Micro unmanned aerial vehicle inhabiting device based on bionic adhesion surface and micro unmanned aerial vehicle

Abstract

The invention provides a micro unmanned aerial vehicle inhabiting device based on a bionic adhesion surface and a micro unmanned aerial vehicle. In the inhabiting device, a motor support can be connected with a vehicle arm and carries a propeller and a motor. An adhesion plate connected to the support on the outer side of the propeller comprises a first panel and a second panel which form a predetermined angle and can rotate between two positions, in the first position, the first panel is parallel to the plane of the fuselage, and in the second position, the second panel is parallel to the inhabitation plane. An array of biomimetic adhesive microstructures attached to the adhesive plate may be attached to vertical and lateral inhabitation planes. The device is simple in structure, small in size and light in weight, the unmanned aerial vehicle can inhabit in a vertical or lateral plane by utilizing the dry adhesion characteristic of the adhesion material under the condition that kinetic energy does not need to be additionally supplied, only the attitude of the unmanned aerial vehicle needs to be controlled in the inhabiting process, and the control difficulty is low; after inhabiting is completed, part of propellers can stop working or the rotating speed is reduced, so that the power consumption of the unmanned aerial vehicle is reduced, and the requirement for prolonging the endurance time of the unmanned aerial vehicle is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a micro-unmanned aerial vehicle habitat device based on a bionic adhesive surface and a micro-unmanned aerial vehicle comprising the habitat device. Background Art

[0002] In order to adapt to the needs of narrow space operation and concealment, micro-UAVs are designed with emphasis on lightweight and miniaturization. Since they perform tasks at low Reynolds numbers, they are greatly affected by air viscosity, and low aerodynamic efficiency will have a great impact on the flight time of UAVs. Therefore, when designing micro-UAVs, it is necessary to consider how to improve energy utilization efficiency and extend flight time. The main methods currently include using lightweight materials and lightweight structural design to reduce energy consumption; optimizing energy use through intelligent battery management and energy distribution systems; optimizing fuselage design to reduce air resistance and improve flight efficiency; and recovering part of the energy through energy recovery systems to extend flight time. In addition, recently, the flight time of micro-UAVs has been improved by allowing them to perch midway, which can also be used for tasks such as data collection, detection, and inspection.

[0003] At present, the main perching schemes and their applications in micro-UAVs are: the perching mechanism of the rotor UAV based on the opposing claw thorn unit proposed by the Chinese patent with publication number CN113619788B, which adopts the opposing claw thorn structure, allowing the UAV to grab and perch on the indoor ceiling; the left-right symmetrical perching arms equipped with the double-perching arm perching UAV proposed by the Chinese patent with publication number CN115675838B, each perching arm helps the UAV to land stably in different perching environments through the power assembly and the double hook claw structure. These perching schemes are mainly based on pure mechanical structures and require additional functional devices, which will affect the endurance of the UAV; and they are complex in structure, large in size, poor in concealment, high in coordination between components, and difficult to control, resulting in difficult maintenance of the mechanism and high failure rate; in addition, these schemes can only realize the perching and take-off of the UAV on the vertical plane, and cannot meet the perching and take-off requirements of the UAV on both the vertical plane and the lateral plane. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that the existing micro-UAV perching structure requires additional functions and has a complex structure, large size, high control difficulty, and cannot meet the perching and take-off requirements of the UAV in both the vertical plane and the lateral plane, and provides a micro-UAV perching device based on a bionic adhesive surface and a micro-UAV including the perching device. The perching device is a lightweight device that can be installed on a micro-rotor UAV. The device can make the UAV perch at a target position through the dry adhesion characteristics of the adhesive material itself without the need for additional kinetic energy supply, and can make the rotor UAV realize dynamic perching attachment and take-off in two application scenarios, namely vertical perching and lateral perching. The device has the characteristics of simple structure, small size, low cost, light material, low energy consumption, strong adaptability and low control difficulty.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] One aspect of the present invention provides a micro-UAV perching device based on a bionic adhesive surface, comprising a motor support, two adhesive plates, and two bionic adhesive microstructure arrays arranged in one-to-one correspondence with the adhesive plates;

[0007] The motor support is used to connect with the arm of the drone and carry the propeller of the drone and the motor driving the propeller, and is used to support the adhesive plate and the bionic adhesive microstructure array. The motor support includes a sleeve, a connecting rod radially extending from the outer wall of the sleeve, and two outriggers extending away from the connecting rod. The sleeve is used to accommodate the motor of the drone and support the propeller, and the connecting rod is used to connect with the arm of the drone;

[0008] The adhesive plate is L-shaped and includes a first panel and a second panel at a predetermined angle, the adhesive plate is rotatably mounted to the corresponding outrigger facing the fuselage of the drone and is mounted to be rotatable between a first position and a second position around a rotation axis, the rotation axis is located in a plane parallel to the plane of the drone fuselage and perpendicular to the drone arm, in the first position, the first panel is parallel to the plane of the drone fuselage, and in the second position, the second panel is parallel to the perch plane of the drone;

[0009] The bionic adhesive microstructure array is used to attach to the vertical habitat plane and the lateral habitat plane, and is attached to the corresponding adhesive plate with its back facing the drone fuselage, and includes multiple rows and columns of microstructures made of gecko-like dry adhesive materials.

[0010] Furthermore, the outriggers extend in a plane parallel to the plane of the drone fuselage, and the angles between the two outriggers and the connecting rod are both 135°, and the angle between the two outriggers is 90°.

[0011] Furthermore, a reinforcing beam is connected between the two outriggers.

[0012] Furthermore, the connecting rod is a strip-shaped rod with a hollow slot, and the drone arm can be inserted into the slot.

[0013] Furthermore, the motor support also includes two limit rods for preventing the propeller from interfering with the vertical resting plane. The two limit rods are parallel to the axis of the sleeve, and one end is connected to the outer end of the extension rod and the other end is connected to the adhesive plate.

[0014] Furthermore, a first limit piece, a lug and a second limit piece are sequentially arranged along the limit rod at one end connected to the adhesion plate, and the first limit piece is located at the tip end of the limit rod, and the lug rotatably connects the adhesion plate through a pin shaft, and the first limit piece is used to stop the second panel of the adhesion plate to limit and support the adhesion plate in the second position when the drone is attached to the vertical plane, and the second limit piece is used to stop the second panel of the adhesion plate to limit and support the adhesion plate in the second position when the drone is attached to the lateral plane.

[0015] Furthermore, the angle between the first panel and the second panel is between 105° and 115°.

[0016] Another aspect of the present invention provides a micro-UAV, comprising a fuselage, a plurality of arms, and a plurality of propellers and motors for driving the propellers arranged in a one-to-one correspondence with the arms, wherein a PCB board, a battery and a battery clamp are arranged on the fuselage, and the micro-UAV also comprises a plurality of the above-mentioned perching devices arranged in a one-to-one correspondence with the arms, wherein the motor supports of the perching devices are connected to the corresponding arms and carry the corresponding motors and propellers.

[0017] Furthermore, the arm is a part of the PCB board.

[0018] Furthermore, the attachment and detachment process of the micro-UAV on the vertical plane and the lateral plane is as follows:

[0019] For vertical perching: when the adhesive plate is in a state where the first panel is parallel to the plane of the drone fuselage, the drone takes off with the perching device. When the drone flies to the bottom of a horizontal perching plane parallel to the fuselage plane, the bionic adhesive microstructure array on the first panel of a pair of adhesive plates in the perching device on one of the arms first adheres to and contacts the perching plane. If the adhesion force is sufficient, the drone completes the attachment. If the adhesion force is insufficient, the posture of the drone is fine-tuned, and the adhesive plate rotates around the rotation axis against the perching plane, so that the adhesive plate is in a second position where the second panel is parallel to the perching plane, so that the bionic adhesive microstructure array on the second panel of the adhesive plate adheres to and contacts the perching plane, thereby the drone is attached to the perching plane, and at this time, some propellers can stop working or reduce the speed; when detaching, more or all propellers are stopped or reduced in speed, and the stress distribution on the adhesive plate is uneven and leaves the perching plane, thereby completing the detachment of the drone;

[0020] For lateral perching: when the adhesive plate is in a state where the first panel is parallel to the plane of the drone fuselage, the drone takes off with the perching device, and when the drone flies to a vertical perching plane perpendicular to the fuselage plane, the flight attitude of the drone is controlled so that an adhesive plate in the perching device on one of the arms approaches the perching plane with its second panel parallel to the perching plane. When the bionic adhesive microstructure array on the second panel is completely in contact with the perching plane, the drone is attached to the perching plane, and some propellers can stop working at this time; when deattaching, more or all propellers are stopped, the stress distribution on the adhesive plate is uneven and leaves the perching plane, thereby completing the deattachment of the drone.

[0021] The advantages of the present invention are:

[0022] 1. The micro-UAV perching device based on the bionic adhesive surface of the present invention has motor supports installed on the arms of the multi-rotor UAV to carry the propellers and their driving motors of the UAV, and each motor support is connected to two adhesive plates on the outside of the motor and the propeller, and a bionic adhesive microstructure array that can be attached to the perching plane is attached to the adhesive plate. The adhesive plate is composed of two panels at a certain angle and can rotate between two positions relative to the rotation axis, one of which is a position where one panel of the adhesive plate is parallel to the plane of the UAV fuselage, so that the UAV can be perched and attached on the vertical plane, and the other position is a position where another panel of the adhesive plate is parallel to the perching plane, that is, the vertical plane or the lateral plane, so that the UAV can be perched and attached on the vertical plane or the lateral plane. Therefore, the perching device of the present invention has a simple structure, a small size, and a light weight. It utilizes the dry adhesion characteristics of the adhesive material itself without the need for additional kinetic energy supply to enable the drone to perch on a vertical plane or a lateral plane. During the perching process, it is only necessary to control the posture of the drone, and the control method is simple and the control difficulty is low. After the perching attachment is completed, a part of the propellers can be stopped or the rotation speed can be reduced, thereby reducing the power consumption of the drone and meeting the requirement of extending the flight time of the drone. When the drone is detached, a larger number or all of the propellers can be stopped or the rotation speed can be reduced to make the stress distribution on the adhesive plate uneven and leave the perching plane, thereby completing the desorption.

[0023] 2. Compared with the existing drones, the micro drone of the present invention is equipped with a perching device based on a bionic adhesive surface, so that the drone can perch and detach in the vertical and lateral planes in a simple control manner without the need for additional energy supply, thereby increasing the flight time of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or other features and advantages of the present invention will become more easily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and some features are exaggerated or reduced to show details of specific components. In the accompanying drawings:

[0025] Figure 1 It is a structural schematic diagram of a micro-UAV habitat device based on a bionic adhesive surface of the present invention;

[0026] Figure 2 It is a structural stereogram of the adhesive plate and surrounding structures in the habitat device of the present invention;

[0027] Figure 3 It is a schematic diagram of the assembly of the habitat device and the drone of the present invention;

[0028] Figure 4 is a structural stereogram of the micro-UAV of the present invention;

[0029] Figure 5 is a front view of the structure of the micro-UAV of the present invention;

[0030] Figure 6 It is a structural stereogram of the fuselage and the arms of the micro UAV of the present invention;

[0031] Figure 7 It is the process of the micro-UAV of the present invention perching on a vertical plane;

[0032] Figure 8 The present invention is a process of the micro-UAV perching on a lateral plane.

[0033] In the figure:

[0034] 1-motor support, 101-sleeve, 102-connecting rod, 103-extending rod, 104-reinforcement beam, 105-limiting rod, 106-first limiting member, 107-lug, 108-pin, 109-second limiting member; 2-adhesion plate, 201-first panel, 202-second panel; 3-bionic adhesion microstructure array;

[0035] 11- fuselage; 12- arm; 13- propeller; 14- motor; 15- PCB board; 16- battery; 17- battery clamp. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0037] It should be pointed out that, in the context of the present invention, the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise" and "counterclockwise" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, terms such as "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0039] The present invention provides a micro-UAV perching device based on a bionic adhesive surface and a micro-UAV including the perching device. The perching device has a simple structure, a small size, and a light weight. It can be installed on the arm of a multi-rotor micro-UAV and can achieve dynamic perching attachment and take-off of the UAV on a vertical plane and a lateral plane in a simple control manner without the need for additional kinetic energy supply, thereby extending the flight time of the UAV.

[0040] First, the micro-UAV habitat device based on the bionic adhesive surface provided by the present invention is described.

[0041] Reference Figures 1 to 3 As an exemplary embodiment of the present invention, a micro-UAV perching device based on a bionic adhesive surface comprises a motor support 1, two adhesive plates 2, and two bionic adhesive microstructure arrays 3 arranged one-to-one with the adhesive plates 2. The motor support 1 is used to connect with the UAV's arm 12 and carry the UAV's propeller 13 and the motor 14 driving the propeller 13, and is used to support the adhesive plate 2 and the bionic adhesive microstructure array 3. The adhesive plate 2 is used to carry the bionic adhesive microstructure array 3, and ensure that the UAV can achieve adhesion and perching on both horizontal and vertical perching surfaces.

[0042] The motor support 1 includes a sleeve 101, a connecting rod 102 radially extending from the outer wall of the sleeve 101, and two extending rods 103 extending away from the connecting rod 102. The motor support 1 can be integrally formed. The sleeve 101 is used to accommodate the motor 14 of the drone and support the propeller 13, and can be cylindrical, and the motor 14 is coaxially installed in the sleeve. In order to reduce the weight of the perch, the lower half of the sleeve can be hollowed out, and a hole can be opened at the bottom to facilitate the power supply line and control line of the motor 14 to extend and connect to the control motherboard of the drone.

[0043] The connecting rod 102 is used to connect with the arm 12 of the drone. Preferably, the connecting rod 102 extends in a plane parallel to the plane of the drone fuselage. For weight reduction considerations, in some embodiments, the connecting rod 102 is designed as a bar with a hollow slot, and the drone arm 12 can be inserted into the slot. The rod wall of the connecting rod can also be processed with a through opening perpendicular to the plane of the fuselage to achieve a snap-on connection between the arm and the connecting rod, thereby achieving a reliable connection between the motor support and the drone in a simple connection manner, and at the same time will not cause excessive weight gain of the drone.

[0044] The two outriggers 103 and the fuselage 11 of the drone are located on both sides of the motor and the propeller, that is, the outriggers 13 are located on the outside of the propeller to prevent the adhesion part from hindering the rotation of the propeller in the lateral direction, that is, in the direction parallel to the plane of the fuselage. The angle between the two outriggers 103 and the connecting rod 102 can be 135°, and the two outriggers 103 form an angle of 90°. In particular, a reinforcing beam 104 is connected between the two outriggers 103 to strengthen the overall strength of the device and prevent the outriggers from breaking due to obstacles encountered during the flight of the drone.

[0045] The adhesive plate 2 may be generally L-shaped and include a first panel 201 and a second panel 202 at a predetermined angle, the predetermined angle preferably being in the range of 105°-115°, more preferably in the range of 108°-112°, and most preferably being 110°. It should be understood that in order to achieve the adhesion of the perching device on the perching surface, both panels of the adhesive plate 2 are in the form of planes. The adhesive plate 2 is rotatably mounted to the corresponding outrigger 103 facing the fuselage 11 of the drone, that is, the adhesive plate 2 is bent toward the fuselage. The adhesive plate 2 is mounted to be able to rotate between a first position and a second position around a rotation axis, the rotation axis being located in a plane parallel to the plane of the drone fuselage and perpendicular to the drone arm 12. In the first position, the first panel 201 is parallel to the plane of the drone fuselage, and in the second position, the second panel 202 is parallel to the perching plane of the drone, which can be a vertical plane parallel to the plane of the fuselage or a lateral plane perpendicular to the plane of the fuselage.

[0046] The bionic adhesive microstructure array 3 is used to attach to the vertical habitat plane and the lateral habitat plane, and is attached to the corresponding adhesive plate 2 with the back facing the drone fuselage, and includes multiple rows and columns of microstructures made of gecko-like dry adhesive materials, and the adhesion between the drone and the habitat surface can be achieved through the van der Waals force generated by the microstructure array. The microstructure can be mushroom-shaped and can be attached with a backing layer for sticking to the adhesive plate.

[0047] When in use, multiple perching devices of the present invention are mounted one by one on each arm of the multi-rotor drone. When the drone is perched and attached, it is sufficient to firmly adhere the microstructure array on one or two adhesive plates 6 of any one of the perching devices to the ceiling (vertical perching) or wall (lateral perching) to be perched.

[0048] Considering the need to achieve the attachment of the drone to the two habitat planes of the vertical plane and the lateral plane, the first panel 201 is usually designed to be smaller than the second panel 202. If the first panel has a larger area, the adhesive plate will be interfered by the motor support during the rotation process, and it is difficult to change from the state where the first panel is in contact with the habitat surface to the state where the second panel is in contact with the habitat surface. In addition, it should be understood that the connection portion of the adhesive plate 2 between the first panel 201 and the second panel 202 should be processed into a smooth arc, so that when the drone is perched, the adhesive plate 2 can be smoothly transformed from the state where the microstructure array on the first panel is in contact with the habitat surface to the state where the microstructure array on the second panel is in contact with the habitat surface. Taking the vertical plane as the habitat plane as an example, first, the microstructure array on the first panel of the adhesive plate contacts the habitat surface. At the moment of contact, some adhesive plates 2 will be detached due to the reaction force generated by the collision, that is, leave the habitat surface. At this time, a part of the microstructure array on the adhesive plate is adhered to the habitat plane. At this time, the drone can be controlled to fine-tune its posture to flip the adhesive plate so that the microstructure array on the second panel of the adhesive plate adheres to the habitat surface, so as to achieve a firm attachment of the drone and a more stable adhesion effect.

[0049] In addition, according to the present invention, in order to prevent the propeller from interfering with the plane when perched on a vertical plane and causing damage to the drone, in a specific embodiment of the present invention, the motor support 1 also includes two limit rods 105 respectively connected to the two outrigger rods 103, the two limit rods 105 are parallel to the axis of the sleeve 101, and one end is connected to the outer end of the outrigger rod 103, and the other end is connected to the adhesive plate 2.

[0050] In order to limit the rotation of the adhesive plate so that it can only move between the first position and the second position, which is conducive to the approach, perch and peeling of the drone, the limiting rod 105 is provided with a first limiting piece 106, a lug 107 and a second limiting piece 109 in sequence along the rod at one end connected to the adhesive plate 2, and the first limiting piece 106 is located at the tip of the limiting rod 105. The lug 107 rotatably connects the adhesive plate 2 through a pin 108, which serves as the rotation axis of the adhesive plate 2 and can have a diameter of only 1 mm. Two lugs 108 can be symmetrically provided on both sides of the limiting rod 105. The first limiting piece 106 is a protrusion protruding upward from the limiting rod 105 along the length of the rod, and is used to stop the second panel 202 of the adhesive plate 2, so as to limit and support the adhesive plate 2 in the second position when the drone is attached to the vertical plane. The second limiting member 109 is a beam protruding outward from the limiting rod 105 perpendicular to the rod length, and is used to stop the second panel 202 of the adhesive plate 2 to limit and support the adhesive plate 2 at the second position when the drone is attached to the lateral plane.

[0051] During desorption, for vertical perching, since there is a certain distance between the adhesive plate 2 and the center of mass, this ensures that the drone can take off from the perching surface by peeling off the adhesive material on the adhesive plate, thereby reducing the importance of the maximum adhesion pressure between the adhesive material and the vertical plane. The condition for the drone to maintain the perching state is the balance of force and torque. In order to complete the separation and desorption task, the drone will temporarily stop or stop all propellers, resulting in uneven stress distribution on the adhesive plate, and desorption can be completed. For lateral perching, the adhesion force in the shear direction provides vertical support for the drone to stay on the plane. The average normal adhesion pressure required for the drone to attach to the plane is very small, because the weight of the drone is completely supported by the shear direction adhesion force. In order to complete the desorption task, the drone can temporarily stop or stop all propellers, resulting in uneven stress distribution on the adhesive plate, and desorption can be completed.

[0052] Next, the micro-UAV provided by the present invention is described.

[0053] Reference Figures 4 to 6 As an exemplary embodiment of the present invention, a micro-UAV includes a fuselage 11, a plurality of arms 12, and a plurality of propellers 13 and a motor 14 for driving the propellers 13, which are arranged one by one with the arms 12. A PCB board 15, a battery 16 and a battery clamp 17 are arranged on the fuselage 11. In the illustrated embodiment, the UAV is a quad-rotor type with four arms 12. Optionally, the arms 12 are part of the PCB board to reduce the weight of the UAV and make the UAV structure compact. The micro-UAV also includes a plurality of the above-mentioned perching devices arranged one by one with the arms 12, and the motor support 1 of the perching device is connected to the corresponding arms 12 and carries the corresponding motor 14 and propeller 13, and the extension rod 103 of the motor support 1 is located outside the propeller.

[0054] The attachment and detachment process of the micro-UAV of the present invention when perching on the vertical plane and the lateral plane is as follows:

[0055] Reference Figure 7 , for vertical perching: when the adhesive plate 2 is in a state where the first panel 201 is parallel to the plane of the drone fuselage, the drone takes off with the perching device and gradually approaches the perching target. When the drone flies to below a horizontal perching plane parallel to the fuselage plane, the bionic adhesive microstructure array 3 on the first panel 201 of a pair of adhesive plates 2 in the perching device on one of the arms 12 first adheres to and contacts the perching plane. If the adhesion force is sufficient, the drone completes the attachment. If the adhesion force is insufficient, the posture of the drone is fine-tuned, and the adhesive plate 2 rotates around the rotation axis against the perching plane, so that the adhesive plate 2 is in a second position where the second panel 202 is parallel to the perching plane, so that the bionic adhesive microstructure array 3 on the second panel 202 of the adhesive plate 2 adheres to and contacts the perching plane, thereby the drone is attached to the perching plane, and at this time, a part of the propellers 13 can stop working or reduce the speed; when detaching, more or all of the propellers 13 are stopped or reduced in speed, and the stress distribution on the adhesive plate 2 is uneven and leaves the perching plane, thereby completing the detachment of the drone;

[0056] Reference Figure 8 For lateral perching: when the adhesive plate 2 is in a state where the first panel 201 is parallel to the plane of the drone body, the drone takes off with the perching device, and when the drone flies to a vertical perching plane perpendicular to the fuselage plane, the flight attitude of the drone is controlled so that an adhesive plate 2 in the perching device on one of the arms 12 approaches the perching plane with its second panel 202 parallel to the perching plane. When the bionic adhesive microstructure array 3 on the second panel 202 is completely in contact with the perching plane, the drone is attached to the perching plane, and at this time, some propellers 13 can stop working; during desorption, more or all propellers 13 are stopped, and the stress distribution on the adhesive plate 2 is uneven and leaves the perching plane, thereby completing the desorption of the drone.

[0057] Therefore, as described above, the micro-UAV perching device based on the bionic adhesive surface of the present invention has a simple structure, a small size, and a light weight. It utilizes the dry adhesion characteristics of the adhesive material itself to enable the UAV to perch in the vertical plane or the lateral plane without the need for additional kinetic energy supply. During the perching process, it is only necessary to control the posture of the UAV, and the control method is simple and the control difficulty is low; after completing the perching attachment, a part of the propellers can be stopped or the speed can be reduced, thereby reducing the power consumption of the UAV and meeting the requirements of extending the UAV's endurance time; when the UAV is detached, more or all of the propellers can be stopped or the speed can be reduced, so that the stress distribution on the adhesive plate is uneven and leaves the perching plane, and the detachment can be completed. In addition, compared with the existing UAV, the micro-UAV of the present invention is equipped with a perching device based on the bionic adhesive surface, so that the UAV can perch and detach in the vertical plane and the lateral plane in a simple control method without the need for additional energy supply, which can improve the UAV's endurance time.

[0058] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. A micro-UAV habitat device based on a bionic adhesive surface, characterized in that: It includes a motor support, two adhesive plates, and two bionic adhesive microstructure arrays arranged in one-to-one correspondence with the adhesive plates; The motor support is used to connect with the arm of the drone and carry the propeller of the drone and the motor driving the propeller, and is used to support the adhesive plate and the bionic adhesive microstructure array. The motor support includes a sleeve and a connecting rod radially extending from the outer wall of the sleeve and two extending rods extending away from the connecting rod. The sleeve is used to accommodate the motor of the drone and support the propeller, and the connecting rod is used to connect with the arm of the drone; The adhesive plate is L-shaped and includes a first panel and a second panel at a predetermined angle, the adhesive plate is rotatably mounted to the corresponding outrigger facing the fuselage of the drone and is mounted to be able to rotate between a first position and a second position around a rotation axis, the rotation axis is located in a plane parallel to the plane of the drone fuselage and perpendicular to the drone arm, in the first position, the first panel is parallel to the plane of the drone fuselage, and in the second position, the second panel is parallel to the habitat plane of the drone; The bionic adhesive microstructure array is used to attach to the vertical habitat plane and the lateral habitat plane, and is attached to the corresponding adhesive plate with its back facing the drone fuselage, and includes multiple rows and columns of microstructures made of gecko-like dry adhesive materials.

2. The micro-UAV habitat device based on bionic adhesive surface according to claim 1 is characterized in that: The outriggers extend in a plane parallel to the plane of the drone fuselage, and the angles between the two outriggers and the connecting rod are both 135°, and the angle between the two outriggers is 90°.

3. The micro-UAV habitat device based on bionic adhesive surface according to claim 2 is characterized in that: A reinforcing beam is connected between the two outriggers.

4. The micro-UAV habitat device based on a bionic adhesive surface according to claim 1 or 2, characterized in that: The connecting rod is a strip-shaped rod with a hollow slot, and the drone arm can be inserted into the slot.

5. The micro-UAV habitat device based on bionic adhesive surface according to claim 1 or 2, characterized in that: The motor support also includes two limit rods for preventing the propeller from interfering with the vertical perch plane. The two limit rods are parallel to the axis of the sleeve, and one end of the two limit rods is connected to the outer end of the extension rod and the other end is connected to the adhesive plate.

6. The micro-UAV habitat device based on bionic adhesive surface according to claim 5 is characterized in that: The limiting rod is provided with a first limiting piece, a lug and a second limiting piece in sequence along the rod at one end connected to the adhesion plate, and the first limiting piece is located at the tip end of the limiting rod, and the lug rotatably connects the adhesion plate through a pin shaft, and the first limiting piece is used to stop the second panel of the adhesion plate to limit and support the adhesion plate in the second position when the drone is attached to a vertical plane, and the second limiting piece is used to stop the second panel of the adhesion plate to limit and support the adhesion plate in the second position when the drone is attached to a lateral plane.

7. The micro-UAV habitat device based on bionic adhesive surface according to claim 1 or 2, characterized in that: The angle between the first panel and the second panel is between 105° and 115°.

8. A micro drone, comprising a fuselage, a plurality of arms, and a plurality of propellers and motors for driving the propellers arranged one by one with the arms, wherein a PCB board, a battery and a battery clamp are arranged on the fuselage, and characterized in that: The micro drone also includes a plurality of perching devices according to any one of claims 1 to 7, which are arranged in a one-to-one correspondence with the aircraft arms, and the motor supports of the perching devices are connected to the corresponding aircraft arms and carry corresponding motors and propellers.

9. The micro UAV according to claim 8, characterized in that: The arm is a part of the PCB board.

10. The micro drone according to claim 8 or 9, characterized in that: The attachment and detachment process of the micro-UAV on the vertical plane and the lateral plane is as follows: For vertical perching: when the adhesive plate is in a state where the first panel is parallel to the plane of the drone fuselage, the drone takes off with the perching device. When the drone flies to the bottom of a horizontal perching plane parallel to the fuselage plane, the bionic adhesive microstructure array on the first panel of a pair of adhesive plates in the perching device on one of the arms first adheres to and contacts the perching plane. If the adhesion force is sufficient, the drone completes the attachment. If the adhesion force is insufficient, the posture of the drone is fine-tuned, and the adhesive plate rotates around the rotation axis against the perching plane, so that the adhesive plate is in a second position where the second panel is parallel to the perching plane, so that the bionic adhesive microstructure array on the second panel of the adhesive plate adheres to and contacts the perching plane, thereby the drone is attached to the perching plane, and at this time, some propellers can stop working or reduce the speed; when detaching, more or all propellers are stopped or reduced in speed, and the stress distribution on the adhesive plate is uneven and leaves the perching plane, thereby completing the detachment of the drone; For lateral perching: when the adhesive plate is in a state where the first panel is parallel to the plane of the drone fuselage, the drone takes off with the perching device, and when the drone flies to a vertical perching plane perpendicular to the fuselage plane, the flight attitude of the drone is controlled so that an adhesive plate in the perching device on one of the arms approaches the perching plane with its second panel parallel to the perching plane. When the bionic adhesive microstructure array on the second panel is completely in contact with the perching plane, the drone is attached to the perching plane, and some propellers can stop working at this time; when deattaching, more or all propellers are stopped, the stress distribution on the adhesive plate is uneven and leaves the perching plane, thereby completing the deattachment of the drone.

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