WO2020114195A1

WO2020114195A1 - Special service robot for high-altitude operation

Info

Publication number: WO2020114195A1
Application number: PCT/CN2019/116607
Authority: WO
Inventors: 朱晓庆; 陈璐; 王明超; 李鹏; 柴洁; 谭晨硕; 陈晓; 别桐
Original assignee: 北京工业大学
Priority date: 2018-12-06
Filing date: 2019-11-08
Publication date: 2020-06-11
Also published as: CN109512314A

Abstract

Disclosed is a special service robot for high-altitude operation, the robot being composed of a four-rotor aircraft body (1), a control unit (2), a cleaning component (3), an inertial navigation module (4), a comprehensive detection module (5) and a wireless communication module (6). The window cleaning robot utilizes the characteristic of a rotor aircraft air/land vehicle being able to hover on a surface of a building in a vertical manner and maintain a stable flight attitude, and the window cleaning robot is pressed against a glass surface by means of the rotation of a propeller, thereby achieving a robot which can clean a window at a high altitude and which has the functions of obstacle avoidance and window cleaning, thereby improving operation efficiency and reducing labour intensity.

Description

Special service robot for aerial work

Technical field

The invention discloses a special service robot for aerial work, which belongs to the technical field of intelligent robots.

Background technique

Nowadays, the buildings in the city are mostly high-rise buildings, and the peripheral glass is difficult to clean due to the location. If the traditional manual cleaning method is adopted, it is not only expensive, but also has low cleaning efficiency and dangerous operation. The glass-wiping robot can change this status quo and autonomously wipe on the high-altitude glass, which not only helps us solve the problem that the high-altitude glass is difficult to wipe, but also improves work efficiency.

A search of existing patents revealed that the patent application publication number: CN108497989A, the name of the invention: a spider-shaped glass-wiping robot, which is attracted to the glass by a spring suction cup, and then the cleaning disc is rotated for cleaning. The disadvantages are: the adsorption movement cannot complete the scrubbing of another glass across the glass frame, and the cleaning of the glass frame is not in place, the adsorption movement is slow, and the rag needs to be replaced manually for the cleaning disc.

The search found that the patent application publication number: CN108514372A, the name of the invention: a high-altitude automatic glass-wiping robot, which alternately adsorbs on the high-altitude glass through two suction cups to move and scrub, requiring human remote control at the bottom of the building. The disadvantage is that the adsorption movement cannot complete the scrubbing of another glass across the glass frame, and the cleaning movement of the glass frame is not in place, and the adsorption movement is slow.

The search found that the patent application publication number: CN107981774A, the name of the invention: an intelligent double-sided glass-wiping robot, the main machine is attached to the outer surface of the glass, the auxiliary machine is attached to the inner surface of the glass, in a number of permanent magnets and a number of electromagnetic Under the action of iron, the main machine and auxiliary machine attract each other and fit on the inner and outer sides of the glass. The disadvantages are: moving through the universal wheel is easy to leave traces such as water stains. It is more complicated and slower when crossing obstacles.

The search found that the patent application publication number: CN108158480A, the name of the invention: an intelligent glass-wiping robot that can overcome obstacles, can achieve climbing movement through a small vacuum suction cup and a large vacuum suction cup, and can cross the glass frame. The disadvantage is that although it is a climbing movement, it still relies on the suction cup suction movement, the speed is slow, and the movement span is small, it cannot cross a wide obstacle, and there is a problem that the cleaning of the glass frame is not in place.

Summary of the invention

The purpose of the present invention is to propose a special service robot for high-altitude operations. By using the characteristics of a land vehicle of a rotorcraft that can hover vertically on the surface of a building and maintain a stable flying attitude, the glass cleaning robot is pressed against the glass surface by the rotation of the propeller to achieve A robot capable of wiping glass at high altitude has the functions of avoiding obstacles and wiping glass, which improves work efficiency and reduces work labor intensity.

In order to achieve the above-mentioned objectives, the present invention increases the relative design of the glass-wiping robot based on the development of a more mature four-rotor aircraft.

A special service robot for aerial work is composed of a four-rotor aircraft body 1, a control unit 2, a cleaning component 3, an inertial navigation module 4, an integrated detection module 5, and a communication module 6.

The control unit 2 is fixed inside the quadcopter body 1 and the quadcopter body 1 and the control unit 2 interact; the cleaning component 3, the integrated detection module 5 and the communication module 6 are all connected to the control unit 2.

The inertial navigation module 4 is embedded inside the body of the quadrotor aircraft 1 and includes a three-axis gyroscope and a three-axis acceleration sensor, so as to obtain the flying attitude of the intelligent umbrella.

The wireless communication module 6 is fixed inside the body of the quadrotor aircraft 1 for sending and receiving data.

The four-rotor aircraft body 1 is composed of an upper cover 101, a bottom case 102, a decorative member 103, and four rotors 104. The bottom of the upper cover 101 is installed on the bottom case 102, the decoration member 103 is installed on the top of the upper cover 101, and the four rotors 104 are arranged on the decoration member 103 in an array.

The control unit 2 includes a controller 201, four motors 202, a motor driver 203, and a power module 204. The controller 201 also includes a flight control system and control modules for other modules. The flight control system is used to adjust the flight attitude of the entire smart umbrella And the flight path; the motor 202 is connected to the motor driver 203, the motor driver 203, the cleaning component 3, the integrated detection module 5, the wireless communication module 6 and the rotor 104 are all connected to the controller 201; the power module 204 is directed to the controller 201 and the motor driver 203 , Motor 202 power supply.

The cleaning member 3 is composed of four blades 301, a roller brush 302, a cleaning liquid storage tank 303, front, rear, left and right. Among them, the four scrapers 301 and the roller brush 302 are fixed on the surface of the bottom case 102, and the cleaning liquid storage box 303 is embedded in the body of the quadrotor aircraft body 1. There is a pipeline inside the roller brush 302 connected to the cleaning liquid storage tank 303, which can spray water or cleaning agent.

The integrated detection module 5 includes an ultrasonic sensor, a dust sensor and a pressure sensor; the ultrasonic sensor is placed inside the body of the quadrotor aircraft 1 for detecting obstacles around it; the dust sensor is placed on the surface of the scraper 301 and the roller brush 302 for detecting glass Dust on the surface; the pressure sensor is placed on the surface of the scraper 301 to sense the pressure on the scraper 301, which is convenient for adjusting the distance between the glass-wiping robot and the glass surface.

The four scrapers can be independently telescopic. When moving upward, the left and right scrapers and the upper scraper retract and the lower scraper works; when moving left, the upper and lower scrapers retract the right scraper to work; downward and right The principle of movement is the same as above, and the roller brush can be rotated by 90°. All components are waterproof.

The attitude of the fuselage does not change during movement, the movement trajectory can be switched horizontally and vertically, and the inclination angle of the four propeller blades can be adjusted. When the obstacle is crossed, the scraper and the roller make a stepwise telescopic movement, land on the obstacle, and clean it together with the obstacle. The maximum height of the obstacle is 200mm.

A special service robot for aerial work also includes a remote controller, which communicates wirelessly with the control unit 2 through a wireless communication module 6 to artificially control the movement direction and trajectory of the glass-wiping robot, and the inertial navigation module 4 And the information detected by the integrated detection module 5 is sent to the remote controller through the wireless communication module 6 to help the user control the glass-wiping robot.

Compared with the prior art, the present invention has the following obvious advantages and beneficial effects:

1. The invention can replace the artificial high-altitude glass-wiping by controlling the glass-wiping robot, reducing the workload and danger of manual labor.

2. The present invention and the existing sucker-type glass-wiping robot have a faster moving speed and a greater distance across obstacles.

3. The invention has a roller brush and a scraper. At the same place, the roller brush is used to wipe the dust first, and then the stubborn stains are wiped by the scraper, and the cleaning power is greater.

BRIEF DESCRIPTION

Figure 1 is a block diagram of a glass-wiping robot system.

Figure 2 is a side view of the glass-wiping robot system.

Fig. 3 is a bottom view of the glass-wiping robot system.

4 is a cross-sectional view of the glass-wiping robot system.

Fig. 5 is a flowchart of the operation of the glass-wiping robot system.

detailed description

The specific embodiments of the present invention will be described below in conjunction with the accompanying drawings of the specification.

As shown in FIG. 1, the cleaning component 3, the integrated detection module 5, the wireless communication module 6, and the rotor 104 are connected to the controller 201, and the power module 204 supplies power to the controller 201, the motor driver 202, and the motor 203.

As shown in Figures 2, 3, and 4, an aerial work special service robot is characterized by a quadcopter body 1, a control unit 2, a cleaning component 3, an inertial navigation module 4, an integrated detection module 5, and a communication module 6 .

Among them, the four-rotor aircraft body 1 is composed of an upper cover 101, a bottom shell 102, a decorative member 103, and four rotors 104. The control unit 2 is fixed inside the four-rotor aircraft body 1 and includes a controller 201, four motors 202, a motor driver 203, and a power supply module 204. The controller 201 includes a flight control system and control modules for other modules. The control system is used to adjust the flight attitude and flight trajectory of the entire intelligent umbrella. The cleaning member 3 is mainly composed of four scrapers 301, a roller brush 302, a cleaning liquid storage tank 303, front, rear, left and right. Among them, the four scrapers 301 and the roller brush 302 are fixed on the surface of the bottom case 102, the cleaning liquid storage box 303 is embedded in the body of the four-rotor aircraft 1, the roller brush 302 has a pipeline connected to the cleaning liquid storage box 303, Water spray or cleaning agent. The inertial navigation module 4 is embedded inside the body of the quadrotor aircraft 1 and includes a three-axis gyroscope and a three-axis acceleration sensor, so as to obtain the flying attitude of the intelligent umbrella. The integrated detection module 5 includes an ultrasonic sensor, a dust sensor and a pressure sensor. The ultrasonic sensor is placed inside the body of the quadrotor aircraft 1 for detecting obstacles around it. The dust sensor is placed on the surface of the scraper 301 and the roller brush 302 for detecting glass For the dust on the surface, the pressure sensor is placed on the surface of the scraper 301 to sense the pressure on the scraper 301, and it is convenient to adjust the distance between the glass-wiping robot and the glass surface. The wireless communication module 6 is fixed inside the body of the quadrotor aircraft 1 for sending and receiving data.

A special service robot for aerial work is also characterized in that the four scrapers can be independently retractable. When moving upward, the left and right scrapers and the upper scraper retract and the lower scraper works; when moving to the left, the upper and lower scrapers The plate retracts to work with the right scraper; the principle is the same when moving down and to the right, and the roller brush can be rotated by 90°. All components are waterproof.

A special service robot for aerial work is also characterized in that the posture of the fuselage does not change during movement, the movement trajectory can be switched horizontally and vertically, and the inclination angle of the four propeller blades can be adjusted. When the obstacle is crossed, the scraper and the roller make a stepwise telescopic movement, land on the obstacle, and clean it together with the obstacle. The maximum height of the obstacle is 200mm.

A special service robot for aerial work is further characterized by a remote controller, which wirelessly communicates with the control unit 2 through a wireless communication module 6 to artificially control the movement direction and trajectory of the glass-wiping robot. The information detected by the inertial navigation module 4 and the integrated detection module 5 are sent to the remote controller through the wireless communication module 6 to help the user control the glass-wiping robot.

The specific obstacle crossing and operation process are shown in Figure 5.

In step (1), the front and rear scrapers and the roller brush can perform independent telescopic movements, and there is a pipeline inside the roller brush to spray water or cleaning agent.

Step (2), when the obstacle is over, the front scraper retracts.

Step (3), the device moves upward.

Step (4), the front scraper falls (falls on the obstacle/wall).

Step (5), the device moves upward (keep the device parallel to the wall).

Step (6), the roller brush retracts.

Step (7), the device moves up.

Step (8), the roller brush extends (falls on an obstacle/wall).

Step (9), the device moves up.

Step (10), the rear scraper retracts.

Step (11), the device moves up.

Step (12), the rear scraper falls on the obstacle/wall.

Step (13), complete the obstacle crossing.

The above are only specific application examples of the present invention and are not used to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention Inside.

Claims

A special service robot for aerial work, characterized in that the robot is composed of a quadcopter body (1), a control unit (2), a cleaning component (3), an inertial navigation module (4), an integrated detection module (5) and a wireless Communication module (6);

The control unit (2) is fixed inside the body of the quadrotor aircraft (1), and the interaction between the body of the quadrotor aircraft (1) and the control unit (2); cleaning components (3), integrated detection module (5) and communication The modules (6) are connected to the control unit (2);

The inertial navigation module (4) is embedded inside the body of the quadrotor aircraft (1), and includes a three-axis gyroscope and a three-axis acceleration sensor to obtain the flying attitude of the intelligent umbrella;

The wireless communication module (6) is fixed inside the body of the quadrotor aircraft (1) and is used to send and receive data.
The special service robot for aerial work according to claim 1, characterized in that the quadrotor body (1) is composed of an upper cover (101), a bottom shell (102), a decoration piece (103) and four rotors (104) ) Composition; the bottom of the upper cover (101) is installed on the bottom shell (102), the decoration piece (103) is installed on the top of the upper cover (101), and the four rotors (104) are arranged in an array on the decoration piece (103) .
The special service robot for aerial work according to claim 1, characterized in that the control unit (2) includes a controller (201), four motors (202), a motor driver (203) and a power supply module (204), The controller (201) also includes a flight control system and control modules for other modules. The flight control system is used to adjust the flight attitude and flight trajectory of the entire smart umbrella; the motor (202) is connected to the motor driver (203), and the motor driver (201) 203), cleaning component (3), comprehensive detection module (5), wireless communication module (6) and rotor (104) are connected to the controller (201); the power supply module (204) is connected to the controller (201) and the motor driver (203), motor (202) power supply.
The special service robot for aerial work according to claim 1, characterized in that the cleaning component (3) is composed of four scrapers (301), a front and rear left and right, a roller brush (302) and a cleaning liquid storage box (303); Among them, the four scrapers (301) and the roller brush (302) are fixed on the surface of the bottom shell (102), the cleaning liquid storage box (303) is embedded inside the body of the quadrotor aircraft body (1); the roller brush (302) There is a pipeline inside to connect with the cleaning liquid storage tank (303), which can spray water or cleaning agent.
The special service robot for aerial work according to claim 1, characterized in that the integrated detection module (5) includes an ultrasonic sensor, a dust sensor and a pressure sensor; the ultrasonic sensor is placed inside the body of the quadrotor aircraft (1) for Detect the obstacles around; the dust sensor is placed on the surface of the scraper (301) and the roller brush (302) to detect dust on the glass surface; the pressure sensor is placed on the surface of the scraper (301) to sense the scraper (301) The magnitude of the pressure is convenient for adjusting the distance between the glass-wiping robot and the glass surface.
The special service robot for aerial work according to claim 5, characterized in that the four scrapers can be independently telescopic, when moving upward, the left and right scrapers and the upper scraper are retracted, and the lower scraper works; moving to the left At the time, the up and down and left scrapers retract to the right scraper; the principle is the same as when moving down and right, the roller brush can do 90°rotation movement; all parts are waterproof parts.
The special service robot for aerial work according to claim 1, characterized in that: the posture of the fuselage is unchanged during movement, the movement trajectory can be switched horizontally and vertically, and the inclination angle of the four propeller blades can be adjusted; The rollers perform telescopic movement in a stepped manner, land on the obstacles, and clean them together with the obstacles. The maximum height of obstacle crossing is 200mm.
The special service robot for aerial work according to claim 1, further comprising a remote controller, the remote controller communicates wirelessly with the control unit (2) through a wireless communication module (6), and artificially controls the glass cleaning The motion direction and trajectory of the robot, the information detected by the inertial navigation module (4) and the integrated detection module (5) are sent to the remote controller through the wireless communication module (6) to help the user control the glass-wiping robot.