An ultra-high-rise outer wall cleaning unmanned aerial vehicle dynamic center of gravity compensation system and hierarchical power adaptation method

Abstract

The application discloses an ultra-high layer outer wall cleaning unmanned vehicle dynamic gravity center compensation system and a hierarchical power adaptation method, and belongs to the technical field of unmanned vehicle high-altitude operation. The system operation height interval is 120m-600m, and the system comprises a posture sensing module, a gravity center solving module and a hierarchical power execution module. The posture sensing module integrates an RTK positioning unit, realizes accurate height determination and hierarchical switching, collects wind speed, inclination, liquid level, height and flight attitude data in real time, solves the gravity center deviation vector caused by liquid sloshing, converts the gravity center deviation vector into a motor speed instruction and directly drives the physical attitude correction of the vehicle body, divides the operation height into a 120m-450m six-axis gravity center compensation section and a 450m-600m eight-axis strong disturbance attitude stabilization section based on meteorological rules, and can be matched with a multi-chamber anti-sloshing structure to form software and hardware cooperation. The application solves the industry pain points of gravity center instability and poor power adaptability of a large water volume cleaning unmanned vehicle in a high-altitude strong wind environment, has the advantages of real-time compensation, hierarchical regulation and control, safety risk avoidance and the like, is not simple superposition of the prior art, has outstanding creativity and practicality, and can be widely applied to ultra-high layer outer wall automatic cleaning engineering operation.

Description

Technical Field

[0001] This invention belongs to the field of high-altitude operation technology of unmanned aerial vehicles (UAVs), specifically relating to a dynamic center of gravity compensation system and graded dynamic adaptation method for UAVs used for cleaning the exterior walls of ultra-high-rise buildings to address the problem of liquid load swaying and instability. Background Technology

[0002] In automated cleaning operations on the exterior walls of super high-rise buildings, drones need to be equipped with large-capacity cleaning fluid tanks to meet the requirements of engineering construction. The cleaning fluid is a non-fixed load, and under the combined effects of flight attitude adjustments and high-altitude airflow disturbances, it will generate continuous shaking, causing the center of gravity of the entire aircraft to shift in real time, resulting in flight instability, positioning deviation, collision with buildings, or even the risk of crashing.

[0003] The existing technology has the following inherent defects: 1— Conventional UAV flight control systems are designed only for fixed loads and do not have a mechanism for calculating the center of gravity in liquid sloshing, making it impossible to provide real-time dynamic compensation for offsets; 2— The power output mode is singular and does not differentiate according to the working height, wind field intensity, and load margin, so the energy consumption of mid-to-high altitude operations and the anti-interference capability of ultra-high altitude operations cannot be taken into account. 3—Stability is achieved solely through structural reinforcement or passive wind resistance, without forming a technical solution that combines physical anti-swaying with algorithmic compensation; 4— The industry lacks a standardized adaptation system for altitude, wind field, load, and power, and a single model cannot cover the safe operation requirements of the entire altitude range.

[0004] The aforementioned issues are long-standing technical pain points in this field that have not been effectively resolved, making it difficult for heavy-load cleaning drones to be commercially deployed in ultra-high-rise buildings and strong wind environments. Summary of the Invention

[0005] This invention addresses the technical problems in existing technologies, such as instability of the center of gravity caused by liquid sloshing during large-volume cleaning operations, poor adaptability of power configuration to operating conditions, and insufficient safety under extreme airflow. It provides a dynamic center of gravity compensation system and a graded power adaptation method, which achieves flight attitude stability and safe avoidance under non-fixed loads through closed-loop control of real-time sensing, calculation, and execution.

[0006] A dynamic center of gravity compensation system for a high-rise building exterior wall cleaning drone includes an attitude perception module, a center of gravity calculation module, and a hierarchical power execution module.

[0007] The attitude perception module integrates a wind speed sensor, tilt sensor, liquid level sensor, RTK positioning unit, and flight attitude sensor to collect real-time data on wind speed, tilt angle, liquid level, operating altitude, and flight attitude. The RTK positioning unit acquires real-time altitude information and calculates the relative operating altitude by combining it with the take-off and landing point reference information, providing accurate data support for altitude classification and determination.

[0008] The center of gravity calculation module calculates the center of gravity offset vector in real time based on liquid level, tilt angle, and attitude data using PID closed-loop control logic. The calculation results are then converted into speed adjustment of each axis motor, directly driving the motor to perform physical attitude correction.

[0009] According to urban meteorological statistics, wind shear and turbulence intensity at altitudes above 450m increase nonlinearly, and conventional power redundancy cannot meet safety requirements. Therefore, this invention configures power according to altitude levels: a six-axis power system is used in the 120m to 450m range, with real-time center of gravity compensation as the core; and an eight-axis high-redundancy power system is used in the 450m to 600m range, with attitude correction and safety avoidance under strong airflow disturbances as the core.

[0010] The modular anti-sway load module adopts a transverse honeycomb multi-cavity partition structure, with multiple labyrinth-style baffles inside the chamber. This physically suppresses large-scale liquid swaying, reduces the amplitude of sudden changes in the center of gravity, and forms a synergistic effect between the hardware and software with the center of gravity compensation algorithm.

[0011] A method for graded power and center of gravity compensation operation of a drone for cleaning the exterior walls of ultra-high-rise buildings includes the following steps: determining the power level and load specifications based on the height of the building to be cleaned, and completing system assembly; powering on the equipment for self-testing, initializing each module, and establishing a data acquisition link; acquiring drone altitude information in real time through the RTK positioning unit, calculating the relative working height, and completing the height grade determination; the drone takes off for operation, the attitude perception module continuously collects data and transmits it to the center of gravity calculation module; the center of gravity calculation module calculates the offset in real time, and the graded power execution module dynamically allocates the power output of each axis; under normal operating conditions, center of gravity compensation is prioritized, and under strong wind disturbance conditions, the power redundancy is automatically increased to maintain attitude stability; after the operation is completed, the drone returns smoothly to base and is recovered along a preset route.

[0012] Beneficial effects This invention establishes for the first time a real-time center of gravity calculation and physical drive compensation mechanism for liquid load swaying, fundamentally solving the problem of center of gravity instability in large-volume cleaning drones; it introduces an RTK positioning unit to achieve accurate altitude determination, and a complete closed-loop logic control for altitude grading ensures accurate and reliable control switching; it determines a 450m grading threshold based on meteorological patterns, balancing economy and safety, and is not arbitrarily set; the modular anti-sway structure and dynamic compensation algorithm work synergistically to achieve a technical effect of 1+1>2, rather than simply adding up existing technologies; it forms a standardized adaptation system for altitude, wind field, load, and power, which can promote the engineering implementation in the industry; the technical solution is not obvious to those skilled in the art and possesses outstanding inventiveness. Attached Figure Description Figure 1 This is a schematic diagram of the overall structure of the dynamic center of gravity compensation system of the present invention; Figure 2This is a schematic diagram of the graded dynamic and center of gravity compensation operation method of the present invention; Figure 3 This is a schematic diagram of the internal multi-chamber partition structure of the modular anti-sway load module of the present invention. Explanation of reference numerals in the attached figures 1—Attitude perception module (including RTK positioning unit and sensor group) 2—Center of Gravity Calculation Module (Flight Control Processing Unit) 3—Graded power execution module (including motor and propeller) 4—Modular anti-sway load module (cleaning fluid tank) 5—Cleaning operation actuator (nozzle and spray boom) 6—System Power-On Initialization 7—Sensor Self-Test and Attitude Calibration 8—Working Height Classification Determination 9—(High-altitude operations) Strong wind mode activated: Redundant power on standby 10—(Low-to-medium altitude operation) Start-up in standard mode: Prioritize center of gravity compensation 11—Real-time acquisition of attitude / liquid level / wind speed data 12—Calculation of Center of Gravity Shift and Dynamic Distribution 13—Attitude stable (Yes / No) 14 — (Yes) Perform cleaning operations 15—(No) Emergency Flow Stabilization / Risk Avoidance Mode 16—Operation completed, return and recover. 17—System power failure, data storage 18—Upper row, first anti-sway chamber 19—Second Anti-sway Chamber in the Upper Row 20—Lower Row First Anti-Sway Chamber 21—Anti-sway bulkhead (honeycomb partition)

[0013] Example For cleaning operations on the exterior walls of super high-rise buildings ranging from 120m to 450m, a six-axis power configuration and a multi-chamber anti-sway liquid tank are employed. The system acquires the UAV's three-dimensional coordinates in real time through an RTK positioning unit, and uses a Kalman filter algorithm to fuse with lidar ranging data to suppress and correct positioning drift caused by multipath effects. Combined with the reference altitude of the take-off and landing point, the system calculates the relative operating altitude and determines whether to enter the first power mode. During flight, the center of gravity calculation module compensates for the offset in real time based on liquid level and attitude data. Power output prioritizes maintaining center of gravity stability, enabling continuous and stable cleaning operations even in wind fields of level 6 to 8.

[0014] Example For cleaning operations on the exterior walls of super high-rise buildings ranging from 450m to 600m, an eight-axis high-redundancy power configuration and a reinforced anti-sway liquid tank are adopted. The system determines whether to enter the second power mode through the RTK positioning unit. When encountering instantaneous strong airflow of level 8 to 10, it automatically increases power output and enhances attitude correction to quickly suppress fuselage sway, achieve safe avoidance, and prevent instability and crash.

Claims

1. A dynamic center of gravity compensation system for a high-rise building exterior wall cleaning drone, characterized in that, It includes an attitude perception module, a center of gravity calculation module, and a tiered power execution module. The attitude perception module is used to collect data on wind speed, tilt angle, liquid level, operating altitude, and flight attitude. The attitude perception module includes a wind speed sensor, a tilt angle sensor, a liquid level sensor, an RTK positioning unit, and a flight attitude sensor. The center of gravity calculation module is used to calculate the center of gravity offset in real time based on liquid sloshing and generate power compensation commands. The tiered power execution module is used to dynamically allocate power output according to the operating altitude and wind field intensity to achieve center of gravity compensation and attitude stabilization.

2. The system according to claim 1, characterized in that, The operating height range is 120m to 600m.

3. The system according to claim 1, characterized in that, The graded power execution module is configured to automatically switch between the first power mode and the second power mode according to the working height; the first power mode prioritizes adjusting the motor speed to offset the center of gravity shift; the second power mode prioritizes retaining power redundancy to cope with strong winds, and the power redundancy of the second power mode is higher than that of the first power mode.

4. The system according to claim 3, characterized in that, The first power mode corresponds to an operating height of 120m to 450m and uses a six-axis power; the second power mode corresponds to an operating height of 450m to 600m and uses an eight-axis power.

5. The system according to claim 1, characterized in that, It also includes a modular anti-sway load module, which is fixedly connected to the UAV fuselage. The modular anti-sway load module adopts a multi-chamber partition structure to suppress liquid sloshing.

6. The system according to claim 4, characterized in that, In six-axis power mode, the power output prioritizes real-time center of gravity offset compensation, which is suitable for continuous operation in conventional wind farms.

7. The system according to claim 4, characterized in that, In eight-axis power mode, it has high redundancy power output, which can withstand instantaneous strong airflow and complete attitude correction and safety avoidance.

8. A method for graded power and center of gravity compensation operation of a drone for cleaning the exterior walls of ultra-high-rise buildings, applied to the system described in any one of claims 1 to 7, characterized in that, include: Altitude classification determination, module initialization, real-time center of gravity calculation, dynamic power distribution, attitude stabilization in strong winds, and return and recovery procedures; The height classification determination is achieved by obtaining real-time height information from the RTK positioning unit, combining it with the take-off and landing point reference information to calculate the relative working height, and automatically switching the power mode according to the relative working height.

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