技术领域technical field
本发明涉及机器人及飞行器领域，特别涉及一种可栖息于不同倾角墙壁的智能飞行机器人。The invention relates to the field of robots and aircraft, in particular to an intelligent flying robot that can inhabit walls with different inclination angles.
背景技术Background technique
近年来，随着社会的发展，对飞行器的应用越来越多，如用来侦查、救援、航拍等。传统飞行器续航时间短，侦查时隐蔽性差，功能单一。专利201110322551.6公开了一种具有飞行和吸附两种功能的机器人，该机器人以四旋翼为主体，通过吸附装置使机器人拥有在墙壁表面栖息的能力，其吸附功率远小于飞行功率，针对固定目标侦测时间大幅增加。但其吸附时重心与墙壁相距较远，易出现打滑现象，吸附稳定性差，并且无法实现吸附过程自动化。专利201510066785.7公开了一种飞行爬壁机器人，该机器人也具有飞行和栖息于墙壁的功能，但其同样无法实现吸附过程自动化。亟待改进。In recent years, with the development of society, there are more and more applications of aircraft, such as for investigation, rescue, and aerial photography. Traditional aircraft have short battery life, poor concealment during reconnaissance, and single functions. Patent 201110322551.6 discloses a robot with two functions of flying and adsorption. The robot has four rotors as the main body. The robot has the ability to inhabit the wall surface through the adsorption device. The adsorption power is much smaller than the flight power. The time is greatly increased. However, when it is adsorbed, the center of gravity is far away from the wall, which is prone to slipping, has poor adsorption stability, and cannot realize the automation of the adsorption process. Patent 201510066785.7 discloses a flying wall-climbing robot, which also has the functions of flying and perching on walls, but it also cannot automate the adsorption process. Needs to be improved.
发明内容Contents of the invention
本发明的目的在于提供一种可栖息于不同倾角墙壁的智能飞行机器人，解决了现有技术存在的上述问题。本发明具有飞行和吸附于墙壁两种功能，并且飞行和吸附可智能切换，具有吸附稳定、功耗低、可吸附于不同倾角墙壁的特点。The object of the present invention is to provide an intelligent flying robot that can inhabit walls with different inclination angles, which solves the above-mentioned problems in the prior art. The invention has two functions of flying and absorbing to the wall, and the flying and absorbing can be switched intelligently, and has the characteristics of stable adsorption, low power consumption, and can be adsorbed on walls with different inclination angles.
本发明的上述目的通过以下技术方案实现：Above-mentioned purpose of the present invention is achieved through the following technical solutions:
可栖息于不同倾角墙壁的智能飞行机器人，包括飞行系统、吸附系统及控制系统，所述飞行系统为主体，吸附系统安装在飞行系统上，控制系统通过控制飞行系统及吸附系统实现飞行机器人吸附在多种不同角度的墙壁上，并且飞行与吸附可自由切换。An intelligent flying robot that can inhabit walls with different inclinations includes a flight system, an adsorption system and a control system. The flight system is the main body, and the adsorption system is installed on the flight system. The control system realizes the adsorption of the flying robot on the On walls with different angles, and flying and adsorption can be switched freely.
所述的飞行系统采用四旋翼结构，包括机架1、锂电池2、四个螺旋桨3、四个无刷电机4、四个无刷电子调速器5和起落架6，所述螺旋桨3、无刷电机4和无刷电子调速器5分别安装在机架1四周，所述无刷电子调速器5与无刷电机4相连，用以调节无刷电机4转速；所述起落架6安装在机架1下方，起落架6通过起落架舵机7达到收起和放下的功能，起落架6脚部为防滑材料8，锂电池2安装在机架1中间位置上方。The flight system adopts a four-rotor structure, including a frame 1, a lithium battery 2, four propellers 3, four brushless motors 4, four brushless electronic governors 5 and landing gear 6, the propellers 3, The brushless motor 4 and the brushless electronic governor 5 are installed around the frame 1 respectively, and the brushless electronic governor 5 is connected with the brushless motor 4 to adjust the speed of the brushless motor 4; the landing gear 6 Installed below the frame 1, the landing gear 6 can be retracted and put down through the landing gear steering gear 7. The feet of the landing gear 6 are anti-skid materials 8, and the lithium battery 2 is installed above the middle of the frame 1.
所述的吸附系统包括真空吸盘组件9、真空泵10、二位三通微型电磁阀、单向阀、电动伸缩杆11、防滑板12和墙壁倾角测量器13，所述真空吸盘组件9有四组，分别通过长螺栓21和螺母22连接在机架1的四角，所述真空泵10设置于机架1上方，所述防滑板12通过电动伸缩杆11连接在机架1上方中间位置，所述墙壁倾角测量器13安装在机架1前方。The adsorption system includes a vacuum chuck assembly 9, a vacuum pump 10, a two-position three-way miniature solenoid valve, a one-way valve, an electric telescopic rod 11, an anti-skid plate 12 and a wall inclinometer 13, and the vacuum chuck assembly 9 has four groups , respectively connected to the four corners of the frame 1 by long bolts 21 and nuts 22, the vacuum pump 10 is arranged above the frame 1, the anti-skid plate 12 is connected to the middle position above the frame 1 by an electric telescopic rod 11, the wall Inclinometer 13 is installed in frame 1 front.
所述的真空吸盘组件9包括真空吸盘14、真空吸盘连接杆15、舵机16、机架舵机连接件17、真空吸盘连杆座18、轴承19和端盖20，所述真空吸盘14安装在真空吸盘连接杆15上，真空吸盘连接杆15中安有弹簧23，弹簧23在吸附时起到缓冲作用；真空吸盘连接杆15通过双螺母24连接在真空吸盘连杆座18上，真空吸盘连杆座18的一端设有内齿，且与舵机16头上的外齿啮合连接，真空吸盘连杆座18另一端通过轴承19与机架舵机连接件17相连，轴承19外侧设有端盖20，舵机16通过短螺栓25和螺母22固定在机架舵机连接件17上；舵机16控制真空吸盘14旋转至不同角度以吸附于不同角度的墙壁。The vacuum chuck assembly 9 includes a vacuum chuck 14, a vacuum chuck connecting rod 15, a steering gear 16, a frame steering gear connector 17, a vacuum chuck connecting rod seat 18, a bearing 19 and an end cover 20, and the vacuum chuck 14 is installed On the vacuum sucker connecting rod 15, a spring 23 is installed in the vacuum sucker connecting rod 15, and the spring 23 plays a buffering effect when absorbing; One end of the rod seat 18 is provided with internal teeth, and is meshed with the external teeth on the steering gear 16 head. The cover 20 and the steering gear 16 are fixed on the frame steering gear connector 17 through short bolts 25 and nuts 22; the steering gear 16 controls the rotation of the vacuum chuck 14 to different angles so as to be adsorbed on walls at different angles.
所述的真空泵10通过气路与真空吸盘14连接，气路中还设有两个控制方式相同的电磁阀、两个单向阀；真空吸盘14包括两个彼此相连通的前端吸盘26，和两个彼此相连通的后端吸盘27；两个电磁阀分别控制前端吸盘26、后端吸盘27与真空泵10以及大气的连通情况；在真空泵10开启的情况下，控制前端吸盘26的电磁阀断电时，前端吸盘26与真空泵10相连通，前端吸盘26具有吸附能力；通电时，前端吸盘26与大气相连通，前端吸盘26不再具有吸附能；两个单向阀分别与前端吸盘26、后端吸盘27连接。The vacuum pump 10 is connected with the vacuum chuck 14 through an air circuit, and two electromagnetic valves and two check valves with the same control mode are also provided in the air circuit; the vacuum chuck 14 includes two front end suction cups 26 communicated with each other, and Two rear-end suction cups 27 that communicate with each other; two electromagnetic valves control the connection of the front-end suction cup 26, the rear-end suction cup 27, the vacuum pump 10 and the atmosphere respectively; During electricity, front-end suction cup 26 is connected with vacuum pump 10, and front-end suction cup 26 has adsorption capacity; Rear end suction cup 27 is connected.
所述的防滑板12与电动伸缩杆11之间设有弯曲弹簧29，防滑板12外表面贴有防滑材料8；机器人吸附于墙壁时由电动伸缩杆11控制防滑板12与墙面相接触，机器人安全的吸附于墙壁上，防止打滑的情况发生。A curved spring 29 is provided between the anti-skid plate 12 and the electric telescopic rod 11, and the outer surface of the anti-skid plate 12 is pasted with anti-skid material 8; when the robot is adsorbed on the wall, the electric telescopic rod 11 controls the anti-skid plate 12 to contact the wall, The robot is safely attached to the wall to prevent slipping.
所述的墙壁倾角测量器13包括激光测距传感器30和双自由度转台31，双自由度转台31由第一舵机32和第二舵机33构成，双自由度转台31通过第一舵机32和第二舵机33带动激光传感器30转动，第一、第二舵机的转动范围为0-180度，第一舵机32转角为0度时激光测距传感器30朝下，第一舵机32转角为180度时激光测距传感器30朝上，默认情况下设置第一舵机32转角为90度；第二舵机33转角为0度时激光测距传感器30朝左，第二舵机33转角为180度时激光测距传感器朝30右，默认情况下设置第二舵机33转角为90度；第一、第二舵机32、33均90度时激光测距传感器30朝向机器人正前方。Described wall inclinometer 13 comprises laser ranging sensor 30 and two-degree-of-freedom turntable 31, and two-degree-of-freedom turntable 31 is made up of first steering gear 32 and second steering gear 33, and double-degree-of-freedom turntable 31 passes first steering gear 32 and the second steering gear 33 drive the laser sensor 30 to rotate. The rotation range of the first and second steering gears is 0-180 degrees. When the rotation angle of the steering gear 32 is 180 degrees, the laser ranging sensor 30 faces upwards. By default, the first steering gear 32 is set to 90 degrees; When the rotation angle of the steering gear 33 is 180 degrees, the laser ranging sensor faces to the right of 30, and the second steering gear 33 is set to 90 degrees by default; when the first and second steering gears 32 and 33 are both at 90 degrees, the laser ranging sensor 30 faces the robot In front of.
所述的控制系统包括飞行控制单元34和远程控制单元35，所述飞行控制单元34包括单片机36、陀螺仪37、加速度计38、高度计39、GPS模块40和超声波传感器41，所述陀螺仪37、加速度计38、高度计39、GPS模块40和超声波传感器41分别与单片机36相连，陀螺仪37、加速度计38采集飞行机器人的运动信息和姿态信息，单片机36根据采集到的数据以及飞行控制程序，调节四个无刷电机4的转速，实现飞行机器人的自由航行；高度计39测量飞行机器人的高度，单片机36根据高度计39采集的数据控制飞行机器人实现悬停；在远程控制时GPS模块40用以反馈飞行机器人的当前位置，保证远程精准控制；通过GPS模块40还可实现飞行机器人自主导航飞行；超声波传感器41用以实现飞行机器人的壁障功能，当飞行机器人与墙壁或障碍物的距离小于设定值时，控制系统控制其减速，以防撞到障碍物或墙壁，同时通过远程控制单元35反馈给操作者。Described control system comprises flight control unit 34 and remote control unit 35, and described flight control unit 34 comprises single-chip microcomputer 36, gyroscope 37, accelerometer 38, altimeter 39, GPS module 40 and ultrasonic sensor 41, and described gyroscope 37 , accelerometer 38, altimeter 39, GPS module 40 and ultrasonic sensor 41 are connected with single-chip microcomputer 36 respectively, and gyroscope 37, accelerometer 38 gather the motion information and attitude information of flying robot, and single-chip microcomputer 36 is according to the data that gathers and flight control program, Adjust the rotating speed of four brushless motors 4 to realize the free navigation of the flying robot; the altimeter 39 measures the height of the flying robot, and the single-chip microcomputer 36 controls the flying robot to hover according to the data collected by the altimeter 39; the GPS module 40 is used for feedback during remote control The current position of the flying robot ensures remote precise control; the autonomous navigation flight of the flying robot can also be realized through the GPS module 40; the ultrasonic sensor 41 is used to realize the barrier function of the flying robot, when the distance between the flying robot and the wall or obstacle is less than When the value is set, the control system controls its deceleration to avoid bumping into obstacles or walls, and at the same time feeds back to the operator through the remote control unit 35 .
所述的远程控制单元35包括摄像头42、下位机43、遥控器44、无线数据收发模块45，所述下位机43通过两个无线数据收发模块45与单片机36相连，遥控器44与下位机43相连；无线数据收发模块45用来实时传输地面控制系统与飞行机器人之间的数据；操作者通过遥控器44对飞行机器人进行远程操控；下位机43用来显示图像及飞行机器人的信息，摄像头42安装在三轴云台46上并与单片机36相连，布置在飞行机器人的后方，进行各个角度的图像拍摄。Described remote control unit 35 comprises camera 42, lower computer 43, remote controller 44, wireless data transceiver module 45, described lower computer 43 links to each other with single-chip microcomputer 36 by two wireless data transceiver modules 45, remote controller 44 and lower computer 43 connected; the wireless data transceiver module 45 is used for real-time transmission of data between the ground control system and the flying robot; the operator remotely controls the flying robot through the remote controller 44; the lower computer 43 is used to display images and information of the flying robot, and the camera 42 It is installed on the three-axis cloud platform 46 and is connected with the single-chip microcomputer 36, and is arranged at the rear of the flying robot to take images from various angles.
所述的控制系统还包括气压传感器47和压力传感器48，分别与单片机36相连，所述气压传感器47检测气路中的气压值，所述压力传感器48安装在防滑板12及起落架6上，用以检测防滑板12及起落架6与墙面之间的作用力，辅助吸附系统进行安全吸附。Described control system also comprises air pressure sensor 47 and pressure sensor 48, links to each other with single-chip microcomputer 36 respectively, and described air pressure sensor 47 detects the air pressure value in the air path, and described pressure sensor 48 is installed on anti-skid plate 12 and landing gear 6, It is used to detect the force between the anti-skid plate 12 and the landing gear 6 and the wall, and assist the adsorption system to perform safe adsorption.
本发明的有益效果在于：The beneficial effects of the present invention are:
1、飞行机器人具有栖息于墙壁功能，由于机器人栖息时的功率远小于飞行时的功率，因此其针对固定目标侦测时间大幅延长。1. The flying robot has the function of perching on the wall. Since the power of the robot is much lower than that of flying, the detection time of the fixed target is greatly extended.
2、采用墙壁倾角测量器实现机器人的智能吸附，并且飞行与吸附状态可自由切换。2. Use the wall inclinometer to realize the intelligent adsorption of the robot, and the flying and adsorption states can be switched freely.
3、机器人吸附系统为四个可旋转吸盘，可吸附于不同倾角的墙壁，增加机器人的适用范围。3. The robot adsorption system has four rotatable suction cups, which can be adsorbed on walls with different inclination angles, increasing the scope of application of the robot.
4、机器人吸附时紧贴墙壁，隐蔽性大大提高。4. When the robot is adsorbed, it is close to the wall, and the concealment is greatly improved.
5、机器人采用防滑板与支撑腿辅助吸附，吸附效果稳定，防止了机器人在吸附时出现打滑的情况。5. The robot adopts anti-skid plate and supporting legs to assist adsorption, and the adsorption effect is stable, which prevents the robot from slipping during adsorption.
附图说明Description of drawings
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the application. The schematic examples and descriptions of the present invention are used to explain the present invention, and do not constitute improper limitations to the present invention.
图1为本发明的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2为本发明的下部结构示意图；Fig. 2 is a schematic diagram of the lower structure of the present invention;
图3为本发明的起落架下放示意图；Fig. 3 is a schematic diagram of lowering the landing gear of the present invention;
图4为本发明的吸盘组件结构示意图；Fig. 4 is a schematic structural view of the sucker assembly of the present invention;
图5为本发明的吸盘组件分解示意图；5 is an exploded schematic view of the sucker assembly of the present invention;
图6为本发明的双自由度转台的结构示意图；Fig. 6 is the structural representation of the dual-degree-of-freedom turntable of the present invention;
图7为本发明的三轴云台与摄像头的示意图；Fig. 7 is the schematic diagram of three-axis pan-tilt and camera of the present invention;
图8、图9为本发明的智能吸附原理图；Figure 8 and Figure 9 are schematic diagrams of the intelligent adsorption of the present invention;
图10为本发明的控制系统框图；Fig. 10 is a control system block diagram of the present invention;
图11至图14为本发明的0°<θ<90°时飞行器吸附过程示意图；Fig. 11 to Fig. 14 are the schematic diagrams of the aircraft adsorption process when 0°<θ<90° of the present invention;
图15至图18为本发明的90°<θ<180°时飞行器吸附过程示意图。Fig. 15 to Fig. 18 are schematic diagrams of the adsorption process of the aircraft when 90°<θ<180° according to the present invention.
图中：1、机架；2、锂电池；3、螺旋桨；4、无刷电机；5、无刷电子调速器；6、起落架；7、起落架舵机；8、防滑材料；9、真空吸盘组件；10、真空泵；11、电动伸缩杆；12、防滑板；13、墙壁倾角测量器；14、真空吸盘；15、真空吸盘连接杆；16、舵机；17、机架舵机连接件；18、真空吸盘连杆座；19、轴承；20、端盖；21、长螺栓；22、螺母；23、弹簧；24、双螺母；25、短螺栓；26、前端吸盘；27、后端吸盘；29、弯曲弹簧；30、激光测距传感器；31、双自由度转台；32、第一舵机；33、第二舵机；34、飞行控制单元；35、远程控制单元；36、单片机；37、陀螺仪；38、加速度计；39、高度计；40、GPS模块；41超声波传感器；42、摄像头；43、下位机；44、遥控器；45、无线数据收发模块；46、三轴云台；47、气压传感器；48、压力传感器。In the figure: 1. rack; 2. lithium battery; 3. propeller; 4. brushless motor; 5. brushless electronic governor; 6. landing gear; 7. landing gear steering gear; 8. anti-skid material; 9 1. Vacuum suction cup assembly; 10. Vacuum pump; 11. Electric telescopic rod; 12. Anti-skid plate; 13. Wall inclinometer; 14. Vacuum suction cup; 15. Vacuum suction cup connecting rod; 16. Steering gear; 17. Rack steering gear Connector; 18. Vacuum suction cup connecting rod seat; 19. Bearing; 20. End cover; 21. Long bolt; 22. Nut; 23. Spring; 24. Double nut; 25. Short bolt; 26. Front end suction cup; 27. Back-end sucker; 29. Bending spring; 30. Laser ranging sensor; 31. Two-degree-of-freedom turntable; 32. First steering gear; 33. Second steering gear; 34. Flight control unit; 35. Remote control unit; 36 , single chip microcomputer; 37, gyroscope; 38, accelerometer; 39, altimeter; 40, GPS module; 41 ultrasonic sensor; 42, camera; 43, lower computer; 44, remote control; 45, wireless data transceiver module; 46, three Axis cloud platform; 47, air pressure sensor; 48, pressure sensor.
具体实施方式detailed description
下面结合附图进一步说明本发明的详细内容及其具体实施方式。The detailed content of the present invention and its specific implementation will be further described below in conjunction with the accompanying drawings.
参见图1至图3所示，本发明的可栖息于不同倾角墙壁的智能飞行机器人，包括飞行系统、吸附系统及控制系统，所述飞行系统为本机器人主体，吸附系统安装在飞行系统上，控制系统通过控制飞行系统及吸附系统实现飞行机器人吸附在多种不同角度的墙壁上，并且飞行与吸附可自由切换。Referring to Fig. 1 to Fig. 3, the intelligent flying robot that can inhabit walls with different inclination angles according to the present invention includes a flying system, an adsorption system and a control system. The flying system is the main body of the robot, and the adsorption system is installed on the flying system. The control system realizes the adsorption of the flying robot on walls with different angles by controlling the flight system and the adsorption system, and the flight and adsorption can be switched freely.
所述的飞行系统采用四旋翼结构，包括机架1、锂电池2、四个螺旋桨3、四个无刷电机4、四个无刷电子调速器5和起落架6，所述机架1材质可选用碳纤维或轻质铝。螺旋桨3、无刷电机4和无刷电子调速器5分别安装在机架1四周，所述无刷电子调速器5与无刷电机4相连，用以调节无刷电机4转速；所述起落架6安装在机架1下方，起落架6通过起落架舵机7达到收起和放下的功能，提高飞行机器人的隐蔽性。起落架6脚部为防滑材料8，其功能除起降飞行器外，还可辅助吸附系统进行一定倾角范围墙壁的吸附。锂电池2为整个装置提供电能，安装在机架1中间位置上方。The flight system adopts a four-rotor structure, including a frame 1, a lithium battery 2, four propellers 3, four brushless motors 4, four brushless electronic governors 5 and landing gear 6, the frame 1 Available in carbon fiber or lightweight aluminum. Propeller 3, brushless motor 4 and brushless electronic governor 5 are respectively installed around frame 1, and described brushless electronic governor 5 is connected with brushless motor 4, in order to regulate brushless motor 4 rotating speeds; Landing gear 6 is installed below frame 1, and landing gear 6 reaches the function of packing up and putting down by landing gear steering gear 7, improves the concealment of flying robot. Landing gear 6 pins are anti-skid material 8, and its function can also assist adsorption system to carry out the adsorption of the wall of certain inclination range except take-off and landing aircraft. The lithium battery 2 provides electric energy for the whole device, and is installed above the middle position of the frame 1 .
所述的吸附系统包括真空吸盘组件9、真空泵10、二位三通微型电磁阀、单向阀、电动伸缩杆11、防滑板12和墙壁倾角测量器13，所述真空吸盘组件9有四组，分别通过长螺栓21和螺母22连接在机架1的四角，所述真空泵10设置于机架1上方，所述防滑板12通过电动伸缩杆11连接在机架1上方中间位置，所述墙壁倾角测量器13安装在机架1前方。The adsorption system includes a vacuum chuck assembly 9, a vacuum pump 10, a two-position three-way miniature solenoid valve, a one-way valve, an electric telescopic rod 11, an anti-skid plate 12 and a wall inclinometer 13, and the vacuum chuck assembly 9 has four groups , respectively connected to the four corners of the frame 1 by long bolts 21 and nuts 22, the vacuum pump 10 is arranged above the frame 1, the anti-skid plate 12 is connected to the middle position above the frame 1 by an electric telescopic rod 11, the wall Inclinometer 13 is installed in frame 1 front.
参见图4及图5所示，所述的真空吸盘组件9包括真空吸盘14、真空吸盘连接杆15、舵机16、机架舵机连接件17、真空吸盘连杆座18、轴承19和端盖20，所述真空吸盘14安装在真空吸盘连接杆15上，真空吸盘连接杆15中安有弹簧23，弹簧23在吸附时起到缓冲作用；真空吸盘连接杆15通过双螺母24连接在真空吸盘连杆座18上，真空吸盘连杆座18的一端设有内齿，且与舵机16头上的外齿啮合连接，真空吸盘连杆座18另一端通过轴承19与机架舵机连接件17相连，轴承19外侧设有端盖20，舵机16通过短螺栓25和螺母22固定在机架舵机连接件17上；舵机16控制真空吸盘14旋转至不同角度以吸附于不同角度的墙壁，提高机器人的应用范围。4 and 5, the vacuum chuck assembly 9 includes a vacuum chuck 14, a vacuum chuck connecting rod 15, a steering gear 16, a frame steering gear connector 17, a vacuum chuck connecting rod seat 18, a bearing 19 and an end Cover 20, the vacuum suction cup 14 is installed on the vacuum suction cup connecting rod 15, the vacuum suction cup connecting rod 15 is equipped with a spring 23, and the spring 23 plays a buffer role when absorbing; the vacuum suction cup connecting rod 15 is connected to the vacuum suction cup by double nuts 24 On the connecting rod seat 18, one end of the vacuum sucker connecting rod seat 18 is provided with internal teeth, and is meshed with the external teeth on the head of the steering gear 16, and the other end of the vacuum sucker connecting rod seat 18 is connected to the frame steering gear through the bearing 19 17 is connected, the outer side of the bearing 19 is provided with an end cover 20, and the steering gear 16 is fixed on the frame steering gear connector 17 through short bolts 25 and nuts 22; the steering gear 16 controls the rotation of the vacuum chuck 14 to different angles to be adsorbed at walls, increasing the application range of the robot.
所述的真空泵10通过气路与真空吸盘14连接，气路中还设有两个控制方式相同的二位三通微型电磁阀、两个单向阀；真空吸盘14包括两个彼此相连通的前端吸盘26，和两个彼此相连通的后端吸盘27；两个电磁阀分别控制前端吸盘26、后端吸盘27与真空泵10以及大气的连通情况；在真空泵10开启的情况下，控制前端吸盘26的电磁阀断电时，前端吸盘26与真空泵10相连通，前端吸盘26具有吸附能力；通电时，前端吸盘26与大气相连通，前端吸盘26不再具有吸附能；两个单向阀分别与前端吸盘26、后端吸盘27连接，由于单向阀具有单向导通的功能，所以在吸附过程中即使停止真空泵10，两组吸盘只会缓慢漏气，仍能吸附一段时间。因此在气路中加入单向阀配合控制系统，可实现间歇吸附的功能，降低吸附功耗，延长机器人的工作时间。The vacuum pump 10 is connected with the vacuum chuck 14 through an air circuit, and two two-position three-way miniature solenoid valves and two check valves with the same control mode are also arranged in the air circuit; Front-end suction cup 26, and two back-end suction cups 27 that communicate with each other; Two electromagnetic valves control the communication situation of front-end suction cup 26, rear-end suction cup 27 and vacuum pump 10 and atmosphere respectively; When vacuum pump 10 is opened, control the front-end suction cup When the electromagnetic valve of 26 was powered off, the front end suction cup 26 was connected with the vacuum pump 10, and the front end suction cup 26 had adsorption capacity; Connect with front end suction cup 26, rear end suction cup 27, because one-way valve has the function of one-way conduction, so even stop vacuum pump 10 in adsorption process, two groups of suction cups can only leak air slowly, still can adsorb for a period of time. Therefore, adding a one-way valve to the air circuit to cooperate with the control system can realize the function of intermittent adsorption, reduce the power consumption of adsorption, and prolong the working time of the robot.
所述的真空吸盘10与墙壁之间的摩擦因数不是很大，在机器人吸附于垂直墙面时很可能会出现打滑现象，造成机器人坠毁。在机器人上增加防滑板12可解决此问题，防滑板12通过电动伸缩杆11连接在机架1上方中间位置，防滑板12与电动伸缩杆11之间设有弯曲弹簧29，实现防滑板12在一定角度范围的转动，防滑板12外表面贴有防滑材料8；机器人吸附于墙壁时由电动伸缩杆11控制防滑板12与墙面相接触，由于防滑板12与墙壁的摩擦因数很大，机器人可安全的吸附于墙壁上，防止打滑的情况发生；此外由于摩擦因数的增大，在吸附于墙壁时，真空泵10的通断电时间比缩小，进一步延长机器人的工作时间。The friction coefficient between the vacuum chuck 10 and the wall is not very large, and the robot may slip when it is adsorbed on the vertical wall, causing the robot to crash. Adding anti-skid plate 12 on the robot can solve this problem, anti-skid plate 12 is connected in the middle position above frame 1 by electric telescopic rod 11, is provided with bending spring 29 between anti-skid plate 12 and electric telescopic rod 11, realizes anti-skid plate 12 in Rotation within a certain angle range, the outer surface of the anti-skid plate 12 is pasted with anti-skid material 8; when the robot is adsorbed on the wall, the electric telescopic rod 11 controls the anti-skid plate 12 to contact the wall, because the friction factor between the anti-skid plate 12 and the wall is very large, the robot It can be safely adsorbed on the wall to prevent slipping; in addition, due to the increase of the friction factor, when the vacuum pump 10 is adsorbed to the wall, the on-off time ratio of the vacuum pump 10 is reduced, further prolonging the working time of the robot.
参见图6所示，所述的墙壁倾角测量器13用来测量待吸附墙壁与地面之间的夹角，该角度测量的目的在于配合控制系统，实现机器人吸附过程的自动化。墙壁倾角测量器13安装在机架1前方，其包括激光测距传感器30和双自由度转台31，双自由度转台31由第一舵机32和第二舵机33构成，双自由度转台31通过第一舵机32和第二舵机33带动激光传感器30转动，第一、第二舵机的转动范围为0-180度，第一舵机32转角为0度时激光测距传感器30朝下（相对于机器人），第一舵机32转角为180度时激光测距传感器30朝上（相对于机器人），默认情况下设置第一舵机32转角为90度；第二舵机33转角为0度时激光测距传感器30朝左（相对于机器人），第二舵机33转角为180度时激光测距传感器朝30右（相对于机器人），默认情况下设置第二舵机33转角为90度；第一、第二舵机32、33均90度时激光测距传感器30朝向机器人正前方。Referring to FIG. 6 , the wall inclination measuring device 13 is used to measure the angle between the wall to be adsorbed and the ground. The purpose of this angle measurement is to cooperate with the control system to realize the automation of the robot adsorption process. The wall inclinometer 13 is installed in the front of the frame 1, and it includes a laser ranging sensor 30 and a two-degree-of-freedom turntable 31. The two-degree-of-freedom turntable 31 is composed of a first steering gear 32 and a second steering gear 33. The two-degree-of-freedom turntable 31 The laser sensor 30 is driven to rotate by the first steering gear 32 and the second steering gear 33. The rotation range of the first and second steering gears is 0-180 degrees. Down (relative to the robot), when the first steering gear 32 has a rotation angle of 180 degrees, the laser ranging sensor 30 faces up (relative to the robot). By default, the first steering gear 32 is set to 90 degrees; the second steering gear 33 rotation angle When it is 0 degrees, the laser ranging sensor 30 faces left (relative to the robot), and when the rotation angle of the second steering gear 33 is 180 degrees, the laser ranging sensor faces 30 right (relative to the robot). By default, the second steering gear 33 rotation angle is set It is 90 degrees; when the first and second steering gears 32 and 33 were all 90 degrees, the laser ranging sensor 30 was facing the robot directly ahead.
参见图7至图10所示，所述的控制系统包括飞行控制单元34和远程控制单元35，所述飞行控制单元34包括单片机36、陀螺仪37、加速度计38、高度计39、GPS模块40和超声波传感器41，所述陀螺仪37、加速度计38、高度计39、GPS模块40和超声波传感器41分别与单片机36相连，陀螺仪37、加速度计38采集飞行机器人的运动信息和姿态信息，单片机36根据采集到的数据以及飞行控制程序，调节四个无刷电机4的转速，实现飞行机器人的自由航行；高度计39测量飞行机器人的高度，单片机36根据高度计39采集的数据控制飞行机器人实现悬停；在远程控制时GPS模块40用以反馈飞行机器人的当前位置，保证远程精准控制；通过GPS模块40还可实现飞行机器人自主导航飞行；超声波传感器41用以实现飞行机器人的壁障功能，当飞行机器人与墙壁或障碍物的距离小于设定值时，控制系统控制其减速，以防撞到障碍物或墙壁，同时通过远程控制单元35反馈给操作者，判断是否需要吸附于墙壁上，若需要吸附于墙壁上则系统自动控制飞行机器人缓慢靠近墙壁进行吸附。若不需要则绕过障碍物继续飞行或悬停。Referring to Fig. 7 to shown in Fig. 10, described control system comprises flight control unit 34 and remote control unit 35, and described flight control unit 34 comprises single-chip microcomputer 36, gyroscope 37, accelerometer 38, altimeter 39, GPS module 40 and Ultrasonic sensor 41, described gyroscope 37, accelerometer 38, altimeter 39, GPS module 40 and ultrasonic sensor 41 link to each other with single-chip microcomputer 36 respectively, and gyroscope 37, accelerometer 38 collect the movement information and attitude information of flying robot, single-chip microcomputer 36 according to The collected data and the flight control program adjust the rotating speed of four brushless motors 4 to realize the free navigation of the flying robot; the altimeter 39 measures the height of the flying robot, and the single-chip microcomputer 36 controls the flying robot to hover according to the data collected by the altimeter 39; During remote control, the GPS module 40 is used to feed back the current position of the flying robot to ensure remote and precise control; the GPS module 40 can also be used to realize the autonomous navigation flight of the flying robot; the ultrasonic sensor 41 is used to realize the barrier function of the flying robot. When the distance of the wall or obstacle is less than the set value, the control system controls its deceleration to avoid bumping into the obstacle or wall, and at the same time feeds back to the operator through the remote control unit 35 to determine whether it needs to be adsorbed on the wall. On the wall, the system automatically controls the flying robot to slowly approach the wall for adsorption. Continue flying or hovering around obstacles if not needed.
所述的远程控制单元35包括摄像头42、下位机43、遥控器44、无线数据收发模块45，所述下位机43通过两个无线数据收发模块45与单片机36相连，遥控器44与下位机43相连；无线数据收发模块45用来实时传输地面控制系统与飞行机器人之间的数据；操作者可通过遥控器44对飞行机器人进行远程操控；下位机43用来显示图像及飞行机器人的各种信息（如速度、加速度、高度、位置、气路中的气压值等）。摄像头42安装在三轴云台46上并与单片机36相连，布置在飞行机器人的后方，进行各个角度的图像拍摄。Described remote control unit 35 comprises camera 42, lower computer 43, remote controller 44, wireless data transceiver module 45, described lower computer 43 links to each other with single-chip microcomputer 36 by two wireless data transceiver modules 45, remote controller 44 and lower computer 43 connected; the wireless data transceiver module 45 is used to transmit data between the ground control system and the flying robot in real time; the operator can remotely control the flying robot through the remote controller 44; the lower computer 43 is used to display images and various information of the flying robot (such as speed, acceleration, altitude, position, air pressure value in the air path, etc.). Camera 42 is installed on the three-axis cloud platform 46 and links to each other with single-chip microcomputer 36, is arranged in the rear of flying robot, carries out the image shooting of various angles.
所述的控制系统还包括气压传感器47和压力传感器48，分别与单片机36相连，所述气压传感器47检测气路中的气压值，在吸附时首先开启真空泵10进行吸附，当气路中的气压低于设定好的下阈值时关闭真空泵41，由于气路中有单向阀，所以气路只会缓慢漏气，气压缓慢升高，当气压达到设定好的上阈值时，重新开启真空泵10，重复此过程，实现间歇吸附，降低吸附系统的能耗。所述压力传感器48安装在防滑板12及起落架6上，用以检测防滑板12及起落架6与墙面之间的作用力，辅助吸附系统进行安全吸附。Described control system also comprises air pressure sensor 47 and pressure sensor 48, links to each other with single-chip microcomputer 36 respectively, and described air pressure sensor 47 detects the air pressure value in the gas circuit, and at first turns on vacuum pump 10 to adsorb when adsorbing, when the air pressure in the gas circuit Turn off the vacuum pump 41 when it is lower than the set lower threshold. Since there is a check valve in the air path, the air path will only slowly leak air, and the air pressure will rise slowly. When the air pressure reaches the set upper threshold, turn on the vacuum pump again 10. Repeat this process to realize intermittent adsorption and reduce the energy consumption of the adsorption system. The pressure sensor 48 is installed on the anti-skid plate 12 and the landing gear 6 to detect the force between the anti-skid plate 12 and the landing gear 6 and the wall, and assist the adsorption system to perform safe adsorption.
本发明的智能吸附原理如下：The intelligent adsorption principle of the present invention is as follows:
本发明的吸附过程为智能吸附，吸附过程可细分为3个过程：调整飞行器前端在水平面上与墙壁垂直（吸附于天花板时无此过程）、控制前端吸盘26垂直于墙壁、飞行器整体吸附。The adsorption process of the present invention is intelligent adsorption, and the adsorption process can be subdivided into three processes: adjusting the front end of the aircraft to be perpendicular to the wall on the horizontal plane (there is no such process when adsorbing to the ceiling), controlling the front end suction cup 26 to be perpendicular to the wall, and the overall adsorption of the aircraft.
首先控制飞行器靠近墙面，并与墙面保持适当距离悬停，悬停时飞行器前端朝向墙面。但此时飞行器前端在水平面上与墙壁会有一定夹角（如图8所示），需调整飞行器前端在水平面上与墙壁垂直，调节过程如下：控制第一舵机32旋转到90度使激光测距传感器30位于水平面内，此时测量飞行器到墙壁的距离为a，控制第二舵机33旋转α角，再次测量飞行器到墙面的距离为b，根据a、b、α即可计算出角β，飞行器旋转90-β度即可在水平方向上与墙面垂直。Firstly, control the aircraft to approach the wall and hover at an appropriate distance from the wall. When hovering, the front of the aircraft faces the wall. But at this time, the front end of the aircraft will have a certain angle with the wall on the horizontal plane (as shown in Figure 8). It is necessary to adjust the front end of the aircraft to be perpendicular to the wall on the horizontal plane. The adjustment process is as follows: control the first servo 32 to rotate to 90 degrees to make the laser The ranging sensor 30 is located in the horizontal plane. At this time, the distance from the aircraft to the wall is measured as a, and the second steering gear 33 is controlled to rotate an angle of α, and the distance from the aircraft to the wall is measured again as b, which can be calculated according to a, b, and α. Angle β, the aircraft can be perpendicular to the wall in the horizontal direction by rotating 90-β degrees.
飞行器前端在水平面上与墙壁垂直后，前端吸盘26与墙壁会有一定夹角（如图9所示），控制第一舵机32与第二舵机33均旋转到90度，此时激光测距传感器30在水平面与墙壁垂直，测量到墙面的距离为c，控制第一舵机32旋转γ角，再次测量飞行器到墙面的距离为d，根据c、d、γ即可计算出角θ，前端吸盘26旋转90-θ度即可与墙面垂直。After the front end of the aircraft is perpendicular to the wall on the horizontal plane, there will be a certain angle between the front end suction cup 26 and the wall (as shown in Figure 9), and the first steering gear 32 and the second steering gear 33 are controlled to rotate to 90 degrees. The distance sensor 30 is vertical to the wall on the horizontal plane, and the distance to the wall is measured as c, and the first steering gear 32 is controlled to rotate the angle γ, and the distance from the aircraft to the wall is measured again as d, and the angle can be calculated according to c, d, and γ θ, the front end suction cup 26 can be perpendicular to the wall by rotating 90-θ degrees.
前端吸盘26与墙壁垂直后，开启真空泵10并使前端吸盘26与真空泵10相连通，后端吸盘27与真空泵10不通，后端吸盘27根据需要旋转至0度（或180度）。随后控制系统控制飞行器缓慢靠近墙面，直至前端吸盘26吸附在墙面上，之后调节无刷电机4转速，使飞行器向墙壁翻转，翻转过程中控制前端吸盘的舵机16与飞行器相配合转动，直至后端吸盘27与墙壁相接触，此时控制后端吸盘27与真空泵10相连通，则飞行器整体吸附于墙壁上。然后关闭无刷电机4降低能耗。最后根据吸附墙壁角度的不同选择伸出防滑板12或放下起落架6。After the front end suction cup 26 is perpendicular to the wall, open the vacuum pump 10 and make the front end suction cup 26 communicate with the vacuum pump 10, the rear end suction cup 27 is blocked with the vacuum pump 10, and the rear end suction cup 27 rotates to 0 degrees (or 180 degrees) as required. Then the control system controls the aircraft to slowly approach the wall until the front end suction cup 26 is adsorbed on the wall, and then adjusts the brushless motor 4 speed to make the aircraft turn over to the wall. Until the rear end suction cup 27 is in contact with the wall, the rear end suction cup 27 is controlled to communicate with the vacuum pump 10 at this time, and then the whole aircraft is adsorbed on the wall. Then close the brushless motor 4 to reduce energy consumption. Finally, according to the different selections of the adsorption wall angle, stretch out the anti-skid plate 12 or put down the undercarriage 6.
不同倾角墙面飞行与吸附的切换过程The switching process of flying and adsorption on walls with different inclination angles
根据墙面与水平面倾角θ的不同可将墙面分为以下几类：θ=0°、0°<θ<90°、θ=90°、90°<θ<180°、θ=180°According to the inclination angle θ between the wall surface and the horizontal plane, the wall surface can be divided into the following categories: θ=0°, 0°<θ<90°, θ=90°, 90°<θ<180°, θ=180°
1、墙面与水平面夹角θ=0°1. The angle between the wall surface and the horizontal plane θ=0°
墙面与水平面夹角为0°时，墙面相当于水平地面，此时飞行器正常降落起飞即可。When the angle between the wall and the horizontal plane is 0°, the wall is equivalent to the level ground, and the aircraft can land and take off normally at this time.
2、墙面与水平面夹角0°<θ<90°2. The angle between the wall surface and the horizontal plane is 0°<θ<90°
此种情况下首先控制前端吸盘26垂直于墙面并吸附于墙面上，后端吸盘27垂直于飞行器向下（如图11所示）。之后控制系统调节无刷电机4转速使飞行器整体吸附于墙壁上。最后转动起落架舵机7，直至起落架6上的压力传感器48检测到的压力值达到设定值后，起落架舵机7停止转动，飞行到吸附切换过程完成（如图12所示）。重新起飞过程首先启动无刷电机4，收起起落架6，之后断开后端吸盘27，控制系统调节无刷电机4转速使飞行器保持水平（如图13所示），最后断开前端吸盘26，飞行器重新起飞（如图14所示）。In this case, first control the front end suction cup 26 to be perpendicular to the wall and be adsorbed on the wall, and the rear end suction cup 27 to be vertical to the aircraft downward (as shown in FIG. 11 ). After that, the control system adjusts the 4 speeds of the brushless motor so that the aircraft as a whole is adsorbed on the wall. Finally, the landing gear steering gear 7 is rotated until the pressure value detected by the pressure sensor 48 on the landing gear 6 reaches the set value, the landing gear steering gear 7 stops rotating, and the flight to adsorption switching process is completed (as shown in FIG. 12 ). In the re-take-off process, the brushless motor 4 is first started, the landing gear 6 is retracted, and then the rear suction cup 27 is disconnected. The control system adjusts the speed of the brushless motor 4 to keep the aircraft level (as shown in Figure 13), and finally the front suction cup 26 is disconnected. , the aircraft takes off again (as shown in Figure 14).
3、墙面与水平面夹角90°<θ<180°3. The angle between the wall surface and the horizontal plane is 90°<θ<180°
此种情况下首先控制前端吸盘26垂直于墙面并吸附于墙面上，后端吸盘27垂直于飞行器向上（如图15所示）。之后控制系统调节无刷电机4转速使飞行器整体吸附于墙壁上。最后电动伸缩杆11伸出，直至防滑板12上的压力传感器48检测到的压力值达到设定值后，电动伸缩杆11停止伸出，飞行到吸附切换过程完成（如图16所示）。重新起飞过程首先启动电机，断开后端吸盘27。之后电动伸缩杆11继续伸出到极限位置（若在到达极限位置前飞行器已经水平，则电动伸缩杆保持在使飞行器水平的位置即可），然后控制系统调节无刷电机4转速使飞行器保持水平（如图17所示）。最后断开前端吸盘26，收回电动伸缩杆11，飞行器重新起飞（如图18所示）。In this case, first control the front end suction cup 26 to be perpendicular to the wall and be adsorbed on the wall, and the rear end suction cup 27 to be vertical to the aircraft upward (as shown in FIG. 15 ). After that, the control system adjusts the 4 speeds of the brushless motor so that the aircraft as a whole is adsorbed on the wall. Finally, the electric telescopic rod 11 stretches out until the pressure value detected by the pressure sensor 48 on the anti-skid plate 12 reaches the set value, then the electric telescopic rod 11 stops extending, and the flight to adsorption switching process is completed (as shown in FIG. 16 ). The process of taking off again starts the motor at first, and disconnects the rear end suction cup 27. After that, the electric telescopic rod 11 continues to stretch out to the limit position (if the aircraft is already level before reaching the limit position, the electric telescopic rod can be kept at the position where the aircraft is horizontal), and then the control system adjusts the speed of the brushless motor 4 to keep the aircraft level (as shown in Figure 17). Finally disconnect the front end suction cup 26, retract the electric telescopic rod 11, and the aircraft takes off again (as shown in Figure 18).
4、墙面与水平面夹角θ=90°4. The angle between the wall surface and the horizontal plane θ=90°
此种情况为第二种情况与第三种情况的临界状态，其飞行与吸附相切换过程，采取上述两种方式均可。This situation is the critical state of the second situation and the third situation, and the switching process of the flying and adsorption phases can be carried out in the above two ways.
5、墙面与水平面夹角θ=180°5. The angle between the wall surface and the horizontal plane θ=180°
此时墙面相当于天花板，首先调节四个真空吸盘14均向上，开启真空泵10并与四个真空吸盘14相连通。之后控制飞行器上升直至飞行器吸附在天花板上。最后关闭无刷电机4，飞行到吸附切换过程完成。重新起飞首先开启无刷电机4并使无刷电机4转速相对较高，之后断开四个吸盘真空14，最后降低四个无刷电机4转速直至飞行器脱离天花板，飞行器重新起飞。At this moment, the wall is equivalent to the ceiling. First, the four vacuum chucks 14 are adjusted upwards, and the vacuum pump 10 is opened and communicated with the four vacuum chucks 14. Then control the aircraft to rise until the aircraft is attached to the ceiling. Finally, the brushless motor 4 is turned off, and the flight to adsorption switching process is completed. To take off again, first turn on the brushless motor 4 and make the brushless motor 4 rotate at a relatively high speed, then disconnect the four sucker vacuums 14, and finally reduce the four brushless motor 4 speeds until the aircraft breaks away from the ceiling, and the aircraft takes off again.
以上所述仅为本发明的优选实例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡对本发明所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made to the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219707.0ACN105667779B (en) | 2016-04-11 | 2016-04-11 | Intelligent flying robot capable of perching on walls at different inclination angles |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219707.0ACN105667779B (en) | 2016-04-11 | 2016-04-11 | Intelligent flying robot capable of perching on walls at different inclination angles |
| Publication Number | Publication Date |
|---|---|
| CN105667779A CN105667779A (en) | 2016-06-15 |
| CN105667779Btrue CN105667779B (en) | 2017-05-17 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610219707.0AExpired - Fee RelatedCN105667779B (en) | 2016-04-11 | 2016-04-11 | Intelligent flying robot capable of perching on walls at different inclination angles |
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| CN (1) | CN105667779B (en) |
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