The invention discloses an intelligent rotary deicing robot based on a multi-rotor aircraft. The deicing system comprises a multi-rotor aircraft and a deicing manipulator, the deicing manipulator is located under the multi-rotor aircraft and connected with the multi-rotor aircraft through a fixing rod, the multi-rotor aircraft comprises a rack, a brushless motor, a motor speed regulator, a controlcircuit and a GPS module, and the deicing manipulator comprises a bottom plate, a fixed pulley, a solenoid, a rotary rod, a permanent magnet, a left limiting bolt, a right limiting bolt, a laser andan image sensor. The deicing method comprises the following steps: initializing; judging whether the image sensor finds a target or not; judging whether the target is located in the center of image sensor sight; and performing rotary deicing on the target until the deicing is finished. Under the condition that the position of the device is not changed, laser is diffracted to all corners of the cable back and forth, the cable can be thoroughly deiced, the structure is unique and simple, and the efficiency is high.

    本发明公开了一种基于多旋翼飞行器的智能回旋式除冰机器人,包括多旋翼飞行器和除冰机械手,所述除冰机械手位于多旋翼飞行器正下方且通过固定杆连接,多旋翼飞行器包括机架、无刷电机、电机调速器、控制电路和GPS模块,除冰机械手包括底板、定滑轮、螺线管、回旋杆、永久磁铁、左限位栓、右限位栓、激光器和图像传感器;一种除冰方法,包括如下步骤:初始化;判断图像传感器是否找到目标;判断目标是否位于图像传感器视线中央;对目标进行回旋式除冰,直至除冰结束。本发明在自身位置不变的情况下,将激光来回绕射到电缆线上的各个角落,可对电缆线进行彻底除冰,结构独特简单,效率高。


    Access

    Download


    Export, share and cite



    Title :

    Intelligent rotary deicing robot based on multi-rotor aircraft and deicing method thereof


    Additional title:

    基于多旋翼飞行器的智能回旋式除冰机器人及其除冰方法


    Contributors:
    ZENG XIANYANG (author) / YANG HONGLI (author) / YANG XIANGLONG (author) / CHU NANFENG (author) / LU SONGYU (author) / ZHANG GUOYU (author)

    Publication date :

    2020-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen / B25J Manipulatoren , MANIPULATORS / B64C AEROPLANES , Flugzeuge



    AIRCRAFT GROUND DEICING

    Masters, Charles O. | SAE Technical Papers | 1991


    Cable deicing robot

    FENG XIAOLI | European Patent Office | 2020

    Free access

    DEICING MODULE FOR AN AIRCRAFT AND METHOD FOR DEICING

    SCHWICHTENBERG BRYAN E / MILLER LANCE F / OPIFICIUS JULIAN A | European Patent Office | 2018

    Free access

    AIRCRAFT DEICING SYSTEM

    WILKINS RICHARD S | European Patent Office | 2018

    Free access

    Simulation and Research of Aircraft Deicing Fluids Deicing Process

    Chen, Bin ;Wang, Li Wen | Trans Tech Publications | 2011