The invention provides an aerial cleaning robot system and a control method, and aims to solve the problems of high danger, low coverage rate of a wall-climbing robot, poor mobility and inaccurate system positioning in a cleaning process when a glass curtain wall of a high-rise building is cleaned manually in the prior art. The system is composed of a six-rotor unmanned aerial vehicle and a cleaning device. The unmanned aerial vehicle main body comprises a special rack, a power system and a control system, the power system is composed of a servo motor, a rotor wing, a motor and a battery, and the control system is integrated with a flight control and GPS module. The cleaning device comprises a sensing module, a three-connecting-rod mechanical arm and a cleaning system. Through the integrated design, the flying capability of the unmanned aerial vehicle is combined with the cleaning function, and the safety and efficiency of high-altitude cleaning are improved. The special arm design enables the unmanned aerial vehicle to realize front and back power output without adjusting the attitude, and the positioning and control process is simplified. The mechanical arm adopts an inner and outer ring control method, high-precision position control and excellent anti-interference performance are achieved, and it is ensured that cleaning work is stable and reliable.

    本发明提出一种空中清洁机器人系统及控制方法,旨在解决高层建筑玻璃幕墙采用传统人工清洁危险性高、爬壁机器人覆盖率低、移动性差以及清洁过程系统定位不准的问题。系统由六旋翼无人机和清洁装置组成。无人机主体包括特殊机架、动力系统和控制系统,动力系统由伺服电机、旋翼、电调和电池构成,控制系统集成飞控与GPS模块。清洁装置包含感知模块、三连杆机械臂、清洁系统。本发明通过一体化设计,将无人机飞行能力与清洁功能结合,提高高空清洁的安全性与效率。特殊机臂设计使无人机无需调整姿态即可实现前后动力输出,简化了定位与控制过程。机械臂采用内外环控制方法,实现高精度位置控制和优异的抗扰性能,确保清洁作业稳定可靠。


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    Titel :

    Aerial cleaning robot system and mechanical arm control method


    Weitere Titelangaben:

    一种空中清洁机器人系统及机械臂控制方法


    Beteiligte:
    TU BINBIN (Autor:in) / FU XIBEI (Autor:in) / HAN XIAOWEI (Autor:in) / ZHOU HAOYUAN (Autor:in) / HUI NANMU (Autor:in) / BAO JIAWEI (Autor:in)

    Erscheinungsdatum :

    15.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64U / E04G SCAFFOLDING , Baugerüste / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / A47L DOMESTIC WASHING OR CLEANING , Waschen oder Reinigen im Haushalt / B25J Manipulatoren , MANIPULATORS



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