TWI590989B - Unmanned aerial vehicle for engineering with auxiliary stabilizing function - Google Patents
Unmanned aerial vehicle for engineering with auxiliary stabilizing function Download PDFInfo
- Publication number
- TWI590989B TWI590989B TW104124005A TW104124005A TWI590989B TW I590989 B TWI590989 B TW I590989B TW 104124005 A TW104124005 A TW 104124005A TW 104124005 A TW104124005 A TW 104124005A TW I590989 B TWI590989 B TW I590989B
- Authority
- TW
- Taiwan
- Prior art keywords
- carrier
- auxiliary
- unmanned aerial
- aerial vehicle
- module
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Toys (AREA)
Description
本發明為有關一種無人飛行載具，尤指一種具有輔助穩定功能的工程用無人飛行載具。 The invention relates to an unmanned aerial vehicle, in particular to an engineering unmanned aerial vehicle with an auxiliary stabilization function.
隨著基礎建設、商業建築及都會的蓬勃發展，超高樓建築或摩天大樓建築已屢見不鮮，除了建築技術和工程設計的工藝外，落成後的高樓外牆翻修、清潔或佈置等，亦為高技術及高危險性之工作。 With the rapid development of infrastructure, commercial buildings and cities, super-high-rise buildings or skyscraper buildings have become commonplace. In addition to the techniques of construction technology and engineering design, the renovation, cleaning or layout of the high-rise exterior walls after completion is also High-tech and high-risk work.
習知技術中，有採高空作業平台者，例如中華民國新行專利公告第M487337號，揭示一種具移動性之摺疊式高空作業平台，主要包括一支撐腳架、一摺疊裝置、一氣壓桿裝置、一H型梯架以及一作業平台，該支撐腳架設有複數個支柱，底部設有滾輪組，該摺疊裝置組設於該支撐腳架上，該氣壓桿裝置樞接於該支撐腳架及該摺疊裝置上，該H型梯架樞設於該支撐腳架上，該作業平台設有複數把手元件，該作業平台組設於該摺疊裝置上，透過該氣壓桿裝置、該摺疊裝置及該H型梯架，可使該作業平台上升至一定高度鎖合固定，使作業人員可於高空中作業。或者，亦有採用繩索技術者，例如中華民國新型專利第M405878號，揭示一種雙索式安全母索支撐器，主要包括一固定座及一滑動防墜件，該固定座底部包括一鎖固孔，該固定座頂部包括一板片，板片兩側各設一管體。該滑動防墜件包括一塊體，頂部設一扣環，以供連結一安全繩，塊體兩側各樞設一翼片，各翼片之斷面各形成一具有缺口之框圍，各翼片根部各凸伸一凸抵部，且 於各凸抵部之旋轉路徑上設一止擋片，以供各翼片旋擺至一預定角度各凸抵部可恰好抵於止擋片。藉此，固定座可供二安全母索穿伸並連結，當其中一安全母索因鏽蝕、磨損或金屬疲乏等而無法承受高空作業人員發生意外墜落時對其所產生之衝力，尚有另一安全母索可提供支撐。 Among the prior art, there are those who use aerial work platforms, such as the Republic of China New Zealand Patent Publication No. M487337, which discloses a movable folding aerial work platform, which mainly comprises a support stand, a folding device and a pneumatic rod device. An H-shaped ladder frame and a work platform, the support stand is provided with a plurality of pillars, and a roller set is arranged at the bottom, the folding device is disposed on the support stand, and the pneumatic rod device is pivotally connected to the support stand and In the folding device, the H-shaped ladder frame is pivotally disposed on the support stand, the work platform is provided with a plurality of handle elements, and the work platform is assembled on the folding device, through the pneumatic rod device, the folding device and the The H-shaped ladder frame can raise the working platform to a certain height to lock and fix, so that the operator can work in the air. Alternatively, there is also a rope technology, such as the Republic of China new patent No. M405878, which discloses a double cable type safety cable support, which mainly comprises a fixing seat and a sliding anti-drop member, and the bottom of the fixing base includes a locking hole. The top of the fixing base comprises a plate, and a tube body is arranged on each side of the plate. The sliding anti-falling member comprises a body, a buckle is arranged on the top for connecting a safety rope, and a wing piece is pivoted on each side of the block body, and each of the airfoil sections forms a frame with a notch, each wing piece Each of the roots protrudes from the convex portion, and A stop piece is disposed on the rotation path of each convex abutting portion for each of the fins to swing to a predetermined angle, and each of the convex abutting portions can just abut against the stop piece. Thereby, the fixing seat can be used for the two safety mother cables to be stretched and connected, and when one of the safety mother cables cannot withstand the impact of the accidental fall of the high-altitude workers due to corrosion, wear or metal fatigue, there is another A safety mother cable can provide support.
然，無論上述何者，皆須作業人員在高空處進行施工，仍具備一定程度的危險性，且如遇環境因素干擾，不僅工作效率和進度會受到影響，且工安事故的風險會增高。因此，遂有業者發展出以無人飛行器取代作業人員在高空處進行施工，藉此降低人員發生傷亡之風險，並確保作業效率。惟，當該無人飛行器欲進行施工時，難免會受天候狀況或環境因素的影響，導致飛行軌跡或其與目標物之間的距離不穩定，因而影響施工品質和效率。 However, no matter which of the above, the operator must carry out construction at high altitude, and still have a certain degree of danger, and in case of environmental factors, not only the work efficiency and progress will be affected, but the risk of work safety accidents will increase. As a result, employers have developed unmanned aerial vehicles to replace workers at high altitudes, thereby reducing the risk of casualties and ensuring operational efficiency. However, when the unmanned aerial vehicle is to be constructed, it is inevitably affected by weather conditions or environmental factors, resulting in unstable flight trajectories or distances from the target, thus affecting construction quality and efficiency.
本發明的主要目的，在於解決工程用無人飛行載具因受天候狀況或環境因素之影響，而無法維持穩定的飛行狀態之問題。 The main object of the present invention is to solve the problem that an unmanned aerial vehicle for engineering cannot maintain a stable flight state due to weather conditions or environmental factors.
為達上述目的，本發明提供一種具有輔助穩定功能的工程用無人飛行載具，係用以在一遠離地面的高度對一待施工面進行施工，該工程用無人飛行載具包含有：一飛行模組，包括一承載體、至少一連接於該承載體的第一支撐桿、至少一設置於該第一支撐桿遠離該承載體的主旋轉件以及一透過該第一支撐桿驅動該主旋轉件轉動以讓該飛行模組得於該高度飛行的驅動組件；一設於該承載體的施工模組，包括一朝該承載體外橫向突出的施工件；以及一設置於該承載體的輔助穩定模組，包含有一連接於該承載體的第二支撐桿以及一設置於該第二支撐桿遠離該承載體的輔助旋轉件，該輔助旋轉件受該驅動組件驅動而提供一側向輔助推力，而使該施工件穩定地對該待施工面施工。 To achieve the above object, the present invention provides an engineering unmanned aerial vehicle having an auxiliary stabilizing function for constructing a to-be-constructed surface at a height away from the ground, the unmanned aerial vehicle comprising: a flight The module includes a carrier, at least one first support rod connected to the carrier, at least one main rotating member disposed on the first support rod away from the carrier, and a main rotation driven by the first support rod a rotation of the piece to obtain the flight module of the flight module; a construction module disposed on the carrier body, including a construction member laterally protruding toward the outside of the carrier; and an auxiliary stabilization disposed on the carrier The module includes a second support rod connected to the carrier and an auxiliary rotating member disposed on the second support rod away from the carrier. The auxiliary rotating member is driven by the driving assembly to provide a side auxiliary thrust. The construction member is stably constructed on the surface to be constructed.
綜上所述，藉由該輔助穩定模組的設置，使該工程用無人飛行載具得不受側風的影響，穩定地在高空中處於一範圍內，以與該待施工面維持適當且穩定的距離，因此可以使該施工件穩定地對該待施工面施工。 In summary, with the setting of the auxiliary stabilizing module, the unmanned aerial vehicle for the project is not affected by the crosswind, and is stably in a range in the sky to maintain proper and the surface to be constructed. The stable distance allows the construction part to be stably applied to the surface to be constructed.
10‧‧‧飛行模組 10‧‧‧ Flight Module
11‧‧‧承載體 11‧‧‧Carrier
111‧‧‧底側 111‧‧‧ bottom side
112‧‧‧側邊 112‧‧‧ side
112a‧‧‧第一側邊 112a‧‧‧ first side
112b‧‧‧第二側邊 112b‧‧‧Second side
12‧‧‧第一支撐桿 12‧‧‧First support rod
13‧‧‧主旋轉件 13‧‧‧Main rotating parts
14‧‧‧驅動組件 14‧‧‧Drive components
15‧‧‧控制模組 15‧‧‧Control Module
20‧‧‧施工模組 20‧‧‧ Construction Module
21‧‧‧施工件 21‧‧‧ Construction parts
211‧‧‧施工端 211‧‧‧ construction end
30‧‧‧輔助穩定模組 30‧‧‧Auxiliary Stabilization Module
31、31a、31b、31c‧‧‧第二支撐桿 31, 31a, 31b, 31c‧‧‧ second support rod
32、32a、32b、32c‧‧‧輔助旋轉件 32, 32a, 32b, 32c‧‧‧Auxiliary rotating parts
40‧‧‧待施工面 40‧‧‧Development surface
50‧‧‧供電單元 50‧‧‧Power supply unit
60‧‧‧外部電線 60‧‧‧External wires
70‧‧‧支撐架 70‧‧‧Support frame
80‧‧‧錄影鏡頭 80‧‧‧Video footage
圖1，為本發明第一實施例的立體示意圖。 Figure 1 is a perspective view of a first embodiment of the present invention.
圖2，為本發明第一實施例的功能方塊示意圖。 FIG. 2 is a schematic diagram of a functional block of a first embodiment of the present invention.
圖3，為本發明第二實施例的立體示意圖。 Figure 3 is a perspective view of a second embodiment of the present invention.
圖4，為本發明第三實施例的立體示意圖。 Figure 4 is a perspective view of a third embodiment of the present invention.
有關本發明的詳細說明及技術內容，現就配合圖式說明如下：請參閱「圖1」及「圖2」，分別為本發明第一實施例的立體示意圖以及功能方塊示意圖，本發明為一種具有輔助穩定功能的工程用無人飛行載具，係用以在一遠離地面的高度對一待施工面40進行施工，該工程用無人飛行載具包含有一飛行模組10、一施工模組20及一輔助穩定模組30，該飛行模組10包括一承載體11、至少一第一支撐桿12、至少一主旋轉件13以及一驅動組件14，該承載體11包括一頂側、一底側111以及一連接於該頂側和該底側111之間的側邊112，於本實施例中，該側邊112包括一第一側邊112a以及一與該第一側邊112a相異的第二側邊112b。該第一支撐桿12連接於該承載體11，該主旋轉件13設置於該第一支撐桿12遠離該承載體11，並透過該驅動組件14驅動該主旋轉件13轉動以讓該飛行模組10得於該高度飛行。該施工模組20設於該承載體11上並包括一施工件21，該施工件21設置 於該第一側邊112a，並朝該承載體11外橫向突出，且該施工件21具有遠離該承載體11的一施工端211。該承載體11更包含有一容置空間，以容置該施工件21所需之物料，舉例來說，該容置空間可以與該施工件21相連通，而持續供給物料給該施工件21，或者該施工件21可以伸入該容置空間內，以沾取物料來進行外牆粉刷工作。 The detailed description and technical contents of the present invention are as follows: FIG. 1 and FIG. 2 are respectively a perspective view and a functional block diagram of a first embodiment of the present invention, and the present invention is a schematic diagram of a functional block. The engineering unmanned aerial vehicle with auxiliary stabilization function is used for constructing a to-be-constructed surface 40 at a height away from the ground. The unmanned aerial vehicle includes a flight module 10 and a construction module 20 and An auxiliary stabilization module 30 includes a carrier 11 , at least one first support bar 12 , at least one main rotary member 13 , and a drive assembly 14 . The carrier 11 includes a top side and a bottom side. The first side 112a and the first side 112a are different from the first side 112a. Two sides 112b. The first supporting rod 12 is connected to the carrier 11 , and the main rotating member 13 is disposed on the first supporting rod 12 away from the carrier 11 and drives the main rotating member 13 to rotate through the driving assembly 14 to allow the flying mold to Group 10 is flying at this altitude. The construction module 20 is disposed on the carrier 11 and includes a construction member 21, and the construction member 21 is disposed The first side 112a protrudes laterally toward the outside of the carrier 11, and the construction member 21 has a construction end 211 away from the carrier 11. The carrier 11 further includes an accommodating space for accommodating the material required for the construction member 21. For example, the accommodating space can communicate with the construction member 21, and the material is continuously supplied to the construction member 21. Alternatively, the construction member 21 can be inserted into the accommodating space to take the material for the external wall painting work.
該輔助穩定模組30設置於該承載體11，包含有至少一連接於該承載體11的第二支撐桿31以及至少一設置於該第二支撐桿31遠離該承載體11的輔助旋轉件32，於本實施例中，該第二支撐桿31設置於該承載體11的該第二側邊112b。該輔助旋轉件32受該驅動組件14驅動而提供一側向輔助推力，而使該施工件21可穩定地對該待施工面40施工。於實際操作時，該工程用無人飛行載具會逐漸朝該待施工面40靠近，此時當該工程用無人飛行載具受到側風影響時，將啟動該輔助旋轉件32以抵抗該側風，進而使該工程用無人飛行載具能穩定地在高空中處於一範圍內，以與該待施工面40維持適當且穩定的距離，因此可以使該施工件21穩定地對該待施工面40施工，且該輔助穩定模組30的設置位置可以依據使用者的需求而有不同的變化。於本實施例中，該輔助旋轉件32包括至少二螺旋槳槳葉以及一由該二螺旋槳槳葉之轉動所形成的槳葉面，該槳葉面與一垂直面之間夾一角度，該垂直面係平行於該承載體11之該第一側邊112a，該角度介於-30°和+30°之間。 The auxiliary stabilization module 30 is disposed on the carrier 11 and includes at least one second support rod 31 connected to the carrier 11 and at least one auxiliary rotation member 32 disposed on the second support rod 31 away from the carrier 11 In this embodiment, the second support rod 31 is disposed on the second side 112b of the carrier 11. The auxiliary rotating member 32 is driven by the driving assembly 14 to provide a lateral auxiliary thrust, so that the construction member 21 can stably construct the surface 40 to be constructed. In actual operation, the unmanned aerial vehicle for the project will gradually approach the to-be-constructed surface 40. At this time, when the unmanned aerial vehicle is affected by the crosswind, the auxiliary rotating member 32 will be activated to resist the crosswind. Therefore, the unmanned aerial vehicle for the project can be stably placed in a range in the sky to maintain an appropriate and stable distance with the to-be-constructed surface 40, so that the construction member 21 can stably stabilize the surface to be constructed 40. The installation position of the auxiliary stabilization module 30 can be changed according to the needs of the user. In the embodiment, the auxiliary rotating member 32 includes at least two propeller blades and a blade surface formed by the rotation of the two propeller blades, and the blade surface and an vertical surface are at an angle, the vertical The face is parallel to the first side 112a of the carrier 11, the angle being between -30° and +30°.
本實施例中，該飛行模組10更包含有一控制模組15，該工程用無人飛行載具更包含有一供電單元50、一外部電線60、一支撐架70以及一錄影鏡頭80，該供電單元50可設置於地面或其他地方，並透過該外部電線60電性連接於該控制模組15而持續輸入一電力至該控制模組15，以供應該工程用無人飛行載具長時間工作所需要之電力。該控制模組15電性連接於該 驅動組件14，該驅動組件14則用於驅動該主旋轉件13和該輔助旋轉件32，以控制該工程用無人飛行載具的飛行軌跡。該支撐架70則設置於該承載體11的該底側111，供該工程用無人飛行載具停止施工以及降落時，可以平穩安全的置於地面上，而不會使該承載體11或該施工模組20碰觸到地面而損壞。該錄影鏡頭80則用以確認施工區域以及該施工件21施工的情況。此外，該工程用無人飛行載具可進一步包含一感測元件，該感測元件可設置於該承載體11上，以感測該承載體11與該待施工面40之間的距離，而感測的方式可以為聲波感測或感測光線反射等方式，但不以此為限。 In this embodiment, the flight module 10 further includes a control module 15 , the engineering unmanned aerial vehicle further includes a power supply unit 50 , an external wire 60 , a support frame 70 , and a video lens 80 . 50 can be disposed on the ground or other places, and is electrically connected to the control module 15 through the external wire 60 to continuously input a power to the control module 15 to supply the unmanned aerial vehicle for engineering work for a long time. Electricity. The control module 15 is electrically connected to the A drive assembly 14 is used to drive the main rotary member 13 and the auxiliary rotary member 32 to control the flight path of the engineering unmanned aerial vehicle. The support frame 70 is disposed on the bottom side 111 of the carrier 11 for the construction of the unmanned aerial vehicle for construction and landing, and can be smoothly and safely placed on the ground without the carrier 11 or the The construction module 20 is damaged by touching the ground. The video lens 80 is used to confirm the construction area and the construction of the construction member 21. In addition, the unmanned aerial vehicle can further include a sensing component, and the sensing component can be disposed on the carrier 11 to sense the distance between the carrier 11 and the surface 40 to be applied. The method of measuring may be sound wave sensing or sensing light reflection, but not limited thereto.
續參閱「圖3」、「圖4」所示，分別為本發明的第二實施例和第三實施例的立體示意圖。於本發明的第二實施例中，該輔助穩定模組30包含兩第二支撐桿31a、31b以及兩輔助旋轉件32a、32b，該第二支撐桿31a、31b分別設置於該承載體11的該頂側與該底側111；另於本發明的第三實施例中，該輔助穩定模組30包含三個第二支撐桿31a、31b、31c以及三個輔助旋轉件32a、32b、32c，該第二支撐桿31a、31b分別設置於該承載體11的該頂側與該底側111，該第二支撐桿31c以及該輔助旋轉件32c設置於該承載體11的該第二側邊112b。 3 and FIG. 4 are respectively perspective views of the second embodiment and the third embodiment of the present invention. In the second embodiment of the present invention, the auxiliary stabilizing module 30 includes two second supporting rods 31a and 31b and two auxiliary rotating members 32a and 32b. The second supporting rods 31a and 31b are respectively disposed on the carrier 11 The top side and the bottom side 111; in addition to the third embodiment of the present invention, the auxiliary stabilization module 30 includes three second support rods 31a, 31b, 31c and three auxiliary rotating members 32a, 32b, 32c. The second support rods 31a and 31b are respectively disposed on the top side and the bottom side 111 of the carrier 11. The second support rod 31c and the auxiliary rotating member 32c are disposed on the second side 112b of the carrier 11. .
綜上所述，本發明藉由該輔助穩定模組的設置，使該工程用無人飛行載具得不受側風的影響，穩定地在高空中處於一範圍內，以與該待施工面維持適當且穩定的距離，因此可以使該施工件穩定地對該待施工面施工。因此，本發明極具進步性及符合申請發明專利的要件，爰依法提出申請，祈鈞局早日賜准專利，實感德便。 In summary, the present invention enables the unmanned aerial vehicle to be unaffected by the crosswind by the setting of the auxiliary stabilizing module, and is stably in a range in the sky to maintain the surface to be constructed. The proper and stable distance makes it possible to stably construct the construction member to the surface to be constructed. Therefore, the present invention is highly progressive and conforms to the requirements of the invention patent application, and the application is filed according to law, and the praying office grants the patent as soon as possible.
以上已將本發明做一詳細說明，惟以上所述者，僅為本發明的一較佳實施例而已，當不能限定本發明實施的範圍。即凡依本發明申請範圍所作的均等變化與修飾等，皆應仍屬本發明的專利涵蓋範圍內。 The present invention has been described in detail above, but the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention. That is, the equivalent changes and modifications made by the scope of the present application should remain within the scope of the patent of the present invention.
10‧‧‧飛行模組 10‧‧‧ Flight Module
11‧‧‧承載體 11‧‧‧Carrier
111‧‧‧底側 111‧‧‧ bottom side
112‧‧‧側邊 112‧‧‧ side
112a‧‧‧第一側邊 112a‧‧‧ first side
112b‧‧‧第二側邊 112b‧‧‧Second side
12‧‧‧第一支撐桿 12‧‧‧First support rod
13‧‧‧主旋轉件 13‧‧‧Main rotating parts
20‧‧‧施工模組 20‧‧‧ Construction Module
21‧‧‧施工件 21‧‧‧ Construction parts
211‧‧‧施工端 211‧‧‧ construction end
30‧‧‧輔助穩定模組 30‧‧‧Auxiliary Stabilization Module
31‧‧‧第二支撐桿 31‧‧‧second support rod
32‧‧‧輔助旋轉件 32‧‧‧Auxiliary rotating parts
40‧‧‧待施工面 40‧‧‧Development surface
60‧‧‧外部電線 60‧‧‧External wires
70‧‧‧支撐架 70‧‧‧Support frame
80‧‧‧錄影鏡頭 80‧‧‧Video footage
Claims (7)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104124005A TWI590989B (en) | 2015-07-24 | 2015-07-24 | Unmanned aerial vehicle for engineering with auxiliary stabilizing function |
| CN201610552824.9A CN106364673A (en) | 2015-07-24 | 2016-07-14 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104124005A TWI590989B (en) | 2015-07-24 | 2015-07-24 | Unmanned aerial vehicle for engineering with auxiliary stabilizing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201704097A TW201704097A (en) | 2017-02-01 |
| TWI590989B true TWI590989B (en) | 2017-07-11 |
Family
ID=57880977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW104124005A TWI590989B (en) | 2015-07-24 | 2015-07-24 | Unmanned aerial vehicle for engineering with auxiliary stabilizing function |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106364673A (en) |
| TW (1) | TWI590989B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107013018A (en) * | 2017-03-01 | 2017-08-04 | 浙江大学 | A kind of high-rise outer rendering robot |
| CN107007223B (en) * | 2017-05-03 | 2018-03-23 | 晨龙飞机（荆门）有限公司 | A kind of four rotor building body surface cleaning apparatus |
| NL2019523B1 (en) * | 2017-09-11 | 2019-03-19 | Ronik Inspectioneering B V | Unmanned aerial vehicle for positioning against a wall |
| CN109549575A (en) * | 2017-09-24 | 2019-04-02 | 呼木吉勒 | A kind of open air curtain cleaning unmanned plane |
| US11845545B2 (en) | 2018-11-16 | 2023-12-19 | Nact Engineering Pte. Ltd | Self-propelled payloads for aircraft |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8590828B2 (en) * | 2010-02-24 | 2013-11-26 | Robert Marcus | Rotocraft |
| KR101400397B1 (en) * | 2012-11-13 | 2014-05-27 | 재단법인대구경북과학기술원 | Solar panel management Aerial Robot |
| CN103112587A (en) * | 2013-02-27 | 2013-05-22 | 曾小敏 | Aircraft |
| DE102013104447A1 (en) * | 2013-04-30 | 2014-10-30 | Niederberger-Engineering Ag | Automated and flexible self-climbing landing gear with flight characteristics |
| CN204210732U (en) * | 2014-11-05 | 2015-03-18 | 国网辽宁省电力有限公司检修分公司 | A kind of four rotor wing unmanned aerial vehicles for removing the flammable foreign matter in high-altitude |
| CN104787342B (en) * | 2015-05-11 | 2016-06-01 | 厦门大学 | Based on without man-machine curtain cleaning method |
-
2015
- 2015-07-24 TW TW104124005A patent/TWI590989B/en not_active IP Right Cessation
-
2016
- 2016-07-14 CN CN201610552824.9A patent/CN106364673A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| TW201704097A (en) | 2017-02-01 |
| CN106364673A (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI590989B (en) | Unmanned aerial vehicle for engineering with auxiliary stabilizing function | |
| US10618652B2 (en) | Surface washing drone | |
| US10265855B2 (en) | Wall-climbing aerial robot mechanism and method of controlling the same | |
| EP3022117B1 (en) | Automatic, flexibly usable self-climbing unit with flying capability | |
| JP4679527B2 (en) | Biped robot | |
| KR20160049810A (en) | Apparatus for testing multirotor system | |
| KR102075315B1 (en) | protection paint mist scattering cage for tower wagon | |
| CN204139581U (en) | Seal combination scaffold floor | |
| KR101589375B1 (en) | Roof Working Device | |
| JP2020033791A (en) | Mobile elevation type scaffold | |
| JP6726026B2 (en) | Ladder car | |
| TWI590988B (en) | Unmanned aerial vehicle used in engineering | |
| CN107178306B (en) | Assembled stair for bridge detection and application method thereof | |
| US20160083969A1 (en) | Platform system for greenhouse roof | |
| Kruglova et al. | Robotic laser inspection of airplane wings using quadrotor | |
| KR20170000647U (en) | Folding/unfolding platform for hangar | |
| JP3462576B2 (en) | Method and apparatus for narrow space construction of exterior finishing panel | |
| WO2021042672A1 (en) | Mobile platform for exterior wall construction of building | |
| TWM513245U (en) | Detachable high altitude working gallery | |
| TWM474778U (en) | Improved working scaffold horizontal deckstructure with stepping up and down device and hand rail | |
| CN217759927U (en) | Climb a uninstallation device | |
| US20090019712A1 (en) | Apparatus and Method of Displaying Designs for a Building | |
| CN114212724B (en) | Lifting platform device with mouse baffle for inspection robot | |
| Nanemeh | Design of a window cleaning robot for high rise buildings. | |
| KR102084127B1 (en) | Extended access stair for life saving ladders |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |