WO2019040008A1 - Équipement technologique pour travail en hauteur - Google Patents

Équipement technologique pour travail en hauteur Download PDF

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Publication number
WO2019040008A1
WO2019040008A1 PCT/SK2018/050010 SK2018050010W WO2019040008A1 WO 2019040008 A1 WO2019040008 A1 WO 2019040008A1 SK 2018050010 W SK2018050010 W SK 2018050010W WO 2019040008 A1 WO2019040008 A1 WO 2019040008A1
Authority
WO
WIPO (PCT)
Prior art keywords
carrier
work
working platform
operator
technological equipment
Prior art date
Application number
PCT/SK2018/050010
Other languages
English (en)
Inventor
Cabaj ANDREJ
Original Assignee
Intensa, S. R.O.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intensa, S. R.O. filed Critical Intensa, S. R.O.
Publication of WO2019040008A1 publication Critical patent/WO2019040008A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/92—Portable platforms
    • B64U70/93—Portable platforms for use on a land or nautical vehicle

Definitions

  • the present invention relates to technological equipment to implement work in heights.
  • the elevating working platforms and ladders have been the oldest and most used devices. However, when working in greater heights, this method appears to be impracticable due to the ladder or arm limited length.
  • the platform stability has also been deteriorated when ejected to a maximum extent under the weather condition, especially by strong wind. The other way is to use a helicopter or copter. When in operation, either the platform or the device is hanging in the suspension. In such a case, the platform stability has been deteriorated under the weather conditions, especially by strong wind.
  • a drone has been the most modern way; however, when flying, the drone cannot be keep in a horizontal plane. While manoeuvring, the drone keeps tilting to change its position.
  • the invention listed in the present application form eliminates the drawbacks described in the prior art, while the set of technological equipment and procedures for performing work operations at heights based on the operator ' s module, ground station, technological equipment carrier and working platform forms the invention fundamentals.
  • the operator ' s module has been a complex of components and software that allows the industrial nature applications to be implemented, which requires the movement accuracy and induction of force effects in the area with centimetre accuracy.
  • the operator controls the module; afterwards, artificial intelligence based on the neutron networks has been deployed to assure fully automated operations while the operator ' s role has only been reduced to a control activity.
  • the semi-transparent glasses fitted with the sensors to scan the operator ' s control gestures form the operator ' s module.
  • the gestures make use of the "extended reality" technology.
  • the following elements have been projected in the visual display space:
  • the sensors scanning the operator ' s gesture commands provide control over both the carrier and the working platform.
  • the following gestures have been defined:
  • the TAKE-OFF, UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD, LAND commands have been pre-defined. This is the universal carrier and therefore these commands only serve the basic operating instructions of the device. The operator performs the gestures with his/her right and left hands to prevent an accidental unknowing instruction from happening. The multi-purpose commands require no separate acknowledgement on the virtual area.
  • the FLY TO..., PERFORM, REPEAT commands have been the semi-universal carrier instructions, which, in addition to the two-handed gesture itself, require activation of the control element in the operator ' s virtual area.
  • the exact command parameters shall undergo programming before the work is completed or the device deployed. This includes adding the co-ordinates in 3D space, defining the previously known positions, distances, instruction sequences, etc.
  • the special instructions are performed by repeated double confirmation on the operator ' s virtual area desktop and shall be pre-programmed depending on the working platform type.
  • the ground station represents the technological equipment consisting of the carrier and working platform, power supply i.e. the supply voltage with power cord as the primary possibility to power the device and the use of the alternative battery module in the future. Moreover, this consists of the ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system.
  • the ground station may either be stationary or mobile in the form of a delivery van, pick-up, trailer or semi-trailer attached to a tractor.
  • the flying device itself with the limited range and controlled movement providing manoeuvrability in a stable horizontal position without tilts (contrary to the drone common structure) forms the key part of the complex.
  • the device consists of 6 vector stroke motor units in a sheltered form preventing the foreign particles from penetration and an obstacle within the application area of device operation from contacting.
  • the motor units located at the edges of the carrier, provide manoeuvrability within the stable horizontal position. They have been located on the tilt - swivel motor joint which allows them to develop force against the desired movement direction in a programmable way.
  • the central motor units control the compensating tilt in an electronic way. In this way, it is possible to ensure precise manoeuvrability within the application area with centimetre accuracy as a prerequisite for successful industrial application. Except for precise manoeuvrability, this method makes possible do develop the pressing force needed to carry out any contact operation of the carrier working platform.
  • the motor equipped with worm gears tilts the edge motor unit.
  • the mechanism tilts the edge propeller unit within the horizontal-perpendicular position to the flight plane range (horizontal).
  • the two-sided articulated shaft links the set of gears itself with the control motor.
  • the mechanism ensures left-right vector control of the flying element central part free of tilting.
  • the central motor rotates the motor unit in the range of 0-180 degrees which makes possible to apply pressure, approach and separation to and from the working area.
  • the technological equipment carrier consists of 6 motor units besides the central part.
  • Four central motors provide elevation and manoeuvring in a classical flight mode and the two edge ones provide the carrier manoeuvring and driving to the working area.
  • Each motor unit features the support frame to mount the drive unit, pilot tunnel for air flow and the propeller attached to the motor unit.
  • the working platform allows the industrial task application implementation to take place.
  • the working platform is suspended under the carrier to stabilize the entire system centre of gravity.
  • the working platform consists of the activity applicator and other support subsystems necessary to carry out its activity, as well as the power sources or fillings needed for its operation.
  • the undercarriage equipped with the wheels, skids or floats also forms an essential part of the working platform following its operation nature.
  • the working platform allows the vertical surfaces to clean in an industrial method via a contact manner and/or using the robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spraying.
  • Figure 1 shows the equipment assembly
  • Figure 2 shows the carrier standard flying position.
  • Figure 3 shows the carrier with the edge motor units folded.
  • Figure 4 shows the carrier with the edge motor units folded.
  • Figure 5 shows the carrier folded transport position
  • Figure 6 shows the carrier working platform.
  • FIG. 7 shows the motor unit with its details.
  • the set of technological equipment and procedures for performing work operations at heights consists of the operator module 1, ground station 2, carrier 3 and working platform 4.
  • the operator ' s module 1 has been a complex of components and software that allows the industrial nature applications to implement, which requires the movement accuracy and induction of force effects in the area with centimetre accuracy.
  • the operator controls the module 1, afterwards, artificial intelligence based on the neutron networks to assure fully automated operations while the operator ' s role has only been reduced to a control activity.
  • the semi-transparent glasses la fitted with the sensors to scan the operator ' s control gestures form the operator ' s module 1.
  • the gestures make use of the "extended reality” technology.
  • the following elements have been projected in the visual display space:
  • the sensors scanning the operator ' s gesture commands provide control of both the carrier 3 and the working platform 4.
  • the following gestures have been defined:
  • the TAKE-OFF, UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD, LAND commands have been pre-defined. This is the universal carrier 3 and therefore these commands only serve the basic operating instructions of the device. The operator performs the gestures with his/her right and left hands to prevent an accidental unknowing instruction from happening. The multi-purpose commands require no separate acknowledgement on the virtual area.
  • the FLY TO..., PERFORM, REPEAT commands have been the semi-universal carrier instructions, which, in addition to the two-handed gesture itself, require activation of the control element in the operator ' s virtual area.
  • the exact command parameters shall undergo programming before the work is completed.
  • the semi-transparent glasses fitted with the sensors to scan the operator ' s control gestures form the operator ' s module or the device deployed. This includes adding the co-ordinates in 3D space, defining the previously known positions, distances, instruction sequences, etc.
  • the special instructions are performed by repeated double confirmation on the operator ' s virtual area desktop and shall be pre-programmed depending on the working platform type 4.
  • the ground station 2 represents the technological equipment consisting of the carrier 3 and working platform 4, power supply i.e. the supply voltage with power cord as the primary possibility to power the device and the use of the alternative battery module in the future. Moreover, this consists of the ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system.
  • the ground station 2 may either be stationary or mobile in the form of a delivery van, pick-up, trailer or semi-trailer attached to a tractor.
  • the carrier 3 forms the key part of the complex, i.e. the flying device itself with the limited range and controlled movement providing manoeuvrability in a stable horizontal position without tilts (contrary to the drone common structure).
  • the device consists of 6 vector stroke motor units 5, 6, in a sheltered form preventing the foreign particles from penetration and an obstacle within the application area of device operation from contacting.
  • Four special motor units 5 provide classical manoeuvrability of both arrival and departure operations via GPS and GLONAS localization. Their primary function is to keep the carrier 3 in a stable horizontal position within the work performance application area to a centimetre accuracy provided by independent inertial equipment having a zero point of the precisely located ground station 2.
  • the motor units 6, located at the edges of the carrier, provide manoeuvrability within the stable horizontal position. They have been located on the tilt - swivel motor joint which allows them to develop force against the desired movement direction in a programmable way.
  • the central motor units 5 control the compensating tilt in an electronic way. In this way, it is possible to ensure precise manoeuvrability within the application area with centimetre accuracy as a prerequisite for successful industrial application. Except for precise manoeuvrability, this method makes possible do develop the pressing force needed to carry out any contact operation of the carrier working platform 3.
  • the motor equipped with worm gears tilts the edge motor unit 6.
  • the mechanism tilts the edge propeller unit 6 within the horizontal-perpendicular position to the flight plane range (horizontal).
  • the gear itself is associated with the control motor equipped with the two-sided articulated shaft. The mechanism ensures left-right vector control of the flying element central part free of tilting.
  • the central motor rotates the motor unit 6 in the range of 0-180 degrees which makes possible to apply pressure, approach and separation to and from the working area.
  • the technological equipment carrier 3 consists of 6 motor units.
  • Four central motor units 5 provide elevation and manoeuvring in a classical flight mode and the two edge ones 6 provide the carrier manoeuvring and driving to the working area.
  • Each motor unit 5, 6, features the support frame to mount the drive unit, pilot tunnel for air flow and the propeller attached to the motor unit 5, 6.
  • the working platform allows the industrial task application implementation to take place.
  • the working platform is suspended under the carrier to stabilize the entire system centre of gravity.
  • the working platform 4 consists of the activity applicator and other support subsystems necessary to carry out its activity, as well as the power sources or fillings needed for its operation.
  • the undercarriage equipped with the wheels, skids or floats also forms an essential part of the working platform 4 following its operation nature.
  • the working platform 4 allows the vertical surfaces to clean in an industrial method via a contact manner and/or using a robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spray.
  • the operator ' s module 1 is wired and/or wirelessly connected to the ground station 2, whereby the operator ' s module 1 also consists of semi-transparent glasses fitted with sensors to scan the operator ' s control gestures, moreover, the ground station 2 is wired or wirelessly connected to the carrier 3, where the carrier 3 is equipped with six motor units 5 and 6 with the propellers to drive the device, the control unit to control the carrier movement 3, whereby the carrier 3 is connected to the working platform 4, the working platform 4 is wired and/or wirelessly connected to the ground station 2, whereby the working platform 4 consists of the applicator to implement the industrial operations and the supporting subsystems required for its activity, moreover, the ground station 2 consists of the systems to receive, process and send the signals to control the carrier 3, working platform 4 via the operator ' s module 1.
  • the operator can either be a human and/or robot.
  • the carrier 3 features four central motor units 5 with the propellers to keep the carrier 3 in a stable horizontal position within the implementation application area and two edge motor units 6 with the propellers located on the carrier 3 edges to assure the manoeuvrability in the stable horizontal position.
  • the edge motor units 6 with the propellers have been located on the tilt - swivel motor joint 8 to develop vector force against the desired movement direction in a programmable way.
  • the carrier 3 consists of the tilting mechanism 7 to tilt the edge motor unit using the motor with worm gears, where the two-sided articulated shaft links the set of gears itself with the control motor.
  • the working platform 4 is suspended under the carrier 3 to stabilize the entire system centre of gravity.
  • the industrial operation implementation applicator represents the tools designed to clean the vertical surfaces via a contact manner and/or the robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spraying tools.
  • the support systems represent the power sources or the fillings needed for the applicators to operate.
  • the working platform 4 consists of the undercarriage equipped with the wheels, skids or floats.
  • the working platform 4 consists of the power supply such as supply voltage via the power cable and the battery power source, ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system.
  • the ground station 2 can either be stationary or mobile.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un module d'opérateur (1) qui est connecté de manière filaire et/ou sans fil à une station au sol (2), le module d'opérateur (1) étant également constitué de lunettes semi-transparentes (1a) équipées de capteurs pour balayer les gestes de commande de l'opérateur, la station au sol (2) étant de plus connectée de manière filaire ou sans fil à un support (3), le support (3) étant équipé de six ensembles moteur (5 et 6) ayant des hélices pour entraîner le dispositif, et d'une unité de commande pour commander le mouvement du support (3), le support (3) étant relié à une plate-forme de travail (4), la plate-forme de travail (4) étant reliée de manière filaire et/ou sans fil à la station au sol (2), la plate-forme de travail (4) consistant en un applicateur pour mettre en œuvre des opérations industrielles et les sous-systèmes de support nécessaires à son activité, la station au sol (2) étant en outre constituée de systèmes pour recevoir, traiter et envoyer des signaux pour commander le support (3) et la plate-forme de travail (4) par l'intermédiaire du module d'opérateur (1).
PCT/SK2018/050010 2017-08-24 2018-07-20 Équipement technologique pour travail en hauteur WO2019040008A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SK50058-2017A SK500582017A3 (sk) 2017-08-24 2017-08-24 Technologické zariadenie na výškové práce
SKPP50058-2017 2017-08-24

Publications (1)

Publication Number Publication Date
WO2019040008A1 true WO2019040008A1 (fr) 2019-02-28

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Application Number Title Priority Date Filing Date
PCT/SK2018/050010 WO2019040008A1 (fr) 2017-08-24 2018-07-20 Équipement technologique pour travail en hauteur

Country Status (2)

Country Link
SK (1) SK500582017A3 (fr)
WO (1) WO2019040008A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111661320A (zh) * 2020-05-28 2020-09-15 西南交通大学 无人机动态避障的控制方法、装置及无人机
WO2022134301A1 (fr) * 2020-12-25 2022-06-30 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote, procédé et système de commande associés, dispositif de commande portatif et dispositif monté sur la tête

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2980627A1 (fr) * 2014-07-31 2016-02-03 Samsung Electronics Co., Ltd Verres portables et procédé de fourniture de contenu à l'aide de celui-ci
WO2017023411A1 (fr) * 2015-08-03 2017-02-09 Amber Garage, Inc. Planification de trajectoire de vol par identification de trames clés
US20170158320A1 (en) * 2015-09-20 2017-06-08 Daniel Bosch Unmanned aerial system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2980627A1 (fr) * 2014-07-31 2016-02-03 Samsung Electronics Co., Ltd Verres portables et procédé de fourniture de contenu à l'aide de celui-ci
WO2017023411A1 (fr) * 2015-08-03 2017-02-09 Amber Garage, Inc. Planification de trajectoire de vol par identification de trames clés
US20170158320A1 (en) * 2015-09-20 2017-06-08 Daniel Bosch Unmanned aerial system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111661320A (zh) * 2020-05-28 2020-09-15 西南交通大学 无人机动态避障的控制方法、装置及无人机
CN111661320B (zh) * 2020-05-28 2023-03-24 西南交通大学 无人机动态避障的控制方法、装置及无人机
WO2022134301A1 (fr) * 2020-12-25 2022-06-30 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote, procédé et système de commande associés, dispositif de commande portatif et dispositif monté sur la tête

Also Published As

Publication number Publication date
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