Wall climbing cleaning device based on unmanned aerial vehicle inspection

Abstract

The application discloses a wall-climbing cleaning device based on unmanned aerial vehicle inspection, which comprises an inspection unmanned aerial vehicle and a wall-climbing cleaning robot; the inspection unmanned aerial vehicle comprises a driving module, an infrared thermal imaging lens and an analysis control module; the analysis control module is used for aerial photography collection, and the analysis control module is used for processing images to screen out parts to be cleaned; the wall-climbing robot comprises a control module, a motion module and a laser cleaning module; each wall-climbing robot is connected with the inspection unmanned aerial vehicle through a wireless radio frequency module, and each wall-climbing robot is controlled to move to a specified position for cleaning operation according to an instruction sent by the analysis control module. The application realizes efficient and green cleaning of dirt in large-area application scenes which are difficult to clean manually.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser cleaning, and particularly relates to a wall climbing cleaning device based on unmanned aerial vehicle inspection. BACKGROUND

[0002] Laser cleaning is a new type of surface pretreatment method, which has a series of advantages such as high cleaning efficiency, good cleaning quality, wide application object, small substrate damage, low labor intensity, no environmental pollution and easy automation.

[0003] In the ship cleaning industry, large shipping companies and shipbuilding and repairing factories usually use professional cleaning teams for cleaning operation, and most of them use in-dock manual cleaning. This cleaning method cleans the surface of the ship through high-intensity manual operation, which has the disadvantages of long cleaning period, high cleaning cost and high labor intensity.

[0004] Therefore, it is urgent to provide a laser cleaning device for large-area application scenarios to replace manual cleaning in complex environments. SUMMARY

[0005] The application aims at the deficiencies of the prior art, and provides a laser cleaning device and method for replacing manual cleaning in complex environments and facing large-area application scenarios, which solves the technical problems of low efficiency, serious pollution and high difficulty of manual cleaning in the prior art.

[0006] The technical solution for achieving the object of the application is as follows:

[0007] The utility model provides a kind of wall cleaning device based on unmanned aerial vehicle inspection, including inspection unmanned aerial vehicle and wall climbing robot;The inspection unmanned aerial vehicle includes drive module, infrared thermal imaging camera, analysis control module, shell, the drive module is four identical rotor structure, the rotor structure includes rotating rudder, propeller, rotor extension end, the rotor extension end is fixedly connected with the shell of inspection unmanned aerial vehicle, the rotating rudder is fixed in the end of rotor extension end, the propeller is fixed on rotating rudder, and rotating rudder rotates is provided with flight lift for fuselage;The wall climbing robot includes control module, laser cleaning module, motion module and shell, the shell of the wall climbing robot includes upper plate and lower plate, and upper plate and lower plate are connected by support column, the motion module includes six identical mechanical legs, and the mechanical leg includes I-beam, U-shaped beam, suction disc carrier, suction disc, first rudder, second rudder, third rudder, first U-shaped beam, second U-shaped beam, third U-shaped beam;The mechanical leg is fixed on lower plate by U-shaped beam, the first rudder is connected by thread cooperation with first U-shaped beam, the second rudder and third rudder are symmetrically fixed in I-beam both ends, and I-beam both ends are connected with first U-shaped beam and suction disc carrier respectively by second U-shaped beam, third U-shaped beam, and suction disc carrier end is connected with suction disc by interference fit, to form the whole mechanical leg structure.

[0008] Further, control module is installed on the lower plate, the control module includes wireless radio frequency module and singlechip, the wireless radio frequency module of control module is fixedly installed on the lower plate and is connected with the singlechip of control module, the control module is connected with the analysis control module of inspection unmanned aerial vehicle with signal, and is connected with first rudder, second rudder, third rudder.

[0009] Further, the first rudder, second rudder and third rudder all include rudder drive motor and oval rudder disc, the rudder drive motor of first rudder is connected by thread with first U-shaped beam, the rudder drive motor of second rudder and third rudder is installed on I-beam, and rudder drive motor drives oval rudder disc to rotate, the oval rudder disc of first rudder is connected with first U-shaped beam, drives I-beam to move, and the oval rudder disc of third rudder is connected with third U-shaped beam, drives suction disc carrier to move.

[0010] Further, the infrared thermal imaging camera is fixedly installed by thread connection on the front end of the shell of inspection unmanned aerial vehicle, and the photographic collection result is transmitted to analysis control module;The analysis control module is fixedly installed in the shell of inspection unmanned aerial vehicle, including wireless radio frequency module, singlechip, battery;The singlechip of analysis control module analyzes the photographic collection result transmitted by infrared thermal imaging camera, selects the part to be cleaned, and the analysis result is transmitted to wall climbing robot by the wireless radio frequency module of analysis control module, controls wall climbing robot to move to the part to be cleaned and carries out cleaning operation;The battery is powered for singlechip and infrared thermal imaging camera.

[0011] Further, the rotating rudder comprises a rudder driving motor and an elliptical rudder disc, the rudder driving motor of the rotating rudder is connected with the end of the rotor extension end through screw connection, the rudder driving motor of the rotating rudder drives the rotation of the elliptical rudder disc of the rotating rudder, the elliptical rudder disc of the rotating rudder is connected with the propeller, and the propeller is driven to move, so that power is provided for the device.

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] 1. The present application can replace manual cleaning of the cleaning part of the large-area application scene and realize automatic laser cleaning, a plurality of wall-climbing laser cleaning devices are arranged, the devices are connected with the inspection unmanned aerial vehicle through signals, and cleaning work is realized, and each wall-climbing cleaning device is more independent and more convenient to control.

[0014] 2. The wall-climbing laser cleaning device of the present application is connected with the inspection unmanned aerial vehicle through signals, so that the laser cleaning system of the present application can be remotely controlled, the difficulty and labor intensity of surface cleaning work of the large-area application scene are reduced, the efficiency of large-area laser cleaning is improved, and a new method is provided for cleaning work in a complex environment that cannot be operated by manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the inspection unmanned aerial vehicle in the present application;

[0016] Figure 2 is a schematic diagram of the wall-climbing cleaning device in the present application;

[0017] In the figure: 1 - suction cup, 2 - suction cup carrier, 3 - I-beam, 4 - U-shaped beam, 5 - laser cleaning module, 6 - upper plate, 7 - control module, 8 - third rudder, 9 - second rudder, 10 - first rudder, 11 - lower plate, 12 - third U-shaped beam, 13 - second U-shaped beam, 14 - first U-shaped beam, 15 - propeller, 16 - rotating rudder, 17 - shell of the inspection unmanned aerial vehicle, 18 - infrared thermal imaging lens, 19 - rotor extension end. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0019] The present application is further described below in combination with the drawings and examples.

[0020] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as part of the scope of the invention.

[0021] A wall-climbing cleaning device based on drone inspection includes an inspection drone and a wall-climbing robot; the inspection drone, such as... Figure 1 As shown, the system includes a drive module, an infrared thermal imaging lens (18), an analysis and control module, and a shell (17). The drive module consists of four identical rotor structures, each rotor structure including a rotary servo (16), a propeller (15), and a rotor extension (19). The rotor extension (19) is fixedly connected to the shell (17) of the inspection drone. The rotary servo (16) is fixed to the end of the rotor extension (19), and the propeller (15) is fixed to the rotary servo (16), rotating with the rotary servo (16) to provide lift for the drone. The wall-climbing robot is as follows: Figure 2 As shown, the wall-climbing robot includes a control module (7), a laser cleaning module (5), a motion module, and a shell. The shell includes an upper plate (6) and a lower plate (11), which are connected by support columns. The motion module includes six identical mechanical legs, each consisting of an I-beam (3), a U-shaped beam (4), a suction cup carrier (2), a suction cup (1), a first servo motor (10), a second servo motor (9), a third servo motor (8), a first U-shaped beam (14), a second U-shaped beam (13), and a third U-shaped beam (14). The mechanical leg is fixed to the lower plate (11) by the U-shaped beam (4). The first servo motor (10) is connected to the first U-shaped beam (14) by a threaded connection. The second servo motor (9) and the third servo motor (8) are symmetrically fixed to both ends of the I-beam (3). The two ends of the I-beam (3) are connected to the first U-shaped beam (14) and the suction cup carrier (2) by the second U-shaped beam (13) and the third U-shaped beam (12) respectively. The end of the suction cup carrier (2) is connected to the suction cup (1) by an interference fit, thus forming the entire mechanical leg structure.

[0022] The control module (7) is installed on the lower plate (11). The control module (7) includes a wireless radio frequency module and a microcontroller. The wireless radio frequency module of the control module (7) is fixedly installed on the lower plate (11) and connected to the microcontroller of the control module (7). The control module (7) is connected to the analysis and control module of the inspection drone by signal connection and is connected to the first servo motor (10), the second servo motor (9), and the third servo motor (8).

[0023] The first steering engine (10), the second steering engine (9) and the third steering engine (8) each comprise a steering engine driving motor and an elliptical steering engine disc, the steering engine driving motor of the first steering engine (10) is connected with the first U-shaped beam (14) through screw connection, the steering engine driving motors of the second steering engine (9) and the third steering engine (8) are installed on the I-shaped beam (3), the steering engine driving motor drives the elliptical steering engine disc to rotate, the elliptical steering engine disc of the first steering engine (10) is connected with the first U-shaped beam (14) to drive the I-shaped beam (3) to move, and the elliptical steering engine disc of the third steering engine (8) is connected with the third U-shaped beam (12) to drive the suction disc carrier (2) to move.

[0024] The rotating steering engine (16) comprises a steering engine driving motor and an elliptical steering engine disc, the steering engine driving motor of the rotating steering engine (16) is connected with the tail end of the rotor extension end (19) through screw connection, the steering engine driving motor of the rotating steering engine (16) drives the elliptical steering engine disc of the rotating steering engine (16) to rotate, the elliptical steering engine disc of the rotating steering engine (16) is connected with the propeller (15) to drive the propeller (15) to move, and power is provided for the device.

[0025] The infrared thermal imaging lens (18) is fixedly installed at the front end of the shell (17) of the inspection unmanned aerial vehicle through screw connection, and transmits the photographic collection result to the analysis control module; the analysis control module is fixedly installed inside the shell (17) of the inspection unmanned aerial vehicle and comprises a wireless radio frequency module, a single-chip microcomputer and a battery; the single-chip microcomputer of the analysis control module analyzes the photographic collection result transmitted by the infrared thermal imaging lens (18), screens out a part to be cleaned, and transmits the analysis result to the wall-climbing robot through the wireless radio frequency module of the analysis control module, so that the wall-climbing robot is controlled to move to the part to be cleaned to perform cleaning work; and the battery supplies power to the single-chip microcomputer and the infrared thermal imaging lens (18).

[0026] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A wall cleaning device based on unmanned aerial vehicle inspection, characterized in that, The wall climbing robot comprises a control module (7), a laser cleaning module (5), a movement module and a shell, the shell of the wall climbing robot comprises an upper plate (6) and a lower plate (11), the upper plate (6) and the lower plate (11) are connected through support columns, the movement module comprises six identical mechanical legs, the mechanical leg comprises an I-shaped beam (3), a U-shaped beam (4), a suction disc carrier (2), a suction disc (1), a first steering engine (10), a second steering engine (9), a third steering engine (8), a first U-shaped beam (14), a second U-shaped beam (13) and a third U-shaped beam (12); the mechanical leg is fixed on the lower plate (11) through the U-shaped beam (4), the first steering engine (10) is connected with the first U-shaped beam (14) through threaded cooperation, the second steering engine (9) and the third steering engine (8) are symmetrically fixed at both ends of the I-shaped beam (3), both ends of the I-shaped beam (3) are connected with the first U-shaped beam (14) and the suction disc carrier (2) through the second U-shaped beam (13) and the third U-shaped beam (12) respectively, and the suction disc carrier (2) is connected with the suction disc (1) through interference fit at the tail end, so as to form the whole mechanical leg structure. The infrared thermal imaging lens (18) is fixedly installed at the front end of the shell (17) of the inspection unmanned aerial vehicle through threaded connection, and transmits the photography collection result to the analysis control module; the analysis control module is fixedly installed in the shell (17) of the inspection unmanned aerial vehicle and comprises a wireless radio frequency module, a single-chip microcomputer and a battery; The single-chip microcomputer of the analysis control module analyzes the photography collection result transmitted by the infrared thermal imaging lens (18), screens out a part to be cleaned, and transmits the analysis result to the wall climbing robot through the wireless radio frequency module of the analysis control module, so that the wall climbing robot is controlled to move to the part to be cleaned to perform cleaning work; the battery supplies power to the single-chip microcomputer and the infrared thermal imaging lens (18).

2. The wall cleaning device based on unmanned aerial vehicle inspection according to claim 1, characterized in that, The control module (7) is installed on the lower plate (11), the control module (7) comprises a wireless radio frequency module and a single-chip microcomputer, the wireless radio frequency module of the control module (7) is fixedly installed on the lower plate (11) and connected with the single-chip microcomputer of the control module (7), the control module (7) is signal-connected with the analysis control module of the inspection unmanned aerial vehicle and connected with the first steering engine (10), the second steering engine (9) and the third steering engine (8).

3. The wall cleaning device based on unmanned aerial vehicle inspection according to claim 1, characterized in that, The first steering engine (10), the second steering engine (9) and the third steering engine (8) each comprise a steering engine driving motor and an elliptical steering engine disc, the steering engine driving motor of the first steering engine (10) is connected with the first U-shaped beam (14) through screw connection, the steering engine driving motors of the second steering engine (9) and the third steering engine (8) are installed on the I-shaped beam (3), the steering engine driving motor drives the elliptical steering engine disc to rotate, the elliptical steering engine disc of the first steering engine (10) is connected with the first U-shaped beam (14) to drive the I-shaped beam (3) to move, the elliptical steering engine disc of the third steering engine (8) is connected with the third U-shaped beam (12) to drive the suction disc carrier (2) to move.

4. The wall cleaning device based on unmanned aerial vehicle inspection according to claim 1, characterized in that, The rotating steering engine (16) comprises a steering engine driving motor and an elliptical steering engine disc, the steering engine driving motor of the rotating steering engine (16) is connected with the tail end of the rotor extension end (19) through screw connection, the steering engine driving motor of the rotating steering engine (16) drives the elliptical steering engine disc of the rotating steering engine (16) to rotate, the elliptical steering engine disc of the rotating steering engine (16) is connected with the propeller (15) to drive the propeller (15) to move, and power is provided for the device.

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