Multi-wall surface adaptive unmanned aerial vehicle parking device

Abstract

The present application relates to a kind of adaptive unmanned aerial vehicle of multiple wall surface parking device, belong to unmanned aerial vehicle technical field, solve the problem that unmanned aerial vehicle parking device in prior art cannot be adaptive to multiple wall surface, structure is complex and energy consumption is high.The unmanned aerial vehicle parking device of the present application includes base, bionic grab accessory and bionic suction accessory;The upper surface of base is connected with unmanned aerial vehicle, and the lower surface is connected with bionic suction accessory;Bionic suction accessory uses silicone rubber material as substrate, and bristle and / or fluff are processed by micro-nano machining process and etching process;Multiple groups of bionic grab accessories are arranged, and multiple groups of bionic grab accessories are arranged on the outer periphery of base;Each group of bionic grab accessories includes multiple elastic arms and multiple bionic claws;One end of elastic arm is connected with base, and the other end is provided with bionic claw.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a self-adaptive unmanned aerial vehicle perching device with multiple wall surfaces. BACKGROUND

[0002] In recent years, the unmanned aerial vehicle technology has developed rapidly and is applied in more and more fields. For example, in war, the unmanned aerial vehicle can lurk in a very concealed position to conduct reconnaissance and provide combat information and perform attack tasks. In order to improve the combat effectiveness, the unmanned aerial vehicle needs to be able to stay on the battlefield for a long time while reducing noise and increasing concealment to improve the survival ability.

[0003] In view of the above requirements, one method is to park the unmanned aerial vehicle on the wall surface, which can increase the battlefield residence time and reduce power consumption, and can avoid noise generated by flight, increase concealment and survival ability, so as to realize more concealed long-time reconnaissance tasks on the target site. The wall surface in the actual environment has various smoothness, therefore, it is urgent to provide a simple, simple and practical self-adaptive unmanned aerial vehicle suction and grabbing device with wide adaptability, so that the unmanned aerial vehicle can be parked on various wall surfaces, reduce power consumption and noise, even supplement energy, increase concealment and prolong working time. Chinese patent CN111874217A discloses an unmanned aerial vehicle suction device with a retractable mechanism, which solves the problem of stable suction and parking of the unmanned aerial vehicle on the smooth wall surface of the building for a long time to a certain extent; CN113911357A discloses a vertical surface perching four-rotor unmanned aerial vehicle, the perching device can realize rough wall surface grabbing when the unmanned aerial vehicle is near the wall surface; CN106625737A and CN113998024A disclose different high-adaptability composite grabbing structures.

[0004] However, the existing devices have single adaptability to different wall surfaces, lack self-adaptability to multiple wall surfaces, or have complex mechanisms and high energy consumption, which increases the energy consumption burden of the unmanned aerial vehicle. SUMMARY

[0005] In view of the above analysis, the application provides a method for cooperative attack and defense confrontation of an unmanned aerial vehicle cluster, which solves the problems of the existing unmanned aerial vehicle perching device that cannot self-adapt to multiple wall surfaces, has a complex structure and high energy consumption.

[0006] The method for cooperative attack and defense confrontation of the unmanned aerial vehicle cluster comprises a base, a bionic grabbing accessory and a bionic suction accessory.

[0007] The upper surface of the base is connected with the unmanned aerial vehicle, and the lower surface is connected with the bionic suction accessory.

[0008] The bionic suction accessory adopts a silicone rubber material as a substrate, and the bristles and / or the fluff are processed by a micro-nano processing technology and an etching process.

[0009] The multiple groups of bionic gripping accessories are arranged on the outer periphery of the base.

[0010] Each group of bionic gripping accessories comprises multiple elastic arms and multiple bionic claws; one end of the elastic arm is connected with the base, and the other end is provided with the bionic claw.

[0011] Optionally, the multiple elastic arms are arranged in four groups, and two elastic arms are arranged in each group; and the elastic arms in each group are arranged on four sides of the base.

[0012] Optionally, the bionic suction accessory is made of silicone rubber material, and the mechanical properties achieved under complete adhesion are as follows: normal adhesion force 2.7 N / cm 2 , tangential friction force 3 N / cm 2 , so that the bionic suction accessory can be tightly adsorbed on the wall surface.

[0013] Optionally, after finding the target wall surface on which the unmanned aerial vehicle needs to land, the unmanned aerial vehicle adjusts the flight attitude so that the base is parallel to the target wall surface, and then flies towards the wall surface at a certain initial speed.

[0014] Optionally, when the wall surface is smooth, the perching device is adsorbed on the smooth wall surface; the unmanned aerial vehicle flies towards the wall surface at a speed less than 0.5 m / s; under the action of inertia and the thrust of the unmanned aerial vehicle, the elastic arm expands due to the large elasticity, the bionic claw slides along the wall surface to the outside, and part of the impact force and the thrust are vertically applied to the bottom surface of the bionic suction accessory, so that the bionic suction accessory is fully contacted with the wall surface with the maximum contact area, and the bionic suction accessory is tightly adsorbed on the wall surface.

[0015] Optionally, the perching device is adsorbed on the rough wall surface; the unmanned aerial vehicle flies towards the wall surface at an initial speed greater than 0.5 m / s; when the claw contacts the wall surface, an impact force greater than the breaking strength of the wall surface is generated, so that the claw tip can be pierced into the rough wall surface; meanwhile, the elastic arm and the bionic claw are coupled together as a whole; due to the supporting force of the wall surface on the claw, the elastic arm expands and elastically deforms, and a contraction restoring torque is generated, so that the bionic claw is tightened inward, and the gripping angle is adjusted to be less than or equal to 90°.

[0016] Compared with the prior art, the present application can achieve at least one of the following beneficial effects:

[0017] (1) The perching device of the present application combines the adhesion system of the hook claw and the adhesive pad of the bionic gecko toe structure and the insect, combines the adhesive bionic suction accessory with the claw, so that the unmanned aerial vehicle can be stably adsorbed or gripped on the wall surface of various angles and surface smoothness for a long time, and the self-adaptability to various wall surfaces is greatly improved.

[0018] (2) The perching device of the present application has simple structure, strong applicability, low power consumption, easy processing and light weight, which reduces the overall weight and energy consumption burden of the unmanned aerial vehicle.

[0019] (3) The perching device of the present application adopts elastic arms and bionic claws, which can make the unmanned aerial vehicle more stable when attached to the wall surface, and significantly improve its wind resistance and anti-vibration performance. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0021] Figure 1 FIG. 1 is a structural schematic diagram of the perching device of the present application;

[0022] Figure 2 FIG. 2 is a schematic diagram of the perching device of the present application adsorbed to a smooth wall surface;

[0023] Figure 3 FIG. 3 is a force analysis diagram of the perching device of the present application adsorbed to a smooth wall surface;

[0024] Figure 4 FIG. 4 is a schematic diagram of the perching device of the present application adsorbed to a rough wall surface;

[0025] Figure 5 FIG. 5 is a force analysis diagram of the perching device of the present application adsorbed to a rough wall surface;

[0026] Figure 6 FIG. 6 is a schematic diagram of another embodiment of the perching device of the present application.

[0027] REFERENCE NUMERALS:

[0028] 1. Base; 2. Elastic arm; 3. Bionic claw; 4. Bionic suction member. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application more clear, complete, the following will be further described in detail in combination with the drawings. It should be understood that the described embodiments are only as an example, and are not used to limit the present application.

[0030] One specific embodiment of the present application, such as Figures 1-6 , discloses a self-adaptive multi-wall unmanned aerial vehicle perching device, comprising a base 1, a bionic claw member and a bionic suction member 4.

[0031] The upper surface of the base 1 is connected with the unmanned aerial vehicle, and the lower surface is connected with the bionic suction member 4;

[0032] The bionic suction member 4 is based on materials such as silicone rubber (polydimethylsiloxane, PDMS), and the bristles and down similar to gecko claws are processed by micro-nano processing technology and etching process. The mechanical properties of this material under complete adhesion conditions can reach: normal adhesion force 2.7N / cm 2 , tangential friction force 3N / cm 2, can make it closely adsorbed on the wall;

[0033] The bionic gripping accessory is provided in multiple groups, and the multiple groups of bionic gripping accessories are arranged on the outer periphery of the base 1.

[0034] Each group of bionic gripping accessories comprises multiple elastic arms 2 and multiple bionic claws 3; one end of the elastic arm 2 is connected with the base 1, and the other end is provided with the bionic claw 3.

[0035] Optionally, referring to the accompanying drawings Figure 6 , the multiple elastic arms 2 are provided in four groups, two elastic arms 2 are arranged in each group, and each group of elastic arms is arranged on one side of the base 1.

[0036] After finding the target wall surface on which the drone needs to land, the drone adjusts the flight attitude so that the base is parallel to the target wall surface, and then flies towards the wall surface at a certain initial speed.

[0037] When the wall surface is smooth, as shown in Figure 2 , the perching device is adsorbed on the smooth wall surface; the drone slowly flies towards the wall surface at a speed less than 0.5 m / s, under the action of inertia and the thrust of the drone, the elastic arm 2 expands and deforms due to the large elasticity, the bionic claw 3 slides outward along the wall surface, at the same time, part of the impact force and the thrust act vertically on the bottom surface of the bionic suction accessory 4, ensuring that the bionic suction accessory 4 fully contacts the wall surface with the largest contact area, so that the bionic suction accessory 4 is closely adsorbed on the wall surface. When the adsorption force F between the bionic suction accessory 4 and the wall surface is greater than or equal to the total support force F N1 +F N2 of the wall surface on the claw, the drone shuts down the power system, at this time, the force acting on the perching device of the drone is as shown in Figure 3 , which includes the gravity G of the drone, the adsorption force F, the support force F N1 , F N2 of the wall surface on the claw, the friction force f1, f2 between the wall surface and the claw, the friction force f3 acting on the suction accessory, and the contraction recovery torque M1, M2 of the elastic arm due to the expansion deformation. At this time, the force balance equation of the drone is as follows:

[0038] G = f1 + f2 + f3;

[0039] F = F N1 +F N2 ;

[0040] At this time, the friction force between the suction accessory and the wall surface is the main one, and the friction force between the claw and the wall surface is the auxiliary one, and the two balance the gravity of the drone together. At the same time, the adsorption force between the suction accessory and the wall surface can make the device firmly adsorbed on the wall surface, preventing the drone from falling.

[0041] When the wall surface is rough, as shown in Figure 4As shown, the perching device grips the rough wall surface. Since the biomimetic adsorption component does not provide adsorption force, the drone flies towards the wall with an initial velocity greater than 0.5 m / s. When the grappling hook contacts the wall, it generates an impact force exceeding the wall's destructive strength, allowing the hook tip to penetrate the rough wall surface. Simultaneously, the elastic arm 2 and the biomimetic hook 3 are coupled together. Due to the support force from the wall surface, the elastic arm 2 expands and deforms elastically, generating a contraction and restoring torque, causing the biomimetic hook 3 to tighten inward. The gripping angle is adjusted to less than or equal to 90° to suit complex and varied rough walls and rough walls of different materials. The total tangential support force F is adjusted to... N1 +F N2 After the optimal gripping angle is greater than or equal to the drone's gravity G, the grappling hook tip firmly embeds into the wall surface, the drone shuts off its power system, and at this point, the drone's landing device experiences the following forces: Figure 5 As shown, the forces acting on it include the drone's gravity G and the tangential support force F exerted by the wall on the grappling hook. N1 F N2 The normal support force F of the wall on the hook claw N3 F N4 And the contraction and recovery moments M1 and M2 generated by the expansion and deformation of the elastic arm. The main force balance equations at this point are as follows:

[0042] G = F N1 +F N2 ;

[0043] F N3 =F N4 ;

[0044] At this point, what balances the drone's gravity is no longer the adsorption force provided by the adsorption component and the friction between the grapples and the wall, but rather the tangential support force exerted by the wall on the tip of the grapples after they have penetrated the wall.

[0045] To ensure that the grappling hook tip can successfully penetrate the rough wall surface with a constant impact force when the drone flies towards it, such as... Figure 4 As shown, the angle θ between the central axis of the hook and the wall is about 90°, and at the same time, it is necessary to ensure that the apex angle of the hook cone is less than 45°.

[0046] like Figure 6 As shown in the embodiment, one application example can be achieved by combining multiple pairs of independent and non-influencing elastic arms 2 and bionic claws 3 in a "cross-shaped" layout. This not only allows for more stable gripping of rough walls but also enhances its applicability to various rough walls.

[0047] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application. In addition, it should be noted that, in the above-described specific embodiments, various specific technical features can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present application will not describe various possible combination manners again.

[0048] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the present application, and it should also be considered as disclosed by the present application.

[0049] The above describes only the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An adaptive multi-wall unmanned aerial vehicle (UAV) landing device, characterized in that, Includes a base, biomimetic gripper attachments, and biomimetic adsorption components; The upper surface of the base is connected to the drone, and the lower surface is connected to the biomimetic adsorption component; The biomimetic adsorption component uses silicone rubber as a base and is processed with bristles and / or fluff through micro-nano processing and etching processes. Bionic adsorption components are positioned between multiple sets of bionic gripper attachments; Four sets of biomimetic gripper attachments are set on the outer periphery of the base; Each set of bionic gripper attachments includes two elastic arms and multiple bionic hooks; one end of the elastic arm is connected to the base, and the other end is equipped with a bionic hook; Each set of elastic arms is respectively set on one of the four sides of the base; After locating the target wall where it needs to dock, the drone adjusts its flight attitude so that the base is parallel to the target wall, and then flies toward the wall with a certain initial velocity. When the wall surface is smooth, the perching device adheres to the smooth wall surface; the drone flies towards the wall surface at a speed of less than 0.5 m / s. Under the action of inertia and the thrust of the drone, the elastic arm expands and deforms due to its large elasticity. The bionic claw slides outward along the wall surface. At the same time, some of the impact force and thrust act vertically on the bottom surface of the bionic adsorption component, ensuring that the adsorption component and the wall surface make full contact with the maximum contact area, so that the bionic adsorption component is tightly adsorbed on the wall surface. When the wall surface is rough, the perching device attaches to the rough surface; the drone flies towards the wall with an initial velocity greater than 0.5 m / s, and when the grappling hook contacts the wall, it generates an impact force exceeding the wall's destructive strength, thus enabling the tip of the grappling hook to penetrate the rough surface; at the same time, the elastic arm and the bionic grappling hook are coupled together. Due to the support force of the wall, the elastic arm expands and deforms elastically, generating a contraction and recovery torque, causing the bionic grappling hook to tighten inward and adjust the gripping angle to less than or equal to 90°.

2. The unmanned aerial vehicle (UAV) perching device according to claim 1, characterized in that, The biomimetic adsorption component uses silicone rubber material with the following mechanical properties: normal adhesion force 2.7 N / cm. 2 Tangential friction force 3 N / cm 2 This allows it to adhere tightly to the wall surface.

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