraft top, gathers the wall crown image, on transmitting the display screen on the operating handle back with the image, select the point of punching through observing the wall crown image, if the position is improper, start the rotating electrical machines action of horizontal advancing mechanism on the aircraft, realize the change of aircraft horizontal position, after the wall crown position is suitable, close the rotating electrical machines, confirm suitable point of punching.
(II) driving in a fixing nail:
the rotating speed of the driving motor is increased, so that the aircraft has larger jacking force, the punching shaft rotates to drive the fixing nail to rotate, the aircraft flies upwards and extrudes the fixing nail to retract into the fixing nail sleeve, and finally the lower end edge of the fixing nail body is abutted to the upper end of the threaded rod joint, and at the moment, the lifting force provided by the pushing mechanism at the lower end of the fixing nail and the lifting blade 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 to move upwards until the drill bit positioned in the middle of the fixing nail abuts against the wall top, and starting to drill, wherein at the moment, the fixing nail and the drill bit jointly extend into the wall top to drill;
(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 inside the pushing mechanism until the pushing plate abuts against the lower end of the threaded rod structure;
the drill bit stretches into the top of the wall: the oil liquid 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 against the lower edge of the fixing nail body;
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 and the staple that the camera was shot all bored into the wall crown completely, made driving motor reversal for it produces decurrent power to rise the blade, and simultaneously, the drill bit also produced the power of reverse promotion, thereby makes the aircraft fly away from the wall crown, and the staple slides at last and leaves the staple sleeve in the aircraft and stays on the wall crown, accomplishes at last and punches and implants the staple operation.
Preferably, the top of the upper end of the fixing nail is higher than that of the upper end of the drill bit.
Preferably, the linkage mechanism comprises a threaded rod joint fixedly arranged at the outer end of the drilling shaft and a threaded rod arranged at the lower end of the fixing nail, and the drill bit is rotatably connected with the fixing nail through the engagement of the threaded rod joint and the threaded rod.
Preferably, the fixing nail sleeve is a cylindrical sleeve matched with the fixing nail, a hole groove for the linkage mechanism to pass through is formed in the inner side of the sleeve, and the threaded rod joint penetrates through the hole groove and extends into the fixing nail sleeve.
Preferably, the staple includes the threaded rod of staple main part and lower extreme, and the diameter of threaded rod is less than the diameter of staple main part to guarantee under pushing mechanism's thrust is not enough, also can provide ascending thrust for the staple through the mode at the lower extreme of threaded rod joint card, by rising the blade.
Preferably, the pushing mechanism comprises a pushing plate, a spring and a cavity, the bottom of the fixing nail is arranged at the top of the pushing plate, the spring is installed between the pushing plate and a bottom plate of the fixing nail sleeve, and the spring can provide driving force for the fixing nail to drill into the top of the wall.
Preferably, hydraulic oil is further arranged in the cavity, and the cavities in the multiple pushing structures are connected through oil pipes, so that the pressure of each cavity is the same, the depth of the fixing nail driven into the wall top is guaranteed to be the same, and the actions of the fixing nail can be synchronized.
Preferably, an oil tank, a hydraulic pump and an electromagnetic directional valve are further arranged in the shell, the electromagnetic directional valve is a three-position two-way directional valve, the electromagnetic directional valve is located in the middle position during normal work, the oil pipe between the cavities is guaranteed to be communicated, no oil enters or flows out, when the camera detects that the fixing nail needs larger propelling force, the electromagnetic directional valve is located in the right position, at the moment, hydraulic oil in the hydraulic pump enters the electromagnetic valve through a port P of the electromagnetic directional valve and flows out of a port A, the hydraulic oil enters the cavity through the oil pipe, the oil pressure in the cavity is increased, the pushing plate is pushed to move upwards, and therefore the fixing nail can generate larger propelling force, and the fixing nail can be guaranteed to be smoothly driven into a wall top; when the camera judges that the staple does not need propulsive force, the solenoid directional valve is located the left position, and at this moment, the hydraulic oil in the cavity carries out the pressure release, and hydraulic oil flows back in the oil tank through T mouth behind the B mouth of oil pipe through the solenoid directional valve.
Preferably, the horizontal propulsion mechanism comprises a rotating motor, a horizontal shaft and a propulsion blade, the rotating motor is mounted on the inner side of the side edge of the shell, the rotating motor is rotatably connected with one end of the horizontal shaft, and the propulsion blade is mounted at the other end of the horizontal shaft.
Preferably, the threaded rod is the size of a threaded rod of an expansion bolt commonly used in daily life.
Preferably, the step (iv) of filling the cavity inside the pushing mechanism with liquid is as follows: opening the hydraulic pump to enable the electromagnetic directional valve to be located at the rightmost position, enabling oil to flow in from the port P of the electromagnetic valve and flow out from the port A, and filling liquid into the cavity; in the step (IV), the step of discharging the oil liquid in the cavity comprises the following steps: the electromagnetic directional valve is located at the leftmost position, so that oil flows in from the port B of the electromagnetic valve, and the port T flows out.
Preferably, the upper end and the lower end of the threaded rod joint are respectively provided with a contact sensor, the contact sensors can touch the lower edge of the fixing nail main body or the upper edge of the pushing plate, and the condition of the step that the fixing nail extends into the wall top in the starting step (IV) is that the contact sensor at the upper end of the threaded rod joint touches the lower edge of the fixing nail main body; and (5) starting the step (IV) in which the drill extends into the wall top, and adjusting the step (IV) to ensure that the contact sensor at the lower end of the threaded rod joint touches the upper edge of the push plate.
The invention has the beneficial effects that:
1) according to the aircraft operation method based on image recognition, the operation position of the aircraft is adjusted through the wall image shot by the camera, the pushing mechanism is arranged in the aircraft, and the image shot by the camera is used for judging when oil is supplemented to the cavity of the pushing mechanism or when the oil in the cavity is decompressed, so that the high efficiency of the aircraft operation is improved;
2) the aircraft in the aircraft operation method based on image recognition uses the drill bit and the fixing nail to simultaneously drill into the wall top for wall top operation, the drill bit and the fixing nail further perform linkage action, the fixing nail which extends into the wall top is used as a driving force for driving the drill bit to drill into the wall top, and the drill bit is jointly drilled into the wall top by virtue of the lifting force generated by the blades at the bottom of the aircraft, and meanwhile, the drill bit provides the driving force for the fixing nail to drill into the wall top, so that the drill bit and the fixing nail are linked to perform wall top operation;
3) according to the aircraft in the aircraft operation method based on image recognition, the fixing nail is implanted after the aircraft completes the operation of the top of the wall, the punching operation is completed, the aircraft can be reversed, and the aircraft is controlled to return from the top of the wall or the top, so that the aircraft can be recycled for next drilling, the use efficiency is improved, and the punching cost is reduced;
4) according to the aircraft in the aircraft operation method based on image recognition, the camera is mounted at the top of the aircraft, so that the environment of the wall top can be shot, the image is transmitted to a user operating the aircraft, for example, the display screen is additionally arranged on the operating handle, and the wall top operation is performed based on image recognition;
5) according to the aircraft in the aircraft operation method based on image recognition, the threaded rod structure is arranged at the bottom of the fixing nail, the fixing nail is driven to rotate through the threaded rod structure on the main motor shaft, meanwhile, the pushing mechanism at the bottom can provide a propelling force for driving the fixing nail into the top of the wall, and the driving efficiency of the fixing nail is further improved;
6) the head of the fixing nail is similar to the drill in shape, and the head of the fixing nail is spiral, so that the fixing nail can provide a force for pushing the wall top while rotating, and the diameter of the head of the fixing nail is larger than the outer diameter of the threaded rod structure, so that a limiting structure can be provided, and the drill and the fixing nail are prevented from being disengaged;
7) according to the aircraft in the aircraft operation method based on image recognition, the blades with the rotating shafts arranged horizontally are arranged on the periphery of the aircraft shell, so that the aircraft can move horizontally, when the punching position is judged to be poor according to the wall top image shot by the camera, the blades on the periphery of the aircraft shell are driven to act, and the blades at the bottom of the shell are combined, so that the position of the aircraft is adjusted, and the aim of accurately punching is fulfilled;
8) according to the aircraft in the aircraft operation method based on image recognition, the pushing mechanisms for pushing the fixing nails to extend into the wall are arranged below the fixing nails and connected through the oil pipes, so that the fixing nails can synchronously extend into the wall, and the synchronism of equipment is improved;
9) the aircraft operation method based on image recognition is characterized in that a hydraulic pump is arranged in the aircraft, the pushing force of the fixing nail is increased by starting the hydraulic pump, a spring is arranged in the pushing mechanism, the pushing mechanism can be completely driven by the spring aiming at the wall top with better holes, and when the wall is difficult to drive through the image recognition technology according to the picture shot by the camera, the hydraulic pump is started, the pushing force of the pushing mechanism is increased through hydraulic oil, and the operation efficiency and the intelligent degree of equipment are further improved;
10) the drill bit of the aircraft in the aircraft operation method based on image recognition is of a detachable structure and is of a standard caliber, and a special-shaped drill bit does not need to be additionally manufactured, so that the cost is further reduced.
Drawings
FIG. 1 is an overall block diagram of the wall top operation vehicle of the present invention;
FIG. 2 is an enlarged schematic view A of FIG. 1;
FIG. 3 is a hydraulic schematic between the pushing mechanisms;
FIG. 4 is a flowchart of a method of operating an aircraft based on image recognition in accordance with the present invention.
Description of the reference symbols
1. A housing; 2. a drive motor; 3. a rotating shaft; 4. punching a hole shaft; 5. a bit sub; 6. a drill bit; 7. fixing nails; 8. a linkage structure; 9. fixing the nail sleeve; 10. a pushing mechanism; 11. a push plate; 12. a spring; 13. a cavity; 14. an oil pipe; 15. a hydraulic pump; 16. an oil tank; 17. an electromagnetic directional valve; 18. a camera; 19. a staple body; 20. a threaded rod; 21. lifting the blade; 22. a horizontal pushing mechanism; 23. a rotating electric machine; 24. a horizontal axis; 25. a propulsion blade; 26. threaded rod connects.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to be limiting in any way, and any modifications or alterations based on the teachings of the present invention are intended to fall within the scope of the present invention.
As shown in fig. 1-3, the aircraft for wall top operation based on image recognition of the invention comprises a housing 1, a driving motor 2, a rotating shaft 3, a drilling shaft 4, a drill bit 6, a fixing nail 7, a linkage mechanism 8, a fixing nail sleeve 9, a pushing mechanism 10, a camera 18, a lifting blade 21 and a horizontal pushing mechanism 22, wherein the driving motor 2 is fixedly arranged inside the housing 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 housing 1 and is connected with the lifting blade 21 at the tail end, the drilling shaft 4 is rotatably connected to the upper end of the driving motor 2, the tail end of the drilling shaft 4 is provided with the drill bit joint 5, the upper surface of the drill bit joint 5 is flush with the upper surface of the housing 1, the drill bit 6 is detachably arranged on the drill bit joint 5, the camera 18 is arranged on the upper end surface of the housing 1, a plurality of fixing, the fixing nail 7 is arranged in the fixing nail sleeve 9 in a sliding way, the fixing nail 7 can slide and rotate in the fixing nail sleeve 9 along the axis, the punching shaft 4 is rotationally connected with the fixing nail 7 through the linkage mechanism 8, the pushing mechanism 10 is arranged at the lower end of the fixed nail sleeve 9, the horizontal pushing mechanism 22 is arranged at the side edge of the shell 1, for providing power for the horizontal movement of the shell 1, the upper parts of the drill bit 6 and the fixing nail 7 are in a conical structure, a spiral propelling groove is arranged in the conical structure, so that after drilling into the wall top, the drill bit or the fixing nail can be screwed in by providing rotary motion, the top point of the upper end of the fixing nail 7 is not lower than the top point of the upper end of the drill bit 6, therefore, when the aircraft flies to the wall and needs to drill the wall, the fixing nail 7 firstly contacts the wall top or the fixing nail 7 and the drill bit 6 simultaneously contact the wall top, and the shell 1 of the aircraft can not rotate when drilling.
Preferably, the top of the upper end of the fixing nail 7 is higher than that of the drill 6.
Preferably, 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, the threaded rod joint 26 is meshed with the threaded rod 20 to realize the rotary connection of the drill bit 6 and the fixing nail 7, the mode of selecting the threaded joint can avoid the phenomenon of tooth punching when the fixing nail 7 is separated from the fixing nail sleeve 9 or the fixing nail 7 is just contacted with the threaded rod joint 26, of course, the linkage mechanism 8 can also be selected to be a straight gear transmission mechanism, at the moment, a straight gear is fixedly arranged at the outer end of the drilling shaft 4, and a straight gear structure is also arranged at the lower end of the fixing nail 7.
Preferably, the staple sleeve 9 is a cylindrical sleeve adapted to the staple 7 and is provided with a hole slot on the inside through which the linkage 8 passes, through which the threaded rod nipple 26 extends into the staple sleeve 9.
Preferably, the staple 7 comprises a staple body 19 and a threaded rod 20 at the lower end, the diameter of the threaded rod 20 being smaller than the diameter of the staple body 19, so as to ensure that the lifting blade provides upward thrust to the staple body 19 by means of the threaded rod connector 26 being clamped at the lower end of the staple body 19 even in the case of insufficient thrust of the pushing mechanism 10.
Preferably, 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 the bottom plate of the fixing nail sleeve 9, and the spring 12 can provide driving force for the fixing nail 7 to drill into the top of the wall.
Preferably, hydraulic oil is further provided in the cavities 13, and the cavities 13 in the plurality of pushing structures 10 are connected through oil pipes 14, so that the pressure of each cavity 13 is the same, and further, the depth of the fixing nail 7 driven into the wall top is the same, and the actions of the fixing nail 7 can be synchronized.
Preferably, as shown in fig. 3, an oil tank 16, a hydraulic pump 15 and an electromagnetic directional valve 17 are further disposed in the housing 1, the electromagnetic directional valve 17 is a three-position two-way directional valve, in normal operation, the electromagnetic directional valve 17 is positioned at the middle position, so that the oil pipes 14 between the cavities 13 are ensured to be communicated, no oil enters or flows out, when the camera 18 detects that the hardness of the wall top where the fixing nail 7 works is higher or the length of the fixing nail 7 extending into the wall top is deeper, and a larger propelling force is needed, the electromagnetic directional valve 17 is located at the right position, at this time, the hydraulic oil in the hydraulic pump 15 enters the electromagnetic valve through the port P of the electromagnetic directional valve 17, flows out from the port A, 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 is driven into the wall top, the electromagnetic directional valve 17 is located at the left position, at the moment, the hydraulic oil in the cavity 13 is decompressed, and the hydraulic oil flows back into the oil tank 16 through the T port after passing through the B port of the electromagnetic directional valve through the oil pipe 14.
Preferably, the horizontal propulsion mechanism 22 comprises a rotating motor 23, a horizontal shaft 24 and a propulsion blade 25, the rotating motor 23 is installed on the inner side of the casing 1, the rotating motor 23 is rotatably connected with one end of the horizontal shaft 24, the propulsion blade 25 is installed at the other end of the horizontal shaft 24, and when the horizontal side of the aircraft needs to be moved, only the rotating motor 23 needs to be driven to rotate.
Preferably, the threaded rod 20 is selected to be the size of a threaded rod of an expansion bolt commonly used in life, so that the fixing nail 7 can be normally used after being driven into a wall top without performing an operation of nailing the expansion bolt and the like.
Preferably, the fixing nails 7 are two.
Preferably, the housing 1 is a cylindrical housing.
Preferably, the horizontal pushing mechanisms 22 are circumferentially and uniformly distributed on the side wall of the housing 1.
Preferably, as shown in fig. 4, the image recognition-based aircraft operation method of the present invention includes the steps of:
(one), searching a proper punching point:
the driving motor 2 that starts the aircraft is rotatory for it is rotatory to rise blade 21, drive the aircraft and fly to the wall crown, start the camera 18 work at aircraft top, gather the wall crown image, on the display screen on the operating handle is returned to the image transmission, select the point of punching through observing the wall crown image, if the position is improper, the rotating electrical machines 23 action of horizontal advancing mechanism 22 on the start aircraft, realize the change of aircraft horizontal position, after the wall crown position is suitable, close rotating electrical machines 23, confirm suitable point of punching.
(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 punching 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 main body 19 is abutted to the upper end of the threaded rod connector 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;
(III) the drill extends into the top of the wall:
continuing to drive the shell 1 to move up and down until the drill bit positioned in the middle of the fixing nail 7 is abutted to the wall top, starting to perform 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:
in order to accelerate the operation progress of the wall top, the cavity 13 in the pushing mechanism 10 is filled, specifically, the hydraulic pump 15 is opened, the electromagnetic directional valve 17 is located at the rightmost position, oil flows in from the port P of the electromagnetic valve, the port A flows out, the cavity 13 is filled, the fixing nail 7 is driven to extend into the wall top until the pushing plate 11 abuts against the lower end of the threaded rod structure 26, and the fixing nail extends into the wall top; because the fixing nail 7 extends into the interior of the wall top, and the upper end of the threaded rod structure 26 is not abutted to the lower end of the fixing nail main body 19, the resistance borne by the fixing nail 7 is large and does not rotate at the moment, therefore, the threaded rod joint 26 meshed with the threaded rod 20 can move upwards along the threads on the threaded rod 20, and at the moment, oil in the cavity 13 is discharged, specifically, the electromagnetic directional valve 17 is positioned at the leftmost position, so that the oil flows in from the port B of the electromagnetic valve and flows out from the port T, and 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 is abutted to the lower edge of the fixing nail main body 19, so that a drill bit extends into the wall top; and finally, alternately extending the fixing nail and the drill bit into the top of the wall through the same steps.
(V) recovering the aircraft:
after the image display drill bit and the fixing nail shot by the camera 18 are completely drilled into the wall top, the driving motor 2 is rotated reversely, so that the lifting blade 21 generates downward force, meanwhile, the drill bit 6 also generates reverse pushing force, the aircraft flies away from the wall top, the fixing nail 7 finally slides away from the fixing nail sleeve 9 in the aircraft and is left on the wall top, and finally, the operations of punching and implanting the fixing nail are completed.
The working process of the aircraft of the invention is as follows: when needing to punch on the wall top of a house or the wall top of the outer wall of a high-rise building, a driving motor 2 in the aircraft is controlled to be started to drive a lifting blade 21 to rotate, so that the aircraft takes off to be close to the wall top, a camera 18 is started to work, the camera 18 shoots pictures of the wall top and transmits the pictures to a display screen in an operator remote control, an operator selects the punching position of the aircraft according to the images, when needing to adjust, a rotating motor 23 on the side wall of a shell 1 is started to rotate to drive the aircraft to laterally move, after the operation position is selected, a punching shaft 4 drives a drill bit 6 to rotate, meanwhile, a fixed nail 7 is driven to rotate through a linkage mechanism 8, the fixed nail 7 firstly contacts the wall top, a pushing mechanism 10 at the lower part of a fixed nail sleeve 9 acts to abut against the lower end of the fixed nail 7, the lifting blade 21 provides upward thrust, the drill bit 6, at the moment, the drill bit 6 and the fixing nail 7 jointly execute the drilling and screwing operation, the drill bit 6 provides upward propelling force by the lifting blade 21, when the camera 18 judges that the fixing nail 7 needs larger pushing force (if the fixing nail 7 is submerged into most), the hydraulic pump 15 supplies oil into the cavity 13 so as to provide upward pushing force for the fixing nail 7 until the pushing plate 11 is abutted to the lower end of the threaded rod joint 26, the fixing nail 7 extends into the wall top, the resistance is larger because the fixing nail 7 extends into the wall top, the threaded rod joint 26 is not contacted with the lower end of the fixing nail main body 19, the fixing nail cannot rotate, at the moment, hydraulic oil in the cavity 13 is decompressed, the threaded rod joint 26 can generate upward climbing force along the threaded rod 20, and the jacking force of the drill bit is jointly born by the fixing nail 7 and the lifting blade 21, so that the drilling machine has larger strength and is easier to work, the drill bit upwards drills into the wall top, the staple 7 butt slushing plate 11 moves down, when the threaded rod connects 26 butt to 19 lower tip of staple main part, because the butt of threaded rod joint 26 upper end, threaded rod joint 26 can rotate this moment again, and simultaneously, the control supplies oil to in the cavity 13, thereby the staple 7 can dig into the wall top again under the combined action of hydraulic oil and driving motor's rotary power, until slushing plate 11 butt to threaded rod connects 26 lower extreme, so constantly circulate, thereby realize constantly stretching into of drill bit 6 and staple 7. After camera 18 detects the completion of punching, control driving motor 2 reversal, play to rise blade 21 and produce decurrent power, drill bit 6 also produces the power of pushing out the wall crown simultaneously, and the aircraft that has drill bit 6 at last breaks away from the wall crown, and simultaneously, staple 7 also breaks away from the aircraft and stops on the wall crown for the operation that needs set screw, this moment, accomplished simultaneously promptly and punched and hit into the operation of staple. The control of the driving motor 2 can be realized by a microprocessor arranged in the housing 1, the pictures taken by the camera 18 can also be processed by the microprocessor, and the images are processed by software arranged in the housing, for example, the control can be performed by comparing the pictures with preset stations. Also can be through setting up contact pick-up respectively at the up end of threaded rod joint 26 and the action that the solenoid directional valve 17 was controlled to the lower terminal surface, with the fluid in the control cavity 13, if when the up end of threaded rod joint 26 contradicts the lower limb of staple main part 19, control solenoid directional valve 17 is located rightmost position, fill liquid to cavity 13, the drive staple stretches into the wall, when the lower terminal surface of threaded rod joint 26 contradicts the kickboard 11 upper limb, control solenoid directional valve 17 is located leftmost position, carry out the tapping to cavity 13, thereby carry out reciprocating operation so and realize the high-efficient of drill bit and staple and bore into.

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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CN108341058A (en) * 2018-02-02 2018-07-31 温州大学瓯江学院 A kind of wireless device mounting device
CN108465843A (en) * 2018-03-14 2018-08-31 金陵科技学院 A kind of construction site auxiliary bore hole unmanned plane

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4119036A (en) * 1974-12-23 1978-10-10 Daicel Ltd. Rocket motor comprising combustible case, nozzle, and fins
US20140054415A1 (en) * 2010-03-26 2014-02-27 Aerovel Corporation Method and apparatus for automated launch, retrieval, and servicing of a hovering aircraft
WO2018013233A1 (en) * 2016-07-15 2018-01-18 Qualcomm Incorporated Managing a parameter of an unmanned autonomous vehicle based on manned aviation data
CN106741946A (en) * 2017-02-28 2017-05-31 田悦丰 A kind of unmanned plane for the sampling of harbour mineral and application thereof
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