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Title:
TECHNOLOGICAL EQUIPMENT FOR WORK IN HEIGHT
Document Type and Number:
WIPO Patent Application WO/2019/040008
Kind Code:
A1
Abstract:
The operator´s module (1) is wired and/or wirelessly connected to the ground station (2), whereby the operator´s module (1) also consists of semi-transparent glasses (1a) fitted with sensors to scan the operator´s control gestures, moreover, the ground station (2) is wired or wirelessly connected to the carrier (3), where the carrier (3) is equipped with six motor units (5 and 6) with the propellers to drive the device, the control unit to control the carrier movement (3), whereby the carrier (3) is connected to the working platform (4), the working platform (4) is wired and/or wirelessly connected to the ground station (2), whereby the working platform (4) consists of the applicator to implement the industrial operations and the supporting subsystems required for its activity, moreover, the ground station (2) consists of the systems to receive, process and send the signals to control the carrier (3), working platform (4) via the operator´s module (1).

Inventors:
ANDREJ CABAJ (SK)
Application Number:
PCT/SK2018/050010
Publication Date:
February 28, 2019
Filing Date:
July 20, 2018
Export Citation:
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Assignee:
INTENSA S R O (SK)
International Classes:
B64C39/02; B64C27/08; B64C29/00; G05D1/00; G05D1/10
Domestic Patent References:
WO2017023411A12017-02-09
Foreign References:
US20170158320A12017-06-08
EP2980627A12016-02-03
Attorney, Agent or Firm:
BELIČKA, Ivan (SK)
Download PDF:
Claims:
CLAIMS

1. Technological equipment for work at height consisting of the operator's module, ground station, motors and propellers-fitted carrier with GPS and GLONASS localization, cameras and working platform, characterized in that the operator's module (1) is wired and/or wirelessly connected to the ground station (2), whereby the operator's module (1) also consists of semi-transparent glasses (la) fitted with sensors to scan the operator's control gestures, moreover, the ground station (2) is wired or wirelessly connected to the carrier (3), where the carrier (3) is equipped with six motor units (5 and 6) with the propellers to drive the device, the control unit to control the carrier movement (3), whereby the carrier (3) is connected to the working platform (4), the working platform (4) is wired and/or wirelessly connected to the ground station (2), whereby the working platform (4) consists of the applicator to implement the industrial operations and the supporting subsystems required for its activity, moreover, the ground station (2) consists of the systems to receive, process and send the signals to control the carrier (3), working platform (4) via the operator's module (1).

2. Technological equipment for work at height according to claim 1, characterized in that the operator can either be a human and/or robot.

3. Technological equipment for work at height according to claim 1, characterized in that the carrier (3) features four central motor units (5) with the propellers to keep the carrier (3) in a stable horizontal position within the implementation application area and two edge motor units (6) with the propellers located on the carrier (3) edges to assure the manoeuvrability in the stable horizontal position.

4. Technological equipment for work at height according to any one of claims 1 to 3, characterized in that the edge motor units (6) have been located on the tilt - swivel motor joint (8) which allows them to develop force against the desired movement direction in a programmable way.

5. Technological equipment for work at height according to any one of claims 1, 3 to 4, characterized in that the carrier 3 consists of the tilting mechanism (7) to tilt the edge motor unit (6) using the motor with worm gears, where the two-sided articulated shaft links the set of gears itself with the control motor.

6. Technological equipment for work at height according to any one of claim 1, characterized in that the working platform (4) is suspended under the carrier (3) to stabilize the technological system centre of gravity.

7. Technological equipment for work at height according to any one of claim 1, characterized in that the industrial operation implementation applicator represents the tools designed to clean the vertical surfaces via a contact manner and/or the robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spraying tools.

8. Technological equipment for work at height according to any one of claims 1, 6 and 7, characterized in that the support subsystems necessary represent the power sources or fillings necessary for the applicators to carry out their activities.

9. Technological equipment for work at height according to any one of claims 1, 6 and 8, characterized in that the undercarriage (4) is equipped with the wheels, skids or floats.

10. Technological equipment for work at height according to any one of claim 1, characterized in that the working platform (4) consists of the power supply such as supply voltage via the power cable and the battery power source, ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system.

11. Technological equipment for work at height according to claims 1 and 10, characterized in that the ground station (2) may either be stationary or mobile.

Description:
TECHNOLOGICAL EQUIPMENT FOR WORK IN HEIGHT

Technical Field

The present invention relates to technological equipment to implement work in heights.

Background of the art

At present, work at height has been carried out using different methods and equipment. The elevating working platforms and ladders have been the oldest and most used devices. However, when working in greater heights, this method appears to be impracticable due to the ladder or arm limited length. The platform stability has also been deteriorated when ejected to a maximum extent under the weather condition, especially by strong wind. The other way is to use a helicopter or copter. When in operation, either the platform or the device is hanging in the suspension. In such a case, the platform stability has been deteriorated under the weather conditions, especially by strong wind. A drone has been the most modern way; however, when flying, the drone cannot be keep in a horizontal plane. While manoeuvring, the drone keeps tilting to change its position.

Invention Fundamentals

The invention listed in the present application form eliminates the drawbacks described in the prior art, while the set of technological equipment and procedures for performing work operations at heights based on the operator ' s module, ground station, technological equipment carrier and working platform forms the invention fundamentals.

The operator ' s module has been a complex of components and software that allows the industrial nature applications to be implemented, which requires the movement accuracy and induction of force effects in the area with centimetre accuracy. In the initial phase, the operator controls the module; afterwards, artificial intelligence based on the neutron networks has been deployed to assure fully automated operations while the operator ' s role has only been reduced to a control activity. The semi-transparent glasses fitted with the sensors to scan the operator ' s control gestures form the operator ' s module. The gestures make use of the "extended reality" technology. The following elements have been projected in the visual display space:

the camera system control visualization fitted on the working platform carrier;

the signalling elements to read the carrier distance from an obstacle;

the signalling elements of the contact sensors;

external environment parameters;

carrier operation parameters;

the deployed working platform technology parameters.

The sensors scanning the operator ' s gesture commands provide control over both the carrier and the working platform. For carrier and working platform, the following gestures have been defined:

The TAKE-OFF, UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD, LAND commands have been pre-defined. This is the universal carrier and therefore these commands only serve the basic operating instructions of the device. The operator performs the gestures with his/her right and left hands to prevent an accidental unknowing instruction from happening. The multi-purpose commands require no separate acknowledgement on the virtual area.

The FLY TO..., PERFORM, REPEAT commands have been the semi-universal carrier instructions, which, in addition to the two-handed gesture itself, require activation of the control element in the operator ' s virtual area. The exact command parameters shall undergo programming before the work is completed or the device deployed. This includes adding the co-ordinates in 3D space, defining the previously known positions, distances, instruction sequences, etc.

The special instructions are performed by repeated double confirmation on the operator ' s virtual area desktop and shall be pre-programmed depending on the working platform type. The ground station represents the technological equipment consisting of the carrier and working platform, power supply i.e. the supply voltage with power cord as the primary possibility to power the device and the use of the alternative battery module in the future. Moreover, this consists of the ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system. The ground station may either be stationary or mobile in the form of a delivery van, pick-up, trailer or semi-trailer attached to a tractor.

The flying device itself with the limited range and controlled movement providing manoeuvrability in a stable horizontal position without tilts (contrary to the drone common structure) forms the key part of the complex. The device consists of 6 vector stroke motor units in a sheltered form preventing the foreign particles from penetration and an obstacle within the application area of device operation from contacting.

Four special motor units provide classical manoeuvrability of both arrival and departure operations via GPS and GLONAS localization. Their primary function is to keep the carrier in a stable horizontal position within the work performance application area to a centimetre accuracy provided by independent inertial equipment having a zero point of the precisely located ground station.

The motor units, located at the edges of the carrier, provide manoeuvrability within the stable horizontal position. They have been located on the tilt - swivel motor joint which allows them to develop force against the desired movement direction in a programmable way. The central motor units control the compensating tilt in an electronic way. In this way, it is possible to ensure precise manoeuvrability within the application area with centimetre accuracy as a prerequisite for successful industrial application. Except for precise manoeuvrability, this method makes possible do develop the pressing force needed to carry out any contact operation of the carrier working platform.

Because the common flight mode requires the motor units configuration mentioned, its transportation to the workplace would pose considerable problems due to the structure dimensions. The folding structure addresses the problem; thereby the entire carrier is put into the transport mode.

The motor equipped with worm gears tilts the edge motor unit. The mechanism tilts the edge propeller unit within the horizontal-perpendicular position to the flight plane range (horizontal). The two-sided articulated shaft links the set of gears itself with the control motor. The mechanism ensures left-right vector control of the flying element central part free of tilting.

The central motor rotates the motor unit in the range of 0-180 degrees which makes possible to apply pressure, approach and separation to and from the working area.

The technological equipment carrier consists of 6 motor units besides the central part. Four central motors provide elevation and manoeuvring in a classical flight mode and the two edge ones provide the carrier manoeuvring and driving to the working area. Each motor unit features the support frame to mount the drive unit, pilot tunnel for air flow and the propeller attached to the motor unit.

The working platform allows the industrial task application implementation to take place. The working platform is suspended under the carrier to stabilize the entire system centre of gravity.

The working platform consists of the activity applicator and other support subsystems necessary to carry out its activity, as well as the power sources or fillings needed for its operation. The undercarriage equipped with the wheels, skids or floats also forms an essential part of the working platform following its operation nature.

Just to clarify, the working platform allows the vertical surfaces to clean in an industrial method via a contact manner and/or using the robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spraying.

Figures overview on the drawings

Figure 1 shows the equipment assembly.

Figure 2 shows the carrier standard flying position.

Figure 3 shows the carrier with the edge motor units folded.

Figure 4 shows the carrier with the edge motor units folded.

Figure 5 shows the carrier folded transport position.

Figure 6 shows the carrier working platform.

Figure 7 shows the motor unit with its details.

Embodiment Examples

The set of technological equipment and procedures for performing work operations at heights consists of the operator module 1, ground station 2, carrier 3 and working platform 4.

The operator ' s module 1 has been a complex of components and software that allows the industrial nature applications to implement, which requires the movement accuracy and induction of force effects in the area with centimetre accuracy. In the initial phase, the operator controls the module 1, afterwards, artificial intelligence based on the neutron networks to assure fully automated operations while the operator ' s role has only been reduced to a control activity.

The semi-transparent glasses la fitted with the sensors to scan the operator ' s control gestures form the operator ' s module 1. The gestures make use of the "extended reality" technology. The following elements have been projected in the visual display space:

the camera system control visualization fitted on the working platform 3 of the carrier

4

the signalling elements to read the carrier 3 distance from an obstacle

the signalling elements of the contact sensors;

external environment parameters;

carrier operation parameters 3

the deployed working platform technology parameters 4

The sensors scanning the operator ' s gesture commands provide control of both the carrier 3 and the working platform 4. For carrier 3 and working platform 4, the following gestures have been defined:

The TAKE-OFF, UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD, LAND commands have been pre-defined. This is the universal carrier 3 and therefore these commands only serve the basic operating instructions of the device. The operator performs the gestures with his/her right and left hands to prevent an accidental unknowing instruction from happening. The multi-purpose commands require no separate acknowledgement on the virtual area.

The FLY TO..., PERFORM, REPEAT commands have been the semi-universal carrier instructions, which, in addition to the two-handed gesture itself, require activation of the control element in the operator ' s virtual area. The exact command parameters shall undergo programming before the work is completed. The semi-transparent glasses fitted with the sensors to scan the operator ' s control gestures form the operator ' s module or the device deployed. This includes adding the co-ordinates in 3D space, defining the previously known positions, distances, instruction sequences, etc.

The special instructions are performed by repeated double confirmation on the operator ' s virtual area desktop and shall be pre-programmed depending on the working platform type 4. The ground station 2 represents the technological equipment consisting of the carrier 3 and working platform 4, power supply i.e. the supply voltage with power cord as the primary possibility to power the device and the use of the alternative battery module in the future. Moreover, this consists of the ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system.

The ground station 2 may either be stationary or mobile in the form of a delivery van, pick-up, trailer or semi-trailer attached to a tractor.

The carrier 3 forms the key part of the complex, i.e. the flying device itself with the limited range and controlled movement providing manoeuvrability in a stable horizontal position without tilts (contrary to the drone common structure). The device consists of 6 vector stroke motor units 5, 6, in a sheltered form preventing the foreign particles from penetration and an obstacle within the application area of device operation from contacting.

Four special motor units 5 provide classical manoeuvrability of both arrival and departure operations via GPS and GLONAS localization. Their primary function is to keep the carrier 3 in a stable horizontal position within the work performance application area to a centimetre accuracy provided by independent inertial equipment having a zero point of the precisely located ground station 2.

The motor units 6, located at the edges of the carrier, provide manoeuvrability within the stable horizontal position. They have been located on the tilt - swivel motor joint which allows them to develop force against the desired movement direction in a programmable way. The central motor units 5 control the compensating tilt in an electronic way. In this way, it is possible to ensure precise manoeuvrability within the application area with centimetre accuracy as a prerequisite for successful industrial application. Except for precise manoeuvrability, this method makes possible do develop the pressing force needed to carry out any contact operation of the carrier working platform 3.

Because the common flight mode requires the motor units configuration mentioned, its transportation to the workplace would pose considerable problems due to the structure dimensions. The folding structure addresses the problem; thereby the entire carrier is put into the transport mode.

The motor equipped with worm gears tilts the edge motor unit 6. The mechanism tilts the edge propeller unit 6 within the horizontal-perpendicular position to the flight plane range (horizontal). The gear itself is associated with the control motor equipped with the two-sided articulated shaft. The mechanism ensures left-right vector control of the flying element central part free of tilting.

The central motor rotates the motor unit 6 in the range of 0-180 degrees which makes possible to apply pressure, approach and separation to and from the working area.

The technological equipment carrier 3 consists of 6 motor units. Four central motor units 5 provide elevation and manoeuvring in a classical flight mode and the two edge ones 6 provide the carrier manoeuvring and driving to the working area. Each motor unit 5, 6, features the support frame to mount the drive unit, pilot tunnel for air flow and the propeller attached to the motor unit 5, 6.

The working platform allows the industrial task application implementation to take place. The working platform is suspended under the carrier to stabilize the entire system centre of gravity.

The working platform 4 consists of the activity applicator and other support subsystems necessary to carry out its activity, as well as the power sources or fillings needed for its operation. The undercarriage equipped with the wheels, skids or floats also forms an essential part of the working platform 4 following its operation nature.

Just to clarify, the working platform 4 allows the vertical surfaces to clean in an industrial method via a contact manner and/or using a robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spray.

Technological equipment for work at height consisting of the operator ' s module, ground station, motors and propellers-fitted carrier with GPS and GLONASS localization, cameras and working platform. The operator ' s module 1 is wired and/or wirelessly connected to the ground station 2, whereby the operator ' s module 1 also consists of semi-transparent glasses fitted with sensors to scan the operator ' s control gestures, moreover, the ground station 2 is wired or wirelessly connected to the carrier 3, where the carrier 3 is equipped with six motor units 5 and 6 with the propellers to drive the device, the control unit to control the carrier movement 3, whereby the carrier 3 is connected to the working platform 4, the working platform 4 is wired and/or wirelessly connected to the ground station 2, whereby the working platform 4 consists of the applicator to implement the industrial operations and the supporting subsystems required for its activity, moreover, the ground station 2 consists of the systems to receive, process and send the signals to control the carrier 3, working platform 4 via the operator ' s module 1. The operator can either be a human and/or robot. The carrier 3 features four central motor units 5 with the propellers to keep the carrier 3 in a stable horizontal position within the implementation application area and two edge motor units 6 with the propellers located on the carrier 3 edges to assure the manoeuvrability in the stable horizontal position. The edge motor units 6 with the propellers have been located on the tilt - swivel motor joint 8 to develop vector force against the desired movement direction in a programmable way. The carrier 3 consists of the tilting mechanism 7 to tilt the edge motor unit using the motor with worm gears, where the two-sided articulated shaft links the set of gears itself with the control motor. The working platform 4 is suspended under the carrier 3 to stabilize the entire system centre of gravity. The industrial operation implementation applicator represents the tools designed to clean the vertical surfaces via a contact manner and/or the robotic handling arm or gripper and/or drilling and/or paint, wax, gel or liquid spraying tools. The support systems represent the power sources or the fillings needed for the applicators to operate. The working platform 4 consists of the undercarriage equipped with the wheels, skids or floats. The working platform 4 consists of the power supply such as supply voltage via the power cable and the battery power source, ground stations for RC signals, telemetric data, camera broadcasting, centimetre inertial navigation, control electronics, power electronics, external signalling, diagnostics and programming I/O ports, battery cells charger, 3D area of work activity download and evaluation system with the ability to add the 3D spatial objects scanning system and the flight patch control system. The ground station 2 can either be stationary or mobile.