Multi-mode switched aerial work robot system and aerial work method

Abstract

This application relates to the field of work equipment, and provides a multi-mode switching aerial work robot system and aerial work method. The system includes: a robot body, on which a suspension component, a rotor drive component, a contact-type universal follower component, and a mode switching control module are installed. The contact-type universal follower component is used to contact the work surface, receive the reaction force of the work surface and transmit it to the robot body. The contact-type universal follower component includes a universal follower mechanism, a support mechanism and a buffer connection mechanism. The universal follower mechanism has rolling displacement and 360° tangential universal follower capability on the work surface, and is used to provide wall-hugging follower capability in all tangential directions of the work surface and / or maintain the wall-hugging distance in the wall-hugging mode. The buffer connection mechanism is used to absorb impact energy and / or smooth the wall reaction force on the robot body during the switching between the suspension mode and the wall-hugging mode.

Description

Technical Field

[0001] This application relates to the field of work equipment, and more particularly to a multi-mode switching aerial work robot system and aerial work method. Background Technology

[0002] With the continuous growth in the number of high-rise and super high-rise buildings in cities, the demand for maintenance operations such as cleaning, inspection, and painting of building facades is increasing. Traditional high-altitude operations relying on manual suspended platforms, scaffolding, or ropes are costly, inefficient, and pose high safety risks, making it difficult to meet the requirements of large-scale and continuous facade maintenance in complex urban environments. Therefore, adopting unmanned or robotic methods to replace manual high-altitude facade operations has become the development direction in this field.

[0003] Furthermore, in high-altitude facade operations, to balance rapid cross-regional access capabilities with stable operation close to the work surface, existing technologies typically require switching between suspended and wall-hugging operation modes. However, existing high-altitude facade operation equipment generally suffers from the following problems: suspended and wall-hugging operation schemes are often designed independently, lacking a structural and control coordination mechanism for continuous switching between the two operation modes. This leads to risks such as impacts, attitude disturbances, and wall-hugging failures during critical mode switching phases, thereby affecting operational safety and efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a multi-mode switching aerial work robot system and aerial work method, which aims to improve the impact suppression capability of the aerial work robot system during the switching process between suspended mode and wall-hugging mode, the attitude self-stabilization capability on complex working surfaces (such as inclined planes), and the dynamic anti-disturbance capability under strong winds or external disturbances.

[0005] In a first aspect, this application provides a multi-mode switching aerial work robot system, comprising: The robot itself; The robot body is equipped with a suspension component. The end of the suspension component away from the robot body is connected to an external carrier to bear the traction force from the external carrier and apply attitude recovery torque for roll and / or pitch attitude to the robot body. In the suspension mode, it applies traction force to control the movement of the robot body, and in the wall-hugging mode, it applies traction force to make the robot body move tangentially on the working surface. The robot body is also equipped with a rotor drive component, which includes at least two rotor power kits. Each rotor power kit includes a rotor, a motor, and an electronic speed controller. It is used to output rotor thrust to control the movement and / or yaw of the robot body in the suspension mode, and to output rotor thrust to control the robot body to maintain its position against the wall and / or move tangentially on the work surface in the wall-hugging mode. The robot body is also equipped with a contact-type universal follower component for contacting the working surface, receiving the reaction force from the working surface, and transmitting it to the robot body. The contact-type universal follower component includes a universal follower mechanism, a support mechanism, and a buffer connection mechanism. The universal follower mechanism has rolling displacement and 360° tangential universal follower capability on the working surface, and is used to provide wall-hugging follower capability in all tangential directions of the working surface and / or maintain the wall-hugging distance in wall-hugging mode. The buffer connection mechanism is used to absorb impact energy and / or smooth the wall reaction force on the robot body during the switching between suspension mode and wall-hugging mode. The robot body is also equipped with a mode switching control module, which is electrically connected to the rotor drive component. This module controls the system to switch between a suspended mode and a wall-hugging mode. In suspended mode, the rotor drive component is controlled to work with the external carrier to drive the robot body to move and yaw in space, and the suspension component is used to constrain the roll and / or pitch attitude of the robot body. In wall-hugging mode, the rotor drive component is controlled to output rotor thrust to generate a wall-hugging thrust and a tangential movement thrust on the working surface, and the external carrier is used to drive the robot body to move tangentially along the working surface. At the same time, the contact-type universal servo component and the suspension component are used to constrain the wall-hugging distance and attitude of the robot body.

[0006] In some embodiments, the aerial work robot system includes at least two contact-type universal servo components, wherein at least two contact-type universal servo components, in wall-hugging mode, respectively contact the work surface to form at least two contact areas and are subjected to the reaction force of the work surface. In at least one set of two contact areas, the two reaction forces generated by the two contact areas produce two torques with opposite components in the yaw direction on the robot's center of gravity. The magnitude of the two torques is related to the deformation state of the buffer connection mechanism inside the corresponding contact-type universal servo component, and together they form an attitude recovery torque in the yaw direction, which is used to maintain the stability of the robot's yaw attitude in wall-hugging mode.

[0007] In some embodiments, the aerial work robot system includes at least three contact-type universal follower components; in the wall-hugging mode, each contact-type universal follower component contacts the work surface to form at least three contact areas, and the reaction force at the three contact areas generates at least three torque vectors on the robot's center of gravity, and the magnitude of each torque is related to the deformation state of the buffer connection mechanism inside the corresponding contact-type universal follower component; after the aerial work robot system enters the inclined wall-hugging mode, the traction force is approximately parallel to the inclined plane, and the axis of the resultant force of the traction force and the robot's weight has a target intersection point with the tangent plane of the work surface; there is at least one set of three contact areas forming the three vertices of a triangle, and the target intersection point is located within the area enclosed by the sides of the triangle; the inclined plane is an inclined work surface, and the higher end of the work surface faces the contact-type universal follower component.

[0008] In some embodiments, the universal follow-up mechanism includes at least one of a universal wheel, a universal ball, a Mecanum wheel with ball bearings, and a caster wheel; and the buffer connection mechanism includes at least one of a deformation buffer assembly, a hydraulic buffer, a pneumatic buffer, an electromagnetic buffer, an elastic pad, a damper, a displacement compensation slider, a pressure sensor, an overload protection assembly, a buffer stroke adjustment module, and a disc spring shock absorber.

[0009] In some embodiments, the suspension component includes: a main suspension point, at least three sub-suspension points, and a load-bearing unit; the main suspension point is connected to each sub-suspension point through the load-bearing unit, and each sub-suspension point is connected to the robot body through a sub-suspension point connection structure on the robot body; the suspension component is used to apply traction force to the robot body to achieve its controllable translational movement in at least one spatial degree of freedom. The robot body has a center of gravity G; a reference plane P is defined, which is a plane passing through the center of gravity G and always perpendicular to the line connecting the center of gravity G and the main lifting point; the main lifting point and each of the sub-lifting points are connected to form at least three reference lines; the at least three reference lines intersect with the plane P to form at least three intersection points, wherein at least one set of three intersection points forms the three vertices of a triangle, and 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 the three intersection points is taken as a stable sub-lifting point group; In suspension mode, there is at least one set of stable suspension points, which enables 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 without active control.

[0010] In some embodiments, the external carrier includes: A translation drive component is used to apply traction force to the robot body to achieve controllable translational motion of at least one spatial degree of freedom; the translation drive component includes at least one translation drive unit, and the at least one translation drive unit includes at least one of the following: a rope climbing machine, a fixed winch, a mobile winch, a rail-mounted lifting drive mechanism, a high-altitude cantilever crane, and a pulley-type traction device.

[0011] In some embodiments, each of the contact-type universal servo components further includes a data acquisition and feedback device, which includes at least one of the following: a relative position feedback device, a relative attitude feedback device, and a pressure feedback device; the relative position feedback device is used to acquire the relative position state data between the robot body and the working surface in real time, the relative attitude feedback device is used to acquire the relative attitude state data between the robot body and the working surface in real time, and the pressure feedback device is used to acquire the pressure data applied by the contact-type universal servo component to the working surface in real time; the real-time data acquired by the data acquisition and feedback device is used to feed back to the mode switching control module to realize dynamic adjustment of rotor thrust, contact-type universal servo component state, or mode switching strategy.

[0012] In some embodiments, the support mechanism is an adjustable support mechanism, which is used to achieve at least one degree of freedom of extension or rotation, and to adjust the relative position of its contact area on the working surface with the robot body, so as to achieve adaptive attachment and / or adjustment of the wall-attachment distance based on the curvature or local unevenness of the working surface; the drive mechanism of the adjustable support mechanism includes at least one of the following: linear motor, servo motor + lead screw mechanism, piezoelectric ceramic actuator, excitation cylinder, hydraulic cylinder, stepper motor + ball screw mechanism, voice coil motor, servo motor, magnetostrictive actuator, electro-hydraulic servo cylinder, servo motor + harmonic reducer mechanism, pneumatic artificial muscle, and shape memory alloy actuator.

[0013] In some embodiments, the omnidirectional follower mechanism includes: a drive wheel body and a drive motor; in the wall-adhering mode, the drive wheel body is attached to the working surface through an elastic material to generate friction, and the drive motor drives the drive wheel body to rotate through a transmission mechanism to achieve tangential active propulsion of the working surface.

[0014] In some embodiments, the aerial work robot system further includes a work surface adsorption mechanism; the work surface adsorption mechanism includes at least one of a vacuum adsorption system, a power-off holding electromagnet, a power-on holding electromagnet, and a gripper attachment mechanism, and is electrically connected to the controller; in the wall-adhering mode, the controller controls the work surface adsorption mechanism to generate or eliminate the adsorption force with the work surface.

[0015] In some embodiments, the at least two rotor power kits have at least two thrust vectors, the projections of which onto plane P respectively form at least two in-plane thrust components; the at least two in-plane thrust components are vectorically superimposed in plane P to form a non-zero composite thrust, and this composite thrust has adjustable magnitude and positive / negative components in at least two mutually perpendicular directions; the torque of the thrust generated by the at least two rotor power kits about the center of gravity of the controlled object generates a non-zero composite torque with adjustable magnitude and positive / negative direction in the normal direction of plane P; the rotor drive component is used to drive the robot body to perform translational and rotational motion in the tangential direction of plane P.

[0016] In some embodiments, at least one of the at least two rotor power kits is an adjustable pitch mechanism, which enables the adjustment of at least one of the collective pitch and periodic pitch of the rotor. Adjusting the collective pitch of the rotor can change the magnitude and / or direction of the thrust vector generated by the rotor power kit; Adjusting the periodic pitch of the rotor can cause the direction of the thrust vector generated by the rotor power kit to tilt in at least one degree of freedom.

[0017] In some embodiments, the rotor drive component includes at least four rotor power kits. The thrust generated by each rotor has a thrust vector. The projection of the thrust vector onto the plane P forms 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. There is at least one set of four thrust axes, with a first axis A, a second axis B, a third axis C, and a fourth axis D. A∩B, B∩C, C∩D, and D∩A each have a unique intersection point, which are denoted as vertices P1, P2, P3, and P4, respectively. When these four points are connected sequentially, they form a quadrilateral without self-intersection and with each interior angle less than 180°. Thus, A, B, C, and D are distributed as convex quadrilaterals, forming at least one set of convex quadrilateral thrust axis groups.

[0018] Secondly, this application also provides a multi-mode switching aerial operation method, the method comprising: In suspension mode, move to the work area and adjust the yaw so that the contact universal follower component faces the work surface; The rotor drive components are controlled to generate wall-attaching thrust, causing the robot body to contact the working surface and enter wall-attaching mode; In wall-hugging mode, the target working distance or target working pressure is maintained, and the contact-type universal follower component is used to reduce the resistance of movement in all directions on the working surface. The movement in all directions is completed by adjusting the external traction force and the rotor thrust. After the operation is completed, reduce the wall-mounted thrust to detach the robot body from the work surface and return to the suspension mode, then retrieve the robot.

[0019] This application provides a multi-mode switching aerial work robot system and aerial work method. The system includes: a robot body; a suspension component mounted on the robot body, the end of which is connected to an external carrier to bear the traction force from the external carrier and apply attitude recovery torque for roll and / or pitch attitude to the robot body, as well as applying traction force to control the movement of the robot body in suspension mode and applying traction force to move the robot body tangentially on the work surface in wall-hugging mode; the robot body is also equipped with a rotor drive component, the rotor drive... The moving parts include at least two rotor power kits, each of which includes a rotor, a motor, and an electronic speed controller. These kits are used to output rotor thrust in suspended mode to control the movement and / or yaw of the robot body, and to output rotor thrust in wall-hugging mode to control the robot body to maintain a wall-hugging state and / or move tangentially on the work surface. The robot body is also equipped with a contact-type universal servo component for contacting the work surface, receiving the reaction force from the work surface, and transmitting it to the robot body. The contact-type universal servo component includes a universal servo mechanism, a support mechanism, and a buffer connection mechanism. The omnidirectional follower mechanism has rolling displacement and 360° omnidirectional follower capability in the tangential direction of the working surface, used to provide wall-hugging follower capability in all tangential directions of the working surface and / or maintain the wall-hugging distance in wall-hugging mode; the buffer connection mechanism is used to absorb impact energy and / or smooth the wall reaction force on the robot body during the switching between suspension mode and wall-hugging mode; the robot body is also equipped with a mode switching control module, which is electrically connected to the rotor drive component, used to control the system to switch between suspension mode and wall-hugging mode: in suspension mode, the rotor drive component is controlled to cooperate with the external load The system drives the robot body to move and yaw in space, and uses the suspension components to constrain the robot body's roll and / or pitch attitude. In wall-hugging mode, the rotor drive component is controlled to output rotor thrust to generate a wall-hugging thrust and a tangential movement thrust on the work surface. This, in conjunction with the external carrier, drives the robot body to move tangentially along the work surface. At the same time, the contact-type universal servo component and the suspension components constrain the robot body's wall-hugging distance and attitude, thereby improving the aerial work robot system's impact and disturbance resistance during wall-hugging operations. Attached Figure Description

[0020] 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.

[0021] Figure 1 A schematic diagram of the structure of a multi-mode switching aerial operation robot system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a contact-type universal follower component provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of a multi-mode switching aerial operation robot system provided in another embodiment of this application; Figure 4 A schematic diagram showing the relationship between the contact area and the center of gravity G according to an embodiment of this application; Figure 5 A schematic diagram of the intersection point formed by the reference line and plane P provided in an embodiment of this application; Figure 6 A schematic diagram of in-plane thrust components provided in an embodiment of this application; Figure 7 A flowchart illustrating the steps of a multi-mode switching aerial operation method provided in this application embodiment.

[0022] Explanation of reference numerals in the attached drawings: 10, robot body; 20, rotor drive component; 30, contact-type universal follower component; 301, universal follower mechanism; 302, support mechanism; 303, buffer connection mechanism; 40, suspension component; 50, external carrier. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] To address the problems existing in the prior art, this application provides a multi-mode switching aerial operation robot system and aerial operation method.

[0029] Please refer to Figures 1-3 , Figure 1 A schematic diagram of the structure of a multi-mode switching aerial operation robot system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a contact-type universal follower component provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a multi-mode switching aerial operation robot system provided in another embodiment of this application.

[0030] like Figures 1-3 As shown, the multi-mode switching aerial operation robot system includes: Robot body 10; The robot body 10 is equipped with a rotor drive component 20. The rotor drive component 20 includes at least two rotor power kits. Each rotor power kit includes a rotor, a motor, and an electronic speed controller. It is used to output rotor thrust to control the movement and / or yaw of the robot body in the suspension mode, and to output rotor thrust to control the robot body to maintain the wall-hugging state and / or move tangentially on the work surface in the wall-hugging mode. A contact-type universal follower component 30 is installed on the robot body 10 for contacting the working surface, receiving the reaction force of the working surface, and transmitting it to the robot body. The contact-type universal follower component 30 includes a universal follower mechanism 301, a support mechanism 302, and a buffer connection mechanism 303. The universal follower mechanism 301 has rolling displacement and 360° omnidirectional follower capability in the tangential direction of the working surface, and is used to provide wall-following capability in all tangential directions of the working surface and / or maintain the wall-following distance in the wall-following mode. The buffer connection mechanism 303 is used to absorb impact energy and / or smooth the wall reaction force on the robot body during the switching between the suspension mode and the wall-following mode. The robot body 10 is also equipped with a suspension component 40. The end of the suspension component 40 away from the robot body is connected to an external carrier 50. It is used to bear the traction force from the external carrier 50 and apply the attitude recovery torque of roll and / or pitch to the robot body 10, as well as apply the traction force to control the movement of the robot body 10 in the suspension mode and apply the traction force to make the robot body 10 move tangentially on the working surface in the wall-hugging mode. The robot body 10 is also equipped with a mode switching control module (not shown), which is electrically connected to the rotor drive component 20. It is used to control the system to switch between suspension mode and wall-hugging mode: In suspension mode, the rotor drive component 20 is controlled to cooperate with the external carrier 50 to drive the robot body 10 to move and yaw in space, and the suspension component 40 is used to constrain the roll attitude and / or pitch attitude of the robot body 10; In wall-hugging mode, the rotor drive component 20 is controlled to output rotor thrust to generate a wall-hugging thrust and a tangential movement thrust on the working surface, and cooperates with the external carrier 50 to drive the robot body 10 to move tangentially along the working surface. At the same time, the contact-type universal follower component 30 and the suspension component 40 are used to constrain the wall-hugging distance and attitude of the robot body 10.

[0031] For example, the robot body 10, the rotor drive component 20, and the contact-type universal follower component 30 are collectively referred to as the rigid structure of the system. Compared with the rigid structure, the weight of the lifting device component is negligible. It can be understood that 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 consisting of the robot body 10 and the rotor drive component 20 and the contact-type universal follower component 30 mounted on it.

[0032] For example, the robot body 10 can be a one-piece design or a modular design. In actual use, the modular components are assembled to form a rigid robot body 10. 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 10; alternatively, a robust bayonet or snap-fit ​​design can be used to connect the robot body 10; or a power-locking connection mechanism can be used. At least four rotor drive components 20 are electrically foldable to the robot body 10, and the deformation of the robot body 10 is controlled by servo motors. Specifically, the robot body 10 is used to mount the rotor drive components 20, the contact-type universal servo components 30, the suspension components 40, and to set up the controllers required for system control, the sensors required for operation, etc., which will not be elaborated here. The robot body 10 can be considered a rigid body.

[0033] For example, the robot body 10 of the aerial work robot system can also be equipped with a work payload module. The work payload module is detachably mounted on the robot body 10 and is used to perform aerial work operations. The work payload module can be a camera, roller brush, spray gun, etc., and can be replaced according to the work requirements, without limitation. Specifically, 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 data acquisition; such as cleaning spray guns, cleaning brushes, paint spray guns, infrared thermal imaging sensors, etc. It can also be a complete subsystem with independent work logic and integrated multiple sub-modules. Its internal components can include dedicated control units, power distribution modules, local sensing components, etc. Its core function is to complete complex special operations through internal coordination of the subsystem and interaction with the onboard main system, such as serial robotic arms. Of course, it is not limited to this. The work payload module can also be fixedly mounted on the robot body 10, for example, integrally formed with the robot body 10, without limitation.

[0034] For example, the rotor drive component 20 is mounted on the robot body 10 and includes multiple rotor power kits. Each rotor power kit includes at least a rotor, a motor, and an electronic speed controller (ESC). The ESC is connected to a controller, which can calculate the position, attitude, and thrust required for movement of the robot body based on vision sensors, pose sensors, etc., thereby determining the rotational speed required for each rotor to generate thrust. The controller sends control signals to the ESC of each rotor power kit. The ESC adjusts the motor speed according to the control signals from the controller, so that the rotor generates a certain amount of thrust. Thus, the combined thrust generated by the multiple rotor power kits controls the robot body 10 to perform translational, yaw, and / or keep the robot close to the work surface. The number of rotor power kits can be two or more, which is not limited here.

[0035] For example, the aerial work robot system can switch between a suspended mode and a wall-hugging mode via a mode switching control module, which can be located in the controller of the aerial work robot system. In suspended mode, the rotor drive component 20 outputs at least in-plane translational thrust and yaw torque; in wall-hugging mode, the rotor drive component 20 outputs at least wall-hugging thrust, wherein the wall-hugging thrust is perpendicular or approximately perpendicular to the working surface and points towards the working surface, so that the rotor drive component 20 can abut against the working surface; and the rotor drive component 20 can also output in-plane translational thrust and yaw torque while outputting wall-hugging thrust.

[0036] In some embodiments, the aerial work robot system includes at least two contact-type universal follower components 30, wherein at least two contact-type universal follower components 30, in wall-hugging mode, respectively contact the work surface to form at least two contact areas and are subjected to the reaction force of the work surface. In at least one set of two reaction forces generated by the two contact areas produce two torques on the center of gravity of the robot body 10 with opposite components in the yaw direction, and the magnitude of the two torques is related to the deformation state of the buffer connection mechanism 303 inside the corresponding contact-type universal follower component 30, which together form the attitude recovery torque in the yaw direction, used to maintain the yaw attitude stability of the robot body 10 in wall-hugging mode.

[0037] For example, to improve the stability of wall-hugging operations, the number of omnidirectional follower components 30 is at least two, and they are symmetrically arranged on the robot body 10. Specifically, Figure 1 , Figure 3 The diagram shows two omnidirectional follower components 30, which improve wall-hugging stability while reducing the weight of the robot body. Furthermore, the omnidirectional follower components 30 are positioned around the rotor power assembly to avoid affecting the rotor's airflow.

[0038] Understandably, more omnidirectional follower components 30 can be installed on the robot body 10. For example, each rotor power unit can have one omnidirectional follower component 30. The robot body 10 can achieve contact with the working surface through any two of these omnidirectional follower components 30, without needing to rotate to a specific direction to face the working surface, thus reducing the complexity of wall contact. Furthermore, it serves as a redundant backup when frequent mode switching generates impacts that cause damage to one of the omnidirectional follower components 30.

[0039] In some embodiments, the aerial work robot system includes at least three contact-type universal follower components 30; in the wall-hugging mode, each contact-type universal follower component 30 contacts the work surface to form at least three contact areas, and the reaction forces at the three contact areas generate at least three torque vectors on the center of gravity of the robot body 10, and the magnitude of each torque is related to the deformation state of the buffer connection mechanism inside the corresponding contact-type universal follower component 30; after the aerial work robot system enters the inclined wall-hugging mode, the traction force is approximately parallel to the inclined plane, and the axis of the resultant force of the traction force and the gravity of the robot body 10 has a target intersection point with the tangent plane of the work surface; there is at least one set of three contact areas forming the three vertices of a triangle, and the target intersection point is located within the area enclosed by the sides of the triangle; the inclined plane is an inclined work surface, and the higher end of the work surface faces the contact-type universal follower component 30.

[0040] Please refer to Figure 4 , Figure 4 This is a schematic diagram showing the relationship between the contact area and the center of gravity G in one embodiment of this application.

[0041] like Figure 4 As shown, when working on an inclined working surface, at least three contact-type universal follower components 30 can be installed on the robot body 10. In the inclined wall-hugging mode, the traction force of the aerial work robot system is approximately parallel to the inclined surface, and the axis of the resultant force of the traction force and the gravity of the robot body 10 has a target intersection point with the tangent plane of the working surface. This makes the three contact-type universal follower components 30 and the three contact areas of the inclined working surface: contact area 1, contact area 2, and contact area 3 form the three vertices of a triangle, and the triangle surrounds the target intersection point, thereby improving the stability of the aerial work robot system when working on an inclined working surface.

[0042] In some embodiments, the omnidirectional follower mechanism 301 includes at least one of a omnidirectional wheel, a omnidirectional ball, a Mecanum wheel with ball bearings, and a caster wheel; and the buffer connection mechanism 303 includes at least one of a deformation buffer assembly, a hydraulic buffer, a pneumatic buffer, an electromagnetic buffer, an elastic pad, a damper, a displacement compensation slider, an overload protection assembly, a buffer stroke adjustment module, and a disc spring shock absorber.

[0043] For example, the omnidirectional follower mechanism 301 can be a omnidirectional wheel, omnidirectional ball, etc., or it can be based on a Mecanum wheel or caster wheel with the addition of ball bearings to achieve its omnidirectional follower capability, so that the omnidirectional follower mechanism 301 has a 360° omnidirectional follower capability. The buffer connection mechanism 303 can be a deformation buffer assembly, hydraulic buffer, pneumatic buffer, electromagnetic buffer, elastic pad, damper, displacement compensation slider, overload protection assembly, buffer stroke adjustment module, disc spring shock absorber, etc., to absorb the impact energy from the wall and smooth the reaction force of the wall on the robot body 10.

[0044] For example, the buffer connection mechanism 303 can be integrated with the universal follower mechanism 301. For instance, if the outer edge of the universal wheel is made of elastic composite material, the impact energy from the wall can be absorbed by the deformation of the outer edge of the wheel when the robot body 10 approaches the wall.

[0045] Please continue to refer to Figure 3 In some embodiments, the suspension component 40 includes: a main suspension point 401, at least three sub-suspension points 402, and a load-bearing unit 403; the main suspension point 401 is connected to each sub-suspension point 402 through the load-bearing unit 403, and each sub-suspension point 402 is connected to the robot body 10 through a sub-suspension point connection structure on the robot body 10. The suspension component 40 is used to apply traction force to the robot body 10 to achieve its controllable translational movement in at least one spatial degree of freedom. The robot body 10 has a center of gravity G; a reference plane P is defined, which is a plane that 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 401; the main lifting point 401 and each sub-lifting point 402 are connected respectively to form at least three reference lines; the at least three reference lines intersect with the plane P to form at least three intersection points 21, wherein at least one set of three intersection points 21 forms the three vertices of a triangle, and 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 the three intersection points 21 is regarded as a stable sub-lifting point group. In suspension mode, there is at least one set of stable suspension points, which enables 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 without active control.

[0046] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the intersection point formed by the reference line and plane P in one embodiment of this application.

[0047] like Figure 5As shown, the intersection point 21 formed by the baseline and plane P constitutes a triangle within plane P. 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 the sides 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.

[0048] 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.

[0049] In some embodiments, the external carrier 50 includes: A translation drive component is used to apply traction force to the robot body to achieve controllable translational motion of at least one spatial degree of freedom; the translation drive component includes at least one translation drive unit, and the at least one translation drive unit includes at least one of the following: a rope climbing machine, a fixed winch, a mobile winch, a rail-mounted lifting drive mechanism, a high-altitude cantilever crane, and a pulley-type traction device.

[0050] For example, the external carrier 50 may be a translation drive component, which may be, for example, a crane mechanism, for applying traction to the robot body 10 via the suspension component 40 to achieve at least one-dimensional spatial movement, such as movement in the height direction.

[0051] 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 20 can be communicatively connected or operate independently of each other.

[0052] In some embodiments, each contact-type universal servo component 30 further includes a data acquisition and feedback device, which includes at least one of the following: a relative position feedback device, a relative attitude feedback device, and a pressure feedback device; the relative position feedback device is used to acquire real-time relative position state data between the robot body 10 and the working surface, the relative attitude feedback device is used to acquire real-time relative attitude state data between the robot body 10 and the working surface, and the pressure feedback device is used to acquire real-time pressure data applied by the contact-type universal servo component to the working surface; the real-time data acquired by the data acquisition and feedback device is used to feed back to the mode switching control module to realize dynamic adjustment of rotor thrust, contact-type universal servo component state, or mode switching strategy.

[0053] For example, the data acquisition and feedback device is communicatively connected to the mode switching control module, transmitting real-time data to the mode switching control module so that the mode switching control module can switch modes according to a preset program. Specifically, the relative position feedback device detects the distance between itself and the work surface, the relative attitude feedback device detects the attitude relative to the work surface, and the pressure feedback device detects the magnitude of the reaction force from the work surface. Through the real-time data detected by the relative position feedback device, the relative attitude feedback device, and the pressure feedback device, the mode switching control module can determine when to switch from the suspended mode to the wall-hugging mode, or when to switch from the wall-hugging mode to the suspended mode, or determine whether the switch to the suspended mode or the wall-hugging mode has been successfully completed.

[0054] For example, the data acquisition and feedback device on the contact universal follower 30 may also include more types of sensors, which are not limited here.

[0055] In some embodiments, the support mechanism 302 is an adjustable support mechanism, which is used to achieve at least one degree of freedom of extension or rotation, and to adjust the relative position of its contact area on the working surface with the robot body 10, so as to achieve adaptive attachment and / or adjustment of the wall-attachment distance based on the curvature or local unevenness of the working surface; the drive mechanism of the adjustable support mechanism includes at least one of the following: linear motor, servo motor + lead screw mechanism, piezoelectric ceramic actuator, excitation cylinder, hydraulic cylinder, stepper motor + ball screw mechanism, voice coil motor, servo motor, magnetostrictive actuator, electro-hydraulic servo cylinder, servo motor + harmonic reducer mechanism, pneumatic artificial muscle, and shape memory alloy actuator.

[0056] For example, the support mechanism 302 can be an adjustable support mechanism, which can change the relative position of the contact area of ​​the universal follower mechanism 301 on the working surface and the robot body 10 through at least one degree of freedom of extension or rotation. Specifically, the adjustable support mechanism can be driven by a linear motor, or by a combination of a servo motor and a lead screw mechanism. Of course, it is not limited to these. It can also be a piezoelectric ceramic actuator, an excitation cylinder, a hydraulic cylinder, a stepper motor + ball screw mechanism, a voice coil motor, a servo motor, a magnetostrictive actuator, an electro-hydraulic servo cylinder, a servo motor + harmonic reducer mechanism, a pneumatic artificial muscle, a shape memory alloy actuator, etc., without limitation.

[0057] In some embodiments, the omnidirectional follower mechanism 301 includes: a drive wheel body and a drive motor; in the wall-adhering mode, the drive wheel body is attached to the working surface through an elastic material to generate friction, and the drive motor drives the drive wheel body to rotate through a transmission mechanism to achieve tangential active propulsion of the working surface.

[0058] For example, the omnidirectional follower mechanism 301 can be a driven wheel, which moves the robot body 10 relative to the work surface and drives the omnidirectional follower mechanism 301 to rotate through the thrust of the rotor and / or the traction of the suspension component 40. The omnidirectional follower mechanism 301 can also be a driving wheel, in which case the omnidirectional follower mechanism 301 includes a drive wheel body and a drive motor. The drive motor drives the drive wheel body to rotate through a transmission mechanism, so that the omnidirectional follower mechanism 301 can drive the robot body 10 to achieve tangential active propulsion on the work surface.

[0059] In some embodiments, the aerial work robot system further includes a work surface adsorption mechanism; the work surface adsorption mechanism includes at least one of a vacuum adsorption system, a power-off holding electromagnet, a power-on holding electromagnet, and a gripper attachment mechanism, and is electrically connected to the controller; in the wall-adhering mode, the controller controls the work surface adsorption mechanism to generate or eliminate the adsorption force with the work surface.

[0060] For example, the working surface adsorption mechanism adopts a vacuum adsorption system, which can be applied to flat working surface scenarios. When the aerial working robot system enters the wall-adhering mode, the controller controls the vacuum adsorption system to generate negative pressure, and at the same time, the rotor drive component 20 generates wall-adhering thrust, which compresses the buffer connection mechanism until the suction cup of the vacuum adsorption system contacts the working surface, generating negative pressure adsorption force, increasing the adsorption force of the robot system on the working surface, so as to improve the stability of fixed-point operation on the working surface; when the robot system completes the fixed-point operation, the controller controls the vacuum adsorption system to release the negative pressure, and then the robot system can move. For example, the working surface adsorption mechanism uses a power-off holding electromagnet, which can be applied to ferrous working surfaces. When the aerial robot system enters the wall-hugging mode, the rotor drive component generates a wall-hugging thrust to bring the aerial robot system into the wall-hugging state. The controller controls the electromagnet to remain power-off to generate magnetic attraction. At the same time, the electromagnet is released towards the ferrous working surface through a telescopic mechanism electrically connected to the controller, causing the electromagnet to adhere to the working surface and generate a strong magnetic attraction force. After the robot system completes the fixed-point operation, the controller controls the magnetic attraction force to be energized to eliminate the strong magnetic attraction force. Then, the telescopic mechanism is controlled to retract the electromagnet, after which the robot system can move.

[0061] In some embodiments, the at least two rotor power kits have at least two thrust vectors, the projections of the thrust vectors onto plane P respectively forming at least two in-plane thrust components; the at least two in-plane thrust components are vectorically superimposed in plane P to form a non-zero composite thrust, and the composite thrust has adjustable magnitude and positive / negative components in at least two mutually perpendicular directions; the torque of the thrust generated by the at least two rotor power kits about the center of gravity of the controlled object generates a non-zero composite torque with adjustable magnitude and positive / negative direction in the normal direction of plane P; the rotor drive component 20 is used to drive the robot body 10 to perform translational and rotational motion in the tangential direction of plane P.

[0062] For example, by having adjustable components in magnitude and positive and negative directions in at least two mutually perpendicular directions, the rotor power kit can control the robot body 10 to perform controllable translational motion. By generating a non-zero resultant torque in magnitude and positive and negative directions in the normal direction of plane P, the rotor power kit 20 can control the robot body 10 to perform controllable rotational motion. Thus, the rotor drive component 20 can drive the robot body to perform translational and rotational motion in the tangential direction of plane P.

[0063] For example, the rotor drive component may include two rotor power kits, but it is not limited to this; the rotor drive component may also be as follows: Figures 1-3 As shown, it includes four rotor power kits, which are not limited here.

[0064] In some embodiments, at least one of the at least two rotor power kits is an adjustable pitch mechanism, which enables the adjustment of at least one of the collective pitch and periodic pitch of the rotor. Adjusting the collective pitch of the rotor can change the magnitude and / or direction of the thrust vector generated by the rotor power kit; Adjusting the periodic pitch of the rotor can cause the direction of the thrust vector generated by the rotor power kit to tilt in at least one degree of freedom.

[0065] For example, an adjustable pitch mechanism is a mechanical system that can change the angle of attack of the propeller blades during operation. Changing the pitch changes the angle of attack of the propeller blades relative to the plane of rotation, thereby changing the magnitude and direction of the thrust generated by the propeller. This allows the magnitude of the thrust vector generated by the rotor power kit to be adjusted or the direction of the thrust vector to be tilted in at least one degree of freedom. As a result, two sets of rotor power kits are sufficient to drive the robot body to perform translational and rotational movements in the tangential direction of plane P.

[0066] For example, if both rotor power kits are adjustable pitch mechanisms, the rotor drive component can be equipped with only two rotor power kits to reduce the overall size and weight of the aerial work robot system.

[0067] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the in-plane thrust components provided in an embodiment of this application.

[0068] In some embodiments, the rotor drive component includes at least four rotor power kits. The thrust generated by each rotor has a thrust vector. The projection of the thrust vector onto the plane P forms 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. There is at least one set of four thrust axes, with a first axis A, a second axis B, a third axis C, and a fourth axis D. A∩B, B∩C, C∩D, and D∩A each have a unique intersection point, which are denoted as vertices P1, P2, P3, and P4, respectively. When these four points are connected sequentially, they form a quadrilateral without self-intersection and with each interior angle less than 180°. Thus, A, B, C, and D are distributed as convex quadrilaterals, forming at least one set of convex quadrilateral thrust axis groups.

[0069] like Figure 6As shown, at least four rotor power units generate at least a first thrust vector, a second thrust vector, a third thrust vector, and a fourth thrust vector; the projection of the first thrust vector onto plane P is the first in-plane thrust component 201A, the projection of the second thrust vector onto plane P is the second in-plane thrust component 201B, the projection of the third thrust vector onto plane P is the third in-plane thrust component 201C, and the projection of the fourth thrust vector onto plane P is the fourth in-plane thrust component 201D; the line of action of the first in-plane thrust component 201A is the first axis A. The line of action of the thrust component 201B in the second plane is the second axis B, the line of action of the thrust component 201C in the third plane is the third axis C, and the line of action of the thrust component 201D in the fourth plane is the fourth axis D. A∩B has a unique intersection point P2, B∩C has a unique intersection point P3, C∩D has a unique intersection point P4, and D∩A has a unique intersection point P1. P1, P2, P3, and P4 are connected in sequence to form a quadrilateral with no self-intersection and each interior angle less than 180°. That is to say, the thrust axes A, B, C, and D are distributed in a convex quadrilateral shape, forming a convex quadrilateral thrust axis group.

[0070] Please refer to Figure 7 , Figure 7 A flowchart illustrating the steps of a multi-mode switching aerial operation method provided in this application embodiment.

[0071] like Figure 7 As shown, this application also provides a multi-mode switching aerial operation method, applied to the aerial operation robot system described in any one of the embodiments of this application, the method comprising: Step S101: Move to the work area in suspension mode and adjust the yaw so that the contact universal follower component faces the work surface; Step S102: Control the rotor drive component to generate wall-attaching thrust, so that the robot body contacts the working surface and enters the wall-attaching mode; Step S103: Maintain the target working distance or target working pressure in the wall-hugging mode, and use the contact-type universal follower component to reduce the resistance of movement in all directions on the working surface, and achieve movement in all directions to complete the work by adjusting the external traction force and rotor thrust. Step S104: After the operation is completed, reduce the wall-mounted thrust to detach the robot body from the working surface and return to the suspension mode, then retrieve the robot.

[0072] For example, the suspended mode represents the mode in which the contact-type universal follower component of the aerial work robot system does not make contact with the work surface, while the wall-hugging mode represents the mode in which the contact-type universal follower component is in close contact with the work surface.

[0073] For example, since the omnidirectional follower is used to adhere closely to the work surface in the wall-hugging mode to improve the stability of the robot body, in step S101, in order to switch the suspension mode to the wall-hugging mode, the contact omnidirectional follower must first be oriented towards the work surface in the suspension mode. Specifically, the yaw adjustment in the suspension mode can be achieved through the rotor drive component.

[0074] For example, in step S102, the rotor drive component is controlled to generate a wall-attaching thrust directed towards the work surface, causing the robot body to contact the work surface and enter the wall-attaching mode. Specifically, the direction of the wall-attaching thrust can be perpendicular or approximately perpendicular to the work surface and pointing towards it.

[0075] For example, in step S103, the robot body maintains the target working pressure relative to the working surface in wall-hugging mode, and uses a contact-type universal follower to maintain the target working distance from the working surface and / or reduce the resistance to movement in all directions on the working surface. The robot completes the task by adjusting the external traction force and rotor thrust. The actual working distance or actual working pressure between the robot body and the working surface can be detected by a distance sensor or pressure sensor installed on the universal follower. The adjustment of working pressure and working distance can be open-loop control, for example, the rotor drive component maintains a wall-hugging thrust output at 30% throttle, or the actual working distance is limited by the mechanical limit of the contact-type universal follower; however, it is not limited to these methods, and the adjustment of working pressure and working distance can also be closed-loop control, which is not specified here.

[0076] For example, in step S104, after the aerial work robot system finishes its work, the wall-hugging thrust is reduced to allow the robot body to detach from the work surface, thereby switching the robot body from the wall-hugging mode to the suspended mode, which facilitates the retrieval of the aerial work robot system.

[0077] It is understood that the specific structure of the aerial work robot system can be referred to the aerial work robot system provided in any of the embodiments of this application, and will not be described in detail here.

[0078] 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.

[0079] 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 multi-mode switching aerial work robot system, characterized in that, include: The robot itself; The robot body is equipped with a suspension component. The end of the suspension component away from the robot body is connected to an external carrier to bear the traction force from the external carrier and apply attitude recovery torque for roll and / or pitch attitude to the robot body. In the suspension mode, it applies traction force to control the movement of the robot body, and in the wall-hugging mode, it applies traction force to make the robot body move tangentially on the working surface. The robot body is also equipped with a rotor drive component, which includes at least two rotor power kits. Each rotor power kit includes a rotor, a motor, and an electronic speed controller. It is used to output rotor thrust to control the movement and / or yaw of the robot body in the suspension mode, and to output rotor thrust to control the robot body to maintain its position against the wall and / or move tangentially on the work surface in the wall-hugging mode. The robot body is also equipped with a contact-type universal follower component for contacting the working surface, receiving the reaction force from the working surface, and transmitting it to the robot body. The contact-type universal follower component includes a universal follower mechanism, a support mechanism, and a buffer connection mechanism. The universal follower mechanism has rolling displacement and 360° tangential universal follower capability on the working surface, and is used to provide wall-hugging follower capability in all tangential directions of the working surface and / or maintain the wall-hugging distance in wall-hugging mode. The buffer connection mechanism is used to absorb impact energy and / or smooth the wall reaction force on the robot body during the switching between suspension mode and wall-hugging mode. The robot body is also equipped with a mode switching control module, which is electrically connected to the rotor drive component. This module controls the system to switch between a suspended mode and a wall-hugging mode. In suspended mode, the rotor drive component is controlled to work with the external carrier to drive the robot body to move and yaw in space, and the suspension component is used to constrain the roll and / or pitch attitude of the robot body. In wall-hugging mode, the rotor drive component is controlled to output rotor thrust to generate a wall-hugging thrust and a tangential movement thrust on the working surface, and the external carrier is used to drive the robot body to move tangentially along the working surface. At the same time, the contact-type universal servo component and the suspension component are used to constrain the wall-hugging distance and attitude of the robot body.

2. The multi-mode switching aerial work robot system according to claim 1, characterized in that, The aerial operation robot system includes at least two contact-type universal servo components, and at least two of these components, in wall-hugging mode, respectively contact the working surface to form at least two contact areas and are subjected to the reaction force from the working surface. Among these, at least one set of two reaction forces generated by the two contact areas produce two torques with opposite components in the yaw direction, and the magnitudes of these two torques are related to the deformation state of the buffer connection mechanism inside the corresponding contact-type universal servo component, together forming an attitude recovery torque in the yaw direction, which is used to maintain the stability of the robot's yaw attitude in wall-hugging mode.

3. The multi-mode switching aerial work robot system according to claim 1, characterized in that, The aerial work robot system includes at least three contact-type omnidirectional follower components. In the wall-hugging mode, each contact-type omnidirectional follower component contacts the work surface to form at least three contact areas, and the reaction force at the three contact areas generates at least three torque vectors on the robot's center of gravity. The magnitude of each torque is related to the deformation state of the buffer connection mechanism inside the corresponding contact-type omnidirectional follower component. After the aerial work robot system enters the inclined plane wall-hugging mode, the traction force is approximately parallel to the inclined plane, and the axis of the resultant force of the traction force and the robot's weight has a target intersection point with the tangent plane of the work surface. There is at least one set of three contact areas forming the three vertices of a triangle, and the target intersection point is located within the area enclosed by the sides of the triangle; the inclined surface is an inclined working surface, and the higher end of the working surface faces the contact-type universal follower component.

4. The multi-mode switching aerial work robot system according to claim 1, characterized in that, The universal follow-up mechanism includes at least one of the following: universal wheel, universal ball, Mecanum wheel with ball bearing, and caster wheel; The buffer connection mechanism includes at least one of the following: deformation buffer assembly, hydraulic buffer, pneumatic buffer, electromagnetic buffer, elastic pad, damper, displacement compensation slider, overload protection assembly, buffer stroke adjustment module, and disc spring shock absorber.

5. The multi-mode switching aerial work robot system as described in claim 1, characterized in that, The suspension component includes: a main lifting point, at least three sub-lifting points, and a load-bearing unit; the main lifting point is connected to each sub-lifting point through the load-bearing unit, and each sub-lifting point is connected to the robot body through a sub-lifting point connection structure on the robot body; the suspension component is used to apply traction force to the robot body to achieve its controllable translational movement in at least one spatial degree of freedom. The robot body has a center of gravity G; a reference plane P is defined, which is a plane passing through the center of gravity G and always perpendicular to the line connecting the center of gravity G and the main lifting point; the main lifting point and each of the sub-lifting points are connected to form at least three reference lines; the at least three reference lines intersect with the plane P to form at least three intersection points, wherein at least one set of three intersection points forms the three vertices of a triangle, and 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 the three intersection points is taken as a stable sub-lifting point group; In suspension mode, there is at least one set of stable suspension points, which enables 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 without active control.

6. The multi-mode switching aerial work robot system as described in claim 1, characterized in that, The external carrier includes: A translation drive component is used to apply traction force to the robot body to achieve controllable translational motion of at least one spatial degree of freedom; the translation drive component includes at least one translation drive unit, and the at least one translation drive unit includes at least one of the following: a rope climbing machine, a fixed winch, a mobile winch, a rail-mounted lifting drive mechanism, a high-altitude cantilever crane, and a pulley-type traction device.

7. The multi-mode switching aerial work robot system according to claim 1, characterized in that, Each of the aforementioned contact-type universal servo components further includes a data acquisition and feedback device, which includes at least one of the following: a relative position feedback device, a relative attitude feedback device, and a pressure feedback device; the relative position feedback device is used to acquire real-time relative position data between the robot body and the working surface, the relative attitude feedback device is used to acquire real-time relative attitude data between the robot body and the working surface, and the pressure feedback device is used to acquire real-time pressure data applied by the contact-type universal servo component to the working surface; the real-time data acquired by the data acquisition and feedback device is used to feed back to the mode switching control module to realize dynamic adjustment of rotor thrust, contact-type universal servo component status, or mode switching strategy.

8. The multi-mode switching aerial work robot system according to claim 7, characterized in that, The support mechanism is an adjustable support mechanism, which is used to achieve at least one degree of freedom of extension or rotation, and to adjust the relative position of its contact area on the working surface with the robot body, so as to achieve adaptive attachment and / or adjustment of the wall-attachment distance based on the curvature or local unevenness of the working surface; the drive mechanism of the adjustable support mechanism includes at least one of the following: linear motor, servo motor + lead screw mechanism, piezoelectric ceramic actuator, excitation cylinder, hydraulic cylinder, stepper motor + ball screw mechanism, voice coil motor, servo motor, magnetostrictive actuator, electro-hydraulic servo cylinder, servo motor + harmonic reducer mechanism, pneumatic artificial muscle, and shape memory alloy actuator.

9. The multi-mode switching aerial work robot system according to claim 1, characterized in that, The universal follow-up mechanism includes: a drive wheel body and a drive motor; in the wall-adhering mode, the drive wheel body is attached to the working surface through an elastic material to generate friction, and the drive motor drives the drive wheel body to rotate through a transmission mechanism to achieve tangential active propulsion of the working surface.

10. The multi-mode switching aerial work robot system according to claim 1, characterized in that, It also includes a working surface adsorption mechanism; the working surface adsorption mechanism includes at least one of a vacuum adsorption system, a power-off holding electromagnet, a power-on holding electromagnet, and a gripper attachment mechanism, and is electrically connected to the controller; in the wall-adhesive mode, the controller controls the working surface adsorption mechanism to generate or eliminate the adsorption force with the working surface.

11. The multi-mode switching aerial work robot system according to any one of claims 1-10, characterized in that, The at least two sets of rotor power kits have at least two thrust vectors, and the projections of the thrust vectors onto plane P respectively form at least two in-plane thrust components; the at least two in-plane thrust components are vectorically superimposed in plane P to form a non-zero composite thrust, and the composite thrust has adjustable magnitude and positive / negative components in at least two mutually perpendicular directions; the torque of the thrust generated by the at least two sets of rotor power kits about the center of gravity of the controlled object generates a non-zero composite torque with adjustable magnitude and positive / negative direction in the normal direction of plane P; the rotor drive component is used to drive the robot body to perform translational and rotational motion in the tangential direction of plane P.

12. The multi-mode switching aerial work robot system according to claim 11, characterized in that, At least one of the at least two rotor power kits is an adjustable pitch mechanism, which enables the adjustment of at least one of the collective pitch and periodic pitch of the rotor. Adjusting the collective pitch of the rotor can change the magnitude and / or direction of the thrust vector generated by the rotor power kit; Adjusting the periodic pitch of the rotor can cause the direction of the thrust vector generated by the rotor power kit to tilt in at least one degree of freedom.

13. The multi-mode switching aerial work robot system according to any one of claims 1-11, characterized in that, The rotor drive component includes at least four rotor power kits. The thrust generated by each rotor has a thrust vector. The projection of the thrust vector onto the plane P forms 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. There is at least one set of four thrust axes with a first axis A, a second axis B, a third axis C, and a fourth axis D. A∩B, B∩C, C∩D, and D∩A each have a unique intersection point, which are denoted as vertices P1, P2, P3, and P4, respectively. When these four points are connected sequentially, they form a quadrilateral with no self-intersection and each interior angle less than 180°. Thus, A, B, C, and D are distributed as convex quadrilaterals, forming at least one set of convex quadrilateral thrust axis groups.

14. A multi-mode switching aerial operation method, applied to a multi-mode switching aerial operation robot system as described in any one of claims 1-11, characterized in that, The method includes: In suspension mode, move to the work area and adjust the yaw so that the contact universal follower component faces the work surface; The rotor drive components are controlled to generate wall-attaching thrust, causing the robot body to contact the working surface and enter wall-attaching mode; In wall-hugging mode, the target working distance or target working pressure is maintained, and the contact-type universal follower component is used to reduce the resistance of movement in all directions on the working surface. The movement in all directions is completed by adjusting the external traction force and the rotor thrust. After the operation is completed, reduce the wall-mounted thrust to detach the robot body from the work surface and return to the suspension mode, then retrieve the robot.

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