A robotic aerial work platform and control method

Abstract

The application belongs to the technical field of aerial work equipment, and particularly relates to a robot aerial work platform and a control method, which comprises four micro turbine engines, two slide rail units, two hydraulic-like rod structures and a multifunctional robot. The four micro turbine engines are arranged at two ends of the two slide rail units respectively. The two hydraulic-like rod structures are connected to the two ends of the two slide rail units respectively, so that the two slide rail units are parallel. The multifunctional robot is arranged on the slide rail units and can move on the slide rail units. The platform can adapt to aerial objects of different shapes and sizes through the slide rails and the hydraulic-like rod structures, and the flexibility of work is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aerial work equipment, and particularly relates to a robot aerial work platform and a control method. BACKGROUND

[0002] In the development process of modern society, the field of aerial work is facing many challenges and opportunities. With the acceleration of urbanization, high-rise buildings in cities are emerging like mushrooms, and large-scale infrastructure such as bridges and towers is also increasing. These aerial buildings and facilities cannot be separated from aerial work in the process of construction, maintenance and subsequent operation. However, the existing aerial work platform technology has certain limitations. Traditional aerial work platforms mostly adopt fixed size design, which means they can only be used for specific size aerial object work. For example, when building an external wall, if the shape of the building is irregular or there are protruding parts, the fixed size work platform may not closely fit the wall, making it difficult for workers to reach some key positions for construction, thereby affecting the construction quality and efficiency. Moreover, the manual driving method gradually exposes many drawbacks in modern aerial work. Manual driving not only has low work efficiency, consumes a lot of manpower and time cost, but also has high safety risks. Workers are prone to fatigue after long-term high-intensity physical labor in the aerial environment, increasing the likelihood of accidents.

[0003] At the same time, with the continuous progress of technology, the requirements for aerial work are also increasing. The rapid development of automation technology makes all industries seek more efficient and safer work methods. In the field of aerial work, people urgently hope to have a platform that can not only adapt to various shapes and sizes of aerial objects, but also realize automated work, reduce manpower investment, and improve the accuracy and efficiency of work. For example, when detecting and maintaining large bridges, detailed inspection of various parts of the bridge is required, including bridge piers, bridge decks, bridge structures, etc. Traditional platforms may need to adjust the position and angle multiple times, and the detection results may be greatly affected by human factors. An automated work platform can accurately scan and detect the bridge in all directions through a pre-set program, and timely discover potential safety hazards.

[0004] In addition, with the enhancement of environmental awareness, new requirements have been put forward for the energy utilization efficiency and environmental friendliness of aerial work platforms. Traditional driving methods may consume a lot of energy and produce a lot of pollutant emissions. SUMMARY

[0005] To solve the above problems existing in the prior art, the application provides a robot aerial work platform, which comprises four micro turbine engines, two slide rail units, two hydraulic-like rod structures and a multifunctional robot, the four micro turbine engines are arranged at two ends of the two slide rail units respectively, the two hydraulic-like rod structures are connected to the two ends of the two slide rail units respectively, so that the two slide rail units are parallel, and the multifunctional robot is arranged on the slide rail units and can move on the slide rail units.

[0006] A robot aerial work platform control method, the method comprises the following steps: starting the robot aerial work platform, a user gives an initial control instruction; initializing the multifunctional robot; detecting the current platform posture and engine power according to the initial control instruction; detecting the current environmental wind speed and wind direction; judging whether the wind speed and wind direction affect the platform movement according to the current platform posture and engine power, if there is an influence, calculating the optimal windproof strategy, and outputting the corresponding power setting of the four micro turbine engines; if there is no influence, calculating the optimal driving power of each micro turbine engine; inputting the optimal driving power into the corresponding micro turbine engine; whether the system receives a new instruction, if yes, re-detecting the current platform posture and engine power, otherwise the micro turbine engine keeps working at power.

[0007] The application has the following beneficial effects:

[0008] The micro turbine engine of the application provides stable power output, ensures the continuous operation of the platform and the continuity of the work. Through the slide rail and the hydraulic-like rod structure, the platform can adapt to high-altitude objects of different shapes and sizes, improving the flexibility of the work. The automatic work of the multifunctional robot of the application improves the work efficiency and reduces the risk and cost of manual work. The overall design of the application is compact, easy to operate, maintain and upgrade, and is suitable for various high-altitude work environments. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 It is a schematic diagram of the overall structure of the robot aerial work platform of the application;

[0010] Figure 2 It is a slide rail unit and a hydraulic-like rod structure diagram of the application;

[0011] Figure 3 It is a schematic diagram of the multifunctional robot executing tasks on the work platform of the application;

[0012] Figure 4 It is a schematic diagram of the micro turbine engine structure of the application;

[0013] Figure 5 It is a robot aerial work platform control flowchart of the application;

[0014] Wherein, 1, micro turbine engine, 2, slide rail unit, 3, hydraulic-like rod structure, 4, multifunctional robot. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0016] A robotic aerial work platform includes a micro turbine engine 1, a slide rail unit 2, a hydraulic-like rod structure 3, and a multifunctional robot 4. The micro turbine engine 1 provides power, the slide rail unit 2 adjusts the size of the platform frame, the hydraulic-like rod structure 3 provides support and stability, and the multifunctional robot 4 performs aerial work tasks.

[0017] In this embodiment, a robotic aerial work platform, as shown in Figures 1 to 4 includes four micro turbine engines, two slide rail units, two hydraulic-like rod structures, and a multifunctional robot. The four micro turbine engines are respectively arranged at the two ends of the two slide rail units. The two hydraulic-like rod structures are respectively connected to the two ends of the two slide rail units, so that the two slide rail units are parallel. The multifunctional robot is arranged on the slide rail unit, and the multifunctional robot can move on the slide rail unit.

[0018] The slide rail unit (2) can be controlled by electric or manual operation to realize the telescopic adjustment of the platform frame to adapt to the size and shape of different aerial work objects.

[0019] The hydraulic-like rod structure (3) works with the slide rail unit (2) to maintain the stability of the overall structure when the platform size changes, and to adapt to the vibration and wind force of the external aerial environment.

[0020] The multifunctional robot (4) is installed on the platform and has multi-task capabilities of monitoring, detecting, maintaining, and cleaning, and can automatically operate according to the needs of aerial work.

[0021] The micro turbine engine (1) provides continuous power output, and adjusts the output power through an adaptive control system according to the load and wind speed and other environmental factors during aerial work, to ensure the stability of the platform.

[0022] In the embodiment, the aerial work platform further comprises a processor connected with the micro turbine engine (1) and the track unit (2), configured to increase or decrease the power of the turbine engine or the telescopic frame according to the control demand in response to the result of the control. A battery connected with the processor and the motor provides electric energy. A motor connected with the processor is used to control the telescoping of the track unit (2). A fuel tank connected with the turbine engine provides energy.

[0023] In the embodiment, the detection assembly comprises an environment recognition module and a high-precision sensor connected with the processor and configured to detect the distance between the platform and the detected object. A wind speed and direction sensor connected with the processor is configured to detect the real-time wind direction and speed information of the platform. An angle sensor and a pressure sensor are installed at the joints of the hydraulic rod to monitor the force state and angle change of the rod in real time, and the sensor data is fed back to the processor to dynamically adjust the support strength.

[0024] In one aspect of the embodiment of the present disclosure, a control method of the aerial work platform based on any of the above embodiments is provided, comprising: starting the robot aerial work platform, and a user giving an initial control instruction; initializing the multifunctional robot; detecting the attitude and engine power of the current platform according to the initial control instruction; detecting the wind speed and direction of the current environment; judging whether the wind speed and direction affect the platform movement according to the attitude and engine power of the current platform, if there is an influence, calculating the optimal windproof strategy, and outputting the corresponding power setting of the four micro turbine engines; if there is no influence, calculating the optimal driving power of each micro turbine engine; inputting the optimal driving power into the corresponding micro turbine engine; whether the system receives a new instruction, if yes, detecting the attitude and engine power of the current platform again, otherwise the micro turbine engine keeps working at the power.

[0025] In the embodiment, judging whether the wind speed and direction affect the platform movement comprises: presetting a safety threshold; using the wind speed and direction sensor to collect the current environmental data in real time, comparing the wind speed and direction with the preset safety threshold, if greater than the safety threshold, combining the attitude and engine power of the platform to analyze the influence of the wind force on the attitude deviation and stability of the platform, otherwise the wind speed and direction do not affect the platform movement.

[0026] Specifically, the influence of wind speed and direction is judged, and real-time wind speed and direction data collected by the wind speed and direction sensor is compared with preset safety thresholds. The preset safety thresholds include an upper limit of wind speed and a permissible range of wind direction. The upper limit of wind speed is determined according to the structural strength, stability and operation requirements of the platform, and is set to 4 m / s. When the real-time wind speed exceeds the value, the platform movement may be greatly affected. The permissible range of wind direction is determined according to the stability of the platform in different operation directions, and is set to a range of ± 30° with respect to the longitudinal axis of the platform. If the wind direction exceeds the range, the platform may be unevenly stressed. If the wind speed exceeds the upper limit or the wind direction exceeds the permissible range, it is preliminarily judged that the wind speed and direction may affect the platform movement, and the next step of accurate analysis is entered. If both are within the threshold range, it is considered that the wind speed and direction have not yet had a significant impact on the platform movement.

[0027] The control method of the aerial work platform further includes:

[0028] The optimal windproof strategy is calculated, the wind resistance characteristics of the platform are optimized based on real-time data of wind speed and direction and attitude information of the platform, and the structural parameters of the slide rail unit and the hydraulic rod are adjusted. Specifically, according to the real-time data collected by the wind speed and direction sensor and the current attitude information of the platform, the position of the slide rail in the slide rail unit is changed, the relative sliding of the upper slide rail and the lower slide rail is controlled, and the extension length of the hydraulic rod in the hydraulic rod structure is adjusted. That is, when the wind blows from one side, the slide rail is moved to the other side, and the extension length of the hydraulic cylinder is shortened, the stress distribution of the platform is changed, the overall structure of the platform can better adapt to the direction and size of the wind, thereby reducing the wind resistance and reducing the influence of the wind on the stability of the platform.

[0029] The optimal driving power is calculated. Under the condition that the wind speed and direction have no influence, according to the load distribution of the platform, real-time wind speed and direction data and current attitude adjustment requirements, if the front end load of the platform is heavy and the front end needs to be raised during attitude adjustment, the power of the two micro turbine engines at the front end is appropriately increased, the optimal power P of each turbine engine is calculated, and the expression is: i Output value, the expression is:

[0030] P i =F·v+C·A·v2 2

[0031] Wherein: F is the gravity influence of the current platform load, v is the attitude adjustment speed factor, C is the wind resistance coefficient, A is the effective wind area, and v2 is the real-time wind speed.

[0032] Under the condition that the wind speed and direction have an influence, the power output of the four micro turbine engines is dynamically allocated, the wind force and the attitude adjustment are balanced, and the stability and accuracy of the platform in aerial work are ensured. When the wind direction is from one side of the platform, the lateral force generated by the wind direction is F w, appropriately increasing the power of the micro turbine engine on the other side ΔP, while reducing the power of the micro turbine engine on the same side ΔP, so that the platform generates a torque to balance the wind force, preventing the platform from deviating to one side, expressed as:

[0033] F w xl = ΔPxr

[0034] Wherein: l is the distance from the wind direction force point to the platform rotation center, r is the distance from the force point generated by the micro turbine engine to the platform rotation center.

[0035] And in the process of adjusting the power, combined with the platform attitude information fed back by the attitude sensor, ensure that the platform always remains horizontal or within the allowed attitude range.

[0036] The control method of the aerial work platform further comprises:

[0037] Through the environmental recognition module and high-precision sensor to detect the distance between the detected object and the detected object, the power of the four micro turbine engines is adjusted adaptively to control the distance between the detected object and the detected object. Through the angle sensor and pressure sensor located at the joint of the hydraulic rod, the clamping force of the detected object is controlled in real time. Through the wind direction and wind speed sensor, the stability of the aerial work platform is adaptively maintained. The multifunctional robot 4 continuously collects relevant data of the work object according to the preset program or the instructions of the operator, and realizes accurate work.

[0038] Embodiment 1

[0039] Specific case: maintenance and repair of offshore wind turbine blades

[0040] The embodiment provides a robot aerial work platform, which uses a telescopic frame to stably clamp the offshore wind turbine blade, and performs various inspection, cleaning, repair and other tasks through the robot arm carried thereon. The method has high work efficiency and safety, and can quickly complete the repair task in a harsh offshore environment

[0041] First, the robot aerial work platform is carried by a ship or a vehicle to the vicinity of a designated wind turbine.

[0042] The micro turbine engine 1 is installed at the bottom of the platform and connected to other modules of the platform through an electric control system to ensure stable signal transmission.

[0043] Subsequently, the engine is started, the platform begins to ascend, and the micro turbine engine can automatically adjust the output power according to the load change to ensure stable and continuous power in the high-altitude environment. When the load increases during the platform ascending process, the intelligent control system automatically increases the engine output power to maintain a stable ascending speed.

[0044] The adaptive control system adjusts the turbine power according to real-time wind speed, wind direction and other external environmental factors to ensure the stability of the platform in the air. When the wind speed reaches 4 meters per second and the wind direction has a certain angle with the platform rising direction, the control system automatically enhances the power output, increases the power of the micro turbine engine on the windward side, and avoids platform shaking or instability.

[0045] The platform is equipped with electric sliding rails 2, which can be operated electrically or manually to extend and adjust the platform frame. The design of the sliding rail system allows the platform to flexibly adjust the length and height of its frame according to the needs of the working environment.

[0046] Hydraulic rod-like structures 3 are installed on both sides of the sliding rail system, mainly used to provide additional support and stability. The hydraulic rod can automatically adjust the support angle and strength according to the size changes of the platform, effectively preventing the platform from shaking on the wind or irregular surface. When encountering strong winds, the hydraulic rod automatically increases the support strength, and the angle is adjusted according to the wind direction. When the wind blows from one side, the hydraulic rod on the same side expands outward by 5-10 degrees, enhancing the support on the same side of the platform. It can enhance the stability of the platform in various complex environments, especially in strong winds or high-altitude vibration conditions, to ensure the stability and safety of the platform.

[0047] The sliding rail system is equipped with environmental recognition modules and high-precision sensors, allowing it to automatically recognize the surrounding environment and accurately adjust according to the preset path. When working near the edge of a building, the electric sliding rails 2 and hydraulic rod-like structures 3 automatically adjust the frame length and width to ensure a safe distance between the platform and the building, preventing platform collisions or equipment damage.

[0048] When the platform approaches the wind turbine blades, the system uses the high-definition camera and infrared sensors of the mechanical arm 4 to capture the blade position and state in real time, accurately controlling the platform position to ensure that the platform hovers near the blades.

[0049] The adaptive control algorithm stabilizes the hovering position where work is needed. The system can adjust the platform position according to the wind speed and blade attitude to ensure stability during blade clamping and prevent interference from strong winds or other external factors.

[0050] When the platform reaches the working height and hovers near the blades, the platform's telescopic frame (realized by electric sliding rails and hydraulic rod-like structures) accurately shrinks and clamps the target blades through the adaptive control system.

[0051] The clamping force and method of the frame are dynamically adjusted according to factors such as blade size, shape, wind speed, etc., to ensure stable clamping without damaging the blades. When the wind speed is high, the frame will automatically increase the clamping force to resist external wind.

[0052] The robot 4 installed on the platform is equipped with high-resolution cameras, infrared sensors, and laser range finders, etc. The control system of the robot arm can automatically perform precise operations according to the preset tasks. The robot arm has multiple degrees of freedom and can perform various maintenance operations.

[0053] The robot arm 4 detects cracks on the blade through integrated high-definition cameras and infrared sensors, finds any potential damage or failure location, and slowly moves along the blade. The detection equipment collects real-time structural data of the blade, including whether there are cracks, corrosion, etc. defects inside the blade, and the wear condition of the blade surface.

[0054] The detection data is transmitted back to the control system of the platform in real time through wireless transmission. The control system analyzes and processes the data to determine the health status of the blade.

[0055] If the blade has problems, the operator can develop appropriate maintenance plans based on the test results.

[0056] The robot arm 4 is equipped with nozzles and brushes, and can clean the blade through high-pressure water guns or spray devices to remove salt mist, dust or other contaminants.

[0057] The robot arm 4 is equipped with a spraying tool that can repair the corrosion-resistant coating on the blade surface to protect the blade from corrosion.

[0058] If the blade surface is found to have cracks or damage, the robot arm 4 can repair the damaged area through welding or filling materials to ensure the structural strength of the blade.

[0059] After the work is completed, the robot arm 4 will return to its original position and remove all tools. The robot arm 4 automatically confirms that all repair and detection tasks have been completed and performs a final manual inspection.

[0060] The electric slide rail 2 and the hydraulic rod structure 3 will automatically expand and release contact with the blade. The platform control system instructs the micro turbine drive system to reduce power and prepare to withdraw.

[0061] The slide rail system automatically identifies the surrounding environment and adjusts the frame length according to the preset withdrawal path to ensure that the platform maintains a safe distance from the building during the withdrawal process.

[0062] The micro turbine drive system will automatically adjust the output power according to the load changes during the platform detachment process to ensure smooth flight of the platform.

[0063] A robot aerial work platform control method, such as Figure 5As shown, the method comprises: starting the robot aerial work platform, a user gives an initial control instruction; initializing the multifunctional robot; detecting the current platform attitude and engine power according to the initial control instruction; detecting the current environment wind speed and wind direction; judging whether the wind speed and wind direction affect the platform movement according to the current platform attitude and engine power, if there is an influence, calculating the optimal windproof strategy, and outputting the corresponding power setting of the four micro turbine engines; if there is no influence, calculating the optimal driving power of each micro turbine engine; inputting the optimal driving power into the corresponding micro turbine engine; whether the system receives a new instruction, if yes, re-detecting the current platform attitude and engine power, otherwise the micro turbine engine keeps working with power.

[0064] The above examples further illustrate the purpose, technical solutions and advantages of the present application. It should be understood that the above examples are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made to the present application within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a robotic aerial work platform, characterized in that, The robotic aerial work platform includes: four micro turbine motors, two slide rail units, two hydraulic rod-like structures, and a multi-functional robot; the four micro turbine motors are respectively located at both ends of the two slide rail units; the two hydraulic rod-like structures are respectively connected to both ends of the two slide rail units, making the two slide rail units parallel; the multi-functional robot is mounted on the slide rail units and can move on the slide rail units. Controlling the robotic aerial work platform includes: starting the robotic aerial work platform and receiving initial control commands from the user; initializing the multi-functional robot; detecting the current platform's attitude and engine power based on the initial control commands; detecting the current wind speed and direction; determining whether the wind speed and direction affect the platform's movement based on the current platform's attitude and engine power; if they do, calculating the optimal wind protection strategy and outputting the power settings for the four micro-turbine engines; if they do not have an impact, calculating the optimal drive power for each micro-turbine engine; inputting the optimal drive power into the corresponding micro-turbine engine; and checking if the system receives new commands. If so, the system re-detects the current platform's attitude and engine power; otherwise, the micro-turbine engines maintain their power output. The calculation of the optimal wind protection strategy includes: adjusting the structural parameters of the slide rail unit and hydraulic rod based on real-time wind speed and direction data and platform attitude information, optimizing the platform's wind resistance characteristics, dynamically allocating the power output of the four micro turbine engines, and balancing the effects of wind and attitude adjustment.

2. The control method for a robotic aerial work platform according to claim 1, characterized in that, The slide rail unit includes an upper slide rail and a lower slide rail. The upper slide rail is disposed on the upper surface of the lower slide rail, so that the upper slide rail and the lower slide rail can slide relative to each other.

3. The control method for a robotic aerial work platform according to claim 2, characterized in that, The sliding between the upper and lower slide rails is controlled by electric or manual operation.

4. The control method for a robotic aerial work platform according to claim 1, characterized in that, The hydraulic rod-like structure includes a hydraulic rod, a cylinder, and a hydraulic device; the hydraulic rod is matched with the cylinder, and the hydraulic device is connected to the hydraulic rod and the cylinder to control the movement of the hydraulic rod and the cylinder.

5. The control method for a robotic aerial work platform according to claim 1, characterized in that, The multi-functional robot includes a detection component, a slider, and pulleys; the pulleys are located at the bottom of the slider, allowing the slider to move on the upper rail, and the detection component is located on the upper part of the slider to collect corresponding data.

6. The control method for a robotic aerial work platform according to claim 5, characterized in that, The detection components include an environmental recognition module and high-precision sensors; the high-precision sensors include wind speed and direction sensors, angle sensors, and pressure sensors.

7. The control method for a robotic aerial work platform according to claim 1, characterized in that, Determining whether wind speed and direction affect platform movement includes: setting a preset safety threshold; using wind speed and direction sensors to collect current environmental data in real time, comparing the wind speed and direction with the preset safety threshold; if it exceeds the safety threshold, then combining the platform's attitude and engine power to analyze the impact of wind force on the platform's attitude deviation and stability; otherwise, if the wind speed and direction are not the same, the platform movement is not affected.

8. The control method for a robotic aerial work platform according to claim 1, characterized in that, Calculating the optimal drive power for each micro turbine engine includes: analyzing the situation where wind speed and direction have no effect, and calculating the optimal power output value for each turbine engine based on the current attitude adjustment requirements; and calculating the optimal power output value for each turbine engine by balancing the effects of wind force and attitude adjustment requirements when wind speed and direction have an effect.

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