阅读说明：本技术 一种智能地、空、壁面三栖飞行平台 (Intelligent ground, air and wall triphibian flight platform ) 是由 陈务军 贾林睿 董鹏 敬忠良 顿向明 潘汉 黄健哲 陈家耕 高颖 于 2019-04-22 设计创作，主要内容包括：本发明提供一种智能地、空、壁面三栖飞行平台,其包括多旋翼飞行子系统以及固定在多旋翼飞行子系统下方的悬挂及辅助吸附子系统。其中,多旋翼飞行子系统用于控制三栖飞行平台的飞行姿势并提供三栖飞行平台的壁面吸附环境,悬挂及辅助吸附子系统用于在飞行时挂载壁面作业模块以及在吸附时释放壁面作业模块至目标壁面。相比于现有技术,本发明采用模块化接口,在飞行或悬停时由平台挂载并固定壁面作业机器人,当接驳至目标壁面附近时,通过动力冲撞的方式形成对目标壁面的吸附,并且将所挂载的壁面作业机器人输送至壁面登陆位置,于壁面作业机器人登陆完成后自行返回。(The invention provides an intelligent ground, air and wall triphibian flight platform which comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem fixed below the multi-rotor flight subsystem. The multi-rotor flight subsystem is used for controlling the flight posture of the triphibian flight platform and providing a wall surface adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem is used for mounting the wall surface operation module during flight and releasing the wall surface operation module to a target wall surface during adsorption. Compared with the prior art, the wall surface operation robot adopts the modularized interface, is mounted and fixed by the platform during flying or hovering, forms adsorption on a target wall surface in a power collision mode when being connected to the position near the target wall surface, conveys the mounted wall surface operation robot to a wall surface landing position, and automatically returns after the wall surface operation robot finishes landing.)

1. An intelligent ground, air and wall triphibian flight platform, which is characterized in that the triphibian flight platform comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem (2) fixed below the multi-rotor flight subsystem,

the multi-rotor flight subsystem is used for controlling the flight posture of the triphibian flight platform and providing a wall surface adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem (2) is used for mounting the wall surface operation module during flight and releasing the wall surface operation module to a target wall surface during adsorption.

2. An intelligent, airborne, wall triphibian flight platform according to claim 1, characterized in that the multi-rotor flight subsystem comprises an eight-rotor flight structure (11), a perception module (12) and a control module (13),

wherein the eight-rotor flight structure (11) is used for providing lift force for the triphibian flight platform when flying or hovering in the air; the sensing module (12) comprises two ultrasonic distance sensors and two cameras and is fixedly arranged on the body of the eight-rotor flight structure (11); one part of the control module (13) is arranged on the top of the eight-rotor flight structure (11), and the other part is arranged inside the eight-rotor flight structure (11).

3. An intelligent, airborne, wall triphibian flight platform according to claim 2, characterized in that the eight-rotor flight structure (11) comprises landing gear (1101), a structural body (1102), a plurality of rotors (1103), an electrical trim (1104), a motor (1105) and a rotor protection assembly (1106),

the landing gear (1101) is used for supporting takeoff and landing of a flight platform, the structural body (1102) is arranged in the center of the triphibious flight platform and electrically coupled to each rotor (1103) and the motor (1105), the rotor protection assembly (1106) is arranged on the outer side of the corresponding rotor (1103) and used for preventing the rotor (1103) from colliding with an obstacle in the rotating process, and the electric controller (1104) and the motor (1105) are used for controlling the rotating direction and the rotating speed of the rotor (1103).

4. An intelligent, airborne and wall triphibian flight platform according to claim 3, characterized in that the perception module (12) comprises two ultrasonic sensors (1201), one remote camera (1202) and one close-range camera (1203), wherein one ultrasonic sensor (1201) and remote camera (1202) are mounted to one support bar of the landing gear (1101) and the other ultrasonic sensor (1201) and close-range camera (1203) are mounted to the other support bar of the landing gear (1101).

5. The intelligent triphibian air, wall flight platform of claim 3, characterized in that the control module (13) comprises batteries (1301), a distribution board (1302), a flight controller (1303), a data transmission component (1304), a GPS module (1305), an image transmission component (1306), an upper computer (1307), a flying intelligent box (1308), a fairing (1309) and a connecting bracket (1310),

wherein the battery (1301), the GPS module (1305) and the upper computer (1307) are positioned inside the fairing (1309) and fixed on the top of the structural body (1102); the distribution board (1302) and the flight controller (1303) are fixed inside the structure body (1102); the data transmission component (1304), the image transmission component (1306), the cloud intelligence box (1308) and the connecting bracket (1310) are fixed at the bottom of the structure body (1102).

6. An intelligent, aerial and wall triphibian flight platform according to claim 5, characterized in that the suspension and auxiliary suction subsystem (2) comprises a wall suction assembly (201), a linear transport assembly (202), a mounting assembly (203), a buzzer (204) and a signal lamp (205),

wherein the linear transport assembly (202) is fixed below the structure body (1102) through the connecting bracket (1310); the wall surface adsorption component (201) is fixed at one end of the linear transportation component (202) and extends out of the rotor wing protection component (1106) so as to contact the target wall surface firstly; the mounting assembly (203) is controlled to move on the linear transport assembly (202); the buzzer (204) and the signal lamp (205) are fixed at the other end of the linear transportation component (202) and are used for providing sound and light warning and state display.

Technical Field

The invention relates to a mechanical engineering technology and an industrial robot technology, in particular to an intelligent triphibian flight platform with triphibian functions of ground, air and wall surfaces.

Background

With the development of science and technology, people have higher and higher requirements on unattended operation and automation of dangerous work. For example, the operation of the outer wall of a building belongs to high-risk operation, and is often performed by professional personnel and equipment, so that the efficiency is difficult to improve, and the operation cost is difficult to reduce. In addition, in the domestic robot field, some current companies provide vacuum adsorption's window cleaning robot, possess the ability of independently removing and intelligent operation, but this type of robot can only be in the motion of complete smooth wall, can't adapt to complicated changeable building wall environment, thereby can't break away from artifical supplementary autonomic operation during in-service use more.

On the other hand, in the field of industrial robots, some existing wall surface working robots have small load capacity or fast energy consumption due to current technical bottlenecks and limitations, and have limited moving capability on a wall surface, and particularly have difficulty in autonomously overcoming protrusions or depressions on the wall surface. For example, a robot with a suction cup type crawler can achieve a vertical wall surface obstacle crossing capability at a certain height, and can also autonomously perform cleaning work of a wall surface such as an outer wall and a solar panel without manual assistance, but the robot has the disadvantages of a complicated mechanism and difficulty in miniaturization, cannot achieve autonomous movement across the wall surface, does not have a triphibious capability of an intelligent ground, a space and the wall surface, and has a considerably limited application environment.

Disclosure of Invention

Aiming at the defects of the industrial robot in the prior art during wall surface operation, the invention provides an intelligent ground, air and wall surface triphibian flight platform, which adopts a modularized interface, is mounted and fixed by the platform during flight or suspension, forms adsorption on a target wall surface in a power collision mode when being connected to the vicinity of the target wall surface, conveys the mounted wall surface operation robot to a wall surface landing position, and automatically returns after the wall surface operation robot finishes landing.

According to one aspect of the invention, an intelligent ground, air and wall triphibian flight platform is provided, which comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem fixed below the multi-rotor flight subsystem, wherein the multi-rotor flight subsystem is used for controlling the flight attitude of the triphibian flight platform and providing a wall adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem is used for mounting a wall operation module during flight and releasing the wall operation module to a target wall during adsorption.

In a particular embodiment, the multi-rotor flight subsystem includes an eight-rotor flight structure, a sensing module, and a control module, wherein the eight-rotor flight structure is configured to provide lift for the triphibious flight platform when flying or hovering in air; the sensing module comprises two ultrasonic distance sensors and two cameras and is fixedly arranged on the body of the eight-rotor flight structure; one part of the control module is arranged at the top of the eight-rotor flight structure, and the other part of the control module is arranged inside the eight-rotor flight structure.

In a specific embodiment, eight rotor flight structures include undercarriage, structure body, a plurality of rotor, electricity are transferred, motor and rotor protection group, and wherein the undercarriage is used for supporting flying platform's taking off and descending, and the structure body sets up in triphibian flying platform's center and electrical coupling to every rotor and motor, and rotor protection component sets up in the outside of corresponding rotor for prevent that the rotor from rotating the in-process and colliding with the barrier, electricity transfer and the motor is used for controlling the direction of rotation and the slew velocity of rotor.

In a specific embodiment, the sensing module comprises two ultrasonic sensors, a remote camera and a close-range camera, wherein one ultrasonic sensor and the remote camera are mounted on one supporting rod of the undercarriage, and the other ultrasonic sensor and the close-range camera are mounted on the other supporting rod of the undercarriage.

In a specific embodiment, the control module comprises a battery, a distribution board, a flight controller, a data transmission assembly, a GPS module, an image transmission assembly, an upper computer, a cloud intelligent box, a fairing and a connecting bracket, wherein the battery, the GPS module and the upper computer are positioned inside the fairing and fixed at the top of the structural body; the distribution board and the flight controller are fixed inside the structure body; the data transmission assembly, the image transmission assembly, the intelligent flying box and the connecting support are fixed at the bottom of the structure body.

In a specific embodiment, the suspension and auxiliary adsorption subsystem comprises a wall adsorption component, a linear transportation component, a mounting component, a buzzer and a signal lamp, wherein the linear transportation component is fixed below the structure body through a connecting support; the wall adsorption component is fixed at one end of the linear transportation component and extends out of the rotor wing protection component so as to contact the target wall firstly; the mounting assembly is controlled to move on the linear transportation assembly; the buzzer and the signal lamp are fixed at the other end of the linear transportation assembly and used for providing acousto-optic warning and state display.

The intelligent land, air and wall triphibian flight platform comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem fixed below the multi-rotor flight subsystem. The multi-rotor flight subsystem is used for controlling the flight posture of the triphibian flight platform and providing a wall surface adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem is used for mounting the wall surface operation module during flight and releasing the wall surface operation module to a target wall surface during adsorption. Compared with the prior art, the wall surface operation robot adopts the modularized interface, is mounted and fixed by the platform during flying or hovering, forms adsorption on a target wall surface in a power collision mode when being connected to the position near the target wall surface, conveys the mounted wall surface operation robot to a wall surface landing position, and automatically returns after the wall surface operation robot finishes landing. In addition, the flying platform can fly back to the current wall area of the wall robot in a no-load mode again, and the wall robot is separated from the wall and is hung on the flying suspension position again after completing the operation.

Drawings

The various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein the content of the first and second substances,

FIG. 1 illustrates a three-dimensional profile schematic of an intelligent, airborne, wall triphibian flight platform, according to one aspect of the present invention;

FIG. 2 illustrates a three-dimensional exploded schematic view of a multi-rotor flight subsystem in the triphibious flight platform of FIG. 1; and

FIG. 3 illustrates a schematic diagram of the suspension and auxiliary sorption subsystem in the triphibious flight platform of FIG. 1.

Detailed Description

In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar or analogous elements, and to the various embodiments of the invention described below. However, it will be understood by those of ordinary skill in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.

Specific embodiments of various aspects of the present invention are described in further detail below with reference to the accompanying drawings.

FIG. 1 illustrates a three-dimensional profile schematic of an intelligent, airborne, wall triphibian flight platform, according to one aspect of the present invention. FIG. 2 illustrates a three-dimensional exploded view of the multi-rotor flight subsystem in the triphibian flight platform of FIG. 1, and FIG. 3 illustrates a schematic structural view of the suspension and auxiliary sorption subsystem in the triphibian flight platform of FIG. 1.

Many rotor unmanned aerial vehicle have good hover and maneuvering characteristic as a space removal's aircraft, and very suitable city space that is not open also is the good carrying platform who carries on wall work robot. In the embodiment, the invention provides an intelligent ground, air and wall triphibian flight platform.

Referring to fig. 1, the intelligent ground, air and wall triphibian flight platform comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem 2 fixed below the multi-rotor flight subsystem. The multi-rotor flight subsystem is used for controlling the flight posture of the triphibian flight platform and providing a wall surface adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem 2 is used for mounting the wall surface operation module during flight and releasing the wall surface operation module to a target wall surface during adsorption.

The multi-rotor flight subsystem includes an eight-rotor flight configuration 11, a sensing module 12, and a control module 13. Wherein, eight rotor flight structures 11 are used for providing lift when triphibian flight platform flies or hovers in the air. Sensing module 12 includes two ultrasonic distance sensor and two cameras, fixed mounting in eight rotor flight structure 11's body. Control module 13 is disposed in part on top of eight-rotor flight structure 11 and in part inside eight-rotor flight structure 11.

In detail, as shown in fig. 2, eight-rotor flight structure 11 includes landing gear 1101, a structural body 1102, a plurality of rotors 1103, an electrical trim 1104, an electric machine 1105, and a rotor guard assembly 1106. Wherein the landing gear 1101 is configured to support takeoff and landing of the flight platform, and the structural body 1102 is disposed at the center of the triphibious flight platform and electrically coupled to each rotor 1103 and the motor 1105. Rotor guard assemblies 1106 are disposed outboard of the respective rotors 1103 for preventing the rotors 1103 from colliding with obstacles during rotation. An electrical governor 1104 and a motor 1105 are used to control the direction and speed of rotation of the rotor 1103.

The sensing module 12 includes two ultrasound sensors 1201, a remote camera 1202 and a close-up camera 1203. One ultrasonic sensor 1201 and the remote camera 1202 are mounted on one support rod of the landing gear 1101, and the other ultrasonic sensor 1201 and the near camera 1203 are mounted on the other support rod of the landing gear 1101. For example, in fig. 2, ultrasonic sensor 1201 and remote camera 1202 are mounted to the left support bar of the landing gear, and ultrasonic sensor 1201 and near camera 1203 are mounted to the right support bar of the landing gear. Preferably, the ultrasonic sensors 1201 on the left and right sides are both disposed on the outside, and the telephoto and the close-up cameras are both correspondingly disposed on the inside.

The control module 13 includes a battery 1301, a power distribution board 1302, a flight controller 1303, a data transmission component 1304, a GPS module 1305, an image transmission component 1306, an upper computer 1307, a flying sharps box 1308, a fairing 1309, and a connection bracket 1310. Battery 1301, GPS module 1305, and upper computer 1307 are located inside cowling 1309 and are affixed to the top of structural body 1102. The distribution plate 1302 and the flight controller 1303 are fixed inside the structural body 1102. The data transmission component 1304, the image transmission component 1306, the cloud smart box 1308 and the connection bracket 1310 are fixed at the bottom of the structure body 1102.

Referring to fig. 3, the suspension and auxiliary suction subsystem 2 includes a wall suction unit 201, a linear transportation unit 202, a mounting unit 203, a buzzer 204, and a signal lamp 205.

Wherein the linear transport assembly 202 is secured below the structural body 1102 by the attachment bracket 1310. Wall suction assembly 201 is secured to one end of linear transport assembly 202 and extends outside of rotor guard assembly 1106 to first contact the target wall to create suction. The mounting assembly 203 is disposed below the linear transport assembly 202 and is controlled to move on the linear transport assembly 202. A buzzer 204 and a signal lamp 205 are fixed at the other end of the linear transport assembly 202 for providing audible and visual warning and status display.

The intelligent land, air and wall triphibian flight platform comprises a multi-rotor flight subsystem and a suspension and auxiliary adsorption subsystem fixed below the multi-rotor flight subsystem. The multi-rotor flight subsystem is used for controlling the flight posture of the triphibian flight platform and providing a wall surface adsorption environment of the triphibian flight platform, and the suspension and auxiliary adsorption subsystem is used for mounting the wall surface operation module during flight and releasing the wall surface operation module to a target wall surface during adsorption. Compared with the prior art, the wall surface operation robot adopts the modularized interface, is mounted and fixed by the platform during flying or hovering, forms adsorption on a target wall surface in a power collision mode when being connected to the position near the target wall surface, conveys the mounted wall surface operation robot to a wall surface landing position, and automatically returns after the wall surface operation robot finishes landing. In addition, the flying platform can fly back to the current wall area of the wall robot in a no-load mode again, and the wall robot is separated from the wall and is hung on the flying suspension position again after completing the operation.

Hereinbefore, specific embodiments of the present invention are described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.