Diamond-shaped aerial work robot system and aerial work control method

Abstract

The application relates to the field of working equipment, and provides a rhombic aerial working robot system and an aerial working control method. The system comprises a robot body, a rotor driving component for generating at least four thrust vectors to jointly drive the robot body to generate linear displacement and / or angular displacement, a lifting tool component comprising a main lifting point, at least three sub-lifting points and a load-bearing unit, the main lifting point is configured to be connected with an external mechanism and connected with each sub-lifting point through the load-bearing unit, each sub-lifting point is connected with the robot body through a connecting structure on the robot body, and the lifting tool component is used for transmitting traction to the robot body to realize translational motion of at least one spatial degree of freedom. The stability of the aerial robot body is improved through the traction of the lifting tool component, the influence of disturbance on the posture of the robot body is reduced, and the controllability of the robot body is improved.

Description

Technical Field

[0001] This application relates to the field of work equipment, and in particular to a rhomboid aerial work robot system and an aerial work control method. Background Technology

[0002] With the continuous development of industrial production, infrastructure construction, and urban space utilization, the demand for hoisting, positioning, inspection, or auxiliary operations of pipes, beams, and plates in high-altitude environments is increasing. Related work scenarios typically include construction sites, bridge and steel structure assembly, high-altitude pipeline laying, and the transfer of loads in narrow areas. These operations are often characterized by large working heights, long and slender shapes of the hoisted objects, limited space, and high safety risks. Traditional methods relying on manual labor or single lifting equipment are insufficient to balance work efficiency and safety. To reduce the intensity of manual labor and improve operational flexibility, existing technologies have proposed aerial work systems; however, these systems still have limitations when applied to the hoisting of long and narrow loads or in narrow work areas.

[0003] Furthermore, in some aerial work systems, safety ropes or slings are typically used as passive protection or emergency braking mechanisms to enhance safety. However, existing suspension structures often connect the robot to the safety rope using a single point or simple connection method, primarily to prevent falls rather than to participate in attitude control or motion stabilization. In complex airflow environments or under varying workload conditions, the robot may still experience roll, pitch, and other attitude disturbances due to wind disturbances, changes in rotor thrust, or work reaction forces, affecting operational accuracy and safety. Summary of the Invention

[0004] The main purpose of this application is to provide a diamond-shaped aerial work robot system and an aerial work control method, which aims to improve the stability and controllability of the aerial work robot.

[0005] In a first aspect, this application provides a rhombus-shaped aerial work robot system, comprising: The robot itself; The rotor drive component includes at least four rotor power kits, each of which includes a rotor, a motor and an electronic speed controller. When the rotor is working, it generates controllable thrust. At least four thrust vectors work together to drive the robot body to produce linear displacement and / or angular displacement. The projections of the thrust vectors on the thrust projection plane form at least four in-plane thrust components. The lines of action of the at least four in-plane thrust components constitute at least four thrust axes, wherein there is at least one set of rhomboid thrust axis groups, the rhomboid thrust axis group comprising four thrust axes that form a rhombus; The lifting device includes a main lifting point, at least three sub-lifting points, and a load-bearing unit. The main lifting point is configured to connect to an external mechanism to receive traction force. The main lifting point is connected to each sub-lifting point through the load-bearing unit. Each sub-lifting point is connected to the robot body through a connection structure on the robot body. The lifting device is used to transmit traction force to the robot body to achieve translational movement with at least one spatial degree of freedom. The line connecting the main lifting point and each of the sub-lifting points is a baseline. The triangle formed by the intersection of at least three baselines and the thrust projection plane surrounds the center of gravity G of the robot body. Then, the sub-lifting points corresponding to the three baselines form a stable sub-lifting point group. When the robot body is within the preset roll attitude angle range and the preset pitch attitude angle range, there is at least one set of the aforementioned stable suspension point group, which causes the robot body to generate attitude recovery torque under the action of gravity due to the relative position relationship between the traction force and the center of gravity G, thereby having self-stabilizing capability in the roll and pitch directions. The at least four sets of rotor power kits are distributed along the length of the robot body and are arranged symmetrically or approximately symmetrically on both sides of the fuselage to form a power layout adapted to the rhomboid configuration.

[0006] In some embodiments, the distance between the intersection of the diagonals of the rhombus formed by the rhombus thrust axis group and the center of gravity G of the robot body is less than a preset distance; The four thrust axes are arranged in pairs parallel to each other in the thrust projection plane, wherein the included angles between one pair of thrust axes and the other pair of thrust axes are α and β, respectively, and satisfy: α + β = 180°, 10° ≤ α ≤ 170°; Among them, the thrust projection vectors of at least two rotor power kits have components in opposite directions in the X-axis direction of the thrust projection plane coordinate system, and the thrust projection vectors of at least two rotor power kits also have components in opposite directions in the Y-axis direction, and the thrust projection vectors of at least two rotor power kits generate torque components in opposite directions relative to the center of gravity of the robot body. The rhomboid thrust axis group generates a composite thrust whose magnitude and direction are adjustable in the thrust projection plane, and generates a non-zero composite torque whose magnitude and direction are adjustable in the plane normal direction.

[0007] In some embodiments, the load-bearing unit of the lifting device component includes at least one of steel cable, chain, rope, rigid connecting rod, and rigid connecting block, wherein the load-bearing unit is used to connect the main lifting point and each sub-lifting point to realize the transmission of traction force and structural support.

[0008] In some implementations, at least four of the at least four connecting structures are projected onto the thrust projection plane as convex polygons, and the robot's center of gravity G is located inside the convex polygon and the distance between it and each side of the convex polygon is greater than a preset safety distance; when the robot's center of gravity G moves inside the convex polygon, there are at least two sets of stable lifting point groups at the same time.

[0009] In some embodiments, the rotor drive component and the robot body, as well as the connecting structure and the robot body, are adjustable or lockable connections, so that the relative position and attitude of the rotor drive component or the connecting structure with respect to the robot body in space can be fixedly locked, adjusted on demand, or dynamically adjusted in real time.

[0010] In some embodiments, the lifting device further includes at least one adjustment drive mechanism configured to adjust the relative distance between at least one of the sub-lifting points and the main lifting point, thereby changing the spatial configuration between the main lifting point and each of the sub-lifting points to achieve attitude adjustment of the robot body in the roll and / or pitch directions.

[0011] In some embodiments, the aerial work robot system further includes: A translation drive component is connected to the main lifting point of the lifting device component, and is used to apply traction force to the robot body through the lifting device component to achieve controllable translational motion of the robot body in at least one spatial degree of freedom.

[0012] In some embodiments, at least one contact-type universal follower component is installed on the robot body for contacting the working surface in the wall-hugging operation mode. The contact-type universal follower component includes a universal follower mechanism, a support mechanism, and a buffer connection mechanism. The universal follow-up mechanism has rolling displacement and 360° tangential universal follow-up capability on the working surface, which is used to provide low-resistance wall-hugging follow-up capability and maintain wall-hugging distance; the buffer connection mechanism is used to absorb impact energy or smooth the wall reaction force during the switching between suspension mode and wall-hugging mode, and has energy buffering and dynamic deformation adjustment capabilities.

[0013] In some embodiments, the rhomboid aerial work robot system further includes: The work payload module is detachably mounted on the robot body or integrated with the robot body for performing aerial work operations.

[0014] Secondly, this application also provides an aerial operation control method, applied to the rhomboid aerial operation robot system as described in any one of the embodiments of this application, the method comprising: The robot body is moved to the preset working area by applying a pulling force to the main lifting point of the lifting device through an external traction mechanism; During movement, the restoring torque generated by the tension of the main lifting point relative to the robot's center of gravity provides passive self-stabilizing compensation in the roll and / or pitch directions, wherein the generation of the restoring torque depends on the spatial distribution configuration of at least three sub-lifting points such that the center of gravity is located within the effective support polygon. By independently adjusting the rotational speed of each rotor power component in the rotor drive unit, the projected component and resultant torque of the rotor thrust in the horizontal plane are controlled to generate an active control force for driving the translation and yaw of the object. Based on the synergistic effect of the passive self-stabilizing compensation and the active control force, the robot body is controlled to complete the operation movement along the preset trajectory while maintaining a stable posture, so that the diamond-shaped aerial operation robot system can perform aerial operation.

[0015] The rhomboid aerial work robot system and aerial work control method provided in this application embodiment include: a robot body; a rotor drive component, including at least four sets of rotor power kits, each rotor power kit including a rotor, a motor, and an electronic speed controller, wherein the rotor generates controllable thrust during operation, and at least four thrust vectors jointly drive the robot body to undergo linear displacement and / or angular displacement, the projection of the thrust vectors on the thrust projection plane respectively forming at least four in-plane thrust components; the lines of action of the at least four in-plane thrust components constitute at least four thrust axes, wherein at least one set of rhomboid thrust axis groups exists, the rhomboid thrust axis group including four thrust axes forming a rhombus; a lifting device component, including a main lifting point, at least three sub-lifting points, and a load-bearing unit, wherein the main lifting point is configured to connect to an external mechanism to receive traction force, the main lifting point is connected to each sub-lifting point through the load-bearing unit, and each sub-lifting point... The lifting device is connected to the robot body via a connecting structure. It transmits traction force to the robot body to achieve translational movement with at least one spatial degree of freedom. The line connecting the main lifting point and each of the sub-lifting points serves as a baseline. A triangle formed by the intersections of at least three baselines and the thrust projection plane encloses the robot body's center of gravity G. The sub-lifting points corresponding to the three baselines form a stable sub-lifting point group. When the robot body is within a preset roll attitude angle range and a preset pitch attitude angle range, at least one group of stable sub-lifting points exists, causing the robot body to generate an attitude recovery torque under gravity due to the relative positional relationship between the traction force and the center of gravity G, thus providing self-stabilizing capability in the roll and pitch directions. At least four sets of rotor power kits are distributed along the length of the robot body and arranged symmetrically or approximately symmetrically on both sides of the fuselage, forming a power layout adapted to a rhomboid configuration. The traction force of the lifting device improves the stability of the aerial robot body, reduces the impact of disturbances on the robot body's attitude, and enhances the robot body's controllability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the rhomboid aerial work robot system provided in the embodiments of this application; Figure 2 This is a partial schematic diagram of an aerial work robot system provided in an embodiment of this application; Figure 3 A schematic diagram of a lifting device component provided in an embodiment of this application; Figure 4 A schematic diagram of the thrust projection vector provided in one embodiment of this application; Figure 5 A schematic diagram of the intersection of a baseline and a thrust projection plane provided for an embodiment of this application; Figure 6 A schematic diagram of the projection of a power kit provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a rhomboid aerial work robot system provided in another embodiment of this application; Figure 8 A schematic diagram of the projection of a power kit provided in an embodiment of this application; Figure 9 A schematic diagram of the intersection of another reference line and the thrust projection plane provided for an embodiment of this application; Figure 10 This is a flowchart illustrating an aerial operation control method provided in an embodiment of this application.

[0018] Explanation of reference numerals in the attached drawings: 10. Aerial work robot system; 11. Robot body; 12. Rotor drive component; 13. Lifting device component; 14. External mechanism; 111. Connecting structure; 131. Main lifting point; 132. Sub-lifting point; 133. Load-bearing unit; 20. Thrust projection plane; 21. Intersection of the baseline and the thrust projection plane; 201A. Thrust component in the first plane; 201B. Thrust component in the second plane; 201C. Thrust component in the third plane; 201D. Thrust component in the fourth plane; 202A. First thrust axis; 202B. Second thrust axis; 202C. Third thrust axis; 202D. Fourth thrust axis; 113A. Projection of the first power kit; 113B. Projection of the second power kit; 113C. Projection of the third power kit; 113D. Projection of the fourth power kit. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should be understood that, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first groove and the second groove are only used to distinguish different grooves and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0023] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] To address the problems existing in the background technology, this application proposes a rhomboid aerial work robot system and an aerial work control method.

[0025] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a rhomboid aerial work robot system provided in one embodiment of this application.

[0026] like Figure 1 As shown, the diamond-shaped aerial work robot system 10 provided in this application embodiment includes: a robot body 11, a rotor drive component 12, and a lifting device component 13, wherein the rotor drive component 12 is mounted on the robot body 11, and the lifting device component 13 connects the robot body 11 to an external mechanism 14.

[0027] Please refer to Figure 2 , Figure 2 This is a partial schematic diagram of an aerial work robot system provided in an embodiment of this application.

[0028] like Figure 2 As shown, the rotor drive component 12 includes at least four rotor power kits. Each rotor power kit includes a rotor, a motor, and an electronic speed controller. When the rotor is working, it generates controllable thrust. At least four thrust vectors work together to drive the robot body 11 to produce linear displacement and / or angular displacement.

[0029] For example, each rotor of the rotor drive component 12 generates thrust, and the direction of the thrust is perpendicular or approximately perpendicular to the rotor plane defined by the circular trajectory formed by the tips of the rotor blades. Therefore, the magnitude and direction of the thrust generated by the rotor are represented by the thrust vector. It can be understood that the direction of the thrust vector is perpendicular or approximately perpendicular to the rotor plane, and the magnitude of the thrust vector is adjusted by changing the rotor speed.

[0030] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a lifting device component provided in one embodiment of this application.

[0031] like Figure 3 As shown, the lifting device 13 includes a main lifting point 131, at least three sub-lifting points 132, and a load-bearing unit 133. The main lifting point 131 is configured to connect to an external mechanism 14 to receive traction force. The main lifting point 131 is connected to each sub-lifting point 132 through the load-bearing unit 133. Each sub-lifting point 132 is connected to the robot body 11 through a connection structure 111 on the robot body 11. The lifting device 13 is used to transmit traction force to the robot body 11 to achieve translational movement with at least one spatial degree of freedom.

[0032] Please continue to refer to Figure 2 The robot body 11 has four connection structures 111. Since triangles are stable, three connection structures 111 are sufficient to keep the robot body 11 relatively stable in roll and pitch under the action of gravity. This solution sets four connection structures 111 corresponding to the rotor drive components to further improve the stability and adaptability of the robot body 11.

[0033] In some embodiments, the connection structure 111 includes a conventional connection structure and an emergency connection structure. At least three conventional connection structures and at least one emergency connection structure may be provided on the robot body 11. One end of the lifting device 13 is connected to the robot body 11 through the conventional connection structure and the emergency connection structure on the robot body 11, respectively. The emergency connection structure is used to assume the connection function in the event that the conventional connection structure fails.

[0034] For example, to avoid the safety risk of the robot body 11 falling due to the load-bearing unit 133 between the main lifting point 131 and the secondary lifting point 132 detaching or breaking, an emergency connection structure is provided in addition to the conventional connection structure that actually bears the weight of the robot body 11. Under normal working conditions, the emergency connection structure only bears a small portion of the weight of the robot body 11 or no weight at all. If the load-bearing unit 133 connected to the conventional connection structure detaches or breaks, the emergency connection structure connected to the load-bearing unit 133 will bear at least a portion of the weight borne by the conventional connection structure, preventing the robot body 11 from falling.

[0035] For example, the location of the emergency connection structure can be adjacent to the conventional connection structure, which has a higher potential risk of breakage, and the load-bearing unit 133 in the lifting device component 13 connected to the emergency connection structure can be made of a load-bearing material with higher strength than the load-bearing unit 133 connected to the conventional connection structure. For instance, assuming the conventional connection structure is connected to lighter and thinner materials such as nylon or Kevlar, the emergency connection structure can be connected to materials such as steel wire core reinforced rope or special fall arrest safety rope to enhance the fall arrest function of the emergency connection structure.

[0036] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the thrust projection vector provided in one embodiment of this application.

[0037] like Figure 4 As shown, the projections of at least four thrust vectors generated by at least four rotors of at least four sets of rotor power kits onto the thrust projection plane 20 respectively form at least four in-plane thrust components: first in-plane thrust component 201A, second in-plane thrust component 201B, third in-plane thrust component 201C, and fourth in-plane thrust component 201D.

[0038] The lines of action of the first thrust component 201A, the second thrust component 201B, the third thrust component 201C, and the fourth thrust component 201D in the first plane constitute at least four thrust axes: the first thrust axis 202A, the second thrust axis 202B, the third thrust axis 202C, and the fourth thrust axis 202D, wherein there is at least one set of rhomboid thrust axis groups, the rhomboid thrust axis group including four thrust axes that form a rhombus.

[0039] For example, the robot body has a center of gravity G. Under static conditions, the center of gravity G is not only the center of gravity of the robot body 10 itself, but also the center of gravity of the rigid structure formed by the robot body 10 and the rotor drive component 20 and the contact-type universal follower component 30 mounted on it. A reference plane 20 is defined, which passes through the center of gravity G and is always perpendicular to the line connecting the center of gravity G and the main lifting point 131. At least three reference lines are formed by connecting the main lifting point 131 and each sub-lifting point 132. These at least three reference lines intersect the plane 20 to form at least three intersection points, where at least one set of three intersection points forms the three vertices of a triangle. The center of gravity G of the robot body is located within the area enclosed by the three sides of the triangle, and the sub-lifting point group corresponding to these three intersection points is considered a stable sub-lifting point group. The rhombus formed by the aforementioned rhombus thrust axis group on the thrust projection plane 20 can represent a standard rhombus or an approximate rhombus shape.

[0040] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the intersection of a baseline and a thrust projection plane, provided as an embodiment of this application.

[0041] like Figure 5 As shown, the line connecting the main lifting point 131 and each sub-lifting point 132 is the baseline. The triangle formed by the intersection point 21 of at least three baselines and the thrust projection plane 20 surrounds the center of gravity G of the robot body 11. Then, the sub-lifting points 132 corresponding to the three baselines form a stable sub-lifting point group.

[0042] When the robot body 11 is within the preset roll attitude angle range and the preset pitch attitude angle range, there is at least one set of the stabilized sub-suspension points, which causes the robot body 11 to generate attitude recovery torque under the action of gravity due to the relative position relationship between the traction force and the center of gravity G, thereby having self-stabilizing capability in the roll and pitch directions.

[0043] The at least four sets of rotor power kits are distributed along the length of the robot body 11 and are arranged symmetrically or approximately symmetrically on both sides of the fuselage to form a power layout adapted to the rhomboid configuration.

[0044] For example, the robot body 11 can be a one-piece design or a modular design. In actual use, the modular components are assembled to form a rigid robot body 11. For instance, the components can be connected by high-strength bolts with locating pins at the connection points to ensure coaxiality, thus forming the robot body 11; alternatively, a robust bayonet or snap-fit ​​design can be used; or a power-locking connection mechanism can be used. At least four rotor drive components 12 are electrically foldable to the robot body 11, allowing for electric angle adjustment and control of the robot body 11's deformation via servo motors. Specifically, the robot body 11 is used to mount the rotor drive components 12 and to house the controllers and sensors required for operation, which will not be elaborated upon here. The robot body 11 can be considered a rigid body.

[0045] For example, under the traction of the lifting device 13, the roll and pitch attitudes of the robot body 11 can remain stable, improving the stability of the robot body 11; the lifting device 13 can also drive the robot body 11 to achieve at least one-dimensional spatial movement, such as movement in the height direction, through traction force; and achieve displacement and / or yaw of the robot body 11 through the rotor thrust of the rotor drive device 12, improving the controllability of the robot body 11.

[0046] Please refer to Figure 6 , Figure 7 , Figure 6 A schematic diagram of the projection of a power kit provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a rhomboid aerial work robot system provided in another embodiment of this application.

[0047] In some embodiments, the distance between the intersection of the diagonals of the rhombus formed by the rhombus thrust axis group and the center of gravity G of the robot body 11 is less than a preset distance.

[0048] In other words, during the process where the center of gravity G of the robot body 11 changes due to the change in mass distribution, the center of gravity G is always located near the intersection of the diagonals of the rhombus formed by the rhombus thrust axis group. Figure 4 The distance is located near the origin of the coordinate system, allowing the thrust vector to effectively control the movement of the robot body 11. The preset distance can be set according to actual needs and is not limited here.

[0049] The four thrust axes are arranged in pairs and parallel in the thrust projection plane, wherein the included angles between one pair of thrust axes and the other pair of thrust axes are α and β, respectively, and satisfy: α + β = 180°, 10° ≤ α ≤ 170°.

[0050] Please continue to refer to Figure 4 ,like Figure 4 As shown, the first thrust axis 202A is parallel to the third thrust axis 202C, and the second thrust axis 202B is parallel to the fourth thrust axis 202D. Furthermore, the first thrust axis 202A and the fourth thrust axis 202D form an angle α, and the third thrust axis 202C and the fourth thrust axis 202D form an angle β, with the quantitative relationship α + β = 180° and 10° ≤ α ≤ 170°.

[0051] Among them, the thrust projection vectors of at least two rotor power kits have components in opposite directions in the X-axis direction of the thrust projection plane 20 coordinate system, and the thrust projection vectors of at least two rotor power kits also have components in opposite directions in the Y-axis direction, and the thrust projection vectors of at least two rotor power kits generate torque components in opposite directions relative to the center of gravity of the robot body.

[0052] like Figure 4 As shown, the first thrust projection vector 201A and the second thrust projection vector 201B, the third thrust projection vector 201C and the fourth thrust projection vector 201D have components in opposite directions in the X-axis direction of the thrust projection plane 20 coordinate system; the first thrust projection vector 201A and the third thrust projection vector 201C, the second thrust projection vector 201B and the fourth thrust projection vector 201D have components in opposite directions in the Y-axis direction of the thrust projection plane 20 coordinate system. Thus, the rhomboid thrust axis group generates a composite thrust whose magnitude and positive and negative directions are adjustable in the thrust projection plane 20, and generates a non-zero composite torque whose magnitude and positive and negative directions are adjustable in the plane normal direction.

[0053] like Figure 6 As shown, Figure 1 The rotor drive component of the rhomboid aerial work robot system is projected onto a preset plane as the rotor power kit. Figure 6 The configuration, namely the first power kit projection 113A, the second power kit projection 113B, the third power kit projection 113C, and the fourth power kit projection 113D, are arranged in a rhombus shape, and the thrust projection vector points to the geometric center of the rhombus along the thrust axis.

[0054] like Figure 7 As shown, the thrust projection vector generated by at least four rotors of at least four sets of rotor power kits can also be far away from the geometric center of the rhombus along the thrust axis. The structure of the robot body 11 can be set according to actual needs so that the rotation of the rotor has good airflow conditions.

[0055] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the projection of a power kit provided in an embodiment of this application.

[0056] like Figure 8 As shown, Figure 7 The rotor power kit of the rotor drive component in the diamond-shaped aerial work robot system is projected onto the preset plane 20 as a representation of the rotor power kit. Figure 8 The configuration, namely the first power kit projection 113A, the second power kit projection 113B, the third power kit projection 113C, and the fourth power kit projection 113D, are arranged in a rhombus shape, and the thrust projection vector is away from the geometric center of the rhombus along the thrust axis.

[0057] In some embodiments, the load-bearing unit 133 of the lifting device component 13 includes at least one of steel cable, chain, rope, rigid connecting rod, and rigid connecting block, wherein the load-bearing unit 133 is used to connect the main lifting point 131 and each sub-lifting point 132 to realize the transmission of traction force and structural support.

[0058] For example, the load-bearing unit 133 is a flexible rope structure made of load-bearing material. The load-bearing material used to make the load-bearing unit 133 can be, for example, metal, steel rope, nylon, Kevlar, etc. Therefore, the load-bearing unit 133 can be made of steel cable, chain, rope, rigid connecting rod, rigid connecting block, etc. Multiple load-bearing units 133 are connected to each other by hinges, plugs, or other means, or by the cooperation of end connecting accessories such as hooks, rings, and shackles, forming a chain-like force-bearing structure with functions such as lifting, hoisting, and traction. This allows the lifting device component 13 to transfer loads and lift heavy objects between the main lifting point 131 and each branch lifting point 132.

[0059] In some embodiments, at least four of the at least four connecting structures 111 are projected as convex polygons on the thrust projection plane 20, and the center of gravity G of the robot body 11 is located inside the convex polygon and the distance between it and each side of the convex polygon is greater than a preset safety distance; when the center of gravity G of the robot body moves inside the convex polygon, there are at least two sets of stable lifting point groups at the same time.

[0060] For example, a convex polygon can be a convex quadrilateral or a convex pentagon; there is no limitation here. Please continue reading. Figure 5 Understandably, the projection of the connecting structure 111 onto the thrust projection plane 20 is similar to... Figure 5 The intersection of the baseline and the thrust projection plane is the same.

[0061] For example, the robot body may have four connecting structures 111, and the projection of one of the connecting structures 111 onto the thrust projection plane 20 is located within the triangle formed by the projections of the other three connecting structures 111 onto the thrust projection plane 20; the robot body may have five connecting structures 111, and the projection of one of the connecting structures 111 onto the thrust projection plane 20 is located within the convex quadrilateral formed by the projections of the other four connecting structures 111 onto the thrust projection plane 20; the robot body may have six connecting structures 111, and the projection of one of the connecting structures 111 onto the thrust projection plane 20 is located within the convex pentagon formed by the projections of the other five connecting structures 111 onto the thrust projection plane 20.

[0062] For example, the intersection point 21 formed by the baseline and plane 20 constitutes a triangle within plane 20. In a windless environment and under static conditions, the center of gravity G should be located within the area enclosed by the triangle; preferably, the center of gravity G maintains a large distance from each side of the triangle to improve stability and safety margin. If the center of gravity G exceeds the boundary of the triangle, the robot body 10 is at risk of tipping over.

[0063] In actual operation, the center of gravity G is not fixed. For example, the movement of a mobile work load module, such as an articulated robotic arm, may cause the center of gravity G to shift; similarly, the consumption or shaking of the cleaning fluid in the cleaning fluid tank carried by the robot body 10 may also cause changes in the center of gravity G. Therefore, the location of the lifting points is preferably set to cover the range of changes in the center of gravity G, and the distance between the lifting points and the sides of the triangle is further increased within this range to improve stability and safety margin. In addition, during actual operation, the robot body 10 is also subject to various disturbances, including wind disturbances, reaction forces from the work load, rotor thrust, rotor counter-torque, and reaction forces and frictional forces generated from contact with environmental objects. Among these factors, wind disturbance originates from high-altitude airflow, which generates torque disturbance when acting on the robot body 10; the reaction force of the work load can originate from the recoil force after the spray gun sprays liquid, the reaction force generated by the movement of the robotic arm, or the reaction force generated after the task load such as cleaning or inspection contacts the work surface; when the rotor thrust deviates from the horizontal plane where the center of gravity G is located, it will also generate disturbance torque in the roll and / or pitch directions; the rotor counter-torque is the torque generated in the opposite direction of rotor rotation when the rotor rotates; environmental reaction forces include the friction and reaction force exerted by the wall on the robot body 10 when rinsing or scrubbing the work surface. All of the above disturbance factors may affect the roll and pitch attitude stability of the robot body 10. For example, the greater the distance between the center of gravity G or its range of variation and the sides of the triangle, the stronger the robot body 10's ability to resist roll and pitch disturbance torque during actual operation, the higher its stability, and the lower the risk of tipping over. Of course, the distances also need to be comprehensively designed in conjunction with the size of the robot body 10, the load configuration, and the actual operation requirements. Understandably, setting multiple lifting points provides layout margin for the center of gravity G and its range of variation, thereby improving the stability of the robot body 10.

[0064] Please refer to Figure 9 , Figure 9 This is a schematic diagram of the intersection of another baseline and the thrust projection plane provided in an embodiment of this application.

[0065] like Figure 9 As shown, the projection of the connecting structure 111 onto the thrust projection plane 20 can also be a convex quadrilateral. The movement trajectory of the center of gravity G on the thrust projection plane 20 is always located within the convex quadrilateral and has a certain distance from each side of the convex quadrilateral, thus preventing the robot body from tipping over.

[0066] Understandably, setting up multiple connection structures 111 provides some space for changes in the robot's center of gravity, thus improving the robot's stability. Among these, Figure 9 The convex quadrilateral shown is Figure 5Compared to the triangle shown, it provides more space for changes in the position of the center of gravity, thus giving the robot body greater stability.

[0067] In some embodiments, the rotor drive component 12 and the robot body 11, as well as the connecting structure 111 and the robot body 11, are adjustable or lockable connections, so that the relative position and attitude of the rotor drive component 12 or the connecting structure 111 relative to the robot body 11 in space can achieve at least one of fixed locking, on-demand adjustment, and real-time dynamic adjustment.

[0068] For example, by using the adjustable and lockable rotor drive component 12 and the connecting mechanism 111, the key components of the robot are no longer fixed, but are variables that can be statically set or dynamically controlled, thereby greatly expanding the robot's functions and application range. For instance, the rotor drive component 12 can dynamically adjust the rotor angle according to operational requirements, specifically adjusting the robot's maximum thrust in different directions; or, for example, it can be folded to reduce volume during transportation or storage, and can be easily adjusted to a maintenance position when maintenance is required.

[0069] In some embodiments, the lifting device 13 further includes at least one adjustment drive mechanism configured to adjust the relative distance between at least one sub-lifting point 132 and the main lifting point 131, thereby changing the spatial configuration between the main lifting point 131 and each sub-lifting point 132, and realizing attitude adjustment of the robot body 111 in the roll and / or pitch directions.

[0070] For example, the load-bearing unit 133 between the main lifting point 131 and each sub-lifting point 132 of the lifting device component 13 can be of fixed length or variable length; when the load-bearing unit 133 is a nylon rope, a geared motor can be used to drive a winch to wind up and unwind the rope to change the length of the chain load-bearing body.

[0071] Understandably, by changing the distance between the main lifting point 131 and one or more sub-lifting points 132, that is, by adjusting the length of the load-bearing unit 133 between the main lifting point 131 and one or more sub-lifting points 132, the suspension stability attitude of the robot body 11 can be changed. Therefore, the length of the load-bearing unit 133 can be adjusted by adjusting the drive mechanism to make the robot body 11 change its roll and pitch attitude.

[0072] In some embodiments, the aerial work robot system further includes: A translation drive component is connected to the main lifting point 131 of the lifting component 13, and is used to apply traction force to the robot body 11 through the lifting component 13 to achieve controllable translational movement of at least one spatial degree of freedom of the robot body 11.

[0073] For example, the external mechanism 14 may be a translation drive component. Specifically, the translation drive component may be, for example, a lifting mechanism, for applying traction force to the robot body 11 through the lifting component 13 to achieve at least one-dimensional spatial movement, such as at least adjusting the height of the robot body 11 relative to the ground.

[0074] For example, the translation drive component transmits driving force to the robot body 11 through the main lifting point 131 of the lifting component 13 to drive the robot body 11 to achieve one-, two-, or three-dimensional spatial movement. Among them, since the rotor drive component 12 itself has translation and yaw capabilities, the thrust of the rotor drive component 12, in conjunction with the high-altitude lifting component 14, can jointly drive the robot body 11 to move in various degrees of freedom.

[0075] For example, the translation drive component can be manually controlled, automatically controlled according to a pre-set algorithm program, or semi-automatically controlled by automatic control assisting manual control. Furthermore, the translation drive component and the control unit of the rotor drive component 12 can be communicatively connected or operate independently of each other.

[0076] In some embodiments, at least one contact-type universal follower component is installed on the robot body 11 for contacting the working surface in the wall-hugging operation mode. The contact-type universal follower component includes a universal follower mechanism, a support mechanism, and a buffer connection mechanism. The universal follow-up mechanism has rolling displacement and 360° tangential universal follow-up capability on the working surface, which is used to provide low-resistance wall-hugging follow-up capability and maintain wall-hugging distance; the buffer connection mechanism is used to absorb impact energy or smooth the wall reaction force during the switching between suspension mode and wall-hugging mode, and has energy buffering and dynamic deformation adjustment capabilities.

[0077] For example, a contact-type omnidirectional follower component is mounted on the robot body 11 to transmit force between the robot body 11 and the work surface when the robot body 11 contacts the work surface, enabling the robot body to move more stably along the work surface. The omnidirectional follower mechanism can be a omnidirectional wheel that directly contacts the work surface, following displacement through low-resistance rolling motion. Simultaneously, its own connection structure enables multi-directional movement freedom, stably bearing and transmitting the contact load from the work surface to the support mechanism. The support mechanism is used to fix the omnidirectional follower mechanism and bear the load from it, ensuring its stability. The buffer connection mechanism includes an elastic connection component, used to connect the support mechanism and the robot body 11, uniformly distributing and buffering the load from the support mechanism.

[0078] In some embodiments, the rhomboid aerial work robot system further includes: The work payload module is detachably mounted on the robot body or integrated with the robot body for performing aerial work operations.

[0079] For example, the work load module can be detachably installed on the robot body 11, and can be a camera, roller brush, spray gun, etc., which can be replaced according to the work requirements, and there is no limitation here.

[0080] For example, the work payload module can be a functional execution component, including but not limited to various actuators, sensors, data acquisition units, and other auxiliary functional modules. Its core function is to directly realize specific work actions or acquire data; such as cleaning spray guns, cleaning brushes, paint spray guns, infrared thermal imaging sensors, etc. It can also be a complete subsystem with independent operating logic and integrated multiple sub-modules, which may contain dedicated control units, power distribution modules, local sensing components, etc. Its core function is to complete complex specialized tasks through internal coordination within the subsystem and interaction with the onboard main system, such as a tandem robotic arm.

[0081] Figure 10 This is a flowchart illustrating an aerial operation control method provided in an embodiment of this application.

[0082] like Figure 10 As shown in the embodiments of this application, an aerial operation control method is also provided, including: Step S101: Apply a pulling force to the main lifting point of the lifting device component through an external traction mechanism to move the robot body to the preset working area; Step S102: During the movement, the restoring torque generated by the tension of the main lifting point relative to the center of gravity of the robot body is used to provide passive self-stabilizing compensation in the roll direction and / or pitch direction, wherein the generation of the restoring torque depends on the spatial distribution configuration of at least three sub-lifting points so that the center of gravity is located within the effective support polygon. Step S103: By independently adjusting the rotational speed of each rotor power component in the rotor drive component, the projected component and resultant torque of the rotor thrust in the horizontal plane are controlled to generate an active control force for driving the object to translate and yaw. Step S104: Based on the synergistic effect of the passive self-stabilizing compensation and the active control force, the robot body is controlled to complete the operation movement along the preset trajectory while maintaining a stable posture, so that the diamond-shaped aerial operation robot system can perform aerial operation.

[0083] For example, the external traction mechanism can be a lifting mechanism, which moves the robot body to a preset work area, such as near the work surface where the work needs to be performed. Since the robot body is connected to the lifting points of the lifting device via a connecting structure, the robot body can remain stable even when the rotor drive generates roll and / or pitch, ensuring that the center of gravity is located within the effective support polygon. The effective support polygon is a convex polygon formed by the projection of the lifting points onto the thrust projection plane.

[0084] For example, by adjusting the rotational speed of the rotor power kit in the rotor drive component, the rotor power kit generates at least four thrust projection components, producing active control forces for driving the object's translation and yaw. Due to the self-stabilizing compensation of the lifting device components, the robot body can maintain stable attitude and controllable movement trajectory.

[0085] For example, the diamond-shaped aerial work robot system realizes aerial work operations through the work payload module, such as washing the work surface with a roller brush, etc., without limitation.

[0086] It should be understood that although the present invention has been specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the present invention in any way. Those skilled in the art can make modifications and variations to the present invention as needed without departing from the essential spirit and scope of the invention, and all such modifications and variations fall within the scope of the present invention.

[0087] It should also be understood that the sequence numbers of the embodiments in this application are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rhomboid aerial work robot system, characterized in that, include: The robot itself; The rotor drive component includes at least four rotor power kits, each of which includes a rotor, a motor and an electronic speed controller. When the rotor is working, it generates controllable thrust. At least four thrust vectors work together to drive the robot body to produce linear displacement and / or angular displacement. The projections of the thrust vectors on the thrust projection plane form at least four in-plane thrust components. The lines of action of the at least four in-plane thrust components constitute at least four thrust axes, wherein there is at least one set of rhomboid thrust axis groups, the rhomboid thrust axis group comprising four thrust axes that form a rhombus; The lifting device includes a main lifting point, at least three sub-lifting points, and a load-bearing unit. The main lifting point is configured to connect to an external mechanism to receive traction force. The main lifting point is connected to each sub-lifting point through the load-bearing unit. Each sub-lifting point is connected to the robot body through a connection structure on the robot body. The lifting device is used to transmit traction force to the robot body to achieve translational movement with at least one spatial degree of freedom. The line connecting the main lifting point and each of the sub-lifting points is a baseline. The triangle formed by the intersection of at least three baselines and the thrust projection plane surrounds the center of gravity G of the robot body. Then, the sub-lifting points corresponding to the three baselines form a stable sub-lifting point group. When the robot body is within the preset roll attitude angle range and the preset pitch attitude angle range, there is at least one set of the aforementioned stable suspension point group, which causes the robot body to generate attitude recovery torque under the action of gravity due to the relative position relationship between the traction force and the center of gravity G, thereby having self-stabilizing capability in the roll and pitch directions. The at least four sets of rotor power kits are distributed along the length of the robot body and are arranged symmetrically or approximately symmetrically on both sides of the fuselage to form a power layout adapted to the rhomboid configuration.

2. The rhomboid aerial work robot system according to claim 1, characterized in that, The distance between the intersection of the diagonals of the rhombus formed by the rhombus thrust axis group and the center of gravity G of the robot body is less than a preset distance. The four thrust axes are arranged in pairs parallel to each other in the thrust projection plane, wherein the included angles between one pair of thrust axes and the other pair of thrust axes are α and β, respectively, and satisfy: α + β = 180°, 10° ≤ α ≤ 170°; Among them, the thrust projection vectors of at least two rotor power kits have components in opposite directions in the X-axis direction of the thrust projection plane coordinate system, and the thrust projection vectors of at least two rotor power kits also have components in opposite directions in the Y-axis direction, and the thrust projection vectors of at least two rotor power kits generate torque components in opposite directions relative to the center of gravity of the robot body. The rhomboid thrust axis group generates a composite thrust whose magnitude and direction are adjustable in the thrust projection plane, and generates a non-zero composite torque whose magnitude and direction are adjustable in the plane normal direction.

3. The rhomboid aerial work robot system according to claim 1, characterized in that, The load-bearing unit of the lifting device component includes at least one of steel cable, chain, rope, rigid connecting rod, and rigid connecting block. The load-bearing unit is used to connect the main lifting point and each sub-lifting point to realize the transmission of traction force and structural support.

4. The rhomboid aerial work robot system according to claim 1, characterized in that, At least four of the at least four connecting structures are projected as convex polygons on the thrust projection plane, and the robot's center of gravity G is located inside the convex polygon and the distance between it and each side of the convex polygon is greater than a preset safety distance; when the robot's center of gravity G moves inside the convex polygon, there are at least two sets of stable lifting point groups at the same time.

5. The rhomboid aerial work robot system according to claim 1, characterized in that, The rotor drive component and the robot body, as well as the connecting structure and the robot body, are adjustable or lockable connections, so that the relative position and attitude of the rotor drive component or the connecting structure with respect to the robot body in space can achieve at least one of fixed locking, on-demand adjustment, or real-time dynamic adjustment.

6. The aerial work robot system according to claim 1, characterized in that, The lifting device also includes at least one adjustment drive mechanism, which is configured to adjust the relative distance between at least one of the sub-lifting points and the main lifting point, thereby changing the spatial configuration between the main lifting point and each of the sub-lifting points, and realizing the attitude adjustment of the robot body in the roll and / or pitch directions.

7. The aerial work robot system according to claim 1, characterized in that, The aerial operation robot system also includes: A translation drive component is connected to the main lifting point of the lifting device component, and is used to apply traction force to the robot body through the lifting device component to achieve controllable translational motion of the robot body in at least one spatial degree of freedom.

8. The rhomboid aerial work robot system according to any one of claims 1-7, characterized in that, The robot body is equipped with at least one contact-type universal follower component for contacting the working surface in the wall-hugging operation mode. The contact-type universal follower component includes a universal follower mechanism, a support mechanism, and a buffer connection mechanism. The universal follow-up mechanism has rolling displacement and 360° tangential universal follow-up capability on the working surface, which is used to provide low-resistance wall-hugging follow-up capability and maintain wall-hugging distance; the buffer connection mechanism is used to absorb impact energy or smooth the wall reaction force during the switching between suspension mode and wall-hugging mode, and has energy buffering and dynamic deformation adjustment capabilities.

9. The rhomboid aerial work robot system according to any one of claims 1-8, characterized in that, The diamond-shaped aerial work robot system also includes: The work payload module is detachably mounted on the robot body or integrated with the robot body for performing aerial work operations.

10. An aerial operation control method, applied to the diamond-shaped aerial operation robot system as described in any one of claims 1-9, characterized in that, The method includes: The robot body is moved to the preset working area by applying a pulling force to the main lifting point of the lifting device through an external traction mechanism; During movement, the restoring torque generated by the tension of the main lifting point relative to the robot's center of gravity provides passive self-stabilizing compensation in the roll and / or pitch directions, wherein the generation of the restoring torque depends on the spatial distribution configuration of at least three sub-lifting points such that the center of gravity is located within the effective support polygon. By independently adjusting the rotational speed of each rotor power component in the rotor drive unit, the projected component and resultant torque of the rotor thrust in the horizontal plane are controlled to generate an active control force for driving the translation and yaw of the object. Based on the synergistic effect of the passive self-stabilizing compensation and the active control force, the robot body is controlled to complete the operation movement along the preset trajectory while maintaining a stable posture, so that the diamond-shaped aerial operation robot system can perform aerial operation.

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