KR20200020369A - A wall-climbing drone unit for maintaining and managing of high-storied building and the control method thereof - Google Patents

Abstract

The present invention relates to a drone unit moving along a wall surface for maintenance of a high-rise building, which climbs a wall surface of a structure to clean the same by using an auxiliary driving module (arm), and a control method, thereby providing an automated and unmanned system for wall surface movement, wall surface cleaning, charging, and robot control station communication.

Description

Wall moving drone unit and control method for maintenance of high-rise building {A WALL-CLIMBING DRONE UNIT FOR MAINTAINING AND MANAGING OF HIGH-STORIED BUILDING AND THE CONTROL METHOD THEREOF}

The present invention relates to a wall movable drone unit and a control method for high-rise building maintenance, and more particularly to a technique for climbing and cleaning the wall surface of the structure using an auxiliary drive module (Arm).

In recent years, structures such as buildings and bridges have been enlarged and advanced, and the importance of inspection of the corresponding structures has increased due to the aging of existing large structures. However, since the existing inspections are carried out by the person moving directly to the inspection area, there are problems such as high dependency on manpower, high risk and inspection cost according to the specificity of the work space, and shortage of professional manpower supply. In order to solve these problems, researches on wall climbing robots capable of moving the inner and outer walls of large structures are being actively conducted.

Wall-climbing robots can be used to maintain inaccessible high-rise structures or large structures, clean exterior walls, and diagnose structural health.

The research on wall climbing robots has been studied for a long time due to the practical necessity such as structure cleaning, maintenance and structure diagnosis. However, due to the nature of the wall climbing flying robot, the risk of falling is always inherent and commercialization has not been achieved because it does not satisfy the technical maturity enough to overcome it.

Until now, infrastructure-based wall flying robot systems, such as rails and cranes / wires, have been developed and operated to replace them. However, due to the characteristics of the infrastructure-based system, there are limitations on the shape of applicable structures. Has its drawbacks.

In order to solve the above problems, the existing technology has developed a drone unit attachable to the wall of the structure. However, the conventional drone unit technology moves the wall of the structure by applying force in a direction perpendicular to the wall and generating friction, which requires a large propulsion force depending on the state of the wall, that is, the coefficient of friction, and low energy efficiency. Was present.

An object of the embodiments of the present invention includes an auxiliary drive module including a sub-wheel or a circular brush, thereby improving the stability of the drone unit climbing the wall of the structure, and implementing a cleaning mechanism utilizing the rotation of the circular brush structure To provide a drone unit for cleaning the outer wall and glass of the.

It is also an object of embodiments of the present invention to provide charging and brush cleaning of a drone unit as a drone unit in communication with a robot control station.

In the wall-moving drone unit according to an embodiment of the present invention, the main body, a body portion having a plurality of rotors (rotor) connected to the main body to generate a thrust for the flight, the main wheel formed on at least one side of the body portion ( a wheel drive connected to the wall and the main body and rotated according to tilt control to control the flight of the drone unit and the wheel driving unit which moves in close contact with the wall of the structure and the wall surface of the structure In accordance with the flight control unit for adjusting the inclination of the sub-wheel.

The wheel driving unit is formed in at least two on one side of the body portion, the drone unit is in close contact with the wall surface of the structure is connected to the main wheel drive module and the body portion to move in the rotation of the wheel (wheel), the main wheel In order to serve the drive module may include a sub-wheel drive module for moving the drone unit in close contact with the wall surface of the structure in accordance with the tilt adjustment to the rotation of the wheel (wheel).

The flight control unit may adjust the inclination of the sub-wheel drive module to adjust the ratio of the vertical drag against the wall surface of the structure that generates the friction force and the rising force of the drone unit based on the friction coefficient of the wall surface.

The flight control unit may control climbing of the drone unit using at least two main wheels and the sub-wheel whose tilt is adjusted.

In addition, the wall-moving drone unit according to an embodiment of the present invention may further include a brush rotating part connected to the body part and in contact with the wall surface of the structure to roll the brush.

The brush rotating part may contact at least two main wheels and the wall surface of the structure, and the flight control part may clean the wall surface of the structure by rolling the brush of the brush rotating part.

In addition, the wall-moving drone unit according to an embodiment of the present invention is formed on at least the other side of the body portion, docked with the ground charging and control station to charge the power of the main body and the charging contact portion and the preset based on the drone unit The apparatus may further include a sensing unit configured to sense environmental information about a surrounding environment in a radius, and detect location information and attitude information of the drone unit.

At least two charge contact parts may be formed on the other side of the body part and may be docked with the charge and control station using separate VCC terminals and GND terminals.

The detector detects location information of the drone unit using Monte Carlo Localization (MCL) between a data value sensed from a distance measuring sensor formed in the drone unit and pre-stored map information, and based on the detected location information. The distance information with respect to the wall surface of the structure is sensed, and the reference distance measurement value sensed from the sonar sensor formed in the drone unit and the depth value of the RGB-D sensor may be complementary to detect the wall surface of the structure.

In addition, the wall-mounted drone unit according to an embodiment of the present invention further includes a main processor that detects a marker in the environmental information detected by the detector and calculates a trajectory for landing of the drone unit. The main processor recognizes the detected marker to represent dynamics of the drone unit as a differential equation with respect to angular acceleration, angular velocity, and pose. The trajectory may be obtained by calculating a thrust force of the rotor by reflecting the distance to the wall, the weight of the drone unit, and the moment of inertia.

According to an embodiment of the present invention, there is provided a method of controlling a wall moving drone unit for high-rise building maintenance, in which a drone unit is flying toward a structure, and according to the wall characteristics of the structure, a sub wheel included in the drone unit. And adjusting the inclination and moving the drone unit in close contact with the wall surface of the structure using the sub-wheel which rotates according to the inclination and the main wheel formed in the body portion of the drone unit.

In another embodiment of the present invention, there is provided a method of controlling a wall moving drone unit for high-rise building maintenance, including: a drone unit flying toward a structure, and a brush for cleaning a wall surface of the structure connected to a body part of the drone unit. And moving the drone unit in close contact with the wall surface of the structure by using a brush rotating part including a main wheel and rolling the brush included in the brush rotating part.

According to an embodiment of the present invention, by providing a drone unit including an auxiliary drive module including a sub-wheel or a circular brush, to improve the stability when climbing the wall of the structure, implement a cleaning mechanism utilizing the rotation of the circular brush structure It can provide a combination of flying and wall climbing to clean the outer walls and glass of a car.

In addition, according to an embodiment of the present invention, it is possible to provide a system for automation and unmanned drone unit that implements all of the wall movement, wall cleaning, charging and communication of the robot control station.

1 is a view for explaining the configuration of a system for automation and unmanned drone unit according to an embodiment of the present invention.
2A to 2C are diagrams for explaining a wall moving drone unit according to an exemplary embodiment of the present invention.
3A to 3C are diagrams for explaining the vertical up / down movement of the wall moving drone unit according to the embodiment of the present invention.
4 is a view illustrating a wall movable drone unit according to another embodiment of the present invention.
5 and 6 illustrate an image of a wall moving drone unit according to an embodiment of the present invention.
7A and 7B illustrate an example of charging and cleaning a drone unit according to an exemplary embodiment of the present invention.
8 shows an image of a drone unit fastened to a charging and control station according to an embodiment of the present invention.
9 is a flowchart illustrating an operation method of controlling a wall moving drone unit for tall building maintenance according to an exemplary embodiment of the present invention.
FIG. 10 is a flowchart illustrating a method of controlling a wall moving drone unit for tall building maintenance according to another exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. Also, like reference numerals in the drawings denote like elements.

In addition, terms used in the present specification (terminology) are terms used to properly express preferred embodiments of the present invention, which may vary depending on the intention of the viewer, the operator, or customs in the field to which the present invention belongs. Therefore, the definitions of the terms should be made based on the contents throughout the specification.

1 is a view for explaining the configuration of a system for automation and unmanned drone unit according to an embodiment of the present invention.

Referring to FIG. 1, the wall movable drone unit 100 according to an exemplary embodiment of the present invention may be located in an accurate region through a marker attached to a wall of the structure 10, and the wall surface of the structure 10. In close contact with the vertically moving up / down, and at the same time the cleaning can be performed. At this time, the drone unit 100 detects a marker attached to the wall surface of the structure 10 by using a camera or a sensor, and charges and controls the image information of the detected marker and the position information of the drone unit 100. 200) or to an external server (not shown) related to the drone unit.

Subsequently, the wall movable drone unit 100 according to the embodiment of the present invention may receive analysis information of the marker from the charging and control station 200 or an external server (not shown), and based on the received analysis information structure It is also possible to move within (10) or to clean the structure (10).

According to an embodiment, the marker may comprise information relating to the structure 10, for example, for a structure 10 of at least one of a substantial portion of a long bridge pylon, a high-rise building, a building, a building and a dam. It may include information on at least one or more of a kind, a construction time, a height, a size, and a cleaning history.

The wall movable drone unit 100 according to the embodiment of the present invention moves in close contact with the wall surface of the structure 10 or in the case of detecting battery shortage or brush contamination while cleaning the wall, by using a global positioning system (GPS). Recognizing the current location and the location of the charging and control station 200 may move to the charging and control station 200. At this time, according to an embodiment, the drone unit 100 may move based on the location information of the charging and control station 200, and recognizes and moves a plurality of markers located in the vicinity of the charging and control station 200. It may be.

Subsequently, the wall movable drone unit 100 according to the embodiment of the present invention charges the battery at the charging and control station 200, or after completing the brush cleaning, moves near the work area of the structure 10 that has been stopped. You can finish cleaning.

Hereinafter, with reference to FIGS. 2 to 10 will be described in detail the control method of the wall-moving drone unit 100 and the drone unit according to an embodiment of the present invention.

2A to 2C are diagrams for explaining a wall moving drone unit according to an exemplary embodiment of the present invention.

More specifically, FIG. 2A illustrates a perspective view of a wall movable drone unit according to an embodiment of the present invention, and FIG. 2B illustrates a side view of the wall movable drone unit according to an embodiment of the present invention, and FIG. The detailed configuration of the wall movable drone unit according to the embodiment of the present invention is shown in a block diagram.

2A to 2C, the wall movable drone unit 100 according to the embodiment of the present invention may include the main body 110, the body 120, the wheel drivers 140 and 152, and the flight control unit 101. Include. In addition, the wall movable drone unit 100 according to the embodiment of the present invention may further include a charging contact 170, a detector 103, and a main processor 102.

The body 120 is provided with a plurality of rotors 130 connected to the main body 110 to generate thrust for flight. Referring to FIG. 2A, a body portion 120 is formed around the main body 110, and each of the plurality of rotors generates a thrust force in an upward direction of the drone unit 100. 130 may be formed.

The wheel drivers 140 and 150 are connected to the main wheel 141 and the main body 110 formed on at least one side of the body 120 to drive the sub wheel 152 that rotates according to the inclination adjustment, and the drone unit 100. ) Is moved in close contact with the wall surface of the structure (10).

In more detail, the wheel driving units 140 and 150 adhere the drone unit 100 to the wall surface of the structure 10 by using at least two main wheels 141 formed on one side of the body unit 120. A sub wheel 152 including a main wheel driving module 140 for moving the drone unit 100 by rotating the wheel 141, and a single sub wheel 152 connected to the body part 120, and having an inclination adjusted; It may include a sub-wheel drive module 150 for moving the drone unit 100 to the main wheel 141 in close contact with the surface of the structure 10 by using a).

Referring to FIG. 2A, two main wheels 141 may be formed at one side of the body part 120. For example, the two main wheels 141 are the first to contact the wall when the drone unit 100 is close to the wall surface of the structure 10, the drone unit 100 is to contact the wall surface of the structure 10 It can be an important spindle for moving up and down vertically.

Referring to FIG. 2B, the sub wheel driving module 150 may include a connecting member 151, and may connect the sub wheel 152 and the body 120 of the drone unit 100 through the connecting member 151. have. According to the exemplary embodiment, the inclination of the sub wheel driving module 150 may be adjusted by the flight control unit 101 of the drone unit 100, and the inclination or wall characteristics (or friction coefficient) of the structure 10 may be adjusted. Therefore, they may be formed at different angles. For example, when the drone unit 100 is close to the wall surface of the structure 10, the two main wheels 141 first contact the wall surface, and the inclination-adjusted sub wheel 152 is laned to the wall surface. By contacting, the drone unit 100 improves stability in moving the wall surface vertically up and down.

Referring to FIG. 2C, the wall movable drone unit 100 for tall building maintenance according to an embodiment of the present invention may include a flight control unit 101. At this time, the flight control unit 101 controls the flight of the drone unit 100, and adjusts the inclination of the sub-wheel 152 according to the wall surface of the structure (10).

The flight control unit 101 controls the flight of the drone unit 100. The drone unit 100 flies from the ground to approach the target structure 10, and after the mission is performed from the wall surface of the structure 10. It can be controlled to separate and land on the ground.

More specifically, the flight control unit 101 by adjusting the inclination angle of the sub-wheel drive module 150 according to the wall characteristics of the structure 10, that is, the friction coefficient, to the wall surface of the structure 10 for generating a friction force The ratio of the vertical drag and the lifting force which is the rising force of the drone unit 100 may be adjusted. For example, when the friction coefficient of the wall of the structure 10 is high, the vertical drag is larger than the lift force, and when the friction coefficient is low, the vertical drag is smaller than the lift force. Thus, the flight control unit 101 may improve the flight stability of the drone unit 100 by adjusting the inclination angle of the sub-wheel drive module 150 according to the vertical drag and the lifting force.

Thereafter, the flight control unit 101 moves the drone unit 100 by using a thrust force using at least two main wheels 141 and a tilted sub-wheel 152 and the rotor 130. Can be controlled.

In addition, the wall movable drone unit 100 for high-rise building maintenance according to an embodiment of the present invention may further include a detector 103 and a main processor 102.

The detector 103 may detect environmental information about the surrounding environment at a preset radius based on the drone unit 100, and may detect location information and attitude information of the drone unit 100. For example, the detector 103 may detect environment information, location information, and attitude information through information received from a plurality of sensors or GPS included in the drone unit 100. Here, the sensor may be a distance measuring sensor, a sonar sensor or an RGB-D camera sensor.

For example, the sensing unit 103 may contact and recognize the wall surface of the structure 10 by using a physical touch sensor formed in the drone unit 110. As another example, the detector 103 may detect location information of the drone unit 100 by using Monte Carlo Localization (MCL) between real-time data values of the distance measuring sensor of the drone unit 100 and pre-stored map information, and GPS. Through the location information of the drone unit 100 may be detected. In addition, the detector 103 may recognize the wall surface of the structure 10 by calculating a distance from the wall surface of the structure 10 based on the location information of the drone unit 100. As another example, the detector 103 may detect the wall surface of the structure 10 by complementing the reference distance measurement value sensed from the sonar sensor formed in the drone unit 100 and the depth value of the RGB-D sensor. Can be.

The main processor 102 of the wall-mounted drone unit 100 for high-rise building maintenance according to an exemplary embodiment of the present invention detects a marker in the environmental information detected by the sensing unit to land the drone unit 100. To calculate the trajectory. Here, the marker may be located on the ground plane or the wall surface of the structure 10, it may be formed in plurality.

According to an embodiment, the wall-moving drone unit 100 for tall building maintenance according to an embodiment of the present invention may perform a marker-based landing algorithm when detecting a marker to reduce flight height after correcting an XY plane distance. . In this case, the drone unit 100 may use information obtained from two or more markers for more accurate landing.

For example, the main processor 102 recognizes the detected markers and converts the dynamics of the drone unit 100 into differential equations for angular acceleration, angular velocity, and pose. The trajectory may be obtained by calculating a thrust force of the rotor 130 by reflecting the measured distance from the wall surface, the weight and the moment of inertia of the drone unit 100.

Therefore, the flight control unit 101 of the wall-moving drone unit 100 for high-rise building maintenance according to an embodiment of the present invention, the flight, landing, vertical up / down movement of the drone unit 100 according to the calculated trajectory Can be controlled.

3A to 3C are diagrams for explaining the vertical up / down movement of the wall moving drone unit according to the embodiment of the present invention.

More specifically, FIG. 3A illustrates an example of a perching process of a drone unit according to an embodiment of the present invention, and FIG. 3B illustrates an example of a drone unit representing various poses on a wall. 3c shows a diagram according to the direction of the recoil thruster.

3A and 3B, the wall movable drone unit 100 for high-rise building maintenance according to an embodiment of the present invention is not only the main wheel 141 but also a sub-wheel capable of smoothly connecting and detaching a wall ( 152). Thus, the wall movable drone unit 100 according to the embodiment of the present invention may control the direction of the reaction thruster with respect to the wall surface of the structure by using the main wheel 141 and the sub wheel 152.

) 방향으로 변경할 수 있다. 도 3c에서, 추력 F는 드론 유닛의 질량, 중력, 접촉점에서의 마찰 계수인 m, g,

로 나누어진다. 예를 들면, 추력 F는 중력을 보상하는 힘 또는 마찰을 일으키는 힘으로 분리되므로, 마찰 계수의 변화에 의한 최소 추력 레벨의 변화가 감소하기 때문에 구조물(10)의 벽면에서 드론 유닛(100)이 보다 안정적일 수 있다. In addition, the wall movable drone unit 100 according to the embodiment of the present invention may adjust the posture change speed by using the sub wheel 152. Referring to FIGS. 3B and 3C, the drone unit 100 may adjust the pose and the direction according to the angle of the sub wheel 152.

) Direction. In Fig. 3c, the thrust F is m, g, which is the coefficient of friction at the point of mass, gravity, contact of the drone unit,

Divided into For example, since the thrust F is separated into a force compensating gravity or a force causing friction, the drone unit 100 is more likely to be used on the wall surface of the structure 10 because the change in the minimum thrust level due to the change in the friction coefficient is reduced. It can be stable.

4 is a view illustrating a wall movable drone unit according to another embodiment of the present invention.

Referring to FIG. 4, the wall movable drone unit 100 according to another embodiment of the present invention is connected to the body part 120, and is in contact with the wall surface of the structure 10 to roll a brush 161. It may include a rotating unit 160.

The brush rotating part 160 is in contact with at least two main wheels 141 and the wall surface of the structure 10, and the flight control part 101 rolls the brush 161 of the brush rotating part 160 to the structure 10. You can clean the walls.

According to an embodiment, the brush rotation unit 160 may be tilted by the flight control unit 101, and may be formed at different angles according to the wall tilt or wall characteristics (or friction coefficient) of the structure 10. have. For example, when the drone unit 100 is close to the wall surface of the structure 10, the two main wheels 141 first contact the wall surface, and the tilted brush rotator 160 is laned to the wall surface. By contacting, it is possible to improve the stability of the drone unit 100 to move the wall surface vertically up / down.

When the two main wheels 141 and the brush rotating unit 160 of the drone unit 100 are in contact with the wall surface, the brush 161 may be rolled (or rotated) by the flight control unit 101.

That is, the wall movable drone unit 100 according to the embodiment of the present invention may move vertically up / down the wall surface of the structure 10 by using the two main wheels 141 and the brush rotating part 160. The wall 161 may be cleaned by rotating 161.

According to an embodiment, the brush 161 may have various forms. For example, the brush 161 is a flat form for cleaning corners or corners, a squid form to remove moisture by a flexible material, a brush form in which groups of small brushes are arranged concentrically, and a single brush formed by gathering a plurality of brush brushes. At least one of the brush shape and the shape of the push rod of the cotton material.

5 and 6 illustrate an image of a wall moving drone unit according to an embodiment of the present invention.

More specifically, FIG. 5 shows an image of a drone unit moving a wall using a main wheel and a sub wheel, and FIG. 6 shows an image of a drone unit cleaning a wall using a main wheel and a brush. .

Referring to FIG. 5, the drone unit 100 according to the embodiment of the present invention may move vertically up and down on the wall surface of the structure 10 by using two main wheels 141 and a sub wheel 152. It can move over obstacles formed on the wall.

Referring to FIG. 6, the drone unit 100 according to the embodiment of the present invention may move vertically up and down on the wall surface of the structure 10 by using two main wheels 141 and a brush 161. The brush 161 may be rolled (or rotated) to clean the wall.

7A and 7B illustrate an example of charging and cleaning a drone unit according to an exemplary embodiment of the present invention.

The drone unit 100 may move to the charging and control station 200 when the battery runs out while cleaning and moving the wall of the structure 10, when the brush needs to be replaced or cleaned, or when the mission is completed. .

Referring to FIG. 7A, the drone unit 100 may include a charging contact 160. For example, the charging contact 170 is formed on at least the other side of the body portion 120 of the drone unit 100, docked with the ground charging and control station 200 to the battery 104 of the main body 110 It can be charged.

The charging and control station 200 may detect the approach and contact of the drone unit 100 using the gas detector 210 of the infrared sensor. In addition, the charging and control station 200 may be formed in an extended length of about 2,000mm for the stability of the drone unit 100 when docked, the interior may be in the form of a cross-section of the V-shape.

Referring to FIG. 7B, the charging and control station 200 may detect the landing of the drone unit 100 through the gas detection unit 210, and when the landing of the drone unit 100 is detected, an extension of about 2,000 mm may be performed. The reduced length to about 1,100 mm.

Due to the reduction mechanism of the charging and control station 200, the charging contact 170 and the brush rotating unit 160 of the drone unit 100 may be engaged with the charging module and the cleaning module of the station. Accordingly, the battery 104 of the drone unit 100 is charged, and the brush 161 may be cleaned or replaced.

According to an embodiment, the charging and control station 200 detects the drone unit 100 by using an audio module, a speaker module or a buzzer, or a light emitting diode (LED), charges a battery, and replaces a brush. Or you can output the cleaning process.

For example, the charging and control station 200 may turn on a white LED in a sensing state of detecting the approach of the drone unit 100 or a standby state of waiting for the approach of the drone unit 100, and the drone unit 100. The green LED may be turned on in a station reduction state for reducing the length of the station by detecting the landing of the vehicle), a charging start state for charging the battery of the drone unit 100, or a cleaning start state for cleaning the brush. In addition, the charging and control station 200 may turn on the red LED in the charging state for charging the battery of the drone unit 100 or the cleaning state for cleaning the brush, the charging of the battery of the drone unit 100 is completed The blue LED may be turned on in the state, the cleaning completion state in which the cleaning of the brush is completed, or the station extension state extending the length of the station.

Here, it is obvious that the color of the LED according to the above state is not limited thereto.

8 shows an image of a drone unit fastened to a charging and control station according to an embodiment of the present invention.

Referring to FIG. 8, the drone unit 100 according to an embodiment of the present invention includes a charging contact 170 for docking with a ground charging and control station 200, and the charging contact 170 includes a drone unit ( It may be formed of at least two (171, 172) on the other side of the body portion 120 of the 100.

Since the charging contact 170 includes the separated VCC terminal 171 and the GND terminal 172, and the VCC terminal 171 and the GND terminal 172 are spatially separated, the risk of short and short circuits may be minimized. have.

When the drone unit 100 according to the embodiment of the present invention approaches the charging and control station 200, the charging and control station 200 is reduced in length to engage with the drone unit 100. At this time, the drone unit 100 may be docked with the charging and control station 200 by using the separated VCC terminal 171 and the GND terminal 172, the power supplied from the charging and control station 200 The battery 104 can be charged by this.

9 is a flowchart illustrating an operation method of controlling a wall moving drone unit for tall building maintenance according to an exemplary embodiment of the present invention.

Referring to FIG. 9, in step 910, the drone unit is flying toward the structure.

Step 910 may be a step of flying the drone unit by generating a thrust force in the upward direction of the drone unit through a plurality of rotors formed in the body portion of the drone unit.

In operation 920, the inclination of the subwheel included in the drone unit is adjusted according to the wall characteristics of the structure.

Step 920 adjusts the ratio of the vertical drag to the wall surface of the structure generating the friction force and the lifting force which is the rising force of the drone unit by adjusting the inclination angle of the subwheel drive module of the drone unit according to the wall characteristics of the structure, that is, the friction coefficient It may be a step. For example, when the friction coefficient of the wall of the structure is high, the vertical drag is larger than the lift force, and when the friction coefficient is low, the vertical drag is smaller than the lift force. For this reason, step 920 may improve the flight stability of the drone unit by adjusting the inclination angle of the sub-wheel drive module according to the vertical drag and the lift force.

According to an embodiment, when the drone unit is close to the wall of the structure, the two main wheels first contact the wall, and the sub wheel of the tilted sub-wheel drive module contacts the wall in a lane so that the drone unit Stability can be improved by moving the wall vertically up and down.

In step 930, the drone unit moves in close contact with the wall of the structure using the sub-wheel that rotates according to the tilt adjustment and the main wheel formed in the body portion of the drone unit.

In operation 930, the drone unit may be moved up and down using at least two main wheels, a tilted sub-wheel, and a thrust force using the rotor. In this case, the drone unit may move over obstacles formed on the wall of the structure using at least two main wheels and a tilted sub wheel.

FIG. 10 is a flowchart illustrating a method of controlling a wall moving drone unit for tall building maintenance according to another exemplary embodiment of the present invention.

Referring to FIG. 10, in step 1010, the drone unit is flying toward the structure.

Step 1010 may be a step of flying the drone unit by generating a thrust force in the upward direction of the drone unit through a plurality of rotors formed in the body portion of the drone unit.

In operation 1020, the drone unit is brought into close contact with the wall of the structure by using a brush wheel and a main wheel including a brush for cleaning the wall of the structure connected to the body of the drone unit.

Step 1020 may be a step of moving the drone unit up / down using at least two main wheels and the tilting brush rotation and the thrust force using the rotor. In this case, step 1020 may adjust the inclination of the brush rotating unit, and may be formed at different angles according to the wall slope of the structure or the wall characteristics (or friction coefficient).

According to an embodiment, when the drone unit is in close proximity to the wall of the structure, the two main wheels first contact the wall, and the tilted brush rotator contacts the wall in a lane so that the drone unit is perpendicular to the wall. Stability can be improved by moving downward.

In operation 1030, the brush included in the brush rotating part is rolled.

Step 1030 may be rolling (or rotating) the brush to clean the wall of the structure.

According to an embodiment, the brush may have various forms. For example, a brush is a flat form for cleaning corners or corners, a squid form of a flexible material to remove moisture, a brush arranged concentrically with small groups of brushes, and a single brush formed by gathering a plurality of brush brushes. And it may be at least one of the shape of the push rod of cotton material.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the devices and components described in the embodiments may include, for example, processors, controllers, arithmetic logic units (ALUs), digital signal processors, microcomputers, field programmable arrays (FPAs), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For convenience of explanation, one processing device may be described as being used, but one of ordinary skill in the art will appreciate that the processing device includes a plurality of processing elements and / or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as parallel processors.

The software may include a computer program, code, instructions, or a combination of one or more of the above, and may configure the processing device to operate as desired, or process independently or collectively. You can command the device. Software and / or data may be any type of machine, component, physical device, virtual equipment, computer storage medium or device in order to be interpreted by or to provide instructions or data to the processing device. Or may be permanently or temporarily embodied in a signal wave to be transmitted. The software may be distributed over networked computer systems so that they may be stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described by the limited embodiments and the drawings as described above, various modifications and variations are possible to those skilled in the art from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different form than the described method, or other components. Or, even if replaced or substituted by equivalents, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims are within the scope of the claims that follow.

10: Structure
100: drone unit
110: main body
120: body part
130: rotor
140: main wheel drive module
141: main wheel
150: sub-wheel drive module
151: connecting member
152: sub wheel
160: brush rotating part
161: brush
170: charging contact
171: VCC terminal
172: GND terminal
200: filling and control station
210: gas detector

Claims (12)

In the wall movable drone unit,
main body;
A body part having a plurality of rotors connected to the main body to generate thrust for flight;
A wheel drive unit which moves the drone unit in close contact with the wall surface of the structure by using a main wheel formed on at least one side of the body part and a sub wheel connected to the main body and rotating according to an inclination adjustment; And
Flight control unit for controlling the flight of the drone unit, and adjust the inclination of the sub-wheel according to the wall surface of the structure
Wall movable drone unit for high-rise building maintenance comprising a. The method of claim 1,
The wheel drive unit
At least two main wheel driving module is formed on one side of the body portion, the drone unit is in close contact with the wall surface of the structure to move in the rotation of the wheel (wheel); And
A sub-wheel driving module connected to the body part and moving the drone unit in close contact with the wall surface of the structure in accordance with an inclination adjustment to serve the main wheel driving module in order to move the wheel
Wall movable drone unit for high-rise building maintenance comprising a. The method of claim 2,
The flight control unit
Based on the friction coefficient of the wall, for maintaining the high-rise building to adjust the inclination of the sub-wheel drive module to adjust the ratio of the vertical drag against the wall of the structure generating the friction force and the rising force of the drone unit Wall mobile drone unit. The method of claim 3,
The flight control unit
Wall moving drone unit for high-rise building maintenance to control the climbing of the drone unit using at least two of the main wheel and the inclined sub-wheel. The method of claim 2,
A brush rotating part connected to the body part and contacting a wall of the structure to roll a brush
Wall movable drone unit for high-rise building maintenance further comprising. The method of claim 5,
The brush rotating part
In contact with at least two of the main wheels and the wall of the structure,
The flight control unit
Wall moving drone unit for high-rise building maintenance for cleaning the wall surface of the structure by rolling the brush of the brush rotating unit. The method of claim 1,
A charging contact part formed on at least the other side of the body part and docking with a ground charging and control station to charge electric power of the main body; And
A sensing unit for sensing the environmental information of the surrounding environment at a predetermined radius based on the drone unit, the position information and attitude information of the drone unit
Wall movable drone unit for high-rise building maintenance further comprising. The method of claim 7, wherein
The charging contact
At least two formed on the other side of the body portion, the wall movable drone unit for high-rise building maintenance to dock with the charging and control station using a separate VCC terminal and GND terminal. The method of claim 7, wherein
The sensing unit
The location information of the drone unit is sensed using Monte Carlo Localization (MCL) between data values sensed from the distance measuring sensor formed in the drone unit and pre-stored map information, and the wall surface of the structure is based on the detected location information. For maintaining the high-rise building that senses the wall surface of the structure by detecting distance information of the structure and complementing the reference distance measurement value sensed from the sonar sensor formed in the drone unit and the depth value of the RGB-D sensor. Wall mobile drone unit. The method of claim 9,
The main processor detects a marker in the environment information detected by the detection unit and calculates a trajectory for landing of the drone unit.
More,
The main processor is
Recognizing the detected marker, the dynamics of the drone unit is represented as a differential equation for angular acceleration, angular velocity, and pose, and the measured distance from the wall surface is Wall moving type drone unit for high-rise building maintenance to obtain the trajectory by calculating the thrust force of the rotor reflecting the weight and moment of inertia of the drone unit. The drone unit flying towards the structure;
Adjusting an inclination of a sub wheel included in the drone unit according to a wall surface characteristic of the structure; And
Moving the drone unit in close contact with the wall surface of the structure by using the sub-wheel that rotates according to the tilt adjustment and a main wheel formed in the body of the drone unit;
Control method of the wall surface drone unit for high-rise building maintenance comprising a. The drone unit flying towards the structure;
Moving the drone unit in close contact with the wall of the structure by using a main wheel and a brush rotating part including a brush for cleaning the wall of the structure connected to the body of the drone unit; And
Rolling the brush included in the brush rotating part;
Control method of the wall surface drone unit for high-rise building maintenance comprising a.

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