CN118024264A - Air object carrying robot and control method thereof - Google Patents
Air object carrying robot and control method thereof Download PDFInfo
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Abstract
The invention discloses an aerial carrying robot which comprises a carrier, a controller, a fan, five groups of rope grabbing machines and five groups of rope bodies, wherein the controller, the fan, the five groups of rope grabbing machines and the five groups of rope bodies are arranged on the carrier; the five groups of rope bodies are correspondingly connected with the five groups of rope grabbing machines one by one, each of the five groups of rope bodies comprises three groups of overhead ropes and two groups of ground ropes, and each of the five groups of rope bodies comprises a fixed end and a free end; the fixed end of the rope is fixed above the building in a tensioning manner, and the free end of the rope passes through the corresponding upper rope grabbing machine and is downwards hung; the fixed end of the ground rope is fixed on the ground in a tensioning manner, or the fixed end of the ground rope is fixed below the carrier in a tensioning manner. The invention also discloses a control method of the aerial object carrying robot, which can realize that objects can be quickly, conveniently and stably transported to the designated position at high altitude, and is convenient to install and use.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an air object carrying robot and a control method thereof.
Background
The high-altitude logistics transportation can be applied to places such as hospitals, industries and library outer wall operations, and objects are transported through the high altitude, so that the transportation efficiency is improved, and the manpower for carrying is saved. Particularly, when emergency situations such as natural disasters, epidemic situations and the like occur, how to quickly and conveniently transport articles to the high altitude is a technical problem to be solved urgently.
The existing high-altitude stream delivery mainly comprises the following modes:
1. By adopting the high-altitude intelligent rail carrying trolley, the rail is required to be built in advance at high altitude, a large building space and a certain building time are required, and the rail carrying trolley is generally not suitable for emergency situations.
2. Adopt unmanned aerial vehicle to hang and carry thing case, generally hang through the rope and connect thing case and unmanned aerial vehicle together, the noise that unmanned aerial vehicle produced is great, and carries the thing case to exist and rock, uses to exist the limitation.
Disclosure of Invention
The invention aims to provide an in-space object carrying robot and a control method thereof, so as to realize rapid and convenient transportation of objects to a designated position in high altitude, and the in-space object carrying robot is convenient to install and use. The invention adopts the following technical scheme:
The invention discloses an aerial carrying robot which comprises a carrier, a controller, a fan, five groups of rope grabbing machines and five groups of rope bodies, wherein the controller, the fan, the five groups of rope grabbing machines and the five groups of rope bodies are arranged on the carrier. The fans are arranged on the side edges of the object carrying frames and are parallel to the wall surface; the controller controls the fan to rotate, and the horizontal thrust is given to the carrier rack to enable the carrier rack to be close to or far away from the wall surface.
The five groups of rope grabbing machines comprise three groups of upper rope grabbing machines and two groups of lower rope grabbing machines, the three groups of upper rope grabbing machines are arranged above the carrier, and the connecting lines of the installation points of the three groups of upper rope grabbing machines are triangular; the two groups of lower rope grabbing machines are arranged below the carrier or on the ground.
The five groups of rope bodies are connected with the five groups of rope grabbing machines in a one-to-one correspondence manner, each of the five groups of rope bodies comprises three groups of rope ropes and two groups of ground ropes, and each of the five groups of rope bodies comprises a fixed end and a free end; the fixed end of the sky rope is fixed above the building in a tensioning way, and the free end of the sky rope penetrates through the corresponding upper rope grabbing machine and is downwards hung.
When the two groups of lower rope grabbing machines are arranged below the carrier, the fixed ends of the ground ropes are fixed on the ground in a tensioning manner, and the free ends penetrate through the corresponding lower rope grabbing machines and hang down; when the two groups of lower rope grabbing machines are installed on the ground, the fixed ends of the ground ropes are fixed under the object carrier in a tensioning mode, and the free ends of the ground ropes penetrate through the corresponding lower rope grabbing machines. The controller controls the rope grabbing machine to enable the rope body to move on the rope grabbing machine.
Preferably, the object carrier is a cube, the three groups of upper rope grabbing machines are a first upper rope grabbing machine, a second upper rope grabbing machine and a third upper rope grabbing machine, and the three groups of corresponding day ropes are a first day rope, a second day rope and a third day rope respectively; the first upper rope grabbing machine and the second upper rope grabbing machine are positioned on the two sides of the object carrier close to the inner side edge of the wall surface, and the third upper rope grabbing machine is positioned on the outer side edge, far away from the wall surface, of a connecting line where the centers of the first upper rope grabbing machine and the second upper rope grabbing machine are positioned; the fixed end of the first day rope is fixed at the upper left part of the transverse movement range of the carrier, the fixed end of the second day rope is fixed at the upper right part of the transverse movement range of the carrier, and the fixed end of the third day rope is fixed between the first day rope and the second day rope;
The two groups of lower rope grabbing machines are respectively positioned in the middle parts of two sides below the carrier, and the two groups of ground ropes are respectively fixed on the left side and the right side of the ground.
Preferably, the carrier is provided with a sensor for sensing the posture and the coordinate position of the carrier; one or more fans are arranged, when one fan is arranged, the fans are arranged at the gravity center position of the carrier, and when a plurality of fans are arranged, the arrangement gravity centers of the fans are overlapped with the gravity center of the carrier; the fan is installed on one side or two sides, and when the fan is installed on one side, far away from the wall, of the carrier.
The invention also discloses a control method of the air-borne robot, which adopts the air-borne robot to control according to the following steps:
s1, establishing a coordinate system
Binding and fixing three groups of sky ropes above a building, and fixing two groups of ground ropes on the ground; and installing the space object carrying robot on the front surface of the building wall, establishing a coordinate system at a ground rope fixed point or a space rope fixed point or the building wall, and determining a coordinate origin.
S2, determining the current position coordinates
The rope body and the rope inlet of the corresponding rope grabbing machine are stress points, the fixed end of the rope body on a building or the ground to the stress points are tensioning sections, the current position coordinates of the center of the space object carrying robot are measured, and the stress point coordinates of five groups of rope bodies are calculated according to the current position coordinates of the center.
S3, determining the position coordinates of the target
And determining the target position coordinates of the center of the space object carrying robot, and calculating the stress point coordinates of the five groups of rope bodies according to the target position coordinates of the center.
S4, calculating the winding and unwinding lengths of the five groups of rope tensioning sections according to the stress point coordinates of the target position and the stress point coordinates of the current position.
S5, the controller controls the rope grabbing machine to enable the five groups of rope bodies to move, retract and release to change the length, and the carrier frame moves to the target position.
Preferably, in step S5, according to the winding and unwinding lengths of the tensioning sections of the five groups of rope bodies, the winding and unwinding speed of each rope body is calculated within a predetermined time t, and each rope grabbing machine is controlled to move the rope body according to the winding and unwinding speed, namely, the carrier frame is moved to the target position.
When the Z-axis coordinate point of the target position coordinate is different from the Z-axis coordinate of the initial position coordinate, in step S5, the fan is controlled to start to work, and then the rope grabbing machine is controlled to retract and retract the rope.
Further, the object carrier is a cube, the three groups of upper rope grabbing machines are a first upper rope grabbing machine, a second upper rope grabbing machine and a third upper rope grabbing machine, and the three groups of corresponding day ropes are a first day rope, a second day rope and a third day rope respectively; the first upper rope grabbing machine and the second upper rope grabbing machine are positioned on the inner side edges of the two sides of the object carrier, which are close to the wall surface, and the third upper rope grabbing machine is positioned on the outer side edge of the connecting line where the centers of the first upper rope grabbing machine and the second upper rope grabbing machine are positioned, which is far away from the wall surface; one end of the first day rope is a fixed end, the fixed end is fixed at the upper left part of the transverse movement range of the carrier, and the other end passes through the first upper rope grabbing machine and freely sags; one end of the second rope is a fixed end which is fixed at the upper right of the transverse movement range of the carrier, and the other end of the second rope penetrates through the second upper rope grabbing machine and freely sags; one end of the third day rope is a fixed end, the fixed end is fixed between the first day rope and the second day rope, and the other end passes through the third upper rope grabbing machine and freely sags.
The two groups of lower rope grabbing machines are a first lower rope grabbing machine and a second lower rope grabbing machine, the two corresponding groups of ground ropes are a first ground rope and a second ground rope respectively, the first lower rope grabbing machine and the second lower rope grabbing machine are respectively positioned in the middle of two sides below the object carrier, one end of the first ground rope is a fixed end which is fixed on the left side of the ground, and the other end of the first ground rope penetrates through the first lower rope grabbing machine and freely sags; one end of the second ground rope is a fixed end, the fixed end is fixed on the right side of the ground, and the other end of the second ground rope penetrates through the second lower rope grabbing machine and freely sags.
Preferably, the horizontal direction of the connecting line of the fixed ends of the first ground rope and the second ground rope is set to be an X axis, the vertical direction is set to be a Y axis, the vertical direction is set to be a Z axis perpendicular to the Y axis of the X axis, and the vertical projection point of the fixed end of the first ground rope on the wall surface is set to be a coordinate origin.
Wherein the length of the carrier frame in the X axis is a, the height of the carrier frame in the Y axis is c, the width of the carrier frame in the Z axis is b, the coordinates of the center of the space carrier robot are set to be S 0(X0,Y0,Z0), the coordinates of the stress points of the five groups of rope bodies are set to be S n(Xn,Yn,Zn), and n=1 to 5, the coordinates of the stress points of the five groups of rope bodies are calculated through the coordinates of the center, and are respectively S1(X0-0.5a,Y0+0.5c,Z0-0.5b),S2(X0+0.5a,Y0+0.5c,Z0-0.5b),S3(X0,Y0+0.5c,Z0+0.5b),S4(X0-0.5a,Y0-0.5c,Z0),S5(X0+0.5a,Y0-0.5c,Z0).
Wherein, set up first day rope stiff end and first ground rope stiff end on same vertical face, second day rope stiff end and second ground rope stiff end set up on same vertical face, and the horizontal distance of first day rope and second day rope is B, and the distance of first day rope stiff end to first ground rope stiff end is H, then: the coordinates of the fixed end of the first rope are (0, H, 0), the coordinates of the fixed end of the second rope are (B, H, 0), the coordinates of the fixed end of the third rope are (0.5B, H, 0), the coordinates of the fixed end of the first rope are (0, 0), and the coordinates of the fixed end of the second rope are (B, 0); the calculation formula of the length of the tightening segment of the five groups of ropes is as follows:
First day rope tensioning section length:
Second day rope tensioning section length:
third day rope tensioning section length:
First ground rope tensioning section length:
Second ground rope tensioning section length:
Preferably, the difference values of the first tensioning section, the second tensioning section, the third tensioning section, the fourth tensioning section and the fifth tensioning section from the current position coordinate to the target position coordinate are calculated and are respectively DeltaL 1、△L2、△L3、△L4、△L4, the difference value is a positive value and is a tightening rope body, the difference value is a negative value and is a loosening rope body, the preset time for moving the object carrying robot in the air is t, and the retraction speeds of the five groups of rope bodies are respectively ：V1＝△L1/t,V2＝△L2/t,V3＝△L3/t,V4＝△L4/t,V5＝△L5/t.
Due to the adoption of the structure, the invention has the following beneficial effects:
1. According to the invention, by arranging the five groups of stressed rope bodies, the fixed ends of the three groups of ground rope bodies are arranged above a building, and the two groups of ground rope bodies are fixed on the ground, the movement of the space object carrying robot at any position in the whole working surface area can be realized by controlling the retraction of the tensioning sections of the five groups of rope bodies and fixing the fixed ends of the five rope bodies before operation, and the convenient space object carrying is realized.
2. The invention has low cost and quick installation, and effectively improves the transportation efficiency.
3. The invention is suitable for transporting liquid-carrying heavy objects, and can ensure that liquid does not topple. When the position or the gravity center of the load is changed, the load carrier can be kept horizontal by adjusting the posture of the load carrier.
Drawings
Fig. 1 is a schematic structural diagram of an object carrying robot according to an embodiment of the invention.
Fig. 2 is a schematic front view of the carrying robot in the first embodiment (in which the free ends of the ropes are hidden).
Fig. 3 is a schematic left-hand view of fig. 2 (with the free ends of the ropes hidden).
FIG. 4 is a schematic top view of FIG. 2 (hidden ropes in the drawing)
FIG. 5 is a schematic view of a double sided installation of a fan (with the free ends of the ropes hidden)
Fig. 6 is a schematic partial cross-sectional view of a space rope threaded into an upper rope grab.
Fig. 7 is a schematic partial cross-sectional view of a ground rope threaded into a lower rope grab.
Fig. 8 is a schematic view of an initial state in which the aerial carrier robot is mounted on a wall surface (in which the free ends of the rope bodies are hidden).
Fig. 9 is a schematic view of the state of the aerial carrier robot at a certain position on the wall (the free ends of the ropes are hidden in the figure).
Fig. 10 is a left side view of fig. 9 (concealing the free ends of the ropes).
Fig. 11 is a schematic view of the hollow cargo robot of fig. 9 moving to a target position (the free ends of the ropes are hidden in the figure).
Fig. 12 is a schematic structural diagram of a two-carrier robot according to an embodiment of the invention.
Description of main reference numerals:
1: carrier rack, 2: blower fan, 3: rope grab, 31: first rope machine of grabbing, 32: second upper rope grab, 33: third upper rope grab, 34: first lower rope grab, 35: second lower rope grab, 4: rope body, 41: first day cord, 42: second day cord, 43: third day cord, 44: first ground rope, 45: and a second ground cord.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1 to 3, the invention discloses an air-borne robot, which comprises a controller, a carrier 1, a sensor (not shown in the figure) arranged on the carrier 1, a fan 2, five groups of rope grabbing machines 3 and five groups of rope bodies 4. The carrier 1 may be formed directly into a box shape that can be loaded with articles or the articles may be loaded onto the box and then the box placed on the carrier to effect loading.
The controller is not shown in the figures. The controller may be directly arranged on the carrier 1, or preferably the mode controller may comprise a first controller arranged on the carrier 1 and a second controller arranged on the ground, wherein the second controller is in communication connection with the first controller on the carrier 1 in a remote control mode. The controller is used for controlling the five groups of rope grabbing machines 3 and the groups of fans 2, controlling the rope grabbing machines 3 to tighten or loosen the rope body 4, and controlling the fans 2 to start or slow down or close at a certain speed in the forward direction or the reverse direction.
One or more fans 2 can be arranged, and when one fan is arranged, the fan 2 is positioned at the gravity center position of the carrier 1 and is positioned at the center of one side far away from the wall surface; when a plurality of fans 2 are provided, the arrangement center of gravity of the plurality of fans 2 coincides with the center of gravity of the carrier 1. When the controller controls the fan 2 to rotate, the carrier 1 is close to or far away from the building wall surface. The fan 2 is used for applying horizontal thrust along the Z-axis direction to the carrier 1, and the fan 2 is installed on the carrier 1 on one side or on two sides. If fig. 3 is a single-side installation, when the single-side installation, install in the one side that the carrier kept away from the wall, through start fan 2, apply horizontal thrust F N to carrier 1, make the carrier laminating to the wall on, when need keep away from the wall, reduce the wind speed of fan to zero for the thrust of carrier reduces, moves a section distance to the outside, then fan counter-rotating increases carrier outside removal power, makes the carrier keep away from the wall. As shown in fig. 5, the fans 2 are installed on two sides, the outside fans 2 have an inward horizontal thrust force F N to the carrier, the inside fans 2 have an outward horizontal thrust force F W to the carrier, when the fans 2 need to be attached to the wall, the outside fans are started, when the fans 2 need to be moved outwards away from the wall, the outside fans 2 are closed, and the inside fans 2 are opened. The number of the fans 2 can be multiple, the selection is carried out according to the weight and the moving speed of the carrier 1, and the gravity centers of the fans 2 are arranged at the positions and coincide with the gravity centers of the carrier 1, so that the horizontal thrust to the carrier 1 is along the Z-axis direction when the fans 2 are started.
The sensor comprises a ranging sensor and an angle sensor, wherein the ranging sensor can be selected from the existing infrared ranging sensor, the existing photoelectric ranging sensor, the existing laser displacement ranging sensor and the like and is used for measuring the position of the carrier. The angle sensor can be selected from the existing inclination angle sensor (Jian Darenke RS 485), gyroscope attitude angle sensor BWT61CL and the like, and is used for measuring the inclination angle of the carrier.
As shown in connection with fig. 3 and 4, the five groups of rope grab machines 3 comprise three groups of upper rope grab machines arranged above the carrier frame and two groups of lower rope grab machines arranged below the carrier frame. The three groups of upper rope grabbing machines are arranged on the same plane above the carrier 1, and the connecting lines of the installation points of the three groups of upper rope grabbing machines are triangular. The three groups of upper rope grabbing machines are connected into a triangle, so that a plane is formed by the three groups of upper rope grabbing machines, and the level of the upper surface of the carrier is simply and conveniently controlled. The two groups of lower rope grabbing machines are used for controlling the vertical direction of the carrier and preventing shaking. The five groups of ropes 4 comprise three groups of heaven ropes and two groups of earth ropes.
In this embodiment, the carrier 1 is a cube. The three groups of upper rope grab machines are a first upper rope grab machine 31, a second upper rope grab machine 32 and a third upper rope grab machine 33, and the corresponding three groups of upper rope grab machines are a first upper rope grab 41, a second upper rope grab 42 and a third upper rope grab 43 respectively. Referring to fig. 4, the first upper rope grab 31 and the second upper rope grab 32 are located at two sides of the carrier 1 near inner sides of the wall, and the third upper rope grab 33 is located at an outer side of a line where centers of the first upper rope grab 31 and the second upper rope grab 32 are located far away from the wall, so that the lines of the first upper rope grab, the second upper rope grab and the third upper rope grab form an isosceles triangle. The two groups of lower rope grabbing machines are respectively a first lower rope grabbing machine and a second lower rope grabbing machine, and are positioned in the middle of two sides below the carrier.
Referring to fig. 6 and 7, the five groups of ropes 4 each include a fixed end and a free end. The fixed end of the space rope is fixed above the building in a tensioning manner, the free end of the space rope passes through the corresponding upper rope grabbing machine and is downwards hung, the fixed end of the ground rope is fixed on the ground in a tensioning manner, and the free end of the space rope passes through the corresponding lower rope grabbing machine and is downwards hung. The day cords include a first day cord 41, a second day cord 42, and a third day cord 43, and the ground cords include a ground cord 44 and a second ground cord 45. Specifically, the connection manner of each rope is described in detail below.
The fixed end D1 of the first day rope 41 is tightly fixed at the left upper part of the transverse movement range of the carrier 1 (the left side of the top end of the building), the free end F1 penetrates through the first upper rope grabbing machine 31 and freely sags, rope inlets of the first day rope 41 and the first upper rope grabbing machine 31 are first stress points S1, the fixed end D1 of the first day rope 41 to the first stress points S1 are first tensioning sections, and the length of each first tensioning section is L 1.
The fixed end D2 of the second rope 42 is tightly fixed at the upper right part of the transverse movement range of the carrier 1 (the right side of the top end of the building), the free end F2 passes through the second upper rope grabbing machine 32 and freely sags, rope inlets of the second rope 42 and the second upper rope grabbing machine 32 are second stress points S2, the second rope fixed end D2 to the second stress points S2 are second tensioning sections, and the length of the second tensioning sections is L 2.
The fixed end D3 of the third day rope 43 is tightly fixed in the middle of the fixed ends of the first day rope 41 and the second day rope 42, the free end F3 penetrates through the third upper rope grabbing machine 33 and freely sags, rope inlets of the third day rope 43 and the third upper rope grabbing machine 33 are third stress points S3, the fixed ends D3 to the third stress points S3 of the third day rope 43 are third tensioning sections, and the length of each third tensioning section is L 3.
The fixed end D4 of the first ground rope 44 is tightly fixed on the left side of the ground, the free end F4 passes through the first lower rope grabbing machine 34 and freely sags, rope inlets of the first ground rope 44 and the first lower rope grabbing machine 34 are fourth stress points S4, the fixed end D4 of the first ground rope 44 to the fourth stress points S4 are fourth tensioning sections, and the length of the fourth tensioning section is L 4.
The fixed end D5 of the second ground rope 45 is tightly fixed on the right side of the ground, the free end F5 penetrates through the second lower rope grabbing machine 35 and freely sags, rope inlets of the second ground rope 45 and the second lower rope grabbing machine 35 are fifth stress points S5, the fixed end D5 of the second ground rope 45 to the fifth stress points S5 are fifth tensioning sections, and the length of each fifth tensioning section is L 5.
The rope grab 3 can adopt the following publication number: CN114105052A, CN111675164a, or existing rope grab commercially available. Five groups of rope grabbing machines 3 are started, and the five groups of rope grabbing machines 3 move on the rope body 4, so that the whole carrier 1 is driven to move on the rope body 4.
As shown in fig. 8 to 11, the invention also discloses a control method of the air-borne robot, which adopts the air-borne robot to control according to the following steps:
s1, establishing a coordinate system
Three groups of sky ropes are bound and fixed above the building, two groups of ground ropes are fixed on the ground, and the space carrying robot is installed on the front surface of the building wall. And establishing a coordinate system on the building wall surface and determining the origin of the coordinates. The horizontal direction of the connection line of the fixed ends of the first ground rope 44 and the second ground rope 45 is set as the X axis, the vertical direction is set as the Y axis, the Z axis is set as the Y axis, and the vertical projection point of the fixed end of the first ground rope 44 on the wall surface is set as the origin O of coordinates, as shown in fig. 10. The coordinate system can be set up in a variety of different ways, and in this embodiment, the coordinate system is set up for ease of calculation.
S2, determining the current position coordinates
And determining the current position coordinates of the center of the space object carrying robot, and calculating the stress point coordinates of the current positions of the five groups of rope bodies according to the current position coordinates.
The distance between the first rope fixing end and the first ground rope fixing end is set to be H, the distance between the first ground rope fixing end and the second ground rope fixing end is set to be B, the length of the carrier frame on the X axis is set to be a, the height of the carrier frame on the Y axis is set to be c, the width of the carrier frame on the Z axis is set to be B, and the coordinates of the center of the space carrier robot are set to be S 0(X0,Y0,Z0. It can be known that: the coordinates of the fixed end of the first rope are (0, H, 0), the coordinates of the fixed end of the second rope are (B, H, 0), the coordinates of the fixed end of the third rope are (0.5B, H, 0), the coordinates of the fixed end of the first rope are (0, Z 0), and the coordinates of the fixed end of the second rope are (B, 0, Z 0). The coordinates of the stress points of the five groups of rope bodies are S n(Xn,Yn,Zn), and n=1-5, the coordinates of the stress points of the five groups of rope bodies are calculated through the coordinates of the center, so that the fact that X1＝X0-0.5a,Y1＝Y0+0.5c,Z1＝Z0-0.5b;X2＝X0+0.5a,Y2＝Y0+0.5c,Z2＝Z0-0.5b;X3＝X0,Y3＝Y0+0.5c,Z3＝Z0+0.5b;X4＝X0-0.5a,Y4＝Y0-0.5c,Z4＝Z0;X5＝X0+0.5a,Y5＝Y0-0.5c,Z5＝Z0.
Namely, the calculation formula of the length of the tensioning section of the five groups of rope bodies is as follows when the coordinates of each stress point are S1(X0-0.5a,Y0+0.5c,Z0-0.5b),S2(X0+0.5a,Y0+0.5c,Z0-0.5b),S3(X0,Y0+0.5c,Z0+0.5b),S4(X0-0.5a,Y0-0.5c,Z0),S5(X0+0.5a,Y0-0.5c,Z0). respectively:
First day rope tensioning section length:
Second day rope tensioning section length:
third day rope tensioning section length:
First ground rope tensioning section length:
Second ground rope tensioning section length:
x 1＝X0-0.5a,Y1＝Y0+0.5c,Z1＝Z0 to 0.5b is used for preparing the nano-particles,
X2＝X0+0.5a,Y2＝Y0+0.5c,Z2＝Z0-0.5b，
X3＝X0,Y3＝Y0+0.5c,Z3＝Z0+0.5b，
X4＝X0-0.5a,Y4＝Y0-0.5c,Z4＝Z0，
X 5＝X0+0.5a,Y5＝Y0-0.5c,Z5＝Z0. Substituting the formula to calculate the length of the tightening segment of the five groups of rope bodies.
S3, determining the position coordinates of the target
And determining the target position coordinates of the center of the space object carrying robot, and calculating the stress point coordinates of the five groups of rope body target positions according to the target position coordinates.
Setting the stress point coordinates of the five groups of rope bodies as S n'(Xn',Yn',Zn'), and similarly, calculating the length of the tensioning section of the five groups of rope bodies at the target position as follows:
First day rope tensioning section length:
First day rope tensioning section length:
third day rope tensioning section length:
First ground rope tensioning section length:
Second ground rope tensioning section length:
Likewise, the target position coordinate of the center of the carrying robot is determined as S 0'(X0',Y0',Z0' first by comparing
X1'＝X0'-0.5a,Y1'＝Y0'+0.5c,Z1'＝Z0’-0.5b，
X2'＝X0'+0.5a,Y2'＝Y0'+0.5c,Z2'＝Z0’-0.5b，
X3'＝X0',Y3'＝Y0'+0.5c,Z3'＝Z0’+0.5b，
X4'＝X0'-0.5a,Y4'＝Y0'-0.5c,Z4'＝Z0’，
X 5'＝X0'+0.5a,Y5'＝Y0'-0.5c,Z5'＝Z0'. Substituting the formula to calculate the length of the tightening segment of the five groups of rope bodies.
The current position and the target position are continuously changed according to the running state of the space carrying robot. For example, as shown in fig. 8, in the initial state, the carrying robot is placed on the ground first and is located in the middle of the first ground rope and the second ground rope. From this initial state, if it is necessary to move the airborne robot to the position of fig. 9, the current position during this movement is the position of fig. 8, the current position coordinates of the center of the airborne robot at this time are (0.5 b,0.5c, z 0), and the target position coordinates are the coordinate positions of fig. 9. When the space-borne robot needs to move from the position of fig. 9 to the position of fig. 11, the current position coordinate of the center of the space-borne robot is the coordinate position S 0(X0,Y0,Z0 of fig. 9), and the target position coordinate is the coordinate position S 0'(X0',Y0',Z0' of fig. 11.
S4, calculating the winding and unwinding lengths of the five groups of rope tensioning sections according to the stress point coordinates of the target position and the stress point coordinates of the current position.
The winding and unwinding lengths of the five groups of rope body tensioning sections are calculated, namely the difference values of the first tensioning section, the second tensioning section, the third tensioning section, the fourth tensioning section and the fifth tensioning section from the current position coordinate to the target position coordinate are respectively DeltaL 1、△L2、△L3、△L4、△L5, the difference value is a positive value and is a tightening rope body, and the difference value is a negative value and is a loosening rope body.
△L1＝L1-L1',△L2＝L2-L2',△L3＝L3-L3',△L4＝L4-L4',△L5＝L5-L5'.
S5, judging whether the Z-axis coordinate point of the target position coordinate is identical to the Z-axis coordinate of the initial position coordinate. If the rope is the same, the rope grabbing machine is directly controlled, so that the five groups of rope bodies are moved, retracted and extended to change the length, and the carrier is moved to the target position. If the Z-axis coordinates are different, the fan is controlled to start to work, so that the object carrier moves along the Z-axis direction to have horizontal thrust, and then the rope grabbing machine is controlled to retract and unwind the rope body.
The time of the movement of the object carrying robot in the preset space is t, and the winding and unwinding speeds of the five groups of rope bodies are respectively as follows:
V1＝△L1/t＝(L1-L1')/t
V2＝△L2/t＝(L2-L2')/t
V3＝△L3/t＝(L3-L3')/t
V4＝△L4/t＝(L4-L4')/t
V5＝△L5/t＝(L5-L5')/t。
The controller controls each rope grabbing machine to retract and retract rope bodies according to the respective retraction speed, and the object carrier moves to the target position. After the space object carrying robot moves to the target position, the sensor sends the current posture of the object carrying frame to the controller, and the controller compares the current posture with the set posture (the set posture is the horizontal state of the object carrying frame) and controls and adjusts the object carrying frame to the set posture.
Example two
As shown in fig. 12, the airborne object robot of the present embodiment is different from the first embodiment in that: in the embodiment, two groups of lower rope grabbing machines are installed and fixed on the ground, the fixed ends of the ground ropes are fixed below the carrier in a tensioning mode, and the free ends of the ground ropes penetrate through the corresponding lower rope grabbing machines. As shown in the figure, the first lower rope grab 34 and the second lower rope grab 35 are fixed on the ground by a connecting piece, the fixed end D4 of the first ground rope 44 is arranged at the middle part of the left side below the carrier, and the free end F4 penetrates out of the first lower rope grab 34. The fixed end D5 of the second ground rope 45 is located in the middle of the right side below the carrier, and the free end F5 is threaded out of the second lower rope grab 35.
The installation mode of this embodiment can reduce the quantity of freely hanging down the rope in the sky, lightens robot weight and improves duration, and the machine of grabbing rope sets up signal receiver down, receives the controller and sends the instruction.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. An aerial cargo robot, its characterized in that: comprises a carrier, a controller arranged on the carrier, a fan, five groups of rope grabbing machines and five groups of rope bodies,
The fans are arranged on the side edges of the object carrying frames and are parallel to the wall surface; the controller controls the fan to rotate, and horizontally pushes the carrier rack to enable the carrier rack to be close to or far away from the wall surface;
The five groups of rope grabbing machines comprise three groups of upper rope grabbing machines and two groups of lower rope grabbing machines, the three groups of upper rope grabbing machines are arranged above the carrier, and the connecting lines of the installation points of the three groups of upper rope grabbing machines are triangular; the two groups of lower rope grabbing machines are arranged below the carrier or on the ground;
The five groups of rope bodies are connected with the five groups of rope grabbing machines in a one-to-one correspondence manner, each of the five groups of rope bodies comprises three groups of rope ropes and two groups of ground ropes, and each of the five groups of rope bodies comprises a fixed end and a free end; the fixed end of the sky rope is fixed above the building in a tensioning manner, and the free end of the sky rope passes through the corresponding upper rope grabbing machine and is downwards hung;
When the two groups of lower rope grabbing machines are arranged below the carrier, the fixed ends of the ground ropes are fixed on the ground in a tensioning manner, and the free ends penetrate through the corresponding lower rope grabbing machines and hang down; when the two groups of lower rope grabbing machines are installed on the ground, the fixed ends of the ground ropes are fixed under the object carrier in a tensioning manner, and the free ends of the ground ropes penetrate through the corresponding lower rope grabbing machines;
The controller controls the rope grabbing machine to enable the rope body to move on the rope grabbing machine.
2. The aerial cargo robot of claim 1 wherein: the object carrier is a cube, the three groups of upper rope grabbing machines are a first upper rope grabbing machine, a second upper rope grabbing machine and a third upper rope grabbing machine, and the three groups of corresponding upper rope ropes are a first upper rope, a second upper rope and a third upper rope; the first upper rope grabbing machine and the second upper rope grabbing machine are positioned on the two sides of the object carrier close to the inner side edge of the wall surface, and the third upper rope grabbing machine is positioned on the outer side edge, far away from the wall surface, of a connecting line where the centers of the first upper rope grabbing machine and the second upper rope grabbing machine are positioned; the fixed end of the first day rope is fixed at the upper left part of the transverse movement range of the carrier, the fixed end of the second day rope is fixed at the upper right part of the transverse movement range of the carrier, and the fixed end of the third day rope is fixed between the first day rope and the second day rope;
The two groups of lower rope grabbing machines are respectively positioned in the middle parts of two sides below the carrier, and the two groups of ground ropes are respectively fixed on the left side and the right side of the ground.
3. The aerial cargo robot of claim 1 wherein: the object carrier is provided with a sensor for sensing the posture and the coordinate position of the object carrier; one or more fans are arranged, when one fan is arranged, the fans are arranged at the gravity center position of the carrier, and when a plurality of fans are arranged, the arrangement gravity centers of the fans are overlapped with the gravity center of the carrier; the fan is installed on one side or two sides, and when the fan is installed on one side, far away from the wall, of the carrier.
4. A control method of an air object carrying robot is characterized in that: an airborne object robot according to any one of claims 1-3, controlled according to the following steps:
s1, establishing a coordinate system
Binding and fixing three groups of sky ropes above a building, and fixing two groups of ground ropes on the ground; installing the space object carrying robot on the front surface of a building wall, establishing a coordinate system and determining a coordinate origin;
S2, determining the current position coordinates
The rope body and the rope inlet of the corresponding rope grabbing machine are stress points, the fixed end of the rope body on a building or the ground to the stress points are tensioning sections, the current position coordinates of the center of the space object carrying robot are measured, and the stress point coordinates of five groups of rope bodies are calculated according to the current position coordinates of the center;
s3, determining the position coordinates of the target
Determining a target position coordinate of the center of the space object carrying robot, and calculating stress point coordinates of five groups of rope bodies according to the target position coordinate of the center;
S4, calculating the winding and unwinding lengths of the five groups of rope tensioning sections according to the stress point coordinates of the target position and the stress point coordinates of the current position;
s5, the controller controls the rope grabbing machine to enable the five groups of rope bodies to move, retract and release to change the length, and the carrier frame moves to the target position.
5. The method for controlling an airborne object robot according to claim 4, wherein: in step S5, according to the winding and unwinding lengths of the five groups of rope tensioning sections, the winding and unwinding speed of each rope is calculated within a preset time t, and each rope grabbing machine is controlled to move the rope according to the winding and unwinding speed, so that the carrier frame moves to the target position.
6. The method for controlling an airborne object robot according to claim 4, wherein: when the Z-axis coordinate point of the target position coordinate is different from the Z-axis coordinate of the initial position coordinate, in step S5, the fan is controlled to start to work, and then the rope grabbing machine is controlled to retract and retract the rope body.
7. The method for controlling an airborne object robot according to claim 4, wherein: the object carrier is a cube, the three groups of upper rope grabbing machines are a first upper rope grabbing machine, a second upper rope grabbing machine and a third upper rope grabbing machine, and the three groups of corresponding upper rope ropes are a first upper rope, a second upper rope and a third upper rope; the first upper rope grabbing machine and the second upper rope grabbing machine are positioned on the inner side edges of the two sides of the object carrier, which are close to the wall surface, and the third upper rope grabbing machine is positioned on the outer side edge of the connecting line where the centers of the first upper rope grabbing machine and the second upper rope grabbing machine are positioned, which is far away from the wall surface; one end of the first day rope is a fixed end, the fixed end is fixed at the upper left part of the transverse movement range of the carrier, and the other end passes through the first upper rope grabbing machine and freely sags; one end of the second rope is a fixed end which is fixed at the upper right of the transverse movement range of the carrier, and the other end of the second rope penetrates through the second upper rope grabbing machine and freely sags; one end of the third day rope is a fixed end, the fixed end is fixed between the first day rope and the second day rope, and the other end passes through the third upper rope grabbing machine and freely sags;
The two groups of lower rope grabbing machines are a first lower rope grabbing machine and a second lower rope grabbing machine, the two corresponding groups of ground ropes are a first ground rope and a second ground rope respectively, the first lower rope grabbing machine and the second lower rope grabbing machine are respectively positioned in the middle of two sides below the object carrier, one end of the first ground rope is a fixed end which is fixed on the left side of the ground, and the other end of the first ground rope penetrates through the first lower rope grabbing machine and freely sags; one end of the second ground rope is a fixed end, the fixed end is fixed on the right side of the ground, and the other end of the second ground rope penetrates through the second lower rope grabbing machine and freely sags;
Setting the horizontal direction of a connecting line of the fixed ends of the first ground rope and the second ground rope as an X axis, setting the vertical direction as a Y axis, setting the vertical projection point of the fixed end of the first ground rope on the wall surface as a coordinate origin, and setting the vertical projection point of the fixed end of the first ground rope on the wall surface as a Z axis.
8. The method for controlling an airborne object robot according to claim 7, wherein: the length of the carrier frame in the X axis is a, the height of the carrier frame in the Y axis is c, the width of the carrier frame in the Z axis is b, the coordinates of the center of the space carrier robot are set to be S 0(X0,Y0,Z0), the coordinates of the stress points of the five groups of rope bodies are set to be S n(Xn,Yn,Zn), and n=1 to 5, the coordinates of the stress points of the five groups of rope bodies are calculated through the coordinates of the center, and are respectively S1(X0-0.5a,Y0+0.5c,Z0-0.5b),S2(X0+0.5a,Y0+0.5c,Z0-0.5b),S3(X0,Y0+0.5c,Z0+0.5b),S4(X0-0.5a,Y0-0.5c,Z0),S5(X0+0.5a,Y0-0.5c,Z0).
9. The method for controlling an airborne object robot according to claim 8, wherein:
The first day rope fixed end and the first ground rope fixed end are arranged on the same vertical surface, the second day rope fixed end and the second ground rope fixed end are arranged on the same vertical surface, the horizontal distance between the first day rope and the second day rope is B, the distance between the first day rope fixed end and the first ground rope fixed end is H, and then: the calculation formula of the length of the tightening segment of the five groups of ropes is as follows:
First day rope tensioning section length:
Second day rope tensioning section length:
third day rope tensioning section length:
First ground rope tensioning section length:
Second ground rope tensioning section length:
10. The method for controlling an airborne object robot according to claim 9, wherein: calculating differences of a first tensioning section, a second tensioning section, a third tensioning section, a fourth tensioning section and a fifth tensioning section from the current position coordinate to the target position coordinate, wherein the differences are DeltaL 1、△L2、△L3、△L4、△L4 respectively, the differences are positive values and negative values, the differences are loosening rope bodies, the preset time for moving the object carrying robot in the air is t, and the retraction speeds of the five groups of rope bodies are respectively ：V1＝△L1/t,V2＝△L2/t,V3＝△L3/t,V4＝△L4/t,V5＝△L5/t.
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