CN111824404A - Intelligent ground, air and wall triphibian operation system and operation method thereof - Google Patents
Intelligent ground, air and wall triphibian operation system and operation method thereof Download PDFInfo
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- CN111824404A CN111824404A CN201910322652.XA CN201910322652A CN111824404A CN 111824404 A CN111824404 A CN 111824404A CN 201910322652 A CN201910322652 A CN 201910322652A CN 111824404 A CN111824404 A CN 111824404A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001179 sorption measurement Methods 0.000 claims abstract description 69
- 239000000725 suspension Substances 0.000 claims abstract description 59
- 238000002360 preparation method Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
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- 238000011089 mechanical engineering Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention provides an intelligent ground, air and wall triphibian operation system and an operation method. The system comprises a multi-rotor aircraft, a wall surface operation module, a suspension and auxiliary adsorption system. The multi-rotor aircraft is used for controlling the distance between the multi-rotor aircraft and a target operation surface. The wall surface operation module is used for firmly adhering to a target operation surface and performing autonomous operation. The suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is prepared to be adsorbed on a target operation surface. Compared with the prior art, the invention adopts a modularized connection mode, and utilizes the suspension and auxiliary adsorption system to enable the wall surface operation module to carry out autonomous reciprocating motion between the flight suspension position and the adsorption preparation position, thereby realizing multi-environment autonomous moving operation among the ground, the air and the target operation wall surface.
Description
Technical Field
The invention relates to a mechanical engineering technology and an industrial robot technology, in particular to an intelligent ground, air and wall triphibian operation system and an operation method thereof.
Background
With the development of science and technology, people have higher and higher requirements on unattended operation and automation of dangerous work. For example, the operation of the outer wall of a building belongs to high-risk operation, and is often performed by professional personnel and equipment, so that the efficiency is difficult to improve, and the operation cost is difficult to reduce. In addition, in the domestic robot field, some current companies provide vacuum adsorption's window cleaning robot, possess the ability of independently removing and intelligent operation, but this type of robot can only be in the motion of complete smooth wall, can't adapt to complicated changeable building wall environment, thereby can't break away from artifical supplementary autonomic operation during in-service use more.
On the other hand, in the field of industrial robots, some existing robots achieve a vertical wall surface obstacle crossing capability of a certain height by means of a sucker-type crawler belt, and can autonomously perform cleaning work of wall surfaces such as an outer wall and a solar panel without manual assistance.
All the above operation systems need to manually arrange the equipment at the adsorption position to start working, and the use scene is greatly limited. In the prior art, a form of autonomously moving to the adsorption wall surface by a flying manner has also been searched by a skilled person. For example, an amphibious robot developed by Nanjing university can realize autonomous adsorption and desorption of a wall surface by using an onboard adsorption device, and the system can be parked on the wall surface for standby. However, the single suction cup type does not provide the capability of moving the system on the wall surface, and the operation type and range are still limited to a certain extent.
Disclosure of Invention
Aiming at the defects of the industrial robot in the prior art in wall surface movement, the invention provides an intelligent ground, air and wall surface triphibian operation system and an operation method thereof.
According to one aspect of the invention, an intelligent ground, air and wall triphibian operation system is provided, which comprises a multi-rotor aircraft, a wall operation module, a suspension and auxiliary adsorption system,
wherein the multi-rotor aircraft is used for controlling the distance between the multi-rotor aircraft and a target working surface; the wall surface operation module is used for firmly adsorbing the target operation surface and performing autonomous operation; the suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is ready to be adsorbed on the target operation surface.
In one embodiment, the multi-rotor aircraft includes robotic vision and ultrasound sensors for generating detection signals and positioning based on the detection signals.
In one embodiment, the suspension and auxiliary attachment system includes an electrically controlled connector for utilizing electromagnetic attachment forces to autonomously connect and release the wall work module.
In one embodiment, the suspension and auxiliary suction system further includes a vacuum suction device for electrically driving and vacuuming to suck the whole system on the target working surface.
In one embodiment, the suspension and auxiliary suction system further includes a moving device for carrying the electric control connector and the wall operation module to move on the vertical plane through a servo linear guide rail, so as to realize the reciprocating motion of the wall operation module in the flight suspension position and the suction preparation position.
In one embodiment, the multi-rotor aircraft is an evenly distributed eight-rotor structure that includes a propeller protection device and a landing gear.
In one embodiment, the wall work module is of a multi-module design, different modules are used for achieving different work capacities, and all the modules share the same mechanical interface.
According to another aspect of the present invention, there is provided an operating method of an intelligent triphibian operating system, comprising the steps of:
the triphibian operation system takes off from the ground, wherein the triphibian operation system comprises a multi-rotor aircraft, a wall surface operation module, a suspension and auxiliary adsorption system, and the suspension and auxiliary system comprises an electric control connector, a vacuum adsorption device and a moving device;
the triphibian operation system flies to the vicinity of a target operation surface, and the multi-rotor aircraft autonomously adjusts the direction and the distance to the target operation surface so that the vacuum adsorption device and the target operation surface are parallel and close to each other;
the vacuum adsorption device performs vacuum pumping operation, and the whole system is suspended by utilizing adsorption force and lift force generated by the multi-rotor aircraft; and
and transporting the wall surface operation module to an adsorption preparation position through the moving device, and releasing the wall surface operation module to the target operation surface through the electric control connector after adsorption is completed, so that the wall surface operation module performs autonomous operation on the target operation surface.
In one embodiment, the method of operation further comprises: the mobile device returns to move to the initial hanging position; and the vacuum device releases the adsorption force, so that the multi-rotor aircraft and the suspension and auxiliary adsorption system fly away from a target operation area.
In one embodiment, the method of operation further comprises: after the wall surface operation module completes autonomous operation, the multi-rotor aircraft and the suspension and auxiliary adsorption system fly back to the position of the wall surface operation module; the wall surface operation module and the mobile device respectively move to an evacuation adsorption position, and the electric control connector restores connection, so that the wall surface operation module stops adsorption; and the moving device transports the wall operation module to a flying suspension position in a direction perpendicular to the target operation surface, so that the whole system flies away from the target operation surface.
The triphibian operation system comprises a multi-rotor aircraft, a wall operation module and a suspension and auxiliary adsorption system. Wherein, many rotor crafts are used for controlling many rotor crafts and the distance of target working face. The wall surface operation module is used for firmly adhering to a target operation surface and performing autonomous operation. The suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is prepared to be adsorbed on a target operation surface. Compared with the prior art, the invention adopts a modularized connection mode, the distance between the aircraft and the target operation surface is accurately controlled through the multi-rotor aircraft, and the wall surface operation module can independently reciprocate between the flying suspension position and the adsorption preparation position by utilizing the suspension and auxiliary adsorption system, so that the multi-environment independent movement operation among the ground, the air and the target operation wall surface can be realized.
Drawings
The various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein,
FIG. 1 illustrates a three-dimensional schematic representation of an intelligent, airborne, wall-based triphibian operation system, in accordance with an aspect of the present invention;
FIG. 2 is a schematic diagram of the suspension and auxiliary adsorption system of the intelligent triphibian operation system of FIG. 1;
FIG. 3 illustrates a block flow diagram of a method of operation of an intelligent, airborne, wall-based triphibian operation system, in accordance with another aspect of the present invention; and
fig. 4A to 4C are schematic views showing the working states of the intelligent triphibian operation system for ground, air and wall surfaces, which takes off from the ground, is adsorbed on the target operation wall surface, and flies off the wall surface after the operation is completed, by using the operation method of fig. 3.
Detailed Description
In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar or analogous elements, and to the various embodiments of the invention described below. However, it will be understood by those of ordinary skill in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.
Specific embodiments of various aspects of the present invention are described in further detail below with reference to the accompanying drawings.
Fig. 1 illustrates a three-dimensional structural view of an intelligent, aerial, and wall triphibian operation system according to an aspect of the present invention, and fig. 2 illustrates a structural view of a suspension and auxiliary adsorption system in the intelligent, aerial, and wall triphibian operation system of fig. 1.
Referring to fig. 1, in this embodiment, the intelligent, airborne, wall triphibian operation system of the present invention includes a multi-rotor aircraft 1, a wall operation module 2, and a suspension and auxiliary adsorption system 3.
In detail, the multi-rotor aircraft 1 is used to control its own distance from the target working plane. For example, the multi-rotor aircraft 1 is configured as an eight-rotor structure that is uniformly distributed on a plane, and two adjacent rotors are spaced by a certain arc. Furthermore, multi-rotor aircraft 1 also has propeller protection and landing gear. The propeller protection devices are arranged in one-to-one correspondence with the rotors, i.e., the number of propeller protection devices is the same as the number of rotors, and are located outside the rotors. The landing gear is used to provide balance and support during take-off and landing of the triphibian operation system.
The wall surface operation module 2 is connected with the suspension and auxiliary adsorption system 3 through an electric control connector. After the suspension and auxiliary suction system 3 moves the wall surface working module 2 to the suction preparation position, the wall surface working module 2 can be firmly sucked to the target working surface and autonomously operated. Preferably, the wall work module 2 is of a multi-modular design, with different modules being used to achieve different work capacities and all modules sharing the same mechanical interface.
The suspension and auxiliary suction system 3 is fixed below the multi-rotor aircraft 1, and is used for suspending the wall surface operation module 2 at a suspension flight position of the multi-rotor aircraft 1 in the flight process, and transporting the wall surface operation module 2 from the flight suspension position to a suction preparation position when the wall surface operation module 2 is ready to be sucked at a target operation surface.
In a particular embodiment, multi-rotor aircraft 1 further comprises robotic vision and ultrasound sensors for generating detection signals and positioning based on the detection signals. For example, a signal generated by the robot vision is fused with a sensing signal output by the ultrasonic sensor to obtain a detection signal, and then the obtained detection signal is used to accurately control the distance between the aircraft and the target operation surface, thereby providing an environment for the adsorption of the wall surface operation module 2.
In one embodiment, the suspension and auxiliary suction system 3 includes a vacuum suction device 301 (also referred to as a vacuum suction subsystem), a moving device 302 (also referred to as a moving subsystem), and an electrically controlled connector 303 (also referred to as an electrically controlled connection subsystem). As shown in fig. 2, the vacuum adsorption device 301 is used to adsorb the whole system on the target work surface by electrically driving to vacuumize. The moving device 302 is used for carrying the electric control connector 303 and the wall surface operation module 2 to move in a direction perpendicular to the target operation surface through a servo linear guide rail, so that the reciprocating motion of the wall surface operation module 2 at the flying suspension position and the adsorption preparation position is realized. The electrical connector 303 is used to connect and release the wall working module 2 by electromagnetic attraction. For example, when the vacuum adsorption device 301 is in operation, the whole system is in a hovering state by virtue of the adsorption force and the lift force provided by the rotor, and at this time, the suspension and auxiliary adsorption system 3 fixedly connects the wall surface operation module 2 to the flying suspension position by utilizing the electromagnetic adsorption force. When the wall work module 2 is started and attached to the target work surface, the electronic control connector 303 releases the wall work module 2 so that it performs autonomous work.
Compared with the prior art, the multi-rotor aircraft 1 can accurately control the distance between the aircraft and the target operation surface by using the robot vision and the detection signal obtained by the ultrasonic sensor, so that an environment is provided for the adsorption of the wall surface operation module 2. The triphibian operation system adopts a modularized connection mode, and realizes the autonomous reciprocating motion of the wall operation module between the flying suspension position and the adsorption preparation position through the suspension and auxiliary adsorption system, so that the multi-environment autonomous moving operation among the ground, the air and the target operation wall can be completed.
FIG. 3 illustrates a block flow diagram of a method of operation of an intelligent, airborne, wall-based triphibian operation system, in accordance with another aspect of the present invention. Fig. 4A to 4C are schematic views showing the working states of the intelligent triphibian operation system for ground, air and wall surfaces, which takes off from the ground, is adsorbed on the target operation wall surface, and flies off the wall surface after the operation is completed, by using the operation method of fig. 3.
Referring to fig. 3, in this embodiment, the operation method of the intelligent, air, wall triphibian operation system is mainly implemented by steps S101 to S107.
Specifically, with reference to fig. 3 and fig. 1 and 2, in step S101, the system takes off from the ground, wherein the triphibian operation system includes a multi-rotor flight 1, a wall operation module 2, a suspension and auxiliary suction system 3, and the suspension and auxiliary suction system 3 includes a vacuum suction device 301, a moving device 302, and an electric control connector 303.
In step S103, the triphibian operation system flies to the vicinity of the target operation surface, and the multi-rotor aircraft 1 autonomously adjusts the direction and the distance between itself and the target operation surface, so that the vacuum suction devices 301 of the suspension and auxiliary suction system 3 are parallel to and close to the target operation surface (as shown in fig. 4A). Next, in step S105, the vacuum suction device 301 performs a vacuum pumping operation, and the entire system is suspended by using the suction force and the lift force generated by the multi-rotor aircraft 1. Then, in step S107, the wall work module 2 is transported from the flight suspension position to the suction preparation position by the moving device 302 (as shown in fig. 4B), and after the suction is completed, the wall work module 2 is released to the target work surface by the electronic control connector 303, so that the wall work module 2 performs autonomous work on the target work surface (as shown in fig. 4C). Therefore, the system realizes multi-environment autonomous moving operation on the ground, the air and the wall surface.
In one embodiment, the method of operation further comprises the steps of: moving device 302 returns to the initial suspended position, and then vacuum suction device 301 releases the suction force, so that multi-rotor aircraft 1 and suspended and auxiliary suction system 3 fly away from the target work area.
In one embodiment, the method of operation further comprises the steps of: after the wall operation module 2 completes autonomous operation, the multi-rotor aircraft 1 and the suspension and auxiliary adsorption system 3 fly back to the position of the wall operation module 2, then the wall operation module 2 and the moving device 302 respectively move to the evacuation adsorption position, the electric control connector 303 is connected again, the wall operation module 2 stops adsorption, then the moving device 302 transports the wall operation module 2 to the flight suspension position in the direction perpendicular to the target operation surface, so that the whole system flies away from the target operation surface, and therefore the whole system realizes the loaded flight mode from the autonomous operation mode of the wall operation module 2 on the target operation surface to the state that the wall operation module 2 is fixedly connected to the multi-rotor aircraft again.
The triphibian operation system comprises a multi-rotor aircraft, a wall operation module and a suspension and auxiliary adsorption system. Wherein, many rotor crafts are used for controlling many rotor crafts and the distance of target working face. The wall surface operation module is used for firmly adhering to a target operation surface and performing autonomous operation. The suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is prepared to be adsorbed on a target operation surface. Compared with the prior art, the invention adopts a modularized connection mode, the distance between the aircraft and the target operation surface is accurately controlled through the multi-rotor aircraft, and the wall surface operation module can independently reciprocate between the flying suspension position and the adsorption preparation position by utilizing the suspension and auxiliary adsorption system, so that the multi-environment independent movement operation among the ground, the air and the target operation wall surface can be realized.
Hereinbefore, specific embodiments of the present invention are described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (10)
1. An intelligent triphibian operation system for ground, air and wall surfaces, which is characterized in that the triphibian operation system comprises a multi-rotor aircraft, a wall surface operation module and a suspension and auxiliary adsorption system,
wherein the multi-rotor aircraft is used for controlling the distance between the multi-rotor aircraft and a target working surface; the wall surface operation module is used for firmly adsorbing the target operation surface and performing autonomous operation; the suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is ready to be adsorbed on the target operation surface.
2. The triphibious operation system of claim 1, wherein said multi-rotor aircraft comprises robotic vision and ultrasound sensors for generating detection signals and positioning based on said detection signals.
3. The triphibian exercise system according to claim 1, wherein said suspension and auxiliary attachment system includes electrically controlled connectors for utilizing electromagnetic attachment forces to autonomously connect and release said wall exercise modules.
4. The triphibian operation system according to claim 3, wherein said suspension and auxiliary suction system further comprises a vacuum suction device for electrically driven vacuum suction of the entire system onto said target operation surface.
5. The triphibian operation system according to claim 3, wherein said suspension and auxiliary suction system further comprises moving means for carrying said electrically controlled connectors and said wall working modules for movement on said vertical surface by means of servo linear guides for reciprocating said wall working modules in flight suspension and suction preparation positions.
6. The triphibious operation system of claim 1, wherein said multi-rotor aircraft is an evenly distributed eight-rotor structure comprising propeller protection and landing gear.
7. The triphibian operation system according to claim 1, wherein said wall-working modules are of a multi-modular design, with different modules being used to achieve different operation capabilities and all modules sharing the same mechanical interface.
8. An operation method of an intelligent ground, air and wall triphibian operation system is characterized by comprising the following steps:
the triphibian operation system takes off from the ground, wherein the triphibian operation system comprises a multi-rotor aircraft, a wall surface operation module and a suspension and auxiliary adsorption system, and the suspension and auxiliary adsorption system comprises an electric control connector, a vacuum adsorption device and a moving device;
the triphibian operation system flies to the vicinity of a target operation surface, and the multi-rotor aircraft autonomously adjusts the direction and the distance to the target operation surface so that the vacuum adsorption device and the target operation surface are parallel and close to each other;
the vacuum adsorption device performs vacuum pumping operation, and the whole system is suspended by utilizing adsorption force and lift force generated by the multi-rotor aircraft; and
and transporting the wall surface operation module to an adsorption preparation position through the moving device, and releasing the wall surface operation module to the target operation surface through the electric control connector after adsorption is completed, so that the wall surface operation module performs autonomous operation on the target operation surface.
9. The method of operation of claim 1, further comprising:
the mobile device returns to move to the initial hanging position; and
and the vacuum adsorption device releases adsorption force, so that the multi-rotor aircraft and the suspension and auxiliary adsorption system fly away from a target operation area.
10. The method of operation of claim 1, further comprising:
after the wall surface operation module completes autonomous operation, the multi-rotor aircraft and the suspension and auxiliary adsorption system fly back to the position of the wall surface operation module;
the wall surface operation module and the mobile device respectively move to an evacuation adsorption position, and the electric control connector restores connection, so that the wall surface operation module stops adsorption; and
the moving device transports the wall work module to a flight suspension position in a direction perpendicular to the target work surface so that the entire system flies off the target work surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322652.XA CN111824404A (en) | 2019-04-22 | 2019-04-22 | Intelligent ground, air and wall triphibian operation system and operation method thereof |
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| CN201910322652.XA CN111824404A (en) | 2019-04-22 | 2019-04-22 | Intelligent ground, air and wall triphibian operation system and operation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325874A (en) * | 2021-06-11 | 2021-08-31 | 北京双栖科技有限公司 | Flight control method and flight control device for aircraft to adsorb or separate target object |
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2019
- 2019-04-22 CN CN201910322652.XA patent/CN111824404A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325874A (en) * | 2021-06-11 | 2021-08-31 | 北京双栖科技有限公司 | Flight control method and flight control device for aircraft to adsorb or separate target object |
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