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CN-121973980-A - Unmanned aerial vehicle system for outer wall operation

CN121973980ACN 121973980 ACN121973980 ACN 121973980ACN-121973980-A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle system for outer wall operation. The wall hanging device comprises a releasing part detachably connected with the unmanned aerial vehicle and a connecting part used for being fixed on an outer wall, and the connecting part can adopt various structures such as a cantilever, adsorption, a hook and the like to adapt to different wall surfaces. The traction device is connected with the unmanned aerial vehicle body and the wall hanging device. During operation, unmanned aerial vehicle transports wall-hanging device to preset position and control connecting portion and outer wall anchor, and then release portion makes unmanned aerial vehicle and wall-hanging device separation, and unmanned aerial vehicle hangs in wall-hanging device below through draw gear and washs, detect operation etc.. The traction device can be retracted and extended to adjust the operation height of the unmanned aerial vehicle. According to the invention, the temporary anchor points are distributed in the air of the unmanned aerial vehicle, so that the problems of unstable hovering, limited load and complex hoisting equipment required to be preset on the roof of the traditional unmanned aerial vehicle are solved, and the stability and safety of high-altitude operation are improved.

Inventors

  • ZHANG ZHESHUO
  • BAI JIE
  • YE JUNJUN
  • LIU JIAOJIAO
  • RAO BING

Assignees

  • 矢量飞行(杭州)科技有限公司

Dates

Publication Date
20260505
Application Date
20260319

Claims (20)

  1. 1. The unmanned aerial vehicle system for outer wall operation is characterized by comprising an unmanned aerial vehicle body, a wall hanging device, a traction device and a control module; The wall hanging device comprises a release part and a connecting part, wherein the release part is connected to the unmanned aerial vehicle body, the connecting part is detachably connected with the release part, and the connecting part is used for being connected with an outer wall or an anchor point on the outer wall; The traction device comprises an installation part and a traction part, and the installation part and the traction part are respectively installed on the unmanned aerial vehicle body and the wall-mounted device; the control module is used for controlling the action of the release part and the traction part.
  2. 2. The unmanned aerial vehicle system of claim 1, wherein the connecting portion comprises one or more of a cantilever structure, an adsorption structure, or a hook structure.
  3. 3. The unmanned aerial vehicle system of claim 2, wherein the adsorption structure comprises one or more of a vacuum adsorption mechanism, a magnetic adsorption mechanism and an expansion mechanism.
  4. 4. The unmanned aerial vehicle system for outer wall operation of claim 3, wherein the vacuum suction mechanism comprises a vacuum chuck and a negative pressure generator, the vacuum chuck is of a hollow structure, an opening is arranged on one side of the vacuum chuck facing the outer wall surface, the negative pressure generator is communicated with the vacuum chuck, and the negative pressure generator is in signal connection with the control module.
  5. 5. The unmanned aerial vehicle system for working on an outer wall of claim 4, further comprising a negative pressure detection sensor, wherein the negative pressure detection sensor is fixedly arranged in the vacuum chuck, the detection end of the negative pressure detection sensor faces the inside of the vacuum chuck, and the negative pressure detection sensor is in signal connection with the control module.
  6. 6. The unmanned aerial vehicle system of claim 3, wherein the expansion mechanism comprises one of an expansion airbag mechanism and an expansion latch mechanism.
  7. 7. The unmanned aerial vehicle system for working on an outer wall according to claim 6, wherein the expansion airbag mechanism comprises a mounting seat, a flexible airbag, an inflator pump and a pressure release valve, the flexible airbag is fixedly arranged on one side of the mounting seat facing the wall surface of the outer wall, the inflator pump is fixedly arranged in the mounting seat and communicated with the flexible airbag through an inflation pipeline, the pressure release valve is arranged on the flexible airbag, and the inflator pump and the pressure release valve are in signal connection with the control module.
  8. 8. The unmanned aerial vehicle system for working on an outer wall according to claim 6, wherein the expansion claw mechanism comprises a base body, a moving part, a claw and a driving part, the moving part is arranged on the base body and is movably connected with the claw, and the working end of the driving part is connected with the moving part and drives the claw to radially expand or contract.
  9. 9. The unmanned aerial vehicle system for outer wall operation of claim 3, wherein the magnetic attraction mechanism comprises an attraction seat and a first electromagnet, the first electromagnet is fixed on the attraction seat and faces the wall surface, a power supply is arranged in the attraction seat to supply power to the first electromagnet, and the first electromagnet is in signal connection with the control module.
  10. 10. The system of claim 2, wherein the boom structure comprises one or more of a straight boom mechanism, an L-boom mechanism, and a motorized boom mechanism.
  11. 11. The unmanned aerial vehicle system for working on the outer wall of claim 10, wherein the straight arm type cantilever mechanism comprises a section of straight arm type connecting rod, and the connecting rod is directly inserted into a wall hole, is matched with an adsorption structure or is combined with a hooking structure to realize connection with the wall surface.
  12. 12. The outer wall operation unmanned aerial vehicle system of claim 10, wherein the L-shaped cantilever mechanism comprises a lifting frame and a hanging seat, the lifting frame is L-shaped and comprises a horizontal section and a vertical section, and the hanging seat is arranged at the end part of the horizontal section of the lifting frame.
  13. 13. The system of claim 10, wherein the motorized cantilever mechanism is pre-assembled to a pre-assembled portion of the building structure, the pre-assembled portion comprising a pre-assembled foundation at the top of the building or a wall structure inside the window.
  14. 14. The unmanned aerial vehicle system of claim 2, wherein the hook comprises a hook for hooking to the outer wall or an anchor point of the outer wall.
  15. 15. The system of claim 1, wherein the release portion of the wall hanging device is one or more of a jaw mechanism, an electromagnetic buckle, and an electric buckle.
  16. 16. The system of claim 15, wherein the jaw mechanism comprises a jaw and a first driving device, the jaw is connected to an output end of the first driving device, and the first driving device is in signal connection with the control module.
  17. 17. The external wall operation unmanned aerial vehicle system of claim 15, wherein the electromagnetic buckle comprises a second electromagnet and an armature, the second electromagnet is fixedly arranged on the unmanned aerial vehicle body and is powered by the unmanned aerial vehicle body, the armature is fixedly arranged on the connecting part, and the second electromagnet is in signal connection with the control module.
  18. 18. The external wall operation unmanned aerial vehicle system of claim 15, wherein the electric lock catch comprises a guide seat, a lock tongue, a lock hole structure and a second driving device, the second driving device and the guide seat are fixed on the unmanned aerial vehicle body, an output shaft of the second driving device is connected with the lock tongue, the lock tongue is slidably mounted in the guide seat, and a lock hole matched with the lock tongue is formed in the connecting portion.
  19. 19. The unmanned aerial vehicle system of claim 1, wherein the mounting portion of the traction device is disposed on the unmanned aerial vehicle body, and the traction portion of the traction device is disposed on the wall-mounted device.
  20. 20. The exterior wall operation unmanned aerial vehicle system of claim 1, wherein the installation part of the traction device is arranged on the wall hanging device, and the traction part of the traction device is arranged on the unmanned aerial vehicle body.

Description

Unmanned aerial vehicle system for outer wall operation Technical Field The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an outer wall operation unmanned aerial vehicle system. Background In high-rise building outer wall cleaning, detection and maintenance and other high-altitude operation scenes, unmanned aerial vehicle is adopted to carry out close-range operation, so that the setting up requirements of facilities such as scaffolds and hanging baskets can be reduced to a certain extent, and the high-rise building outer wall cleaning, detection and maintenance device has the characteristics of being convenient to deploy, high in operation efficiency, low in personnel direct exposure risk and the like, and therefore the high-rise building outer wall cleaning, detection and maintenance device gradually becomes an alternative technical scheme in the field of outer wall high-altitude operation. The unmanned aerial vehicle system for the outer wall high-altitude operation at present mainly adopts a multi-rotor flight platform to carry a cleaning, detecting or maintaining device, and realizes the operation of approaching to the outer wall in a free flight and hovering mode. In addition, there are few proposals to share part of the load or extend the working capacity by means of overhead assistance such as mooring, suspension, etc. In general, the existing external wall operation unmanned aerial vehicle scheme still has obvious defects in the aspects of hovering stability, load capacity and flexible adjustment capacity of operation points, thereby affecting the operation coverage efficiency and operation safety of complex elevation areas. On the one hand, for a free-hover type operation unmanned aerial vehicle, the free-hover type operation unmanned aerial vehicle needs to continuously output lifting force to maintain a hover state in an operation process and bear operation loads such as a cleaning tool, detection equipment and the like, so that a payload margin is limited, and it is difficult to carry an operation device with higher power, larger weight or larger volume, thereby limiting operation capacity under complex working conditions. Meanwhile, the disturbance such as near-wall bypass, updraft and gust exists in the vicinity of the outer wall of the high-rise building, the unmanned aerial vehicle is easy to generate gesture shake and position drift when being close to the outer wall to hover operation, so that the relative position between the operation end and the outer wall is difficult to stably maintain, the problems of omission, omission and washing, fluctuation of operation quality and the like are easy to generate, the risk of collision and even falling with the outer wall structure is also likely to be caused when the problem is serious, and high requirements are put forward on the real-time control capability and the system anti-interference capability of an operator. On the other hand, for a small number of envisaged schemes adopting a top mooring or hanging mode, the prior art generally realizes upper mooring hanging operation by matching a multi-rotor unmanned aerial vehicle with external hoisting equipment such as a roof hoist, a hoisting frame or an anchoring point. The scheme needs to arrange corresponding devices on the roof in advance, so that the workload of on-site investigation, installation deployment and safety evaluation in the early stage of operation is increased, and the equipment investment and implementation cost are also increased. Meanwhile, the layout position of a winch, a hoisting frame or an anchoring point is generally influenced by roof space conditions, parapet structures, billboards and other auxiliary facilities, so that the reachable range and coverage area of hanging operation are limited, and the operation requirements of complex vertical surfaces and irregular areas are difficult to adapt. Therefore, there is a need for an external wall operation unmanned aerial vehicle system and an operation method thereof, so as to avoid dependence on external hoisting equipment such as a roof hoist, a hoisting frame and the like while improving operation stability and load capacity, and break through the limitation of fixed hoisting points on an operation range, thereby realizing flexible setting, switching and adjustment of the operation points, and improving continuous covering capacity and operation safety in complex vertical and span surface scenes. Disclosure of Invention The invention aims to provide an external wall operation unmanned aerial vehicle system, which aims to solve the problems that the existing external wall operation unmanned aerial vehicle has insufficient hovering stability and limited load capacity, and the existing hoisting unmanned aerial vehicle depends on external hoisting equipment on a roof, and hoisting points are fixed and difficult to flexibly adjust. In order to achieve the aim, the inventio