Adsorption type unmanned aerial vehicle and control method thereof

Abstract

The invention provides an adsorption type unmanned aerial vehicle and a control method thereof. The adsorption type unmanned aerial vehicle comprises a fuselage frame, a rotor wing group, an adsorption part, a supporting part, a stress sensor and an adsorption controller. The rotor group generates rotor aerodynamic force by suctioning airflow on one side and discharging airflow on the other side. The adsorption part is arranged on the side close to the suction airflow and is arranged on the peripheral edge of the suction airflow surface. The adsorption type unmanned aerial vehicle is open on the two sides of the air flow suction and the air flow exhaust. The support part separates the outer surface of the adsorption part from the surface of the object, forms a high-speed airflow flowing space therebetween, and thereby generates a differential pressure adsorption force. The stress sensor senses the pressure difference adsorption force. The adsorption controller is used for adjusting the working state of the rotor wing group according to the sensed pressure difference adsorption force and the target adsorption force, so that the pressure difference adsorption force is controlled. Adsorption is achieved through rotor wing aerodynamic force and pressure difference adsorption force, the adsorption capacity can be remarkably improved, and energy consumption is reduced.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the technical field of unmanned aerial vehicles, and more specifically, to a suction-type unmanned aerial vehicle and a control method thereof. Background Art

[0002] As robot technology matures, robots are increasingly used in operations on the surfaces of large objects, such as surface inspection, cleaning and maintenance, etc. Conventional robots mostly use magnetic adsorption, suction cup adsorption and negative pressure adsorption to attach to the surface of objects for operation.

[0003] Among them, magnetic adsorption needs to be achieved through electromagnets, which is not only heavy and power-consuming, but also inconvenient for fast and long-distance operations. Suction cup adsorption needs to be achieved through vacuum suction cups, which is not only heavy, energy-consuming, and slow, but also usually requires dragging cables, which is not convenient for fast and long-distance operations. For the negative pressure adsorption method, see patent documents CN114537548A, CN115402439A and CN115402438A, which uses negative pressure to draw negative pressure in a cavity structure that is closed on one side and open on the other side, forming a negative pressure difference on the bottom surface, thereby generating suction.

[0004] These existing adsorption methods not only have slow operation speeds, but also have strict requirements on the surface and poor adaptability. Summary of the invention

[0005] In order to solve the above-mentioned problems in the prior art, in the first aspect, an embodiment of the present invention proposes a suction type drone, which is suitable for being adsorbed on the surface of an object, and the suction type drone includes a fuselage frame, a rotor group, an adsorption portion, a support portion, a stress sensor and an adsorption controller. The rotor group includes one or more rotors, and the one or more rotors are connected to the fuselage frame. The rotor group is used to generate rotor aerodynamic force by sucking airflow on one side of the suction type drone and discharging airflow on the other side. The adsorption portion is connected to the fuselage frame, and the adsorption portion is arranged on the side of the suction type drone close to the rotor group sucking airflow, and is arranged on the outer peripheral edge of the rotor group sucking airflow surface. The suction type drone is open on both the side of the rotor group sucking airflow and the side of the rotor group discharging airflow. The support portion is arranged on the outer surface of the adsorption portion, and is used to separate the outer surface of the adsorption portion from the surface of the object, and form an airflow flow space between the outer surface of the adsorption portion and the surface of the object, so that in the working state, the airflow sucked by the rotor group passes through the airflow flow space and then enters the rotor group, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption portion, and then generating a pressure difference adsorption force between the adsorption portion and the surface of the object. The stress sensor is used to sense the pressure difference adsorption force between the adsorption portion and the object. The adsorption controller is used to adjust the working state of the rotor group according to the sensed pressure difference adsorption force and the predefined target adsorption force, thereby controlling the pressure difference adsorption force.

[0006] In some embodiments, the suction type drone further comprises a motion component, a motion sensor and a motion controller. The motion component is disposed on the fuselage frame, and the motion component is used to drive the suction type drone to move on the surface of the object. The motion sensor is used to sense motion data of the motion component. The motion controller is used to adjust the working state of the motion component according to the sensed motion data and a predefined motion target.

[0007] In some embodiments, a portion of the motion component located between an outer surface of the adsorption portion and a surface of the object constitutes the support portion.

[0008] In some embodiments, the motion assembly includes one or more of the following: a driving wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilt rotor, a deflection grid, and a power duct.

[0009] In some embodiments, one or more of the rotation direction, rotation speed, and rotor pitch angle of at least some of the rotors in the rotor group are adjustable, and

[0010] The adsorption parts are arranged on both sides of the adsorption type UAV.

[0011] The adsorption controller is also used to adjust one or more of the rotation direction, rotation speed, and rotor pitch angle of at least part of the rotors in the rotor group according to the adsorption direction of the adsorption type UAV.

[0012] In some embodiments, the height and / or angle of the support portion is adjustable, and,

[0013] The adsorption controller is further used to adjust the height and / or angle of the support portion according to the sensed pressure difference adsorption force and a predefined target adsorption force.

[0014] In some embodiments, the rotors in the rotor group are arranged in a coaxial, tilting or flapping manner.

[0015] In some embodiments, one or more of the steering, rotation speed, pitch angle, flap angle, and tilt angle of the rotors in the rotor group are adjustable. The adsorption controller is further configured to adjust one or more of the steering, rotation speed, pitch angle, flap angle, and tilt angle of the rotors in the rotor group according to the sensed pressure difference adsorption force and a predefined target adsorption force.

[0016] In the second aspect, an embodiment of the present invention proposes a control method for an adsorption type UAV, and the control method is applied to the adsorption type UAV described in any of the above embodiments, and the working modes of the adsorption type UAV include flight mode, transition mode and adsorption mode. The control method includes: judging the current working mode of the adsorption type UAV; when the current working mode is the flight mode, entering the flight mode control process. When the current working mode is the transition mode, entering the transition mode control process. The transition mode control process includes: sensing the contact state between the adsorption part and the object through a stress sensor; calculating the transition hybrid control instruction according to the contact state and the switching target through an adsorption controller; calculating the rotor group control instruction according to the transition hybrid control instruction; and controlling the working state of the rotor group according to the rotor group control instruction. When the current working mode is the adsorption mode, entering the adsorption mode control process. The adsorption mode control process includes: sensing the pressure difference adsorption force between the adsorption part and the object through the stress sensor; calculating the adsorption mixing control instruction according to the sensed pressure difference adsorption force and a predefined target adsorption force through the adsorption controller; calculating the rotor group control instruction according to the adsorption mixing control instruction; and controlling the working state of the rotor group according to the rotor group control instruction.

[0017] In a third aspect, an embodiment of the present invention proposes a control method for an adsorption type drone, which is applied to the adsorption type drone described in the above embodiment including a motion component, and the working modes of the adsorption type drone include flight mode, transition mode and adsorption mode. The control method includes: judging the current working mode of the adsorption type drone; when the current working mode is the flight mode, entering the flight mode control process. When the current working mode is the transition mode, entering the transition mode control process. The transition mode control process includes: sensing the contact state between the adsorption part and the object through a stress sensor; calculating the transition hybrid control instruction according to the contact state and the switching target through an adsorption controller; calculating the rotor group control instruction according to the transition hybrid control instruction; and controlling the working state of the rotor group according to the rotor group control instruction. When the current working mode is the adsorption mode, entering the adsorption mode control process, the adsorption mode control process includes an adsorption control thread and a motion control thread. Among them, in the adsorption control thread: the pressure difference adsorption force between the adsorption part and the object is sensed by the stress sensor; the adsorption controller calculates the adsorption hybrid control instruction according to the sensed pressure difference adsorption force and the predefined target adsorption force; the rotor group control instruction is calculated according to the adsorption hybrid control instruction; the working state of the rotor group is controlled according to the rotor group control instruction. In the motion control thread: the motion data of the motion component is sensed by the motion sensor; the motion controller calculates the motion hybrid control instruction according to the sensed motion data and the predefined motion target; the working state of the motion component is controlled according to the motion hybrid control instruction.

[0018] The adsorption-type UAV and its control method proposed in the embodiments of the present invention utilize the rotor airflow to generate a pressure difference, form an aerodynamic force on the adsorption surface, and obtain a pressure difference adsorption force. The UAV is pressed against the surface of the object by the combined force of the pressure difference adsorption force and the rotor aerodynamic force. The additional pressure difference adsorption force combined with the rotor aerodynamic force improves the adsorption ability of the UAV on the surface of the object. Compared with relying solely on the rotor aerodynamic force to stick the UAV to the surface of the object, the embodiments of the present invention utilize structural improvements to increase the adsorption surface, and generate additional pressure difference adsorption force on the adsorption surface by making full use of the pressure difference effect of the rotor inhaled airflow, thereby enhancing the adsorption force under the condition of equal energy consumption, or reducing energy consumption under the condition of ensuring the same adsorption force, thereby significantly improving the adsorption capacity.

[0019] Since the suction-type UAV proposed in the embodiment of the present invention does not require additional closure, the basic flight appearance of the UAV is retained, thereby being able to better maintain the original flight control and flight performance of the UAV. The conventional flight control method is combined with the motion control method of the suction-type UAV, such as tilt-rotor and deflection grid, to further improve the flight control function of the UAV.

[0020] The embodiments of the present invention provide an overall design scheme for special drones, especially drones for inspection, cleaning, and maintenance on the surfaces of large objects (buildings, glass curtain walls, underground pipelines, photovoltaic panels, etc.). The scheme can achieve stable adsorption and motion control on the surface of objects and can be applied to technical fields such as aerospace and drones.

[0021] The main advantages of the adsorption type UAV and the control method thereof proposed in the embodiments of the present invention are firm adsorption, flexible movement, stable flight, economical and energy-saving, simple structure, and convenient assembly, and are particularly suitable for industrial UAVs. However, the technical solution proposed in the embodiments of the present invention is not only applicable to industrial UAVs, but can also be applied to any scenario that requires adsorption operations on the surface of an object. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the embodiments of the present invention will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0023] Figure 1 A schematic structural diagram of an example of a suction-type drone according to an embodiment of the present invention is shown;

[0024] Figure 2 A schematic structural diagram of another example of a suction-type drone according to an embodiment of the present invention is shown;

[0025] Figure 3 A schematic diagram showing the organizational structure of an example of a suction-type drone according to an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of airflow in a top surface adsorption mode of an adsorption-type UAV according to an embodiment of the present invention is shown;

[0027] Figure 5 A schematic diagram of airflow in a bottom surface adsorption mode of an adsorption type UAV according to an embodiment of the present invention is shown;

[0028] Figure 6 A schematic diagram of the force of the top surface adsorption mode of the adsorption type UAV according to an embodiment of the present invention is shown;

[0029] Figure 7 A force diagram of an example of a tilt rotor in a driving state according to an embodiment of the present invention is shown;

[0030] Figure 8 A schematic diagram of forces in a steering state of an example of a tilt rotor according to an embodiment of the present invention is shown;

[0031] Fig. 9 A schematic diagram of forces in a driving state of an example of four-wheel travel according to an embodiment of the present invention is shown;

[0032] Fig.10 A schematic diagram of forces under a steering state of an example of four-wheel travel according to an embodiment of the present invention is shown;

[0033] Fig.11 A schematic diagram of forces in a driving-steering state of an example of three-wheel travel according to an embodiment of the present invention is shown;

[0034] Fig.12 A schematic diagram showing the forces under a turning state of an example of three-wheel travel according to an embodiment of the present invention is shown;

[0035] Fig.13 It shows a schematic diagram of forces under driving state of a four-wheel driving + deflection grille example according to an embodiment of the present invention;

[0036] Fig.14 A schematic diagram of forces under a turning state of an example of a four-wheel driving+deflection grille according to an embodiment of the present invention is shown;

[0037] Fig.15 A schematic diagram of forces under driving-steering state of a three-wheel driving+deflection grille example according to an embodiment of the present invention is shown;

[0038] Fig.16 A schematic diagram showing the conversion relationship of the working modes of the suction-type UAV according to an embodiment of the present invention is shown;

[0039] Fig.17 A flow chart of a method for controlling an adsorption-type drone according to an embodiment of the present invention is shown;

[0040] Fig.18 A schematic diagram showing an application example of a method for controlling an adsorption-type drone according to an embodiment of the present invention;

[0041] Fig.19 A schematic diagram showing the control principle of an adsorption controller according to an embodiment of the present invention is shown;

[0042] Fig. 20A schematic diagram of the control principle of a motion controller according to an embodiment of the present invention is shown.

[0043] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0044] The principle and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way.

[0045] In one aspect, an embodiment of the present invention provides an adsorption type drone, which is suitable for adsorption on the surface of an object. Figure 1 , which shows a structural schematic diagram of an example of an adsorption-type drone according to an embodiment of the present invention.

[0046] like Figure 1 As shown, the adsorption type UAV includes a fuselage frame 101, a rotor group 102, an adsorption part 103 and a support part 104. In addition, the adsorption type UAV also includes a stress sensor (not shown) and an adsorption controller (not shown). The setting position and method of the stress sensor and the adsorption controller can be adjusted according to the actual scene and needs, and the present invention does not limit this.

[0047] The fuselage frame 101 is used to connect the various components of the drone as a whole and maintain the structural strength. Optionally, the fuselage frame may include other components required for the drone, such as a power battery. Alternatively, the fuselage frame may include interfaces or connections for installing or carrying other components, devices, and equipment required for the actual application of the drone.

[0048] For the sake of brevity and clarity, Figure 1 The fuselage frame 101 shown is roughly a square frame with rounded corners, and has a crossbeam in the center of the frame. However, it should be noted that the shape and structure of the fuselage frame are not limited to this, and the present invention does not impose any restrictions in this regard. For example, the fuselage frame can be roughly any shape such as circular, square, triangular, elliptical, polygonal, etc. The fuselage frame may not have a crossbeam inside, but only a peripheral frame. Alternatively, the fuselage frame may have one or more beams of various different structures.

[0049] The rotor assembly 102 includes one or more rotors, and one or more rotors are connected to the fuselage frame 101. The rotor assembly 102 is used to generate high-speed airflow, and generates rotor aerodynamic force (i.e., rotor thrust) by sucking airflow on one side of the suction-type drone and exhausting airflow on the other side. Optionally, the rotor assembly 102 can also generate control torque through the high-speed airflow. Figure 1In the specific example shown, rotor group 102 includes four rotors arranged side by side in a 2×2 form. However, the arrangement of rotor group 102 is not limited to this. For example, the rotor group may include only one rotor. For another example, the rotor group may include multiple rotors arranged in a circular, star-shaped, staggered, etc. As an embodiment of the present invention, the rotors in the rotor group are arranged in a coaxial, tilting or flapping form.

[0050] The adsorption part 103 is connected to the fuselage frame 101 . The adsorption part 103 is arranged on the side of the adsorption type UAV close to the rotor group 102 where the airflow is sucked in, and is set on the outer peripheral edge of the rotor group 102 where the airflow is sucked in.

[0051] The suction type UAV is open on both the side where the rotor assembly 102 inhales the airflow and the side where the airflow is discharged, that is, it is open. Figure 1 As shown, the top and bottom of the suction type drone are both open, that is, no sealing measures are required for the top and bottom.

[0052] The support portion 104 is disposed on the outer surface of the adsorption portion, and is used to separate the outer surface of the adsorption portion 103 from the surface of the object, that is, to isolate the outer surface of the adsorption portion 103 from the surface of the object and maintain a certain appropriate distance. A high-speed airflow flow space is formed between the outer surface of the adsorption portion 103 and the surface of the object, so that the airflow sucked by the rotor group in the working state passes through the airflow flow space and then enters the rotor group, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption portion 103, and then generating a pressure difference adsorption force between the adsorption portion 103 and the surface of the object. The outer surface of the adsorption portion 103 can also be called an adsorption surface, which is a solid surface.

[0053] The stress sensor can be used to sense the pressure difference adsorption force between the adsorption part and the object. The adsorption controller can be used to adjust the working state of the rotor assembly according to the sensed pressure difference adsorption force and the predefined target adsorption force, for example, by adjusting the rotor airflow velocity to control the pressure difference adsorption force.

[0054] According to the Bernoulli principle, the higher the fluid velocity, the lower the pressure. Therefore, when the rotor inflow quickly passes through the airflow space (i.e., airflow channel) formed between the outer surface of the adsorption part and the surface of the object, the pressure will be reduced, thereby generating a pressure difference aerodynamic force between the inner surface and the outer surface of the adsorption part. At the same time, the rotor itself also generates a rotor aerodynamic force (i.e., rotor thrust). The combined force of the pressure difference aerodynamic force and the rotor aerodynamic force achieves adsorption, pressing the drone onto the surface of the object.

[0055] As an embodiment of the present invention, the height and / or angle of the support portion 104 may be adjustable. The adsorption controller may also be used to adjust the height and / or angle of the support portion according to the sensed pressure differential adsorption force and the predefined target adsorption force. The height of the support portion 104 determines the volume of the airflow flow space or the gap height formed between the outer surface of the adsorption portion 103 and the surface of the object. By adjusting the height of the support portion 104, the height of the outer surface of the adsorption portion 103 relative to the surface of the object can be adjusted, thereby adjusting the magnitude of the pressure differential adsorption force generated. By adjusting the angle of the support portion 104, the angle of the surface of the adsorption portion 103 relative to the surface of the object can be adjusted, thereby adjusting the direction of the pressure differential adsorption force generated.

[0056] Setting the adsorption portion 103 at the peripheral edge of the airflow intake surface of the rotor assembly 102 can ensure that the airflow intake of the rotor assembly 102 flows through the airflow flow space as much as possible, or almost all of it flows through the airflow flow space, thereby generating the largest possible pressure difference adsorption force.

[0057] Just as an example, Figure 1 The adsorption portion is shown as a flat shape parallel to the top or bottom surface of the drone, but it should be noted that the shape, structure and arrangement of the adsorption portion and the outer surface of the adsorption portion are not limited thereto. Optionally, the adsorption portion may include one or more surfaces. Alternatively, the adsorption portion may include a plane and / or a curved surface. The adsorption surface may be located on any surface and in any direction of the drone.

[0058] According to the actual application scenario of the adsorption drone, the surface area of ​​the adsorption part can be adjusted. By increasing the surface area of ​​the adsorption part, the adsorption force generated by the adsorption part under the same conditions can be increased. However, the increase in the surface area of ​​the adsorption part means that the volume and weight of the adsorption part increase. Therefore, in the actual application scenario, the shape, volume, surface area, etc. of the adsorption part can be flexibly set according to the needs.

[0059] Optionally, the adsorption portion, the supporting portion, the fuselage frame and the rotor assembly may form a ducted form, and the duct may be one or more ducts.

[0060] The embodiment of the present invention proposes an adsorption surface pressure difference adsorption type drone mode, which uses the adsorption part outside the duct as an adsorption device, and generates an adhesion adsorption force by means of the pressure difference formed by the rotor airflow passing through the narrow gap between the outer surface of the adsorption part and the surface of the object. According to the Bernoulli principle, the higher the fluid speed, the lower the pressure. Therefore, the rotor inflow will reduce the pressure in the process of quickly passing through the airflow flow space (i.e., airflow channel) formed between the outer surface of the adsorption part and the surface of the object, thereby generating a pressure difference aerodynamic force between the inner surface and the outer surface of the adsorption part. At the same time, the rotor aerodynamic force (i.e., rotor thrust) generated by the rotor itself, the combined force of the two forms a drone pressed against the surface of the object. This structure can also be applied to equipment such as flying robots. This structure retains the basic flight appearance of drones and flying robots to the greatest extent, without the need for an open cavity structure. In addition, it can reach and leave the surface of an object in a flying manner, greatly improving the operating efficiency, significantly improving the accessibility of the operation, and improving the operating speed of the drone or flying robot on the surface of the object.

[0061] It should be noted that the suction type UAV is open on both the side where the rotor assembly 102 inhales the airflow and the side where the airflow is discharged. Figure 1 As shown, the top and bottom of the suction type drone are both open. Compared with the prior art, the suction function of the drone proposed in the embodiment of the present invention is realized by using the Bernoulli principle, and does not need to rely on the negative pressure cavity. Therefore, Figure 1 The top and bottom of the drone shown do not need to be additionally closed, and the basic flight appearance layout of the drone is retained, thereby better maintaining the original flight performance of the drone.

[0062] It should also be noted that, compared with the prior art, the drone proposed in the embodiment of the present invention has an adsorption portion added at the edge. In the adsorption state, there is a high-speed airflow between the surface of the object and the outer surface of the adsorption portion, and the airflow flows in the airflow flow space between the outer surface of the adsorption portion and the surface of the object. According to Bernoulli's principle, the higher the fluid speed, the lower the pressure. Therefore, the pressure will decrease during the process of the airflow passing through the airflow flow space (i.e., the airflow channel) formed between the outer surface of the adsorption portion and the surface of the object. In the prior art, adsorption is achieved through a negative pressure cavity. The adsorption force can only be generated after the airflow is extracted from the cavity and a negative pressure is generated in the cavity. In comparison, the embodiment of the present invention generates the adsorption force before the airflow enters the rotor (i.e., when it flows through the airflow flow space formed between the outer surface of the adsorption portion and the surface of the object).

[0063] The drone proposed in the embodiment of the present invention can utilize the rotor to inhale airflow (i.e., rotor inflow) to generate additional pressure difference adsorption force, and combined with the rotor aerodynamic force (i.e., rotor thrust), press the drone against the surface of an object, thereby improving the adsorption capacity.

[0064] refer to Figure 2 , which shows a structural schematic diagram of another example of an adsorption type drone according to an embodiment of the present invention. In this example, the adsorption type drone includes a fuselage frame 201, a rotor group 202, an adsorption part 203, a motion component 205, a motion sensor (not shown) and a motion controller (not shown), and the motion component 205 is arranged on the fuselage frame. The motion component 205 is used to drive the adsorption type drone to move on the surface of an object, and realize the movement of the drone in a state of adsorption on the surface of an object, for example, including a driving wheel, a steering wheel, a transmission device, a steering device, etc. The setting position and method of the motion sensor and the motion controller can be flexibly adjusted according to the actual scene and needs and the setting method of the motion component, and the present invention does not limit this.

[0065] Just as an example, Figure 2 The moving assembly 205 is shown as a wheel. Figure 2 As shown, the motion assembly 205 is mounted on the adsorption portion 203, specifically, on two opposite sides of the adsorption portion 203. However, it should be noted that the installation and arrangement of the motion assembly is not limited thereto. In fact, the motion assembly may include one or more of the following items: a driving wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilt rotor, a deflection grid, and a power duct.

[0066] The motion sensor can be used to sense the motion data of the motion component, especially the motion data of the drone when it is adsorbed on the surface of an object, such as the motion position, motion speed, motion direction, etc. The motion controller can be used to adjust the working state of the motion component according to the sensed motion data and the predefined motion target, thereby changing the motion state of the drone on the surface of the object.

[0067] As an embodiment of the present invention, the portion of the moving component located between the outer surface of the adsorption portion and the surface of the object constitutes the support portion. Figure 2 As shown, the portion of the wheel of the moving component 205 protruding from the outer surface of the adsorption portion 203 constitutes a supporting portion.

[0068] The above-mentioned embodiments of the present invention include motion components, motion sensors and motion controllers, which can control the adsorption and movement of the drone on the surface of an object by adjusting the wheel speed and direction, etc. This allows the drone to not only be firmly adsorbed on the surface of an object, but also to move quickly and flexibly on the surface of the object, thereby greatly improving the work efficiency and significantly improving the accessibility of the work area.

[0069] refer to Figure 3 , which shows a schematic diagram of the organizational structure of an example of a suction-type drone according to an embodiment of the present invention. Figure 3A specific example of the suction type UAV shown includes a fuselage, a suction unit, a motion unit and a flight unit. The fuselage includes a fuselage frame for integrating all the components of the UAV to form a whole.

[0070] The adsorption unit may include an adsorption portion, a supporting portion, a stress sensor, and an adsorption controller.

[0071] The motion unit may include a motion assembly, a motion sensor, and a motion controller.

[0072] The composition of the fuselage frame, adsorption unit, and motion unit as well as their respective structures, functions, specific examples, and technical effects can refer to the description of the above implementation methods.

[0073] As just one specific example, a flight unit may include a flight assembly, a flight sensor, and a flight controller.

[0074] The flight component can be used to realize the conventional flight functions of the UAV, and can take the form of rotors, ducts, turbine engines, etc.; to enhance the control effect of the flight component, the rotors, ducts, turbine engines can take the form of fixed axis or tilting.

[0075] Flight sensors can be used to detect flight data of drones in flight, such as flight position, flight altitude, flight attitude, etc.

[0076] The flight controller can be used to change the flight state of the drone through the flight components.

[0077] It should be noted that Figure 3 The organizational structure of the specific example shown includes a motion unit, but in fact, the motion unit is only optional, not necessary, and can be flexibly selected according to specific needs in practical applications. In addition, this example shows a flight unit for the purpose of illustrating the drone, but it should be noted that the organizational structure and function of the flight unit shown in this example are only an example and do not constitute any limitation on the suction-type drone of the embodiment of the present invention.

[0078] As an embodiment of the present invention, Figure 2As shown, the rotation direction, rotation speed, and rotor pitch angle of at least part of the rotors in the rotor group can be adjusted, thereby changing the direction of the rotor suction airflow, so that the suction part 203 can be set on both sides of the suction type UAV, that is, a suction part 203 is set on the top and bottom planes of the UAV. In this embodiment, the suction controller is also used to adjust the rotation direction, rotation speed, and rotor pitch angle of at least part of the rotors in the rotor group according to the suction direction of the suction type UAV (that is, the top of the UAV is suctioned on the object or the bottom is suctioned on the object), so as to change the size and / or direction of the suction force. Among them, the adjustment of the rotor rotation direction includes the reversal of the rotor rotation direction, such as changing the rotation direction of the rotor by reversing the motor; the adjustment of the rotor rotation speed includes the adjustment of the rotor rotation rate, for example, through a bidirectional motor speed regulator, the bidirectional adjustment of the rotor speed and steering is realized; the adjustment of the rotor pitch angle includes the adjustment of the size and direction of the rotor pitch angle, for example, by changing the size and positive and negative of the pitch angle, the size and direction of the rotor suction airflow are adjusted.

[0079] In the above-mentioned embodiment, correspondingly, support parts can be provided on the adsorption parts on both sides of the adsorption type UAV. As one embodiment of the present invention, one or more of the steering, rotation speed, pitch angle, flapping angle, and tilt angle of the rotor in the rotor group is adjustable, and the adsorption controller is also used to adjust one or more of the steering, rotation speed, pitch angle, flapping angle, and tilt angle of the rotor in the rotor group according to the sensed pressure difference adsorption force and the predefined target adsorption force. By adjusting the steering, rotation speed, pitch angle, flapping angle, tilt angle, etc. of the rotor, the adsorption and movement of the UAV on the surface of the object can be controlled.

[0080] The drone with a motion component proposed in the embodiment of the present invention realizes the movement and control of the drone in the adsorption state on the surface of an object through various means such as driving wheels, driven wheels, skids, tilt rotors, deflection grids, and power ducts.

[0081] refer to Figure 4-Figure 6 ,in Figure 4 and Figure 5 Schematic diagrams of airflow in the top surface adsorption mode and the bottom surface adsorption mode of the adsorption type UAV according to an embodiment of the present invention are respectively shown, Figure 6 The figure shows the force diagram of the top surface adsorption mode of the adsorption type UAV according to the embodiment of the present invention. Figure 4 In the process, the drone can be attached to the surface of the object through the top surface. Figure 5In the embodiment of the present invention, the drone can be adsorbed on the surface of the object through the bottom surface. Optionally, the adsorption type drone of the embodiment of the present invention can have only one of the bottom surface adsorption mode and the top surface adsorption mode, or can have both the bottom surface adsorption mode and the top surface adsorption mode, and switch between the two modes according to the actual application scenario.

[0082] For the purpose of example and simplification, Figure 4 and Figure 5 It is shown that the inhaled airflow passes through the airflow flow space in a direction parallel to the outer surface of the adsorption part. However, it should be noted that in actual applications, due to the influence of the shape, structure, temperature or other environmental factors of the surface of the object or the surface of the adsorption part, the inhaled airflow may not be parallel to the outer surface of the adsorption part when passing through the airflow flow space, and may flow in any other direction, or may change direction once or multiple times during the flow process. The present invention does not make any limitation in this regard.

[0083] During the high-speed rotation of the rotor assembly, external airflow (pressure P0) is sucked in from the outside of the adsorption surface, flows through the adsorption surface and is discharged by the rotor. A narrow airflow channel is formed between the adsorption surface and the surface of the object, forcing the airflow sucked in by the rotor to accelerate through the airflow channel. According to Bernoulli's principle, the higher the fluid speed, the lower the pressure. Therefore, when the airflow passes through the airflow channel quickly, the pressure will drop to P1.

[0084] Therefore, the pressure difference on both sides of the adsorption surface is obtained according to the following formula (1):

[0085] ΔP=P0-P1 Formula (1)

[0086] Among them, P0 is the pressure of the outside atmosphere, P1 is the pressure in the air flow channel, and ΔP is the pressure difference on both sides of the adsorption surface.

[0087] Assuming the effective area of ​​the adsorption surface is S, the resulting pressure difference adsorption force F P According to the following formula (2):

[0088] F P =ΔP·S Formula (2)

[0089] Among them, F P is the pressure difference adsorption force, ΔP is the pressure difference on both sides of the adsorption surface, and S is the effective area of ​​the adsorption surface.

[0090] In this process, a pressure difference adsorption force F is generated. P and rotor aerodynamic force F RThe pressure difference adsorption force is generated by the pressure difference caused by the high-speed airflow passing through the adsorption surface; the rotor aerodynamic force is generated by the acceleration of the airflow by the rotor. The combined force generated by the pressure difference adsorption force and the rotor aerodynamic force presses the drone tightly on the surface of the object, realizing the adsorption function of the drone on the surface of the object.

[0091] The relationship between pressure and flow velocity in the air flow channel is obtained according to the Bernoulli equation shown in the following formula (3):

[0092]

[0093] Among them, p is the pressure at a certain point in the fluid, v is the flow velocity of the fluid at that point, ρ is the fluid density, g is the acceleration due to gravity, h is the height of the point, and C is a constant.

[0094] The force applied to the drone when it is adsorbed on the surface of an object by the top surface is as follows Figure 6 As shown. Among them, F P It refers to the pressure difference adsorption force formed when the rotor sucks in airflow at high speed through the gap between the adsorption surface and the surface of the object, resulting in a pressure difference; F R The resultant force F generated by the pressure difference adsorption force and the rotor aerodynamic force is F = F P +F R , press the drone against the surface of the object.

[0095] As an example of an embodiment of the present invention, the motion assembly may be a tilt rotor. Figure 7-Figure 8 , which respectively show the force diagrams of an example of a tilt-rotor in a driving state and a steering state according to an embodiment of the present invention. When the rotor groups on both sides of the drone are tilted synchronously, a motion force is generated to drive the drone to move horizontally on the surface of an object, such as Figure 7 When the rotors on both sides of the drone are tilted differentially, a steering torque is generated to drive the drone to rotate on the surface of the object, as shown in Figure 8 When the rotor groups on both sides of the UAV tilt synchronously and differentially, driving power and steering torque for driving the UAV on the surface of the object are generated.

[0096] As an example of an embodiment of the present invention, the motion component may be a power wheel. Figure 9-10 , which respectively show the force diagrams of the driving state and the steering state of an example of four-wheel driving according to an embodiment of the present invention. The power wheels on both sides of the drone rotate synchronously (the rotation direction is shown in the figure F W As shown in the direction of the arrow, F W The friction force generated by the rotation of the UAV power wheel on the surface of the object) generates the motion power that drives the UAV to move horizontally on the surface of the object, such as Fig. 9When the power wheels on both sides of the drone rotate differentially, a steering torque is generated to drive the drone to rotate on the surface of the object, as shown in Fig.10 When the power wheels on both sides of the UAV tilt synchronously and differentially, driving power and steering torque for driving the UAV on the surface of an object are generated. The power wheel can be one or more of all the wheels.

[0097] As an example of an embodiment of the present invention, the motion assembly may include a steering powered wheel. Fig.11 , which shows a schematic diagram of the forces under a driving-steering state of an example of three-wheel travel according to an embodiment of the present invention. W As shown in the direction of the arrow, F W The friction force generated by the rotation of the UAV power wheel on the surface of the object generates the kinetic power to drive the UAV to move horizontally on the surface of the object; when the steering power wheel rotates + turns, the kinetic power and steering torque to drive the UAV to rotate on the surface of the object are generated. The steering power wheel can be one or more of all the wheels.

[0098] As an embodiment of the present invention, the motion assembly may include a steering wheel and a power wheel. Fig.12 , which shows a schematic diagram of the forces under the steering state of an example of three-wheel driving according to an embodiment of the present invention. When the power wheels on both sides of the drone rotate synchronously, the motion power that drives the drone to move horizontally on the surface of the object is generated; when the power wheels on both sides of the drone rotate differentially (the rotation direction is shown in the figure F W As shown in the direction of the arrow, F W The friction force generated by the power wheels of the drone rotating on the surface of the object) generates a steering torque that drives the drone to rotate on the surface of the object. When the power wheels on both sides of the drone tilt synchronously and differentially, the driving power and steering torque that drive the drone on the surface of the object are generated. The power wheels can be two or more of all the wheels.

[0099] As an embodiment of the present invention, the moving component may be a deflection grid. Figure 13-Figure 14 , which respectively show the force diagrams of the four-wheel driving + deflection grid example in the driving state and the steering state according to the embodiment of the present invention. In this embodiment, the adsorption and movement of the drone on the surface of the object can be controlled by adjusting the grid control surface and the like. When the deflection grids on both sides of the drone are synchronously deflected, the motion power that drives the drone to move horizontally on the surface of the object is generated, such as Fig.13 When the deflection grids on both sides of the drone are differentially deflected, a steering torque is generated to drive the drone to rotate on the surface of the object, as shown in Fig.14As shown. When the deflection grids on both sides of the drone tilt synchronously and differentially, driving power and steering torque for driving the drone on the surface of the object are generated. The deflection grids can be located on the top surface, bottom surface, or top surface + bottom surface of the drone.

[0100] As an embodiment of the present invention, the motion component can adopt one or more of the above-mentioned technical means. Fig.15 A motion assembly method using both a steering powered wheel and a deflection grid is shown in FIG. Fig.15 A schematic diagram of the forces under driving-steering state of a three-wheel driving+deflection grille example according to an embodiment of the present invention is shown.

[0101] Since the suction-type UAV proposed in the embodiment of the present invention does not require additional closure, the basic flight appearance layout of the UAV is retained, thereby being able to better maintain the original flight control and flight performance of the UAV. The conventional flight control method is combined with the motion control method of the suction-type UAV, such as tilt-rotor and deflection grid, to further improve the flight control function of the UAV.

[0102] The main advantages of the adsorption type drone proposed in the embodiment of the present invention are firm adsorption, simple structure, flexible flight, and convenient assembly, and it is particularly suitable for industrial drones. However, the technical solution proposed in the embodiment of the present invention is not only applicable to industrial drones, but also can be applied to any scene that requires adsorption operation on the surface of an object.

[0103] The above-mentioned embodiment of the present invention proposes an adsorption type UAV, which can constitute a UAV or a flying robot independently, or can be a flying platform of a UAV or a flying robot, and other equipment or loads can be carried on the flying platform.

[0104] On the other hand, an embodiment of the present invention provides a control method for an adsorption type UAV, which can be applied to the adsorption type UAV described according to any of the above embodiments.

[0105] refer to Fig.16, which shows a schematic diagram of the conversion relationship of the working modes of the adsorption type UAV according to an embodiment of the present invention. The adsorption type UAV proposed in the embodiment of the present invention can have three working modes, including: flight mode, transition mode and adsorption mode. Among them, the flight mode is the normal flight state of the UAV, which is similar to the flight mode and control mode of the traditional UAV; the adsorption mode is the adsorption motion state of the UAV on the surface of the object; the transition mode is the intermediate transition state of the UAV switching from the flight mode to the adsorption mode, or from the adsorption mode to the flight mode. When the UAV switches from the flight state to the object adsorption state, the flight mode-transition mode-adsorption mode conversion will be completed in sequence; when the UAV switches from the object adsorption state to the flight state, the adsorption mode-transition mode-flight mode conversion will be completed in sequence.

[0106] The suction-type drone control method proposed in the embodiment of the present invention may include steps S1701-S1712.

[0107] In step S1701, the current working mode of the suction type UAV is determined.

[0108] In step S1702, when the current working mode is the flight mode, the flight mode control process is entered.

[0109] The flight mode control process may adopt any control method known to those skilled in the art or that will appear in the future, and the present invention does not impose any limitation in this regard.

[0110] In step S1703, when the current working mode is the transition mode, the transition mode control process is entered, and the transition mode control process includes steps S1704-S1707.

[0111] In step S1704, the contact state between the adsorption part and the object is sensed by the stress sensor.

[0112] In step S1705, the adsorption controller calculates a transitional hybrid control instruction according to the contact state and the switching target.

[0113] In step S1706, the rotor group control instruction is calculated based on the transition hybrid control instruction.

[0114] In step S1707, the working state of the rotor group is controlled according to the rotor group control instruction.

[0115] In step S1708, when the current working mode is the adsorption mode, the adsorption mode control process is entered, and the adsorption mode control process includes steps S1709-S1712.

[0116] In step S1709, the pressure difference adsorption force between the adsorption part and the object is sensed by the stress sensor.

[0117] In step S1710, an adsorption mixing control instruction is calculated by an adsorption controller according to the sensed pressure difference adsorption force and a predefined target adsorption force.

[0118] In step S1711, the rotor group control instruction is calculated according to the adsorption mixing control instruction.

[0119] In step S1712, the working state of the rotor group is controlled according to the rotor group control instruction.

[0120] On the other hand, an embodiment of the present invention provides a control method for an adsorption type UAV, which can be applied to the adsorption type UAV described in any embodiment including a motion component.

[0121] The working modes of the suction type UAV include flight mode, transition mode and suction mode. The control method includes:

[0122] Determine the current working mode of the suction drone;

[0123] When the current working mode is the flight mode, the flight mode control process is entered. The flight mode control process may adopt any control method known to those skilled in the art or that will appear in the future, and the present invention does not impose any limitation in this regard.

[0124] When the current working mode is the transition mode, the transition mode control process is entered, and the transition mode control process includes:

[0125] Sensing the contact state between the adsorption part and the object by means of a stress sensor;

[0126] The adsorption controller calculates the transitional mixed control command according to the contact state and the switching target;

[0127] calculating rotor group control commands based on the transitional mixture control commands;

[0128] Control the working state of the rotor group according to the rotor group control instructions,

[0129] When the current working mode is the adsorption mode, the adsorption mode control process is entered. The adsorption mode control process includes an adsorption control thread and a motion control thread, wherein:

[0130] In the adsorption control thread:

[0131] The pressure difference adsorption force between the adsorption part and the object is sensed by a stress sensor;

[0132] The adsorption mixing control instruction is calculated by the adsorption controller according to the sensed pressure difference adsorption force and the predefined target adsorption force;

[0133] calculating rotor group control instructions based on adsorption mixing control instructions;

[0134] Control the working state of the rotor group according to the rotor group control instructions,

[0135] In the motion control thread:

[0136] sensing motion data of the motion component by means of a motion sensor;

[0137] Calculating a motion hybrid control instruction by a motion controller according to the sensed motion data and a predefined motion target;

[0138] The working state of the motion component is controlled according to the motion hybrid control instructions.

[0139] refer to Fig.18 , which shows a schematic diagram of an application example of the control method of the adsorption type drone according to an embodiment of the present invention. At any time, the drone is in one of the flight mode, transition mode and adsorption mode. In each control cycle, the current mode is first determined, and the corresponding control process is entered accordingly.

[0140] In flight mode, the drone switches to the flight mode control process. By detecting the flight sensor, the current flight data of the drone is read, and the flight control instructions are calculated accordingly; through flight hybrid control, the flight control instructions are mixed and calculated and sent to each control surface, such as the rotor group; by generating rotor control instructions and sending them to the instruction update module to drive the control surface to operate; the control process is similar to that of conventional drones and will not be expanded here. Preferably, the flight control instructions can also be mixed and calculated and sent to the rotor tilt mechanism, grid tilt mechanism, etc. to further enhance the flight control effect. It should be noted that the above description of the flight mode control process is only an example. In fact, the flight mode control process can adopt any control method known to those skilled in the art or that will appear in the future, and the present invention does not impose any restrictions in this regard.

[0141] In transition mode, the drone switches to the transition mode control process. By detecting the stress sensor, the drone senses the current contact state with the surface of the object; by combining the flight mode switching target (from flight mode to adsorption mode, or from adsorption mode to flight mode), the transition mixed control command is calculated; through transition mixed control, the transition mixed control command is mixed and calculated and distributed to each control surface, such as the rotor group, drive wheel and steering wheel; by sending the rotor command to the command update module, the control surface is driven to operate and the working mode switch is completed smoothly.

[0142] In adsorption mode, the drone switches to the adsorption mode control process. The adsorption mode control process includes two threads: adsorption control and motion control.

[0143] In the adsorption control thread, the current contact state between the drone and the surface of the object is sensed by detecting the stress sensor; the adsorption mixed control instruction is calculated by comparing the preset stress value Nc with the detected stress value Ns; through the adsorption mixed control, the adsorption mixed control instruction is mixed and calculated and distributed to each control surface, such as the rotor group, to achieve accurate control of the adsorption force;

[0144] In the motion control thread, the current motion state of the UAV on the surface of the object is sensed by detecting the motion sensor; the motion mixed control instruction is calculated by comparing the preset target point uWPi with the current position Ps; through motion mixed control, the adsorption mixed control instructions are mixed and calculated and distributed to each control surface, such as the driving wheel and steering wheel, to achieve accurate motion control of the UAV in the adsorption state on the surface of the object.

[0145] Adsorption controller is used to control the adsorption force of the drone relative to the surface of the object. Its control principle is as follows Fig.19 The adsorption controller is based on the adsorption force instruction uN and the adsorption force N between the drone and the object surface detected by the stress sensor. s , automatically calculate the rotor command uTho. By adjusting the rotor command uTho in real time, the rotor thrust is changed, so that the adsorption force of the drone on the surface of the object is controlled near a given value.

[0146] In the flight mode, transition mode and adsorption mode, the adsorption force instruction uN is as shown in the following formula 4:

[0147]

[0148] Among them, in the flight mode, the adsorption force instruction uN=0, and the adsorption controller does not work; in the transition mode, the adsorption force instruction uN=0→N c (from flight mode to adsorption mode), or uN=N c →0 (from adsorption mode to flight mode); in adsorption mode, adsorption force instruction uN=N c .

[0149] The above-mentioned adsorption force instruction uN serves as the control input of the adsorption controller.

[0150] The adsorption controller compares the adsorption force command uN with the adsorption force N detected by the stress sensor. s The rotor thrust is calculated by the deviation of

[0151] eN=uN-N s

[0152] uTho=f T (eN) = f T (uN-N s ) Formula (5)

[0153] Among them, uTho is the rotor thrust, eN is the adsorption force instruction uN and the adsorption force N detected by the stress sensor s The deviation, f T is the control law function of the adsorption controller, optionally, f T Adopt PID algorithm function.

[0154] The motion controller is used to control the movement direction Ψ and movement speed V of the drone on the surface of the object when the drone is adsorbed on the surface of the object. The control principle is as follows Fig. 20 As shown. The motion controller is based on the motion target point sequence uWP i , (i=1,...,n), and the current position P of the drone on the surface of the object detected by the motion sensor s , automatically calculate the motion instructions uΨ and uV. By adjusting the motion components in real time, the motion direction and speed are changed, thus controlling the drone to move to the motion target point uWP in sequence. i ,(i=1,...,n).

[0155] in,

[0156] The motion controllers don’t work in airplane mode;

[0157] In transition mode, the motion controller does not work;

[0158] In adsorption mode, the motion controller follows the motion target point sequence uWP i , (i=1,...,n), and the current position P of the drone on the surface of the object detected by the motion sensor s , calculate the current position P of the drone on the surface of the object based on the triangular relationship s Relative to the current moving target point sequence point uWP i , (i=1,...,n) target azimuth angle uΨ and target distance ud, as shown in the following formula (6):

[0159]

[0160] Among them, uΨ is the target azimuth, ud is the target distance, and uWP i , (i=1,...,n) is the moving target point sequence, P s is the current position, f Ψ is the yaw control law function, f dis the distance control law function.

[0161] The motion controller calculates the target azimuth angle uΨ and the current azimuth angle Ψ of the drone. s Deviation, calculate the yaw motion command As shown in the following formula (7):

[0162] eΨ=uΨ-Ψ s

[0163]

[0164] in, is the yaw motion command, eΨ is the target azimuth uΨ and the current azimuth Ψ of the drone s The deviation, f Ψ is the yaw control law function. Optionally, f Ψ A PID algorithm function may be employed.

[0165] The motion controller calculates the motion speed command uV according to the target distance ud, as shown in the following formula (8):

[0166] uV=f V (ud) Formula (8)

[0167] Among them, uV is the motion speed instruction, ud is the target distance, and f V is the yaw control law function. Optionally, f V A PID algorithm function may be employed.

[0168] The motion controller sends the yaw motion command according to the motion components used by the drone. And the motion speed instruction uV is mixed and controlled to each motion surface.

[0169] When a tilt-rotor motion assembly is used, as shown in the following formula (9):

[0170]

[0171] Among them, θ L and θ R They are the tilt angles of the left and right rotors of the drone, is the yaw-rotor pitch blend control coefficient, is the forward-rotor tilt mixing control coefficient, is the yaw motion command, and uV is the motion speed command.

[0172] In the case of a four-wheel driving motion component, as shown in the following formula (10):

[0173]

[0174] Among them, Ω L and Ω R are the rotational angular velocities of the left and right driving wheels of the drone, is the yaw-drive wheel speed mixed control coefficient, is the forward-drive wheel speed mixed control coefficient, is the yaw motion command, and uV is the motion speed command.

[0175] In the case of a three-wheeled motion assembly, as shown in the following formula (11):

[0176]

[0177] Among them, Θ S is the deflection angle of the UAV steering wheel, Ω D is the angular velocity of the driving wheel of the drone, is the yaw-drive wheel speed mixed control coefficient, is the forward-drive wheel speed mixed control coefficient, is the yaw motion command, and uV is the motion speed command.

[0178] In the case of using a deflection grid motion component, as shown in the following formula (12):

[0179]

[0180] Among them, γ L and γ R They are the deflection angles of the left and right grids of the drone, is the yaw-grid deflection hybrid control coefficient, is the advance-grid deflection hybrid control coefficient, is the yaw motion command, and uV is the motion speed command.

[0181] For the form of using other motion components, the control idea is similar to the above case, which will not be repeated here; for the form of using multiple motion components at the same time, the control idea is the arrangement and combination of the above control cases, which will not be repeated here.

[0182] The adsorption-type UAV and its control method proposed in the embodiment of the present invention utilize the rotor airflow to generate a pressure difference, form an aerodynamic force on the adsorption surface, and obtain a pressure difference adsorption force. The UAV is pressed against the surface of the object by the combined force of the pressure difference adsorption force and the rotor aerodynamic force. The additional pressure difference adsorption force combined with the rotor aerodynamic force improves the adsorption capacity. Compared with relying solely on the rotor aerodynamic force to stick the UAV to the surface of the object, the embodiment of the present invention utilizes structural improvements to increase the adsorption surface, and generates additional pressure difference adsorption force on the adsorption surface by making full use of the pressure difference effect of the rotor's inhaled airflow. The adsorption force is enhanced under the condition of equal energy consumption, and the energy consumption is reduced while ensuring the same adsorption force, thereby significantly improving the adsorption capacity of the UAV on the surface of the object.

[0183] When the adsorption-type UAV includes motion components, the movement and control of the UAV in the adsorption state on the surface of an object are achieved through various motion components such as driving wheels, driven wheels, skids, tilt rotors, deflection grids, power ducts, etc.

[0184] Since the suction-type UAV proposed in the embodiment of the present invention does not require additional closure, the basic flight appearance layout of the UAV is retained, thereby being able to better maintain the original flight control and flight performance of the UAV. The conventional flight control method is combined with the motion control method of the suction-type UAV, such as tilt-rotor and deflection grid, to further improve the flight control function of the UAV.

[0185] The embodiments of the present invention provide an overall design scheme for special drones, especially drones for inspection, cleaning, and maintenance on the surfaces of large objects (buildings, glass curtain walls, underground pipelines, photovoltaic panels, etc.). The scheme can achieve stable adsorption and motion control on the surface of objects and can be applied to technical fields such as aerospace and drones.

[0186] The main advantages of the adsorption type drone proposed in the embodiment of the present invention are firm adsorption, simple structure, economical and energy-saving, flexible flight, and convenient assembly, and it is particularly suitable for industrial drones. However, the technical solution proposed in the embodiment of the present invention is not only applicable to industrial drones, but also can be applied to any scene that requires adsorption operation on the surface of an object.

[0187] For the purpose of illustration, the foregoing description of the embodiments of the present invention has been given, which is not exhaustive nor intended to limit the present invention to the disclosed exact form. It will be appreciated by those skilled in the art that various changes can be made without departing from the scope of the present invention, and that the elements therein can be replaced with equivalents. In addition, without departing from the basic scope of the present invention, many modifications can be made so that specific situations or materials are adapted to the teachings of the present invention. Therefore, the present invention is not intended to be limited to the specific embodiments disclosed as the best mode for realizing the present invention, and the present invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A suction type drone, characterized in that: The adsorption type UAV is suitable for being adsorbed on the surface of an object. The adsorption type UAV comprises a fuselage frame, a rotor assembly, an adsorption part, a support part, a stress sensor and an adsorption controller. The rotor assembly includes one or more rotors, the one or more rotors are connected to the fuselage frame, and the rotor assembly is used to generate rotor aerodynamic force by sucking airflow on one side of the suction-type UAV and exhausting airflow on the other side; The adsorption part is connected to the fuselage frame, and the adsorption part is arranged on the side of the adsorption type UAV close to the rotor group inhaling airflow, and is arranged on the outer peripheral edge of the rotor group inhaling airflow surface; The suction-type UAV is open on both the side where the rotor assembly inhales airflow and the side where the rotor assembly discharges airflow. The support portion is arranged on the outer surface of the adsorption portion, and is used to separate the outer surface of the adsorption portion from the surface of the object, so as to form an airflow flow space between the outer surface of the adsorption portion and the surface of the object, so that in the working state, the airflow sucked by the rotor group passes through the airflow flow space and then enters the rotor group, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption portion, and further generating a pressure difference adsorption force between the adsorption portion and the surface of the object. The stress sensor is used to sense the pressure difference adsorption force between the adsorption part and the object. The adsorption controller is used to adjust the working state of the rotor group according to the sensed pressure difference adsorption force and the predefined target adsorption force, so as to control the pressure difference adsorption force.

2. The suction type drone according to claim 1, characterized in that: The suction type drone also includes a motion component, a motion sensor and a motion controller. The motion component is arranged on the fuselage frame, and the motion component is used to drive the suction type drone to move on the surface of the object. The motion sensor is used to sense the motion data of the motion component. The motion controller is used to adjust the working state of the motion component according to the sensed motion data and a predefined motion target.

3. The suction type drone according to claim 2, characterized in that: The portion of the motion component located between the outer surface of the adsorption portion and the surface of the object constitutes the support portion.

4. The suction type drone according to claim 2, characterized in that: The motion assembly includes one or more of the following items: a driving wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilt rotor, a deflection grid, and a power duct.

5. The suction type drone according to any one of claims 1 to 4, characterized in that: One or more of the rotation direction, rotation speed, and rotor pitch angle of at least some of the rotors in the rotor group can be adjusted, and The adsorption parts are arranged on both sides of the adsorption type UAV. The adsorption controller is also used to adjust one or more of the rotation direction, rotation speed, and rotor pitch angle of at least part of the rotors in the rotor group according to the adsorption direction of the adsorption type UAV.

6. The suction type drone according to any one of claims 1 to 4, characterized in that: The height and / or angle of the support portion is adjustable, and, The adsorption controller is further used to adjust the height and / or angle of the support portion according to the sensed pressure difference adsorption force and a predefined target adsorption force.

7. The suction type drone according to any one of claims 1 to 4, characterized in that: The rotors in the rotor group are arranged in a coaxial, tilting or flapping manner.

8. The suction type drone according to any one of claims 1 to 4, characterized in that: One or more of the steering, rotation speed, pitch angle, flap angle, and tilt angle of the rotors in the rotor assembly is adjustable, and The adsorption controller is also used to adjust one or more of the steering, rotation speed, pitch angle, flap angle, and tilt angle of the rotors in the rotor group according to the sensed pressure difference adsorption force and a predefined target adsorption force.

9. A method for controlling an adsorption type drone, characterized in that: The control method is applied to the suction-type UAV according to any one of claims 1 to 8, wherein the working modes of the suction-type UAV include a flight mode, a transition mode and a suction mode, and the control method includes: Determining the current working mode of the suction type UAV; When the current working mode is the flight mode, the flight mode control process is entered; When the current working mode is the transition mode, a transition mode control process is entered, and the transition mode control process includes: Sensing the contact state between the adsorption part and the object by means of a stress sensor; Calculating a transitional mixing control instruction according to the contact state and the switching target by an adsorption controller; Calculating a rotor group control instruction based on the transitional hybrid control instruction; controlling the working state of the rotor group according to the rotor group control instruction, When the current working mode is the adsorption mode, the adsorption mode control process is entered, and the adsorption mode control process includes: sensing the pressure difference adsorption force between the adsorption portion and the object by the stress sensor; The adsorption controller calculates an adsorption mixing control instruction according to the sensed pressure difference adsorption force and a predefined target adsorption force; Calculating a rotor group control instruction according to the adsorption mixing control instruction; The working state of the rotor group is controlled according to the rotor group control instruction.

10. A method for controlling an adsorption-type UAV, characterized in that: The control method is applied to the suction-type UAV according to any one of claims 2 to 8, wherein the working modes of the suction-type UAV include a flight mode, a transition mode and a suction mode, and the control method includes: Determining the current working mode of the suction type UAV; When the current working mode is the flight mode, the flight mode control process is entered; When the current working mode is the transition mode, a transition mode control process is entered, and the transition mode control process includes: Sensing the contact state between the adsorption part and the object by means of a stress sensor; calculating a transitional mixing control instruction according to the contact state and the switching target by an adsorption controller; Calculating a rotor group control instruction based on the transitional hybrid control instruction; controlling the working state of the rotor group according to the rotor group control instruction, When the current working mode is the adsorption mode, the adsorption mode control process is entered, and the adsorption mode control process includes an adsorption control thread and a motion control thread, wherein: In the adsorption control thread: sensing the pressure difference adsorption force between the adsorption portion and the object by the stress sensor; The adsorption controller calculates an adsorption mixing control instruction according to the sensed pressure difference adsorption force and a predefined target adsorption force; Calculating a rotor group control instruction according to the adsorption mixing control instruction; controlling the working state of the rotor group according to the rotor group control instruction, In the motion control thread: sensing motion data of the motion component by means of a motion sensor; Calculating a motion hybrid control instruction by a motion controller according to the sensed motion data and a predefined motion target; The working state of the motion component is controlled according to the motion mixing control instruction.

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