Electrostatic adsorption enhanced multifunctional aircraft and control method thereof

Abstract

The invention provides an electrostatic adsorption enhanced multifunctional aircraft and a control method thereof. The electrostatic adsorption enhanced multifunctional aircraft comprises an unmanned aerial vehicle body and a multifunctional actuator, the multifunctional actuator comprises a microprocessor, a linear unit and a pair of adsorption tongs. The unmanned aerial vehicle body and the multifunctional actuator are matched to realize movement or inhabitation of the electrostatic adsorption enhanced multifunctional aircraft; and the microprocessor, the linear unit and the adsorption gripper are matched to realize self-adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft. The electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the invention can move or inhabit in a complex environment based on the cooperative movement of the unmanned aerial vehicle body and the multifunctional actuator. The adsorption gripper is simple in structure and can clamp objects of different shapes, materials and sizes through electrostatic adsorption. The adsorption type robot is light in self weight, wide in clamping range, high in adaptability and small in energy consumption, has the landing buffering capacity, has the capacity of moving or inhabiting in a complex environment, and has remarkable advantages compared with an existing unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an electrostatic adsorption enhanced multifunctional aircraft and a control method thereof. Background Art

[0002] At present, drones can solve problems such as the many hidden dangers of manual inspections, the difficulties in manual operations and the low safety factors. They have been widely used in construction, waste disposal, search and rescue, logistics, maintenance and repair, agriculture, military and other fields.

[0003] However, the adaptability and aerial operation capabilities of existing drones still need to be improved. For example, it is difficult for drones to move or perch in complex environments such as vertical walls, ceilings, columnar objects, and uneven walls; the mechanical claw-like grippers currently used for drone aerial operations are relatively complex and bulky, and their adaptive grasping capabilities need to be improved. At present, there is an urgent need for a drone with strong adaptability and strong aerial operation capabilities. Summary of the invention

[0004] In order to solve the above problems, an object of an embodiment of the present invention is to provide an electrostatic adsorption enhanced multifunctional aircraft and a control method thereof.

[0005] In the first aspect, an embodiment of the present invention provides an electrostatic adsorption enhanced multifunctional aircraft, comprising: an unmanned aerial vehicle body and a multifunctional actuator; the multifunctional actuator comprises a microprocessor, a linear unit and a pair of adsorption grippers; the unmanned aerial vehicle body and the multifunctional actuator cooperate to achieve the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft; the microprocessor, the linear unit and the adsorption grippers cooperate to achieve the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft.

[0006] In the second aspect, an embodiment of the present invention also provides a control method for an electrostatic adsorption enhanced multifunctional aircraft, and the control method is applied to the electrostatic adsorption enhanced multifunctional aircraft; the electrostatic adsorption enhanced multifunctional aircraft comprises: a drone body and a multifunctional actuator; the multifunctional actuator comprises a microprocessor, a linear unit and a pair of adsorption grippers; the method comprises: based on the drone body and the multifunctional actuator, cooperating to achieve the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft; based on the microprocessor, the linear unit and the adsorption gripper, cooperating to achieve the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft.

[0007] In the solution provided by the embodiment of the present invention, the electrostatic adsorption enhanced multifunctional aircraft can achieve movement or habitat in a complex environment based on the coordinated movement of the drone body and the multifunctional actuator. The adsorption gripper has a simple structure and can clamp objects of different shapes, materials and sizes through electrostatic adsorption. The adsorption robot itself is light in weight, has a wide clamping range, is highly adaptable, has low energy consumption, has a landing buffer capability, and has the ability to move or habitat in a complex environment, which has significant advantages over existing drones.

[0008] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic structural diagram of an electrostatic adsorption enhanced multifunctional aircraft with two adsorption grippers provided by an embodiment of the present invention is shown;

[0011] Figure 2 A simplified structural diagram of an electrostatic adsorption enhanced multifunctional aircraft having a flight control module with a four-bar mechanism provided by an embodiment of the present invention is shown;

[0012] Figure 3 A simplified structural diagram of an electrostatic adsorption enhanced multifunctional aircraft having a flight control module with a crank slider mechanism provided by an embodiment of the present invention is shown;

[0013] Figure 4 A schematic diagram of the specific structure of the adsorption gripper in the electrostatic adsorption enhanced multifunctional aircraft provided by an embodiment of the present invention is shown;

[0014] Figure 5 A schematic diagram showing the electrostatic adsorption enhanced multifunctional flying device provided by an embodiment of the present invention moving to the right while clamping an object A;

[0015] Figure 6 The first situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp the object A in different ways at different positions of the adsorption gripper is shown;

[0016] Figure 7The second situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp the object A in different ways at different positions of the adsorption gripper is shown;

[0017] Figure 8 The third situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp the object A in different ways at different positions of the adsorption gripper is shown;

[0018] Fig. 9 The fourth situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp the object A in different ways at different positions of the adsorption gripper is shown;

[0019] Fig.10 The first situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp objects A of different sizes and shapes is shown;

[0020] Fig.11 The second situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp objects A of different sizes and shapes;

[0021] Fig.12 The third situation in which the electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can clamp objects A of different sizes and shapes;

[0022] Fig.13 A schematic diagram showing an electrostatic adsorption enhanced multifunctional aircraft provided by an embodiment of the present invention hugging a column surface is shown;

[0023] Fig.14 The detailed structure and internal connection schematic diagram of the electrostatic adsorption enhanced multifunctional aircraft provided by an embodiment of the present invention are shown;

[0024] Fig.15 A reference diagram showing the motion process of the electrostatic adsorption enhanced multifunctional aircraft provided by an embodiment of the present invention is shown;

[0025] Fig.16 A specific flow chart of the electrostatic adsorption enhanced multifunctional aircraft provided by an embodiment of the present invention taking the movement to the left as an example is shown.

[0026] icon:

[0027] 1-UAV body, 2-multi-function actuator, 11-blade, 12-power module, 21-linear unit, 22-adsorption gripper, 221-skeleton, 222-adsorption layer, 223-buffer layer, A-item. DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] The embodiment of the present invention provides an electrostatic adsorption enhanced multifunctional aircraft, such as Figure 1 As shown, the electrostatic adsorption enhanced multifunctional aircraft comprises: a drone body 1 and a multifunctional actuator 2; the multifunctional actuator 2 comprises a microprocessor, a linear unit 21 and a pair of adsorption grippers 22;

[0032] The drone body 1 and the multifunctional actuator 2 cooperate to achieve the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft;

[0033] The microprocessor, the linear unit 21 and the adsorption gripper 22 cooperate to achieve the adaptive gripping of the electrostatic adsorption enhanced multifunctional aircraft.

[0034] Specifically, the electrostatic adsorption enhanced multifunctional aircraft includes: a drone body 1 and a multifunctional actuator 2.

[0035] The drone body 1 includes blades 11, a power module 12 and a flight control module (not shown in the figure). The flight control module and the power module 12 cooperate to realize the movement of the electrostatic adsorption enhanced multifunctional aircraft. Specifically: the flight control module sends a control instruction to the power module 12, and after receiving the control instruction, the power module 12 drives the blades 11 to operate, thereby realizing the flight of the electrostatic adsorption enhanced multifunctional aircraft.

[0036] In an embodiment of the present invention, the power module 12 can be two groups of motor groups, one group of motor groups is used to drive the blades 11 to rotate, thereby driving the electrostatic adsorption enhanced multifunctional aircraft to take off; the other group of motor groups also acts on the blades 11 to adjust the posture of the blades 11, so that the electrostatic adsorption enhanced multifunctional aircraft has the ability to control the flight posture.

[0037] It should be noted that the power module 12 is not limited to a linear motor, but can be powered by a motor, hydraulic drive, pneumatic drive, etc., which is not limited in the embodiment of the present invention.

[0038] The drone body 1 and the multifunctional actuator 2 cooperate to realize the movement or perching of the multifunctional aircraft enhanced by electrostatic adsorption. Specifically, the multifunctional actuator 2 controls the bottom direction of the drone body 1 so that the bottom direction is perpendicular to the direction to be adsorbed, thereby realizing the movement or perching of the multifunctional aircraft enhanced by electrostatic adsorption.

[0039] The multifunctional actuator 2 includes a microprocessor (not shown in the figure), a linear unit 21 and a pair of adsorption grippers 22. The microprocessor, the linear unit 21 and the adsorption grippers 22 cooperate to realize the adaptive gripping of the electrostatic adsorption enhanced multifunctional aircraft. Specifically: the microprocessor receives a control signal from the remote controller, and controls the linear unit 21 and the adsorption grippers 22 to cooperate to realize the adaptive gripping of the electrostatic adsorption enhanced multifunctional aircraft based on the control signal.

[0040] For example, when the electrostatic adsorption enhanced multifunctional aircraft needs to realize the function of moving, walking or perching on the horizontal ground, wall, ceiling and other surfaces, Figure 1 In the case where the electrostatic adsorption enhanced multifunctional aircraft includes two adsorption grippers 22, the linear unit 21 can be in the form of multiple (such as two) straight rods, and a connecting line and other devices are arranged inside. Each straight rod-shaped linear unit 21 corresponds to a pair of adsorption grippers 22, thereby providing a mobile auxiliary carrier for the corresponding adsorption grippers 22 on the straight rod-shaped linear unit 21. By controlling the movement of each adsorption gripper 22 on the linear unit 21, the electrostatic adsorption enhanced multifunctional aircraft can be moved on the landing and perching surface. By adjusting the width between the two adsorption grippers 22, the adsorption and gripping of objects of different sizes and shapes can be achieved.

[0041] The electrostatic adsorption enhanced multifunctional aircraft provided by the embodiment of the present invention can move or perch in complex environments such as vertical walls, ceilings, columnar objects, uneven surfaces, multi-angle walls, etc. based on the coordinated movement of at least one pair of adsorption grippers 22 and the linear unit 21; and the adsorption grippers 22 have a simple structure and can pick up or clamp different objects, such as objects of different sizes and shapes, by means of electrostatic adsorption or magnetic adsorption. The adsorption robot itself is light in weight, has a wide adsorption range, and has strong adsorption adaptability, which has significant advantages over existing drones.

[0042] Optionally, the linear unit 21 may include: Figure 1 The linear mechanism shown in Figure 2 The four-bar mechanism with a power device as shown or Figure 3 The crank slider mechanism shown is equipped with a power device.

[0043] The linear unit 21 of the linear mechanism can be driven as a single-degree-of-freedom mechanism, or can also be driven as a two-degree-of-freedom mechanism, which is not limited in the embodiment of the present invention. Figure 2 The electrostatic adsorption enhanced multifunctional aircraft shown in the figure has a linear unit 21 of a four-bar mechanism, the linear unit 21 is a four-bar mechanism, specifically a four-bar crank connecting rod mechanism in the four-bar mechanism, and the embodiment of the present invention does not specifically limit the driving freedom of the linear unit 21. Figure 3 The electrostatic adsorption enhanced multifunctional aircraft shown has a linear unit 21 with a crank slider mechanism. The linear unit 21 can be a crank slider mechanism. Similarly, the embodiment of the present invention does not specifically limit its driving degree of freedom.

[0044] The power realization modes of the linear unit 21 include: a linear motor, or a hydraulic drive, or a pneumatic drive.

[0045] The linear unit 21 can be implemented by various transmission mechanisms, such as a spiral arm transmission mechanism, a gear rack transmission mechanism, a hydraulic transmission mechanism, a pneumatic transmission mechanism, a crank slider transmission mechanism, etc., all of which are within the scope of protection of the present right.

[0046] Alternatively, if Figure 1 As shown, the electrostatic adsorption enhanced multifunctional aircraft specifically includes: a pair of adsorption grippers 22. Figure 4As shown, each adsorption gripper 22 includes at least: a skeleton 221, an adsorption layer 222 and a buffer layer 223; the buffer layer 223 is arranged between the skeleton 221 and the adsorption layer 222; the adsorption layer 222 is arranged on the clamping side and the sole; the adsorption layer 222 is used to realize the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft; the buffer layer 223 is used to enhance the clamping ability and enhance the landing buffering ability of the electrostatic adsorption enhanced multifunctional aircraft.

[0047] Optionally, the linear unit 21 controls the adsorption gripper 22 to open or close, and the linear unit 21 and the adsorption layer 222 cooperate to clamp objects of various sizes and / or shapes.

[0048] Among them, the skeleton 221 can be simply understood as the "legs" that are in contact with the linear unit 21 and the "feet" that are in contact with the docking surface (such as the ground, wall, ceiling, etc.); the adsorption layer 222 can be directly attached to and covered on the surface of the skeleton 221 ("legs" and / or "feet"). Further, the skeleton 221 is used to cooperate with the linear unit 21 to realize the movement of the electrostatic adsorption enhanced multifunctional aircraft. For example, under the action of the control signal, one end of the skeleton 221 that is in contact with the linear unit 21 moves horizontally on the linear unit 21, thereby driving the entire electrostatic adsorption enhanced multifunctional aircraft to move. In addition, the adsorption layer 222 can be used to realize the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft. For example, the adsorption layer 222 can be an electrostatic adsorption layer or a magnetic adsorption layer, which adsorbs the object on the "legs" or "feet" of the adsorption gripper 22 based on its adsorption ability, or enables the two adsorption grippers 22 to adsorb or clamp the object based on the adsorption ability of the adsorption layer and the clamping ability of mutual pressure. It should be noted that the embodiment of the present invention can also realize the movement of the drone while clamping the object, which can be seen in Figure 5 As shown, Figure 5 A schematic diagram showing the electrostatic adsorption enhanced multifunctional aircraft moving to the right while clamping object A is shown.

[0049] In addition, see Figures 6 to 9 As shown, the electrostatic adsorption enhanced multifunctional aircraft can clamp the object A in different ways at different positions of the adsorption gripper 22 (the position where the adsorption layer 222 is provided); see Figures 10 to 12 As shown, the electrostatic adsorption enhanced multifunctional aircraft can clamp objects A of different sizes and shapes (such as rectangles, spheres, etc.), and no further details will be given here.

[0050] Among them, the buffer layer 223 ( Figure 4The buffer layer 223 is arranged between the frame 221 and the adsorption layer 222, which can effectively avoid impact when the UAV lands or climbs, thereby avoiding damage to the electrostatic adsorption enhanced multifunctional aircraft caused by impact and turbulence. In addition, the buffer layer 223 can increase the contact area between the "legs" of the frame 221 and the clamped object to a certain extent, and the adsorption layer 222 can increase the normal pressure between the clamped object and the "legs", thereby increasing the friction; the buffer layer 223 and the adsorption layer 222 respectively increase the contact area and increase the normal pressure, thereby achieving an increase in friction from two aspects, that is, achieving a more stable clamping.

[0051] Optionally, the structure of the buffer layer 223 is a bionic shark fin structure or a sponge-like structure; the material of the buffer layer 223 is any one or more of the following: polyurethane foam material, silicone foam material, rubber material, ethylene-vinyl acetate copolymer material, shape memory alloy material or airbag material.

[0052] Optionally, in an embodiment of the present invention, the adsorption layer 222 can be an electrostatic adsorption plate, or a gecko-like fluff layer based on electrostatic adsorption, or a suction cup based on electrostatic adsorption. Among them, compared with magnetic suction drones, magnetic suction requires that the adsorption surface must be a magnetic surface, and has high energy consumption and heavy weight, while the electrostatic adsorption enhanced multifunctional aircraft (such as an electrostatic adsorption enhanced multifunctional aircraft whose adsorption layer is a gecko-like fluff layer based on electrostatic adsorption, or a suction cup based on electrostatic adsorption) has small rigidity requirements, strong adaptability, and light weight. Compared with the high energy consumption of rotor reverse thrust drones and the limited adsorption capacity of van der Waals drones, electrostatic adsorption enhanced multifunctional aircraft have the characteristics of a wide adsorption range, low energy consumption, and moderate adsorption force. Compared with other existing technologies, it has significant advantages in terms of habitat and climbing, such as Fig.13 As shown, the embodiment of the present invention can be based on the design of the adsorption gripper 22 (at least including a skeleton 221 and an adsorption layer 222), so as to enhance the embracing, perching and climbing capabilities of the drone.

[0053] Alternatively, if Fig.14 As shown, the drone body 1 also includes: a communication module and an airborne sensing module; the communication module can communicate with the operator, so that the operator can remotely control the flight, landing, climbing, walking, clamping and other functions of the drone. The airborne sensing module is used to assist the electrostatic adsorption enhanced multifunctional aircraft to achieve obstacle avoidance or hovering tasks.

[0054] Alternatively, if Fig.14 As shown, the electrostatic adsorption gripper includes: a microprocessor, an electrostatic adsorption plate and a high-voltage amplifier. The microprocessor is used to control the working state of the linear unit and the electrostatic adsorption plate. The high-voltage amplifier can be built into the frame of the adsorption gripper, and the microprocessor controls the high-voltage input of the electrostatic adsorption plate through the high-voltage amplifier.

[0055] also, Fig.14 Also shown are an onboard power supply (such as a 5V onboard power supply), a boost module (such as a 5V to 12V boost module), and a remote controller arranged in the drone body 1.

[0056] The embodiment of the present invention further provides a control method for the electrostatic adsorption enhanced multifunctional aircraft, and the control method is applied to the electrostatic adsorption enhanced multifunctional aircraft; the electrostatic adsorption enhanced multifunctional aircraft comprises: a drone body and a multifunctional actuator; the multifunctional actuator comprises a microprocessor, a linear unit and a pair of adsorption grippers;

[0057] The method comprises:

[0058] Based on the drone body and the multifunctional actuator, the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft is achieved in cooperation;

[0059] Based on the microprocessor, the linear unit and the adsorption gripper, the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft is achieved in cooperation.

[0060] Among them, the relevant description of the method embodiment can be found in the relevant description of the embodiment of the electrostatic adsorption enhanced multi-functional aircraft, which will not be repeated here.

[0061] In an optional embodiment, the control method of the electrostatic adsorption enhanced multifunctional aircraft further includes:

[0062] a. Sending a control signal for takeoff to the electrostatic adsorption enhanced multifunctional aircraft based on the remote controller; the control signal may be a wireless control signal. The control signal for takeoff controls the power module in the UAV body of the electrostatic adsorption enhanced multifunctional aircraft to start, and the power module may be one of two motor groups to drive the blades in the UAV body to rotate, thereby realizing the takeoff of the electrostatic adsorption enhanced multifunctional aircraft.

[0063] b. Based on the remote controller, a control signal for adjusting the flight attitude is sent to the electrostatic adsorption enhanced multifunctional aircraft; the control signal for adjusting the flight attitude controls the power module, which can be the other of the two groups of motor groups, to adjust the blade attitude and further adjust the flight attitude.

[0064] c. Based on the remote control, a control signal for executing the mission is sent to the electrostatic adsorption enhanced multifunctional aircraft; the mission includes hovering, landing, climbing or moving; the control signal for executing the mission controls the adsorption gripper of the electrostatic adsorption enhanced multifunctional aircraft and the flight control module in the UAV body, so that the electrostatic adsorption enhanced multifunctional aircraft can execute the mission.

[0065] The control method provided in the embodiment of the present invention can easily and simply control the take-off, adjustment, and execution of various tasks (including hovering, landing, climbing or moving) of the electrostatic adsorption enhanced multifunctional aircraft, so that the electrostatic adsorption enhanced multifunctional aircraft can work stably, adapt to the environment more easily, and reduce energy consumption. The movement process can refer to Fig.15 shown.

[0066] Optionally, the electrostatic adsorption enhanced multifunctional aircraft includes two adsorption grippers (such as Figure 1 As shown); in the above step 103, "the control signal used to execute movement controls the adsorption gripper of the electrostatic adsorption enhanced multifunctional aircraft and the flight control module in the UAV body, so as to realize the electrostatic adsorption enhanced multifunctional aircraft to perform the movement task", may include the following steps A1, A2 or A3.

[0067] Step A1: receiving a control signal for executing movement, and determining whether two suction grippers are close to each other.

[0068] Step A2: If not, that is, the two adsorption grippers are not close together, it can be directly determined whether to stop moving; or, by first controlling the adsorption gripper on the first side to cut off the power, such as taking the electrostatic adsorption enhanced multifunctional aircraft moving to the left as an example, first control the adsorption gripper on the left to cut off the power, and then control the two adsorption grippers to move close to each other, and finally control the two adsorption grippers to be powered on. In this way, the two adsorption grippers are first adjusted to a state of being close together.

[0069] Step A3: If the two adsorption grippers are already close together, then the adsorption gripper on the second side may be powered off first. Still taking the electrostatic adsorption enhanced multifunctional aircraft moving to the left as an example, first control the adsorption gripper on the right side to be powered off, and then control the two adsorption grippers to move away from each other, and then control the two adsorption grippers to be powered on, and then control the adsorption gripper on the first side (such as the left side) to be powered off, and then control the two adsorption grippers to move closer together, and finally control the two adsorption grippers to be powered on; to complete the process of moving the electrostatic adsorption enhanced multifunctional aircraft to the left. At this time, it can be determined whether to stop moving, so as to determine whether it is necessary to end the execution of the control instruction for moving and walking. It should be noted that the specific flow chart taking the electrostatic adsorption enhanced multifunctional aircraft moving to the left as an example can be found in Fig.16 As shown, no further description is given here.

[0070] It should be noted that the first side in the above text is not limited to left and right, and can be left or right, that is, when the first side is left, the second side can be right, and when the first side is right, the second side can be left. That is, the above scheme can be expressed as a scheme of walking to the right, and can also be expressed as a scheme of walking to the left.

[0071] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technical solution that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An electrostatic adsorption enhanced multifunctional aircraft, characterized in that: include: A drone body (1) and a multifunctional actuator (2); the multifunctional actuator (2) comprises a microprocessor, a linear unit (21) and a pair of suction grippers (22); The drone body (1) and the multifunctional actuator (2) cooperate to achieve the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft; The microprocessor, the linear unit (21) and the adsorption gripper (22) cooperate to achieve adaptive gripping of the electrostatic adsorption enhanced multifunctional aircraft.

2. The electrostatic adsorption enhanced multifunctional aircraft according to claim 1, characterized in that: The linear unit (21) is a linear motor, or a four-bar mechanism matched with a power device, or a crank slider mechanism matched with a power device.

3. The electrostatic adsorption enhanced multifunctional aircraft according to claim 2, characterized in that: The adsorption gripper (22) comprises: a frame (221), an adsorption layer (222) and a buffer layer (223); the buffer layer (223) is arranged between the frame (221) and the adsorption layer (222); the adsorption layer (222) is arranged on the gripping side and the sole; The adsorption layer (222) is used to realize the adaptive clamping of the electrostatic adsorption enhanced multifunctional aircraft; The buffer layer (223) is used to enhance the clamping capability and the landing buffer capability of the electrostatic adsorption enhanced multifunctional aircraft.

4. The electrostatic adsorption enhanced multifunctional aircraft according to claim 3, characterized in that: The adsorption layer (222) is an electrostatic adsorption plate, or a gecko-like fluff layer based on electrostatic adsorption, or a suction cup based on electrostatic adsorption.

5. The electrostatic adsorption enhanced multifunctional aircraft according to claim 3, characterized in that: The linear unit (21) controls the adsorption gripper (22) to open or close, and the linear unit (21) and the adsorption layer (222) cooperate to clamp objects of various sizes and / or shapes.

6. The electrostatic adsorption enhanced multifunctional aircraft according to claim 5, characterized in that: The structure of the buffer layer (223) is a bionic shark fin structure or a sponge-like structure; the material of the buffer layer (223) is any one or more of the following: polyurethane foam material, silicone foam material, rubber material, ethylene-vinyl acetate copolymer material, shape memory alloy material or airbag material.

7. The electrostatic adsorption enhanced multifunctional aircraft according to claim 2, characterized in that: The power realization mode of the linear unit (21) includes: a linear motor, or a hydraulic drive, or a pneumatic drive.

8. The electrostatic adsorption enhanced multifunctional aircraft according to claim 1, characterized in that: The multifunctional actuator (2) is a leg-foot type multifunctional actuator (2).

9. A control method for an electrostatic adsorption enhanced multifunctional aircraft, characterized in that: The control method is applied to the electrostatic adsorption enhanced multifunctional aircraft; The electrostatic adsorption enhanced multifunctional aircraft comprises: an unmanned aerial vehicle body (1) and a multifunctional actuator (2); the multifunctional actuator (2) comprises a microprocessor, a linear unit (21) and a pair of adsorption grippers (22); The method comprises: Based on the drone body (1) and the multifunctional actuator (2), the movement or perching of the electrostatic adsorption enhanced multifunctional aircraft is achieved in cooperation; Based on the microprocessor, the linear unit (21) and the adsorption gripper (22), adaptive gripping of the electrostatic adsorption enhanced multifunctional aircraft is achieved in cooperation.

10. The control method according to claim 9, wherein the UAV body (1) and the multifunctional actuator (2) cooperate to realize the movement of the electrostatic adsorption enhanced multifunctional aircraft, comprising: After responding to the control signal, judging whether a pair of adsorption grippers (22) are close together according to the acquired photoelectric switch signal; wherein the control signal is a signal for executing movement; If not, determine whether to stop moving; or, control the adsorption gripper on the first side to be powered off, control the two adsorption grippers to move closer to each other, and control the two adsorption grippers to be powered on; If so, control the adsorption gripper on the second side to be powered off, control the two adsorption grippers to move away from each other, control the two adsorption grippers to be powered on, control the adsorption gripper on the first side to be powered off, control the two adsorption grippers to move closer to each other, and control the two adsorption grippers to be powered on; determine whether to stop moving.

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