Vector four-rotor and four-foot wall-climbing robot collaborative operation system and method

Abstract

The invention discloses a vector four-rotor and four-foot wall-climbing robot collaborative operation system and method, and relates to the field of wall-climbing robots. The problems that in an existing case of interaction between an unmanned aerial vehicle and a wall-climbing robot, the unmanned aerial vehicle and the wall-climbing robot are still two independent individuals, and the wall-climbing robot cannot make full use of the flexibility of the unmanned aerial vehicle in a three-dimensional space to improve the moving speed are solved. The system comprises a vector four-rotor platform, a four-foot wall-climbing robot and a controllable inclined lifting type mechanical spin lock, a fuselage rotor wing platform fuselage is fixed to four symmetrically-distributed frame units, paddles are fixed to brushless motors, and the brushless motors are fixed to steering engines through vector steering engine supports. A groove for containing a steering engine is formed in the tail end of the rotor support, a rudder arm of the steering engine is fixed to the rotor support, the steering engine controls four vector rotors in the vector rotor unit to cooperate together, a rotor platform body is kept parallel to the ground, and collaborative operation of the vector four rotors and the four-foot wall-climbing robot is completed. The method is suitable for the field of bridge structure detection.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a system and method for collaborative operation of a vector quadrotor and a quadruped wall-climbing robot. Background Art

[0002] With the gradual development of modern technology, large-scale factory equipment, skyscrapers and other scenes usually bring danger to workers. In high-altitude or high-risk scenes, if there is a robot that can freely climb on vertical walls, it will greatly reduce the danger of workers' operations.

[0003] As a type of industrial robot, the vacuum negative pressure adsorption wall climbing robot is a special robot that crawls on vertical walls by means of negative pressure fans or vacuum suction cups. With the continuous development of robot movement technology and adsorption technology, its application areas are gradually expanding, such as tank maintenance, surface flaw detection, wall reconnaissance, cleaning spraying, etc.

[0004] At present, vacuum negative pressure adsorption wall-climbing robots are commonly wheeled and tracked robots. Although these robots move quickly, due to their limited freedom, they are difficult to adapt to special wall conditions such as curved walls and right-angle turns. It is also difficult to climb over obstacles such as billboards and window frames. Although quadruped robots have multiple degrees of freedom, higher flexibility and obstacle-crossing capabilities, and can adapt to various types of curved walls, they move slowly. Due to the constraints of time cost and endurance, the operating height of quadruped wall-climbing robots in complex environments is also limited. In addition, the field of view of wall-climbing robots is limited in complex wall environments, resulting in low work efficiency, and it is difficult to achieve automatic control without human control.

[0005] In the field of collaborative systems between quad-rotor drones and wall-climbing robots, there are existing cases of interaction between drones and wall-climbing robots, such as drones providing visual monitoring, global scanning, lighting and other third-person perspectives for wall-climbing robots to assist in their operations. Although this method solves the problem of limited vision of wall-climbing robots, drones and wall-climbing robots are still two independent entities. In terms of movement speed, wall-climbing robots cannot fully utilize the flexibility of drones in three-dimensional space to increase their movement speed. Summary of the invention

[0006] The present invention aims to solve the problem of limited field of view of the wall-climbing robot in existing cases of interaction between a drone and a wall-climbing robot. However, the drone and the wall-climbing robot are still two independent individuals. In terms of movement speed, the wall-climbing robot cannot fully utilize the flexibility of the drone in three-dimensional space to increase the movement speed.

[0007] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] Solution 1: The present invention proposes a cooperative operation system for a vector quadrotor and a quadruped wall-climbing robot. The system includes a vector quadrotor platform, a quadruped wall-climbing robot, and a controllable tilt-lifting mechanical rotary lock.

[0009] The rotor platform includes a fuselage rotor platform fuselage, which includes an upper fuselage plate and a lower fuselage plate. The fuselage rotor platform fuselage is fixed on four symmetrically distributed frame units. The frame unit includes a rotor bracket, a vector rotor unit, and a folding landing gear unit.

[0010] The vector rotor unit includes a brushless motor, a propeller blade, a servo motor, and a vector servo bracket. The propeller blade is fixed on the brushless motor, and the brushless motor is fixed to the servo motor through the vector servo bracket.

[0011] A groove for accommodating the servo motor is provided at the end of the rotor bracket. The servo arm of the servo motor is fixed on the rotor bracket. The servo motor rotates to make the brushless motor rotate in a plane perpendicular to the frame unit, so as to realize single-degree-of-freedom vector rotation of the rotor, and control the four vector rotors in the vector rotor unit to cooperate together to keep the fuselage of the rotor platform always parallel to the ground, provide upward lift, and complete the cooperative operation of the vector quadrotor and the quadruped wall-climbing robot.

[0012] Further, a preferred implementation is provided. The folding landing gear unit is arranged below the frame unit. The folding landing gear unit includes a landing gear and an electric push rod. The tail end of the landing gear is fixed to the tail end of the electric push rod.

[0013] Further, a preferred implementation is provided. The quadruped wall-climbing robot includes an upper bottom plate, a lower bottom plate, and left and right machine legs symmetrically distributed thereon.

[0014] The area between the upper bottom plate and the lower bottom plate is used to place the control system, power supply, and detection sensors.

[0015] Further, a preferred implementation is provided. The left and right machine legs respectively include three joints, namely a left first joint, a left second joint, a left third joint, a right first joint, a right second joint, and a right third joint.

[0016] The left first joint, the left second joint, the left third joint, the right first joint, the right second joint, and the right third joint are each controlled by a servo motor, that is, both the left and right machine legs include three degrees of freedom.

[0017] Further, a preferred implementation is provided. The controllable tilt-lifting mechanical rotary lock includes an upper lock shell, a lower guide flap, an upper guide flap, a rotating disk, and a tilt-lifting mechanism. The rotating disk is suspended on the lower fuselage plate of the vector quadrotor platform.

[0018] Further, a preferred embodiment is provided, wherein a ring of disc gears is provided on the lower plate of the fuselage, which meshes with the gear-shaped rudder disc provided under the rotating disc, and the gear-shaped rudder disc is fixed on the servo motor.

[0019] Further, a preferred embodiment is provided, wherein the lower guide flap lock housing is arranged away from the upper bottom plate, and the end of the upper bottom plate is cylindrical, with an outer diameter the same as that of the upper lock housing and an inner diameter the same as that of the upper guide flap, and a set of symmetric guide flaps capable of clamping with the upper guide flap are arranged inside.

[0020] Further, a preferred embodiment is provided, wherein a groove rail for fitting with the protruding rail at the lower end of the upper lock housing is arranged between the outer cylinder and the inner guide flap of the lower guide flap lock housing.

[0021] Further, a preferred embodiment is provided, wherein the tilt-lifting mechanism comprises a sliding table, a stepping motor, a stepping motor bracket, a flange bearing, a support chassis, a lead screw bearing module, a support rail, a lifting plane, and a driven rod;

[0022] The sliding table is fixed on the lead screw bearing module. By the rotation of the stepping motor, the sliding table moves back and forth along the lead screw as the lead screw rotates; the support rail is used as the support of the sliding table. As the lead screw rotates, if the sliding table moves forward, the lifting plane fixed on the sliding table is laid flat; if the sliding table moves backward, the lifting plane fixed on the sliding table is tilted; the driven rod is used for reinforcement and support.

[0023] Solution 2: A method for cooperative operation of a vector quadrotor and a quadruped wall-climbing robot. The method is implemented based on the system described in Solution 1, and the cooperative operation method includes:

[0024] When the vector quadrotor platform and the quadruped wall-climbing robot are docked, the lifting plane of the tilt-lifting mechanism rises, and the rotor platform adjusts the rotor speed so that the fuselage inclination angle is consistent with the lifting plane; the upper guide flap adjusts with the yaw angle of the rotor platform to be maximally aligned with the guide flap in the lower guide flap lock housing; at this time, the rotor platform applies pressure to the lifting plane, and the upper guide flap and the guide flap in the lower guide flap lock housing are locked with each other. At this time, the vector quadrotor platform and the quadruped wall-climbing robot are relatively stationary; the servo motor fixed on the lower plate of the fuselage rotates clockwise, driving the protruding rail at the bottom end of the upper lock housing to slide into the groove rail for fitting, that is, the rotor platform takes the wall-climbing robot away from the wall surface, and at the same time, the inclination angle of the tilt-lifting mechanism is restored;

[0025] When the vector quadrotor platform separates from the quadruped wall - climbing robot, the lifting plane of the tilting - lifting mechanism rises, and the vector quadrotor platform and the quadruped wall - climbing robot change from being parallel to having an angular difference, which is used to make the rotor platform deviate from the vertical attitude; the servo fixed on the lower plate of the fuselage rotates counterclockwise, driving the protruding slide rail at the bottom of the upper lock shell to slide out of the groove slide rail, causing them to separate; that is, the wall - climbing robot successfully reaches the wall surface, and after the tilting - lifting mechanism is restored, it starts to work.

[0026] The beneficial effects of the present invention are as follows:

[0027] A cooperative operation system and method of a vector quadrotor and a quadruped wall - climbing robot proposed by the present invention combines a vector quadrotor unmanned aerial vehicle and a quadruped wall - climbing robot, and proposes a cooperative operation system of a vector quadrotor and a quadruped wall - climbing robot with good obstacle - crossing ability, which can quickly move with the help of a detachable vector quadrotor device, and can use the detachable vector quadrotor device to assist in reconnaissance and expand the field of vision, and can move flexibly between the ground, the air and the wall surface.

[0028] In the cooperative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, the vector quadrotor platform is used to lift the quadruped wall - climbing robot off the ground and assist the robot to climb and attach to the target position on the wall surface, improving the climbing speed and overcoming the shortcoming of the slow movement of the quadruped robot; after the robot is stable on the wall surface, the vector quadrotor platform detaches from the robot to provide reconnaissance or visual assistance for the robot, expanding the detection field of vision of the wall - climbing robot.

[0029] In the cooperative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, the vector quadrotor platform adopts a vector rotor unit, which can dynamically and flexibly adjust the attitude of the rotor platform, and can realize the free unbinding and docking with the wall - climbing robot on the wall surface.

[0030] In the cooperative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, by adopting the method that the vector quadrotor platform is connected to the quadruped wall - climbing robot through a controllable tilting - lifting mechanical lock, the wall - climbing robot can quickly reach the vicinity of the target position with the help of the vector rotor platform. For complex wall - surface operations at non - carpet - checking target points, compared with the prior art, it not only uses a wall - climbing robot with a quadruped movement mode to ensure the flexibility of obstacle - crossing, but also greatly speeds up the speed of the quadruped robot reaching the target position. In addition, after the wall - climbing robot finishes its operation, the vector quadrotor platform can be docked with the wall - climbing robot again through the controllable tilting - lifting mechanical lock to bring the wall - climbing robot back to the ground. This method not only saves the climbing distance, but also further improves the flexibility of the wall - climbing robot.

[0031] In the collaborative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, after the vector quadrotor platform delivers the quadruped wall - climbing robot to the wall surface, it can be detached from the wall - climbing robot through a controllable tilt - lifting mechanical rotary lock and continue to provide terrain detection, real - time monitoring, visual compensation, target site prediction, lighting compensation, etc. in the air, implement various existing interaction technologies, expand the vision of the wall - climbing robot, and improve work efficiency.

[0032] In the collaborative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, the vector quadrotor platform is designed with a folding landing gear structure, which can take off and land as an independent working platform, and can further expand functions. For example, transporting batteries from the ground to conveniently replace the batteries of the wall - climbing robot and compensate for the endurance time; measuring the high - altitude wind speed, evaluating the operation risks, and ensuring safe operation, etc.

[0033] In the collaborative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, the tilt - lifting structure of the controllable tilt - lifting mechanical rotary lock can lift and tilt the rotary lock shell on the wall - climbing robot to any interval from 0° to 40°, and can be dynamically adjusted in combination with the angle between the wall surface where the wall - climbing robot is located and the ground plane and the safe tilt angle of the vector quadrotor platform to ensure successful docking between the two.

[0034] In the collaborative system of a vector quadrotor platform and a quadruped wall - climbing robot described in the present invention, two groups of guiding petals at the interface of the controllable tilt - lifting mechanical rotary lock play an initial guiding role. They can convert the axial deviation into a radial guiding force through an involute - shaped surface, thereby improving the docking tolerance and reducing the docking accuracy. In addition, the guiding petals mesh with each other, improving the docking stability and ensuring the successful rotary docking of the rotary disk and the rotary lock shell.

[0035] The present invention is also applicable to the field of comprehensive inspection of large structures such as bridges, dams, and large storage tanks. Brief Description of the Drawings

[0036] Figure 1 It is a schematic diagram of the overall structure of a collaborative operation system of a vector quadrotor and a quadruped wall - climbing robot described in Embodiment 1.

[0037] Figure 2 It is a front view of a collaborative operation system of a vector quadrotor and a quadruped wall - climbing robot described in Embodiment 1.

[0038] Figure 3 It is a schematic diagram of the state change of the landing gear of the rotor support module of the vector quadrotor platform described in Embodiment 1.

[0039] Among them, (a) is a schematic diagram of the landing gear retraction of the left rotor support module of the vector quadrotor platform provided by the present invention; (b) is a schematic diagram of the landing gear extension of the left rotor support module of the vector quadrotor platform provided by the present invention; (c) is a schematic diagram of the landing gear retraction of the right rotor support module of the vector quadrotor platform provided by the present invention; (d) is a schematic diagram of the landing gear extension of the right rotor support module of the vector quadrotor platform provided by the present invention.

[0040] Figure 4 It is an exploded schematic diagram of the mechanical locking part of the controllable tilt-lifting mechanical lock described in Embodiment 1.

[0041] Figure 5 It is an assembly schematic diagram of the rotating lock disc and the upper lock shell of the controllable tilt-lifting mechanical lock described in Embodiment 1.

[0042] Figure 6 It is a structural schematic diagram of the controllable tilt-lifting mechanism described in Embodiment 1.

[0043] Among them, (a) is an assembly schematic diagram of the tilt-lifting mechanism of the controllable tilt-lifting mechanical lock provided by the present invention, and (b) is an exploded schematic diagram of the tilt-lifting mechanism.

[0044] Figure 7 It is a structural schematic diagram of the tilt-lifting mechanism described in Embodiment 1.

[0045] Among them, (a) is a schematic diagram when the tilt-lifting mechanism provided by the present invention is horizontal; (b) is a schematic diagram when the tilt-lifting mechanism is tilted.

[0046] Figure 8 It is a partial schematic diagram of the left leg of the quadruped wall-climbing robot described in Embodiment 4.

[0047] Figure 9 It is a partial schematic diagram of the right leg of the quadruped wall-climbing robot described in Embodiment 4.

[0048] Figure 10 It is a schematic diagram of the docking or detachment of the vector quadrotor platform and the quadruped wall-climbing robot described in Embodiment 10.

[0049] Figure 11 It is a complete process schematic diagram of the docking or detachment of the vector quadrotor platform and the quadruped wall-climbing robot described in Embodiment 10.

[0050] Among them, there are a locking shell 1, a rotor platform fuselage 2, an upper fuselage plate 21, a lower fuselage plate 22, a frame unit 3, a rotor bracket 31, a left rotor bracket 311, a right rotor bracket 312, a vector rotor unit 32, a brushless motor 321, a propeller blade 322, a servo 323, a left vector servo bracket 324-1, a right vector servo bracket 324-2, a folding landing gear unit 33, a landing gear 331, a retracting electric push rod 332-1, an extending electric push rod 332-2, a left robot leg 4, a left first joint 41, a left first joint bracket 411, a left second joint 42, a left second joint bracket 421, a left third joint 43, a left servo and suction cup connecting piece 431, a suction cup module 432, an upper bottom plate 5, a lower bottom plate 6, a right robot leg 7, a right first joint 71, a right first joint bracket 711, a right second joint 72, a right second joint bracket 721, a right third joint 73, a right servo and suction cup connecting piece 731, a lower guide flap lock shell 8, an upper guide flap 9, a rotating disk 10, a gear-shaped steering disk 101, an inclined lifting mechanism 11, a sliding table 111, a sliding table extension 111-1, a sliding table retraction 111-2, a stepping motor 112, a stepping motor bracket 113, a flange bearing 114, a support chassis 115, a lead screw bearing module 116, a support slide rail 117, a lifting plane 118, a horizontal lifting plane 118-1, an inclined lifting plane 118-2, a driven rod 119, a horizontal driven rod 119-1, and an inclined driven rod 119-2. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application.

[0052] Embodiment 1. This embodiment proposes a cooperative operation system of a vector quadcopter and a quadruped wall-climbing robot. The rotor platform includes a fuselage rotor platform fuselage 2. The fuselage rotor platform fuselage 2 includes an upper fuselage plate 21 and a lower fuselage plate 22. The fuselage rotor platform fuselage 2 is fixed on four symmetrically distributed frame units 3 thereon. The frame unit 3 includes a rotor bracket 31, a vector rotor unit 32, and a folding landing gear unit 33;

[0053] The vector rotor unit 32 includes a brushless motor 321, a propeller blade 322, a servo 323, and a vector servo bracket 324. The propeller blade 322 is fixed on the brushless motor 321, and the brushless motor 321 is fixed to the servo 323 through the vector servo bracket 324;

[0054] The end of the rotor bracket 31 is provided with a groove for accommodating the servo 323. The servo arm of the servo 323 is fixed on the rotor bracket 31. The servo 323 rotates to make the brushless motor 321 rotate in a plane perpendicular to the frame unit 3, so as to realize single-degree-of-freedom vector rotation of the rotor, and control the four vector rotors in the vector rotor unit 32 to cooperate together, keep the rotor platform fuselage 2 always parallel to the ground, provide upward lift, and complete the collaborative operation of the vector quadrotor and the quadruped wall-climbing robot.

[0055] Embodiment 2: This embodiment further limits a collaborative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment 1. The folding landing gear unit 33 is arranged below the frame unit 3. The folding landing gear unit 33 includes a landing gear 331 and an electric push rod 332. The tail end of the landing gear 331 is fixed to the tail end of the electric push rod 332.

[0056] Embodiment 3: This embodiment further limits a collaborative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment 1. The quadruped wall-climbing robot includes an upper bottom plate 5, a lower bottom plate 6, and a left robot leg 4 and a right robot leg 7 symmetrically distributed and fixed thereon;

[0057] The area between the upper bottom plate 5 and the lower bottom plate 6 is used to place the control system, power supply and detection sensors.

[0058] Embodiment 4: This embodiment further limits a collaborative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment 3. The left robot leg 4 and the right robot leg 7 respectively include three joints, a left first joint 41, a left second joint 42, a left third joint 43, a right first joint 71, a right second joint 72, and a right third joint 73.

[0059] The left first joint 41, the left second joint 42, the left third joint 43, the right first joint 71, the right second joint 72, and the right third joint 73 are each controlled by a servo 323, that is, both the left robot leg 4 and the right robot leg 7 include three degrees of freedom.

[0060] Embodiment 5: This embodiment further limits a collaborative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment 1. The controllable tilt-lifting mechanical rotary lock includes an upper lock shell 1, a lower guide flap lock shell 8, an upper guide flap 9, a rotary disk 10, and a tilt-lifting mechanism 11. The rotary disk 10 is suspended on the lower plate 22 of the fuselage of the vector quadrotor platform.

[0061] Embodiment Six: This embodiment further limits a cooperative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment Five. A ring of sleeve gears is provided on the lower body plate 22, which meshes with the gear-shaped rudder plate 101 provided under the rotating plate 10. The gear-shaped rudder plate 101 is fixed on the steering gear 323.

[0062] Embodiment Seven: This embodiment further limits a cooperative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment Five. The lower guiding flap lock housing 8 is arranged away from the upper bottom plate 5. The end of the upper bottom plate 5 is cylindrical, with an outer diameter the same as that of the upper lock housing 1 and an inner diameter the same as that of the upper guiding flap 9. And a set of symmetric guiding flaps that can bite tightly with the upper guiding flap 9 are arranged inside.

[0063] Embodiment Eight: This embodiment further limits a cooperative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment Five. The lower guiding flap lock housing 8 is arranged away from the upper bottom plate 5. The end of the upper bottom plate 5 is cylindrical, with an outer diameter the same as that of the upper lock housing 1 and an inner diameter the same as that of the upper guiding flap 9. And a set of symmetric guiding flaps that can bite tightly with the upper guiding flap 9 are arranged inside.

[0064] Embodiment Nine: This embodiment further limits a cooperative operation system of a vector quadrotor and a quadruped wall-climbing robot described in Embodiment Five. A groove rail that fits with the protruding rail at the lower end of the upper lock housing 1 is provided between the outer cylinder and the inner guiding flap of the lower guiding flap lock housing 8.

[0065] Embodiment Nine: This embodiment proposes a computer device, including a memory and a processor. A computer program is stored in the memory. When the processor runs the computer program stored in the memory, the processor executes the method described in any one of Embodiments One to Seven.

[0066] Embodiment Ten: This embodiment proposes a cooperative operation method of a vector quadrotor and a quadruped wall-climbing robot. The method is implemented based on the system described in Embodiment One. The cooperative operation method includes:

[0067] When the vector quad-rotor platform and the quadruped wall-climbing robot are docked, the lifting plane 118 of the tilting and lifting mechanism 11 rises, and the rotor platform adjusts the rotor speed to make the fuselage inclination angle consistent with the lifting plane 118; the upper guide flap 9 is adjusted with the yaw angle of the rotor platform to align with the guide flap in the lower guide flap lock shell 8 to the maximum extent; at this time, the rotor platform applies pressure to the lifting plane 118, and the upper guide flap 9 and the guide flap in the lower guide flap lock shell 8 are locked with each other, and the vector quad-rotor platform and the quadruped wall-climbing robot are relatively still at this time; the servo 323 fixed on the lower plate 22 of the fuselage rotates clockwise, driving the protruding slide rail at the bottom end of the upper lock shell 1 to slide into the groove slide rail, so that they are embedded, that is, the rotor platform takes the wall-climbing robot away from the wall, and at the same time the inclination angle of the tilting and lifting mechanism 11 is restored;

[0068] When the vector quadrotor platform and the quadruped wall-climbing robot are separated, the lifting plane 118 of the tilting and lifting mechanism 11 rises, and there is an angle difference between the vector quadrotor platform and the quadruped wall-climbing robot when they are transformed from being parallel to each other, which is used to make the rotor platform leave the vertical posture; the servo 323 fixed on the lower plate 22 of the fuselage rotates counterclockwise, driving the protruding slide rail at the bottom end of the upper locking shell 1 to slide out of the groove slide rail, so that they are separated; that is, the wall-climbing robot successfully reaches the wall, and the tilting and lifting mechanism 11 starts to work after it is restored.

[0069] Implementation eleven: This implementation provides an example, which is used to explain the above implementations one to ten. The specific example is as follows:

[0070] See also Figure 1 and Figure 11 This embodiment is explained. Based on the bionic design concept that winged insects can both crawl on walls and fly in the air, this embodiment proposes a collaborative system of a vector quadrotor platform and a quadrupedal wall-climbing robot. The vector quadrotor platform is used to bring the quadrupedal wall-climbing robot off the ground and assist the robot to climb to the target position on the wall, thereby improving the wall-climbing speed and overcoming the shortcoming of the slow movement of the quadrupedal robot. After the robot is stable on the wall, the vector quadrotor platform detaches from the robot to provide reconnaissance or visual assistance to the robot, thereby expanding the detection field of view of the wall-climbing robot.

[0071] The specific steps described in this embodiment include:

[0072] A vector quadrotor and quadruped wall-climbing robot collaborative operation system comprises a vector quadrotor platform, a quadruped wall-climbing robot and a controllable tilt-lifting mechanical rotary lock.

[0073] The vector quad-rotor platform includes a rotor platform fuselage 2, and four symmetrically distributed frame units 3 fixed thereon. The frame unit 3 is composed of a left and right rotor bracket 31, a vector rotor unit 32 and a foldable landing gear unit 33.

[0074] The vector rotor unit 32 is composed of a brushless motor 321, blades 322, a steering gear 323 and a vector steering gear bracket 324. The blades are fixed on the brushless motor, and the brushless motor is fixed to the steering gear through the vector steering gear bracket.

[0075] There is a groove at the end of the rotor bracket to accommodate the servo. The rudder arm of the servo is fixed to the rotor bracket. The servo can rotate the brushless motor in a plane perpendicular to the rack unit, thereby achieving the effect of a single-degree-of-freedom vector rotating rotor. Through the coordination of the four vector rotors, the rotor platform can keep the rotor parallel to the ground at all times when the fuselage is tilted, providing upward lift. In this way, when the rotor platform tilts significantly, it will not fall due to the lack of freedom. The blades have been measured and designed so that when docking or detaching with the wall-climbing robot, the blades will not interfere with the wall.

[0076] The foldable landing gear unit 33 is arranged below the frame unit 3, and includes a landing gear 331 and an electric push rod 332. The rear end of the landing gear is fixed to the rear end of the electric push rod, and the retraction and extension of the landing gear can be controlled by controlling the extension and retraction of the electric push rod.

[0077] The quadruped wall-climbing robot comprises an upper base plate 5, a lower base plate 6 and a left machine leg 4 and a right machine leg 7 fixed thereon and symmetrically distributed. The area between the upper base plate and the lower base plate is used to place a control system, a power supply and a detection sensor. Each machine leg comprises three joints, each of which is controlled by a steering gear, and each machine leg has three degrees of freedom.

[0078] The servo 323 and the left first joint bracket 411 form the left first joint 41, the servo 323 and the left second joint bracket 421 form the left second joint 42, and the servo 323 and the left servo 431, the adsorption plate module 432 and the adsorption plate connector form the left third joint 43. The right robot leg is similar. The adsorption plate module at the end of the robot leg includes an adsorption plate, a vacuum pump module and a pump control unit. The pump control unit has a built-in air pressure sensor, which can dynamically adjust the vacuum pump power by dynamically measuring the air pressure in the adsorption plate, thereby maintaining the adsorption force at a level that is both stable and can be released quickly, and the gait movement speed can be maximized.

[0079] The controllable tilt-lifting mechanical rotary lock is a controllable docking structure, the purpose of which is to flexibly control the connection and disconnection of the vector rotor platform and the quadruped wall-climbing robot, and is also a more important structural technology in the present invention.

[0080] The controllable tilting and lifting mechanical rotary lock comprises an upper lock shell 1, a rotating disk 10, an upper guide flap 9, a lower guide flap lock shell 8 and a tilting and lifting mechanism 11.

[0081] The upper lock housing 1, the rotating disk 10, and the upper guiding flap 9 are fixed on the lower plate 22 of the fuselage of the vector quadrotor platform. Among them, the upper lock housing 1 is cylindrical. A ring of disk gears is located near the lower plate 22 of the fuselage and meshes with the gear-shaped rudder disk 101. The gear-shaped rudder disk 101 is fixed on a servo 323, and the servo 323 is fixed on the lower plate 22 of the fuselage, with the direction facing directly downward. The upper lock housing 1 is not fixed to the lower plate 22 of the fuselage with screws, but is suspended on the lower plate of the fuselage through the rotating disk 10. The top of the rotating disk 10 is a hollow cylinder, and there are screw holes at the top of the cylinder, which are fixed to the lower plate of the fuselage. Below the disk gears of the upper lock housing 1 is a snowflake-shaped wide hole, and there are protruding slide rails below the wide hole, which are fitted with the groove slide rails on the upper surface of the rotating disk 10. This can ensure that the rotation of the rotating disk 10 and the upper lock housing 1 does not interfere with each other. In this way, when the vector quadrotor platform remains stationary, when the servo rotates, the gear-shaped rudder disk 101 can drive the upper lock housing 1 to rotate by means of the fitting relationship, while the vector quadrotor platform and the rotating disk 10 fixed thereon can remain stationary by means of the fitting slide rails.

[0082] At the position of the upper lock housing 1 far from the lower plate 22 of the fuselage, protruding slide rails are alternately arranged at 45° sectors on the edge of the cylinder, that is, four sections of protruding slide rails with an eighth of the circumferential length are symmetrically distributed around the edge of the cylinder. These protruding slide rails are fitted with the groove slide rails in the lower guiding flap lock housing 8.

[0083] The part of the upper guiding flap 9 close to the lower plate of the fuselage is a cylinder, the diameter of which is equal to the lower half of the widest diameter of the rotating disk 10 and smaller than the inner diameter of the cylinder of the upper lock housing 1. The upper guiding flap 9 can be fixed to the edge of the rotating disk 10 through the screw hole at the top, that is, the rotation state of the upper guiding flap 9 is the same as that of the rotating disk 10. The part of the upper guiding flap 9 far from the lower plate of the fuselage is composed of a group of two symmetric guiding flaps, which are complementary to a group of guiding flaps of the lower guiding flap lock housing 8. The rotating disk 10 and the upper guiding flap 9 are stationary relative to the lower plate 22 of the fuselage, and the upper lock housing 1 rotates relative to the lower plate 22 of the fuselage.

[0084] The lower guiding flap lock housing 8 is fixed on the upper bottom plate 5 of the quadruped wall-climbing robot. One end of the lower guiding flap lock housing 8 close to the upper bottom plate 5 is square with the same shape as the upper bottom plate, and is fixed to the upper bottom plate 5 through screw holes. The end of the lower guiding flap lock housing 8 far from the upper bottom plate 5 is cylindrical, with the same outer diameter as the upper lock housing 1 and the same inner diameter as the upper guiding flap 9, and a group of symmetric guiding flaps that can bite with the upper guiding flap 9 are arranged inside. A groove slide rail that is fitted with the protruding slide rail at the lower end of the upper lock housing 1 is arranged between the outer cylinder and the inner guiding flap of the lower guiding flap lock housing 8. Each groove slide rail has an opening at the right end and is closed at the left end. When the protruding slide rail slides clockwise into the groove slide rail, it cannot continue to slide out from the left end of the groove slide rail. The protruding slide rail is wider at the bottom and narrower at the top, and the groove slide rail is also wider at the bottom and narrower at the top. If the protruding slide rail and the groove slide rail are fitted, the lower guiding flap lock housing 8 and the upper lock housing 1 cannot be separated in the z-axis direction.

[0085] The tilting and lifting mechanism 11 consists of a slide table 111, a stepping motor 112, the model of the stepping motor 112 is 28BYJ-48, a stepping motor bracket 113, a flange bearing 114, a support chassis 115, a lead screw bearing module 116, a support slide rail 117, a lifting plane 118, and a driven rod 119. Among them, the slide table is fixed on the lead screw bearing module 116. Through the rotation of the stepping motor, the slide table can move back and forth along the lead screw with the rotation of the lead screw. The support slide rail 117 serves as the support of the slide table. With the rotation of the lead screw, if the slide table moves forward, the lifting plane 118 fixed on the slide table is laid flat; if the slide table moves backward, the lifting plane 118 fixed on the slide table is tilted. The driven rod 119 plays a role in reinforcement and support.

[0086] When the vector quadrotor platform docks with the quadruped wall-climbing robot, the lifting plane of the tilting and lifting mechanism 11 rises, and the quadrotor platform adjusts the rotor speed so that the body inclination angle is consistent with the lifting plane 118. The upper guiding flap 9 adjusts with the yaw angle of the quadrotor platform to align with the guiding flap in the lower guiding flap lock housing 8 as much as possible with a certain tolerance space. At this time, the quadrotor platform applies a slight pressure to the lifting plane. The upper guiding flap 9 and the guiding flap in the lower guiding flap lock housing 8 are locked with each other. At this time, the vector quadrotor platform and the quadruped wall-climbing robot are relatively stationary. Furthermore, the servo motor fixed on the lower plate 22 of the fuselage rotates clockwise, driving the protruding slide rail at the bottom of the upper lock housing 1 to slide into the groove slide rail and fit with it, so that the vector quadrotor platform and the quadruped wall-climbing robot obtain double guarantees in two ways: guiding flap interlocking and slide rail fitting, making the docking structure very reliable. At this time, the quadrotor platform takes the wall-climbing robot away from the wall surface, and at the same time, the inclination angle of the tilting and lifting mechanism 11 is restored.

[0087] When the vector quadrotor platform separates from the quadruped wall-climbing robot, the lifting plane of the tilting and lifting mechanism 11 rises, and the vector quadrotor platform and the quadruped wall-climbing robot change from being parallel to having a certain angle, so that the quadrotor platform deviates from the vertical attitude and is ready to take off. The servo motor fixed on the lower plate 22 of the fuselage rotates counterclockwise, driving the protruding slide rail at the bottom of the upper lock housing 1 to slide out of the groove slide rail and separate from it; the rotor accelerates to rotate, quickly pulls open the interlocked guiding flaps of the two, separates from the wall-climbing robot, and quickly adjusts the attitude in the air to prepare for subsequent interaction operations. At this time, the wall-climbing robot successfully reaches the wall surface, and after the tilting and lifting mechanism is restored, it can start working. Specific embodiments:

[0089] When conducting comprehensive inspections on large structures such as bridges, dams, and large storage tanks, such as scanning and modeling, crack repair, flaw detection, etc., which require working close to the wall surface, these structures usually have a certain height and a high surface complexity. At this time, the vector quadrotor and quadruped wall-climbing robot cooperative operation system proposed by the present invention can be introduced. The vector quadrotor platform first flies into the air, roughly determines the operation area through rough inspection, then returns to the ground, and uses a controllable tilt-lifting mechanical rotary lock to bring the wall-climbing robot into the air and send it to the target point, and then disengages from the wall-climbing robot. The rotor platform continues to provide terrain detection, real-time monitoring, visual compensation, target point prediction, lighting compensation, etc. for the wall-climbing robot in the air, and can also quickly move the wall-climbing robot from one point to another farther point at any time. When the operation is completed or the current environment is not suitable for continuing the operation, the rotor platform uses the controllable tilt-lifting mechanical rotary lock to take the wall-climbing robot away from the wall surface again and return to the ground.

[0090] Those skilled in the art can understand that the above is only the preferred embodiment of the present invention. The features described in each embodiment and / or claim of the present disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. It is not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0091] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. A vector quadrotor and quadruped wall-climbing robot collaborative operation system, characterized in that: The system includes a vector quadrotor platform, a quadruped wall-climbing robot and a controllable tilt-lift mechanical twistlock; The rotor platform comprises a fuselage rotor platform fuselage (2), the fuselage rotor platform fuselage (2) comprises an upper fuselage plate (21) and a lower fuselage plate (22), the fuselage rotor platform fuselage (2) is fixed on four frame units (3) symmetrically distributed thereon, the frame unit (3) comprises a rotor bracket (31), a vector rotor unit (32), and a foldable landing gear unit (33); The vector rotor unit (32) comprises a brushless motor (321), a blade (322), a steering gear (323), and a vector steering gear bracket (324); the blade (322) is fixed on the brushless motor (321), and the brushless motor (321) is fixed to the steering gear (323) via the vector steering gear bracket (324); The end of the rotor bracket (31) is provided with a groove for accommodating a steering gear (323); the rudder arm of the steering gear (323) is fixed on the rotor bracket (31); the steering gear (323) rotates to rotate the brushless motor (321) in a plane perpendicular to the frame unit (3), so as to realize a single-degree-of-freedom vector rotating rotor and control the four vector rotors in the vector rotor unit (32) to work together, keep the rotor platform fuselage (2) always parallel to the ground, provide upward lift, and complete the coordinated operation of the vector quadrotor and the quadruped wall-climbing robot.

2. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 1 is characterized in that: The foldable landing gear unit (33) is arranged below the frame unit (3), and comprises a landing gear (331) and an electric push rod (332), wherein the rear end of the landing gear (331) is fixed to the rear end of the electric push rod (332).

3. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 1 is characterized in that: The quadruped wall-climbing robot comprises an upper base plate (5), a lower base plate (6), and a left machine leg (4) and a right machine leg (7) fixed thereon and symmetrically distributed; The area between the upper base plate (5) and the lower base plate (6) is used to place a control system, a power supply and a detection sensor.

4. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 3 is characterized in that: The left robot leg (4) and the right robot leg (7) respectively include three joints, a left first joint (41), a left second joint (42), a left third joint (43), a right first joint (71), a right second joint (72), and a right third joint (73). The left first joint (41), the left second joint (42), the left third joint (43) and the right first joint (71), the right second joint (72), the right third joint (73) are each controlled by a steering gear (323), that is, the left machine leg (4) and the right machine leg (7) both include three degrees of freedom.

5. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 1, characterized in that: The controllable tilt-lift mechanical rotary lock comprises an upper lock shell (1), a lower guide flap lock shell (8), an upper guide flap (9), a rotating disk (10) and a tilt-lift mechanism (11); the rotating disk (10) is suspended on a fuselage lower plate (22) of a vector quad-rotor platform.

6. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 5, characterized in that: The lower body plate (22) is provided with a ring disk gear, which is meshed with a gear-shaped steering disc (101) provided under the rotating disc (10), and the gear-shaped steering disc (101) is fixed on the steering engine (323).

7. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 5, characterized in that: The lower guide flap lock housing (8) is arranged on a part away from the upper base plate (5), and the end of the upper base plate (5) is cylindrical, with an outer diameter the same as that of the upper lock housing (1) and an inner diameter the same as that of the upper guide flap (9), and a group of symmetrical guide flaps that can bite into the upper guide flap (9) are arranged inside.

8. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 5, characterized in that: The lower guide flap lock housing (8) is provided with a groove slide rail between the outer cylinder and the inner guide flap, which is engaged with the protruding slide rail at the lower end of the upper lock housing (1).

9. The vector quadrotor and quadruped wall-climbing robot collaborative operation system according to claim 5, characterized in that: The tilting and lifting mechanism (11) comprises a slide table (111), a stepping motor (112), a stepping motor bracket (113), a flange bearing (114), a supporting base frame (115), a screw bearing module (116), a supporting slide rail (117), a lifting plane (118), and a driven rod (119); The slide (111) is fixed on the screw bearing module (116). Through the rotation of the stepper motor (112), the slide (111) moves forward and backward along the screw as the screw rotates; the support rail (117) is used as a support for the slide (111). With the rotation of the screw, if the slide (111) moves forward, the lifting plane (118) fixed on the slide is laid flat; if the slide (111) moves backward, the lifting plane (118) fixed on the slide (111) is tilted; the driven rod (119) is used for reinforcement and support.

10. A method for collaborative operation of a vector quadrotor and a quadruped wall-climbing robot, characterized in that: The method is implemented based on the system of claim 1, and the collaborative operation method includes: When the vector quad-rotor platform and the quadruped wall-climbing robot are docked, the lifting plane (118) of the tilting and lifting mechanism (11) rises, and the rotor platform adjusts the rotor speed so that the inclination angle of the fuselage is consistent with the lifting plane (118); the upper guide flap (9) is adjusted with the yaw angle of the rotor platform and is aligned with the guide flap in the lower guide flap lock shell (8) to the maximum extent; at this time, the rotor platform applies pressure to the lifting plane (118), and the upper guide flap (9) and the guide flap in the lower guide flap lock shell (8) are locked with each other, and at this time, the vector quad-rotor platform and the quadruped wall-climbing robot are relatively still; the steering gear (323) fixed on the lower plate (22) of the fuselage rotates clockwise, driving the protruding slide rail at the bottom end of the upper lock shell (1) to slide into the groove slide rail, so that they are embedded, that is, the rotor platform takes the wall-climbing robot away from the wall, and at the same time, the inclination angle of the tilting and lifting mechanism (11) is restored; When the vector quad-rotor platform and the quadruped wall-climbing robot are separated, the lifting plane (118) of the tilting and lifting mechanism (11) rises, and the vector quad-rotor platform and the quadruped wall-climbing robot are transformed from being parallel to each other with an angle difference, so as to make the rotor platform leave the vertical posture; the steering gear (323) fixed on the lower plate (22) of the fuselage rotates counterclockwise, driving the protruding slide rail at the bottom end of the upper locking shell (1) to slide out of the groove slide rail, so that the two are separated; that is, the wall-climbing robot successfully reaches the wall surface, and the tilting and lifting mechanism (11) starts to work after being restored.

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