A wall-attached self-propelled flying and climbing structure drone device

Abstract

The present invention discloses a wall-adhering self-propelled flying and climbing structure UAV device, comprising: a fuselage structure and a rotor system arranged on the fuselage structure, a travel system, a fuselage structure, an obstacle avoidance and positioning system, a power supply system, and a load system; the rotor system and the travel system cooperate to control the change of the rotor system angle to realize the take-off and landing state, the suspended static and moving state, and the wall-adhering static and moving state of the UAV; this scheme is a flying and climbing structure UAV device that can fly and walk on the surface of a structure, especially in a confined space, which can effectively solve the problem of low detection efficiency and ensure the personal safety of detection personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a wall-adhering self-propelled flying and climbing structure drone device. Background Art

[0002] In recent years, China has continuously increased its investment in engineering construction, and construction projects are moving towards more intelligent development. After the completion of highway, railway tunnels, and housing projects, significant manpower and resources are required to inspect the internal structure quality. Inspections of towers, vaults, large bay slab roofs, and column caps require the use of vehicles, scaffolding, and manual labor at height. This inefficient inspection process poses a significant threat to construction workers.

[0003] It can be seen that there is an urgent need for a drone structure that can replace manual inspection of the surface of structures to improve inspection efficiency. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention aims to provide a wall-adhering self-propelled flying and climbing structure UAV device, comprising: a fuselage structure and a rotor system arranged on the fuselage structure, a travel system, a fuselage structure, an obstacle avoidance and positioning system, a power supply system and a load system; the rotor system includes a first vector rotor, a second vector rotor, a third vector rotor, a fourth vector rotor, a second rotor steering servo and two first rotor steering servos; the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor are symmetrically arranged on the fuselage structure; the two first rotor steering servos are respectively arranged between two adjacent vector rotors and drive the two groups of vector rotors to flip in a first direction; the second rotor steering servo is respectively arranged on the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor and drives them to flip in a second direction; the second rotor steering servo and the first rotor steering servo jointly control the angle of the vector rotor to rotate the rotor system in two planar directions.

[0005] Furthermore, the fuselage structure includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod and the second connecting rod are arranged at both ends of the fourth connecting rod, the third connecting rod is arranged at the terminal end of the fourth connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected to each other to form a symmetrical structure main frame.

[0006] Furthermore, the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor structures respectively include a blade assembly, a blade support protective cover, a rotor motor assembly and a support rod; the support rod is arranged in the blade support protective cover, and the two ends are respectively connected to the blade support protective cover; the rotor motor assembly is arranged on the support rod and drives the connected blade assembly.

[0007] Furthermore, the blade assembly includes a first group of blades and a second group of blades; the first group of blades and the second group of blades are respectively arranged at the upper and lower ends of the support rod in conjunction with the rotor motor assembly to form a double-layer power blade.

[0008] Furthermore, the second rotor steering servo is arranged on the support rod and drives the first group of blades and the second group of blades in the vector rotor to flip in a second direction relative to the blade support protective cover.

[0009] Furthermore, the travel system includes two universal travel wheels and two directional travel wheels; the two universal travel wheels are arranged on the blade support protective covers of the second vector rotor and the third vector rotor through connecting rods, and the two directional travel wheels are respectively arranged at both ends of the fourth connecting rod through connecting rods.

[0010] Furthermore, the obstacle avoidance and positioning system includes a gyroscope, a laser radar, and a binocular camera; the binocular camera is arranged around the fuselage structure; the gyroscope and the laser radar are respectively arranged on the fuselage structure.

[0011] Furthermore, the load system is placed in the middle of the fuselage structure and is controlled and connected with the rotor system, travel system, obstacle avoidance and positioning system and power supply system on the UAV.

[0012] The wall-adhering self-propelled flying and climbing structure drone device provided by the present invention is a flying and climbing structure drone device that can fly and walk on the surface of a structure, especially in a confined space. It can effectively solve the problem of low inspection efficiency, ensure the personal safety of inspection personnel, and overcome the problems existing in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0014] Figure 1 This is a top axial three-dimensional diagram of the wall-attached self-propelled flying and climbing structure UAV device;

[0015] Figure 2 This is a three-dimensional bottom axial view of the wall-attached self-propelled flying and climbing structure UAV device;

[0016] Figure 3 This is the structure diagram of the rotor system in the wall-attached self-propelled flying and climbing structure UAV device;

[0017] Figure 4 This is a schematic diagram of the working state of the first rotor steering servo in the UAV device;

[0018] Figure 5 This is a schematic diagram of the working status of the second rotor steering servo in the UAV device;

[0019] Figure 6 This is a schematic diagram of the take-off / landing / up and down movement status of the drone device;

[0020] Figure 7 This is a structural diagram of the UAV device in a first-direction flip state;

[0021] Figure 8 This is a structural diagram of the UAV device in the second direction flip state.

[0022] Figure 9 This is a schematic diagram of the structure of the UAV device in a static state attached to the wall;

[0023] Figure 10 This is a structural diagram of the UAV device in the wall-adhering motion state;

[0024] Figure 11 This is a schematic diagram of the stress state of the UAV device when working on an obtuse angle surface;

[0025] Figure 12 This is a schematic diagram of the falling posture adjustment of the UAV device;

[0026] Figure 13 This is a schematic diagram of the obstacle-crossing flight status of the UAV device;

[0027] The following is a description of the components in the accompanying drawings:

[0028] 1. First vector rotor 2. Second vector rotor 3. Third vector rotor 4. Fourth vector rotor 5. Load device 6. First connecting rod 7. Second connecting rod 8. Fourth connecting rod 9. Blade support and protective cover 10. First set of blades 11. Second set of blades 12. Support rod 13. First rotor motor 14. Second rotor motor 15. First rotor steering servo 16. Second rotor steering servo 17. Fixed travel wheels 18. Universal travel wheels 19. Third connecting rod DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0030] In response to the problems existing in the prior art, the purpose of the present invention is to provide a wall-attached self-propelled flying and climbing structure drone device, which is a flying and climbing structure drone device that can fly and walk on the surface of a structure, especially in a confined space. It can effectively solve the problem of low inspection efficiency, ensure the personal safety of inspection personnel, and overcome the problems existing in the prior art.

[0031] See also Figure 1-Figure 3 The wall-adhering self-propelled flying and climbing structure UAV device provided by the present invention includes a fuselage structure, a rotor system, a travel system, a fuselage structure, an obstacle avoidance and positioning system, a power supply system and a load system.

[0032] The fuselage structure includes several connecting rods. In this solution, four connecting rods are used to form an overall main frame, which is used to accommodate the driving components, power components and power supply components of the drone.

[0033] The fuselage structure includes a first connecting rod 6, a second connecting rod 7, a third connecting rod 19 and a fourth connecting rod 8, wherein the first connecting rod 6 and the second connecting rod 7 are arranged at both ends of the fourth connecting rod 8, and the third connecting rod 19 is arranged at the terminal end of the fourth connecting rod 8. The first connecting rod 6, the second connecting rod 7, the third connecting rod 19 and the fourth connecting rod 8 cooperate with each other to form a "K"-shaped symmetrical structural main frame to ensure the stability of the fuselage.

[0034] In this solution, the connecting rod is preferably hollow inside, which can reduce the weight of the drone and can also be used for internal threading.

[0035] At the same time, the main frame structure formed by the connecting rods in this solution is preferably a symmetrical structure, thereby ensuring the balance of the drone during flight. However, the specific structure and number are not limited in this solution and can be determined according to actual conditions.

[0036] The rotor system includes four sets of rotor assemblies, including a first vector rotor 1, a second vector rotor 2, a third vector rotor 3 and a fourth vector rotor 4.

[0037] The first vector rotor 1, the second vector rotor 2, the third vector rotor 3 and the fourth vector rotor 4 are symmetrically arranged and connected to the connecting rod of the fuselage structure to constitute the power component of the UAV.

[0038] The first vector rotor 1 , the second vector rotor 2 , the third vector rotor 3 and the fourth vector rotor 4 have the same structure, and respectively include a first set of blades 10 and a second set of blades 11 , a blade support protective cover 9 , a first rotor motor 13 , a second rotor motor 14 , a first rotor steering servo 15 and a support rod 12 .

[0039] The blade support protective cover 9 is arranged on the periphery of the vector rotor. The blade support protective covers between the first vector rotor 1 and the second vector rotor 2 and the third vector rotor 3 and the fourth vector rotor 4 are connected by a support ring and are arranged on the third connecting rod 19. They can be used to protect the vector rotor placed in the support protective cover 9 from damage by other objects.

[0040] The support rod 12 is arranged in each blade support protective cover 9, and its two ends are respectively connected to the blade support protective cover 9 to fix the overall structure of the rotor.

[0041] At the same time, the interior of the support rod 12 preferably adopts a hollow structure, which can be used for wiring and placement of wires.

[0042] The first group of blades 10 and the second group of blades 11 are respectively coordinated with the first rotor motor 13 and the second rotor motor 14 and are arranged at the upper and lower ends of the support rod 12. The first rotor motor 13 and the second rotor motor 14 are respectively driven and connected to the first group of blades 10 and the second group of blades 11, and can drive the first group of blades 10 and the second group of blades 11 to rotate.

[0043] The first set of blades 10 and the second set of blades 11 are placed at the upper and lower ends of the support rod 12 to form double-layer power blades, generating power for the drone to fly, move and stick to the wall.

[0044] See also Figure 4 The first rotor steering servo 15 is located between the first vector rotor 1 and the second vector rotor 2 and between the third vector rotor 3 and the fourth vector rotor 4, and is arranged at the end of the third connecting rod 19. The two ends of the first rotor steering servo 15 shaft pass through the support ring and are driven and connected to the vector rotors at both ends, respectively, and are used to control the flipping of the first vector rotor 1 and the second vector rotor 2 and the third vector rotor 3 and the fourth vector rotor 4 in the first direction, thereby realizing one rotation dimension of the vector rotor.

[0045] Also, see Figure 5 A second rotor steering servo 16 is provided on the support rod 12 in each vector rotor. The second rotor steering servo 16 can respectively drive the support rod 12 to rotate in the second direction relative to the blade support protective cover 9, thereby driving the first group of blades 10 and the second group of blades 11 arranged on the support rod 12 to rotate in the second direction relative to the support protective cover 9.

[0046] The second rotor steering servo 16 can be controlled in conjunction with the first rotor shaft steering servo 15 to realize dimensional rotation of the vector rotor system in two planes. The first rotor steering servo 15 and the second rotor steering servo 16 are used to control the flip angles of the first vector rotor 1, the second vector rotor 2, the third vector rotor 3, and the fourth vector rotor 4, as well as the flip angles of the two sets of blades in each vector rotor to achieve different working states of the drone.

[0047] This solution realizes different working states of the UAV by rotating the two-dimensional vector rotor plane, further improving the control accuracy of the UAV.

[0048] The traveling system includes two universal traveling wheels 18 and two directional traveling wheels 17, wherein the two universal traveling wheels 18 are arranged on the blade support protective cover 9 of the second vector rotor 2 and the third vector rotor 3 through a connecting rod, and the two directional traveling wheels 28 are respectively arranged at both ends of the fourth connecting rod 9; when the UAV is traveling, the universal traveling wheels 18 can rotate to provide steering when moving forward and backward.

[0049] The obstacle avoidance and positioning system includes a gyroscope, a lidar, and a binocular camera.

[0050] Among them, binocular cameras are set around the body for visual obstacle avoidance in the front, back, left and right directions.

[0051] The laser radar is installed on the fuselage and is used for ranging to assist in obstacle avoidance.

[0052] The gyroscope is installed on the fuselage structure to confirm the status of the drone fuselage.

[0053] The power supply system can be placed on the battery bracket and installed on the fuselage structure to provide overall power supply for the drone fuselage.

[0054] The load system 5 is placed in the middle of the fuselage structure and is connected to the rotor system, travel system, obstacle avoidance and positioning system and power supply system on the UAV to control the equipment on the fuselage structure.

[0055] The wall-attached self-propelled flying and climbing structure UAV device composed of the above scheme can achieve four working states through control:

[0056] 1: Take-off and landing status, the drone is on the ground.

[0057] See also Figure 6 That is, the vector rotor does not need to rotate in two dimensions. The first rotor motor 13 and the second rotor motor 14 synchronously drive the first group of blades 10 and the second group of blades 11 in each vector rotor to rotate synchronously, and the rotor will generate upward thrust.

[0058] The rotor thrust is vertically upward, overcoming its own gravity. When the rotor thrust is greater than gravity, the drone rises; when the rotor thrust is less than its own gravity, the drone descends.

[0059] Second: suspended state, which includes suspended static state and suspended motion state;

[0060] (1) When suspended in a stationary state:

[0061] When the drone rises into the air, the two plane dimensions of the vector rotor do not need to rotate, the rotor power / thrust = gravity, and the drone hovers in the air without moving.

[0062] (2) When in suspended motion:

[0063] The drone can perform yaw / roll / pitch movements in the air.

[0064] Specifically, when a drone takes off into the air, traditional drones achieve rotor differential by changing the speed control of each rotor, thereby controlling the movement and direction of travel. Only after the entire drone body is tilted can the drone yaw / roll / pitch in the air.

[0065] The present invention has two more rotation dimensions than the traditional rotor. The first rotor steering servo 15 and the second rotor steering servo 16 are used to adjust the two angles of the vector rotor, thereby realizing the differential speed of the rotor to achieve yaw / roll / pitch movement in the air, while the overall fuselage is still kept level.

[0066] Compared with traditional solutions, this solution can ensure the accuracy of control precision and improve the reliability of drone control of yaw / roll / pitch movement in the air.

[0067] For example, see Figure 7 The first rotor steering servo 15 drives the first vector rotor 1 and the second vector rotor 2 as well as the third vector rotor 3 and the fourth vector rotor 4 to flip the entire rotor in the first direction, thereby realizing the first direction rolling state of the UAV.

[0068] See also Figure 8 The second rotor steering servo 16 drives the first group of blades 10 and the second group of blades 11 in the first vector rotor 1, the second vector rotor 2, the third vector rotor 3 and the fourth vector rotor 4 to synchronously flip in the second direction relative to the blade support protective cover 9, thereby realizing the second direction rolling state of the drone.

[0069] Three: Wall-climbing state, which includes wall-climbing static state, wall-climbing moving state and fall protection state.

[0070] (1) See Figure 9 The side of the drone where the payload system is installed faces the wall, and the two universal wheels 18 and two directional wheels 17 of the drone are fitted against the wall.

[0071] When the UAV is stationary against the wall, the flight control drives the second rotor steering servo 14 to synchronously drive two sets of blades in the four vector rotors to adjust the second direction angle, that is, the direction relative to the wall, to generate thrust relative to the wall, and at the same time, the high-speed rotation of the blades can generate upward thrust.

[0072] The magnitude and angle of the thrust generated by the rotor produce an upward and wall-bound force to maintain the force balance of the robot. The drone can be adsorbed on a vertical or curved wall and remain stationary.

[0073] When the robot is working normally, static friction is generated between the wheels and the wall. The maximum static friction is generally slightly larger than the sliding friction. To simplify the calculation, the maximum static friction is regarded as the sliding friction.

[0074] (2) See Figure 10 When the drone is in the wall-adhering motion state, the angle of the drone's vector rotor is adjusted to increase the component of the drone's forward or backward force, thereby enabling the drone to generate power for free movement, so that the drone can drive the universal traveling wheel 18 to move on the vertical or curved wall surface while being close to the vertical or curved wall surface.

[0075] During flight, the robot is subjected to its own gravity F, the rotor thrust F1 generated by the first vector rotor 1 and the third vector rotor 3 through the second vector steering servo 16, the rotor thrust F2 generated by the second vector rotor 2 and the fourth vector rotor 4 through the second vector steering servo 16, and the friction between the wheels and the wall. The upward component of the rotor thrust and the friction between the wheels and the wall offset the downward gravity, allowing the robot to safely travel on the wall.

[0076] The components of force F4 and F6 perpendicular to the wall generated by the rotor thrust are the source of wheel friction and the force that ensures the robot sticks to the wall. The magnitude of the force is controlled by the magnitude and angle of the rotor thrust. Preferably, in some instances, multiple rotors maintain the same angle and size when working. By maintaining the same angle and size, it can ensure that the robot can stick to the wall, thereby achieving reliability in the robot's operation.

[0077] To ensure the robot is under force balance during operation, the rotor thrust F_1 needs to satisfy Equation 1

[0078]

[0079] Simplified

[0080]

[0081] in:

[0082] mg is the gravity acting on the robot;

[0083] F1 is the magnitude of the rotor thrust;

[0084] is the direction of rotor thrust;

[0085] U is the friction coefficient between the robot wheels and the working surface;

[0086] Pick Range, when F1 reaches its minimum value at this angle. Operating at this angle, the rotor achieves optimal efficiency, significantly reducing noise and improving flight range. Flight control uses big data and online testing to determine the friction coefficient and adjust the rotor angle to achieve optimal performance.

[0087] When the robot works on an obtuse angle, the force Figure 11 shown.

[0088] At this time, in order to keep the robot balanced, the following conditions must be met:

[0089]

[0090] After moving

[0091]

[0092] in:

[0093] is the angle of the rotor thrust relative to the robot chassis plane;

[0094] is the angle of gravity relative to the plane of the robot chassis;

[0095] When the robot is working, it is close to the wall, and the robot chassis plane is the inclined surface of the wall. In formula 4, It is a known parameter measured by the robot's built-in accelerometer and gyroscope. F1 and F2 are flight control adjustment parameters. The robot's built-in algorithm makes the thrust F1 and thrust angle Satisfying Equation 4 can ensure the robot's safe operation on obtuse-angle working surfaces.

[0096] 3. Drop protection:

[0097] When the drone falls, the flight control system needs to adjust the robot's own angle and quickly enter the flight mode to fall against the wall.

[0098] The drone is equipped with an acceleration sensor and the wheels are equipped with pressure sensors. The acceleration sensor and the wheel pressure sensor are used to collect changes in the drone's speed and the pressure changes caused by the wheels when the drone falls rapidly, and transmit these data to the main control end.

[0099] The main control end determines whether an accidental fall occurs. If an accidental fall occurs, the gyroscope is used to detect the body's posture. The falling posture adjustment process is as follows: Figure 12 As shown:

[0100] If the drone is facing up, you only need to determine the tilt direction of the drone:

[0101] If the drone is in a horizontal direction, the speed of its blades can be controlled to allow it to land smoothly on the ground.

[0102] If the drone tilts in a first direction, the first rotor steering servo 15 is controlled to drive the two vector rotors of the first group to flip at a certain angle in the second direction, so that the drone is adjusted to a horizontal direction; similarly, if the drone tilts in a second opposite direction, the first rotor steering servo 15 is controlled to drive the two vector rotors of the second group to flip at a certain angle in the second direction, so that the drone is adjusted to a horizontal direction.

[0103] If the UAV tilts toward the third direction, the second rotor steering servo 16 controlling the two sets of vector rotors in the third position drives the blades to flip at a certain angle in the fourth direction, so that the UAV is adjusted to the horizontal direction.

[0104] If the UAV tilts in the fourth direction, the second rotor steering servo 16 controlling the two sets of vector rotors in the fourth direction drives the blades to flip at a certain angle in the third direction, so that the UAV is adjusted to the horizontal direction.

[0105] If the drone's own posture is back-facing, it is necessary to control the first rotor steering servo 15 to flip the drone to face up, and then determine the tilt direction of the drone and adjust its orientation according to the above different tilt directions.

[0106] The robot's posture can be quickly adjusted by adjusting the direction of the rotor thrust, so that the robot's wheels face downward and enter flight mode and fall to the ground. It can capture abnormal conditions and calculate its own posture within milliseconds, and quickly complete posture adjustments.

[0107] 4. Obstacle Clearance Flight:

[0108] When the robot encounters a large obstacle, it can enter flight mode and jump or fly over the obstacle. The flying process is as follows: Figure 13 shown.

[0109] First, the four vector rotors are driven by the rotor motors to generate upward thrust. At the same time, the four vector rotors are offset relative to the obstacle through the rotor steering servo, and then cooperate with the rotor motors to generate upward thrust relative to the obstacle. When the thrust is greater than its own gravity, the robot can fly over the obstacle. When it reaches the destination, the rotors generate horizontal thrust, allowing the robot to land smoothly.

[0110] The wall-attached self-propelled flying and climbing structure drone device composed of the above-mentioned scheme is mainly used in the construction of projects such as roads, railways, and building construction, especially in confined spaces. It can also be extended to the construction of projects such as high-pier bridges and large-space building projects. The flying and climbing structure drone is equipped with structural quality inspection equipment (such as ground penetrating radar, elastic wave detector, visible light lens, etc.), flying and crawling on the surface of the structure, and conducting structural health inspections at the same time, which can effectively solve the problem of low efficiency of traditional manual inspections and ensure the personal safety of inspection personnel.

[0111] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall-adhering self-propelled flying and climbing structure drone device, characterized in that: include: The fuselage structure and the rotor system, propulsion system, fuselage structure, obstacle avoidance and positioning system, power supply system and payload system arranged on the fuselage structure; The rotor system includes a first vector rotor, a second vector rotor, a third vector rotor, a fourth vector rotor, a second rotor steering servo and two first rotor steering servos; the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor are symmetrically arranged on the fuselage structure; the two first rotor steering servos are respectively arranged between two adjacent vector rotors and drive the two groups of vector rotors to flip in a first direction; the second rotor steering servo is respectively arranged on the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor and drives them to flip in a second direction; the second rotor steering servo and the first rotor steering servo jointly control the angle of the vector rotor to rotate the rotor system in two planar directions.

2. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The fuselage structure includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. The first connecting rod and the second connecting rod are arranged at both ends of the fourth connecting rod, and the third connecting rod is arranged at the terminal end of the fourth connecting rod. The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected to each other to form a symmetrical structure main frame.

3. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor structures respectively include a blade assembly, a blade support protective cover, a rotor motor assembly and a support rod; the support rod is arranged in the blade support protective cover, and the two ends are respectively connected to the blade support protective cover; the rotor motor assembly is arranged on the support rod and drives the connected blade assembly.

4. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 3, characterized in that: The blade assembly includes a first group of blades and a second group of blades; the first group of blades and the second group of blades are respectively arranged at the upper and lower ends of the support rod in conjunction with the rotor motor assembly to form a double-layer power blade.

5. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The second rotor steering servo is arranged on the support rod and drives the first group of blades and the second group of blades in the vector rotor to flip in a second direction relative to the blade support protective cover.

6. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The traveling system includes two universal traveling wheels and two directional traveling wheels; the two universal traveling wheels are arranged on the blade support protective covers of the second vector rotor and the third vector rotor through connecting rods, and the two directional traveling wheels are respectively arranged on the two ends of the fourth connecting rod through connecting rods.

7. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The obstacle avoidance and positioning system includes a gyroscope, a laser radar, and a binocular camera; the binocular camera is arranged around the fuselage structure; the gyroscope and the laser radar are respectively arranged on the fuselage structure.

8. The wall-adhering self-propelled flying and climbing structure UAV device according to claim 1, characterized in that: The load system is placed in the middle of the fuselage structure and is controlled and connected with the rotor system, travel system, obstacle avoidance and positioning system and power supply system on the UAV.

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