The dwelling mechanism of the airship robot and the vision-assisted dwelling and takeoff control method

CN121553348BActive Publication Date: 2026-07-03SOUTHEAST UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SOUTHEAST UNIV
Filing Date
2025-11-18
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

Existing loitering mechanisms either have complex loitering control strategies, making them difficult to control, or are bulky, placing a heavy burden on the aircraft and making them inconvenient to carry in the air. There is an urgent need for a technical solution that can simplify loitering control strategies, reduce the burden on the aircraft during flight, and reduce energy consumption during loitering.

Method used

A dwelling mechanism for an airship robot was designed, comprising an airbag, a multi-rotor frame, and a dwelling mechanism. It is composed of micro motors, air valves, and silicone suction cups. Through a vision-assisted dwelling and takeoff control method, it adopts YOLOv8 wall recognition positioning and dwelling control, combined with a dual closed-loop PID structure of depth camera and attitude control, to achieve stable dwelling and takeoff of the airship robot on the wall.

Benefits of technology

It achieves lightweight, low-power dwell and takeoff control, simplifies control strategies, improves control response speed and accuracy, adapts to various wall environments, and reduces the burden on the aircraft.

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Abstract

This invention discloses a dwelling mechanism for an airship robot and a vision-assisted dwelling and takeoff control method. The airship robot consists of an airbag, a dwelling mechanism, and a multi-rotor frame. The dwelling mechanism comprises a balloon connecting base, a slider, a square nut, a threaded shaft micro-motor, a motor-suction cup fixing base, an air valve, an air valve housing, and a silicone suction cup. The output shaft of the threaded shaft micro-motor controls the up-and-down movement of the square nut, thereby controlling the opening and closing of the air valve. The closing and opening of the air valve correspond to the adsorption and dwelling and detachment and takeoff of the silicone suction cup, respectively. The vision-assisted control system includes a wall recognition and positioning method based on YOLOv8 and a dwelling and takeoff control method. The dwelling control method includes yaw angle control and distance control, and the takeoff control method includes pitch angle control and distance control. This invention allows the airship robot to dwell on a wall for recharging when its endurance is insufficient, improving its endurance in scenarios such as indoor environmental detection and indoor emergency rescue.
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