A curtain wall robot barrier-crossing method and attitude adjusting device based on fan thrust

Abstract

This invention discloses a method and attitude adjustment device for a curtain wall robot to overcome obstacles based on wind turbine thrust, belonging to the field of high-altitude operation robot technology. The invention acquires the depth point cloud matrix of the working surface of the building curtain wall and extracts the spatial geometric parameters of the protruding structure to be crossed; based on the spatial geometric parameters and the current total mass of the robot body, it calculates the target deflection angle of the first and second propulsion fans and the target rope winding rate of the winch; it adjusts the airflow direction to the target deflection angle and controls the winch to wind up the flexible steel wire rope according to the target rope winding rate; it collects the real-time yaw rate of the robot body, calculates the speed difference compensation, and adjusts the real-time output speed of the first and second propulsion fans differentially based on the speed difference compensation; after the robot body overcomes the obstacle, it controls the airflow direction to return to the normal axis parallel to the robot body.

Description

Technical Field

[0001] This invention belongs to the field of high-altitude operation robot technology, specifically relating to a method and attitude adjustment device for a curtain wall robot to cross obstacles based on wind turbine thrust. Background Technology

[0002] The cleaning of exterior glass in high-rise commercial buildings commonly employs suspended operation structures. Existing curtain wall cleaning robot solutions typically combine a hoisting mechanism with a propulsion fan unit. Specifically, the robot body is suspended by flexible steel cables from the hoisting mechanism, and a first and second propulsion fan, fixedly mounted on the body, outputs normal thrust parallel to the normal axis of the body. This normal thrust counteracts the gravitational component perpendicular to the working surface of the building curtain wall, maintaining contact between the robot body and the working surface.

[0003] However, structures relying on fixed propulsion fans to output directional normal thrust often experience interference when facing complex facades. When the fuselage encounters an outwardly protruding structure along its vertical displacement trajectory, the normal thrust output along the normal axis usually causes continuous normal pressure contact between the fuselage and the lower surface of the outwardly protruding structure. The single tension force output by the flexible steel wire rope in the vertically upward direction is insufficient to overcome this pressure contact. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a method and attitude adjustment device for a curtain wall robot to cross obstacles based on wind turbine thrust.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows: a method for a curtain wall robot to overcome obstacles based on wind turbine thrust, applied to a curtain wall operation robot; the curtain wall operation robot includes a body, a hoisting mechanism, and a propulsion wind turbine unit; the hoisting mechanism includes a winch and a flexible steel wire rope, the flexible steel wire rope being hinged to the top hoisting point of the body; the propulsion wind turbine unit includes a first propulsion wind turbine and a second propulsion wind turbine respectively disposed on both sides of the body; the method includes the following steps:

[0006] S1: Obtain the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix;

[0007] S2: Based on the spatial geometric parameters and the current total mass of the fuselage, calculate the target deflection angle of the first and second propulsion fans and the target rope winding rate of the winch.

[0008] S3: Adjust the air outlet direction of the first propulsion fan and the second propulsion fan to the target deflection angle, and control the winch to wind up the flexible steel wire rope at the target winding speed;

[0009] S4: Collect the real-time yaw rate of the fuselage in the horizontal dimension, and calculate the speed difference compensation between the first propulsion fan and the second propulsion fan based on the real-time yaw rate;

[0010] S5: Adjust the real-time output speed of the first and second propulsion fans according to the speed difference compensation amount, and after the machine body passes the protrusion structure to be crossed, control the air outlet direction of the first and second propulsion fans to return to the normal axis parallel to the machine body.

[0011] Preferably, obtaining the depth point cloud matrix of the building curtain wall working surface in step S1 includes:

[0012] The system transmits a detection signal to the area in front of the working surface of the building curtain wall and receives the reflected signal. It calculates the time difference between the transmission and reception of the detection signal and calculates the depth value of the corresponding detection point based on the time difference.

[0013] Obtain the depth values ​​and three-dimensional spatial coordinates of all detection points in the area ahead, and arrange the three-dimensional spatial coordinates and corresponding depth values ​​according to row and column rules to generate a depth point cloud matrix.

[0014] Preferably, step S1 involves extracting the spatial geometric parameters of the protrusion to be crossed based on the depth point cloud matrix, including:

[0015] Calculate the depth gradient value corresponding to each element in the depth point cloud matrix;

[0016] When the depth gradient value is greater than or equal to the preset depth gradient threshold, the three-dimensional spatial coordinate point corresponding to the depth gradient value is marked as a contour feature point to generate a surface contour point set.

[0017] Extract the maximum and minimum values ​​of the depth and height coordinates of the feature points within the surface contour point set, and calculate the normal depth dimension and longitudinal span dimension.

[0018] By integrating the normal depth dimension and the longitudinal span dimension, the spatial geometric parameters of the protrusion structure to be crossed are generated.

[0019] Preferably, step S2, calculating the target deflection angle between the first propulsion fan and the second propulsion fan, includes:

[0020] Establish a group of force equilibrium equations for the fuselage along the normal axis and the tangential axis. The group of force equilibrium equations includes the constraint equations for the normal contact force.

[0021] Substitute the spatial geometric parameters, the current total mass of the fuselage, and the target motion acceleration along the tangential axis of the fuselage into the force balance equations to solve for the target deflection angle that satisfies the constraint equations.

[0022] Preferably, calculating the target rope take-up rate of the winch in step S2 includes:

[0023] Establish the kinematic coupling equations of the fuselage along the tangential axis;

[0024] By substituting the target motion acceleration along the tangential axis of the fuselage, the current motion velocity, and the longitudinal span dimension in the spatial geometric parameters into the kinematic coupling equation, the target rope winding rate of the winch can be obtained.

[0025] Preferably, step S3, adjusting the air outlet direction and controlling the winch to wind up the flexible steel wire rope, includes:

[0026] The position pulse command is generated based on the target deflection elevation angle and output to the servo drive component, which drives the mounting bases of the first and second propulsion fans to rotate, so that the angle between the air outlet axis and the normal axis of the fuselage reaches the target deflection elevation angle.

[0027] Speed ​​control commands are generated based on the target rope winding rate and output to the drive motor of the winch, which drives the winch drum to rotate and wind up the flexible steel wire rope.

[0028] Preferably, step S4, which calculates the speed difference compensation based on the real-time yaw rate, includes:

[0029] The real-time yaw rate is subtracted from the zero-degree angular rate reference value to generate the angular rate deviation value;

[0030] The angular velocity deviation is used as an input variable and substituted into the proportional-integral-derivative (PID) control algorithm to perform discrete domain calculations, outputting the speed difference compensation amount; the speed difference compensation amount includes the forward speed increment and the reverse speed decrease.

[0031] Preferably, step S5 involves adjusting the real-time output speed based on the difference in speed difference compensation, including:

[0032] The first target real-time output speed is calculated based on the first reference speed and the forward speed increment of the first propulsion fan, and a first speed control command is generated and output to the first propulsion fan.

[0033] The second target real-time output speed is calculated based on the second reference speed of the second propulsion fan and the reverse speed reduction, and a second speed control command is generated and output to the second propulsion fan.

[0034] Preferably, step S5, controlling the airflow direction of the first and second propulsion fans to return to the normal axis parallel to the fuselage, includes:

[0035] Real-time acquisition of the coordinates of the bottom of the fuselage and the maximum height coordinates of the protruding structure to be crossed;

[0036] When the coordinates of the bottom of the fuselage are greater than the maximum height coordinates, the obstacle crossing completion judgment condition is met and a reset pulse command is generated.

[0037] According to the reset pulse command, the mounting bases of the first and second propulsion fans are driven to deflect to the starting position until the air outlet direction is restored to a state parallel to the normal axis of the fuselage.

[0038] Another technical solution provided by the present invention: a curtain wall robot obstacle-crossing posture adjustment device based on wind turbine thrust, used to realize the above-mentioned obstacle-crossing method, the device comprising:

[0039] The feature extraction module is configured to acquire the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix.

[0040] The parameter calculation module, which is connected to the feature extraction module, is configured to receive the spatial geometric parameters of the protrusion structure to be crossed, and calculate the target deflection angle of the first and second propulsion fans and the target rope winding speed of the winch based on the spatial geometric parameters of the protrusion structure to be crossed and the current total mass of the fuselage.

[0041] The attitude drive module, which is connected to the parameter calculation module, is configured to receive the target deflection elevation angle and the target rope winding rate, output signals to adjust the air outlet direction of the first propulsion fan and the second propulsion fan to the target deflection elevation angle, and control the winch to wind up the flexible steel wire rope according to the target rope winding rate.

[0042] The yaw compensation module is configured to collect the real-time yaw angular velocity of the fuselage in the horizontal dimension and calculate the compensation amount for the speed difference between the first propulsion fan and the second propulsion fan based on the real-time yaw angular velocity.

[0043] The state recovery module is communicatively connected to the yaw compensation module, the feature extraction module, and the attitude drive module. It is configured to receive the speed difference compensation amount, adjust the real-time output speed of the first propulsion fan and the second propulsion fan according to the speed difference compensation amount, and, based on the coordinate comparison results of the feature extraction module, determine that after the fuselage has passed the protrusion structure to be crossed, control the air outlet direction of the first propulsion fan and the second propulsion fan to be restored to a state parallel to the normal axis of the fuselage.

[0044] This invention addresses the deficiencies in the prior art and has the following beneficial effects:

[0045] This invention obtains the spatial geometric parameters of the protruding structure to be crossed and the current total mass of the fuselage, calculates the target deflection angle of the first and second propulsion fans, and adjusts the airflow direction of the first and second propulsion fans to the target deflection angle. After the airflow direction reaches the target deflection angle, the total aerodynamic thrust output by the first and second propulsion fans is decomposed into normal and tangential components along the fuselage's normal and tangential axes. The tangential component and the traction force vector generated by the winch winding the flexible steel wire rope are superimposed in the same direction, generating the resultant driving force of the fuselage along the tangential axis. Under the action of the traction force vector and the tangential component force vector, the fuselage produces a displacement change along the height direction of the working surface of the building curtain wall, and the fuselage detaches from the lower surface of the outwardly protruding structure. Compared to the existing technology where a fixed propulsion fan maintains normal thrust output to form a reverse torque component that prevents the fuselage from passing over an outwardly protruding structure, this invention transforms the normal thrust that causes the fuselage to stop displacement into a tangential lifting component that assists in overcoming obstacles, thus overcoming the interference between the fuselage's normal fit and tangential displacement.

[0046] This invention collects the real-time yaw rate of the fuselage in the horizontal dimension, calculates the speed difference compensation between the first and second propulsion fans based on the real-time yaw rate, and adjusts the real-time output speed of the first and second propulsion fans differentially according to the speed difference compensation. After adjustment based on the speed difference compensation, an amplitude difference is generated between the aerodynamic thrust output by the first and second propulsion fans. The amplitude difference of the aerodynamic thrust on both sides, relative to the distance of the fuselage's center of mass, generates a reverse yaw torque. The direction of the reverse yaw torque is opposite to the direction of the yaw moment rotating the fuselage around its normal axis. The reverse yaw torque and the yaw moment are algebraically subtracted to cancel each other out, and the real-time yaw rate of the fuselage around its normal axis tends to the zero-degree angular velocity reference value. Compared to existing technologies, which are prone to yaw rotation due to external interference in a single-point suspension physical model composed of flexible steel wire ropes, this invention achieves dynamic extraction of the yaw rotation force of the fuselage and cancellation of physical torque, so that the relative spatial attitude of the fuselage remains stable under single-point suspension conditions.

[0047] This invention simultaneously performs the actions of adjusting the airflow direction of the first and second propulsion fans to the target deflection angle, controlling the winch to wind the flexible steel wire rope at the target winding rate, and adjusting the real-time output speed of the first and second propulsion fans based on the speed difference compensation. The tangential component of the target deflection angle, the traction vector generated by the winch's constant-speed winding, and the reverse yaw torque set by the speed difference compensation interact within the three-dimensional spatial coordinates of the fuselage. The tangential component and the traction vector change the static equilibrium to output the displacement change of the fuselage along the tangential axis, while the reverse yaw torque, while outputting the displacement change, counteracts the yaw rotation of the fuselage around its normal axis. This multi-dimensional interaction of physical quantities generates a fully decoupled spatial attitude control state, enabling the curtain wall operation robot to seamlessly complete the process from changing the static equilibrium, performing a crossing action, to restoring the initial working state of single-output normal thrust. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a flowchart of a method for a curtain wall robot to overcome obstacles based on wind turbine thrust.

[0050] Figure 2 This is a logic diagram for force balance and parameter calculation when crossing obstacles;

[0051] Figure 3 This is a block diagram of the fuselage yaw compensation control logic;

[0052] Figure 4 This is an architecture diagram of a curtain wall robot attitude adjustment device based on wind turbine thrust. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0055] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] Application Overview:

[0058] The fundamental reason why the fuselage stops its vertical displacement on the working surface of the building curtain wall is that the direction of the normal thrust on the fuselage is orthogonal to the direction of displacement required to overcome the outward protruding structure. The fixed first and second propulsion fans maintain normal thrust output. At the moment the fuselage contacts the outward protruding structure, the normal thrust constitutes a reverse torque component that prevents the fuselage from overcoming the obstacle in the vertical direction. Based on this analysis, this invention transforms the normal thrust that maintains the fuselage's contact with the structure into the driving force required for obstacle overcoming, thus overcoming the interference between the fuselage and the outward protruding structure. Simultaneously, this invention also eliminates the yaw rotation of the fuselage around its normal axis caused by changes in the thrust direction, under a single-point suspension physical model composed of flexible steel wire ropes.

[0059] A curtain wall operation robot includes a body, a hoisting mechanism, and a propulsion fan unit. The body carries various onboard components and comes into contact with the working surface of the building curtain wall. The hoisting mechanism is located on a working platform at the top of the building curtain wall and includes a winch and a flexible steel wire rope. One end of the flexible steel wire rope is connected to the winch, and the second end of the flexible steel wire rope is hinged to a top lifting point of the body. The winch changes the position coordinates of the body along the height direction of the building curtain wall working surface by winding and releasing the flexible steel wire rope.

[0060] The propulsion fan unit includes a first propulsion fan and a second propulsion fan, which are respectively disposed on a first side and a second side of the fuselage facing each other in the horizontal direction. In the normal operating mode, the first propulsion fan and the second propulsion fan output normal thrust in a direction parallel to the normal axis of the fuselage, which is perpendicular to the working surface of the building curtain wall.

[0061] During operation, the machine body is suspended by flexible steel wire ropes. The normal thrust output by the propulsion fan unit counteracts the gravitational component perpendicular to the working surface of the building curtain wall, maintaining the contact state between the machine body and the working surface of the building curtain wall.

[0062] Exemplary method:

[0063] like Figure 1 As shown, a method for obstacle crossing by a curtain wall robot based on wind turbine thrust is applied to a curtain wall operation robot, including the following steps:

[0064] S1: Obtain the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix.

[0065] S2: Based on the spatial geometric parameters and the current total mass of the fuselage, calculate the target deflection angle of the first and second propulsion fans and the target rope winding rate of the winch.

[0066] S3: Adjust the air outlet direction of the first and second propulsion fans to the target deflection angle, and control the winch to wind up the flexible steel wire rope at the target winding rate.

[0067] S4: Collect the real-time yaw rate of the fuselage in the horizontal dimension, and calculate the speed difference compensation between the first propulsion fan and the second propulsion fan based on the real-time yaw rate.

[0068] S5: Adjust the real-time output speed of the first and second propulsion fans according to the speed difference compensation amount, and after the machine body passes the protrusion structure to be crossed, control the air outlet direction of the first and second propulsion fans to return to the normal axis parallel to the machine body.

[0069] Below, each step will be explained in detail based on the design principles.

[0070] In step S1, when the fuselage moves along the working surface of the building curtain wall, the three-dimensional spatial coordinates of the fuselage coincide with the external contour coordinates of the outwardly protruding structure, and the fuselage comes into contact with the outwardly protruding structure. To construct quantitative parameters characterizing the spatial features of the outwardly protruding structure, the depth point cloud matrix of the working surface of the building curtain wall is obtained, and the spatial geometric parameters of the protruding structure to be crossed are extracted based on the depth point cloud matrix.

[0071] A detection signal is emitted towards the area in front of the building curtain wall working surface. The detection signal is used to measure spatial distance and can be reflected by objects in space. The reflected signal is received after the detection signal contacts an object in space and returns along the reverse path. The transmission time of the detection signal and the reception time of the reflected signal are recorded, and the time difference between transmission and reception is calculated. The depth value of the corresponding detection point is calculated based on the time difference. The formula for calculating the depth value is: In the formula, The distance between the corresponding detection point and the fuselage detection module is expressed in meters (m). The speed of light, with a value of m / s; The time difference between signal transmission and reception is measured in seconds.

[0072] The area in front of the building curtain wall working surface is scanned point by point to obtain the depth value and 3D spatial coordinates of all detection points within the area. The 3D spatial coordinates and corresponding depth values ​​of all detection points are arranged according to row and column rules to generate a depth point cloud matrix. The row dimension of the depth point cloud matrix corresponds to the height direction of the building curtain wall working surface, and the column dimension corresponds to the horizontal direction of the building curtain wall working surface. Each element of the depth point cloud matrix includes the 3D spatial coordinates and depth value of a detection point.

[0073] For each element in the depth point cloud matrix, calculate the depth gradient value at the corresponding coordinate point. The depth gradient value, based on the principle of numerical differentiation, is used to quantify the depth variation between adjacent spatial points. The formula for calculating the depth gradient value is: In the formula, The row coordinates in the depth point cloud matrix are And the column coordinates are The depth gradient value corresponding to each element, in meters; The row coordinates are And the column coordinates are The depth value corresponding to the element, in meters; This is the row index value of the depth point cloud matrix, and its value is an integer greater than or equal to 0; This is the column index value of the depth point cloud matrix, and its value is an integer greater than or equal to 0.

[0074] A preset depth gradient threshold is used to compare the depth gradient value of each element in the depth point cloud matrix with the threshold. Within the coplanar region of the building curtain wall working surface, the depth gradient value generated when the depth value change of adjacent coordinate points is less than the depth gradient threshold. When a depth value jump occurs in the connection area between the protruding structure and the building curtain wall working surface, the corresponding depth gradient value is greater than or equal to the depth gradient threshold. When the depth gradient value is greater than or equal to the depth gradient threshold, the 3D spatial coordinate point corresponding to the depth gradient value is marked as a contour feature point. All marked contour feature points are collected to generate a surface contour point set. The surface contour point set includes the 3D spatial coordinate points in the depth point cloud matrix where the depth value undergoes a discontinuous jump.

[0075] Statistical calculations are performed on the three-dimensional spatial coordinates of all contour feature points within the surface contour point set to extract the maximum and minimum values ​​of the depth and height coordinates of the contour feature points. The normal depth dimension is calculated based on the maximum depth value and the reference depth value corresponding to the working surface of the building curtain wall. The normal depth dimension represents the protrusion distance of the protruding structure to be crossed relative to the working surface of the building curtain wall. The formula for calculating the normal depth dimension is: In the formula, This represents the normal depth dimension, in meters (m). It represents the maximum depth value corresponding to all contour feature points within the surface contour point set, in meters; This is the reference depth value corresponding to the working surface of the building curtain wall, in meters.

[0076] The longitudinal span dimension is calculated based on the maximum and minimum values ​​of the height coordinates of the contour feature points. The longitudinal span dimension represents the coverage distance of the protruding structure to be crossed along the fuselage displacement direction. The formula for calculating the longitudinal span dimension is: In the formula, This refers to the longitudinal span dimension, in meters (m). is the maximum value of the height coordinates corresponding to all contour feature points within the surface contour point set, in meters; is the minimum value of the height coordinates corresponding to all contour feature points within the surface contour point set, in meters.

[0077] By integrating the normal depth dimension and the longitudinal span dimension, the spatial geometric parameters of the protrusion to be crossed are generated. The spatial geometric parameters of the protrusion to be crossed include the normal depth dimension and the longitudinal span dimension.

[0078] After transmitting and receiving detection signals, calculating depth values, and performing matrix algebra operations, the analog signals are converted into spatial geometric parameters of the protruding structure to be crossed, including the normal depth dimension and the longitudinal span dimension. The fuselage then transitions from a data acquisition state to a target parameter generation state, generating and providing the basic input variables required for solving the subsequent force equilibrium equations and kinematic coupling equations.

[0079] In step S2, the process of crossing the outwardly protruding structure corresponds to static and dynamic equilibrium conditions formed by multiple spatial force vectors. These spatial force vectors include the fuselage weight, the sliding friction between the fuselage and the working surface of the building curtain wall, the traction force applied by the flexible steel wire rope, the aerodynamic thrust output by the first propulsion fan, and the aerodynamic thrust output by the second propulsion fan. Substituting the spatial geometric parameters of the protruding structure to be crossed and the current total mass of the fuselage into the static and dynamic equilibrium conditions, algebraic operations are performed to generate angle control parameters for changing the airflow direction and speed control parameters for changing the winding speed of the flexible steel wire rope.

[0080] The system reads the current total mass of the fuselage, the spatial geometric parameters of the protruding structure to be crossed, the coefficient of dynamic friction between the fuselage and the working surface of the building curtain wall, the rated thrust of the first propulsion fan, the rated thrust of the second propulsion fan, the minimum threshold of the normal contact force, and the maximum threshold of the normal contact force. The spatial geometric parameters of the protruding structure to be crossed include the normal depth dimension and the longitudinal span dimension. Based on the longitudinal span dimension, the target motion acceleration of the fuselage along the tangential axis is determined. The tangential axis is an axis parallel to the height direction of the working surface of the building curtain wall, and it is orthogonal to the fuselage normal axis perpendicular to the working surface of the building curtain wall.

[0081] A group of force equilibrium equations is established for the fuselage along its normal and tangential axes. Based on Newton's laws of motion and the rules of spatial vector decomposition, this group of equations describes the algebraic equilibrium relationship of the fuselage under spatial force conditions. When the outlet axes of the first and second propellers deflect upward relative to the fuselage normal axis at the target deflection angle, the total aerodynamic thrust output by the first and second propellers is decomposed along the fuselage normal axis into a normal contact component, and along the tangential axis into a tangential lift component. The formula for calculating the normal contact component is: In the formula, The normal component of the contact force is expressed in N. This is the rated value of the total aerodynamic thrust output by the first and second propulsion fans, in N; The target deflection angles of the first and second propulsion fans are expressed in rad.

[0082] The formula for calculating the sliding friction between the fuselage and the working surface of the building curtain wall is: In the formula, For sliding friction, the unit is N; for mechanical friction, the unit is N. The coefficient of dynamic friction between the body and the working surface of the building curtain wall is dimensionless.

[0083] The formula for calculating the gravitational force acting on the fuselage is: In the formula, This represents the gravitational force acting on the fuselage, measured in Newtons (N). The current total mass of the fuselage, in kg; Let gravitational acceleration be the acceleration due to gravity, and its value be [value]. .

[0084] Establish the dynamic equilibrium equations for the fuselage along the tangential axis. The expression for the dynamic equilibrium equations is as follows: In the formula, The tangential lifting force output by the first and second propulsion fans is expressed in N; the traction force exerted by the flexible steel wire rope on the fuselage is expressed in N. The target acceleration of the fuselage along the tangential axis, in units of .

[0085] Establish the constraint equations for the normal contact force component. The expression for the constraint equations is: ; where, The minimum threshold of the normal bonding force after correction based on the normal depth dimension, in N; The maximum threshold of the normal bonding force after correction based on the normal depth dimension is expressed in N.

[0086] By integrating the calculation formulas for the normal contact force, tangential lift force, sliding friction, gravity, and the dynamic equilibrium equations and constraint equations, a set of force equilibrium equations is generated. Substituting the current total mass of the fuselage, the spatial geometric parameters of the protruding structure to be crossed, the coefficient of dynamic friction, the rated value of the total aerodynamic thrust, and the target's acceleration into the force equilibrium equations, the target deflection angle satisfying the normal contact force constraint equations is solved. The target deflection angle limits the distribution ratio of the total aerodynamic thrust output by the first and second propulsion fans between the fuselage's normal and tangential axes.

[0087] Establish the kinematic coupling equations for the fuselage along the tangential axis. Based on rigid body kinematics rules, these equations transform the fuselage's motion state into the winch's control parameters. The expressions for the kinematic coupling equations are as follows: In the formula, The winding speed of the flexible steel wire rope along the tangential axis is expressed in m / s. The current velocity of the fuselage along the tangential axis, in m / s; This is a variable representing the duration of the winch's action, measured in seconds (s).

[0088] Substituting the target acceleration, current velocity, and longitudinal span into the kinematic coupling equations, the target winding rate of the flexible wire rope is solved. The target winding rate limits the winding speed of the winch on the flexible wire rope, and the target winding rate, together with the tangential lifting force, determines the motion state of the machine body along the tangential axis.

[0089] like Figure 2 As shown, after parameter reading, algebraic operations, and equation solving, the spatial geometric parameters of the protruding structure to be crossed, representing the spatial distance, and the current total mass of the fuselage, representing its inherent properties, are converted into a target deflection angle representing the wind turbine's outlet direction and a target rope-taking rate representing the winch's operating speed. The fuselage evolves from a target parameter generation state to a control reference value generation state, generating and outputting the target deflection angle and target rope-taking rate. The target deflection angle serves as the given reference value for the wind turbine's operating command, and the target rope-taking rate serves as the given reference value for the winch's speed control command.

[0090] In step S3, the fuselage is constrained by the static equilibrium equation, and the first and second propulsion fans output normal thrust along the fuselage's normal axis. The process of crossing the protruding structure requires inputting driving force along the tangential axis. The target deflection angle and target rope winding speed are converted into electrical drive signals for the corresponding actuators, changing the thrust vector direction of the first and second propulsion fans, and synchronously controlling the winch to wind the flexible wire rope at a constant speed.

[0091] A position pulse command is generated based on the target deflection angle. The position pulse command includes target position encoding information, which is used to drive the servo drive components to generate the corresponding angular displacement. Position pulse commands are output to the first servo drive component corresponding to the first propulsion fan and the second servo drive component corresponding to the second propulsion fan. The first servo drive component receives the position pulse command and drives the mounting base of the first propulsion fan to rotate, so that the angle between the outlet direction axis of the first propulsion fan and the normal axis of the fuselage reaches the target deflection angle. The second servo drive component receives the position pulse command and drives the mounting base of the second propulsion fan to rotate, so that the angle between the outlet direction axis of the second propulsion fan and the normal axis of the fuselage reaches the target deflection angle. The outlet direction is the spatial direction of the total momentum vector formed when the propulsion fan discharges the fluid medium.

[0092] A speed control command is generated based on the target rope take-up rate. This command, including the target rope take-up rate value, is sent to the winch's drive motor. Upon receiving the command, the winch's drive motor rotor rotates at the corresponding speed, causing the winch drum to rotate and wind up the flexible wire rope, ensuring that the tangential winding speed of the flexible wire rope reaches the target rope take-up rate.

[0093] After the outlet axes of the first and second propulsion fans undergo an angular displacement relative to the fuselage normal axis, resulting in a target deflection angle, the total aerodynamic thrust output by the first and second propulsion fans follows the planar vector decomposition rule, decomposing into a normal component along the fuselage normal axis and a tangential component along the tangential axis. The tangential component provides the fuselage with a driving component along the tangential axis.

[0094] The winch winds up the flexible steel wire rope at the target winding rate. The traction force vector generated by the flexible steel wire rope at the suspension point at the top of the machine body points upward along the tangential axis. The traction force vector and the tangential component force vector are parallel and in the same direction. The traction force vector and the tangential component force vector are added according to the vector superposition rule to generate the resultant driving force of the machine body along the tangential axis. The angular displacement adjustment actions of the first and second propulsion fans are carried out synchronously with the winding action of the winch, so that the changes in the force state and the changes in the motion state of the machine body maintain a temporal correspondence.

[0095] After completing the angular displacement adjustment and constant-speed winding of the flexible steel wire rope, the outlet directions of the first and second propulsion fans reach the target deflection angle, and the winding linear speed of the flexible steel wire rope reaches the target winding rate. The force model of the fuselage evolves from a single-direction normal thrust force model to a composite force model including normal component, tangential component, and traction force variables. The fuselage evolves from the control reference value generation state to the obstacle-crossing drive operation state. The first and second propulsion fans output aerodynamic thrust including normal and tangential components, and the winch outputs traction force along the tangential axis. Under the action of the traction force vector and the tangential component force vector, the fuselage generates a displacement change along the height direction of the building curtain wall working surface.

[0096] In step S4, the flexible steel wire rope and the top suspension point of the fuselage form a single-point suspension structure. The thrust vector deflection of the first and second propulsion fans causes a yaw moment to be generated around the fuselage's normal axis. The yaw moment causes the fuselage to rotate around its normal axis, changing the spatial relative attitude of the fuselage to the working surface of the building curtain wall. Real-time yaw state parameters of the fuselage are collected and converted into compensation parameters to adjust the speed difference between the first and second propulsion fans, which are used to generate a counter-torque to counteract the yaw moment.

[0097] Acquire the real-time yaw rate of the fuselage about its normal axis in the horizontal dimension. The real-time yaw rate is the instantaneous angular change rate of the fuselage when it undergoes rotational displacement about its normal axis, measured in rad / s. Acquire the zero-degree angular velocity reference value, proportional gain coefficient, integral gain coefficient, derivative gain coefficient, and discrete sampling time interval. The zero-degree angular velocity reference value is a set reference angular velocity of the fuselage when it has no rotational displacement about its normal axis, and its value is [value missing]. The discrete sampling time interval is the time span between two consecutive signal sampling actions, measured in seconds.

[0098] The angular velocity deviation is generated by subtracting the real-time yaw rate from the zero-degree angular velocity reference value. The formula for calculating the angular velocity deviation is: In the formula, For a moment The angular velocity deviation value, in rad / s; For a moment The calculated real-time yaw rate is expressed in rad / s. The zero-degree angular velocity reference value is set to [value]. .

[0099] Using the angular velocity deviation as an input variable, the proportional-integral-derivative (PID) control algorithm performs discrete-domain proportional, integral, and derivative operations, outputting the speed difference compensation. The speed difference compensation is a pair of adjustment values ​​superimposed on the fan's reference speed logic to generate the speed difference, with units of r / min. The PID control algorithm combines the proportional, integral, and derivative terms of the deviation signal. The discrete-time expression of the PID control algorithm is: In the formula, The sampling number of the discrete time series, with a value greater than or equal to 0; For the first The speed difference compensation amount output at each sampling time, in r / min; The proportional gain coefficient is dimensionless. The integral gain coefficient is dimensionless. The differential gain coefficient is dimensionless. For the first The angular velocity deviation at each sampling time, in rad / s; For the first The angular velocity deviation at each sampling time, in rad / s; The discrete sampling time interval is in seconds. The speed difference compensation includes the forward speed increment corresponding to the first propulsion fan and the reverse speed decrease corresponding to the second propulsion fan, with the absolute value of the forward speed increment equal to the absolute value of the reverse speed decrease.

[0100] The real-time yaw rate indicates the magnitude and direction of the resultant yaw torque acting on the fuselage. The thrust points of the first and second propellers are horizontally separated by a distance from the fuselage's center of mass. The deflection of the exhaust directions of the first and second propellers generates a component relative to the fuselage's normal axis, generating a yaw torque that induces yaw rotation under single-point suspension conditions. The aerodynamic thrust amplitude output by the propellers is positively correlated with their rotational speed. The speed difference between the first and second propellers causes a difference in the flow rate of the discharged fluid medium, resulting in a difference in the aerodynamic thrust amplitude on both sides. Based on the law of conservation of angular momentum, the distance between the aerodynamic thrust amplitude difference and the fuselage's center of mass generates a reverse yaw torque, the direction of which is opposite to the direction of the yaw moment.

[0101] like Figure 3As shown, after calculating the angular velocity deviation and performing algebraic operations using the proportional-integral-derivative (PID) control algorithm, the real-time yaw angular velocity, representing the mechanical rotation state of the fuselage, is converted into a digital parameter for motor adjustment: the speed difference compensation. The fuselage transitions from obstacle-crossing drive mode to yaw compensation parameter generation mode, generating and outputting the speed difference compensation. This speed difference compensation serves as the input parameter for the differentiated adjustment of the output speeds of the first and second propulsion fans.

[0102] In step S5, the actual exhaust volume of the first and second propulsion fans is changed by adjusting the real-time output speed, thus outputting torque to counteract the fuselage yaw moment. The fuselage is displaced along the tangential axis, and its spatial coordinates exceed the range of influence of the spatial geometric parameters of the protruding structure to be crossed. After the crossing action is completed, the input requirement of the tangential lifting component terminates, and the airflow direction of the first and second propulsion fans needs to be restored to its initial normal state. The speed is adjusted according to the speed difference compensation amount and the spatial coordinates are compared to trigger the propulsion fan airflow direction reset action.

[0103] The system reads the speed difference compensation amount, the first reference speed of the first propulsion fan, and the second reference speed of the second propulsion fan. The speed difference compensation amount includes forward speed increment and reverse speed decrement. The first reference speed is the rotor rotation frequency parameter corresponding to the rated normal thrust output by the first propulsion fan, in r / min. The second reference speed is the rotor rotation frequency parameter corresponding to the rated normal thrust output by the second propulsion fan, in r / min. The forward speed increment is the adjustment amount added to the first reference speed, in r / min. The reverse speed decrement is the adjustment amount subtracted from the second reference speed, in r / min.

[0104] The first target real-time output speed of the first propulsion fan is calculated based on the first reference speed and the forward speed increment. The formula for calculating the first target real-time output speed is: In the formula, The primary objective is to output the rotational speed in real time, in r / min. The first reference speed is expressed in r / min. This represents the positive rotational speed increment, expressed in r / min.

[0105] The second target real-time output speed of the second propulsion fan is calculated based on the second reference speed and the reduction in reverse speed. The formula for calculating the second target real-time output speed is: In the formula, The second objective is to output the rotational speed in real time, in r / min. This is the second reference speed, expressed in r / min. This represents the speed reduction in the reverse direction, expressed in r / min.

[0106] A first speed control command, including a first target real-time output speed, is generated and output to the internal drive motor of the first propulsion fan. A second speed control command, including a second target real-time output speed, is generated and output to the internal drive motor of the second propulsion fan. The internal drive motor of the first propulsion fan adjusts the rotor rotation frequency to the first target real-time output speed according to the first speed control command. The internal drive motor of the second propulsion fan adjusts the rotor rotation frequency to the second target real-time output speed according to the second speed control command.

[0107] Real-time acquisition of the depth point cloud matrix of the area in front of the working surface of the building curtain wall is performed. The coordinates of the bottom of the machine are extracted, as are the maximum height coordinates of the protruding structure to be crossed. Obstacle crossing completion criteria are established, and the expression for these criteria is: In the formula, The coordinates of the fuselage bottom end represent the height coordinates of the lowest position of the fuselage structure along the tangential axis, in meters. The maximum height coordinate of the protruding structure to be crossed represents the highest boundary coordinate value of the protruding structure along the tangential axis, in meters.

[0108] Once the obstacle-crossing completion criteria are met, a reset pulse command is generated. The reset pulse command includes the initial position encoding information of the wind turbine. The reset pulse command is output to the first servo drive component and the second servo drive component. The first servo drive component drives the mounting base of the first propulsion wind turbine to deflect towards the starting position according to the reset pulse command. The second servo drive component drives the mounting base of the second propulsion wind turbine to deflect towards the starting position according to the reset pulse command. The starting position is the position where the airflow direction of the first and second propulsion wind turbines is parallel to the normal axis of the fuselage.

[0109] The system collects real-time data on the first included angle variable of the first propeller and the second included angle variable of the second propeller. The first included angle variable is the deflection angle between the outlet direction axis of the first propeller and the normal axis of the fuselage, measured in rad. The second included angle variable is the deflection angle between the outlet direction axis of the second propeller and the normal axis of the fuselage, measured in rad. When both the first and second included angle variables return to zero, the outlet directions of the first and second propellers return to a state parallel to the normal axis of the fuselage.

[0110] The aerodynamic thrust output by the first and second propulsion fans creates an amplitude difference, which, combined with the horizontal distance, generates a reverse yawing torque. This reverse yawing torque is algebraically subtracted from the yawing torque that causes the fuselage to yaw, thus eliminating the yawing rotation of the fuselage around its normal axis. When the coordinate value of the fuselage's bottom is greater than the maximum height coordinate value, the overall height of the fuselage exceeds the highest boundary of the protruding structure to be crossed. After the first and second propulsion fans return to their starting positions, the total aerodynamic thrust output by the first and second propulsion fans is directionally output along the fuselage's normal axis. The tangential component of the total aerodynamic thrust along the tangential axis returns to zero, and the total aerodynamic thrust is converted into a normal thrust pointing towards the working surface of the building curtain wall along the fuselage's normal axis.

[0111] like Figure 3 As shown, after real-time output speed differential adjustment, the yaw moment of the fuselage around its normal axis is canceled out. After obstacle clearance completion and airflow direction reset, the airflow directions of the first and second propulsion fans return to their initial positions. The fuselage evolves from a combined yaw state of simultaneously outputting tangential and normal components to an initial operating state of single normal thrust output. The real-time yaw angular velocity of the fuselage around its normal axis approaches the zero-degree angular velocity reference value, and the fuselage's attitude variables return to zero. The first and second propulsion fans output normal thrust along the fuselage's normal axis towards the working surface of the building curtain wall, maintaining the contact state between the fuselage and the working surface of the building curtain wall.

[0112] Exemplary device:

[0113] like Figure 4 As shown, a wind turbine-driven obstacle-crossing posture adjustment device for a curtain wall robot is used to realize a wind turbine-driven obstacle-crossing method for a curtain wall robot, comprising:

[0114] The feature extraction module is configured to acquire the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix.

[0115] The parameter calculation module, which is connected to the feature extraction module, is configured to receive the spatial geometric parameters of the protrusion structure to be crossed, and calculate the target deflection angle of the first and second propulsion fans and the target rope winding speed of the winch based on the spatial geometric parameters of the protrusion structure to be crossed and the current total mass of the fuselage.

[0116] The attitude drive module, which is connected to the parameter calculation module, is configured to receive the target deflection elevation angle and the target rope winding rate, output signals to adjust the air outlet direction of the first propulsion fan and the second propulsion fan to the target deflection elevation angle, and control the winch to wind up the flexible steel wire rope according to the target rope winding rate.

[0117] The yaw compensation module is configured to collect the real-time yaw angular velocity of the fuselage in the horizontal dimension and calculate the compensation amount for the speed difference between the first propulsion fan and the second propulsion fan based on the real-time yaw angular velocity.

[0118] The state recovery module is communicatively connected to the yaw compensation module, the feature extraction module, and the attitude drive module. It is configured to receive the speed difference compensation amount, adjust the real-time output speed of the first propulsion fan and the second propulsion fan according to the speed difference compensation amount, and, based on the coordinate comparison results of the feature extraction module, determine that after the fuselage has passed the protrusion structure to be crossed, control the air outlet direction of the first propulsion fan and the second propulsion fan to be restored to a state parallel to the normal axis of the fuselage.

[0119] To support the operation of the feature extraction module, parameter calculation module, attitude driving module, yaw compensation module, and state recovery module at the hardware structure level, an inertial measurement unit (IMU) is added inside the curtain wall operation robot, and servo drive components are added to the mounting bases of the first and second propulsion fans, respectively. The IMU is communicatively connected to the yaw compensation module and is configured to sense and output the angular velocity electrical signal of the robot body around its normal axis. The servo drive components are communicatively connected to the attitude driving module and the state recovery module, respectively, and are configured to receive the drive electrical signals and drive the first and second propulsion fans to undergo angular displacement.

[0120] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for obstacle crossing by a curtain wall robot based on wind turbine thrust, applied to a curtain wall operation robot; the curtain wall operation robot includes a body, a hoisting mechanism, and a propulsion wind turbine unit; the hoisting mechanism includes a winch and a flexible steel wire rope, the flexible steel wire rope being hinged to a top hoisting point of the body; the propulsion wind turbine unit includes a first propulsion wind turbine and a second propulsion wind turbine respectively disposed on both sides of the body; characterized in that, The method includes the following steps: S1: Obtain the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix; S2: Based on the spatial geometric parameters and the current total mass of the fuselage, calculate the target deflection angle of the first and second propulsion fans and the target rope winding rate of the winch. S3: Adjust the air outlet direction of the first propulsion fan and the second propulsion fan to the target deflection angle, and control the winch to wind up the flexible steel wire rope at the target winding speed; S4: Collect the real-time yaw rate of the fuselage in the horizontal dimension, and calculate the speed difference compensation between the first propulsion fan and the second propulsion fan based on the real-time yaw rate; S5: Adjust the real-time output speed of the first and second propulsion fans according to the speed difference compensation amount, and after the machine body passes the protrusion structure to be crossed, control the air outlet direction of the first and second propulsion fans to return to the normal axis parallel to the machine body.

2. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S1 involves obtaining the depth point cloud matrix of the building curtain wall working surface, including: A detection signal is emitted to the area in front of the working surface of the building curtain wall and a reflected signal is received. The time difference between the emission and reception of the detection signal is calculated, and the depth value of the corresponding detection point is calculated based on the time difference. Obtain the depth values ​​and three-dimensional spatial coordinates of all detection points in the foreground area, and arrange the three-dimensional spatial coordinates and corresponding depth values ​​according to row and column rules to generate the depth point cloud matrix.

3. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 2, characterized in that, Step S1 involves extracting the spatial geometric parameters of the protrusion to be crossed based on the depth point cloud matrix, including: Calculate the depth gradient value corresponding to each element in the depth point cloud matrix; When the depth gradient value is greater than or equal to the preset depth gradient threshold, the three-dimensional spatial coordinate point corresponding to the depth gradient value is marked as a contour feature point to generate a surface contour point set. Extract the maximum value of the depth value and the maximum and minimum values ​​of the height coordinates of the contour feature points within the surface contour point set, and calculate the normal depth dimension and longitudinal span dimension; By integrating the normal depth dimension and the longitudinal span dimension, the spatial geometric parameters of the protrusion structure to be crossed are generated.

4. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S2 calculates the target deflection angles of the first and second propulsion fans, including: Establish a group of force equilibrium equations for the fuselage along the normal axis and the tangential axis of the fuselage, wherein the group of force equilibrium equations includes the constraint equations for the normal contact force component. Substitute the spatial geometric parameters, the current total mass of the fuselage, and the target motion acceleration of the fuselage along the tangential axis into the force balance equations to solve for the target deflection angle that satisfies the constraint equations.

5. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S2 calculates the target rope take-up rate of the winch, including: Establish the kinematic coupling equations of the fuselage along the tangential axis; Substituting the target motion acceleration of the fuselage along the tangential axis, the current motion velocity, and the longitudinal span dimension in the spatial geometric parameters into the kinematic coupling equation, the target rope winding rate of the winch is obtained.

6. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S3 involves adjusting the air outlet direction and controlling the winch to wind up the flexible steel wire rope, including: Based on the target deflection angle, a position pulse command is generated and output to the servo drive component to drive the mounting bases of the first and second propulsion fans to rotate, so that the angle between the air outlet direction axis and the normal axis of the fuselage reaches the target deflection angle. Based on the target rope winding rate, a speed control command is generated and output to the drive motor of the winch, which drives the drum of the winch to rotate and wind up the flexible steel wire rope.

7. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S4 involves calculating the speed difference compensation based on the real-time yaw rate, including: The real-time yaw rate is subtracted from the zero-degree angular rate reference value to generate the angular rate deviation value; The angular velocity deviation value is used as an input variable and substituted into the proportional-integral-derivative control algorithm to perform discrete domain calculations, outputting the speed difference compensation amount; the speed difference compensation amount includes the forward speed increment and the reverse speed decrease.

8. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 7, characterized in that, Step S5 involves adjusting the real-time output speed based on the difference in speed difference compensation, including: The first target real-time output speed is calculated based on the first reference speed of the first propulsion fan and the positive speed increment, and a first speed control command is generated and output to the first propulsion fan. The second target real-time output speed is calculated based on the second reference speed of the second propulsion fan and the reduction of the reverse speed, and a second speed control command is generated and output to the second propulsion fan.

9. The obstacle-crossing method for a curtain wall robot based on wind turbine thrust according to claim 1, characterized in that, Step S5, controlling the airflow direction of the first and second propulsion fans to return to the normal axis parallel to the fuselage, includes: Real-time acquisition of the coordinates of the bottom of the fuselage and the maximum height coordinates of the protruding structure to be crossed; When the coordinates of the bottom of the fuselage are greater than the maximum height coordinates, the obstacle crossing completion judgment condition is met and a reset pulse command is generated. According to the reset pulse command, the mounting bases of the first and second propulsion fans are driven to deflect to the starting position until the air outlet direction is restored to a state parallel to the normal axis of the fuselage.

10. A wind turbine-driven obstacle-crossing posture adjustment device for a curtain wall robot, used to implement the wind turbine-driven obstacle-crossing method for a curtain wall robot as described in any one of claims 1 to 9, characterized in that, The device includes: The feature extraction module is configured to acquire the depth point cloud matrix of the working surface of the building curtain wall, and extract the spatial geometric parameters of the protruding structure to be crossed based on the depth point cloud matrix. The parameter calculation module, which is connected to the feature extraction module, is configured to receive the spatial geometric parameters of the protrusion structure to be crossed, and calculate the target deflection angle of the first and second propulsion fans and the target rope winding speed of the winch based on the spatial geometric parameters of the protrusion structure to be crossed and the current total mass of the fuselage. The attitude drive module, which is connected to the parameter calculation module, is configured to receive the target deflection elevation angle and the target rope winding rate, output signals to adjust the air outlet direction of the first propulsion fan and the second propulsion fan to the target deflection elevation angle, and control the winch to wind up the flexible steel wire rope according to the target rope winding rate. The yaw compensation module is configured to collect the real-time yaw angular velocity of the fuselage in the horizontal dimension and calculate the compensation amount for the speed difference between the first propulsion fan and the second propulsion fan based on the real-time yaw angular velocity. The state recovery module is communicatively connected to the yaw compensation module, the feature extraction module, and the attitude drive module. It is configured to receive the speed difference compensation amount, adjust the real-time output speed of the first and second propulsion fans according to the speed difference compensation amount, and, based on the coordinate comparison results of the feature extraction module, determine that after the fuselage has passed the protrusion to be crossed, control the air outlet direction of the first and second propulsion fans to be restored to a state parallel to the normal axis of the fuselage.

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