CN115402438A - Self-regulation adsorption type flying robot and adsorption method thereof - Google Patents
Self-regulation adsorption type flying robot and adsorption method thereof Download PDFInfo
- Publication number
- CN115402438A CN115402438A CN202211123496.2A CN202211123496A CN115402438A CN 115402438 A CN115402438 A CN 115402438A CN 202211123496 A CN202211123496 A CN 202211123496A CN 115402438 A CN115402438 A CN 115402438A
- Authority
- CN
- China
- Prior art keywords
- negative pressure
- adsorption
- pressure cavity
- flying
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 155
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 29
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 230000001174 ascending effect Effects 0.000 abstract description 3
- 239000000284 extract Substances 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention relates to a self-regulating adsorption type flying robot and an adsorption method thereof.A flying adsorption power device rapidly extracts wind from an air inlet to an air outlet at the bottom of a negative pressure cavity under the control action of a control device, the wind from the air outlet reversely provides thrust to the negative pressure cavity to provide ascending flying power, the wind from the air inlet is rapidly extracted and flows to form negative pressure of an adsorption surface of the negative pressure cavity, the negative pressure of the robot is adsorbed on the surface of an object to be operated, and the robot is enabled to perform related tasks on the surface to be operated in a short-distance contact manner. Meanwhile, after the adsorption type flying robot adsorbs, the air pressure in the negative pressure cavity of the negative pressure cavity is detected in real time through the air pressure detection device, air pressure data are transmitted to the control device, the control device adjusts the power of each flying adsorption power device in real time through a PID control algorithm to maintain the negative pressure of the adsorption surface of the negative pressure cavity, the continuous adsorption capacity of the robot is kept, the original posture of the robot is kept unchanged, and the robot is ensured to be adsorbed on a plane needing to be operated normally and stably.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-regulating adsorption type flying robot and an adsorption method thereof.
Background
In recent years, the adsorption type flying robot, especially the rotary wing type unmanned aerial vehicle, has some applications in the visual detection task in a complex field. But unmanned aerial vehicle must keep certain safe distance when detecting, also receives the influence of natural wind, building wind easily. Often, only vision or radar can be used for long-distance non-contact detection tasks, and the detection tasks needing close-distance contact cannot be performed.
For the detection task of close-distance contact, an adsorption type robot is mostly used for detection, the principle of the adsorption type robot is negative pressure adsorption, the negative pressure adsorption has no special requirements on wall materials, but the requirement on the flatness of the wall is high. The existing negative pressure adsorption robot can only crawl on a continuous plane basically, the obstacle crossing capability is very weak, the negative pressure is reduced and the instability is caused when the obstacle is uneven, and particularly, a gap exists in a wall, so that the negative pressure of a negative pressure cavity is unstable or the negative pressure cannot be formed.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problems that an existing unmanned aerial vehicle is difficult to adsorb, park and contact a target object in a close range when performing task operation, the existing adsorption robot is weak in obstacle crossing capability, and particularly, gaps exist on the wall, so that negative pressure of a negative pressure cavity is unstable or negative pressure cannot be formed.
(II) technical scheme
In order to solve the technical problem, the invention provides a self-regulating adsorption type flying robot which comprises a negative pressure cavity, a flying adsorption power device, a control device, a power supply device and an air pressure detection device, wherein the negative pressure cavity is provided with a negative pressure cavity; the negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is an adsorption face of the negative pressure cavity; the flying adsorption power device is arranged in a negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to an adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity; the control device is arranged on the negative pressure cavity, the flying adsorption power device is connected with the control device, and the control device controls the flying adsorption power device to operate; the negative pressure cavity is provided with the power supply device, and the power supply device is connected with the control device and used for supplying power to the control device and the flying adsorption power device; the air pressure detection device is arranged in the negative pressure cavity of the negative pressure cavity and is connected with the control device, and the air pressure detection device is used for detecting the air pressure in the negative pressure cavity of the negative pressure cavity in real time and transmitting the air pressure to the control device; the control device comprises a flight control unit and a remote control unit, wherein the flight control unit is used for controlling the adsorption flight of the adsorption flying robot, and the remote control unit is used for performing wireless remote control on the adsorption flying robot.
Further, the flying adsorption power device is a ducted fan.
Furthermore, the end surface of the air inlet of the ducted fan is 10-30 mm lower than the adsorption surface of the negative pressure cavity.
Furthermore, a walking device is arranged on the negative pressure cavity, so that the robot can move and walk on the working surface during adsorption operation.
Furthermore, the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity, and the remote control system is connected with the flight control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
Furthermore, the power supply device is arranged in the center of the negative pressure cavity, and the control device and the air pressure detection device are symmetrically distributed by taking the power supply device as the center.
On the other hand, the invention provides a self-regulating adsorption type flying robot adsorption method, which comprises the following steps: the air pressure detection device detects the air pressure in the negative pressure cavity of the negative pressure cavity in real time; the air pressure detection device transmits air pressure data to the control device; the control device adjusts the rotating speed of each ducted fan in real time through a PID control algorithm; when the air pressure in the negative pressure cavity of the negative pressure cavity meets the adsorption condition, the adsorption flying robot evacuates the negative pressure cavity of the negative pressure cavity through the ducted fan to keep negative pressure adsorption; when the air pressure in the negative pressure cavity of the negative pressure cavity does not meet the adsorption condition, the rotating speed of the ducted fan is increased, and the adsorption type flying robot is jacked up by the downward thrust generated by the ducted fan to keep adherence.
Further, the PID control algorithm defines the pressure in the negative pressure cavity of the negative pressure cavity as P0, the atmospheric pressure as P, and the area of the negative pressure cavity as S, so that the calculation formula of the negative pressure adsorption force F is as follows: f = S (P-P0); adsorption type flying robot gravity itself is G, and in order to guarantee that adsorption type flying robot can adsorb by the safety and stability, adsorption affinity F satisfies: f is more than or equal to G and 120 percent.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
under the control action of the control device, the flying adsorption power device rapidly extracts wind from the air inlet to the air outlet at the bottom of the negative pressure cavity, and the wind from the air outlet reversely provides thrust for the negative pressure cavity to provide ascending flying power for the robot; the air (airflow) at the air inlet is rapidly extracted and flows to form negative pressure of the suction surface of the negative pressure cavity, the negative pressure of the robot is absorbed on the surface of an object needing to be operated, the robot is enabled to closely contact and execute related tasks on the surface needing to be operated, and two functions of flying and negative pressure absorption of the robot are perfectly applied.
After the adsorption type flying robot adsorbs, the air pressure in the negative pressure cavity of the negative pressure cavity is detected in real time through the air pressure detection device, air pressure data are transmitted to the control device, the control device adjusts the power of each flying adsorption power device in real time through a PID control algorithm to maintain the negative pressure of the adsorption surface of the negative pressure cavity, the continuous adsorption capacity of the robot is maintained, when the robot is interfered, and the negative pressure is reduced, the power of the flying adsorption power device is improved through the control of the controller, the negative pressure of the adsorption surface of the negative pressure cavity can be improved through accelerating the rapid flow of air, the original posture of the robot is kept unchanged, and the robot is ensured to be adsorbed on a plane needing to operate stably as usual.
Drawings
FIG. 1 is a schematic structural diagram of a self-regulating adsorption flying robot;
in the figure: 1. a negative pressure cavity; 2. a flying adsorption power device; 3. a traveling device; 4. a control device; 5. a power supply device; 6. an air pressure detecting device.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present invention provides a self-regulating adsorption type flying robot, including a negative pressure cavity 1, a flying adsorption power device 2, a walking device 3, a control device 4, a power supply device 5 and an air pressure detection device 6; the negative pressure cavity 1 is of a cavity structure with an open top, and the plane where the open end face of the negative pressure cavity 1 is located is an adsorption face of the negative pressure cavity 1; the flying adsorption power device 2 is arranged in the negative pressure cavity of the negative pressure cavity 1, the air inlet of the flying adsorption power device 2 faces the adsorption surface of the negative pressure cavity 1, and the end surface of the air inlet of the flying adsorption power device 2 is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device 2 is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device 2 penetrates through the bottom of the negative pressure cavity; the walking device 3 is arranged on the negative pressure cavity 1, so that the robot can move and walk on the operation surface during adsorption operation; the control device 4 is arranged on the negative pressure cavity 1, the flying adsorption power device 2 and the walking device 3 are respectively connected with the control device 4, and the control device 4 controls the operation of the flying adsorption power device 2 and the walking device 3; the negative pressure cavity 1 is provided with the power supply device 5, and the power supply device 5 is connected with the control device 4 and used for supplying power for the control device 4, the flying adsorption power device 2 and the walking device 3.
Under the control action of the control device 4, the flying adsorption power device 2 rapidly extracts wind from the air inlet to the air outlet at the bottom of the negative pressure cavity, and the wind from the air outlet reversely provides thrust for the negative pressure cavity 1 to provide rising flight power for the robot; the air (airflow) of the air inlet is rapidly extracted and flows to form negative pressure of the adsorption surface of the negative pressure cavity, so that the negative pressure of the robot is adsorbed on the surface of an object needing to be operated, the robot is enabled to closely contact and execute related tasks on the surface needing to be operated, and two functions of flying and negative pressure adsorption of the robot are perfectly applied. The traveling device 3 can precisely adjust the working direction of the robot and control the robot to move to a position to be worked on the working plane under the control of the control device 4, thereby performing a working task.
The negative pressure cavity of negative pressure cavity 1 is equipped with atmospheric pressure detection device 6, just atmospheric pressure detection device 6 with controlling means 4 is connected, atmospheric pressure detection device 6 is used for real-time detection negative pressure cavity internal gas pressure of negative pressure cavity 1, and transmits for controlling means 4. The air pressure detection device 6 can adopt an MS5803-14BA pressure sensor, and is characterized by small volume, light weight, higher sensitivity and accurate measurement result.
After the adsorption type flying robot adsorbs, the air pressure in the negative pressure cavity of the negative pressure cavity 1 is detected in real time through the air pressure detection device 6, the air pressure data is transmitted to the control device 4, the control device 4 adjusts the power of each flying adsorption power device 2 in real time through a PID control algorithm to maintain the negative pressure of the adsorption surface of the negative pressure cavity, the adsorption capacity of the robot is kept continuously, when the robot is interfered, and the negative pressure is reduced, the power of the flying adsorption power device 2 is improved through the control of the controller, the negative pressure of the adsorption surface of the negative pressure cavity can be improved through the rapid flow of the accelerated wind, the original posture of the robot is kept unchanged, and the robot is ensured to be adsorbed on a plane required to operate normally and stably.
In some embodiments, the flying adsorption power device 2 is a ducted fan, and a plurality of ducted fans are arranged in the negative pressure cavity 1 in a centrosymmetric manner. The central symmetry arrangement mode enables the ducted fans to be uniformly distributed in the negative pressure cavity 1, so that the weight of the robot is well balanced, and meanwhile, the ducted fans can not cause the unbalance of the ascending power of the robot and the unbalance of the negative pressure of the adsorption surface of the negative pressure cavity when operating together; the robot can fly stably and has stable negative pressure adsorption.
In some embodiments, the end surface of the air inlet of the ducted fan is 10-30 mm, preferably 20mm, lower than the adsorption surface of the negative pressure cavity. The terminal surface of air intake is slightly less than the adsorption plane in negative pressure chamber, neither influence the duct fan air inlet, absorb the air current of the uncovered terminal surface of negative pressure cavity 1 to the air outlet of the duct fan of negative pressure chamber bottom through the air intake of duct fan and take out, the wind of air outlet is reverse to give negative pressure cavity 1 thrust, the flight power that rises of adsorption type flying robot is provided, the wind of air intake is because fast flow, form the negative pressure of negative pressure chamber adsorption plane, satisfy adsorption type flying robot negative pressure absorption and on the surface of required operation object, make the adsorption type robot of this application perfect completion flight and negative pressure under the operation of duct fan adsorb two functions.
In some embodiments, the control device 4 includes a flight control unit for controlling the adsorption flight of the adsorption flying robot, and a remote control unit for wireless remote control of the adsorption flying robot. Preferably, the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity 1, and the remote control system is connected with the flight control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
The adsorption type flying robot is controlled to operate by an operator through the flying control unit, and the adsorption type flying robot is controlled by the operator through a handheld remote controller in a wireless remote mode, so that the control operation is simple and convenient; and meanwhile, the multi-mode control flight of the robot is realized.
In some embodiments, the power supply device 5 is disposed in the center of the negative pressure chamber 1, and since the power supply device 5 is a component with a large mass, the center of gravity shift can be avoided due to the center of the power supply device, which leads to unstable flight conditions. Simultaneously controlling means 4 with atmospheric pressure detection device 6 with power supply unit 5 is central symmetric distribution, atmospheric pressure detection device 6 with controlling means 4 sets up oppositely respectively, and balanced both sides weight that can be better avoids unbalancing.
On the other hand, the invention provides a self-regulation adsorption type flying robot adsorption method, which comprises the following steps:
the air pressure detection device 6 detects the air pressure in the negative pressure cavity of the negative pressure cavity 1 in real time;
the air pressure detection device 6 transmits air pressure data to the control device 4;
the control device 4 adjusts the rotating speed of each ducted fan in real time through a PID control algorithm;
when the air pressure in the negative pressure cavity of the negative pressure cavity 1 meets the adsorption condition, the adsorption flying robot evacuates the negative pressure cavity of the negative pressure cavity 1 through the ducted fan to keep negative pressure adsorption;
when the air pressure in the negative pressure cavity of the negative pressure cavity 1 does not meet the adsorption condition, the rotating speed of the ducted fan is increased, and the adsorption type flying robot jacks up through the downward thrust generated by the ducted fan to keep adherence.
The problem of current unmanned aerial vehicle be difficult to adsorb when carrying out the task operation and park closely contact the target object to and current adsorption robot obstacle-crossing ability is weak, especially appears that the wall has the gap, leads to the negative pressure in negative pressure chamber unstable or can't form the negative pressure is solved.
Wherein, the PID control algorithm includes that the air pressure in the negative pressure cavity of the negative pressure cavity 1 is defined as P0, the atmospheric pressure is P, the area of the negative pressure cavity 1 is S, and then the calculation formula of the negative pressure adsorption force F is: f = S (P-P0);
adsorption type flying robot gravity itself is G, and in order to guarantee that adsorption type flying robot can adsorb by the safety and stability, adsorption affinity F satisfies: f is more than or equal to G and 120 percent.
If the adsorption flying robot leaks air in the negative pressure cavity of the airtight and untight negative pressure cavity 1 or other accidental factors in the walking process, the air pressure P0 of the negative pressure cavity rises, the adsorption force F is reduced accordingly, and the requirement of safe adsorption cannot be met, the PID control algorithm of the control device 4 can increase the rotation speed of the ducted fan until the air pressure P0 in the negative pressure cavity of the negative pressure cavity 1 is reduced to meet the requirement, the upper limit of the rotation speed of the ducted fan is particularly explained as the rotation speed which can just ensure the suspension flying of the adsorption flying robot, and the comprehensive energy consumption can be reduced while the normal work is ensured.
The application discloses adsorption type flying robot can carry out corresponding operation in the environment that the people is difficult to reach as special type robot delivery platform, can carry on sensor and other actuating mechanism on it, realization sensor and other actuating mechanism. The sensors include visual sensors including but not limited to cameras and measurement sensors including but not limited to laser sensors, displacement sensors, pressure sensors, temperature sensors, infrared sensors and radar sensors; other actuators include, but are not limited to, a measuring device for performing a task by the robot, a spraying device for performing a spraying operation by the robot, and a cleaning device for performing a cleaning operation by the robot.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a self-modulation adsorption type flying robot which characterized in that: the flying adsorption power device comprises a negative pressure cavity, a flying adsorption power device, a control device, a power supply device and an air pressure detection device;
the negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is an adsorption face of the negative pressure cavity;
the flying adsorption power device is arranged in the negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to the adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity;
the control device is arranged on the negative pressure cavity, the flying adsorption power device is connected with the control device, and the control device controls the flying adsorption power device to operate;
the power supply device is arranged on the negative pressure cavity, is connected with the control device and is used for supplying power for the control device and the flying adsorption power device;
the air pressure detection device is arranged in the negative pressure cavity of the negative pressure cavity and is connected with the control device, and the air pressure detection device is used for detecting the air pressure in the negative pressure cavity of the negative pressure cavity in real time and transmitting the air pressure to the control device;
the control device comprises a flight control unit and a remote control unit, wherein the flight control unit is used for controlling the adsorption flight of the adsorption flying robot, and the remote control unit is used for performing wireless remote control on the adsorption flying robot.
2. The self-regulating adsorption flying robot of claim 1, wherein: the flying adsorption power device is a ducted fan.
3. The self-regulating adsorption flying robot of claim 2, wherein: the end surface of the air inlet of the ducted fan is 10-30 mm lower than the adsorption surface of the negative pressure cavity.
4. The self-regulating adsorption flying robot of claim 1, wherein: and the negative pressure cavity is provided with a walking device so that the robot can move and walk on the operation surface during adsorption operation.
5. The self-regulating adsorption flying robot of claim 1, wherein: the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity, and the remote control system is connected with the flight control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
6. The self-regulating adsorption flying robot of claim 1, wherein: the power supply device is arranged in the center of the negative pressure cavity, and the control device and the air pressure detection device are symmetrically distributed by taking the power supply device as the center.
7. A self-regulation adsorption type flying robot adsorption method is characterized in that: the method comprises the following steps:
the air pressure detection device detects the air pressure in the negative pressure cavity of the negative pressure cavity in real time;
the air pressure detection device transmits air pressure data to the control device;
the control device adjusts the rotating speed of each ducted fan in real time through a PID control algorithm;
when the air pressure in the negative pressure cavity of the negative pressure cavity meets the adsorption condition, the adsorption flying robot evacuates the negative pressure cavity of the negative pressure cavity through the ducted fan to keep negative pressure adsorption;
when the air pressure in the negative pressure cavity of the negative pressure cavity does not meet the adsorption condition, the rotating speed of the ducted fan is increased, and the adsorption type flying robot is jacked up through the downward thrust generated by the ducted fan to keep adherence.
8. The self-regulating adsorption type flying robot adsorption method according to claim 7, characterized in that: the PID control algorithm defines the air pressure in the negative pressure cavity of the negative pressure cavity to be P0, the atmospheric pressure to be P, and the area of the negative pressure cavity to be S, so that the calculation formula of the negative pressure adsorption force F is as follows: f = S (P-P0);
adsorption type flying robot gravity itself is G, and in order to guarantee that adsorption type flying robot can the safety and stability adsorb, adsorption affinity F satisfies: f is more than or equal to G and 120 percent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123496.2A CN115402438A (en) | 2022-09-15 | 2022-09-15 | Self-regulation adsorption type flying robot and adsorption method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123496.2A CN115402438A (en) | 2022-09-15 | 2022-09-15 | Self-regulation adsorption type flying robot and adsorption method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115402438A true CN115402438A (en) | 2022-11-29 |
Family
ID=84165108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211123496.2A Pending CN115402438A (en) | 2022-09-15 | 2022-09-15 | Self-regulation adsorption type flying robot and adsorption method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115402438A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192987A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Amphibious robot capable of flying and climbing wall and control method of amphibious robot |
| CN113844221A (en) * | 2021-09-26 | 2021-12-28 | 西北工业大学 | Amphibious three-modal flying adsorption wall-climbing robot and control method |
| WO2022073334A1 (en) * | 2020-10-10 | 2022-04-14 | 北京黑蚁兄弟科技有限公司 | Aerial work robot, control system and control method |
| CN114379775A (en) * | 2022-03-04 | 2022-04-22 | 哈尔滨工业大学重庆研究院 | Anticollision buffering adherence flying robot |
| CN114537548A (en) * | 2022-03-04 | 2022-05-27 | 哈尔滨工业大学重庆研究院 | Adsorption type flying robot |
-
2022
- 2022-09-15 CN CN202211123496.2A patent/CN115402438A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192987A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Amphibious robot capable of flying and climbing wall and control method of amphibious robot |
| WO2022073334A1 (en) * | 2020-10-10 | 2022-04-14 | 北京黑蚁兄弟科技有限公司 | Aerial work robot, control system and control method |
| CN113844221A (en) * | 2021-09-26 | 2021-12-28 | 西北工业大学 | Amphibious three-modal flying adsorption wall-climbing robot and control method |
| CN114379775A (en) * | 2022-03-04 | 2022-04-22 | 哈尔滨工业大学重庆研究院 | Anticollision buffering adherence flying robot |
| CN114537548A (en) * | 2022-03-04 | 2022-05-27 | 哈尔滨工业大学重庆研究院 | Adsorption type flying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10099778B2 (en) | Unmanned aerial vehicle | |
| CN105015640B (en) | A kind of wall surface detection rescue robot and its control method | |
| Danjun et al. | Autonomous landing of quadrotor based on ground effect modelling | |
| CN105667779B (en) | Intelligent flying robot capable of perching on walls at different inclination angles | |
| WO2016066008A1 (en) | Rotorcraft and automatic landing system and method therefor | |
| JP6178949B1 (en) | Unmanned aerial vehicle | |
| CN105278541A (en) | Aircraft auxiliary landing control method and system | |
| Sun et al. | A switchable unmanned aerial manipulator system for window-cleaning robot installation | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| CN111287411A (en) | Aerial spraying system based on unmanned aerial vehicle flight platform | |
| JP2019505902A (en) | System and method for operating an automated aircraft system | |
| CN203324818U (en) | Intelligent automatically-wall-switching robot based on multisensor fusion technology | |
| CN114537548A (en) | Adsorption type flying robot | |
| CN104443391B (en) | Adsorbable multifunction micro flight instruments | |
| CN110282137B (en) | Intelligent air capture device based on tether connection and control method | |
| CN115402438A (en) | Self-regulation adsorption type flying robot and adsorption method thereof | |
| CN106114817A (en) | A kind of aircraft and flight system | |
| Zeng et al. | Autonomous control design of an unmanned aerial manipulator for contact inspection | |
| CN108425541B (en) | Unmanned aerial vehicle sunshade awning and implementation method thereof | |
| WO2020224546A1 (en) | Spray painting robot | |
| CN216994617U (en) | Negative pressure adsorption structure | |
| CN114379775B (en) | Anticollision buffering adherence flying robot | |
| CN109019454B (en) | Intelligent aerial ladder system | |
| CN115402439A (en) | L-shaped adsorption type flying robot and adsorption method thereof | |
| CN113799150A (en) | Gas concentration inspection robot based on indoor navigation and positioning and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |