A jet-suction landing gear for a rotary-wing unmanned aerial vehicle

Abstract

The present invention discloses a jet-suction tripod for a rotary-wing unmanned aerial vehicle, which comprises a UAV body and a jet-suction tripod. The jet-suction tripod includes a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, a jet-suction device and a rubber gasket. The jet-suction device includes a motor, a fan, an air port, air holes and a filter screen. A pressure sensor is installed inside the rubber gasket. The jet-suction tripod of the rotary-wing unmanned aerial vehicle changes the direction of jetting according to the airflow direction during flight to offset the influence of the airflow on the tilt angle of the UAV. When a certain rotor of the UAV fails, the jet-suction tripod jets air at a specific angle to cope with the emergency failure of the UAV, improving the reliability of the UAV. By switching between the jetting and suction working modes of the jet-suction tripod, the UAV can be adsorbed on a vertical plane or an inclined plane, and can assist the UAV to take off smoothly on an inclined plane with a relatively large tilt angle.

Description

Technical Field

[0001] This invention patent relates to the technical field of unmanned aerial vehicles, in particular to a jet-suction landing gear for a rotary-wing unmanned aerial vehicle. Background Art

[0002] Most of the unmanned aerial vehicles on the market at present are rotary-wing unmanned aerial vehicles. Such unmanned aerial vehicles have poor wind resistance and low load-carrying capacity. During the flight of the unmanned aerial vehicle, it is inevitable that the wind will generate a force on the unmanned aerial vehicle. Under this force, the unmanned aerial vehicle will tilt to a certain extent. When the tilt angle of a multi-rotor aircraft exceeds 30°, the lift of the rotor drops suddenly, which will cause it to accelerate and fall, and the unmanned aerial vehicle will lose balance and be difficult to control. When flying at high altitudes, the changes in the magnitude and direction of the wind force are unpredictable. Conventional unmanned aerial vehicles change the direction of their own lift by changing the pitch angle and roll angle to resist wind resistance. During this period, it is easy to have a position offset. If it is equipped with an aerial camera, it will also affect the shooting angle and stability.

[0003] Existing unmanned aerial vehicles rely entirely on the propellers to provide lift during takeoff and landing. Generally, civilian unmanned aerial vehicles are equipped with cameras for remote operation, which will cause the body weight to be unbalanced, and problems such as body tilt and center-of-gravity offset are likely to occur during takeoff and landing. During the inclined-plane takeoff and landing process, if only the propellers provide lift, the lift at this time is inclined. The vertical component force is used to overcome the gravity of the unmanned aerial vehicle, while the horizontal component force will further accelerate the development of the body tilt and center-of-gravity offset imbalance direction of the unmanned aerial vehicle, increasing the risk of the unmanned aerial vehicle tipping over, restricting the inclined-plane angle during takeoff and landing of the unmanned aerial vehicle, and further restricting the takeoff and landing environment of the unmanned aerial vehicle.

[0004] There are relatively big problems for general unmanned aerial vehicles to land on slopes or rough roads. In response to this problem, some special unmanned aerial vehicles have been designed. For example, the authorized Chinese invention patent (CN110329495B) discloses an adsorption device for an unmanned aerial vehicle and its adsorption method. In step one of this patent, the unmanned aerial vehicle is made to tilt autonomously. When the tilt angle of the rotary-wing unmanned aerial vehicle body exceeds 30°, the rotor cannot provide enough lift, resulting in the crash of the unmanned aerial vehicle. In addition, due to the autonomous tilt of the unmanned aerial vehicle, the lift direction provided by the rotor of the unmanned aerial vehicle is inclined at this time and leans towards the wall. The vertical component force is used to overcome the gravity of the unmanned aerial vehicle, while the horizontal component force is directed towards the wall. Therefore, the propellers of the unmanned aerial vehicle are closer to the wall, while the adsorption component is farther away from the wall, and it is very difficult to achieve the state of docking against the wall. How to solve the existing technical problems has become an urgent need for technical personnel in the relevant field. Summary of the Invention

[0005] The object of the present invention is to provide a jet-suction landing gear for a rotor unmanned aerial vehicle (UAV). The jet-suction landing gear can enable the UAV to adsorb on a vertical plane or an inclined plane, assist the UAV to take off smoothly on an inclined plane with a large inclination angle, and can cope with the emergency failure of the UAV and the situation of encountering strong air currents during flight, thereby improving the reliability of the UAV.

[0006] A jet-suction landing gear for a rotor UAV of the present invention comprises a UAV body and a jet-suction landing gear.

[0007] The said jet-suction landing gear includes a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, a jet-suction device and a rubber gasket.

[0008] The said horizontal rotating shaft and vertical rotating shaft are controlled by motors. The motors are connected to a controller through wires and receive control instructions sent by the controller to realize the control of their respective rotation angles.

[0009] The said connecting rod is of a curved and smooth structure and is used to connect the horizontal rotating shaft and the vertical rotating shaft to ensure that the air outlets of each jet-suction landing gear can face the same direction.

[0010] The said jet-suction device includes a motor, a fan, an air outlet, air holes and a filter screen. Fans are arranged both above and below the motor of the jet-suction device, and the double fans are provided to improve the jet-suction efficiency. A filter screen is installed between the fan above the motor and the air holes. When the jet-suction device works in the jet mode, the upper filter screen prevents dust and foreign matters from entering the fan through the air holes of the jet-suction device. A filter screen is installed between the fan below the motor and the air outlet. When the jet-suction device works in the suction mode, the lower filter screen prevents dust and foreign matters from entering the fan through the air outlet of the jet-suction device to avoid the occurrence of the fan being blocked and stopped. By driving the fan to rotate forward and backward by the motor, the jet and suction functions of the jet-suction device are realized. Three equally spaced circular air holes are provided on each side of the said jet-suction device. When the jet-suction device works, gas is ejected or inhaled through the air holes and the air outlet. The motor of the said jet-suction device is connected to the controller by a wire and receives control instructions sent by the controller.

[0011] The said rubber gasket is installed at the bottom of the jet-suction landing gear and plays a buffering role when the UAV lands. A pressure sensor is installed inside the rubber gasket, and the sensor returns a signal when the jet-suction landing gear touches the ground.

[0012] The adsorption method of the rotor UAV on a vertical wall surface comprises the following steps:

[0013] Step 1: The UAV in flight switches to the adsorption mode. In this mode, the lift provided by the rotors of the UAV is equal to the gravity of the UAV itself, and the controller sends instructions to each jet-suction landing gear of the UAV.

[0014] Step 2: After each air jet / suction footrest of the drone receives the control instruction sent by the controller, the two air jet / suction footrests closer to the vertical wall rotate the horizontal shaft and the vertical shaft, making the air nozzles of the closer air jet / suction footrests face inwards and perpendicular to the vertical wall. The two air jet / suction footrests farther from the vertical wall rotate the horizontal shaft and the vertical shaft, making the air nozzles of the farther air jet / suction footrests face outwards and perpendicular to the vertical wall.

[0015] Step 3: The controller sends an instruction to control the two air jet / suction footrests farther from the vertical wall to work in the air jet mode. The drone body is horizontally moved by the horizontal air jet of the two air jet / suction footrests. When the two air jet / suction footrests of the drone closer to the vertical wall are in full contact with the vertical wall, the pressure sensors in the rubber gaskets at the bottoms of the air jet / suction footrests feed back signals to the controller. After receiving the signals from the pressure sensors, the controller controls the air jet / suction footrests on this side to work in the air suction mode, making one side of the drone firmly adsorbed on the vertical wall, and controls the horizontal shaft and the vertical shaft of the air jet / suction footrests in the air suction mode, making the air nozzles of the air jet / suction footrests face vertically downwards. The drone rotors stop rotating, and the air jet from the air jet / suction footrests farther from the vertical wall provides the lift required by the drone.

[0016] Step 4: The drone slowly tilts towards the vertical wall. During the tilting process, the air jet / suction footrests in the air jet mode always jet air vertically downwards perpendicular to the drone body. The rotation angle of the vertical shaft of the air jet / suction footrests in the air suction mode changes with the pitch angle and roll angle of the drone, ensuring that the air jet / suction footrests are always perpendicular to the vertical wall.

[0017] Step 5: The drone continuously tilts until all the air jet / suction footrests are attached to the vertical wall. At this time, the pressure sensors in the rubber gaskets feed back signals to the controller, and the controller controls the air jet / suction footrests to work in the air suction mode, making the drone firmly adsorbed on the wall, realizing the adsorption of the drone on the vertical wall.

[0018] The inclined plane assisted take-off method for a rotor drone includes the following steps:

[0019] Step 1: After the drone is placed on the inclined plane and unlocked, the initial data of the pitch angle and roll angle are obtained.

[0020] Step 2: The controller obtains the relationship between the drone plane and the horizontal plane based on the initial data of the pitch angle and roll angle. The controller sends an instruction to control the air jet / suction footrests on the higher side to work in the air suction mode. The air jet / suction footrests on the lower side of the drone work in the air jet mode, making the drone plane approach the horizontal position.

[0021] Step 3: When the drone plane reaches the horizontal position, the suction-jet footrests in the suction mode switch to the jet mode. During the takeoff process, the pitch angle and roll angle of the drone are obtained in real time and the status of the drone is monitored. The controller sends corresponding instructions to control the motor speed in the suction-jet device according to the degree of change of the pitch angle and roll angle, and adjusts the jet force of each suction-jet footrest of the drone in real time. After the drone as a whole reaches the horizontal state, the controller controls the drone's rotors to start rotating to provide lift. When the drone reaches the set height from the ground, the suction-jet footrests stop jetting, and the takeoff is completed.

[0022] An emergency response method for a rotor drone, including the following steps:

[0023] Step 1: When the controller detects that the motor above a certain suction-jet footrest stops working, the unbalanced torque causes the drone to start rotating counterclockwise and unable to provide lift in this direction.

[0024] Step 2: The controller sends control instructions according to the position and rotation direction of the faulty rotor to control each suction-jet footrest to work in the jet mode. The vertical shaft of the suction-jet footrest directly below the faulty rotor rotates inward by a certain angle. After the adjacent two suction-jet footrests receive the control instructions, the horizontal shaft and the vertical shaft rotate by a certain angle, so that the air outlets of the adjacent two suction-jet footrests are both directed towards the suction-jet footrest directly below the faulty rotor, making the forces of the three suction-jet footrests jetting in the horizontal component cancel each other out, providing sufficient lift for the drone on the faulty side. After the suction-jet footrest diagonally opposite to the faulty rotor receives the control instructions, the air outlet of this suction-jet footrest is adjusted to the direction opposite to the rotation of the faulty rotor, canceling the torque generated during the rotation of this rotor and preventing the drone from spinning in place and being uncontrollable.

[0025] Step 3: All the suction-jet footrests work in the jet mode. According to the changes in the pitch angle, roll angle and yaw angle, the jet force of each suction-jet footrest is adjusted to keep the pitch angle, roll angle and yaw angle unchanged, keep the drone stable, and land safely on the ground.

[0026] A wind resistance method for a rotor drone, including the following steps:

[0027] Step 1: When the drone encounters air flow during flight in the air, the controller performs arithmetic processing on the degree of change of the pitch angle and roll angle to obtain the air flow direction and air flow magnitude acting on the drone.

[0028] Step 2: The controller sends corresponding control instructions to the horizontal shaft and the vertical shaft according to the air flow direction. The vertical shaft rotates clockwise by 90° to be perpendicular to the horizontal shaft, and the horizontal shaft rotates by a certain angle to make the air outlet direction the same as the air flow direction. At this time, the suction-jet footrest is in the wind resistance state.

[0029] Step 3: The controller sends a control instruction to the motor in the air jet and suction device according to the air flow size, making all the air jet and suction brackets work in the air jet mode. By controlling the motor speed, the air jet force of each air jet and suction bracket of the drone is controlled to complete the anti-wind function.

[0030] The beneficial effects of the present invention are as follows:

[0031] (1) By switching the air jet and suction brackets between the air jet mode and the air suction mode, the drone can be directly adsorbed on a vertical or inclined wall surface. Through the horizontal air jet of the air jet and suction brackets, there is no need to tilt the drone body close to the wall surface. The drone maintains a horizontal attitude and approaches the adsorbed wall surface, avoiding the situation where the propellers of the drone are closer to the wall surface when the drone is tilted, greatly enhancing the environmental adaptability of the drone.

[0032] (2) When the drone takes off, the air jet and suction brackets on the high side work in the air suction mode, and the air jet and suction brackets on the low side work in the air jet mode. After the drone is in a horizontal state, control the rotation of the drone's rotors to provide lift. All the air jet and suction brackets of the drone work in the air jet mode, and in combination with the pitch angle and roll angle of the drone, control the air jet force of each air jet and suction bracket of the drone to ensure that the drone is not affected by air flow changes and center of gravity offset during the takeoff process, and assist the drone to rise more quickly and smoothly.

[0033] (3) When a failure occurs in one of the rotors, motor or ESC of the drone, and the faulty rotor cannot provide lift, resulting in an imbalance in the lift of the drone and a crash situation, rotate the air jet and suction bracket directly below the faulty rotor inward by a certain angle, and the air inlets of the two adjacent air jet and suction brackets are both directed towards the air jet and suction bracket directly below the faulty rotor to assist the drone in providing lift on the faulty side. The air jet and suction bracket diagonally opposite the faulty rotor adjusts the air inlet to the direction opposite to the rotation of the faulty rotor to offset the torque generated when the rotor rotates, prevent the drone from spinning in place and being uncontrollable, avoid the loss of the drone falling from a height, and improve the reliability of the drone.

[0034] (4) The anti-wind ability of the drone during flight is improved. When the pitch angle and roll angle of the drone reach 30°, the anti-wind ability of the drone reaches the limit at this time. If the wind speed continues to increase, the drone cannot provide enough lift to maintain its balance and a crash phenomenon occurs. By jetting air through the air jet and suction brackets targeted at the wind direction, the anti-wind ability of the drone can be further improved, reducing the influence of air flow on the flight speed of the drone, solving the problem that the tilt angle of the drone is too large when encountering strong air flow during flight, avoiding the occurrence of rollover phenomena, ensuring the safe flight of the drone in the air, and improving the reliability of the drone. Description of the Drawings

[0035] Figure 1 is the overall view of the rotor drone;

[0036] Figure 2 It is a diagram of the jet-suction landing gear of a rotary-wing unmanned aerial vehicle;

[0037] Figure 3 It is a diagram of the jet-suction device of a rotary-wing unmanned aerial vehicle;

[0038] Figure 4 It is a schematic diagram of Step 1 in the adsorption method of a rotary-wing unmanned aerial vehicle;

[0039] Figure 5 It is a schematic diagram of Step 2 in the adsorption method of a rotary-wing unmanned aerial vehicle;

[0040] Figure 6 It is a schematic diagram of Step 3 in the adsorption method of a rotary-wing unmanned aerial vehicle;

[0041] Figure 7 It is a schematic diagram of Step 4 in the adsorption method of a rotary-wing unmanned aerial vehicle;

[0042] Figure 8 It is a schematic diagram of Step 5 in the adsorption method of a rotary-wing unmanned aerial vehicle;

[0043] Figure 9 It is an auxiliary take-off diagram of a rotary-wing unmanned aerial vehicle;

[0044] Figure 10 It is an emergency response status diagram for the failure of a rotary-wing unmanned aerial vehicle;

[0045] Figure 11 It is a wind resistance status diagram of a rotary-wing unmanned aerial vehicle. Detailed implementation manners

[0046] The following further describes the detailed implementation manners of the present invention in conjunction with the accompanying drawings.

[0047] As Figure 1 shown, a jet-suction landing gear of a rotary-wing unmanned aerial vehicle according to the present invention includes a drone body and a jet-suction landing gear.

[0048] As Figure 2 shown, the jet-suction landing gear includes a horizontal rotating shaft 1, a connecting rod 2, a vertical rotating shaft 3, a jet-suction device 4, and a rubber gasket 5. The horizontal rotating shaft 1 and the vertical rotating shaft 3 are controlled by motors, and the motors are connected to the controller through wires to receive control instructions sent by the controller to control their respective rotation angles. The connecting rod 2 has a curved and smooth structure and is used to connect the horizontal rotating shaft 1 and the vertical rotating shaft 3 to ensure that the jets of each jet-suction landing gear can face the same direction when jetting. The top of the jet-suction device 4 is connected to the vertical rotating shaft 3, and the rubber gasket 5 is installed at the bottom of the jet-suction landing gear to play a buffering role when the drone lands.

[0049] As Figure 3As shown in the figure, the jet-suction device 4 includes a motor 4-1, a fan 4-2, air holes 4-3, an air port 4-4, and a filter screen 4-5. Fans 4-2 are provided both above and below the motor 4-1 of the jet-suction device 4. Two fans are set to improve the jet-suction efficiency. A filter screen 4-5 is installed between the fan 4-2 above the motor 4-1 and the air holes 4-3. When the upper filter screen 4-5 is working in the jet mode, it prevents dust and foreign objects from entering the fan through the air holes 4-3 of the jet-suction device 4. A filter screen 4-5 is installed between the fan 4-2 below the motor 4-1 and the air port 4-4. When the lower filter screen 4-5 is working in the suction mode, it prevents dust and foreign objects from entering the fan 4-2 through the air port 4-4 of the jet-suction device 4, avoiding the occurrence of the fan 4-2 being blocked and stopped. By the motor 4-1 working to drive the fan 4-2 to rotate forward and backward, the jet and suction functions of the jet-suction device 4 are realized. Three equally spaced circular air holes 4-3 are provided on each side of the jet-suction device 4. When the jet-suction device 4 is working, the required ejected gas is inhaled through the upper air holes 4-3 and then ejected through the air port 4-4. Gas is ejected or inhaled through the air holes 4-3 and the air port 4-4. The motor 4-1 of the jet-suction device 4 is connected to the controller using a wire and receives the control instructions sent by the controller.

[0050] The adsorption method of a rotor unmanned aerial vehicle on a vertical wall surface includes the following steps:

[0051] Step 1: As Figure 4 shown, the unmanned aerial vehicle in flight switches to the adsorption mode. In this mode, the magnitude of the lift provided by the rotors of the unmanned aerial vehicle is equal to the gravity of the unmanned aerial vehicle itself. The controller sends instructions to the jet-suction footrests M1, M2, M3, and M4 of the unmanned aerial vehicle.

[0052] Step 2: As Figure 5 shown, after each jet-suction footrest of the unmanned aerial vehicle receives the control instructions sent by the controller, the horizontal rotating shaft of the jet-suction footrest M3 rotates counterclockwise by 45°, and the vertical rotating shaft of M3 rotates counterclockwise by 90°. The horizontal rotating shaft of the jet-suction footrest M4 rotates clockwise by 45°, and the vertical rotating shaft of M4 rotates counterclockwise by 90°, making the air port 4-4 of the jet-suction footrests M3 and M4 face inward perpendicular to the vertical wall surface. The horizontal rotating shaft of the jet-suction footrest M1 rotates clockwise by 45°, and the vertical rotating shaft of M1 rotates clockwise by 90°. The horizontal rotating shaft of the jet-suction footrest M2 rotates counterclockwise by 45°, and the vertical rotating shaft of M2 rotates clockwise by 90°, making the air port 4-4 of the jet-suction footrest face outward perpendicular to the vertical wall surface.

[0053] Step 3: As Figure 6As shown in the figure, the controller sends instructions to the motors 4-1 of the air jet and suction brackets M1 and M2 of the air jet and suction device 4. After receiving the control instructions, the motors 4-1 rotate forward, and the working modes of the air jet and suction brackets M1 and M2 are the air jet modes. The fuselage of the drone moves horizontally by means of horizontal air jet from the air jet and suction brackets M1 and M2. When the air jet and suction brackets M3 and M4 of the drone are in full contact with the vertical wall, the pressure sensors in the rubber gaskets 5 at the bottoms of the air jet and suction brackets feed back signals to the controller. After receiving the signals from the pressure sensors, the controller sends control instructions to the motors 4-1 in the air jet and suction device 4. After receiving the control instructions, the motors 4-1 rotate in reverse, and the working modes of the air jet and suction brackets M3 and M4 are the air suction modes, causing one side of the drone to firmly adhere to the vertical wall, and controlling the vertical rotation shafts 3 of the air jet and suction brackets M1 and M2 in the air suction mode to rotate counterclockwise by 90°, making the air ports 4-4 of the air jet and suction brackets M1 and M2 face vertically downward. The lift direction provided by the drone's rotors is perpendicular to the drone's body, and this lift will prevent the drone from tilting and approaching the vertical wall closely. Therefore, the drone's rotors stop rotating, and the lift required by the drone is provided by the air jet from the air jet and suction brackets M1 and M2.

[0054] Step Four: As Figure 7 shown in the figure, the drone slowly tilts towards the vertical wall. During the tilting process, the air jet and suction brackets M1 and M2 in the air jet mode always jet air vertically downward with respect to the drone's body. The rotation angles of the vertical rotation shafts 3 of the air jet and suction brackets M3 and M4 in the air suction mode change with the pitch angle and roll angle of the drone, ensuring that the air jet and suction brackets M3 and M4 are always perpendicular to the vertical wall.

[0055] Step Five: As Figure 8 shown in the figure, the drone continues to tilt until the air jet and suction brackets M1, M2, M3, and M4 are all attached to the vertical wall. At this time, the pressure sensors in the rubber gaskets 5 of the air jet and suction brackets M1 and M2 feed back signals to the controller. After receiving the signals from the pressure sensors, the controller sends control instructions to the motors 4-1 in the air jet and suction device 4. After receiving the control instructions, the motors 4-1 rotate in reverse, and the working modes of the air jet and suction brackets M1 and M2 are switched from the air jet mode to the air suction mode, causing the drone to firmly adhere to the wall, realizing the adsorption of the drone on the vertical wall.

[0056] As Figure 9 shown in the figure, the inclined plane assisted take-off method for a rotor drone includes the following steps:

[0057] Step One: After the drone is placed on the inclined plane and unlocked, the controller obtains the initial data of the pitch angle and roll angle.

[0058] Step 2: The controller obtains the initial data of the pitch angle and roll angle to get the relationship between the UAV plane and the horizontal plane. The controller sends instructions to control the jet-suction feet M3 and M4 on the higher side to work in the suction mode, and the jet-suction feet M1 and M2 on the lower side of the UAV to work in the jet mode, so as to make the UAV plane approach the horizontal position.

[0059] Step 3: When the UAV plane reaches the horizontal position, the controller sends a control instruction to the motor 4-1 in the jet-suction device 4. After receiving the control instruction, the motor 4-1 rotates forward. The working modes of the jet-suction feet M3 and M4 are switched from the suction mode to the jet mode. During the takeoff process, the pitch angle and roll angle of the UAV are obtained in real time and the state of the UAV is monitored. The controller sends corresponding instructions to control the rotation speed of the motor 4-1 in the jet-suction device 4 according to the change degree of the pitch angle and roll angle, and adjusts the jet force of the jet-suction feet M1, M2, M3 and M4 of the UAV in real time. After the UAV reaches the horizontal state as a whole, the controller controls the UAV rotor to start rotating to provide lift. When the UAV reaches the set height from the ground, the jet-suction feet stop jetting, and the takeoff is completed.

[0060] As Figure 10 shown, the emergency response method for the failure of the rotor UAV includes the following steps:

[0061] Step 1: The controller detects that the motor rotating counterclockwise above the jet-suction foot M1 stops working. Due to the lack of the rotor rotating counterclockwise, the unbalanced torque makes the UAV start to rotate counterclockwise and unable to provide lift in this direction.

[0062] Step 2: The controller sends control instructions to control each jet-suction foot to work in the jet mode according to the position and rotation direction of the faulty rotor. The vertical shaft 3 of the jet-suction foot M1 rotates counterclockwise by 25°, the horizontal shaft 1 of the jet foot M2 rotates counterclockwise by 120°, the vertical shaft 3 rotates clockwise by 25°, the horizontal shaft 1 of the jet-suction foot M3 rotates clockwise by 120°, and the vertical shaft 3 rotates clockwise by 25°, so that the jet directions of the jet-suction feet M1, M2 and M3 face the same point, and the forces of the jets of the jet-suction feet M1, M2 and M3 in the horizontal component cancel each other out, providing sufficient lift for the UAV on the faulty side. After receiving the control instruction, the horizontal shaft 1 of the jet foot M4 of the jet-suction foot M4 diagonally opposite to the faulty rotor rotates clockwise by 50°, and the vertical shaft 3 rotates clockwise by 90°, so that the air port 4-4 of the jet-suction foot M4 is adjusted to jet clockwise to cancel the torque generated when the rotor rotates counterclockwise and prevent the UAV from spinning in place and being uncontrollable.

[0063] Step 3: According to the changes of the pitch angle, roll angle and yaw angle, adjust the jet force of each jet-suction foot to keep the pitch angle, roll angle and yaw angle unchanged, keep the UAV stable and land safely on the ground.

[0064] As Figure 11 shown, the wind resistance method of the rotary-wing UAV includes the following steps:

[0065] Step 1: When the UAV encounters air flow during flight in the air, the controller calculates and processes the change degrees of the pitch angle and the roll angle to obtain the air flow direction and the air flow magnitude acting on the UAV.

[0066] Step 2: The controller sends corresponding control instructions to the horizontal rotating shaft 1 and the vertical rotating shaft 3 according to the air flow direction. The vertical rotating shaft 3 rotates clockwise by 90° to be perpendicular to the horizontal rotating shaft 1, and the horizontal rotating shaft 1 rotates clockwise by 15°, so that the direction of the air port 4-4 is the same as the air flow direction. At this time, the jet-suction footrest is in the wind resistance state.

[0067] Step 3: The controller sends control instructions to the motor 4-1 in the jet-suction device 4 according to the air flow magnitude, so that all the jet-suction footrests work in the jet mode. By controlling the rotation speed of the motor 4-1, the jetting force magnitudes of each jet-suction footrest of the UAV are controlled to complete the wind resistance function.

Claims

1. A suction method for a rotor unmanned aerial vehicle based on a jet-suction footrest, characterized in that: It includes a drone body and a jet-suction footrest; The said jet-suction footrest includes a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, a jet-suction device and a rubber washer; The said horizontal rotating shaft and vertical rotating shaft are controlled by motors. The motors are connected to the controller through wires and receive the control instructions sent by the controller to control their respective rotation angles; The said connecting rod is of a curved and smooth structure and is used to connect the horizontal rotating shaft and the vertical rotating shaft to ensure that the air outlets of each jet-suction footrest can face the same direction; The said jet-suction device includes a motor, a fan, an air outlet, air holes and a filter screen; Fans are provided both above and below the motor of the jet-suction device. Two fans are set to improve the jet-suction efficiency; A filter screen is installed between the fan above the motor and the air holes. When the jet-suction device works in the jet mode, the upper filter screen prevents dust and foreign objects from entering the fan through the air holes of the jet-suction device; A filter screen is installed between the fan below the motor and the air outlet. When the jet-suction device works in the suction mode, the lower filter screen prevents dust and foreign objects from entering the fan through the air outlet of the jet-suction device to avoid the occurrence of fan blockage and stop; By the motor working to drive the fan to rotate forward and backward, the jet and suction functions of the jet-suction device are realized; Three equally spaced circular air holes are provided on each side of the said jet-suction device. When the jet-suction device works, gas is ejected or inhaled through the air holes and the air outlet; The motor of the said jet-suction device is connected to the controller using a wire and receives the control instructions sent by the controller; The said rubber washer is installed at the bottom of the jet-suction footrest and plays a buffering role when the drone lands. A pressure sensor is installed inside the rubber washer, and the sensor returns a signal when the jet-suction footrest touches the ground; The adsorption method of a rotary-wing drone on a vertical wall includes the following steps: Step 1: The drone in flight switches to the adsorption mode. In this mode, the lift provided by the rotors of the drone is equal to the gravity of the drone itself, and the controller sends instructions to each jet-suction footrest of the drone; Step 2: After each jet-suction footrest of the drone receives the control instructions sent by the controller, the two jet-suction footrests on the near side of the vertical wall rotate the horizontal rotating shaft and the vertical rotating shaft to make the air outlets of the nearer jet-suction footrests perpendicular to the vertical wall inward, and the two jet-suction footrests on the far side of the vertical wall rotate the horizontal rotating shaft and the vertical rotating shaft to make the air outlets of the farther jet-suction footrests perpendicular to the vertical wall outward; Step 3: The controller sends instructions to control the two jet-suction footrests on the far side of the vertical wall to work in the jet mode. The drone body is horizontally moved by the horizontal jet of the two jet-suction footrests. When the two jet-suction footrests on the near side of the drone to the vertical wall are in full contact with the vertical wall, the pressure sensor in the rubber washer at the bottom of the jet-suction footrest feeds back a signal to the controller; After receiving the signal from the pressure sensor, the controller controls the jet-suction footrest on this side to work in the suction mode to firmly adsorb one side of the drone on the vertical wall, and controls the horizontal rotating shaft and the vertical rotating shaft of the jet-suction footrest in the suction mode to make the air outlet of the jet-suction footrest vertically downward; The rotors of the drone stop rotating, and the lift required by the drone is provided by the jet of the jet-suction footrests on the far side of the vertical wall; Step 4: The drone slowly tilts towards the vertical wall. During the tilting process, the jet-suction footrests in the jet mode always jet vertically downward with respect to the drone body; the rotation angle of the vertical rotating shaft of the jet-suction footrests in the suction mode changes with the pitch angle and roll angle of the drone, ensuring that the jet-suction footrests are always perpendicular to the vertical wall. Step 5: The drone continues to tilt until all the jet-suction footrests are attached to the vertical wall. At this time, the pressure sensor in the rubber gasket sends a feedback signal to the controller, and the controller controls the jet-suction footrests to work in the suction mode, causing the drone to firmly adsorb on the wall, realizing the adsorption of the drone on the vertical wall.

Images