CN207496930U - A kind of flying robot of intelligent maintenance building - Google Patents

Abstract

The utility model discloses a kind of flying robots of intelligent maintenance building, including robot body and ground control system, wherein robot body includes quadrotor, the lower part of quadrotor is equipped with undercarriage and bottom photographing module, the top of quadrotor is equipped with the implement module being connected with each other successively from the bottom to top, power tool module, power tool module is equipped with the mechanical both hands arm stretched out to both sides, every mechanical arm is respectively provided with seven freedom, the end of mechanical both hands arm is equipped with replaceable combination tool, power tool module is equipped with the control module with ground control system wireless connection, control module is equipped with head seat, three-dimensional laser scanner and camera are housed on head seat.Change the tradition working at height pattern that there are personnel involved using the unmanned plane or unmanned systems, so as to avoid the injures and deaths of personnel, without numerous and diverse auxiliary tool, equipment and high expense, the functions such as building maintenance, cleaning, spraying, fire-fighting fire extinguishing are integrated in an equipment and can be completed.

Description

A kind of flying robot of intelligent maintenance building

Technical field

The utility model is related to building cleaning equipment technical fields, and in particular to a kind of intelligent maintenance building Flying robot.

Background technology

With the fast development of world economy, modern city high building is in a compact mass, and numerous building appearance and modelings are unique, luxurious It is style, bright and glittering.But the appearance of building is also required to frequent cleaning maintenance as the clothes of people and facial expression could be kept to shine Hair, avoids and reduces the damage of material, and only emphasis exterior wall is kept a public place clean and safeguarded, can just mould the good of these cities or building Image.

To the cleaning of external wall of building and safeguard that implementation mainly has following four at present：

1st, scaffold is built to realize the cleaning of external wall and maintenance work；

2nd, it using the single suspender of seat-plate type, is sat from the single suspender of top of building suspension seat-plate type and tool, cleaner It is cleaned and maintenance work using gravity decline thereon.

3rd, using temporarily formula high-altitude cleaning hanging basket is set, work is carried out using aerial work basket of the temporary erection on building Make.

4th, it is normal as a kind of permanent one kind being erected on building or structures using standing formula hanging basket (window cleaning equipment) If hanging basket.For building or structures exterior wall surface decorative, inspection, repair, washing and cleaning operation.

However to the cleaning of external wall of building and safeguard that there are following defects at present：

1st, the shortcomings that scaffold：Engineering is numerous big, installation and demolition tedious process, and lease expenses is high, and the duration is very long and efficiency Lowly.Worker needs working at height, has higher danger.

2nd, the shortcomings that seat-plate type single suspender：By a set of suspension descending system and a set of drop protection system (i.e. one Working rope and a life rope), cleaner is sitting on seat board the working at height for carrying out external wall.It is dangerous high, by day The external factors such as gas, wind-force are affected.Working efficiency is low, and falling accident easily occurs, and causes the injures and deaths of personnel.

3rd, temporarily formula high-altitude cleaning hanging basket shortcoming is set：Though safety coefficient increases compared with the single suspender of seat-plate type, there is still a need for Worker directly stands in hanging basket and works, safety factor by many factors such as equipment state, climatic factor, suspension dotted states about Beam, if falling accident occurs for hanging basket, it will cause the accidents of casualties.

4th, formula hanging basket (window cleaning equipment) shortcoming is set up：It involves great expense, working efficiency is relatively low.Worker is needed directly to stand on hanging basket The external factors such as interior work, safety factor climate are affected.

Utility model content

The purpose of the utility model is to overcome defects in the prior art, and traditional someone can be changed by providing one kind The working at height pattern that member participates in, using unmanned machine operation, so as to avoid the injures and deaths of personnel, without numerous and diverse auxiliary tool, Equipment and high expense, by building maintenance, cleaning, spraying, fire fighting function etc. be integrated in an equipment can efficiently and The flying robot of the intelligent maintenance building of safety work.

To achieve the above object, the technical solution of the utility model is to design a kind of flying machine of intelligent maintenance building People, the flying robot include robot body and ground control system, and wherein robot body includes quadrotor, Undercarriage and bottom photographing module are equipped in the lower part of quadrotor, on the top of quadrotor from the bottom to top successively Implement module, power tool module equipped with interconnection, it is double that power tool module is equipped with the machinery stretched out to both sides Arm, every mechanical arm are respectively provided with seven freedom, and the end of mechanical both hands arm is equipped with replaceable combination tool, power tool Module is equipped with control module with ground control system wireless connection, and control module is equipped with head seat, on head seat Equipped with scanner and camera.

In order to ensure the safe flight of aircraft so that flying robot is in the process for being cleaned, being safeguarded for building Middle held stationary, efficiently and energy-efficient operation, preferred technical solution are, the quadrotor is four wings, eight paddle, and In the aircraft of flattened rectangular structure.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution is that the implement module includes and winged quadrotor The rotating basis of row device connection, rotating basis are equipped with the housing of implement module, internal gear, internal tooth are equipped in rotating basis Wheel is engaged with drive gear, and drive gear is connect with the first driving motor, and driving motor is arranged in housing, in the rotation base Cleaning cabinet, sprayed on material case, sewage recycling Rose Box, air compressor, fuel engines and high pressure water are additionally provided on seat Jet machine.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution is in addition, the power tool module includes power tool The housing of module, the bottom of housing are equipped with the second driving motor, and the second driving motor is driven by transmission parts and driving axis connection Moving axis is equipped with several supporting rods that are vertical with drive shaft and being in radioactivity setting, and the end of supporting rod is connected by clamping fixture seat There is fixture, power tool is clamped on the clamping head of the fixture.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution in the housing of the power tool module in addition, set There is six roots of sensation supporting rod, each fixture is equipped with 4 clamping heads.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution in addition, the power tool include cleaning means, Spray painting tool, fire-fighting tool and maintenance tool.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution is in addition, each in the machinery both hands arm is mechanical Four section support arms and three turning joints of interconnection are equipped on arm, often save support arm be equipped with driving this section support arm around The rotary drive motor of its axis rotation, each turning joint are equipped with the wobble drive motor swung around its joint.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, further preferred technical solution is in addition, inside the mechanical arm of the mechanical both hands arm Equipped with water or detergent high-pressure jet pipeline, coating pipeline and high-pressure gas pipeline.

Building is safeguarded for the ease of flying robot, the automatic control of cleaning operation overall process, and can also Enough ensure the safe operation of flying robot, further preferred technical solution is in addition, the control module includes being integrated with PLC Triple channel digital control system, robot servo unit, wireless communication unit, GPS or the Beidou navigation module of control, fly at gyroscope Row control unit, fault diagnosis and feedback unit, by said units by the way that program is controlled to control the flight of quadrotor The movement locus of posture, spatial coordinate location and mechanical both hands arm.

It is maintained for the ease of observation, by the external structure of cleaning of buildings and external contaminated situation, it is further excellent The technical solution of choosing in the head seat in addition, be respectively provided with driving scanner, camera and the rotation of head seat ontology Third driving motor, the 4th driving motor, the 5th driving motor, the scanner be three-dimensional laser scanner.

It is maintained for the ease of observation, by the external structure of cleaning of buildings and external contaminated situation, it is further excellent The technical solution of choosing is in addition, be respectively provided with control bottom camera pedestal circle rotation in the bottom photographing module the 6th drives 7th driving motor of dynamic motor and bottom camera radial rotary, to control bottom camera in circumference and radial direction any angle Rotation, can 24 hours it is round-the-clock real time monitoring main body bottom space state.

Preferably, the 4th driving motor equipped with the rotation of drive head camera above the head seat, for list Solely control camera radially rotates at any angle, and the camera is infrared camera.

Preferably, the 5th driving motor equipped with control head seat circle rotation in the head seat pedestal, is used In the circle rotation for individually controlling entire pedestal, for the rotation of engagement head camera and scanner.

Preferably, in the bottom photographing module, be respectively provided with control bottom camera pedestal circle rotation the 6th drives 7th driving motor of dynamic motor and bottom camera radial rotary, to control bottom camera in circumference and radial direction any angle Rotation, for monitoring the state of main body bottom space in real time, the camera is infrared camera.The utility model it is excellent Point and advantageous effect are：The flying robot of the intelligent maintenance building can change tradition the high-altitude that there are personnel involved, So as to avoid the injures and deaths of personnel, without numerous and diverse auxiliary tool, equipment and high expense, building is tieed up for high-risk operations pattern The functions such as shield, cleaning, spraying, fire-fighting are integrated in an equipment can the efficiently operation of safety.The flying robot has certainly Dynamicization degree is high, to the efficient of building cleaning, securely and reliably, can at any time or round the clock continuous work to all kinds of buildings Object carries out cleaning.Can be competent without cumbersome auxiliary equipment, such as traditional work needs to build scaffold, hanging basket Appurtenance, the utility model only need main body that work in every can be completed with two part of ground control centre.Reduce auxiliary The expense of facility costliness, reduces use cost.Hanging basket or lifting rope are needed not rely upon, efficiency is greatly improved.Make in high-altitude Industry does not have the participation of personnel, directly avoids the hidden danger of casualties.

Description of the drawings

Fig. 1 is the dimensional structure diagram of the utility model flying robot；

Fig. 2 is the structure diagram of implement module in the utility model flying robot；

Fig. 3 is one of structure diagram of power tool module in the utility model flying robot；

Fig. 4 is the second structural representation of power tool module in the utility model flying robot；

Fig. 5 is the structure diagram of mechanical both hands arm in the utility model flying robot；

Fig. 6 is the mounting structure schematic diagram of head seat upper-part in the utility model flying robot.

In figure：1st, robot body；2nd, ground control system；3rd, quadrotor；4th, undercarriage；5th, bottom camera shooting mould Block；6th, implement module；6.1st, rotating basis；6.2nd, housing；6.3rd, internal gear；6.4th, drive gear；6.5th, the first driving Motor；6.6th, cabinet is cleaned；6.7th, sprayed on material case；6.8th, sewage recycling Rose Box；6.9th, air compressor；6.10, fuel oil Engine；6.11, high pressure water jet machine；7th, power tool module；7.1st, housing；7.2nd, the second driving motor；7.3rd, drive shaft； 7.4th, supporting rod；7.5th, fixture；7.6th, clamping head；7.7th, power tool；8th, mechanical both hands arm；8.1st, support arm；8.2nd, it is movable Joint；8.3rd, rotary drive motor；8.4th, wobble drive motor；9th, combination tool；10th, control module；11st, head seat；12、 Three-dimensional laser scanner；13rd, camera；14th, third driving motor.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiment of the present utility model is further described.Implement below Example is only used for clearly illustrating the technical solution of the utility model, and the protection model of the utility model cannot be limited with this It encloses.

As shown in Figure 1, the utility model is a kind of flying robot of intelligent maintenance building, flying robot's packet Robot body 1 and ground control system 2 are included, wherein robot body 1 includes quadrotor 3, in quadrotor 3 Below be equipped with undercarriage 4 and bottom photographing module 5, be equipped on the top of quadrotor 3 and mutually interconnect successively from the bottom to top Implement module 6, the power tool module 7 connect, 7 are equipped with the mechanical both hands arm 8 stretched out to both sides in power tool module, often Mechanical arm 8 is respectively provided with seven freedom, and the end of mechanical both hands arm 8 is equipped with replaceable combination tool 9, power tool module 7 are equipped with the control module 10 with 2 wireless connection of ground control system, and control module 10 is equipped with head seat 11, head base Three-dimensional laser scanner 12 and camera 13 are housed on seat 11.

In order to ensure the safe flight of aircraft so that flying robot is in the process for being cleaned, being safeguarded for building Middle held stationary, efficiently and energy-efficient operation, the utility model preferred embodiment is, as shown in Figure 1, the quadrotor Aircraft 3 is four wings, eight paddle, and in the aircraft of flattened rectangular structure, has stronger maximum take-off weight ability, with full The different need of work of foot.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is, as shown in Fig. 2, the operation is set Standby module 6 includes the rotating basis 6.1 being connect with quadrotor 3, and rotating basis 6.1 is equipped with the shell of implement module Body 6.2, rotating basis 6.1 is interior to be equipped with internal gear 6.3, and internal gear 6.3 is engaged with drive gear 6.4, drive gear 6.4 and first Driving motor 6.5 connects, and driving motor 6.5 is arranged in housing 6.2, and cleaner is additionally provided on the rotating basis 6.1 Case 6.6, sprayed on material case 6.7, sewage recycling Rose Box 6.8, air compressor 6.9, fuel engines 6.10 and high-pressure water shot Stream machine 6.11.Drive gear 6.4 and the internal gear 6.3 engaged, internal gear 6.3 are driven by the first driving motor 6.5 Housing 6.2 is driven to rotate, dynamic housing 6.2 can also drive the power tool module 7 on housing to rotate together.Clean cabinet 6.6 It can use and load detergent or cleaning water.Sprayed on material case 6.7 can be used for loading the sprayed coating of building surface.It is dirty Water recycling Rose Box 6.8 can be used for recovery and rinsing liquid, avoid its secondary pollution caused by environment.Air compressor 6.9 can For pressure gas source used in various cleanings, fix tool.Fuel engines 6.10 can be power electric generators, then by sending out Motor provides power supply for aircraft and all kinds of tools, compressor etc..High pressure water jet machine 6.11 can be used for providing high-pressure water.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is described in addition, as shown in Figure 3, Figure 4 Power tool module 7 includes the housing 7.1 of power tool module 7, and the bottom of housing 7.1 is equipped with the second driving motor 7.2, and second Driving motor 7.2 is connect by transmission parts (such as transmission gear) with drive shaft 7.3, and drive shaft 7.3 is equipped with and drive shaft 7.3 Several supporting rods 7.4 that are vertical and being in radioactivity setting, the end of supporting rod 7.4 are connected with fixture 7.5 by clamping fixture seat, Power tool 7.7 is clamped on the clamping head 7.6 of the fixture 7.5.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is in addition, as shown in Figure 3, Figure 4, in institute It states and six roots of sensation supporting rod 7.4 is equipped in the housing 7.1 of power tool module 7, each fixture 7.5 is equipped with 4 clamping heads 7.6.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is in addition, the power tool 7.7 wraps Cleaning means, Spray painting tool and maintenance tool have been included, has been needed to may be equipped with other corresponding tools according to operation certainly, it is such as right The specific purpose tool that certain ornaments is needed to be removed.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is in addition, as shown in figure 5, the machinery Four that interconnection is equipped on each mechanical arm in both hands arm 8 save support arms 8.1 and three turning joints 8.2, often save Support arm 8.1 is equipped with the rotary drive motor 8.3 that driving this section support arm rotates about the axis thereof, and each turning joint 8.2 is equal Equipped with the wobble drive motor 8.4 swung around its joint.

In order to enable flying robot can complete more job tasks, while can as possible in each flight operation Ensure the flexible, light of operating process, the utility model further preferred embodiment is in addition, in the mechanical both hands arm 8 Mechanical arm be internally provided with water or detergent high-pressure jet pipeline, coating pipeline and high-pressure gas pipeline (not regarded in figure).

For the ease of flying robot to the automatic control of the operations overall processes such as building maintenance, cleaning, but also It can be ensured that the safe operation of flying robot, the utility model further preferred embodiment is in addition, the control module 10 include being integrated with triple channel digital control system, robot servo unit, wireless communication unit, GPS or the Beidou navigation of PLC controls The elements such as module, gyroscope, flight control units, fault diagnosis and feedback unit, by said units by controlling program control The movement locus of the flight attitude of quadrotor processed, spatial coordinate location and mechanical both hands arm.

It is maintained for the ease of observation, by the external structure of cleaning of buildings, material classification and external contaminated situation, The utility model further preferred embodiment as shown in fig. 6, being respectively provided with driving in the head seat 11 in addition, sweep Retouch third driving motor 14, the 4th driving motor, the 5th driving motor of instrument 12, camera 13 and the rotation of head seat ontology (not regarded in figure), the scanner 12 is three-dimensional laser scanner, and can increase infrared function according to actual needs, to meet daytime 24 hours nights demand for not shutting down work.

It is maintained for the ease of observation, by the external structure of cleaning of buildings and external contaminated situation, it is further excellent The technical solution of choosing is in addition, be respectively provided with control bottom camera pedestal circle rotation in the bottom photographing module the 6th drives 7th driving motor of dynamic motor and bottom camera radial rotary, to control bottom camera in circumference and radial direction any angle Rotation, can 24 hours it is round-the-clock real time monitoring main body bottom space state.

The operation principle of the flying robot of the intelligent maintenance building is：

The flying robot of the utility model intelligent maintenance building, main body are carried with the flight assembly of eight paddle quadrotors For flying power, rotor motor uses accumulator as driving, and provides constant current source power supply by oily dynamic formula generator.Take off height Degree reaches eight grades or more up to thousands of rice, wind loading rating.And it with main body stabilization compensation function, is awing made with eliminating Into vibrations and improve positioning accuracy.Support of the undercarriage as main body.Bottom camera assembly, which can do circle rotation, to be determined Position and+45 -+225 degree pitching rotational positionings, can be to letters such as the real-time imaging of the building of bottom space, material information, colors Breath identification, feedback and monitoring.The features such as the material to building are identified and classify.Among rotating basis and the main body on top Equipped with rotating mechanism, main body can make circle rotation positioning relative to flight assembly, and rotation angle is controlled by numerical control code.Clearly It is clean to be mounted in pedestal with sprayed on material device, high-voltage water jet device, high pressure gas device, waste storage device, it is divided into glass Glass detergent, marble detergent, sprayed on material, ceramic tile detergent etc. are optional as needed for actual items to put different types of cleaning Agent or sprayed coating, painting color module have three primary colours storage device, can be according to actual needs through computer automatic governing into institute The color needed is sprayed and air brushing.Such as the large-scale advertisement or intention of building surface.The work of plane can not only be competent at, equally Also can be competent at arbitrary surface, arbitrary shape solid building surface spraying or air brushing.High-pressure water jet and high pressure gas point It Yong Yu not clean, remove the building surface of unlike material and be difficult to the dirt removed.Tool model is placed in pedestal, tool mould Such as cleaning means, Spray painting tool, maintenance tool, fire-fighting tool multiple types of tools are stored in block, it can be to containing in there are many safeguarding The building of appearance disposably completes task, and such as cleaning synchronous can be carried out with spray coating operations, two manipulators for having seven freedom Arm front end interface can install identical or different tool, make identical or different action.As left arm can make cleaner Make, right arm can make spray coating operations.Or left arm makees cleaning glass material, right arm makees work or the both arms of cleaning marble material Installation same tool makees the work such as symmetrical machining or asymmetric processing.Seven freedom machinery both hands arm, single armed are respectively provided with seven certainly It by spending, can not only move in a straight line, the three-dimensional space motion in the arbitrary space of seven freedom, the movement locus of both arms can also be done By triple channel digital control system based on the threedimensional model generated after three-dimensional laser scanner scanning building, then based on the life of this threedimensional model Into numerical control code control, first passage control left arm movement, second channel control right arm movement, third channel control master The circular motion of body.The tool of both arms front end interface installation can not only make the movement of plane, can also make arbitrary surface and The movement in space, with the posture avoidance of optimization, close to working region, come the building surface for cleaning or spraying arbitrary shape. Three pipelines are respectively provided with inside both arms, first is high-pressure water jet detergent pipeline, and Article 2 sprays pipeline, third for coating Item is high-pressure gas pipeline, to meet different action demands, in addition can according to actual needs, outside double mechanical arms or Inside increases other types of such as electric wire or pipeline.It is more that both arms and main body are mounted on force snesor, proximity sensor etc. Kind sensor, collides to avoid with building, and can control and adjust replaceable combination tool and be applied to building surface Pressure.Replaceable combination tool has standard more alias as the multiple types of tools that can be replaced, both arms top, can be on ground Face or aerial any position call under non-stop-machine state from tool model, replace different tools, at any time with as needed Complete different actions.Such as when carrying out cleaning, realized different according to different tools and detergent is equipped with Action, it is unlimited to building surface material, such as glass, marble, aluminium alloy, stainless steel material.To building shape Such as plane, arbitrary surface and height, there is no limit.When carrying out spray coating operations, according to the different tools of outfit, object of constructing Difference can spray the coating of various material, such as putty, paint, coating, mortar, anticorrosive paint multiple coating.It is being tieed up When nurse makees, according to different tools is equipped with, the work such as maintenance, forcible entry, installation, cutting, the part replacement of building can be carried out Content.When carrying out fire-fighting work, caught fire using the Fire branch or fire-fighting tool of outfit to building, high level or high-rise building Point carries out the fire-fighting works contents such as the putting out a fire to save life and property of big fire, the control of the intensity of a fire.In the actions such as cleaning, spraying as described above, According to the size of real work amount, robot main body can be selected self-contained for feed and waste recovery and external two kinds of access Pattern.During external access module, the main body with external access interface accesses connection feeder apparatus and recycling by manual operation The pipeline of equipment is worked by traction pipeline during robot body's flight.Because being taken in multi-purpose tool and main body Dirt recovery measure, has prevented secondary pollution from source, has positive environmentally protective meaning.It is built to high-rise or Super High It when building object cleaning, spray coating operations, connects the pipeline of equipment and is provided by the adjacent domain or floor for treating working region, ensured with this The continuity not worked under shutdown status, to reduce outage rate so as to improve working efficiency.When carrying out fire-fighting work, such as fire-fighting When object is low layer, multilayer or middle-high building object, fire demand water can be provided by ground fire water supply, access robot main body In the fire-fighting tool of outfit, flown to fire area and put out a fire by robot body's traction fire hose.To high-rise or superelevation During layer building, fire water supply is provided by the neighbouring safe floor of fire bed or safety zone, with reach it is quick, timely fire extinguishing and The purpose of the control of fire.When performing fire-fighting task, ground control centre quickly sets the place of safety of fire water supply to be accessed first Domain or safe floor, the fire-fighting tool needed replacing, main body flight positioning is to specified safety zone or safe floor, by people By the external connection interface of fire hose access host, main body first flies to home near fire bed work, to window, burglary-resisting window into Row forcible entry or cutting, to open the rescue channel of fire-fighting fire extinguishing and trapped person.Can will a wherein mechanical arm from tool storage room mould Block, which calls, replaces multifunctional fire gun or fire water monitor, and another arm clasps another arm as the posture of the both hands clasping object of people Increase both arms rigidity and stability, can also both arms call fire-fighting tool respectively, to offset the gravity of fire hose and fire-fighting The jet flow reacting force of hydraulic giant is caught fire by ground control centre personnel by the camera of main body head and bottom real time monitoring Layer state controls hydraulic giant water column to set the parameters such as the spray angle of hydraulic giant, jetting height, flight attitude and flying height Control area, control perimeter, control height, control depth etc., with being optimal, the fastest fire extinguishing purpose.Driving and control Molding block includes triple channel numerical control device, robot servo unit, wireless communication module, GPS or Beidou navigation module, gyro Instrument, the fortune for flying the devices control main body such as control module, fault diagnosis and feedback, PLC flight attitude, spatial coordinate location and both arms Dynamic rail mark.Securement head camera and three-dimensional laser scanner on head seat, as a separate unit, head seat drives Head camera, three-dimensional laser scanner can make that rotational positioning at any angle, three-dimensional laser scanner can on circumference together Make-12-60 degree of pitching rotational positionings, the height of rotation, the flight of engagement head pedestal and preset scanning flight rail Mark, scanning architectural appearance generation point cloud data are simultaneously uploaded to cloud server and ground control centre, and automatic or manual generation is built Threedimensional model is built, by automatic or manual numerical programming program, the flight path of the double arm motions of control machinery and main body is come Complete the work such as cleaning, spraying, maintenance, the fire-fighting of building.Control the running orbit of main body and seven freedom machinery both hands arm Numerical control program carry out virtual analog emulation in ground control centre first, to confirm, there is no dry during building maintenance The mistakes such as relate to, collide.Confirm it is errorless after by numerical control program, building threedimensional model, the details such as the region safeguarded is needed to carry out It preserves, classify and be uploaded to cloud server, in case calling next time.

Detailed workflow is：The flight path based on building shape is planned for main body, first fly to building in advance Build object top, carry out 3-D scanning to building from top to bottom or from bottom to top using three-dimensional laser scanner, head camera and Bottom camera, which is synchronized, to be identified, classify and plans and preserve to building material, and the material depot based on computer storage is certainly Dynamic distribution is suitable for currently building the running parameter for including material.Such as selection work of detergent classification, multipurpose tool Parameter.The point cloud data for completing to generate after whole scanning to monolithic architecture is uploaded to respectively in cloud server and ground control The heart is automatically generated by ground control centre controllers or by manually generated building threedimensional model.By building surface material Difference be automatically separated into different regions in a computer, and mark with different colors, in order to observe and distinguish.Based on three Dimension module chooses suitable tool, and establishment cleaning, spraying and the optimization path safeguarded, the program code of generation control seven respectively The double arm motions of degree of freedom machinery, the flight of main body, the calling of multi-purpose tool and replacement, high pressure gas or high-pressure water jet Keying, main body the parameters such as circle rotation positioning run with the path that optimizes.Whole works have been calculated into computer automatically Total time needed for making, can flexibly set daily workload arrangement as only work by day 8 hours or 24 hours round the clock it is continuous not Work is shut down, computer then divides workload automatically according to the working time of setting, whole building machining area is divided automatically Into several independent working regions, reasonably to arrange production.Virtual analog emulation is carried out in ground control centre first, is checked Main body cleaning, spraying, in maintenance process with the presence of inerrancy, if the hidden danger such as can collide with building, interfere.Really Recognize it is errorless after work completed with automatic performance mode control main body machine.Main body flies automatically according to program to building top, according to It goes up and descends or cleaning or spray coating operations are automatically performed with the path optimized according to left-to-right.It is different when containing in a building During action, different tools can be transferred from tool model automatically by routine plan to complete different actions. Main body has the function of breakpoint recurrence in automatic implementation procedure, i.e., can when detergent interruption is such as added in pilot process To store the pervious action of breakpoint and information automatically, then completed work operation can be continued after the interruption ends, with Avoid the work repeated.By taking the cleaning of large-scale office building curtain wall as an example, the numerical control code generated based on three-dimensional model building is treated After generation, virtual analog emulation is first carried out in ground control centre, after confirmation is errorless, by information such as program code, building materials It preserves and is uploaded to cloud server in case next time calls.Finally control main body is automatically performed the maintenance of building by program operation Work.

The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art For art personnel, under the premise of the utility model technical principle is not departed from, several improvements and modifications can also be made, these change The scope of protection of the utility model is also should be regarded as into retouching.

Claims (13)

1. a kind of flying robot of intelligent maintenance building, which is characterized in that the flying robot includes robot body And ground control system, wherein robot body include quadrotor, and undercarriage is equipped in the lower part of quadrotor With bottom photographing module, it is equipped with the implement module being connected with each other successively from the bottom to top on the top of quadrotor, makees Industry tool model, power tool module are equipped with the mechanical both hands arm stretched out to both sides, and every mechanical arm hand is respectively provided with seven freely Degree, the end of mechanical both hands arm are equipped with replaceable combination tool, are equipped in power tool module wireless with ground control system The control module of connection, control module are equipped with head seat, three-dimensional laser scanner and camera are housed on head seat.

2. the flying robot of intelligent maintenance building as described in claim 1, which is characterized in that the quadrotor For four wings, eight paddle, and in the aircraft of flattened rectangular structure.

3. the flying robot of intelligent maintenance building as claimed in claim 2, which is characterized in that the implement module Including the rotating basis being connect with quadrotor, rotating basis is equipped with the housing of implement module, in rotating basis Equipped with internal gear, internal gear is engaged with drive gear, and drive gear is connect with the first driving motor, and driving motor is arranged on housing It is interior, cleaning cabinet, sprayed on material case, sewage recycling Rose Box, air compressor, fuel oil are additionally provided on the rotating basis Engine and high pressure water jet machine.

4. the flying robot of intelligent maintenance building as claimed in claim 3, which is characterized in that the power tool module Include the housing of power tool module, the bottom of housing is equipped with the second driving motor, the second driving motor by transmission parts with Axis connection is driven, drive shaft is equipped with several supporting rods that are vertical with drive shaft and being in radioactivity setting, the end of supporting rod Fixture is connected with by clamping fixture seat, power tool is clamped on the clamping head of the fixture.

5. the flying robot of intelligent maintenance building as claimed in claim 4, which is characterized in that in the power tool mould Six roots of sensation supporting rod is equipped in the housing of block, each fixture is equipped with 4 clamping heads.

6. the flying robot of intelligent maintenance building as claimed in claim 5, which is characterized in that the power tool includes There are cleaning means, Spray painting tool, maintenance tool and eliminate tool.

7. the flying robot of intelligent maintenance building as claimed in claim 6, which is characterized in that in the machinery both hands arm Each mechanical arm on be equipped with four section support arms and three turning joints of interconnection, often save support arm and be equipped with driving The rotary drive motor that this section support arm rotates about the axis thereof, each turning joint are equipped with the wobble drive swung around its joint Motor.

8. the flying robot of intelligent maintenance building as claimed in claim 7, which is characterized in that in the mechanical both hands arm Mechanical arm be internally provided with water or detergent high-pressure jet pipeline, coating pipeline and high-pressure gas pipeline.

9. the flying robot of intelligent maintenance building as claimed in claim 8, which is characterized in that the control module includes It is integrated with triple channel digital control system, robot servo unit, wireless communication unit, GPS or the Beidou navigation mould of PLC controller Block, gyroscope, flight control units, fault diagnosis and feedback unit, by said units by the way that program is controlled to control quadrotor The movement locus of the flight attitude of aircraft, spatial coordinate location and mechanical both hands arm.

10. the flying robot of intelligent maintenance building as claimed in claim 9, which is characterized in that in the head seat The interior third driving motor equipped with driving scanner rotation, the scanner are three-dimensional laser scanner.

11. the flying robot of intelligent maintenance building as claimed in claim 10, which is characterized in that in the head seat Top is equipped with the 4th driving motor of drive head camera rotation, for camera individually to be controlled radially to revolve at any angle Turn, the camera is infrared camera.

12. the flying robot of intelligent maintenance building as claimed in claim 11, which is characterized in that in the head seat The 5th driving motor equipped with control head seat circle rotation in pedestal, for individually controlling the circle rotation of entire pedestal, For the rotation of engagement head camera and scanner.

13. the flying robot of intelligent maintenance building as claimed in claim 12, which is characterized in that imaged in the bottom Module, be respectively provided with control bottom camera pedestal circle rotation the 6th driving motor and bottom camera radial rotary the Seven driving motors, bottom camera to be controlled to be rotated at any angle in circumference and radially, for monitoring main body bottom in real time The state in space, the camera are infrared camera.