KR102150159B1 - A wall-climbing drone unit for maintaining and managing of high-storied building and the control method thereof - Google Patents

Abstract

The present invention relates to a wall-moving drone unit and a control method for maintaining and managing a high-rise building that climbs and cleans the wall of a structure using an auxiliary drive module (Arm), and relates to a wall moving, wall cleaning, charging, and robot control station communication. It can provide automation and unattended.

Description

A WALL-CLIMBING DRONE UNIT FOR MAINTAINING AND MANAGING OF HIGH-STORIED BUILDING AND THE CONTROL METHOD THEREOF}

The present invention relates to a wall-moving drone unit and a control method for maintaining a high-rise building, and more particularly, to a technology for climbing and cleaning a wall surface of a structure using an auxiliary drive module (Arm).

In recent years, structures such as buildings and bridges have become larger and more advanced, and as existing large structures are aging, the importance of inspection for corresponding structures is increasing. However, since the existing inspections are performed by a person directly moving to the inspection area and being located, problems such as high dependence on manpower, high risk and inspection cost according to the specificity of the work space, and lack of supply and demand of specialized personnel have been raised. As one of the solutions to these problems, research on wall climbing robots capable of moving the inner/outer walls of large structures has been actively conducted.

The wall-climbing robot can be used for maintenance of high-rise structures or large structures that are not easily accessible, cleaning exterior walls, and diagnosis of structure health.

Research on wall climbing robots has been conducted for a long time due to practical necessities such as structure cleaning, maintenance, and structure diagnosis. However, due to the nature of the wall-climbing flying robot, the risk of falling is always inherent, and commercialization has not been achieved because the technology maturity level to overcome this has not been satisfied.

Until now, infrastructure-based wall flying robot systems such as rails and cranes/wires have been developed and operated to replace them, but there are restrictions on the shape of structures that can be applied due to the characteristics of the infrastructure-based system. Has a drawback.

In order to solve the above-described problem, the existing technology has developed a drone unit that can be attached to the wall of a structure. However, the existing drone unit technology applies a force in a direction perpendicular to the wall and generates a frictional force to move the wall of the structure, and it requires a large propulsion force according to the state of the wall, that is, the friction coefficient, and has a disadvantage of low energy efficiency. Existed.

An object of the embodiments of the present invention is to improve the stability of a drone unit climbing a wall of a structure by including an auxiliary drive module including a sub wheel or a circular brush, and implement a cleaning mechanism using rotation of the circular brush to We want to provide a drone unit that cleans the exterior walls and glass of the building.

In addition, an object of the embodiments of the present invention is to provide a drone unit that communicates with a robot control station to provide charging and brush cleaning of the drone unit.

In the wall-mounted drone unit according to an embodiment of the present invention, a body, a body portion provided with a plurality of rotors connected to the body to generate thrust for flight, and a main wheel formed on at least one side of the body portion ( wheel) and a wheel drive unit that moves the drone unit in close contact with the wall surface of the structure and controls the flight of the drone unit by using a sub-wheel connected to the body and rotating according to tilt adjustment, and controls the flight of the drone unit. It includes a flight control unit for adjusting the slope of the sub wheel according to.

The wheel driving unit is formed of at least two on one side of the body unit, and is connected to the main wheel driving module and the body unit to move by rotation of the wheel by intimate contact with the wall surface of the structure, and the main wheel In order to serve the driving module, it may include a sub wheel driving module that moves the drone unit in close contact with the wall surface of the structure according to tilt adjustment and moves by rotation of a wheel.

The flight control unit may adjust the inclination of the sub-wheel driving module to adjust a ratio of the vertical drag force on the wall surface of the structure that generates the friction force and the rising force of the drone unit based on the friction coefficient of the wall surface.

The flight control unit may control climbing of the drone unit using at least two of the main wheels and the sub-wheel whose inclination is adjusted.

In addition, the wall-moving drone unit according to an embodiment of the present invention may further include a brush rotating part connected to the body part and contacting a wall surface of the structure to roll a brush.

The brush rotation unit may contact at least two of the main wheels and a wall surface of the structure, and the flight control unit may clean the wall surface of the structure by rolling the brush of the brush rotation unit.

In addition, the wall-mounted drone unit according to an embodiment of the present invention is formed on at least the other side of the body part, and a charging contact part for charging the power of the body by docking with a charging and control station on the ground and a preset based on the drone unit It may further include a sensing unit that detects environmental information on the surrounding environment in a radius and detects location information and posture information of the drone unit.

The charging contact part is formed in at least two on the other side of the body part, and may be docked with the charging and control station using the separated VCC terminal and GND terminal.

The sensing unit detects the location information of the drone unit using MCL (Monte Carlo Localization) between a data value sensed from a distance measurement sensor formed in the drone unit and pre-stored map information, and based on the detected location information, the The distance information from the wall surface of the structure is sensed, and the reference distance measurement value sensed from the sonar sensor formed in the drone unit and the depth value of the RGB-D sensor are complemented to each other to detect the wall surface of the structure.

In addition, the wall-mounted drone unit according to an embodiment of the present invention further includes a main processor for calculating a trajectory for landing of the drone unit by detecting a marker in the environmental information detected by the sensing unit. And, the main processor recognizes the detected marker and represents the dynamics of the drone unit as a differential equation for angular acceleration, angular velocity, and pose, and the measured The trajectory may be obtained by calculating a thrust force of the rotor by reflecting the distance to the wall, the weight and the moment of inertia of the drone unit.

The control method of the drone unit on the wall for high-rise building maintenance according to an embodiment of the present invention includes the steps of the drone unit flying toward the structure, the sub-wheel included in the drone unit according to the wall characteristics of the structure. And moving the drone unit in close contact with the wall surface of the structure using the sub-wheel rotating according to the tilt adjustment and the main wheel formed on the body of the drone unit.

In another embodiment of the present invention, a method of controlling a wall-mounted drone unit for maintaining a high-rise building includes the steps of a drone unit flying toward a structure, and a brush for cleaning a wall surface of the structure connected to the body of the drone unit. And moving the drone unit in close contact with the wall surface of the structure by using a brush rotation unit and a main wheel including a brush rotation unit and rolling the brush included in the brush rotation unit.

According to an embodiment of the present invention, by providing a drone unit including an auxiliary drive module including a sub wheel or a circular brush, stability is improved when climbing the wall of the structure, and a cleaning mechanism using rotation of the circular brush is implemented to It can provide a combined flight and wall climbing function to clean the exterior walls and glass of the.

In addition, according to an embodiment of the present invention, it is possible to provide a system for automation and unmanned operation of a drone unit that implements all of the wall movement, wall cleaning, charging, and communication of the robot control station.

1 is a diagram illustrating a configuration of a system for automation and unmanned operation of a drone unit according to an embodiment of the present invention.
2A to 2C are diagrams illustrating a wall-mounted drone unit according to an embodiment of the present invention.
3A to 3C are views for explaining vertical up/down movement of the wall-mounted drone unit according to an embodiment of the present invention.
4 is a diagram illustrating a wall-moving drone unit according to another embodiment of the present invention.
5 and 6 illustrate images of a wall-moving drone unit according to an embodiment of the present invention.
7A and 7B are views for explaining an example of charging and cleaning a drone unit according to an embodiment of the present invention.
8 shows an image of a drone unit fastened to a charging and controlling station according to an embodiment of the present invention.
9 is a flowchart illustrating an operation of a method for controlling a drone unit on a wall for maintaining a high-rise building according to an embodiment of the present invention.
10 is a flowchart illustrating an operation of a method for controlling a drone unit on a wall for maintenance of a high-rise building according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. In addition, the same reference numerals shown in each drawing denote the same member.

In addition, terms used in the present specification are terms used to properly express preferred embodiments of the present invention, which may vary depending on the intention of viewers or operators, or customs in the field to which the present invention belongs. Accordingly, definitions of these terms should be made based on the contents throughout the present specification.

1 is a diagram illustrating a configuration of a system for automation and unmanned operation of a drone unit according to an embodiment of the present invention.

Referring to FIG. 1, a wall-moving drone unit 100 according to an embodiment of the present invention can be positioned in a precise area through a marker attached to the wall surface of the structure 10, and the wall surface of the structure 10 It can move vertically up/down by adhering to and cleaning can be performed at the same time as it moves. At this time, the drone unit 100 detects a marker attached to the wall of the structure 10 using a camera or sensor, and charges image information of the detected marker and location information of the drone unit 100 and controls the station ( 200) or to an external server (not shown) related to the drone unit.

Thereafter, the wall-mounted drone unit 100 according to an embodiment of the present invention may receive analysis information of the marker from the charging and control station 200 or an external server (not shown), and based on the received analysis information, the structure It is also possible to move within (10) or to perform cleaning of the structure (10).

Depending on the embodiment, the marker may include information related to the structure 10, for example, for a significant portion of a long bridge pylon, a high-rise building, a building, a structure 10 of at least one of a building and a dam It may include information of at least one or more of type, construction time, height, size, and cleaning history.

The wall-moving drone unit 100 according to an embodiment of the present invention moves in close contact with the wall surface of the structure 10, or in the case of detecting a battery shortage or brush contamination while cleaning the wall surface, using a Global Positioning System (GPS). By recognizing the current location and the location of the charging and controlling station 200, it is possible to move to the charging and controlling station 200. At this time, according to an embodiment, the drone unit 100 may move based on the location information of the charging and control station 200, and move by recognizing a plurality of markers located in the vicinity of the charging and control station 200. May be.

Thereafter, the wall-moving drone unit 100 according to an embodiment of the present invention charges the battery at the charging and control station 200 or after completing the brush cleaning, moves to the vicinity of the work area of the structure 10 You can finish cleaning.

Hereinafter, a wall-movable drone unit 100 and a method of controlling the drone unit according to an embodiment of the present invention will be described in detail with reference to FIGS. 2 to 10.

2A to 2C are diagrams illustrating a wall-mounted drone unit according to an embodiment of the present invention.

More specifically, FIG. 2A is a perspective view of a wall-movable drone unit according to an embodiment of the present invention, FIG. 2B is a side view of a wall-movable drone unit according to an embodiment of the present invention, and FIG. 2C is the present invention. It is a block diagram showing a detailed configuration of a wall-mounted drone unit according to an embodiment of the present invention.

2A to 2C, a wall-moving drone unit 100 according to an embodiment of the present invention includes a main body 110, a body part 120, a wheel driving part 140, 152, and a flight control part 101. Include. In addition, the wall-moving drone unit 100 according to an embodiment of the present invention may further include a charging contact unit 170, a sensing unit 103, and a main processor 102.

The body 120 is provided with a plurality of rotors 130 connected to the body 110 to generate thrust for flight. Referring to FIG. 2A, a body portion 120 is formed around the body 110, and each of the body portions 120 includes a plurality of rotors that generate thrust force in the upward direction of the drone unit 100. 130 may be formed.

The wheel driving units 140 and 150 are connected to the main wheel 141 and the main body 110 formed on at least one side of the body 120 to drive the sub-wheel 152 that rotates according to the tilt adjustment, and the drone unit 100 ) In close contact with the wall of the structure 10 to move.

In more detail, the wheel driving units 140 and 150 use the main wheel 141 formed in at least two on one side of the body unit 120 to make the drone unit 100 in close contact with the wall surface of the structure 10, and A main wheel driving module 140 that rotates the wheel 141 to move the drone unit 100, and a single sub wheel 152 connected to the body 120, and a sub wheel 152 whose inclination is adjusted. ) To move the drone unit 100 by serving the main wheel 141 in close contact with the surface of the structure 10 may be included.

Referring to FIG. 2A, two main wheels 141 may be formed on one side of the body 120. For example, when the drone unit 100 approaches the wall surface of the structure 10, the two main wheels 141 first contact the wall surface, and the drone unit 100 contacts the wall surface of the structure 10. It can be an important main axis in moving vertically up and down.

Referring to FIG. 2B, the sub wheel driving module 150 includes a connection member 151, and the body 120 of the drone unit 100 and the sub wheel 152 can be connected through the connection member 151. have. Depending on the embodiment, the sub-wheel driving module 150 may be tilted by the flight control unit 101 of the drone unit 100, and the wall surface slope or the wall surface characteristic (or friction coefficient) of the structure 10 It can be formed at different angles accordingly. For example, when the drone unit 100 approaches the wall surface of the structure 10, the two main wheels 141 first contact the wall surface, and the sub-wheel 152 whose inclination is adjusted is placed on the wall surface as a lane. By contacting, the drone unit 100 improves the stability of moving the wall surface vertically up/down.

Referring to FIG. 2C, a wall-movable drone unit 100 for maintaining a high-rise building according to an embodiment of the present invention may include a flight control unit 101. At this time, the flight control unit 101 controls the flight of the drone unit 100 and adjusts the slope of the sub wheel 152 according to the wall surface of the structure 10.

The flight control unit 101 controls the flight of the drone unit 100, and the drone unit 100 flies from the ground to approach the target structure 10, and after performing the mission, from the wall surface of the structure 10 It can be controlled to be separated and landed on the ground.

In more detail, the flight control unit 101 adjusts the inclination angle of the sub-wheel drive module 150 according to the wall characteristics of the structure 10, that is, the friction coefficient, thereby generating a friction force against the wall surface of the structure 10. It is possible to adjust the ratio of the vertical drag force and the ascending force, which is the ascending force of the drone unit 100. For example, when the friction coefficient of the wall of the structure 10 is high, the vertical drag force is greater than the lifting force, and when the friction coefficient is low, the vertical drag force is less than the lifting force. Accordingly, the flight control unit 101 can improve the flight stability of the drone unit 100 by adjusting the tilt angle of the sub wheel driving module 150 according to the vertical drag force and the lifting force.

Thereafter, the flight control unit 101 controls the movement of the drone unit 100 using a thrust force using at least two main wheels 141 and a sub-wheel 152 with an inclination adjusted and a rotor 130. Can be controlled.

In addition, the wall-moving drone unit 100 for maintaining a high-rise building according to an embodiment of the present invention may further include a sensing unit 103 and a main processor 102.

The detection unit 103 may detect environmental information about the surrounding environment in a preset radius based on the drone unit 100 and detect location information and posture information of the drone unit 100. For example, the detection unit 103 may detect environmental information, location information, and posture information through information received from a plurality of sensors included in the drone unit 100 or from GPS. Here, the sensor may be a distance measurement sensor, a sonar sensor, or an RGB-D camera sensor.

For example, the sensing unit 103 may contact and recognize a wall surface of the structure 10 using a physical touch sensor formed on the drone unit 110. As another example, the detection unit 103 may detect the location information of the drone unit 100 through MCL (Monte Carlo Localization) between the real-time data value of the distance measurement sensor of the drone unit 100 and the previously stored map information, and GPS The location information of the drone unit 100 may also be detected through. In addition, the sensing unit 103 may recognize the wall surface of the structure 10 by calculating the distance to the wall surface of the structure 10 based on the location information of the drone unit 100. As another example, the detection unit 103 may detect the wall surface of the structure 10 by complementing the reference distance measurement value sensed from the sonar sensor formed in the drone unit 100 and the depth value of the RGB-D sensor. I can.

The main processor 102 of the drone unit 100 on the wall for maintenance of a high-rise building according to an embodiment of the present invention detects a marker in the environmental information detected by the sensing unit to land the drone unit 100 You can calculate the trajectory for it. Here, the markers may be located on the ground plane or on the wall of the structure 10, and may be formed in plural.

Depending on the embodiment, the wall-moving drone unit 100 for maintaining a high-rise building according to an embodiment of the present invention may perform a marker-based landing algorithm when detecting a marker to correct the XY plane distance, and then reduce the flight height. . In this case, the drone unit 100 may use information obtained from two or more markers for more accurate landing.

For example, the main processor 102 recognizes the detected marker and converts the dynamics of the drone unit 100 into a differential equation for angular acceleration, angular velocity, and pose. It is shown and reflects the measured distance to the wall surface, the weight and the moment of inertia of the drone unit 100 to calculate a thrust force of the rotor 130 to obtain a trajectory.

Accordingly, the flight control unit 101 of the drone unit 100 on the wall for maintenance of a high-rise building according to an embodiment of the present invention moves the drone unit 100 in flight, landing, and vertically up/down according to the calculated trajectory. Can be controlled.

3A to 3C are views for explaining vertical up/down movement of the wall-mounted drone unit according to an embodiment of the present invention.

More specifically, FIG. 3A shows an example of a perching process of a drone unit according to an embodiment of the present invention, and FIG. 3B shows an example of a drone unit showing various poses on a wall. , Figure 3c shows a diagram according to the direction of the recoil propulsion engine (thruster).

3A and 3B, the wall-moving drone unit 100 for high-rise building maintenance according to an embodiment of the present invention includes not only the main wheel 141, but also a sub-wheel capable of smoothly connecting and separating the wall surface ( 152). Accordingly, the wall-moving drone unit 100 according to an embodiment of the present invention may control the direction of the recoil propulsion engine (thruster) with respect to the wall surface of the structure by using the main wheel 141 and the sub wheel 152.

) 방향으로 변경할 수 있다. 도 3c에서, 추력 F는 드론 유닛의 질량, 중력, 접촉점에서의 마찰 계수인 m, g,

로 나누어진다. 예를 들면, 추력 F는 중력을 보상하는 힘 또는 마찰을 일으키는 힘으로 분리되므로, 마찰 계수의 변화에 의한 최소 추력 레벨의 변화가 감소하기 때문에 구조물(10)의 벽면에서 드론 유닛(100)이 보다 안정적일 수 있다. In addition, the wall-moving drone unit 100 according to an embodiment of the present invention may adjust the speed of posture change by using the sub wheel 152. 3B and 3C, the drone unit 100 adjusts a pose and a direction according to the angle of the sub-wheel 152 to a recoil propulsion engine (thruster,

) Direction can be changed. In Fig. 3c, thrust F is the mass, gravity, and friction coefficient at the contact point of the drone unit, m, g,

It is divided into For example, since the thrust F is separated by a force that compensates for gravity or a force that causes friction, the change in the minimum thrust level due to a change in the friction coefficient is reduced, so that the drone unit 100 is more likely to be on the wall of the structure 10. It can be stable.

4 is a diagram illustrating a wall-moving drone unit according to another embodiment of the present invention.

Referring to FIG. 4, a wall-moving drone unit 100 according to another embodiment of the present invention is connected to the body part 120 and contacts the wall surface of the structure 10 to roll a brush 161. It may include a rotating unit 160.

The brush rotation unit 160 is in contact with at least two main wheels 141 and the wall surface of the structure 10, and the flight control unit 101 rolls the brush 161 of the brush rotation unit 160 to prevent the structure 10 You can clean the wall.

Depending on the embodiment, the inclination of the brush rotation unit 160 may be adjusted by the flight control unit 101, and may be formed at different angles according to the wall surface inclination or the wall surface characteristic (or friction coefficient) of the structure 10. have. For example, when the drone unit 100 approaches the wall surface of the structure 10, the two main wheels 141 first contact the wall surface, and the brush rotation unit 160 whose inclination is adjusted to the wall surface in a lane By contacting, it is possible to improve the stability of the drone unit 100 to move the wall surface vertically up/down.

When the two main wheels 141 and the brush rotation unit 160 of the drone unit 100 contact the wall surface, the brush 161 may be rolled (or rotated) by the flight control unit 101.

That is, the wall-moving drone unit 100 according to the embodiment of the present invention can move the wall surface of the structure 10 vertically up/down using the two main wheels 141 and the brush rotation unit 160, and the brush By rotating (161) it is possible to clean the wall surface of the structure (10).

Depending on the embodiment, the brush 161 may have various shapes. For example, the brush 161 has a flat shape for cleaning corners or corners, a squid shape made of a flexible material to remove moisture, a brush shape in which groups of small brushes are concentrically arranged, a single brush formed by a plurality of brush brushes. It may be at least one of a brush shape and a push pad shape of a cotton material.

5 and 6 illustrate images of a wall-moving drone unit according to an embodiment of the present invention.

More specifically, FIG. 5 shows an image of a drone unit moving a wall surface using a main wheel and a sub wheel, and FIG. 6 illustrates an image of a drone unit cleaning a wall surface using a main wheel and a brush. .

5, the drone unit 100 according to the embodiment of the present invention can move vertically up/down on the wall surface of the structure 10 using two main wheels 141 and sub wheels 152, , Can move over obstacles formed on the wall.

6, the drone unit 100 according to the embodiment of the present invention can move vertically up/down on the wall surface of the structure 10 using two main wheels 141 and a brush 161, The wall surface may be cleaned by rolling (or rotating) the brush 161.

7A and 7B are views for explaining an example of charging and cleaning a drone unit according to an embodiment of the present invention.

The drone unit 100 may move to the charging and control station 200 when the battery is low during cleaning by moving the wall of the structure 10, replacement or cleaning of the brush is required, or when the mission is completed. .

Referring to FIG. 7A, the drone unit 100 may include a charging contact unit 160. For example, the charging contact 170 is formed on at least the other side of the body 120 of the drone unit 100, and docked with the charging and control station 200 on the ground to secure the battery 104 of the body 110. Can be charged.

The charging and controlling station 200 may detect the approach and contact of the drone unit 100 using the gas detection unit 210 of the infrared sensor. In addition, the charging and control station 200 may be formed to have an extended length of about 2,000 mm for stability of the drone unit 100 when docked, and the inside may have a cross-sectional shape of a V-shape.

Referring to FIG. 7B, the charging and control station 200 can detect the landing of the drone unit 100 through the gas detection unit 210, and when the landing of the drone unit 100 is detected, an extension of about 2,000 mm Reduce the length to about 1,100mm.

Due to the reduction mechanism of the charging and controlling station 200, the charging contact unit 170 and the brush rotating unit 160 of the drone unit 100 may be coupled to the charging module and the cleaning module of the station. Accordingly, the battery 104 of the drone unit 100 is charged, and the brush 161 may be cleaned or replaced.

Depending on the embodiment, the charging and controlling station 200 detects the drone unit 100 using an audio module, a speaker module, or a buzzer, or uses a light emitting diode (LED), charges the battery, and replaces the brush. Or you can print the cleaning process.

For example, the charging and control station 200 may light a white LED in a detection state detecting the approach of the drone unit 100 or a standby state waiting for the approach of the drone unit 100, and the drone unit 100 The green LED may light up in a station reduction state in which the length of the station is reduced by detecting the landing of ), a charging start state to charge the battery of the drone unit 100, or a cleaning start state to clean the brush. In addition, the charging and control station 200 may turn on a red LED in a charging state for charging the battery of the drone unit 100 or a cleaning state for cleaning the brush, and the charging of the battery of the drone unit 100 is completed. The blue LED can be turned on in a state, in a state in which the brush is cleaned, in a state in which cleaning is completed, or in a state in which the station is extended, which extends the length of the station.

Here, it is natural that the color of the LED according to the state is not limited thereto.

8 shows an image of a drone unit fastened to a charging and controlling station according to an embodiment of the present invention.

Referring to FIG. 8, the drone unit 100 according to an embodiment of the present invention includes a charging contact unit 170 for docking with the charging and control station 200 on the ground, and the charging contact unit 170 includes a drone unit ( It may be formed of at least two (171, 172) on the other side of the body portion 120 of 100).

The charging contact 170 includes the separated VCC terminal 171 and the GND terminal 172, and the VCC terminal 171 and the GND terminal 172 are spatially separated, so the risk of short circuit and short circuit can be minimized. have.

When the drone unit 100 according to an embodiment of the present invention approaches the charging and controlling station 200, the charging and controlling station 200 is bound with the drone unit 100 by reducing the length. At this time, the drone unit 100 may be docked with the charging and control station 200 using the separated VCC terminal 171 and GND terminal 172, and the power supplied from the charging and control station 200 Thus, the battery 104 can be charged.

9 is a flowchart illustrating an operation of a method for controlling a drone unit on a wall for maintenance of a high-rise building according to an embodiment of the present invention.

9, in step 910, a drone unit flies toward a structure.

Step 910 may be a step of flying the drone unit by generating a thrust force in the upward direction of the drone unit through a plurality of rotors formed in the body of the drone unit.

In step 920, the inclination of the sub-wheel included in the drone unit is adjusted according to the characteristics of the wall surface of the structure.

In step 920, by adjusting the tilt angle of the sub-wheel drive module of the drone unit according to the wall characteristics of the structure, that is, the friction coefficient, the ratio of the vertical drag force against the wall surface of the structure generating the friction force and the rising force, which is the rising force of the drone unit, are adjusted. It may be a step to do. For example, when the friction coefficient of the structure wall is high, the vertical drag force is greater than the lifting force, and when the friction coefficient is low, the vertical drag force is less than the lifting force. Accordingly, in step 920, flight stability of the drone unit may be improved by adjusting the tilt angle of the sub wheel driving module according to the vertical drag force and the lifting force.

According to an embodiment, when the drone unit is close to the wall of the structure, the two main wheels first contact the wall, and the subwheel of the subwheel driving module whose inclination is adjusted contacts the wall in a lane, so that the drone unit is It can improve stability when moving the wall vertically up/down.

In step 930, the drone unit is moved in close contact with the wall surface of the structure using the sub-wheel that rotates according to the tilt adjustment and the main wheel formed in the body of the drone unit.

Step 930 may be a step of moving the drone unit up/down using a thrust force using at least two main wheels, a sub-wheel whose inclination is adjusted, and a rotor. In this case, the drone unit may move over an obstacle formed on the wall surface of the structure using at least two main wheels and a sub-wheel whose inclination is adjusted.

10 is a flowchart illustrating an operation of a method for controlling a drone unit on a wall for maintenance of a high-rise building according to another embodiment of the present invention.

Referring to FIG. 10, in step 1010, the drone unit flies toward the structure.

Step 1010 may be a step of flying the drone unit by generating a thrust force in the upward direction of the drone unit through a plurality of rotors formed in the body portion of the drone unit.

In step 1020, the drone unit is moved in close contact with the wall surface of the structure by using a brush rotating part including a brush for cleaning the wall surface of the structure connected to the body part of the drone unit and the main wheel.

Step 1020 may be a step of moving the drone unit up/down using a thrust force using at least two main wheels, a brush rotating part with an inclination adjusted, and a rotor. In this case, in step 1020, the inclination of the brush rotation unit may be adjusted, and may be formed at different angles according to the wall inclination of the structure or the wall surface characteristic (or friction coefficient).

According to an embodiment, when the drone unit approaches the wall surface of the structure, the two main wheels first contact the wall surface, and the brush rotating part whose inclination is adjusted makes contact with the wall surface in a lane, so that the drone unit vertically moves the wall surface / It can improve stability in moving downwards.

In step 1030, the brush included in the brush rotation unit is rolled.

Step 1030 may be a step of cleaning the wall surface of the structure by rolling (or rotating) the brush.

Depending on the embodiment, the brush may have various shapes. For example, a brush is a flat shape for cleaning corners or corners, a squid shape made of a flexible material to remove moisture, a brush shape in which groups of small brushes are concentrically arranged, a single brush shape formed by a group of multiple brush brushes. And it may be at least one of the form of a pusher made of cotton.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It can be implemented using one or more general purpose computers or special purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

10: structure
100: drone unit
110: main body
120: body part
130: rotor
140: main wheel drive module
141: main wheel
150: sub wheel drive module
151: connection member
152: sub wheel
160: brush rotation part
161: brush
170: charging contact
171: VCC terminal
172: GND terminal
200: charging and control station
210: gas detection unit

Claims (12)

In the wall-moving drone unit,
main body;
A body portion provided with a plurality of rotors connected to the main body to generate thrust for flight;
A wheel driving unit for moving the drone unit in close contact with a wall surface of a structure using a main wheel formed on at least one side of the body and a sub wheel connected to the main body and rotating according to a tilt adjustment; And
Controlling the flight of the drone unit, including a flight control unit for adjusting the slope of the sub wheel according to the wall surface of the structure,
The wheel driving part
A main wheel driving module formed in at least two on one side of the body part, and moving the drone unit in close contact with a wall surface of the structure to move by rotation of a wheel; And
It is connected to the body and includes a sub-wheel driving module that moves by rotation of a wheel by intimately contacting the drone unit to a wall surface of the structure according to tilt adjustment to serve the main wheel driving module,
The flight control unit
Based on the friction coefficient of the wall, high-rise building maintenance is performed by adjusting the inclination of the sub-wheel drive module in order to adjust the ratio of the rising force of the drone unit and the vertical drag force on the wall of the structure that generates friction. Wall mobile drone unit for. delete delete The method of claim 1,
The flight control unit
A wall-moving drone unit for maintaining a high-rise building that controls climbing of the drone unit using at least two of the main wheels and the sub-wheel whose inclination is adjusted. delete delete In the wall-moving drone unit,
main body;
A body portion provided with a plurality of rotors connected to the main body to generate thrust for flight;
A wheel driving unit for moving the drone unit in close contact with a wall surface of a structure using a main wheel formed on at least one side of the body and a sub wheel connected to the main body and rotating according to a tilt adjustment;
A flight control unit that controls the flight of the drone unit and adjusts the slope of the sub wheel according to the wall surface of the structure;
A charging contact part formed on at least the other side of the body part and docking with a charging and control station on the ground to charge power of the body; And
A sensing unit for detecting environmental information about the surrounding environment in a preset radius based on the drone unit, and detecting location information and posture information of the drone unit,
The sensing unit
By using MCL (Monte Carlo Localization) between a data value sensed from a distance measurement sensor formed in the drone unit and pre-stored map information, the location information of the drone unit is sensed, and the wall surface of the structure based on the detected location information It detects distance information from the drone unit, and complements the reference distance measurement value sensed from the sonar sensor formed in the drone unit and the depth value of the RGB-D sensor to detect the wall surface of the structure. Wall mobile drone unit for. The method of claim 7,
The charging contact part
A wall-mounted drone unit for maintenance of a high-rise building that is formed in at least two on the other side of the body and docks with the charging and control station using separate VCC terminals and GND terminals. delete The method of claim 7,
Main processor for calculating a trajectory for landing of the drone unit by detecting a marker in the environmental information detected by the sensing unit
Including more,
The main processor is
By recognizing the detected marker, the dynamics of the drone unit are expressed as differential equations for angular acceleration, angular velocity, and pose, and the measured distance to the wall surface and the A wall-moving drone unit for maintaining a high-rise building to obtain the trajectory by calculating the thrust force of the rotor by reflecting the weight and the moment of inertia of the drone unit. The drone unit flying toward the structure;
Adjusting a slope of a sub wheel included in the drone unit according to a wall surface characteristic of the structure; And
Including the step of moving the drone unit in close contact with the wall surface of the structure using the sub-wheel rotating according to the tilt adjustment and the main wheel formed in the body portion of the drone unit,
The drone unit
main body;
A body portion provided with a plurality of rotors connected to the main body to generate thrust for flight;
A wheel driving unit for moving the drone unit in close contact with a wall surface of a structure using the main wheel formed on at least one side of the body and the sub-wheel connected to the main body and rotating according to a tilt adjustment; And
Controlling the flight of the drone unit, and including a flight control unit for adjusting the slope of the sub-wheel according to the wall surface of the structure,
The wheel driving unit includes a main wheel driving module and a sub wheel driving module,
The flight control unit
Based on the coefficient of friction of the wall, maintenance of a high-rise building is performed by adjusting the inclination of the sub-wheel drive module to adjust the ratio of the rising force of the drone unit and the vertical drag force on the wall of the structure that generates friction. How to control the drone unit on the wall delete

Images