Surface operation device and surface operation method

Abstract

Provided in the present application are a surface operation device and a surface operation method. The surface operation device comprises a carrying mechanism, a support module, and an operation module. The support module is arranged on the carrying mechanism; the support module comprises at least one support mechanism; the end of the support mechanism facing an operation surface is used for being supported on the operation surface, and at least one support mechanism in the support module is provided with an attachment structure used for attaching the operation surface. The operation module is arranged on the carrying mechanism, and the operation module is used for performing operations on the operation surface. The present application improves the reliability, precision and efficiency of surface detection and surface maintenance.

Description

Surface working apparatus and surface working methods

[0001] This application claims priority to the following Chinese patent applications, the entire contents of which are incorporated herein by reference: application number 2024115446080, filed on October 31, 2024, entitled "Unmanned Aerial Vehicle (UAV) Operation Device"; application number 2024117200009, filed on November 28, 2024, entitled "Unmanned Aerial Vehicle (UAV) Operation Device"; application number 2025103811694, filed on March 28, 2025, entitled "Operating Device and Method for High-Precision Identification"; and application number 2025112666473, filed on September 5, 2025, entitled "Surface Operation Device". Technical Field

[0002] This application relates to the field of surface work technology, specifically to a surface work apparatus and a surface work method. Background Technology

[0003] As the wind power industry develops towards larger scale and greater intelligence, the height of wind turbine towers and the length of blades are constantly increasing, highlighting the growing difficulty and safety risks of surface maintenance operations (such as painting, grinding, inspection, and non-destructive testing). Traditional methods relying on manual suspended platforms are not only inefficient and costly but also pose significant safety hazards; therefore, using robots or drones for high-altitude operations has become an important development trend in the industry.

[0004] Currently, drones or robots are typically operated manually to align or contact the workpiece with the work area. However, this method places very high demands on manual operation, and drones or robots at high altitudes are easily affected by natural factors such as airflow, resulting in low alignment accuracy, poor stability, and difficulty in reliably completing inspection and maintenance work, or even failing to perform effective operations. Therefore, improving the reliability, accuracy, and efficiency of surface inspection and maintenance is an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a surface operation device and a surface operation method, which can improve the reliability, accuracy and efficiency of surface inspection and surface maintenance work.

[0006] In a first aspect, a surface working apparatus is provided, the apparatus comprising: a carrying mechanism; a support module disposed on the carrying mechanism, the support module including at least one support mechanism, one end of the support mechanism facing the working surface being used to support on the working surface, and at least one support mechanism in the support module having an adsorption structure for adsorbing onto the working surface; and a working module disposed on the carrying mechanism, the working module being used to perform work on the working surface.

[0007] When the surface working device operates on target points on the work surface, the support mechanism is supported on the work surface, effectively preventing the device from tipping over or shaking during operation; and at least one adsorption structure firmly adsorbs the working device onto the work surface, forming a strong adhesion force, so that the surface working device can be firmly fixed to the work surface. In other words, this surface working device adopts a support + adsorption method, which greatly enhances its ability to resist wind, vibration and accidental impact, so that the working device remains almost stationary relative to the work surface during operation, preventing the surface working device from shaking, drifting or even falling during operation, providing a shaking-free support platform for the working module, which not only improves the safety of the operation process, but also improves the reliability, accuracy and efficiency of surface inspection and maintenance work.

[0008] In some embodiments of this application, the device includes: a ranging module disposed on the transport mechanism, the ranging module including at least two ranging sensors, the at least two ranging sensors being spaced apart, each of the ranging sensors being used to detect the distance between itself and the working surface.

[0009] By using at least two distance sensors to measure the distance between the carrier and the work surface to adjust the position of the carrier, the alignment accuracy of the work device can be improved, thereby improving the working accuracy of the surface work device.

[0010] In some embodiments of this application, the device includes: an image recognition module disposed on the transport mechanism, the image recognition module being used to identify target points on the working surface for controlling the transport mechanism to move in a direction parallel to the working surface.

[0011] By using an image recognition module to determine the position of the surface work device in a plane parallel to the work surface, the work device can be quickly and accurately aligned with the target point or maintenance point, thereby improving the reliability and accuracy of the surface work device in inspection and maintenance work.

[0012] In some embodiments of this application, the adsorption structure includes a suction cup and a connecting member, the connecting member being disposed on the side of the suction cup facing away from the working surface, and the suction cup being hinged to the connecting member.

[0013] The suction cup is hinged to the connecting component, which allows the angle of the suction cup to be adjusted adaptively according to the actual situation of the working surface during the process of adhering the adsorption structure to the working surface. This enables the suction cup to adhere more fully to the working surface, improves the accuracy of the adhesion between the suction cup and the working surface, and helps to improve the adsorption strength between the adsorption structure and the working surface.

[0014] In some embodiments of this application, the suction cup and the connecting member are connected by a ball joint, the side of the suction cup away from the working surface has a spherical groove, and the side of the connecting member facing the suction cup has a spherical structure.

[0015] The suction cup and connecting components are connected by a ball joint structure, which allows the suction cup to rotate more flexibly at multiple angles. When the suction cup adjusts the adhesion direction according to the actual situation of the working surface, it can improve the sensitivity of the suction cup adjustment, which is conducive to improving the adsorption efficiency of the adsorption structure on the working surface.

[0016] In some embodiments of this application, the support mechanism includes a connecting rod and a first elastic element. The connecting rod is disposed on the transport mechanism and is movable relative to the transport mechanism in a direction intersecting the working surface. The first elastic element is located between the connecting rod and the transport mechanism.

[0017] The connecting rod can move relative to the carrying mechanism along a first direction intersecting the working surface. When the working surface is an irregular curved surface or a curved surface with a large curvature, the suction cup of the adsorption structure can adaptively adjust its position in the first direction, so that the adsorption structure can achieve good adhesion and adsorption with the working surface, avoiding the phenomenon of the end of the support mechanism being suspended. This is beneficial to improving the adsorption stability between the adsorption structure and the working surface, and improving the stability of the surface working device.

[0018] In some embodiments of this application, the connecting rod includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are coaxially arranged, the second connecting rod is fixed on the carrying mechanism, the first connecting rod is axially movable in the shaft hole of the second connecting rod, the first elastic element is sleeved on the outside of the first connecting rod, and the first elastic element is located between the end of the first connecting rod and the end of the second connecting rod.

[0019] By interlocking the first connecting rod and the second connecting rod, a portion of the connecting rod can move along the first direction. Furthermore, the first elastic element outside the first connecting rod allows the end of the support mechanism to fit tightly or stably adhere to the working surface, which not only improves the support stability of the surface working device but also further enhances the structural compactness of the support mechanism.

[0020] In some embodiments of this application, the support module has three support mechanisms, the support end faces of the three support mechanisms for supporting on the working surface are located on the same support plane, and the center points of the end faces of the three support ends are arranged in a triangle, and the projection of the center of mass of the transport mechanism on the support plane is located inside the triangle.

[0021] The three support mechanisms are based on the principle of three-point support, which ensures the support stability of the surface working device on a plane or curved surface. Furthermore, based on at least one adsorption structure, an adsorption system capable of resisting external forces in multiple directions is constructed, thereby improving the adsorption stability of the surface working device on a plane or curved surface.

[0022] In some embodiments of this application, the support module has two support mechanisms, which are respectively located on both sides of the gravity line of the transport mechanism.

[0023] By using two support mechanisms to support the surface work device on the work surface, and at least one of them having an adsorption structure to adsorb the surface work device onto the work surface, the number of support mechanisms is reduced, the weight of the surface work device is reduced, and the mobility of the surface work device is improved while ensuring the operational stability of the surface work device.

[0024] In some embodiments of this application, the working module includes a driving component and a working assembly. The driving component is disposed on the carrying mechanism, and the working assembly is connected to the output shaft of the driving component. The working assembly can rotate about a first axis intersecting the working surface under the driving action of the driving component.

[0025] Driven by a drive unit, the working component rotates or oscillates to perform work on the working surface, enabling it to cover a large working area with a limited surface area. This reduces the space occupied by the working component when no work is being performed, while still allowing for work on target points through rotation and oscillation. Furthermore, the rotation or oscillation of the working component can adapt to changes in complex surface curvature or tilt angles, significantly improving working accuracy and surface adaptability in high-altitude environments.

[0026] In some embodiments of this application, the working module includes a swing component located between the output shaft of the drive component and the working component. The swing component is connected to both the output shaft of the drive component and the working component, and the swing component allows the working component to swing in a plane perpendicular to the working surface.

[0027] The swing component allows the working component to swing relative to the carrier mechanism to flexibly adjust its posture. When the angle of the working surface changes (such as the rotation of wind turbine blades), the working component can always maintain a preset optimal contact angle with the local curved surface of the target point based on a combination of active and passive adjustment. This allows the working component to fit well with complex curved surfaces, thereby improving the working quality and efficiency of curved working surfaces.

[0028] In some embodiments of this application, the swing assembly includes: a connecting block for connecting to the output shaft of the drive component; an adjusting arm, the first end of which is connected to the connecting block, the adjusting arm being rotatable relative to the connecting block about a second axis perpendicular to the first axis, the second end of the adjusting arm being connected to the working component, the working component being rotatable relative to the adjusting arm about a third axis parallel to the second axis.

[0029] The swing assembly gives the working assembly at least three joints. The rotational joint between the connecting block and the transport mechanism can adjust the posture of the working assembly in a plane parallel to the working surface. The joints between the adjusting arm and the connecting block, and between the adjusting arm and the working assembly, can adjust the posture of the working assembly in a plane perpendicular to the working surface, so that the working assembly can maintain a preset optimal contact angle with the working surface at different angles.

[0030] In some embodiments of this application, the swing assembly includes: a first limiting portion fixed to a first end of the adjusting arm for limiting the adjusting arm to swing in a direction away from the working surface; and a second limiting portion fixed to a second end of the adjusting arm for limiting the working assembly to swing in a direction closer to the working surface.

[0031] The two limiting parts allow the adjusting arm and the working component to rotate in different directions, which not only adjusts the angle of the working component but also makes it easy to return the working component to its normal working position.

[0032] In some embodiments of this application, the first limiting part and / or the second limiting part includes: a limiting plate, which is fixedly connected to the adjusting arm, the limiting plate having an arc-shaped guide groove and a baffle, the baffle being located on the outer side of the end of the adjusting arm; and an angle adjusting screw, which is disposed in the arc-shaped guide groove and connected to the adjusting arm.

[0033] By tightening the angle adjusting screw in the arc-shaped guide groove, the limiting plate can be secured to the adjusting arm. By loosening the angle adjusting screw and rotating the limiting plate, the arc-shaped guide groove of the limiting plate can be moved along the angle adjusting screw, thereby adjusting the angle of the limiting plate. This allows for the adjustment of the initial angle between the working component and the adjusting arm, as well as the initial angle between the adjusting arm and the connecting block. It also allows for the adjustment of the rotation angle range of the adjusting arm and the rotation angle range of the working component.

[0034] In some embodiments of this application, the swing assembly includes a first torsion spring and a second torsion spring. Both the first torsion spring and the second torsion spring include a spring body and an end. The end of the first torsion spring is connected to the connecting block and the adjusting arm, respectively. The end of the second torsion spring is connected to the adjusting arm and the working assembly, respectively. The ends of the first torsion spring and the second torsion spring are respectively disposed on opposite sides of the adjusting arm, and each spring body is disposed on a corresponding rotating shaft.

[0035] By installing torsion springs at the joints between the working component and the adjusting arm, and at the joints between the adjusting arm and the connecting block, the torsion springs are twisted when the joints rotate, storing elastic potential energy. When the external force disappears, the energy stored in the torsion springs drives the joints, causing the adjusting arm and the working component to return to their initial positions. In addition, when the joints are subjected to impact or encounter unexpected obstacles, the torsion springs can deform to absorb energy, acting as a buffer, which effectively protects the structure of the joint itself from damage.

[0036] In some embodiments of this application, the working component includes: a connecting portion hinged to one end of the swing assembly away from the output shaft of the driving component; a fixing portion located at the end of the connecting portion away from the swing assembly, the fixing portion being connected to the connecting portion; and a working body disposed on the side of the fixing portion facing the working surface.

[0037] The connecting part is hinged to the swing assembly, which allows the main body of the workpiece on the fixed part to fit more closely and stably against the work surface, even on uneven or curved work surfaces.

[0038] In some embodiments of this application, the fixing part is rotatable relative to the connecting part about a fourth axis that is perpendicular to both the first axis and the second axis.

[0039] The fixing part twists around the fourth axis, which allows the fixing part to adaptively adjust the angle of the working body based on the change in curvature of the working surface, thereby further ensuring that the working body reliably contacts the target point.

[0040] In some embodiments of this application, the working body is a flexible conductive component, which is retractable relative to the fixed part in a direction perpendicular to the working surface.

[0041] The flexible conductive component has a stretchable structure, which ensures better contact with the target point, thereby avoiding false detections caused by poor contact and improving the accuracy of the detection results.

[0042] In some embodiments of this application, the fixing part includes a first clamping part and a second clamping part. Each of the first clamping part and the second clamping part has a conductive component mounting half-groove on its opposite side. The flexible conductive component is located in two corresponding conductive component mounting half-grooves on the two clamping parts, and a screw mounting hole is provided between two adjacent conductive component mounting grooves on each clamping part. The flexible conductive component is a deformable copper wire or a telescopic probe.

[0043] The first clamping part and the second clamping part can be clamped and released by the screw in the screw mounting hole. The clamping and releasing of the first clamping part and the second clamping part can not only make it easy to replace the flexible conductive component, but also adjust the length of the flexible conductive component extending from the fixed part.

[0044] In some embodiments of this application, the working component includes a return spring, the two ends of which are respectively connected to the connecting portion and the fixing portion; the conductive component mounting half-groove is a sawtooth groove.

[0045] The return spring enables the torsional reset of the working body and the fixed part. The conductive parts of the serrated groove are installed in the half-groove to form a mechanical interlock, which can effectively resist the rotation of the flexible conductive parts when subjected to tangential force or torque, thereby improving the stability of the surface working device detection operation.

[0046] In some embodiments of this application, the number of return springs is two, and the two return springs are disposed opposite to each other on both sides of the fixing part.

[0047] Both sides of the fixed part are equipped with return springs, which not only ensures that the main body can be stably reset when rotating counterclockwise or clockwise, but also stabilizes the main body in the initial position when no external force is applied.

[0048] In some embodiments of this application, the transport mechanism is a drone, the surface operation device includes a support frame, the support frame is connected to the drone, and both the support module and the operation module are mounted on the support frame.

[0049] Based on the UAV transport support mechanism and operation module, the operation module can be quickly transported to the work site, and operations can also be completed on the work surface at high altitude. The support frame provides support for the operation module, and the operation module is supported at the end of the support frame, which avoids the UAV's main structure, reduces interference from the UAV, and keeps the UAV away from the work surface, thus improving the reliability of the surface operation device.

[0050] In some embodiments of this application, the surface working device includes a counterweight module, which is fixed to the support.

[0051] The counterweight module can adjust the overall weight distribution of the surface work device, improving the stability of the UAV during flight, thereby enhancing the reliability of the surface work device for inspection and maintenance.

[0052] On the other hand, this application also provides a surface operation method, which is applied to the surface operation device as described in any of the above embodiments. The method includes: a transport mechanism carrying the support mechanism and the operation module toward the operation surface; the end of the support mechanism being supported on the operation surface, and the adsorption structure being adsorbed on the operation surface; and operation being performed on target points on the operation surface based on the operation module.

[0053] In some embodiments of this application, the surface operation device includes a ranging module, and the carrier mechanism is a drone. In the step of the carrier mechanism carrying the support mechanism and the operation module toward the operation surface, the following steps are included: two ranging sensors respectively acquire a first distance and a second distance, the first distance being the distance between the first ranging sensor and the operation surface, and the second distance being the distance between the second ranging sensor and the operation surface; and the yaw attitude of the drone is controlled based on the first distance and the second distance.

[0054] In some embodiments of this application, the surface working device includes an image recognition module. In the step of the transport mechanism carrying the support mechanism and the working module moving toward the working surface, the method includes: the image recognition module identifying the target point and determining the moving direction and moving distance of the transport mechanism based on the target point; and controlling the transport mechanism to move toward the working surface based on the determined moving direction and moving distance.

[0055] Additional advantages, objectives, and features of this application will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following description, or may be learned by practice of the application. The objectives and other advantages of this application can be realized and obtained by means of the structures specifically pointed out in the specification and drawings.

[0056] Those skilled in the art will understand that the purposes and advantages that can be achieved with this application are not limited to those specifically described above, and that the above and other purposes that this application can achieve will be more clearly understood from the following detailed description. Attached Figure Description

[0057] Figure 1 is a schematic diagram of the structure of a surface working device according to an embodiment of this application.

[0058] Figure 2 is a schematic diagram of the structure of a surface working device according to another embodiment of this application.

[0059] Figure 3 is a schematic diagram of the structure of a surface working device according to another embodiment of this application.

[0060] Figure 4 is a partially enlarged schematic diagram of part A of the surface working device shown in Figure 1.

[0061] Figure 5 is a partially enlarged schematic diagram of part B of the surface working device shown in Figure 1.

[0062] Figure 6 is a partially enlarged schematic diagram of section C of the surface working device shown in Figure 3.

[0063] Figure 7 is a schematic diagram of the support mechanism of a support module according to an embodiment of this application.

[0064] Figure 8 is an AA sectional view of the support mechanism shown in Figure 7.

[0065] Figure 9 is a structural schematic diagram of the support mechanism of the support module according to another embodiment of this application.

[0066] Figure 10 is a BB cross-sectional view of the support mechanism shown in Figure 9.

[0067] Figure 11 is a schematic diagram of the structure of the working module according to an embodiment of this application.

[0068] Figure 12 is a partial structural diagram of the operation module shown in Figure 11.

[0069] Figure 13 is a partial structural diagram of the work module shown in Figure 11 from another direction.

[0070] Figure 14 is a schematic diagram of the limiting plate of the working module shown in Figure 11.

[0071] Figure 15 is a schematic diagram of the structure of a working component according to an embodiment of this application.

[0072] Figure 16 is a schematic diagram of the structure of the working component according to another embodiment of this application.

[0073] Figure 17 is a structural schematic diagram of the working component shown in Figure 16 from another direction.

[0074] Figure 18 is a structural schematic diagram of the connection part of the working component shown in Figure 16.

[0075] Figure 19 is a schematic diagram of the structure of the fixing part of the working component according to an embodiment of this application.

[0076] Figure 20 is a top view of the fixing part shown in Figure 19.

[0077] Figure 21 is a cross-sectional view of the fixing part shown in Figure 19.

[0078] Figure 22 is a schematic diagram of the structure of the working component according to another embodiment of this application.

[0079] Figure 23 is an FF cross-sectional view of the working component shown in Figure 22.

[0080] Figure 24 is a schematic diagram of the structure of a surface operation method according to an embodiment of this application.

[0081] Reference numerals: 001 Carrier mechanism; 002 Support module; 200 Support mechanism; 210 Connecting rod; 211 First connecting rod; 2111 Shoulder end face; 2121 Second connecting rod; 2121 End face; 220 First elastic element; 230 Adsorption structure; 231 Suction cup; 232 Connecting component; 003 Distance measuring module; 310 Distance measuring sensor; 004 Image recognition module; 005 Working module; 510 Driving component; 520 Working assembly; 520 Grinding head; 5201 Detection part; 5204 Wire; 5205 Third connecting rod; 5206 Fourth connecting rod; 5207 Second elastic element; 5208 Swing assembly; 530 Connecting block; 531 Adjusting arm; 532 Limiting plate; 533 Arc-shaped guide groove; 5331 Baffle; 5332 Angle adjusting screw; 534 First torsion spring; 5351 Second torsion spring; 5352 Connecting part; 521 Fixing part; 522 Working body; 523 First clamping part 5221 Second clamping part 5222 Conductive component mounting half-groove 5223 Screw mounting hole 5224 Return spring 5235 Bracket 006 Counterweight module 007 Connecting bracket 008 First rotating shaft 810 Second rotating shaft 820 Third rotating shaft 830 Fourth rotating shaft 840 Detailed Implementation

[0082] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0083] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, 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 a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0084] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0085] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0086] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0087] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0088] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0089] The surface work device provided in this application can be applied to the inspection and maintenance of machine equipment surfaces, especially the high-altitude parts of the equipment. Specifically, it can be used to inspect and maintain the surfaces of equipment such as ship hulls, oil tanks, water tanks, bridges, towers, and wind turbines, as well as the surfaces of buildings. This application does not limit the application scenarios and work items for inspection and maintenance; it only uses the inspection and maintenance of wind turbine blades as an example for illustration.

[0090] The embodiments of this application will be described below with reference to the accompanying drawings. Figure 1 shows a schematic diagram of the structure of a surface working device according to an embodiment of this application. As shown in Figure 1, the surface working device includes at least a carrying mechanism 001, a support module 002, and a working module 005. Both the support module 002 and the working module 005 are disposed on the carrying mechanism 001.

[0091] Figure 4 shows a partially enlarged schematic diagram of part A of the surface working device shown in Figure 1. As shown in Figures 1 and 4, the support module 002 includes at least one support mechanism 200, one end of which faces the working surface and is used to support the working surface. At least one support mechanism 200 in the support module 002 has an adsorption structure 230 for adsorbing onto the working surface. The working module 005 is disposed on the transport mechanism 001 and is used to perform work on the working surface.

[0092] The transport mechanism 001 refers to the mechanism in the surface operation device used to transport the support module 002 and the operation module 005 to the work position, such as a drone, a wall-climbing robot, or a small vehicle. When inspecting and maintaining wind turbine blades, the transport mechanism 001 can specifically be a drone (as shown in Figure 2). The drone refers to a type of flying device in the surface operation device that simultaneously transports the operation module 005 and the support module 002 to a high altitude. The drone has a certain load-bearing capacity and can carry the operation module 005 and the support module 002 stably in high altitude, that is, the drone carries the operation module 005 and the support module 002 to the vicinity of the work surface. The operation module 005 refers to the part of the surface operation device that performs operations on the work surface, realizing the inspection and maintenance work on the work surface. The support module 002 refers to the part that supports the surface operation device on the work surface to maintain a relatively stable relative position of the operation module 005 with respect to the work surface. The adsorption structure 230 refers to the part of the support mechanism 200 that is adsorbed onto the work surface. The adsorption structure 230 can be vacuum adsorption, magnetic adsorption, etc. The embodiments of this application do not limit the adsorption method of the adsorption structure 230.

[0093] In Figure 1, the support mechanism 200 is disposed towards the working surface along a first direction (Z direction). The first direction specifically refers to the direction intersecting the working surface, and the end of the support mechanism 200 facing the working surface refers to its foremost point in the Z direction. The adsorption structure 230 is located at the end of the support mechanism 200. In a specific embodiment, the first direction may be perpendicular to the working surface; specifically, when the working surface is planar, the first direction is perpendicular to the working surface; when the working surface is curved, the first direction is parallel to the normal vector of the working surface.

[0094] In the above embodiments, at least one support mechanism 200 stably supports the surface working device on the working surface, which can effectively prevent the device from tipping over or shaking during operation. In addition, at least one support mechanism 200 has an adsorption structure 230, which can generate a strong adsorption force, so that the device can be firmly fixed on the working surface, which greatly enhances the surface working device's ability to resist wind, vibration and accidental impact.

[0095] The aforementioned support module 002 combines "support" and "adsorption" functions. For rough or uneven surfaces, the support mechanism 200 provides mechanical support; for smooth surfaces, the adsorption structure 230 provides additional fixing force. This combination allows it to adapt to diverse operating environments. Furthermore, based on the stable adhesion achieved by the adsorption force of the adsorption structure 230 on the support module 002, the surface operation device can reliably operate on vertical or inclined surfaces, greatly expanding its application range. Additionally, if the carrier mechanism 001 is a drone, the support mechanism 200 of the surface operation device has at least one adsorption structure 230, employing a combination of support and adsorption, or adsorption and adsorption, allowing the surface operation device to adhere to the working surface via the adsorption structure 230 during operation. This transforms the drone from a dynamic aircraft into a static, stable working platform, absorbing body vibration and wind interference. In this case, the operation module 005 can perform stable or high-precision operations on an extremely stable support platform.

[0096] In some embodiments of this application, the surface working device further includes a ranging module 003, which is disposed on the carrying mechanism 001. The ranging module 003 includes at least two ranging sensors 310, which are spaced apart. Each ranging sensor 310 is used to detect the distance between itself and the working surface.

[0097] Two distance sensors 310 can be set on the same plane. Specifically, the measuring end faces of the two distance sensors 310 are located on the first plane, which intersects with the normal vector of the working surface. The measuring ends of the two distance sensors 310 emit signals toward the working surface to measure the distance between themselves and the working surface.

[0098] Referring to Figures 1 and 4, the surface working device has two ranging sensors 310. The two ranging sensors 310 can be symmetrically arranged with respect to the line of action of gravity of the transport mechanism 001. The first plane containing the measuring ends of the two ranging sensors 310 can be a plane intersecting the normal vector of the working surface; that is, the plane containing the measuring ends is generally intersecting or parallel to the working surface. In some embodiments, the plane containing the measuring ends is parallel to the working surface, meaning the ranging sensors 310 emit signals in a direction parallel to the normal vector of the working surface.

[0099] The two ranging sensors 310 mentioned above can be referred to as the first ranging sensor and the second ranging sensor. The line connecting the midpoints of the two measuring end faces located on the same plane is not parallel to the direction of gravity. During operation, the first ranging sensor and the second ranging sensor 310 respectively send signals to the working surface and measure the distance between themselves and the working surface. The UAV adjusts its yaw angle based on the difference between the distances measured by the first ranging sensor and the second ranging sensor, so that the distances between the first ranging sensor and the second ranging sensor and the working surface are as equal as possible. Therefore, when the working surface is approximately planar, the plane containing the adjusted two measuring end faces can be parallel to the working surface.

[0100] In addition, the distance data measured by the first and second ranging sensors can also be used to determine the distance that the UAV needs to move forward or backward toward the work surface. The forward and backward directions are specifically the first direction X direction shown in Figures 1 and 2.

[0101] Adjusting the yaw angle of the UAV by measuring data from at least two ranging sensors 310 can improve the alignment accuracy between the surface work device and the work surface. Combined with the adsorption structure 230 in the support mechanism 200 for adsorption on the work surface, the surface work device is less susceptible to interference from the external environment during inspection and maintenance work, thus improving the reliability, accuracy, and efficiency of the surface work device's inspection and maintenance operations.

[0102] In some embodiments of this application, the surface working device may further include an image recognition module 004, which is disposed on the transport mechanism 001. The image recognition module 004 is used to identify target points on the working surface to control the transport mechanism 001 to move in a direction parallel to the working surface. The image recognition module 004 enables the surface working device to move in a plane perpendicular to the normal vector of the working surface. For example, if the normal vector of the working surface is parallel to the first direction X, then the surface working device can move at least along a second direction Z and a third direction Y perpendicular to the first direction X.

[0103] For example, the image recognition module 004 may include a camera and a processor. The camera is used to acquire images, and the processor is used to process the images acquired by the camera. The image recognition module 004 estimates the relative position of the detection points or maintenance points on the working surface to the surface working device on the plane formed by the second direction Z and the third direction Y by recognizing the features of the working surface. The detection points or maintenance points on the working surface may also be referred to as target points on the working surface.

[0104] The target point on the working surface is both the feature point used for recognition by the image recognition module 004 and the object of operation by the operation module 005. Taking a wind turbine blade as an example, the target point can be a lightning rod on the blade body or a lightning rod at the blade tip. During the process of the image recognition module 004 recognizing the target point, the field of view used by the image recognition module 004 for recognition must not be obstructed. Therefore, the recognition areas of the operation module 005 and the image recognition module 004 can be staggered. That is to say, when the operation module 005 is not performing operations, the operation module 005 may not appear in the recognition field of view of the image recognition module 004.

[0105] In the above embodiment, the position of the surface operation device in the second direction Z and the third direction Y is determined by the image recognition module 004, and the position of the surface operation device in the first direction X is determined by the two ranging sensors 310. The surface operation device can be quickly and accurately aligned with the detection point or maintenance point, thereby improving the reliability and accuracy of the detection and maintenance of the surface operation device.

[0106] The location of the image recognition module 004 is not limited in this embodiment, as long as the recognition range of the image recognition module 004 can cover the target point. Specifically, as shown in Figures 1 and 4, the image recognition module 004 can be disposed on the first plane; as shown in Figure 2, the image recognition module 004 can also be disposed in the first direction X and offset from the first plane.

[0107] When the surface working device includes an image recognition module 004, the working module 005 and the image recognition module 004 are staggered. At the initial moment when the carrying mechanism 001 moves to the point where the working module 005 contacts the working surface, the target point is located within the recognition area of ​​the image recognition module 004. For a swingable or rotatable working component 520, the target point is located within the rotation area or swing area of ​​the working component 520.

[0108] The image recognition module 004 described above estimates the position of a target point on the work surface relative to a control point on the transport mechanism 001 in a plane perpendicular to the first direction X by recognizing the features of the work surface. This plane perpendicular to the first direction X is the plane formed by the second direction Y and the third direction Z shown in Figure 2. Furthermore, the controller in the surface work device can control the transport mechanism 001 to translate and adjust the position of the surface work device based on the target point data obtained by the image recognition module 004.

[0109] In some embodiments of this application, the adsorption structure 230 includes a suction cup 231 and a connecting member 232, wherein the connecting member 232 is disposed on the side of the suction cup 231 opposite to the working surface, and the suction cup 231 is hinged to the connecting member 232.

[0110] The side of suction cup 231 facing away from the working surface can specifically be the right side of suction cup 231 as shown in Figures 8 and 10. During actual operation, suction cup 231 is adsorbed onto the working surface. The connecting member 232 is hinged to suction cup 231, which allows suction cup 231 to adapt to different conditions on the working surface. For example, if the working surface is not an ideal plane and the position where suction cup 231 needs to be adsorbed has a certain curvature, the hinged suction cup 231 can adaptively rotate or adjust its angle according to the curvature of the actual working surface, so that suction cup 231 can better fit with the working surface, thereby enhancing the adsorption force of suction cup 231 on the working surface.

[0111] The connecting member 232 is used to connect the suction cup 231 to other parts of the support mechanism 200 or the transport mechanism 001. For a support mechanism 200 that includes the suction cup 231, the connecting member 232, and other parts, the connecting member 232 is connected to the other parts of the support mechanism 200, such as the connecting rod 210. For a support mechanism 200 that only has the suction cup 231 and the connecting member 232 and does not include other parts, the connecting member 232 is directly connected to the transport mechanism 001 in addition to being hinged to the suction cup 231.

[0112] In some embodiments, the suction cup 231 and the connecting member 232 are connected by a ball joint, the side of the suction cup 231 facing away from the working surface has a spherical groove, and the side of the connecting member 232 facing the suction cup 231 has a spherical structure.

[0113] In this embodiment, the suction cup 231 and the connecting member 232 are connected by a ball joint, as shown in Figures 8 and 10. At least a portion of the spherical structure on the connecting member 232 is accommodated in the spherical groove on the suction cup 231, and the spherical groove on the suction cup 231 can rotate along the surface of the spherical structure, so that the suction cup 231 can rotate to a certain extent with the rotation of the spherical groove. This embodiment achieves a hinged connection between the suction cup 231 and the connecting member 232 through a ball joint, which is only one example. In other embodiments, in addition to using a ball joint for hinged connection, other hinged connection methods can also be used between the suction cup 231 and the connecting member 232.

[0114] In this design, the spherical portion of the spherical structure and the spherical groove may only include a part of the sphere, rather than the entire sphere. In other words, the spherical structure and the spherical groove can achieve relative rotation at different angles.

[0115] In the above embodiments, the spherical structure and spherical groove can enable the suction cup 231 to rotate relative to the connecting member 232. During the adsorption process between the suction cup 231 and the working surface, the angle of the suction cup 231 can be adaptively adjusted according to the actual situation of the working surface, so that the suction cup 231 can fully contact the working surface to be adsorbed, thereby improving the adsorption effect.

[0116] In some embodiments of this application, the support mechanism 200 includes a connecting rod 210 and a first elastic element 220. The connecting rod 210 is disposed on the transport mechanism 001, and at least a portion of the connecting rod 210 is movable relative to the transport mechanism 001 in a direction intersecting the working surface. The first elastic element 220 is located between the connecting rod 210 and the transport mechanism 001.

[0117] By configuring the connecting rod 210 to move relative to the carrying mechanism 001 in the direction intersecting with the working surface, when the working surface is an irregular curved surface or a curved surface with a large curvature, the support end of the support mechanism 200 can adaptively adjust its position in the direction intersecting with the working surface, so that the end of the support end can fit well with the working surface; when the end of the support mechanism 200 is provided with an adsorption structure, it is also beneficial to improve the adsorption effect between the adsorption structure and the working surface, and improve the stability of the surface working device.

[0118] In one embodiment, the connecting rod 210 is specifically configured to be movable relative to the transport mechanism 001 in a direction perpendicular to the working surface, in which case the support end of the support mechanism 200 can adaptively adjust its position in the first direction X.

[0119] The first elastic element 220 can provide elastic support force in the first direction X, so that the support end of the support mechanism 200 can generate a certain pressure on the working surface when in contact with the working surface. Furthermore, the first elastic element 220 can further buffer the offset of the carrying mechanism 001, improving the support stability of the support mechanism 200 on the working surface; when the support mechanism 200 has a suction cup 231, the adsorption stability of the adsorption structure 230 on the working surface can be further improved.

[0120] Furthermore, since at least a portion of the connecting rod 210 can move along the first direction X, it provides a certain buffering capacity when the drone deflects, which can reduce the damage that the drone may suffer during the dynamic adjustment of its fuselage and protect the operational safety of the drone.

[0121] In some embodiments of this application, the connecting rod 210 includes a first connecting rod 211 and a second connecting rod 212, the first connecting rod 211 and the second connecting rod 212 are coaxially arranged, the second connecting rod 212 is fixed on the carrying mechanism 001, the first connecting rod 211 is axially movable in the shaft hole of the second connecting rod 212, the first elastic element 220 is sleeved on the outside of the first connecting rod 211, and the first elastic element 220 is located between the end of the first connecting rod 211 and the end of the second connecting rod 212.

[0122] As shown in Figures 7 and 8, the axes of the first connecting rod 211 and the second connecting rod 212 are both parallel to the X-axis. The first connecting rod 211 is located within the shaft hole of the second connecting rod 212, and the first connecting rod 211 can move relative to the second connecting rod 212 along its axial direction. The right end of the second connecting rod 212 is connected to the transport mechanism 001, while the first elastic element 220 is located between the left end of the second connecting rod 212 and the left end of the first connecting rod 211. Specifically, the first connecting rod 211 includes a rod body and an outwardly projecting portion located at the end of the rod body and protruding radially outward along the rod body. The outwardly projecting portion can be arranged around the surface of the rod body, forming a shoulder structure between the outwardly projecting portion and the rod body, and the left end of the first elastic element 220 abuts against the shoulder end face 2111 of the shoulder structure. In addition, since the second connecting rod 212 is sleeved outside the first connecting rod 211, the left end of the second connecting rod 212 also forms an outward protrusion relative to the outer surface of the rod body of the first connecting rod 211. The end face corresponding to this outward protrusion can be called the end face 2121 of the second connecting rod 212. At this time, the right end of the first elastic element 220 abuts against the end face 2121.

[0123] When the support mechanism 200 includes the suction cup 231 and the connecting member 232, the suction cup 231 is connected to the end of the first connecting rod 211 away from the carrying mechanism 001 via the connecting member 232. The connection method between the connecting member 232 and the first connecting rod 211 is not limited, but can be detachable. For example, as shown in Figures 8 and 10, the connecting member 232 and the end of the first connecting rod 211 are connected by threads. In this case, the connecting member 232 is provided with internal threads, and the end of the first connecting rod 211 is provided with corresponding external threads. Alternatively, the end of the first connecting rod 211 can be provided with internal threads, and the corresponding external threads can be provided on the connecting member 232.

[0124] In the above embodiment, the connecting member 232 is fixed to the end of the first connecting rod 211, the suction cup 231 is hinged to the connecting member 232, and the first connecting rod 211 drives the suction cup 231 and the connecting member 232 to move along a first direction X perpendicular to the working surface; that is, in this embodiment, the suction cup 231 can not only adjust its angle relative to the working surface, but also adjust the distance between itself and the working surface. On the one hand, the suction cup 231 can adjust its angle according to the actual condition of the working surface; on the other hand, the first elastic element 220 provides elastic support for the suction cup 231, enabling the suction cup 231 to generate a certain pressure on the working surface, ensuring good contact between the suction cup 231 and the working surface, which is beneficial to improving the accuracy of the detection results.

[0125] In some other embodiments, the suction cup 231 can only be adjusted in angle relative to the working surface, or only in distance relative to the working surface. As shown in Figures 9 and 10, the support mechanism 200 in this embodiment only has a first connecting rod 211, a suction cup 231, and a connecting member 232. In this case, the end of the first connecting rod 211 away from the working surface is connected to the transport mechanism 001, while the end of the first connecting rod 211 close to the working surface is connected to the connecting member 232. The suction cup 231 and the connecting member 232 are hinged together by a ball joint. In this embodiment, the right end of the first connecting rod 211 is directly fixedly connected to the transport mechanism 001, that is, the first connecting rod 211 in this embodiment cannot move along the first direction X. Therefore, the suction cup 231 in this embodiment can only be adjusted in angle and cannot be adjusted in vertical distance relative to the working surface.

[0126] In some embodiments of this application, the support module 002 has three support mechanisms 200. The end faces of the three support mechanisms 200 for supporting the working surface are located on the same support plane, and the center points of the end faces of the three support ends are arranged in a triangle. The projection of the center of mass of the transport mechanism onto the support plane lies within the triangle. The triangular arrangement of the center points of the end faces of the three support ends can also be understood as the center points of the end faces of the three support ends not being collinear.

[0127] In this embodiment, the surface working device has three support mechanisms 200, which are arranged on the same plane but not on the same straight line. At least one of the three support mechanisms 200 has an adsorption structure 230. In this embodiment, when the three support mechanisms 200 are in contact with the working surface, the support stability of the surface working device relative to the working surface is improved by using multi-point support plus at least one point adsorption. In addition to the above, as shown in Figures 3 and 6, each of the three support mechanisms 200 may also be provided with an adsorption structure 230. In this case, all three adsorption structures 230 are adsorbed onto the working surface. This embodiment can further improve the adsorption stability between the support mechanisms 200 and the working surface, thereby improving the working stability of the surface working device.

[0128] In some other embodiments, the support module 002 may also have only two support mechanisms 200, which are located on both sides of the gravity line of the transport mechanism 001.

[0129] In this embodiment, the number of support mechanisms 200 is limited to two, and at least one of the two support mechanisms 200 has an adsorption structure 230. Optionally, the two support mechanisms 200 are symmetrical with respect to the line of action of gravity of the transport mechanism 001. In this embodiment, the two support mechanisms 200 are located on both sides of the line of action of gravity of the transport mechanism 001, and the line connecting the center points of the ends of the two support mechanisms 200 is perpendicular to the direction of gravity of the transport mechanism 001. This embodiment, with fewer support mechanisms 200, not only ensures the operational stability of the surface working device, but also improves the mobility of the surface working device.

[0130] In one specific embodiment, there are two support mechanisms 200, and only one of the two support mechanisms 200 is provided with an adsorption structure 230. In this embodiment, the surface working device is adsorbed and fixed to the working surface through one adsorption structure 230, while the supporting end of the other support mechanism 200 is supported on the working surface. In this embodiment, the carrying mechanism 001 still has a certain degree of adjustment freedom based on the adsorption structure 230 as the fixed point. At the same time, the support mechanism 200 can also limit the movement range of the carrying mechanism 001 within a certain range, thereby improving the overall working stability of the working component 520.

[0131] Taking the carrier mechanism 001 as an example, when the drone carrying the operation module 005 flies to the vicinity of the operation surface that needs to be adsorbed, the adsorption structure 230 is controlled to adsorb onto the operation surface. While the drone is adjusting its own balance, the support mechanism contacts or separates from the operation surface as the drone adjusts itself.

[0132] Specifically, when the drone shifts towards the support mechanism 200 without the adsorption structure 230, the support mechanism 200 contacts the working surface and provides a certain supporting force to the drone to control the magnitude of its shift in that direction. When the drone shifts towards the support mechanism 200 with the adsorption structure 230, the pressure exerted by the support mechanism 200 without the adsorption structure 230 on the working surface decreases, and it may even separate from the working surface, thus allowing the drone a certain degree of freedom to adjust its posture.

[0133] The line connecting the center points of the ends of the two support mechanisms 200 is perpendicular to the direction of gravity of the transport mechanism 001. This can be understood as the two support mechanisms 200 being located on opposite sides of the second plane, and the transport mechanism 001 can also be symmetrical about the second plane. Furthermore, since the second plane passes through the center of mass of the transport mechanism 001, when the transport mechanism 001 dynamically adjusts its balance around the center of mass, the two support mechanisms 200 located on opposite sides of the second plane can provide support to the transport mechanism 001 in opposite offset directions.

[0134] It is understood that the number of support mechanisms listed above are only some optional embodiments. In addition to the above, the number of support mechanisms 200 and adsorption structures 230 can also be other. For example, the number of support mechanisms 200 can also be more than three, and each support mechanism 200 can also be provided with an adsorption structure 230. In this case, multiple adsorption structures 230 can adapt to a variety of working surfaces. In embodiments with more than three adsorption structures 230, as long as three of the adsorption structures 230 that are not on the same straight line are in contact with the working surface, the surface working device can form a stable adsorption relative to the working surface, thereby improving the adsorption stability between the surface working device and the working surface, and improving the mobility of the surface working device.

[0135] In some embodiments of this application, the work module 005 includes a drive component 510 and a work assembly 520. The drive component 510 is disposed on the transport mechanism 001, and the work assembly 520 is connected to the output shaft of the drive component 510. The work assembly 520 can rotate about a first axis intersecting the work surface under the driving action of the drive component 510.

[0136] For example, the first axis intersecting the working surface is an axis perpendicular to the working surface; when the working surface is planar, the first axis perpendicular to the working surface is an axis parallel to the X-axis, while when the working surface is curved, the first axis perpendicular to the working surface can be understood as an axis parallel to the normal vector of the working surface. Furthermore, the first axis can specifically be the output shaft axis of the drive component 510, in which case the output shaft of the drive component 510 serves as the first rotating shaft 810 of the working assembly 520.

[0137] Since both the adsorption structure and the working component 520 need to contact the working surface to perform the operation, the rotation areas of the adsorption structure and the working component 520 are staggered. Specifically, the projections of the rotation areas of the adsorption structure and the working component 520 onto a plane perpendicular to the first direction X do not coincide.

[0138] In the work module 005 shown in Figure 5, at least a portion of the structure of the work module 005 extends along a direction perpendicular to the first direction X, and is capable of rotating about the line containing the first direction X as a rotation axis in a plane perpendicular to the first direction X. During the operation of the work component 520 on the work surface, it always maintains good contact with the work surface, and can perform operations such as grinding on the work surface within the rotation range of the work component 520.

[0139] In some embodiments, the working assembly can also perform a grinding operation. In this case, the working assembly 520 may include a grinding head 5201, a connecting shaft, and an elastic element. The connecting shaft is located between the grinding head 5201 and the output shaft of the drive component 510. The elastic element is sleeved outside the connecting shaft. The elastic element is used to provide pre-pressure to the grinding head 5201 so that the grinding head 5201 contacts the working surface, and the elastic element can also provide elastic cushioning for the grinding head 5201.

[0140] The connecting shaft can extend along the first direction X. The grinding head 5201 is connected to the end of the connecting shaft facing the working surface in the first direction X. When the grinding head 5201 performs grinding operations, the driving component 510 drives the connecting shaft and the grinding head to rotate together.

[0141] For example, both the grinding head 5201 and the adsorption structure 230 have surfaces that can adhere to the working surface, and these surfaces are approximately on the same plane. While the adsorption structure 230 adsorbs onto the working surface, the grinding head 5201 also contacts the working surface, more specifically, it contacts the maintenance point. Thus, even when the adsorption structure 230 forms a stable connection with the working surface, the grinding head 5201 can also maintain stable contact with the maintenance point. In the above embodiments, the working component 520 is a component used for grinding, and the grinding head 5201 can be, for example, sandpaper, a grinding brush, or similar structures. It is understood that setting the working component 520 as a component for grinding is only one example; in other embodiments, the working component 520 can also be a component used for detection, such as a conductivity detection component. The working module 005 with a conductivity detection component is used to detect whether the working surface is properly grounded; for example, its material can be copper or aluminum. Figures 22 and 23 show a three-dimensional structural schematic diagram of the working module 005 of an embodiment and a cross-sectional structural schematic diagram along the FF direction, respectively.

[0142] As shown in Figures 22 and 23, when the working assembly 520 is a component used for detection, the working assembly 520 may specifically include a detection unit 5204, a wire 5205, a third connecting rod 5206, a fourth connecting rod 5207, and a second elastic element 5208. The fourth connecting rod 5207 is connected to the carrying mechanism 001. In this case, the detection unit 5204 is specifically located at the end of the third connecting rod 5206 facing the working surface. The fourth connecting rod 5207 has a shaft hole, and the third connecting rod 5206 can move along the first direction X within the shaft hole of the fourth connecting rod 5207. The second elastic element 5208 is specifically sleeved on the outside of the third connecting rod 5206. Similarly, the second elastic element 5208 is used to provide pre-pressure in the first direction X to the detection unit 5204, so that the detection unit 5204 can effectively detect the target point on the working surface. The detection unit 5204 may be made of a conductive material, such as copper or aluminum.

[0143] In this embodiment, the detection unit 5204 is disposed at the end of the third connecting rod 5206 facing the working surface in the first direction X. Referring to FIG2, both the detection unit 5204 and the adsorption structure 230 have surfaces that can adhere to the working surface, and the surfaces of the detection unit 5204 and the adsorption structure 230 that can adhere to the working surface are approximately disposed on the same plane. While the adsorption structure 230 adsorbs onto the working surface, the detection unit 5204 can also adhere to the working surface, and more specifically, can adhere to the target point. Thus, when the adsorption structure 230 forms a stable adsorption with the working surface, the detection unit 5204 can also stably adhere to the target point.

[0144] Furthermore, the detection unit 5204 and the third connecting rod 5206 can be flexibly connected. This flexible connection allows the detection unit 5204 to adaptively adjust its angle according to changes in the position and shape of the working surface, thereby achieving a more complete fit with the target point on the working surface and improving the accuracy of the fit between the detection unit 5204 and the target point. For example, the end of the third connecting rod 5206 used to connect with the detection unit 5204 can be made of a flexible material, such as rubber, which can deform to a certain extent, such as by compression, stretching, or rotation. In addition, the end of the third connecting rod 5206 can also be provided with a ball joint connection component, that is, the detection unit 5204 and the third connecting rod 5206 are connected through a mutually cooperating ball joint connection structure.

[0145] Understandably, a surface working device can be equipped with multiple working modules 005 at the same time, and the functions of the multiple working modules 005 can be the same or different; or, grinding and inspection functions can be realized simultaneously on the same working module 005.

[0146] In some embodiments of this application, the work module 005 includes a swing component 530, which is located between the output shaft of the drive component 510 and the work component 520. The swing component 530 is connected to both the output shaft of the drive component 510 and the work component 520. The swing component 530 enables the work component 520 to swing in a plane perpendicular to the work surface.

[0147] In the above embodiment, the working component 520 is connected to the driving component 510 via the swing component 530. The swing component 530 and the working component 520 rotate synchronously under the driving action of the driving component 510. When the output shaft of the driving component 510 is parallel to the first direction X and perpendicular to the working surface, the swing component 530 and the working component 520 as a whole can swing in a plane parallel to the working surface. Furthermore, the swing component 530 can also cause the working component 520 to swing in a plane perpendicular to the working surface. Therefore, the working module 005 with this structure can realize multi-degree-of-freedom swinging of the working component 520.

[0148] In some embodiments, the swing assembly 530 includes: a connecting block 531 for connecting to the output shaft of the drive component 510; an adjusting arm 532, the first end of which is connected to the connecting block 531, the adjusting arm 532 being rotatable relative to the connecting block 531 about a second axis perpendicular to the first axis, the second end of the adjusting arm 532 being connected to the working component 520, the working component 520 being rotatable relative to the adjusting arm 532 about a third axis parallel to the second axis.

[0149] In the above embodiments, the working component 520 is connected to the output shaft of the driving component 510 via the connecting block 531 in the swing component 530, as shown in Figures 11 and 12. The connecting block 531 is connected to the driving component 510 via a first rotating shaft 810, the adjusting arm 532 is connected to the connecting block 531 via a second rotating shaft 820, and the working component 520 is connected to the adjusting arm 532 via a third rotating shaft 830. Specifically, the first axis is the axis of the first rotating shaft 810, the second axis is the axis of the second rotating shaft 820, and the third axis is the axis of the third rotating shaft 830.

[0150] In the above embodiment, the connecting block 531 is rotatable about a first axis relative to the carrying mechanism 001, the adjusting arm 532 is rotatable about a second axis relative to the connecting block 531, and the working component 520 is rotatable about a third axis relative to the adjusting arm 532; and the first axis may specifically be the output shaft of the driving component 510, the first axis is perpendicular to the working surface, the second axis is parallel to the third axis, and both the second axis and the third axis are perpendicular to the first axis; the working module 005 in this embodiment has at least three joints, and the joint between the connecting block 531 and the carrying mechanism 001... The joint can adjust the posture of the working component 520 in a plane parallel to the working surface. The joint between the adjusting arm 532 and the connecting block 531 can adjust the posture of the adjusting arm 532, and the joint between the adjusting arm 532 and the working component 520 can adjust the posture of the working component 520. In this embodiment, the working module 005, through the ingenious combination and coordinated movement of the connecting block 531, the adjusting arm 532 and the working component 520, enables the working component 520 at the end to flexibly adjust its posture, so as to maintain a preset optimal contact angle with the working surface at different angles.

[0151] In some embodiments, the swing assembly 530 includes: a first limiting portion fixed to a first end of the adjusting arm 532 for limiting the adjusting arm 532 to swing in a direction away from the working surface; and a second limiting portion fixed to a second end of the adjusting arm 532 for limiting the working assembly 520 to swing in a direction close to the working surface.

[0152] The first limiting part and the second limiting part are used to limit the rotation direction and rotation angle of the adjusting arm 532 and the working component 520. For example, the initial state of the adjusting arm 532 and the working component 520 can be as shown in Figures 3 and 11. At this time, the adjusting arm 532, the connecting block 531 and the working component 520 are in a parallel state. The first limiting part and the second limiting part are used to restrict the adjusting arm 532 and the working component 520 from moving in opposite directions. Moving in opposite directions can also be understood as the working component 520 in Figure 12 can rotate counterclockwise, while the adjusting arm 532 can rotate clockwise.

[0153] Referring to Figures 12 and 13, the first and second limiting parts can have the same structure. In this case, the first and second limiting parts are specifically disposed on opposite sides of the adjusting arm 532, and both limiting parts are connected to the adjusting arm 532 by detachable connectors such as screws or bolts. It is understood that in other embodiments, the structures of the two limiting parts can also be different, or they can be disposed on the same side of the adjusting arm 532, as long as the two limiting parts can respectively restrict the adjusting arm 532 and the working assembly 520 to rotate in different directions.

[0154] In the above embodiments, the directions toward the working surface and the directions toward the working surface are both based on the state when the surface working device is working normally, that is, when the surface working device is located on one side of the working surface and the working component 520 of the surface working device faces the working surface.

[0155] The two limiting parts allow the adjusting arm 532 and the working component 520 to rotate in different directions, which not only adjusts the angle of the working component 520 but also makes it easy to return the working component 520 to its normal working position. For example, when performing lightning protection testing on wind turbine blades using the surface working device of this application, since the blades are rotating, the working body 523 in the working component 520 may be mistakenly placed behind the blade when testing a certain blade. In this state, the working component 520 is in an abnormal working position. At this time, the joint between the adjusting arm 532 and the connecting block 531 can rotate the adjusting arm 532 in a preset direction and return the working body 523 to its normal working position (facing the working surface).

[0156] In some embodiments, the first limiting part and / or the second limiting part includes: a limiting plate 533, which is fixedly connected to the adjusting arm 532, the limiting plate 533 having an arc-shaped guide groove 5331 and a baffle 5332, the baffle 5332 being located on the outer side of the end of the adjusting arm 532; and an angle adjusting screw 534 disposed in the arc-shaped guide groove 5331, and the angle adjusting screw 534 being connected to the adjusting arm 532.

[0157] The limiting plate 533 is provided with an arc-shaped guide groove 5331, and the angle adjusting screw 534 is set on the arc-shaped guide groove 5331. The angle adjusting screw 534 is specifically connected to the adjusting arm 532. By fastening the angle adjusting screw 534 in the arc-shaped guide groove 5331, the limiting plate 533 can be fastened to the adjusting arm 532. In addition, by loosening the angle adjusting screw 534 and rotating the limiting plate 533, the arc-shaped guide groove 5331 of the limiting plate 533 can be moved along the angle adjusting screw 534, thereby adjusting the angle of the limiting plate 533. This allows for the adjustment of the initial angle between the working component 520 and the adjusting arm 532, as well as the adjustment of the initial angle between the adjusting arm 532 and the connecting block 531. It also allows for the adjustment of the rotation angle range of the adjusting arm 532 and the rotation angle range of the working component 520.

[0158] As shown in Figure 14, an arc-shaped guide groove 5331 is provided at one end of the limiting plate 533, while a fixing hole for connecting with the adjusting arm 532 is located at the other end of the limiting plate 533. Specifically, the baffle 5332 is located on one side of the limiting plate 533. The baffle 5332 is specifically positioned on the outer side of the end of the adjusting arm 532, meaning that when the adjusting arm 532 and the working component 520 rotate to their extreme positions, they respectively abut against the baffle 5332 of their respective limiting plates 533. Exemplarily, the baffle 5332 includes a vertical portion and an inclined portion. As shown in Figure 13, the vertical portion of the baffle 5332 is used to fit against the outer side of the adjusting arm 532, while the inclined portion of the baffle 5332 serves as an abutment portion for abutting against the connecting block 531 and the working component 520, and is specifically located on the outer side of the connecting block 531 and the working component 520. In the initial state of the surface working device, there is a gap between the inclined part and the outer side of the corresponding working component 520 or the outer side of the connecting block 531, and the size of the gap corresponds to the rotation angle range of the adjusting arm 532 or the working component 520.

[0159] In the surface working device shown in Figures 12 and 13, the first limiting part and the second limiting part have the same structure, and the first limiting part and the second limiting part are located on opposite sides of the adjusting arm 532. In this embodiment, the two limiting parts are arranged opposite to each other, that is, the ends of the arc-shaped guide grooves 5331 of the two limiting parts are arranged opposite to each other.

[0160] It is understood that the structure and setting method of the limiting part listed in the above embodiments are only examples. In other embodiments, the number, structure and setting method of the limiting part can be set according to actual needs, as long as the rotation direction and / or rotation angle of the working component 520 and the adjusting arm 532 can be limited.

[0161] In some embodiments of this application, the swing assembly 530 includes a first torsion spring 5351 and a second torsion spring 5352. Both the first torsion spring 5351 and the second torsion spring 5352 include a spring body and an end. The end of the first torsion spring 5351 is connected to the connecting block 531 and the adjusting arm 532, respectively. The end of the second torsion spring 5352 is connected to the adjusting arm 532 and the working assembly 520, respectively. The ends of the first torsion spring 5351 and the second torsion spring 5352 are respectively disposed on opposite sides of the adjusting arm 532, and each spring body is disposed on a corresponding rotating shaft.

[0162] As shown in Figures 12 and 13, the spring body of the torsion spring is sleeved on the corresponding rotating shaft, and one end of the two ends of the torsion spring is connected to the corresponding movable part, and the other end is connected to the corresponding fixed part. In order to accommodate the different rotation directions of the adjusting arm 532 and the working assembly 520, the first torsion spring 5351 and the second torsion spring 5352 are respectively arranged on opposite sides of the adjusting arm 532; specifically, the first torsion spring 5351 and the first limiting part are respectively located on opposite sides of the adjusting arm 532, and the second torsion spring 5352 and the second limiting part are also respectively located on opposite sides of the adjusting arm 532.

[0163] In some embodiments of this application, the working component 520 includes: a connecting portion 521, which is hinged to one end of the swing component 530 away from the output shaft of the drive component 510; a fixing portion 522, located at one end of the connecting portion 521 away from the swing component 530, and the fixing portion 522 is connected to the connecting portion 521; and a working body 523, which is disposed on the side of the fixing portion 522 facing the working surface.

[0164] The connecting part 521 is located at the end of the fixing part 522. The fixing part 522 is used to install the working body 523, which is a component used for working on the working surface. The connecting part 521 of the working assembly 520 has a shaft hole, which connects the connecting part 521 to the end of the adjusting arm 532 through the third rotating shaft 830, thus realizing the hinged connection between the working assembly 520 and the adjusting arm 532. The connection between the connecting part 521 and the fixing part 522 can be either fixed or hinged. The fixed connection between the connecting part 521 and the fixing part 522 is shown in Figure 15, while the hinged connection between the connecting part 521 and the fixing part 522 is shown in Figure 16. The working body 523 can be a grinding component for grinding operations or a detection component for lightning protection testing. It is understood that the specific types of working bodies 523 listed in this embodiment are only examples. In other embodiments, the working body 523 can also be other components besides grinding components and detection components, such as exploration components.

[0165] In addition, the specific working area on the working surface can be the area that comes into contact with the working object. For example, when performing lightning protection testing on the blades of a wind power generation device, the target point on the working surface is the lightning arrester on the blade.

[0166] In some embodiments of this application, the working body 523 is a flexible conductive component, which is retractable relative to the fixed part 522 in a direction perpendicular to the working surface. The target point on the working surface is typically a structure made of conductive material. By configuring the working body 523 as a flexible conductive component, the working component 520 can achieve an electrical connection with the target point when it comes into contact with it.

[0167] The flexible conductive component is designed to be retractable relative to the fixed part 522 in a direction perpendicular to the working surface, which further ensures the detection accuracy of the flexible conductive component; wherein, the direction perpendicular to the working surface can also be understood as the first direction X; and the working surface in this embodiment and the above embodiments can be either a plane or a curved surface. When the working surface is a plane, the direction perpendicular to the working surface is the direction parallel to the perpendicular line of the working surface, while when the working surface is a curved surface, the direction perpendicular to the working surface is the normal vector direction of the working surface.

[0168] In the above embodiments, the flexible conductive component can be further used to make an electrical connection with a detection element, such as a multimeter. When the working body 523 is in contact with the target point, the surface working device, the target point, and the detection element form a circuit. By detecting whether this circuit is a continuity, it is possible to detect whether the conductive area of ​​the working surface is properly grounded.

[0169] For example, taking the conductivity detection of wind turbine blades as an example, the lightning arrester on the wind turbine blade serves as the target point. The lightning arrester is made of conductive material and grounded inside the wind turbine to provide lightning protection. The flexible conductive component on the surface working device is also grounded. When the working assembly 520 comes into contact with the target point, it connects the target point, the detection element, and the flexible conductive component into a loop to detect whether the target point is properly grounded. At the same time, the working assembly 520 can also polish the target point under the rotational drive of the drive component 510, improving the reliability of the conductivity detection results. In addition, when the target point is used for lightning protection, polishing the target point can better guide lightning, thereby reducing the possibility of the wind turbine being damaged by lightning strikes.

[0170] For example, the flexible conductive component includes a deformable copper wire or a telescopic probe. When the flexible conductive component is a telescopic probe, the telescopic probe may include a probe body and a sleeve. In this case, the sleeve is fixed to the fixing part 522, while the probe body is located inside the sleeve and is movable within the sleeve. This embodiment sets the flexible conductive component to a structure that is telescopic relative to the fixing part 522, which can ensure better contact between the probe and the point to be detected, thereby avoiding false detections due to poor contact and improving the accuracy of the detection results.

[0171] In some embodiments of this application, the fixing part 522 includes a first clamping part 5221 and a second clamping part 5222. Each of the first clamping part 5221 and the second clamping part 5222 has a conductive component mounting half groove 5223 on its opposite side. The two corresponding conductive component mounting half grooves 5223 on the two clamping parts form a conductive component mounting groove. The flexible conductive component is installed in the conductive component mounting groove, and a screw mounting hole 5224 is provided between two adjacent conductive component mounting grooves.

[0172] Figure 19 is a schematic diagram of the fixing part of the working component according to an embodiment of this application. In this embodiment, the fixing part 522 is provided with a first clamping part 5221 and a second clamping part 5222. The flexible conductive component is clamped and fixed by the first clamping part 5221 and the second clamping part 5222. Referring to Figure 20, two corresponding conductive component mounting half-grooves 5223 on the two clamping parts form a complete conductive component mounting groove. In addition, a screw mounting hole 5224 is provided between two adjacent conductive component mounting grooves (refer to Figures 20 and 21). The axis of the screw mounting hole 5224 is perpendicular to the axis of the conductive component mounting groove. The first clamping part 5221 and the second clamping part 5222 can be clamped and loosened by the screw in the screw mounting hole 5224, thereby facilitating the replacement or adjustment of the flexible conductive component.

[0173] Furthermore, the conductive component mounting half-groove 5223 can specifically be a semi-circular groove or a serrated groove. When the conductive component mounting half-groove 5223 is a semi-circular groove, the corresponding two conductive component mounting half-grooves 5223 on the two clamping parts form a complete cylindrical conductive component mounting groove. When the conductive component mounting half-groove 5223 is a serrated groove, the V-shaped teeth of the serrated groove will "bite" into the cylindrical surface of the probe, forming a mechanical interlock. This structure can effectively resist the rotation of the probe when subjected to tangential force or torque, thereby improving the stability of lightning protection detection.

[0174] In some embodiments of this application, the fixing part 522 is rotatable relative to the connecting part 521 about a fourth axis that is perpendicular to both the first and second axes. In this embodiment, the fixing part 522 and the connecting part 521 are hinged together by a fourth rotating shaft 840. In this case, the fourth axis is the axis of the fourth rotating shaft 840, as shown in FIG18. The fourth rotating shaft 840 can be specifically disposed on the connecting part 521. At this time, the end of the fixing part 522 that is used to connect with the connecting part 521 is provided with a shaft hole. By installing the fourth rotating shaft 840 in the shaft hole of the fixing part 522, the hinged connection between the connecting part 521 and the fixing part 522 is realized.

[0175] In some embodiments, the working assembly 520 includes a return spring 5235, with both ends of the return spring 5235 connected to the connecting portion 521 and the fixing portion 522, respectively. Specifically, both ends of the return spring 5235 are provided with spring hooks. In this case, the connecting portion 521 and the fixing portion 522 may each have mounting holes or loops for installing the spring hooks, so the spring hooks of the return spring 5235 can be installed in the corresponding mounting holes or loops. In this embodiment, the return spring 5235 is used to achieve the torsional return of the working body 523 and the fixing portion 522.

[0176] Furthermore, there are two return springs 5235, which are arranged opposite each other on both sides of the fixing part 522. As shown in Figures 16 and 17, the two return springs 5235 are symmetrically arranged on both sides of the fixing part 522. The symmetrical arrangement of the two return springs 5235 not only ensures that the working body 523 can be stably reset when it rotates counterclockwise or clockwise, but also stabilizes the working body 523 in a certain position when it is not subjected to external force.

[0177] The surface working device described above, comprising the swing component 530 and the working component 520, overcomes the inherent defects of traditional rigid working components 520, such as poor adaptability and inability to conform to complex curved surfaces, through the ingenious combination and coordinated movement of the connecting block 531, the adjusting arm 532, and the working component 520. In other words, the surface working device of the above embodiment allows the working component 520 (such as a grinding disc or detection probe) installed at its end to flexibly adjust its posture; when the angle of the working surface changes (such as the rotation of a wind turbine blade), the working component 520 of the surface working device, based on a combination of active and passive adjustment, can always maintain a preset optimal contact angle with the local curved surface of the current working point, thereby improving work quality and efficiency.

[0178] In some embodiments of this application, the transport mechanism 001 is a drone, the surface operation device includes a bracket 006, the bracket 006 is connected to the drone, and the support module 002 and the operation module 005 are both disposed on the bracket 006.

[0179] The support bracket 006 extends from the drone outwards, with the support module 002 and the operation module 005 specifically located at the end of the support bracket 006 facing the operation surface. As shown in Figure 2, the support bracket 006 may include a rod-like structure extending along a first direction X, with the support module 002 and the operation module 005 located at the end of the rod-like structure. Furthermore, the support bracket 006 may extend to a position offset from the drone's propellers to reduce interference from the drone's propellers on the operation component 520.

[0180] Furthermore, the surface working device may also include a connecting frame 008, which is mounted on the bracket 006. In this case, the support module 002 and the working module 005 can be fixed to the connecting frame 008. For example, the end of the support mechanism 200 away from the working surface is detachably connected to the connecting frame 008. Specifically, when the support mechanism 200 includes a first connecting rod 211, a second connecting rod 212, and a first elastic element 220, the end of the second connecting rod 212 away from the working surface is fixedly connected to the connecting frame 008. When the support mechanism 200 only includes the first connecting rod 211, excluding the second connecting rod 212 and the first elastic element 220, the end of the first connecting rod 211 away from the working surface is fixedly connected to the connecting frame 008. Furthermore, the connecting frame 008 can be a symmetrical structure, in which case the support mechanism 200 located on the connecting frame 008 is also symmetrically arranged.

[0181] In the embodiment with bracket 006 described above, the image recognition module 004 can be specifically fixed on bracket 006. As shown in FIG2, the image recognition module 004 is specifically located between the support mechanism 200 and the transport mechanism 001.

[0182] In some embodiments of this application, the surface working device includes a counterweight module 007, which is fixed to the bracket 006. Exemplarily, the counterweight module 007 is disposed at at least one end of the bracket 006 extending along a first direction X, for balancing the weight borne by both ends of the bracket 006 in the first direction X.

[0183] As shown in Figure 2, the working component 520 and the counterweight module 007 can be respectively set at both ends of the support 006 along the first direction X. The counterweight module 007 can include a part of the structure in the working component 520, or it can achieve the balance of the weight at both ends of the support 006 through another structure.

[0184] In some embodiments, the counterweight module 007 may include a vacuum pump connected to the adsorption structure in the support mechanism 200 to evacuate air from the inside of the suction cup 231, thereby enabling the adsorption structure to adsorb onto the working surface. Optionally, the counterweight module 007 may include a battery or a detection instrument, etc. That is, the part of the working component 520 that needs to contact the working surface can be located at one end of the bracket 006 along the first direction X, and the part that does not need to contact the working surface can be located at the other end of the bracket 006 along the first direction X, serving as the counterweight module 007 to balance the weight at both ends of the bracket 006.

[0185] The counterweight module 007 can adjust the overall weight distribution of the surface operation device, improve the stability of the UAV carrying the operation module 005 during flight, and thus improve the reliability of the surface operation device for inspection and maintenance.

[0186] In some embodiments of this application, the surface working device may further include an attitude measurement module, which may be specifically located inside the UAV and used to adjust the pitch and roll attitude of the UAV.

[0187] The attitude measurement module is used to measure the pitch and roll angles generated by the UAV during its movement. This data is then used to assist in adjusting the UAV's pitch and roll attitude. For example, the attitude measurement module can be a gyroscope, which measures the deviation of the UAV from the direction of gravity to help control its pitch and roll attitude.

[0188] By adjusting the pitch and roll attitudes of the UAV using data measured by the attitude measurement module, the UAV can maintain dynamic balance, which helps improve the stability and control accuracy of the UAV in complex operating environments.

[0189] According to another aspect of this application, a surface working method is also disclosed, which is applied to the surface working apparatus as described in any of the above embodiments.

[0190] Figure 24 is a schematic flowchart of a surface treatment method according to an embodiment of this application. As shown in Figure 24, the surface treatment method may include at least the following steps:

[0191] Step S10: The transport mechanism 001 carries the support module 002 and the work module 005 and moves them toward the work surface.

[0192] Step S20: The end of the support mechanism 200 is supported on the working surface, and the adsorption structure 230 of the support mechanism 200 is adsorbed on the working surface.

[0193] Step S30: Perform operations on the target points on the work surface based on the work module 005.

[0194] In steps S10 to S30 above, the operating mode of the transport mechanism 001 can be manual control mode, semi-automatic operation mode, or fully automatic operation mode. The transport mechanism 001 carries the support module 002 and the work module 005 to the vicinity of the work surface until the support ends or adsorption structures 230 of all support mechanisms 200 in the support module 002 are connected to the work surface. Specifically, the support ends of the support mechanisms 200 support the work surface, or the adsorption structures 230 of the support mechanisms adsorb onto the work surface. The work module 005 performs operations on the work surface, such as inspection operations or grinding operations.

[0195] Furthermore, when the carrier 001 is specifically a drone and the surface operation device includes a ranging module 003, the above step S10 further includes the following sub-steps: two ranging sensors 310 respectively acquire a first distance and a second distance, the first distance being the distance between the first ranging sensor and the operation surface, and the second distance being the distance between the second ranging sensor and the operation surface; the yaw attitude of the drone is controlled based on the first distance and the second distance.

[0196] In this embodiment, the UAV, carrying the support module 002, the operation module 005, and the ranging module 003, moves to the vicinity of the operation surface. As the UAV moves towards the operation surface, a first ranging sensor measures the distance between itself and the operation surface in real time, obtaining a first distance. A second ranging sensor measures the distance between itself and the operation surface in real time, obtaining a second distance. The UAV's controller adjusts the UAV's yaw attitude based on the first and second distances. Specifically, the controller can calculate the UAV's yaw angle based on the difference between the first and second distances, thereby adjusting the UAV's yaw attitude to reduce the UAV's angular deviation in the horizontal direction.

[0197] A controller refers to the structure on a surface working device that controls the execution of commands by various components. In the embodiments of this application, the controller can be, for example, a proportional-integral-differential (PID) controller. The controller is typically located inside a carrier such as a drone and operates by receiving and transmitting signals.

[0198] Additionally, the first distance and the second distance can also be used to determine the distance between the adsorption structure 230 and the working surface. Specifically, if the first distance and / or the second distance fall within the range of the first preset threshold, it can be considered that the adsorption structure 230 is almost in contact with the working surface, and the adsorption structure 230 is controlled to adhere to the working surface. In some embodiments, the first preset threshold range can be determined based on the distance of the first ranging sensor and the second ranging sensor relative to the working component 520, the adsorption structure 230, and other components in the first direction X.

[0199] In some other embodiments, the surface working device includes an image recognition module 004. In this case, step S10 above further includes the following sub-steps: the image recognition module 004 identifies a target point and determines the moving direction and moving distance of the transport mechanism 001 based on the target point; and controls the transport mechanism 001 to move toward the working surface based on the determined moving direction and moving distance.

[0200] In this embodiment, the drone, carrying a support module 002, a work module 005, a ranging module 003, and an image recognition module 004, moves to the vicinity of the work surface. The image recognition module 004 identifies and locates target points on the work surface, finding the approximate location of the target point's area. The image recognition module 004 collects relevant data of the target point; specifically, it obtains the relative coordinate difference between the control point on the drone and the target point. This relative coordinate difference reflects the gap between the drone's actual position and its desired position, and the drone's position is adjusted based on these differences. Based on the relative coordinate difference obtained by the image recognition module 004, the controller controls the drone to translate along a direction perpendicular to the first direction X to adjust its position, thereby ensuring that the relative coordinate difference between the control point on the drone and the target point falls within a second preset threshold range. In other words, under the control of the controller, the drone moves in a plane perpendicular to the first direction X, aligning the control point on the drone with the target point on the work surface as closely as possible. Furthermore, while maintaining the relative coordinate difference within the second preset threshold range, the controller controls the drone to move closer to the work surface along the first direction X. In this embodiment, the second preset threshold can be set according to actual needs.

[0201] In some embodiments, the surface working device further includes an attitude measurement module. In this case, step S10 above includes the following sub-steps: the attitude measurement module acquires the motion state data of the UAV; based on the acquired motion state data, the controller adjusts the pitch and roll attitudes of the UAV. In this embodiment, the UAV, carrying the support module 002, the working module 005, the ranging module 003, the image recognition module 004, and the attitude measurement module, moves to the vicinity of the working surface. During the movement of the UAV, the attitude measurement module also acquires the motion state data of the UAV. Specifically, the motion state data may be, for example, the pitch and roll angles generated by the UAV during its movement. Based on the pitch and roll angles measured by the attitude measurement module, the controller adjusts the pitch and roll attitudes of the UAV so that the orthographic projection plane of the UAV is approximately perpendicular to the normal vector of the working surface.

[0202] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included 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 surface treatment device, characterized in that, The device includes: Transport mechanism (001); A support module (002) is disposed on the transport mechanism (001). The support module (002) includes at least one support mechanism (200), one end of which faces the working surface and is used to support the work surface. The at least one support mechanism (200) in the support module (002) has an adsorption structure (230) for adsorption onto the working surface. The operation module (005) is disposed on the transport mechanism (001) and is used to perform operations on the operation surface.

2. The surface working device according to claim 1, characterized in that, The device includes: A ranging module (003) is disposed on the transport mechanism (001). The ranging module (003) includes at least two ranging sensors (310), which are spaced apart. Each ranging sensor (310) is used to detect the distance between itself and the working surface.

3. The surface working device according to claim 1, characterized in that, The device includes: An image recognition module (004) is disposed on the transport mechanism (001). The image recognition module (004) is used to identify target points on the working surface in order to control the transport mechanism (001) to move in a direction parallel to the working surface.

4. The surface working device according to claim 1, characterized in that, The adsorption structure (230) includes a suction cup (231) and a connecting member (232). The connecting member (232) is disposed on the side of the suction cup (231) away from the working surface. The suction cup (231) is hinged to the connecting member (232).

5. The surface working device according to claim 4, characterized in that, The suction cup (231) and the connecting member (232) are connected by a ball joint. The side of the suction cup (231) facing away from the working surface has a spherical groove, and the side of the connecting member (232) facing the suction cup (231) has a spherical structure.

6. The surface working apparatus according to any one of claims 1 to 5, characterized in that, The support mechanism (200) includes a connecting rod (210) and a first elastic element (220). The connecting rod (210) is connected to the transport mechanism (001), and at least a portion of the connecting rod (210) is movable relative to the transport mechanism (001) in a direction intersecting the working surface. The first elastic element (220) is located between the connecting rod (210) and the transport mechanism (001).

7. The surface working apparatus according to claim 6, characterized in that, The connecting rod (210) includes a first connecting rod (211) and a second connecting rod (212). The first connecting rod (211) and the second connecting rod (212) are coaxially arranged. The second connecting rod (212) is fixed on the carrying mechanism (001). The first connecting rod (211) can move axially within the shaft hole of the second connecting rod (212). The first elastic element (220) is sleeved outside the first connecting rod (211) and is located between the end of the first connecting rod (211) and the end of the second connecting rod (212).

8. The surface working apparatus according to claim 6, characterized in that, The support module (002) has three support mechanisms (200). The end faces of the support ends of the three support mechanisms (200) for supporting the working surface are located on the same support plane, and the center points of the end faces of the three support ends are arranged in a triangle. The projection of the center of mass of the transport mechanism (001) on the support plane is located inside the triangle.

9. The surface working apparatus according to claim 6, characterized in that, The support module (002) has two support mechanisms (200), which are located on both sides of the gravity line of the transport mechanism (001).

10. The surface working apparatus according to claim 6, characterized in that, The working module (005) includes a driving component (510) and a working component (520). The driving component (510) is disposed on the carrying mechanism (001). The working component (520) is connected to the output shaft of the driving component (510). Under the driving action of the driving component (510), the working component (520) can rotate about a first axis intersecting the working surface.

11. The surface working apparatus according to claim 10, characterized in that, The working module (005) includes a swing assembly (530), which is located between the output shaft of the drive component (510) and the working component (520). The swing assembly (530) is connected to both the output shaft of the drive component (510) and the working component (520). The swing assembly (530) enables the working component (520) to swing in a plane perpendicular to the working surface.

12. The surface working apparatus according to claim 11, characterized in that, The swing assembly (530) includes: A connecting block (531) is used to connect to the output shaft of the drive component (510); An adjusting arm (532) is connected at its first end to the connecting block (531). The adjusting arm (532) is rotatable relative to the connecting block (531) about a second axis perpendicular to the first axis. The second end of the adjusting arm (532) is connected to the working assembly (520). The working assembly (520) is rotatable relative to the adjusting arm (532) about a third axis parallel to the second axis.

13. The surface working apparatus according to claim 12, characterized in that, The swing assembly (530) includes: The first limiting part is fixed to the first end of the adjusting arm (532) and is used to limit the adjusting arm (532) so that the second end of the adjusting arm (532) swings away from the working surface. The second limiting part is fixed to the second end of the adjusting arm (532) and is used to limit the working component (520) so that the end of the working component (520) away from the second end of the adjusting arm (532) swings toward the working surface.

14. The surface working apparatus according to claim 13, characterized in that, The first limiting part and / or the second limiting part include: A limiting plate (533) is fixedly connected to the adjusting arm (532). The limiting plate (533) has an arc-shaped guide groove (5331) and a baffle (5332). The baffle (5332) is located on the outer side of the end of the adjusting arm (532). An angle adjusting screw (534) is disposed in the arc-shaped guide groove (5331), and the angle adjusting screw (534) is connected to the adjusting arm (532).

15. The surface working apparatus according to claim 14, characterized in that, The swing assembly (530) includes a first torsion spring (5351) and a second torsion spring (5352). Both the first torsion spring (5351) and the second torsion spring (5352) include a spring body and an end. The end of the first torsion spring (5351) is connected to the connecting block (531) and the adjusting arm (532) respectively. The end of the second torsion spring (5352) is connected to the adjusting arm (532) and the working assembly (520) respectively. The end of the first torsion spring (5351) and the end of the second torsion spring (5352) are respectively located on opposite sides of the adjusting arm (532), and each spring body is located on a corresponding rotating shaft.

16. The surface working apparatus according to claim 15, characterized in that, The operation component (520) includes: The connecting part (521) is hinged to one end of the output shaft of the swing assembly (530) away from the drive component (510); A fixing part (522) is located at one end of the connecting part (521) away from the swing assembly (530), and the fixing part (522) is connected to the connecting part (521); and, The working body (523) is disposed on the side of the fixing part (522) facing the working surface.

17. The surface working apparatus according to claim 16, characterized in that, The fixing part (522) can rotate about a fourth axis that is perpendicular to both the first axis and the second axis relative to the connecting part (521).

18. The surface working apparatus according to claim 17, characterized in that, The working body (523) is a flexible conductive component, which can extend and retract relative to the fixed part (522) in a direction perpendicular to the working surface.

19. The surface working apparatus according to claim 18, characterized in that, The fixing part (522) includes a first clamping part (5221) and a second clamping part (5222). Each of the first clamping part (5221) and the second clamping part (5222) has a conductive component mounting half groove (5223) on its opposite side. The flexible conductive component is located in two corresponding conductive component mounting half grooves (5223) on the two clamping parts. Screw mounting holes (5224) are provided between two adjacent conductive component mounting grooves on each clamping part. The flexible conductive component is a deformable copper wire or a telescopic probe.

20. The surface working apparatus according to claim 19, characterized in that, The working component (520) includes a return spring (5235), the two ends of which are connected to the connecting part (521) and the fixing part (522) respectively; The conductive component mounting half-groove (5223) is a sawtooth groove.

21. The surface working apparatus according to claim 20, characterized in that, The number of the return springs (5235) is two, and the two return springs (5235) are arranged opposite each other on both sides of the fixing part (522).

22. The surface working apparatus according to claim 6, characterized in that, The carrier (001) is a drone, and the surface operation device includes a bracket (006), which is connected to the drone. The support module (002) and the operation module (005) are both mounted on the bracket (006).

23. The surface working apparatus according to claim 22, characterized in that, The surface working device includes a counterweight module (007), which is fixed on the bracket (006).

24. A surface treatment method, characterized in that, The method is applied to the surface working apparatus as described in any one of claims 1 to 23, the method comprising: The transport mechanism (001) carries the support mechanism (200) and the work module (005) toward the work surface; The end of the support mechanism (200) is supported on the working surface, and the adsorption structure (230) is adsorbed on the working surface. The operation is performed on the target points on the operation surface based on the operation module (005).

25. The surface treatment method according to claim 24, characterized in that, The surface operation device includes a ranging module (003), and the transport mechanism (001) is a drone. The step of moving the support mechanism (200) and the operation module (005) toward the operation surface via the transport mechanism (001) includes: Two ranging sensors acquire a first distance and a second distance, respectively. The first distance is the distance between the first ranging sensor (310) and the working surface, and the second distance is the distance between the second ranging sensor (310) and the working surface. The yaw attitude of the UAV is controlled based on the first distance and the second distance.

26. The surface treatment method according to claim 25, characterized in that, The surface working device includes an image recognition module (004). In the step of moving the support mechanism (200) and the working module (005) toward the working surface via the transport mechanism (001), the following steps are included: The image recognition module (004) identifies the target point and determines the moving direction and moving distance of the transport mechanism (001) based on the target point; Based on the determined direction and distance of movement, the transport mechanism (001) is controlled to move toward the work surface.

Images