Micro unmanned aerial vehicle habitat based on biomimetic adhesive surface and micro unmanned aerial vehicle

Abstract

The application provides a micro unmanned aerial vehicle habitat based on a biomimetic adhesive surface and a micro unmanned aerial vehicle. In the habitat, a motor support can be connected with an arm and carries a propeller and a motor. An adhesive plate connected to the support outside the propeller includes first and second panels at 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 habitat plane. An array of biomimetic adhesive microstructures attached to the adhesive plate can adhere to the vertical and lateral habitat planes. The application has the advantages of simple structure, small volume and light weight. The unmanned aerial vehicle can perch on a vertical or lateral plane using the dry adhesion characteristics of the adhesive material itself without additional power supply. During the perching process, only the attitude of the unmanned aerial vehicle needs to be controlled, which is low in difficulty. After perching, a part of the propeller can be stopped or the rotation speed can be reduced, thereby reducing the power consumption of the unmanned aerial vehicle and meeting the demand for prolonging the endurance time of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and particularly 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

[0002] In order to adapt to the operation in a narrow space and the concealment requirement, the micro unmanned aerial vehicle is designed to be lightweight and small-sized. Since the micro unmanned aerial vehicle performs a task at a low Reynolds number, it is greatly affected by air viscosity, and a lower aerodynamic efficiency has a great impact on the flight time of the unmanned aerial vehicle. Therefore, the micro unmanned aerial vehicle needs to consider how to improve the energy utilization efficiency and prolong the flight time in the design. The main methods currently include using lightweight materials and lightweight structure design to reduce energy consumption, optimizing energy use through intelligent battery management and energy distribution system, optimizing the body design to reduce air resistance and improve flight efficiency, and prolonging the endurance time through energy recovery system to recover part of the energy. In addition, the endurance time of the micro unmanned aerial vehicle is also improved by mid-course habitat in recent years, and the mid-course habitat can also perform tasks such as data collection, detection and inspection.

[0003] The main habitat schemes and their applications in micro unmanned aerial vehicles at present are as follows: the rotor unmanned aerial vehicle habitat mechanism based on opposite claw spike units proposed in Chinese Patent No. CN113619788B adopts opposite claw spike structure to enable the unmanned aerial vehicle to cling to the ceiling in the room; the habitat unmanned aerial vehicle equipped with left-right symmetrical habitat arms proposed in Chinese Patent No. CN115675838B, each habitat arm helps the unmanned aerial vehicle to land stably in different habitat environments through a power assembly and a double-hook claw structure. These habitat schemes are mainly based on pure mechanical structures, and need additional functional devices, which will affect the endurance time of the unmanned aerial vehicle; and the structure is complex, the volume is large, the concealment is poor, the coordination degree between components is high, the control difficulty is large, which leads to difficult maintenance and high failure rate of the mechanism; in addition, these schemes can only realize the habitat and take-off of the unmanned aerial vehicle in the vertical plane, and cannot meet the habitat and take-off requirements of the unmanned aerial vehicle in both the vertical plane and the lateral plane. SUMMARY

[0004] The present application aims to solve the problems of the prior art, such as the need for additional functions, complex structure, large volume, high control difficulty, and the inability to meet the requirements of the micro unmanned aerial vehicle in both the vertical plane and the lateral plane, and provides a micro unmanned aerial vehicle habitat based on a biomimetic adhesive surface and a micro unmanned aerial vehicle comprising the habitat. The habitat is a lightweight device that can be installed on a micro rotor unmanned aerial vehicle. The device can enable the unmanned aerial vehicle to perch at a target location by using the dry adhesion properties of the adhesive material itself without the need for additional power supply, and can enable the rotor unmanned aerial vehicle to achieve dynamic perching attachment and take-off in two application scenarios, i.e. vertical perching and lateral perching. The device has the characteristics of simple structure, small volume, low cost, lightweight material, low energy consumption, strong adaptability and low control difficulty.

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

[0006] One aspect of the present application provides a micro unmanned aerial vehicle habitat based on a biomimetic adhesive surface, comprising a motor support, two adhesive plates and two biomimetic adhesive microstructure arrays corresponding to the adhesive plates.

[0007] The motor support is used to connect with the arm of the unmanned aerial vehicle, carry the propeller of the unmanned aerial vehicle and the motor driving the propeller, and support the adhesive plate and the biomimetic adhesive microstructure array. The motor support comprises a sleeve, a connecting rod radially extending from the outer wall of the sleeve and two outer rods extending away from the connecting rod. The sleeve is used to accommodate the motor of the unmanned aerial vehicle and support the propeller. The connecting rod is used to connect with the arm of the unmanned aerial vehicle.

[0008] The adhesive plate is L-shaped and comprises a first panel and a second panel at a predetermined angle. The adhesive plate is rotatably mounted to the corresponding outer rod facing the fuselage of the unmanned aerial vehicle and is mounted to be able to rotate around the rotation axis between the first position and the second position. The rotation axis is located in a plane parallel to the plane of the fuselage of the unmanned aerial vehicle and perpendicular to the arm of the unmanned aerial vehicle. In the first position, the first panel is parallel to the plane of the fuselage of the unmanned aerial vehicle. In the second position, the second panel is parallel to the perching plane of the unmanned aerial vehicle.

[0009] The biomimetic adhesive microstructure array is used to attach to the vertical perching plane and the lateral perching plane, and is attached to the corresponding adhesive plate away from the fuselage of the unmanned aerial vehicle. The biomimetic adhesive microstructure array comprises a plurality of rows and columns of microstructures made of gecko dry adhesive material.

[0010] Further, the outer rods extend in a plane parallel to the plane of the fuselage of the unmanned aerial vehicle, and the angle between the two outer rods and the connecting rod is 135°. The angle between the two outer rods is 90°.

[0011] Further, the two outer rods are connected by a reinforcing beam.

[0012] Further, the connecting rod is a strip-shaped rod provided with a hollow slot, and the unmanned aerial vehicle arm can be inserted into the slot.

[0013] Further, the motor support further comprises two limiting rods, which are parallel to the axis of the sleeve and connected to the outer end of the outer rod at one end and to the adhesion plate at the other end, for preventing the propeller from interfering with the vertical habitat plane.

[0014] Further, the limiting rod is provided with a first limiting piece, a lug and a second limiting piece at the end connected to the adhesion plate in sequence along the rod, and the first limiting piece is located at the tip of the limiting rod, the lug is rotatably connected to the adhesion plate through a pin shaft, the first limiting piece is used to stop the second panel of the adhesion plate, so as to limit and support the adhesion plate at the second position when the unmanned aerial vehicle is attached to the vertical plane, and the second limiting piece is used to stop the second panel of the adhesion plate, so as to limit and support the adhesion plate at the second position when the unmanned aerial vehicle is attached to the lateral plane.

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

[0016] Another aspect of the present application provides a micro unmanned aerial vehicle, comprising a fuselage, a plurality of arms, and a plurality of propellers and motors driving the propellers corresponding to the arms, the fuselage is provided with a PCB board, a battery and a battery clamping plate, the micro unmanned aerial vehicle further comprises a plurality of habitat devices corresponding to the arms, and the motor support of the habitat device is connected to the corresponding motor and propeller.

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

[0018] Further, the habitat attachment and detachment process of the micro unmanned aerial vehicle on the vertical plane and the lateral plane is as follows:

[0019] For vertical habitat: when the adhesion plate is in a state that the first panel is parallel to the plane of the unmanned aerial vehicle fuselage, the unmanned aerial vehicle carrying the habitat device takes off, when the unmanned aerial vehicle flies below the horizontal habitat plane parallel to the plane of the fuselage, the array of biomimetic adhesion microstructure on the first panel of one pair of adhesion plates in the habitat device on one of the arms first adheres to the habitat plane, if the adhesion force is sufficient, the unmanned aerial vehicle completes the attachment, if the adhesion force is insufficient, the attitude of the unmanned aerial vehicle is adjusted, the adhesion plate rotates around the rotation axis against the habitat plane, so that the adhesion plate is in the second position that the second panel is parallel to the habitat plane, so that the array of biomimetic adhesion microstructure on the second panel of the adhesion plate adheres to the habitat plane, thereby the unmanned aerial vehicle is attached to the habitat plane, at this time part of the propellers can stop working or reduce the rotating speed; when detaching, more or all propellers stop working or reduce the rotating speed, the stress distribution on the adhesion plate is uneven and the adhesion plate leaves the habitat plane, thereby completing the detachment of the unmanned aerial vehicle;

[0020] For lateral habitat: when the adhesion plate is in the state of the first panel parallel to the plane of the unmanned aerial vehicle body, the unmanned aerial vehicle carrying the habitat device takes off, and when the unmanned aerial vehicle flies close to the vertical habitat plane perpendicular to the plane of the unmanned aerial vehicle body, the flight attitude of the unmanned aerial vehicle is controlled, so that one of the adhesion plates in the habitat device on one of the arms is close to the habitat plane with the second panel parallel to the habitat plane, and when the bionic adhesion microstructure array on the second panel completely adheres to the habitat plane, the unmanned aerial vehicle adheres to the habitat plane, at this time a part of the propellers can stop working; when detaching, more or all of the propellers stop working, and the stress distribution on the adhesion plate is uneven to leave the habitat plane, thereby completing the detachment of the unmanned aerial vehicle.

[0021] The advantages of the present application are:

[0022] 1. The micro unmanned aerial vehicle habitat device based on the bionic adhesion surface of the present application is installed on the arms of the multi-rotor unmanned aerial vehicle to carry the propellers and driving motors of the unmanned aerial vehicle. Two adhesion plates are connected outside the motor and propeller of each motor support. The adhesion plates are attached with a bionic adhesion microstructure array that can adhere to the habitat plane. The adhesion plate is composed of two panels at a certain angle and can rotate relative to the rotation axis between two positions. One position is that one panel of the adhesion plate is parallel to the plane of the unmanned aerial vehicle body, which can realize the habitat adhesion of the unmanned aerial vehicle in the vertical plane. The other position is that the other panel of the adhesion plate is parallel to the habitat plane, i.e. the vertical plane or the lateral plane, which can realize the habitat adhesion of the unmanned aerial vehicle in the vertical plane or the lateral plane. Therefore, the habitat device of the present application has simple structure, small volume and light weight. The unmanned aerial vehicle can habitat in the vertical plane or the lateral plane by using the dry adhesion characteristics of the adhesion material itself without additional power supply. During the habitat process, only the attitude of the unmanned aerial vehicle needs to be controlled, the control method is simple and the control difficulty is low. After completing the habitat adhesion, a part of the propellers can stop working or reduce the speed, thereby reducing the power consumption of the unmanned aerial vehicle and meeting the requirement of prolonging the endurance time of the unmanned aerial vehicle. When the unmanned aerial vehicle detaches, more or all of the propellers stop working or reduce the speed, so that the stress distribution on the adhesion plate is uneven and the adhesion plate leaves the habitat plane, thereby completing the detachment.

[0023] 2. The micro unmanned aerial vehicle of the present application has added the habitat device based on the bionic adhesion surface, which can realize the habitat and detachment of the unmanned aerial vehicle in the vertical plane and the lateral plane without additional power supply and with a simple control method, thereby prolonging the endurance time of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which:

[0025] Figure 1 is a structural schematic diagram of a micro unmanned aerial vehicle habitat device based on a biomimetic adhesive surface of the present application;

[0026] Figure 2 is a structural perspective view of an adhesive plate and surrounding structure in the habitat device of the present application;

[0027] Figure 3 is an assembly schematic diagram of the habitat device and the unmanned aerial vehicle of the present application;

[0028] Figure 4 is a structural perspective view of a micro unmanned aerial vehicle of the present application;

[0029] Figure 5 is a structural front view of a micro unmanned aerial vehicle of the present application;

[0030] Figure 6 is a structural perspective view of a fuselage and arm of a micro unmanned aerial vehicle of the present application;

[0031] Figure 7 is a habitat process of a micro unmanned aerial vehicle of the present application in a vertical plane;

[0032] Figure 8 is a habitat process of a micro unmanned aerial vehicle of the present application in a lateral plane.

[0033] In the drawings:

[0034] 1 - motor support, 101 - sleeve, 102 - connecting rod, 103 - outrigger, 104 - stiffener, 105 - limiting rod, 106 - first limiting piece, 107 - lug, 108 - pin, 109 - second limiting piece; 2 - adhesive plate, 201 - first panel, 202 - second panel; 3 - biomimetic adhesive microstructure array;

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

[0036] The present application will be described in detail below with reference to the attached drawings. It should be noted that the following detailed description of the present application is merely illustrative and is not intended to limit the present application.

[0037] It should be noted that in the context of the present application, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise" and "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, terms such as "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more of the features.

[0039] The present application provides a micro unmanned aerial vehicle habitat based on a biomimetic adhesion surface and a micro unmanned aerial vehicle comprising the habitat, which is simple in structure, small in size and light in weight, can be installed on the arm of a multi-rotor micro unmanned aerial vehicle, and can realize dynamic habitat adhesion and take-off of the unmanned aerial vehicle in the vertical and lateral planes in a simple control mode without additional supply of kinetic energy, thereby prolonging the endurance time of the unmanned aerial vehicle.

[0040] First, the micro unmanned aerial vehicle habitat based on a biomimetic adhesion surface provided by the present application is described.

[0041] Referring to Figures 1 to 3 The micro unmanned aerial vehicle habitat based on a biomimetic adhesion surface as an exemplary embodiment of the present application comprises a motor support 1, two adhesion plates 2 and two biomimetic adhesion microstructure arrays 3 corresponding to the adhesion plates 2. The motor support 1 is used to connect with the arm 12 of the unmanned aerial vehicle, carry the propeller 13 of the unmanned aerial vehicle and the motor 14 driving the propeller 13, and support the adhesion plate 2 and the biomimetic adhesion microstructure array 3. The adhesion plate 2 is used to carry the biomimetic adhesion microstructure array 3 and ensure that the unmanned aerial vehicle can realize adhesion habitat on the horizontal to vertical habitat surface.

[0042] The motor support 1 comprises a sleeve 101, a connecting rod 102 radially extending from the outer wall of the sleeve 101 and two outer 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 unmanned aerial vehicle and support the propeller 13, and can be in a cylindrical shape, and the motor 14 is coaxially installed in the sleeve. In order to reduce the weight of the habitat, the lower half of the sleeve can be hollowed out, and a hole is opened at the bottom to facilitate the power supply wire and control wire of the motor 14 to extend out and connect with the control mainboard of the unmanned aerial vehicle.

[0043] The connecting rod 102 is used to connect with the arm 12 of the UAV. Preferably, the connecting rod 102 extends in a plane parallel to the plane of the UAV body. In some embodiments, the connecting rod 102 is designed as a strip-shaped rod with a hollow slot for the insertion of the UAV arm 12, for weight reduction. A through opening perpendicular to the plane of the UAV body can also be machined on the rod wall of the connecting rod, to achieve the buckle connection of the arm and the connecting rod, so as to achieve the reliable connection of the motor support and the UAV in a simple connection manner, and at the same time, without causing excessive weight increase of the UAV.

[0044] The two outriggers 103 are respectively located on the two sides of the motor and the propeller of the UAV body 11, that is, the outriggers 13 are located on the outer side of the propeller, to prevent the adhesion part from hindering the rotation of the propeller in the transverse direction, that is, in the direction parallel to the plane of the UAV body. The angle between the two outriggers 103 and the connecting rod 102 can be 135°, and the angle between the two outriggers 103 is 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 being broken when the UAV collides with obstacles during flight.

[0045] The adhesion plate 2 can be generally L-shaped and include a first panel 201 and a second panel 202 at a predetermined angle, which is preferably in the range of 105°-115°, more preferably in the range of 108°-112°, and most preferably 110°. It should be understood that, in order to achieve the adhesion of the habitat device on the habitat surface, both panels of the adhesion plate 2 are in the form of a plane. The adhesion plate 2 facing the UAV body 11 is rotatably mounted to the corresponding outrigger 103, that is, the adhesion plate 2 is curved towards the UAV body. The adhesion plate 2 is mounted to be rotatable about a rotation axis between a first position and a second position, the rotation axis being in a plane parallel to the plane of the UAV body and perpendicular to the UAV arm 12, in the first position, the first panel 201 is parallel to the plane of the UAV body, and in the second position, the second panel 202 is parallel to the habitat plane of the UAV, which can be a vertical plane parallel to the plane of the UAV body, or a lateral plane perpendicular to the plane of the UAV body.

[0046] The biomimetic adhesion microstructure array 3 is used to adhere to the vertical habitat plane and the lateral habitat plane, and is attached to the corresponding adhesion plate 2 with the back facing the UAV body, and includes a plurality of rows and columns of microstructures made of a gecko-like dry adhesion material, and the adhesion between the UAV and the habitat surface can be achieved by 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 pasting to the adhesion plate.

[0047] In use, the plurality of habitat devices of the present application are installed one by one on each arm of the multi-rotor unmanned aerial vehicle. When the unmanned aerial vehicle is habitat-adhered, only the microstructure array on one or two of the adhesive plates 6 of any one of the habitat devices needs to be firmly adhered to the ceiling (vertical habitat) or wall (lateral habitat) to be inhabited.

[0048] Considering the implementation of the unmanned aerial vehicle habitat-adhesion in both vertical and lateral planes, the first panel 201 is usually designed to be smaller in area than the second panel 202. If the first panel is larger in area, the adhesive plate will be interfered by the motor support during rotation, and it will be difficult to change from the state of the first panel being in contact with the habitat surface to the state of the second panel being in contact with the habitat surface. In addition, it should be understood that the connecting part of the adhesive plate 2 between the first panel 201 and the second panel 202 should be processed into a smooth arc shape to smoothly change the adhesive plate 2 from the state of the microstructure array on the first panel being in contact with the habitat surface to the state of the microstructure array on the second panel being in contact with the habitat surface when the unmanned aerial vehicle is habitat-adhered. Taking the vertical plane as an example, first, the microstructure array on the first panel of the adhesive plate is in contact with the habitat surface, and at the moment of contact, some adhesive plates 2 will be detached due to the reaction force caused by the collision, that is, they will leave the habitat surface. At this time, a part of the microstructure array on the adhesive plate is adhered to the habitat plane, at which time the unmanned aerial vehicle can be controlled to fine-tune the attitude, so that the adhesive plate is flipped to make the microstructure array on the second panel of the adhesive plate adhere to the habitat surface, so as to achieve firm adhesion of the unmanned aerial vehicle and achieve more stable adhesion effect.

[0049] In addition, according to the present application, in order to prevent the propeller from interfering with the plane when habitat-adhered in the vertical plane and causing damage to the unmanned aerial vehicle, in a specific embodiment of the present application, the motor support 1 further comprises two limiting rods 105 connected to the two outer rods 103 respectively, the two limiting rods 105 are parallel to the axis of the sleeve 101, and one end is connected to the outer end of the outer rod 103, and the other end is connected to the adhesive plate 2.

[0050] In order to limit the rotation of the adhesion plate and make it move only between the first position and the second position, which is beneficial for the approach, perching and peeling of the UAV, a limiting rod 105 is provided with a first limiting piece 106, a lug 107 and a second limiting piece 109 in sequence at one end connected with the adhesion plate 2, and the first limiting piece 106 is located at the tip of the limiting rod 105. The lug 107 is rotatably connected with the adhesion plate 2 through a pin shaft 108, which is the rotation axis of the adhesion plate 2, and the diameter can be only 1mm. The lug 108 can be symmetrically provided with two 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, which is used to stop the second panel 202 of the adhesion plate 2, so as to limit and support the adhesion plate 2 in the second position when the UAV is attached to the vertical plane. The second limiting piece 109 is a crossbeam protruding outward from the limiting rod 105 perpendicular to the length of the rod, which is used to stop the second panel 202 of the adhesion plate 2, so as to limit and support the adhesion plate 2 in the second position when the UAV is attached to the lateral plane.

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

[0052] Next, the micro UAV provided by the present application will be described.

[0053] With reference to Figures 4 to 6 The micro UAV as an exemplary embodiment of the present application comprises a body 11, a plurality of arms 12, and a plurality of propellers 13 and motors 14 driving the propellers 13 corresponding to the arms 12. The body 11 is provided with a PCB board 15, a battery 16 and a battery clamping plate 17. In the embodiment shown, the UAV is a quadcopter type, and has four arms 12. Optionally, the arms 12 are part of the PCB board, so as to reduce the weight of the UAV and make the structure of the UAV compact. The micro UAV further comprises a plurality of perching devices as described above corresponding to the arms 12, and the motor support 1 of the perching device is connected to the corresponding arm 12 and carries the corresponding motor 14 and propeller 13, and the outer extension rod 103 of the motor support 1 is located outside the propeller.

[0054] The perching and detaching process of the micro unmanned aerial vehicle of the present application in the vertical plane and the lateral plane is as follows:

[0055] Referring to Figure 7 For vertical perching: when the adhesion plate 2 is in the state that the first panel 201 is parallel to the plane of the unmanned aerial vehicle body, the unmanned aerial vehicle takes off with the perching device, gradually approaches the perching target, and when the unmanned aerial vehicle flies below the horizontal perching plane parallel to the plane of the unmanned aerial vehicle body, the array of biomimetic adhesion microstructures 3 on the first panel 201 of one pair of adhesion plates 2 in the perching device on one of the arms 12 first adhesively contacts the perching plane, if the adhesion force is sufficient, the unmanned aerial vehicle completes the adhesion, if the adhesion force is insufficient, the attitude of the unmanned aerial vehicle is fine-tuned, the adhesion plate 2 rotates around the rotation axis against the perching plane, so that the adhesion plate 2 is in the second position that the second panel 202 is parallel to the perching plane, so that the array of biomimetic adhesion microstructures 3 on the second panel 202 of the adhesion plate 2 adhesively contacts and adheres to the perching plane, thereby the unmanned aerial vehicle adheres to the perching plane, at this time a part of the propellers 13 can stop working or reduce the rotating speed; for detaching, more or all of the propellers 13 stop working or reduce the rotating speed, the stress distribution on the adhesion plate 2 is uneven and the adhesion plate 2 leaves the perching plane, thereby completing the detachment of the unmanned aerial vehicle;

[0056] Referring to Figure 8 For lateral perching: when the adhesion plate 2 is in the state that the first panel 201 is parallel to the plane of the unmanned aerial vehicle body, the unmanned aerial vehicle takes off with the perching device, and when the unmanned aerial vehicle flies close to the vertical perching plane perpendicular to the plane of the unmanned aerial vehicle body, the flight attitude of the unmanned aerial vehicle is controlled, so that one of the adhesion plates 2 in the perching device on one of the arms 12 approaches the perching plane in the attitude that the second panel 202 is parallel to the perching plane, when the array of biomimetic adhesion microstructures 3 on the second panel 202 completely adheres to the perching plane, the unmanned aerial vehicle adheres to the perching plane, at this time a part of the propellers 13 can stop working; for detaching, more or all of the propellers 13 stop working, the stress distribution on the adhesion plate 2 is uneven and the adhesion plate 2 leaves the perching plane, thereby completing the detachment of the unmanned aerial vehicle.

[0057] Therefore, as described above, the micro unmanned plane habitat device based on the biomimetic adhesive surface of the present application has simple structure, small volume and light weight, and enables the unmanned plane to habitat in a vertical plane or a lateral plane by using the dry adhesion characteristics of the adhesive material itself without additional supply of kinetic energy, only needs to control the attitude of the unmanned plane during the habitat process, the control method is simple and the control difficulty is low; after completing the habitat adhesion, a part of the propellers can be stopped or the rotation speed is reduced, thereby reducing the power consumption of the unmanned plane and meeting the requirement of prolonging the endurance time of the unmanned plane; when the unmanned plane detaches, more or all of the propellers are stopped or the rotation speed is reduced, so that the stress distribution on the adhesive plate is uneven and the habitat plane is left, that is, the detachment is completed. In addition, compared with the existing unmanned plane, the micro unmanned plane of the present application is additionally provided with the habitat device based on the biomimetic adhesive surface, so that the unmanned plane can habitat and detach in the vertical plane and the lateral plane by a simple control method without additional supply of energy, and the endurance time of the unmanned plane can be improved.

[0058] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present application can be combined in the same or similar manner into one or more other embodiments, combined with or replace the corresponding features in other embodiments. The technical solutions obtained by combining or replacing should also be considered to be included in the protection scope of the present application.

Claims

1. A micro-UAV habitat device based on a biomimetic adhesive surface, characterized by: 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 to the drone's arm and carry the drone's propeller and the motor that drives 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 outriggers extending away from the connecting rod. The sleeve is used to accommodate the drone's motor and support the propeller, and the connecting rod is used to connect to the drone's arm; 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 about 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. 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 a biomimetic adhesive surface according to claim 1, 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 degrees, and the angle between the two outriggers is 90 degrees.

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

4. The micro-UAV habitat device based on a biomimetic 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 a biomimetic 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 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 a biomimetic adhesive surface according to claim 5, 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. 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 a biomimetic 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, a plurality of propellers corresponding to the arms, and motors for driving the propellers, wherein the fuselage is provided with a PCB, a battery, and a battery clamp, and wherein: The micro drone further 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 arms, and the motor supports of the perching devices are connected to the corresponding 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 UAV 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 below 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 is attached. If the adhesion force is insufficient, the drone's posture is fine-tuned, and the adhesive plate rotates against the perching plane around the rotation axis, 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. As a result, the drone is attached to the perching plane, and some propellers can stop working or reduce their speed. During deattachment, more or all propellers are stopped or reduced in speed, and the stress distribution on the adhesive plate is uneven, causing it to leave the perching plane, thereby completing the deattachment of the drone. For lateral perching: When the first panel of the adhesive plate is parallel to the plane of the drone fuselage, the drone takes off with the perch device. When the drone flies close to a vertical perch plane perpendicular to the fuselage plane, the flight attitude of the drone is controlled so that an adhesive plate of the perch device on one of the arms approaches the perch plane with its second panel parallel to the perch plane. When the bionic adhesive microstructure array on the second panel is completely in contact with the perch plane, the drone is attached to the perch plane, and some propellers can stop working. During desorption, more or all propellers are deactivated, and the stress distribution on the adhesive plate is uneven, causing it to leave the perch plane, thereby completing the desorption of the drone.

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