Unmanned aerial vehicle self-adaptive wall surface coupling device and parking control method

Abstract

The invention discloses an unmanned aerial vehicle self-adaptive wall surface coupling device and a parking control method, and solves the problem of stable parking of an unmanned aerial vehicle in a complex wall surface environment through a multi-mode adsorption unit and an intelligent control algorithm. The device comprises a vacuum chuck, an electromagnet and a flexible claw thorn composite structure, and can adapt to wall surfaces and cylindrical surfaces of different materials; the control method is combined with sensor feedback and a dynamic adjustment strategy to ensure low energy consumption and high reliability. The system is suitable for the fields of logistics storage, building inspection, public safety and the like.

Description

Technical Field

[0002] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle device that can be adaptively coupled and fixed on a vertical wall and achieve stable parking, and a control method thereof, which is suitable for scenes such as unmanned aerial vehicle warehouse management, inspection and monitoring, and emergency rescue. Background Art

[0003] 1. Problems with existing technologies

[0004] Traditional drones need to rely on ground base stations or dedicated helipads for charging / recovery, which takes up a lot of space and has low flexibility.

[0005] Existing wall-mounted drones are mostly fixed with mechanical clips or simple magnetic suction, which are easily affected by environmental vibrations and wall materials, leading to the risk of falling off.

[0006] There is a lack of intelligent control methods for dynamically adjusting the parking posture, and it cannot adapt to complex wall environments (such as uneven surfaces and wind interference).

[0007] 2. Analysis of related patents

[0008] Patent CN20XX123456A discloses a magnetic drone charging station, but does not solve the stability problem of wall coupling.

[0009] Patent US2023 / 789012B2 proposes a drone wall adsorption device, but it relies on preset marking points and lacks versatility. Summary of the invention

[0010] 1. Purpose of the Invention

[0011] Provided are an adaptive wall coupling device and a control method for a UAV, which can realize stable parking of the UAV on walls and cylinders of any material, and have the characteristics of anti-interference, low energy consumption and fast response.

[0012] 2. Technical solution

[0013] (1) Device part

[0014] Adaptive wall coupling device:

[0015] It includes a multi-modal adsorption unit (vacuum suction cup + electromagnet + flexible claw composite structure), which can automatically switch the adsorption mode according to the wall material.

[0016] An integrated pressure sensor array monitors the adsorption force distribution in real time and feeds back to the control module.

[0017] Folding robotic arm: used to adjust the contact angle between the drone and the wall to ensure that the coupling surface fits perfectly.

[0018] Energy and Communication Module:

[0019] Built-in wireless charging receiving coil, cooperates with the charging base station to achieve contactless charging.

[0020] Supports 5G / Bluetooth dual-mode communication and interacts with the cloud platform in real time to obtain status data.

[0021] (2) Control method part

[0022] Parking control logic:

[0023] 1. Prediction stage: Use the drone vision system to identify the wall material and flatness, surface shape (wall, cylinder, sphere, etc.), and plan the optimal coupling path.

[0024] 2. Dynamic fitting stage: Based on the feedback from the pressure sensor, adjust the deployment angle of the robotic arm and the power of the adsorption unit.

[0025] 3. Anti-disturbance maintenance stage: PID algorithm combined with inertial measurement unit (IMU) data is used to compensate for wind or vibration disturbances.

[0026] Energy consumption optimization strategy:

[0027] After stable parking, the system switches to low-power mode, keeping only the core sensors and communication modules running. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 : Schematic diagram of the overall structure of the device (marking the locations of the adsorption unit, robotic arm, sensor and other components).

[0029] Figure 2 : Schematic diagram of the working principle of the multimodal adsorption unit (showing the switching of vacuum / electromagnetic / claw modes).

[0031] Specific implementation example

[0032] Example 1: Warehousing and logistics scenario

[0033] The drone carrying the device flies to the wall of the metal shelf, and the visual system recognizes the material as "galvanized steel plate" and automatically switches to electromagnetic adsorption mode.

[0034] The robotic arm is unfolded to a 60° angle to ensure that the suction cup is in full contact with the wall, and the pressure sensor feedback value is 0.3MPa (within the safety threshold).

[0035] Example 2: Concrete wall emergency monitoring

[0036] The drone flew to the rough concrete wall in a strong wind environment and switched to the "vacuum + claw" composite adsorption mode.

[0037] The control module dynamically adjusts the adsorption force according to the IMU data to offset the lateral interference of the wind speed of 5m / s.

Claims

1. An adaptive wall coupling device for unmanned aerial vehicles, characterized in that: include: The multi-modal adsorption unit is composed of a vacuum suction cup, an electromagnet and flexible claws, and can automatically switch the adsorption mode according to the wall material, shape, flatness, etc. Folding mechanical arm, used to adjust the contact angle between the drone and the wall; The pressure sensor array monitors the adsorption force distribution in real time and transmits it to the control module.

2. The device according to claim 1, characterized in that The switching logic of the multi-modal adsorption unit is: Enable electromagnetic adsorption when a metal surface is detected; Enable vacuum adsorption when non-metallic smooth surface is detected; When a rough surface is detected, the flexible claw and vacuum adsorption combined mode is enabled.

3. A method for controlling the parking of a drone, applied to the device according to any one of claims 1 to 2, characterized in that: The following steps are involved: Identify wall properties and plan coupling paths through a visual system; Dynamically adjust the robot arm angle and adsorption unit power according to pressure sensor feedback; Anti-disturbance maintenance is achieved based on IMU data and PID algorithm.

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