Airborne flying sliding contact detection work robot

Abstract

The application discloses an aerial flying sliding contact type detection operation robot, which comprises an unmanned aerial vehicle, a sliding operation platform and a telescopic contact rod, the sliding operation platform is carried on the unmanned aerial vehicle through the telescopic contact rod, a detection module is carried on the sliding operation platform, and the sliding operation platform is moved to the surface of an aerial equipment to be detected through the unmanned aerial vehicle; a plurality of independently controlled omnidirectional wheels are arranged on the sliding operation platform, the omnidirectional wheels of the sliding operation platform are pressed on the surface of the equipment to be detected through compression of the telescopic contact rod, and the unmanned aerial vehicle keeps relative static follow flight with the sliding operation platform according to a planned flight path. The unmanned aerial vehicle is used for flying with the sliding operation platform to press the sliding operation platform on the surface of the equipment to be detected, so that the detection efficiency of high-altitude equipment detection is greatly improved, and the aerial robot is particularly suitable for high-quality nondestructive detection of large-curvature surfaces such as aircraft skin and wind power blades, and the high-altitude operation scene of the unmanned aerial vehicle carrying the detection robot is expanded.

Description

TECHNICAL FIELD

[0001] The application relates to an aerial flight sliding contact detection operation robot and belongs to the technical field of unmanned detection of high-altitude equipment. BACKGROUND

[0002] The maintenance of large oil and gas pipelines, large wind turbines, thermal / nuclear power stations and large bridges and other equipment can be checked on the ground for the ground part, and the rest part belongs to high-altitude checking operation. Since damage detection will damage the detected object and cause greater safety hazards, such large equipment usually uses non-destructive testing. The detection of the part close to the ground can be carried out by manually holding the detection equipment, and for the high-altitude part of the equipment above the ground, it is usually necessary to rely on manual climbing or vertical hanging detection, and in order to ensure the safety of detection, additional cost is needed for high-altitude detection protection, which increases the detection cost. In the detection process, not only do the detection personnel face the danger of falling from a high altitude, but also falling objects from a high altitude threaten the safety of the monitoring personnel below. In addition, manual operation is time-consuming and laborious, and has poor mobility. At the same time, due to the existence of air gap when the manual detection is in contact, a series of problems such as inaccurate detection results make the detection efficiency and accuracy low.

[0003] A curved surface mobile adsorption processing robot and an adsorption working method thereof are disclosed in Chinese patent application No. CN201910431640.0. The curved surface adsorption processing robot realizes passive compliance of the robot to the curvature change of the free curved surface and active regulation of the change of the adsorption force required by the robot through a flexible adsorption module composed of three flexible adsorption cavities. The distance between the flexible adsorption cavity and the adsorbed surface is adjusted by a position adjustment module to realize the active compliance of the flexible adsorption cavity to the change of the free curved surface, so that the processing robot can be stably and reliably adsorbed on the workpiece surface. The omnidirectional movement module composed of three wheel groups realizes passive compliance to the change of the curved surface and two-dimensional three-degree-of-freedom omnidirectional flexible movement on the curved surface surface by using the principle that three points constitute a plane. The processing executor executes the processing operation. The application has the functions of curved surface adsorption, omnidirectional movement and processing, realizes active adsorption, autonomous motion and processing operation of the robot, and can realize unmanned rapid detection operation of high-altitude equipment. However, the robot using adsorption fixation can only be used for adsorption on the relatively smooth surface of the equipment, and has limited applicability for outdoor rough surface equipment.

[0004] The Chinese patent application with the application number CN201810565136.5 discloses an automatic wall-climbing radar photoelectric robot system for nondestructive detection and diagnosis of bridge and tunnel structure diseases. The wall-climbing robot generates reverse thrust by using a rotor system, and adopts an omnidirectional wheel technology, so that the wall-climbing robot can closely move on the rough surface of the bridge and tunnel structure and perform unmanned inspection on the bridge and tunnel. The scheme solves the reliable adsorption and movement of the wall-climbing robot on the rough surface, but the rotor system is closely attached to the body of the wall-climbing robot, and the airflow generated by the rotor directly acts on the surface of the equipment to be detected, and the dust and impurities rolled up can easily affect the detection result. SUMMARY

[0005] The technical problem solved by the present application is that the wall-climbing robot used for high-altitude equipment detection has narrow adaptability and the detection result is easily affected. The present application provides an aerial flight sliding contact type detection operation robot to perform aerial contact nondestructive detection operation in a relatively low-cost and high-efficiency manner.

[0006] The present application adopts the following technical scheme:

[0007] The aerial flight sliding contact type detection operation robot comprises an unmanned aerial vehicle, a sliding operation platform and a telescopic contact rod. The sliding operation platform is carried on the unmanned aerial vehicle through the telescopic contact rod, a detection module is carried on the sliding operation platform, and the sliding operation platform is moved to the surface of the equipment to be detected in the air through the unmanned aerial vehicle. A plurality of independently controlled omnidirectional wheels are arranged on the sliding operation platform. The unmanned aerial vehicle compresses the telescopic contact rod to press the omnidirectional wheels of the sliding operation platform against the surface of the equipment to be detected. The speed of the curved surface movement of the sliding operation platform on the surface of the equipment to be detected is set according to the normal vector projection to the tangent plane, and then the speed is distributed to the drive module of each omnidirectional wheel through kinematic calculation. The sliding operation platform slides on the surface of the equipment to be detected according to the planned detection path. The unmanned aerial vehicle keeps relative static follow flight with the sliding operation platform according to the planned flight path. The telescopic contact rod is used to press the sliding operation platform against the surface of the equipment to be detected during the follow flight.

[0008] In the aerial flight sliding contact type detection operation robot of the present application, further, the telescopic contact rod comprises an inner tube, an outer tube and a spring shaft. The spring shaft is fixed in the outer tube. The inner tube is slidingly inserted into the outer tube and slidingly sleeved on the spring shaft. A spring is sleeved on the spring shaft. The spring can extend the inner tube out of the outer tube by the elastic property of the spring.

[0009] In the aerial flight sliding contact type detection operation robot of the present application, further, the spring shaft and the inner tube, and the inner tube and the outer tube are slidingly assembled by using Teflon sleeves.

[0010] In the air flight sliding contact detection operation robot of the present application, further, the sliding operation platform adopts the frame structure of parallel bottom plate and top plate splicing, the frame is formed by connecting the bottom plate and the top plate through aluminum columns, the omni-directional wheels are installed outside the bottom plate, each omni-directional wheel is driven and controlled by an independent steering engine, the detection module is fixed on the bottom plate, and the telescopic contact rod is connected with the bottom plate through the top plate.

[0011] In the air flight sliding contact detection operation robot of the present application, further, the bottom plate and the top plate adopt the hollow carbon fiber plate.

[0012] In the air flight sliding contact detection operation robot of the present application, further, the omni-directional wheels are three groups, and the three groups of omni-directional wheels are distributed on the outside of the sliding operation platform with an axial interval of 120°.

[0013] In the air flight sliding contact detection operation robot of the present application, further, when the sliding operation platform slides on the surface of the equipment to be detected for detection, the surface three-dimensional curve of the equipment to be detected is mapped to the tangent plane, the speed mapping control algorithm is adopted to project the curved surface motion of the sliding operation platform to the tangent plane of the surface curve of the equipment to be detected to set the speed, the position and geometric data of the sliding operation platform in the direction are expressed by parameters , and their derivatives in the parameter space , and the parameter expression of the three-dimensional curve of the surface of the equipment to be detected is:

[0014] ,

[0015] In the formula, is the curved surface control point for defining the three-dimensional curved surface shape of the surface of the equipment to be detected, and is expressed as a three-dimensional coordinate point , is the B-spline basis function in the parameter direction, is the order, is the B-spline basis function in the parameter direction, is the order, and k and l respectively represent the number of control points in the parameter u and v directions;

[0016] The normal vector of the three-dimensional curve of the surface of the equipment to be detected is:

[0017] ,

[0018] The mapping relationship between the speed of the sliding operation platform in the inertial system and the projection of the body to the tangent plane set speed is:

[0019] ,

[0020] The speed of the sliding operation platform on the curved surface of the equipment surface to be detected is set according to the normal vector projection to the tangent surface, The speed direction of the sliding operation platform in the inertial system, The speed direction of the sliding operation platform in the inertial system, The speed direction of the sliding operation platform in the inertial system, The speed direction of the sliding operation platform in the inertial system, The speed of each omnidirectional wheel is allocated back through inverse kinematics calculation.

[0021] In the air flight sliding contact detection operation robot of the application, further, the inverse kinematics calculation process of the omnidirectional wheel is as follows:

[0022] ,

[0023] Wherein is the speed input of the three groups of omnidirectional wheels, is the radius of the omnidirectional wheel, is the body speed of the sliding operation platform, is the inverse kinematics mapping matrix, is the body angular velocity of the sliding operation platform, d is the distance from the omnidirectional wheel to the center of the sliding operation platform end coordinate system.

[0024] In the air flight sliding contact detection operation robot of the application, further, a force measuring head for detecting the force of the telescopic contact rod on the sliding operation platform is arranged between the telescopic contact rod end and the sliding operation platform, the compression force signal of the telescopic contact rod is collected by the force measuring head, and the flight control module of the unmanned aerial vehicle is fed back and output to control the compression of the unmanned aerial vehicle on the sliding operation platform.

[0025] In the air flight sliding contact detection operation robot of the application, further, the telescopic amount of the telescopic contact rod and the force collected by the force measuring head generate the reference motion variable of the compression of the unmanned aerial vehicle on the sliding operation platform through the admittance controller, and the calculation process is as follows:

[0026] ,

[0027] Wherein, , are the speed and acceleration of the aerial vehicle relative to the telescopic contact rod, is the end telescopic amount of the telescopic contact rod, are the mass parameter, damping and stiffness matrix of the filter system, is the force measured by the force measuring head.

[0028] The application has the following beneficial effects by adopting the above technical scheme:

[0029] The unmanned aerial vehicle and the telescopic contact rod carry the sliding operation platform, the unmanned aerial vehicle and the sliding operation platform have a certain distance, the telescopic contact rod transmits the compression force to press the sliding operation platform on the surface of the equipment to be detected, provides the friction pressure for the sliding operation platform to slide on the surface of various high-altitude equipment, and reduces the influence of the turbulent airflow generated by the aerial vehicle on the detection of the sliding operation platform.

[0030] The three groups of 120° symmetrical distribution omnidirectional wheel structures realize the omnidirectional flexible movement of the sliding operation platform, the speed mapping of the sliding operation platform on the surface of the equipment to be detected and the omnidirectional wheel movement calculation are realized, and the accurate control of the sliding path of the sliding operation platform by the omnidirectional wheel is realized.

[0031] The telescopic contact rod of the present application sets up a load cell to detect the compression force, collects the compression force acting on the sliding operation platform, and controls the unmanned aerial vehicle according to the compression force signal feedback of the telescopic contact rod, so as to control the stable compression of the sliding operation platform by the unmanned aerial vehicle during the sliding detection process. Even if the unmanned aerial vehicle generates flight disturbance during flight, the compression of the sliding operation platform can be quickly adjusted.

[0032] The sliding operation platform and the telescopic contact rod of the present application adopt light materials and hollow weight-reducing structures, which effectively reduce the load of the unmanned aerial vehicle.

[0033] In summary, the aerial flight sliding contact detection operation robot provided by the present application uses the unmanned aerial vehicle to fly with the sliding operation platform to press the sliding operation platform on the surface of the equipment to be detected, which overcomes the high cost and long time of high-altitude non-destructive testing. The traditional adsorption type wall climbing robot solves the problem of poor mobility and poor contact stability when working on complex curved surfaces, greatly improves the detection efficiency of high-altitude equipment detection, and is especially suitable for high-quality non-destructive detection of large-curvature surfaces such as aircraft skin and wind power blades, and expands the high-altitude operation scene of the unmanned aerial vehicle carrying detection robot.

[0034] The present application is further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is the overall structure schematic diagram of the aerial flight sliding contact detection operation robot of the embodiment.

[0036] Figure 2 It is the connection schematic diagram of the sliding operation platform and the telescopic contact rod in the embodiment.

[0037] Figure 3 It is the internal structure schematic diagram of the sliding operation platform in the embodiment.

[0038] Figure 4 This is a schematic diagram of the inner side of the top plate of the sliding work platform in the embodiment.

[0039] Figure 5 This is a schematic diagram of the base plate of the sliding work platform in the embodiment.

[0040] Figure 6 This is a schematic diagram of the omnidirectional wheel assembly in the embodiment.

[0041] Figure 7 This is a schematic diagram of the movement of the omnidirectional wheels on a sliding work platform.

[0042] Figure 8 This is a schematic diagram of the external appearance of the telescopic contact rod in the embodiment.

[0043] Figure 9 This is a schematic diagram of the interior of the telescopic contact rod in the embodiment.

[0044] Figure 10 for Figure 8 The enlarged view at point A in the figure corresponds to a partial structural schematic diagram of the assembly of the inner and outer tubes of the telescopic contact rod in the embodiment.

[0045] Figure 11 for Figure 8 The enlarged view at point B in the figure corresponds to a schematic diagram of the connection end between the telescopic contact rod outer tube and the unmanned aerial vehicle in the embodiment.

[0046] Figure 12 for Figure 9 The enlarged view at point C in the figure corresponds to a partial structural schematic diagram of the assembly of the inner tube of the telescopic contact rod and the spring shaft in the embodiment.

[0047] The following are the labels in the diagram: 1. Sliding work platform; 11. Omnidirectional wheel; 111. Wheel assembly; 112. Wheel set plate; 113. Omnidirectional wheel roller; 114. Wheel set pad; 12. Base plate; 13. Top plate; 14. Control module; 15. Detection module; 16. Servo motor; 161. Servo motor plate; 162. Servo motor component; 17. Aluminum column.

[0048] 2. Telescopic contact rod; 21. Coupling; 211. Coupling joint; 22. Force measuring head; 23. Inner tube; 231. Inner tube seat; 232. Teflon cap; 233. First Teflon sleeve; 24. Outer tube; 241. Outer tube end; 242. Second Teflon sleeve; 243. Outer tube connector; 25. Spring shaft; 251. Spring shaft fastener.

[0049] 3. Unmanned aerial vehicles (UAVs). Detailed Implementation

[0050] Example

[0051] See Figure 1 and Figure 2, the illustrated aerial flight sliding contact detection operation robot is a specific embodiment of the present application, specifically including a sliding operation platform 1, a telescopic contact rod 2 and a unmanned aerial vehicle 3, the sliding operation platform 1 is a detection operation main body, and a detection module is carried thereon to slide on the surface of the equipment to be detected for nondestructive detection, the sliding operation platform 1 in the embodiment is carried on the unmanned aerial vehicle 3 through the telescopic contact rod 2, the sliding operation platform 1 and the telescopic contact rod 2 are moved to the surface of the equipment to be detected in the air through the unmanned aerial vehicle 3, a plurality of independently controlled omni-directional wheels 11 are arranged on the sliding operation platform 1, the sliding operation platform 1 is realized sliding through rolling on the surface of the equipment to be detected through the omni-directional wheels 11, for the surface of the equipment to be detected in the air, the omni-directional wheels 11 of the sliding operation platform 1 need enough pressure to realize the friction force of rolling on the surface of the equipment to be detected, the telescopic contact rod 2 is compressed by the unmanned aerial vehicle 3 to press the omni-directional wheels 11 of the sliding operation platform 1 tightly on the surface of the equipment to be detected. The surface of the equipment to be detected is generally a curved surface with various curvatures, the motion of the sliding operation platform 1 on the curved surface of the surface of the equipment to be detected sets a speed according to the normal vector projection to the tangent plane, and then the speed is distributed to the drive module of each omni-directional wheel through kinematics calculation, so that the sliding operation platform 1 slides along the planned detection path. In the process of sliding detection of the sliding operation platform 1 on the surface of the equipment to be detected according to the planned detection path, the unmanned aerial vehicle 3 keeps relative stationary follow-up flight with the sliding operation platform 1 according to the planned flight path, and the unmanned aerial vehicle 3 always presses the sliding operation platform 1 tightly on the surface of the equipment to be detected through the telescopic contact rod 2 in the follow-up flight process, a variable-angle holder mechanism is carried on the unmanned aerial vehicle 3 and connected with the telescopic contact rod 2, so as to adjust different angles and directions from different positions to adapt to the contact normal of the telescopic contact rod along the surface of the equipment to be detected to apply pressing force to the sliding operation platform.

[0052] For reference Figure 3 , Figure 4 and Figure 5 , the sliding operation platform 1 adopts a frame structure spliced by parallel bottom plate 12 and top plate 13, the bottom plate 12 and the top plate 13 are connected through aluminum columns 17 to form a frame, the telescopic contact rod 2 is connected with the bottom plate 12 through the top plate 13, the omni-directional wheels 11 are installed on the outer side of the bottom plate 12, each omni-directional wheel 11 is driven and controlled through an independent steering engine 16, the detection module 15 is fixed on the bottom plate, the detection module 15 can replace and select corresponding sensor modules according to different detection work, including but not limited to visual acquisition cameras, thickness gauges, ultrasonic flaw detectors and the like. The control module 14 for controlling the omni-directional wheels is also arranged on the top plate 13, and the control module 14 of the embodiment adopts an stm32 single-chip microcomputer.

[0053] Specifically, the sliding work platform 1 in the embodiment is a whole hexagonal frame structure, the bottom plate 12 and the top plate 13 are both hexagonal plates with the same size, and are fixedly connected through aluminum columns 17 at six corners. The frame adopts lightweight design, the bottom plate 12 and the top plate 13 are both made of carbon fiber material, and adopt hollow design. The bottom plate 12 adopts reinforced structure and is installed in cooperation with the telescopic contact rod 2, and the frame structure is reinforced and fixed in a 60° uniform distribution manner around the telescopic contact rod 2 near the center of the bottom plate 12 and the top plate 13. The detection module 15 is fixed on the bottom plate 12 closer to the surface of the equipment to be detected, so as to realize non-destructive contact detection with the detected object when the sliding work platform 1 slides.

[0054] As shown in Figure 5 The sliding work platform 1 in the embodiment is installed with three groups of omni-directional wheels 11 on the bottom plate 12, the axes of the three groups of omni-directional wheels are spaced 120° and distributed outside the bottom plate 12 of the sliding work platform 1, and each omni-directional wheel 11 is rotatably installed through a wheel assembly 111 and a rudder plate 161, wherein the rudder plate 161 is embedded into the positioning groove on the corresponding interval side of the bottom plate 12 and the top plate 13. The three groups of omni-directional wheels 11 are connected with independent rudders 16 through the wheel assemblies 111, the other end of the rudder 16 is fixed through a rudder piece 162, the rudder piece 162 is fixedly connected with the bottom plate 12, so as to be fixed on the whole sliding work platform 1, and then the assembly of the omni-directional wheel power transmission system of the sliding work platform is realized, the rudder 16 is in communication connection with the control module 14 on the sliding work platform 1, so as to realize the rudder control of the three groups of omni-directional wheels.

[0055] As shown in Figure 6 Each omni-directional wheel 11 is composed of four wheel group plates 112 and adopts a symmetrical grouping assembly structure. Specifically, the four wheel group plates 112 are grouped two by two, and the planes where the two groups of wheel group plates are located are parallel to each other, and the two groups of wheel group plates 112 are rigidly connected and spaced apart through a wheel group pad 114. The omni-directional wheel rollers 113 are uniformly arranged in a circumferential direction in each group of wheel group plates 112. The modular design makes the single omni-directional wheel 11 have symmetrical stress characteristics in the axial direction.

[0056] The three groups of omni-directional wheels adopted in the embodiment can realize the omni-directional movement function of the sliding work platform 1, each omni-directional wheel is drivingly connected with the rudder 16 through the wheel assembly 111 to form an independent driving unit. When the rudder 16 drives the omni-directional wheel 11 to rotate, the omni-directional wheel roller 113 generates a composite friction force with the surface to be detected, and through the differential cooperative control of the three groups of omni-directional wheels, a planar motion vector in any direction can be synthesized, so the sliding work platform 1 can move in any direction. For example, when the three groups of omni-directional wheels rotate at the same speed in the same direction, the sliding work platform 1 rotates counterclockwise; when two groups of omni-directional wheels rotate in the same direction and one group of omni-directional wheels stops rotating, the sliding work platform 1 moves longitudinally.

[0057] For referenceFigure 7 When the sliding work platform slides on the surface of the equipment to be detected, the surface of the equipment to be detected is mapped to a tangent plane, and a speed mapping control algorithm is used to project the curved surface motion of the sliding work platform to the tangent plane of the curved surface of the equipment to be detected to set the speed, and the position and geometric data of the sliding work platform in the direction are set by parameters , , and their derivatives are expressed in the parameter space , and the parameter expression of the three-dimensional curved surface of the equipment to be detected is:

[0058] .

[0059] In the formula, is a curved surface control point defining the shape of the three-dimensional curved surface of the equipment to be detected, and is expressed as a three-dimensional coordinate point , is a B-spline basis function in the parameter direction, p is the order, and in the embodiment, p is 3, is a B-spline basis function in the parameter direction, q is the order, and in the embodiment, q is 3, and k and l respectively represent the number of control points in the parameter u and v directions.

[0060] The normal vector of the three-dimensional curved surface of the equipment to be detected is:

[0061] .

[0062] The mapping relationship between the speed of the sliding work platform in the inertial system and the projection of the body to the tangent plane set speed is:

[0063] .

[0064] is the curved surface motion of the sliding work platform on the surface of the equipment to be detected according to the normal vector projection to the tangent plane set speed, is the speed direction of the sliding work platform in the inertial system , is the speed direction of the sliding work platform in the inertial system , and in the detection process, since the sliding work platform itself does not roll, the speed direction of the sliding work mechanism in the inertial system axis is . Then the speed of each omnidirectional wheel is distributed back through inverse kinematics solving, and the inverse kinematics solving process of the omnidirectional wheel is as follows:

[0065] .

[0066] wherein The input is the rotational speed of the three omnidirectional wheels, where r is the radius of the omnidirectional wheel. Let H be the velocity of the sliding work platform, and H be the inverse kinematics mapping matrix. Let d be the angular velocity of the sliding work platform, and d be the distance from the omnidirectional wheel to the center of the coordinate system at the end of the sliding work platform. Specifically, as shown below... Figure 7 As shown in the image.

[0067] Will The input feedback from the three sets of omnidirectional wheels is fed back to the servo control module of the three sets of omnidirectional wheels, which controls the omnidirectional wheels to drive the sliding work platform to slide and inspect the surface of the equipment to be inspected according to the set planned inspection path.

[0068] This embodiment aims to illustrate the motion control of the sliding work platform on the surface of the device to be inspected by using omnidirectional wheels in this invention. The planned detection path set by the sliding work platform on the surface of the device to be inspected and the planned flight path of the unmanned aerial vehicle can be generated by scanning the contour of the surface of the device to be inspected through global path planning or by SLAM real-time path planning based on lidar. This embodiment will not elaborate on these points.

[0069] See also Figure 8 and Figure 9 The telescopic contact rod 2 in this embodiment includes an inner tube 23, an outer tube 24, and a spring shaft 25. The spring shaft 25 is fixed inside the outer tube 24, and the inner tube 23 is slidably inserted into the outer tube 24 and simultaneously slidably mounted on the spring shaft 25. A spring is mounted on the spring shaft 25, and the spring, through its elastic energy, extends the inner tube 23 out of the outer tube 24 (the spring is omitted in the figure for a clearer view of the internal structure of the telescopic contact rod). The spring has both elastic restoring and damping energy dissipation functions, thereby realizing the telescopicity of the telescopic contact rod. The adaptive extension and retraction of the telescopic contact rod by the unmanned aerial vehicle is achieved through a passive mechanical structure. Its extension and retraction movement depends entirely on the external contact force received by the sliding work platform and the dynamic response of the elastic components.

[0070] See Figure 10 , Figure 11 and Figure 12, the outer tube end 241 of one end of the outer tube 24 is provided with an outer tube connector 243 connected with the unmanned aerial vehicle, the spring shaft 25 is fixedly connected with the inner side of the outer tube end 241 through a spring shaft fastener 251, and the outer tube end 241 of the other end of the outer tube 24 is provided with a second Teflon sleeve 242. The inner tube 23 is slidably assembled and inserted into the outer tube through the second Teflon sleeve 242 on the outer tube. The inner tube 23 is provided with an inner tube seat 231, a Teflon cover 232 and a first Teflon sleeve 233 at the end inserted into the outer tube 24, and the inner tube seat 231, the Teflon cover 232 and the first Teflon sleeve 233 are rigidly connected in sequence to form the end of the inner tube 23 to limit and constrain the spring in the outer tube. The shaft body of the spring shaft 25 is slidably assembled and inserted into the inner tube through the Teflon cover 232 and the first Teflon sleeve 233 on the inner tube. The Teflon sleeve is used for slidably assembling the spring shaft 25 and the inner tube 23 and the inner tube 23 and the outer tube 24, so that the lubricity and wear resistance are higher.

[0071] Referring again to Figure 3 , the telescopic contact rod 2 is connected with the sliding operation platform 1 through the telescopic end of the inner tube 23. The telescopic contact rod 2 is provided with a coupling 21 at the telescopic end, and the coupling joint 211 is connected with the bottom plate 12 through a connecting structure. The coupling joint has a certain floating angle to ensure the floating installation between the telescopic contact rod and the sliding operation platform. In this embodiment, a force head 22 is further arranged between the telescopic end of the inner tube 23 of the telescopic contact rod 2 and the coupling 21. The force head 22 detects the force of the telescopic contact rod on the sliding operation platform. Since the force of the telescopic contact rod 2 on the sliding operation platform is provided by the unmanned aerial vehicle, the compression force signal of the telescopic contact rod collected by the force head 22 is fed back to the flight control module of the unmanned aerial vehicle to control the unmanned aerial vehicle to control the extension and compression of the telescopic contact rod, so as to maintain the stable pressing effect on the sliding operation platform.

[0072] The force of the unmanned aerial vehicle on the sliding operation platform is detected by the force head 22, and the detected force signal is converted into a motion feedback control signal of the unmanned aerial vehicle. In this embodiment, a virtual second-order system is used to describe this control process. Given the telescopic amount of the end of the telescopic contact rod , the reference motion variables of the speed and the acceleration of the unmanned aerial vehicle relative to the sliding operation platform can be generated by an admittance controller:

[0073] .

[0074] Wherein, , are the speed and acceleration, respectively, The telescopic contact rod is provided with an inner tube and an outer tube, and the telescopic amount of the telescopic contact rod is obtained by a motion capture system carried by the unmanned aerial vehicle, or a displacement sensor is arranged between the inner tube and the outer tube to collect the telescopic amount of the telescopic contact rod, respectively, a mass parameter, a damping and a stiffness matrix of the filter system, in order to realize the compliance control, the mass parameter is set as , the damping is set as , and the stiffness is set as , is the force measured by the force sensor 22.

[0075] The detection process of the equipment surface to be detected in the embodiment includes the stages of taking off of the unmanned aerial vehicle, approaching the equipment surface to be detected, adjusting the contact pose of the sliding operation platform, sliding detection, and returning. The unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle, which has better hovering and high maneuverability. In the stages of taking off and approaching the equipment surface to be detected, the unmanned aerial vehicle carries the telescopic contact rod and the sliding operation platform to autonomously take off from a specified take-off point, moves along a target area under the control of an operator, and approaches the equipment surface to be detected. After reaching a predetermined distance, the unmanned aerial vehicle slows down and adjusts the pose of the sliding operation platform, and the distance and shape information of the equipment surface to be detected are obtained through the depth sensor arranged on the unmanned aerial vehicle or the sliding operation platform. In the sliding detection stage, the unmanned aerial vehicle continuously approaches the equipment surface to be detected, and the sliding operation platform is pressed against the equipment surface to be detected through the telescopic contact rod. The sliding operation platform autonomously slides on the equipment surface to be detected according to a predetermined detection moving track, the unmanned aerial vehicle adjusts the pose according to the predetermined detection moving track to realize continuous contact with the surface to be detected, and the force feedback of the sliding operation platform is collected in real time through the force sensor on the telescopic contact rod to adjust the relative motion of the unmanned aerial vehicle relative to the sliding operation platform, so as to ensure that the sliding operation platform and the equipment surface to be detected maintain stable contact pressure, thereby ensuring stable data acquisition. When the sliding operation platform completes the set sliding detection task, the unmanned aerial vehicle returns under the assistance of the operator and lands in a predetermined target area.

[0076] Finally, it should be noted that: the above is only the preferred examples of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An aerial flying sliding contact inspection robot, characterized in that: The system includes an unmanned aerial vehicle (UAV), a sliding work platform, and a telescopic contact rod. The sliding work platform is mounted on the UAV via the telescopic contact rod. A detection module is mounted on the sliding work platform, and the UAV moves it to the surface of the equipment to be inspected in the air. The sliding work platform is equipped with several independently controlled omnidirectional wheels. The UAV presses the omnidirectional wheels of the sliding work platform against the surface of the equipment to be inspected by compressing the telescopic contact rod. The curved surface motion of the sliding work platform on the surface of the equipment to be inspected is set according to the normal vector projection onto the tangent plane, and then distributed to the drive module of each omnidirectional wheel through kinematic calculation. The sliding work platform slides along the planned detection path on the surface of the equipment to be inspected. During this process, the sliding work platform maps the surface of the equipment to a tangent plane in three dimensions. A speed mapping control algorithm projects the surface motion of the sliding work platform onto the tangent plane of the equipment surface at a set speed. The sliding work platform is then set to move at a speed... The position and geometry data in the direction are used as parameters , Its derivative is expressed in parameter space In the text, the parametric expression for the three-dimensional curved surface of the device under test is: ， In the formula, To define the surface control points for the three-dimensional curved surface shape of the device under test, they are represented as three-dimensional coordinate points. , For parameters B-spline basis functions in the direction, For order, For parameters B-spline basis functions in the direction, Let k be the order, and l represent the number of control points in the directions of parameters u and v, respectively. The normal vector of the three-dimensional curved surface of the device under test is: ， The mapping relationship between the velocity of the sliding work platform in its inertial frame and the set velocity of the body projected onto the tangential plane is as follows: ， The speed of the sliding work platform's curved surface motion on the surface of the equipment to be inspected is set based on the projection of the normal vector onto the tangent plane. For the sliding work platform in the inertial frame The direction of velocity, For the sliding work platform in the inertial frame The direction of velocity is then calculated using inverse kinematics. Distribute the speed back to each omnidirectional wheel; The unmanned aerial vehicle (UAV) maintains a relatively stationary position relative to the sliding work platform during a planned flight path. Throughout this flight, a telescopic contact rod continuously presses the sliding work platform against the surface of the equipment under test. A force measuring head is installed between the end of the telescopic contact rod and the sliding work platform to detect the force exerted by the telescopic contact rod on the platform. The force measuring head collects the compressive force signal of the telescopic contact rod, which is then fed back to the UAV's flight control module to control the UAV's pressing action on the sliding work platform. The extension and retraction of the telescopic contact rod and the force collected by the force measuring head are used by an admittance controller to generate a reference motion variable for the UAV pressing the sliding work platform. The calculation process is as follows: ， in, , These are the velocity and acceleration of the aircraft relative to the telescopic contact rod, respectively. This refers to the extension / retraction amount at the end of the telescopic contact rod. These represent the mass parameters, damping, and stiffness matrices of the filter system. The force is measured by the force measuring head.

2. The aerial flying sliding contact inspection robot according to claim 1, characterized in that: The telescopic contact rod includes an inner tube, an outer tube, and a spring shaft. The spring shaft is fixed inside the outer tube, and the inner tube is slidably inserted into the outer tube and simultaneously slidably mounted on the spring shaft. A spring is mounted on the spring shaft, and the spring extends the inner tube out of the outer tube through its elastic energy.

3. The aerial flying sliding contact inspection robot according to claim 2, characterized in that: The spring shaft and the inner tube, and the inner tube and the outer tube are slidably assembled using Teflon sleeves.

4. The aerial flying sliding contact inspection robot according to claim 1, characterized in that: The sliding work platform adopts a frame structure with parallel bottom and top plates spliced ​​together. The bottom and top plates are connected by aluminum columns to form a frame. The omnidirectional wheels are installed on the outside of the bottom plate. Each omnidirectional wheel is driven and controlled by an independent servo motor. The detection module is fixed on the bottom plate. The telescopic contact rod passes through the top plate and connects to the bottom plate.

5. The aerial flying sliding contact inspection robot according to claim 4, characterized in that: The bottom plate and top plate are made of perforated carbon fiber plates.

6. The aerial sliding contact inspection robot according to any one of claims 1-5, characterized in that: The omnidirectional wheels are in three sets, and the three sets of omnidirectional wheels are distributed on the outside of the sliding work platform with an axial spacing of 120°.

7. The aerial flying sliding contact inspection robot according to claim 1, characterized in that: The inverse kinematics solution process for the omnidirectional wheel is as follows: ， in The speed input is for the three sets of omnidirectional wheels. The radius of the omnidirectional wheel, The speed of the sliding work platform. The inverse kinematic mapping matrix, The angular velocity of the sliding work platform. d This is the distance from the omnidirectional wheel to the center of the coordinate system at the end of the sliding work platform.

Images