Perching device for unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention relates to an inhabiting device for an unmanned aerial vehicle and the unmanned aerial vehicle. The inhabitation device includes an adhesion device directly or indirectly connected to the unmanned aerial vehicle, a voltage booster configured to provide an electric field to the adhesion device, and an electrical isolator configured to electrically isolate the voltage booster from the unmanned aerial vehicle. The adhesive device includes a first encapsulation layer; a second encapsulation layer connected to the first encapsulation layer and forming a fluid-tight chamber with the first encapsulation layer, the chamber being adapted to contain a material selected from one of an electrorheological liquid, an electrorheological gel or an electrorheological elastomer; a first conductive layer covering at least a portion of the first encapsulation layer; a second conductive layer covering at least a portion of the second encapsulation layer; and a first adhesive layer covering the first conductive layer. The material for the first adhesive layer is an insulating material of low tensile modulus and low surface energy. According to the inhabiting device, inhabiting of the unmanned aerial vehicle on various surfaces can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a habitat device for an unmanned aerial vehicle and an unmanned aerial vehicle. Background Art

[0002] As an emerging unmanned system platform, micro or small unmanned aerial vehicles have shown significant potential in multiple application scenarios such as reconnaissance due to their advantages such as small size. However, due to their miniaturized design features, such systems are difficult to load energy storage devices with sufficient capacity, which severely limits their working life and becomes the main technical bottleneck hindering their widespread application.

[0003] At present, the main way to achieve the reduction of energy consumption and the extension of working time is to achieve temporary attachment of aircraft to specific locations in the environment during the execution of missions through perching technology. The current perching technology solutions mainly include perching based on mechanical clamping to achieve stable grasping of thin rod-shaped targets, perching based on thorn or spine structures to achieve reliable fixation on the surface of specific materials, perching based on microstructure adhesion to effectively attach to smooth surfaces, and other perching solutions based on magnetic attraction, mechanical suspension, vacuum adsorption, propulsion force balance, etc.

[0004] However, the current perching schemes still have many shortcomings for unmanned aerial vehicles such as micro-UAVs. For example, the low load mass of micro-UAVs limits the structure used in the existing perching schemes to be difficult to integrate with the surface of micro-UAVs; the high energy consumption of micro-UAVs based on the existing perching schemes limits their airborne stay time; micro-UAVs based on the existing perching schemes only perch on specific surface conditions and are difficult to adapt to the complex and changeable actual application environment.

[0005] Therefore, there is a need for a habitat and an unmanned aerial vehicle that can be applied to a variety of environmental surfaces, has a fast response, and has controllable adhesion and desorption. Summary of the invention

[0006] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0007] In one aspect, the present application provides a habitat for an unmanned aerial vehicle, comprising:

[0008] An adhesion device, which is directly or indirectly connected to the unmanned aerial vehicle and comprises:

[0009] A first encapsulation layer;

[0010] a second encapsulation layer connected to the first encapsulation layer and forming a fluid-tight chamber with the first encapsulation layer, the chamber being adapted to contain a material selected from one of an electrorheological liquid, an electrorheological gel or an electrorheological elastomer;

[0011] a first conductive layer covering at least a portion of the first encapsulation layer;

[0012] a second conductive layer covering at least a portion of the second encapsulation layer;

[0013] a first adhesive layer covering the first conductive layer;

[0014] a voltage booster configured to provide an electric field to the adhesion device;

[0015] an electrical isolator configured to electrically isolate the voltage booster from the unmanned aerial vehicle;

[0016] The material used for the first adhesive layer has a tensile modulus in the range of 70-90 kPa and a strength of 0.1-0.3 J / m 2 Insulating materials with surface energy within a certain range.

[0017] In this application, the term "unmanned aerial vehicle" may be referred to as a drone. The unmanned aerial vehicle or drone used in this application may be a multi-rotor aircraft, such as a quad-rotor aircraft, a hexacopter aircraft, etc.

[0018] In one embodiment, the amplification factor of the input voltage of the voltage booster is greater than or equal to 500.

[0019] In one embodiment, the electrical isolator is selected from a photoelectric coupler, an air-isolated relay, a giant magnetoresistance isolator, and a capacitive isolator.

[0020] In one embodiment, the material used for the first adhesive layer is silicone; preferably, the material used for the first adhesive layer is Ecoflex TM .

[0021] In one embodiment, the first encapsulation layer and the second encapsulation layer are integral.

[0022] In one embodiment, the material used for the first encapsulation layer is a polymer film.

[0023] In one embodiment, the material used for the second encapsulation layer is a polymer film.

[0024] In one embodiment, the polymer film is a polyurethane film.

[0025] In one embodiment, the first encapsulation layer is in a pillar shape with one end closed and the other end open, and the second encapsulation layer is in a flat plate shape, and the second encapsulation layer seals the other open end of the first encapsulation layer.

[0026] In one embodiment, the first encapsulation layer and the second encapsulation layer are sealed and connected by an adhesive.

[0027] In one embodiment, the first encapsulation layer and the second encapsulation layer are coaxially arranged.

[0028] In one embodiment, the first encapsulation layer and the second encapsulation layer are both in the shape of caps, and the brim of the first encapsulation layer is bonded and fixed to the brim of the second encapsulation layer.

[0029] In one embodiment, the material used for the first conductive layer is a carbon nanotube electrode or a liquid metal electrode.

[0030] In one embodiment, the material used for the second conductive layer is a carbon nanotube electrode or a metal electrode.

[0031] In one embodiment, the invention further includes a second adhesion layer covering the second conductive layer.

[0032] In one embodiment, the material used for the second adhesion layer is an insulating material.

[0033] In one embodiment, the material used for the second adhesive layer is silicone or a polymer film.

[0034] On the other hand, the present application provides an aircraft, comprising the above-mentioned perch, wherein the electrical isolator of the perch is connected to the I / O interface of the aircraft; the aircraft applies an electric field to the adhesion device via the voltage booster of the perch.

[0035] In one embodiment, the flying vehicle is connected to the second electrode layer or the second adhesive layer of the perch via a plurality of struts.

[0036] The aircraft of the present application including the perching device can adapt to achieve reliable and stable perching on surfaces of various characteristics in urban and wild environments. These surfaces include rocks with various materials, surface roughness and geometric features, tree bark, glass, overhead cables, building facades and metal structures.

[0037] By installing the perch device of the present application in an aircraft such as a drone, the flight time can be significantly extended. For example, the flight time of the commercially available Feather 120 drone can be significantly increased from 5 minutes to 19 minutes, achieving a 3.8-fold increase in flight time.

[0038] The aircraft including the habitat device of the present application realizes multi-scenario and long-endurance applications, and can have broad application prospects in the fields of environmental monitoring, military reconnaissance, disaster search and rescue, etc.

[0039] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0041] Figure 1 is a photograph showing an adhesive device included in a habitat device provided according to an embodiment of the present application;

[0042] Figure 2 is a schematic partial perspective view of an adhesion device included in a habitat device provided according to an embodiment of the present application;

[0043] Figure 3 is a schematic cross-sectional view showing an adhesion device included in a habitat device provided according to an embodiment of the present application;

[0044] Figure 4 is a schematic flow chart of a method for preparing an adhesion device provided according to an embodiment of the present application;

[0045] Figure 5A is a photo showing a drone including a perch device provided according to an embodiment of the present application;

[0046] Figure 5B is a photo showing a drone including a perch device according to another embodiment of the present application;

[0047] Figure 6A-Figure 6I is a photo showing a process of a drone including a perching device provided in accordance with an embodiment of the present application perching on an acrylic ceiling; and

[0048] Figure 7A-Figure 7I 2 is a photograph showing a drone including a perching device provided according to an embodiment of the present application perched on different surfaces. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clear, the embodiments of the present application are described in detail below. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0050] The present application provides a perch device, including an adhesive device directly or indirectly connected to an unmanned aerial vehicle, a voltage booster configured to provide an electric field to the adhesive device, and an electrical isolator configured to electrically isolate the voltage booster from the unmanned aerial vehicle. The adhesive device includes a first packaging layer; a second packaging layer connected to the first packaging layer and forming a fluid-tight chamber with the first packaging layer, the chamber being suitable for containing a material selected from one of an electrorheological liquid, an electrorheological gel, or an electrorheological elastomer; a first conductive layer covering at least a portion of the first packaging layer; a second conductive layer covering at least a portion of the second packaging layer; and a first adhesive layer covering the first conductive layer.

[0051] In the present application, the material used for the first adhesive layer is a material having a tensile modulus in the range of 70-90 kPa and a strength of 0.1-0.3 J / m 2 Insulating materials with a surface energy within a range of 100 Å and 200 Å, including but not limited to silica gel. In the present application, the first adhesive layer covers the entire first conductive layer and is used to adhere to the target surface and can be desorbed from the target surface.

[0052] In one embodiment, the adhesion device may further include a second adhesion layer covering all or part of the second conductive layer. The material used for the second adhesion layer is an insulating material, and the present application does not limit the tensile modulus and surface energy of the material of the second adhesion layer. In the present application, the second adhesion layer is used to connect to the surface of the unmanned aerial vehicle. However, when the surface of the unmanned aerial vehicle that is to contact the perch is made of a material that meets the material requirements of the second adhesion layer, the perch of the present application may not require a second adhesion layer, but the second conductive layer is directly in contact with the surface of the unmanned aerial vehicle, that is, the surface of the unmanned aerial vehicle directly acts as the second adhesion layer.

[0053] Reference below Figure 1-Figure 3 The following describes the adhesion device included in the habitat device provided according to one embodiment of the present application. Figure 1-Figure 3 As shown, the adhesion device of the present application may include a first packaging layer 11; a second packaging layer 12 connected to the first packaging layer 11 and forming a fluid-tight chamber 13 with the first packaging layer 11, the chamber 13 being suitable for accommodating a material such as an electrorheological liquid, an electrorheological gel or an electrorheological elastomer; a first conductive layer 21 covering a portion of the first packaging layer 11, the first conductive layer 21 being electrically connected to a first wire (first pin) 31; a second conductive layer 22 covering a portion of the second packaging layer 12, the second conductive layer 22 being electrically connected to a second wire 32; a first adhesion layer 41 covering the first conductive layer 21 and exposing the first wire (first pin) 31, and a second adhesion layer 42 covering the second conductive layer 22 and exposing the second wire (second pin 32).

[0054] refer to Figure 1-Figure 3 It can be seen that the first encapsulation layer 11 can be in the shape of a pillar with one end closed and the other end open, and the second encapsulation layer 12 is in the shape of a flat plate. The second encapsulation layer 12 seals the other end of the first encapsulation layer 11, so that the first encapsulation layer 11 and the second encapsulation layer 12 are arranged opposite to each other and sealed and connected, ensuring that a sufficient space for filling electrorheological fluid, etc. can be formed between the first encapsulation layer 11 and the second encapsulation layer 12, which is convenient for filling electrorheological fluid, etc., and is also conducive to the sealing connection operation between the first encapsulation layer 11 and the second encapsulation layer 12. However, in other exemplary embodiments, the first encapsulation layer 11 and the second encapsulation layer 12 can also be in other shapes. For example, the first encapsulation layer 11 and the second encapsulation layer 12 are both in the shape of a cap, and the brim (edge) of the first encapsulation layer 11 is bonded and fixed to the brim (edge) of the second encapsulation layer 12.

[0055] The materials used for the first encapsulation layer 11 and the second encapsulation layer 12 can be flexible and have good conformal ability. The first encapsulation layer 11 and the second encapsulation layer 12 are made of low modulus, stretchable, bendable, good sealing, and physically and chemically inert materials with the electrorheological fluid, so that the flexible encapsulation structure formed by the first encapsulation layer 11 and the second encapsulation layer 12 can be easily deformed under the action of external force, and the electrorheological fluid inside is not easy to leak out, and will not affect the chemical properties and deformability of the electrorheological fluid.

[0056] In some embodiments, the first encapsulation layer 11 and the second encapsulation layer 12 are both low modulus polymer films. It is understood that a low modulus polymer film refers to a polymer film with good flexibility, which can be easily bent and stretched, and can have good conformal ability with the contacting object under a small external force, so that the first encapsulation layer 11 and the second encapsulation layer 12 have good flexibility and stretchability. In addition, the low modulus polymer film also has good sealing properties for electrorheological liquids and is physically and chemically inert with electrorheological liquids to meet the use requirements. Specifically, the low modulus polymer film can be a polyurethane film, etc.

[0057] In some embodiments, the polymer film is a polyurethane film. It is understood that the polyurethane film has good flexibility, stretchability, good sealing, physical and chemical inertness with the electrorheological fluid, and good use effect. Preferably, the polyurethane used to prepare the polyurethane film can be VytaFlex 10.

[0058] In the present application, the area size of the first encapsulation layer and the second encapsulation layer can be adjusted as needed. Two flexible films of different area sizes will form chambers of different volume sizes to accommodate materials with variable stiffness properties (i.e., one of electrorheological fluid, electrorheological gel or electrorheological elastomer). The weight of the adhesive device of the present application is mainly determined by the weight of the material contained in the chamber. In the present application, the weight range of the adhesive device is in the range of a few grams to tens of grams (such as 20g), preferably 4-5g.

[0059] in addition, Figure 1-Figure 3 The cavity is shown to be formed by using the first encapsulation layer and the second encapsulation layer. However, in other embodiments, the first encapsulation layer and the second encapsulation layer may also be a piece of flexible film, that is, the first encapsulation layer and the second encapsulation layer are an integrated structure.

[0060] The first conductive layer 21 and the second conductive layer 22 cover the first encapsulation layer 11 and the second encapsulation layer 12 respectively, and are thus arranged opposite to each other with a gap to form a sandwich configuration.

[0061] The materials used for the first conductive layer 21 and the second conductive layer 22 are both very flexible. The first conductive layer 21 and the second conductive layer 22 are both made of low modulus, stretchable, and conductive materials. They can be deformed as the first encapsulation layer 11 and the second encapsulation layer 12 are deformed, and can also conduct electricity. It can be understood that the first conductive layer 21 and the second conductive layer 22 are used to load an electric field to materials such as electrorheological fluids. The first conductive layer 2 and the second conductive layer 3 are arranged on the outer surfaces of the first encapsulation layer 11 and the second encapsulation layer 12 that are not in contact with materials such as electrorheological fluids, and are spaced apart from each other. In this way, materials such as electrorheological fluids can be placed in the middle of the electric field as much as possible, and a transition from liquid to solid occurs under the action of the electric field. In one embodiment, the electrorheological fluid can be a suspension composed of silicone oil and barium titanium oxalate particles.

[0062] In the present application, the first conductive layer and the second conductive layer of the adhesive device are also provided with electrical connection structures, such as wires, pins, etc. For example, the first conductive layer 21 is electrically connected to the first wire (first pin) 31, and the second conductive layer 22 is electrically connected to the second wire (second pin) 32. It can be understood that the first conductive layer 21 and the second conductive layer 22 are connected to an external power source through the first wire (first pin) 31 and the second wire (second pin) 32, respectively, so that an electric field can be generated between the first conductive layer 21 and the second conductive layer 22. Optionally, the first wire 31 and the second wire 32 can be copper wires wrapped with an insulating layer.

[0063] In some embodiments, the material used for the first conductive layer 21 and the second conductive layer 22 may be a carbon nanotube electrode. It is understood that the carbon nanotube electrode has the characteristics of low modulus, stretchability, good conductivity, good use effect, and can be transferred to a polymer film for easy processing.

[0064] In some embodiments, conductive bonding is used to electrically connect the first wire (first pin) 31 and the first conductive layer 21, and the second wire (second pin) 32 and the second conductive layer 22. This ensures good conductivity between the first wire (first pin) 31 and the first conductive layer 21, and between the second wire (second pin) 32 and the second conductive layer 22, thereby ensuring reliable conductivity during the operation of the adhesive device of the present application.

[0065] The first adhesive layer 41 covers the entire first conductive layer 21 and only exposes the first wire (first pin) 31. The second adhesive layer 42 covers the entire second conductive layer 22 and only exposes the second wire (second pin) 32.

[0066] In one embodiment, the first adhesive layer 41 and the second adhesive layer 42 can both be made of a material with a low elastic modulus and a low surface energy, such as silicone Ecoflex. TM A series of products, such as Ecoflex 00-10, Ecoflex 00-20, Ecoflex00-20FAST, Ecoflex 00-30, Ecoflex 00-31, Ecoflex 00-33AF, Ecoflex 00-35FAST, Ecoflex 00-45, Ecoflex00-50, etc. Liquid low surface energy silicone can be evenly coated on the surface of carbon nanotube (CNT) electrode by spin coating. This process not only ensures the integrity and functionality of the carbon nanotube electrode, but also effectively controls the intermolecular forces between the device surface and the attachment surface due to the use of low surface energy materials. Considering the light weight of the device, this low surface energy characteristic enables the device to achieve both power-on attachment and power-off and natural desorption by gravity when needed.

[0067] Figure 4 FIG. 1 is a flow chart of a method for manufacturing an adhesive device included in a habitat provided according to an exemplary embodiment of the present application. Figure 4 As shown, the method for manufacturing the adhesive device may include the following steps:

[0068] S100: forming a first encapsulation layer and a second encapsulation layer.

[0069] S200 : forming a first conductive layer on the first packaging layer and forming a second conductive layer on the second packaging layer.

[0070] S300: forming a first adhesion layer on the first conductive layer by coating; optionally, forming a second adhesion layer on the second conductive layer by coating.

[0071] S400: sealingly connecting the first encapsulation layer and the second encapsulation layer to form a cavity between the first encapsulation layer and the second encapsulation layer.

[0072] S500: Filling the chamber with a material having a variable stiffness property.

[0073] The manufacturing method of the present application can produce an adhesion device that can produce an obvious stiffness change effect, and the manufacturing method is simple and easy to operate.

[0074] In some embodiments, step S100 may specifically include the following steps:

[0075] S110: Forming polymer into polymer film using a die casting mold.

[0076] The specific steps may include: pouring the liquid polymer onto the first glass plate, then covering it with the second glass plate, and then pressurizing the polymer between the first glass plate and the second glass plate by loading a weight so that the liquid polymer can form a uniform film.

[0077] In some embodiments, the polymer can be selected from liquid polyurethane vytaflex 10, which has good use effect.

[0078] In some embodiments, the die-casting mold may include a hard plane base layer, a first glass flat layer, a second glass flat layer, and a weight-loading layer arranged in sequence from bottom to top. The use of a die-casting mold to die-cast a polymer film can well avoid the problem that liquid polymers are easy to agglomerate with each other and the obtained polymer film has an uneven thickness. The polymer film with uneven thickness is prone to breakdown at a thinner position, which will reduce the variable stiffness range of the adhesion device of the embodiment of the present application; the electric field strength will be reduced at a thicker position, which will affect the variable stiffness efficiency of the adhesion device of the embodiment of the present application. It has been verified experimentally that the polymer film prepared by the die-casting mold has a uniform film thickness, and the adhesion device prepared by using the polymer film is not prone to breakdown, the electric field strength formed inside is relatively uniform, and the use effect is good.

[0079] In some embodiments, the die-casting technology can be used to prepare a polymer film with a thickness of 180-280 μm, which has a good effect.

[0080] In some embodiments, a layer of silicone can be spin-coated on the surface of the die-casting mold cavity, that is, a layer of silicone can be coated on the side of the first glass plate and the second glass plate that contacts the polymer. It should be noted that since the viscosity between the die-casting polymer film and the die-casting mold cavity is too strong, the die-casting polymer film is prone to uneven pre-stretching or even cracking when demolding, thereby reducing the molding quality of the polymer film. By spin-coating a layer of silicone on the surface of the die-casting mold cavity, the viscosity between the die-casting polymer film and the die-casting mold cavity can be greatly reduced, which is beneficial to the smooth demolding of the die-casting polymer film, so that the die-casting polymer film can be demolded with minimal pre-stretching, reducing the occurrence of uneven or cracked polymer films. Preferably, the silicone can be Dragon Skin 30.

[0081] S120: The polymer film is solidified to complete the die-casting process.

[0082] The specific steps may include allowing the polymer film in the die-casting mold to solidify naturally at room temperature for 20-24 hours, and then placing it in an oven at 50-70° C. for solidification for 4-6 hours, thereby obtaining a polymer film with excellent mechanical properties. It should be noted that when placing the polymer film in the die-casting mold in the oven, the load weight may be retained or removed.

[0083] S130: Cutting the solidified polymer film to obtain a first encapsulation layer and a second encapsulation layer.

[0084] The specific steps may include using laser cutting to cut the polymer film to obtain a polymer film of a specific shape and size to meet different application requirements.

[0085] In other embodiments, the first encapsulation layer and the second encapsulation layer may also be made of different materials.

[0086] In some embodiments, step S200 may specifically include the following steps:

[0087] S210: fabricating a deposited nanotube electrode by a filtration method.

[0088] The specific steps may include: firstly, mixing the nanotube stock solution with water to form a nanotube suspension, then sequentially laying a filter screen and a filter membrane in a filtration container, then evenly pouring the nanotube suspension on the filter membrane, and evacuating the filtration container to separate water and nanotubes, and depositing the nanotubes on the filter membrane, thereby obtaining a nanotube electrode.

[0089] In some embodiments, the nanotube electrode may be a carbon nanotube electrode having good electrical conductivity.

[0090] S220: transferring the nanotube electrode onto the film.

[0091] The specific steps may include: covering a first mask on one side of the first encapsulation layer, transferring a part of the nanotube electrode to one side of the first encapsulation layer, and then removing the first mask, thereby preparing a first conductive layer on the first encapsulation layer; covering a second mask on one side of the second encapsulation layer, transferring another part of the deposited nanotube electrode to one side of the second encapsulation layer, and then removing the second mask, thereby preparing a second conductive layer on the second encapsulation layer. It can be understood that the first mask and the second mask play the role of shielding a partial area of ​​one side of the first encapsulation layer and a partial area of ​​one side of the second encapsulation layer, so that the nanotube electrode can be transferred to a specific area. It should be noted that a piece of nanotube electrode can be transferred to only one film, for example, it can be transferred to only the first encapsulation layer, or it can be transferred to only the second encapsulation layer, and the use effect is better. However, a piece of nanotube electrode can also be transferred to multiple films, for example, after being transferred to the first encapsulation layer, it is transferred to the second encapsulation layer. The first conductive layer and the second conductive layer are prepared by the transfer method, and low modulus and stretchable electrodes can be easily obtained, which has good use effect and is simple and convenient to prepare.

[0092] It is understandable that first making the first conductive layer on the first packaging layer and then making the second conductive layer on the second packaging layer can make the first conductive layer and the first packaging layer, and the second conductive layer and the second packaging layer better in adhesion, thereby ensuring the use effect of the first conductive layer and the second conductive layer.

[0093] S230: forming an electrical connection structure on the electrode.

[0094] In some embodiments, the electrical connection structure may be a wire, a pin, or other mechanical or electronic structure capable of conducting electricity.

[0095] In some embodiments, forming an electrical connection structure on an electrode may include forming a first wire on a first conductive layer and forming a second wire on a second conductive layer. Specific steps may include using conductive adhesive to bond and solidify the intersection of one end of the first wire and the first conductive layer and the intersection of one end of the second wire and the second conductive layer. Using conductive adhesive to bond can, on the one hand, fix one end of the first wire to the first conductive layer and one end of the second wire to the second conductive layer so that they are not easily separated, and on the other hand, it can ensure that the first wire and the first conductive layer, and the second wire and the second conductive layer are well electrically connected.

[0096] In some embodiments, the conductive adhesive may be silver epoxy resin, which has good use effects.

[0097] In some embodiments, the bonding can be reinforced at the conductive adhesive bonding point, so as to increase the connection strength between one end of the first wire and the first conductive layer and between one end of the second wire and the second conductive layer. Specifically, the reinforcement bonding can be achieved by spot-coating a polyurethane-based adhesive (URE-BONDII). By using a polyurethane-based adhesive (URE-BONDII), the silver epoxy resin can be firmly connected to the polyurethane film, and the flexibility is good after solidification.

[0098] In some embodiments, when the first adhesive layer and the second adhesive layer are prepared using the same material, step S300 may specifically include the following steps: stirring and vacuumizing a silicone solution (such as Ecoflex 00-30), and then pouring it onto the first conductive layer and the second conductive layer; coating the silicone solution to cover the entire surface of the first conductive layer, exposing only the electrical connection structure such as the first wire, to form the first adhesive layer; coating the silicone solution to cover the entire surface of the second conductive layer, exposing only the electrical connection structure such as the second wire. The coating method may include, but is not limited to, spin coating, etc.

[0099] In other embodiments, the first adhesive layer and the second adhesive layer may also be made of different materials. For example, the first adhesive layer is made of a silicone material, while the second adhesive layer may not be made of a silicone material, but may be made of an insulating material, as long as the formed second adhesive layer can protect the second conductive layer and ensure that the second conductive layer can only be electrically connected to other structures through its electrical connection structure (such as the second wire).

[0100] In some embodiments, step S400 may include the following sub-steps:

[0101] S410: Making auxiliary brackets.

[0102] The specific steps may include: the auxiliary bracket may be a bendable structure of thin PET, and a PET material of a specific shape may be obtained by laser cutting, and then the PET material may be bent as required; after the PET material is bent, the bent shape may be maintained, thereby obtaining a thin PET bendable structure, that is, a pillar-shaped auxiliary bracket. It should be noted that the auxiliary bracket plays a role in supporting the first packaging layer having the first conductive layer, so that a sufficiently large cavity can be formed between the first packaging layer and the second packaging layer to facilitate filling of a material having a variable stiffness property.

[0103] In addition, a release agent may be coated on the inner surface of the auxiliary bracket; this can facilitate the separation of the first packaging layer from the auxiliary bracket and avoid or reduce the possibility of local stretching or damage to the first packaging layer.

[0104] S420: sealingly connecting the first packaging layer and the second packaging layer by means of an auxiliary bracket.

[0105] Specific steps may include: attaching the first packaging layer to the inner surface of the auxiliary bracket coated with a release agent, contacting the boundary of the first packaging layer with the second packaging layer, and sealing the connection with an adhesive, thereby constructing a cavity between the first packaging layer and the second packaging layer.

[0106] The sealed connection may include spot coating of a polyurethane base adhesive (URE-BONDII) between the interfaces where the first encapsulation layer and the second encapsulation layer contact each other, and solidifying for 4-6 hours. It is understood that after the filling of the material with variable stiffness is completed, the filling port of the chamber can be sealed, and then the auxiliary bracket located on the outside can be directly removed, which is convenient to operate and will not have an adverse effect on the adhesive device of the present application.

[0107] It can be understood that here the cavity is formed between the other side surface (ie, the inner side surface) of the first packaging layer without the first electrode and the other side surface (ie, the inner side surface) of the second packaging layer without the second electrode.

[0108] In some embodiments, when the material having variable stiffness property is an electrorheological fluid, the material may be filled into the chamber by injection.

[0109] For example, step S500 may include forming an injection port on the first packaging layer, exhausting the gas in the chamber, then injecting electrorheological fluid through the injection port using a syringe, and sealing the injection port of the chamber with an adhesive to prevent the electrorheological fluid from flowing out of the injection port of the chamber.

[0110] Venting the chamber may help avoid the presence of air bubbles that may cause the resulting adhered device to be susceptible to breakdown when the chamber is filled with electrorheological fluid.

[0111] In one embodiment, the adhesive may be a polyurethane-based adhesive (URE-BONDII) having a curing time of 4-6 hours.

[0112] It should be noted that before the electrorheological fluid is injected into the chamber, it is necessary to shake and evacuate the electrorheological fluid to obtain an electrorheological fluid that is evenly distributed and contains a small amount of bubbles, and then perform the injection operation. In this way, the presence of bubbles can be avoided, which can prevent the adhesive device of the present application from being easily punctured and causing failure.

[0113] In the present application, the preparation of the encapsulation layer, the conductive layer, the first adhesion layer, the second adhesion layer, etc. or the connection therebetween may also be formed by other methods (such as the contents disclosed in Chinese patent CN115811924A, etc.), which will not be described in detail in this application.

[0114] The voltage booster in the perch device of the present application can be used to provide an electric field to the adhesion device to achieve the adhesion of the adhesion device on the target surface, and the electric field is applied by the power supply of the aircraft. The voltage booster can increase the voltage applied by the aircraft by at least 500 times, and a voltage booster of EMCO AP50-5 (which has a light weight of about 5 grams; a high voltage conversion ratio of about 1:1000; and low energy consumption of about less than 1.5 watts) can be generally used. The voltage booster can be electrically connected to the first conductive layer via a first wire or a first pin and electrically connected to the second conductive layer via a second wire or a second pin. The first conductive layer can be used as a positive electrode and the second conductive layer can be used as a negative electrode, and vice versa.

[0115] The electrical isolator in the perch device of the present application can be used to electrically isolate the voltage booster from the aircraft. For example, for a photoelectric coupler as an electrical isolator, the control end and the drive end of the photoelectric coupler form independent circuits respectively, the control end is connected to the voltage booster, and the drive end is connected to the unmanned aerial vehicle. The control instructions are transmitted between the two ends through optical signals without physical electrical connection, thereby achieving electrical isolation. Usually, the circuit voltage of the drone is about 5V, and the voltage increased by the voltage booster can be up to about 5000V, and the electric field strength applied to the adhesive device by the drone can be up to 2500V / mm. The present application can protect the circuit of the drone from the voltage in the voltage booster circuit by setting an electrical isolator to prevent the latter's high voltage from breaking down the drone. Electrical isolators that can be applied to the present application include but are not limited to photoelectric couplers (AQY212EHAX) and the like.

[0116] The electrical isolator of the present application is directly electrically connected to the voltage booster and is indirectly electrically connected to the adhesive device via the voltage booster. In addition, if necessary, the electrical isolator of the present application can be connected to the I / O interface of the aircraft via a current limiting resistor (such as about 350 ohms, which can be used to adjust the voltage at the input end of the electrical isolator).

[0117] The perch device of the present application can realize an integrated cable-free, lightweight adhesion system with an aircraft such as a micro-UAV. Such a micro-UAV can be a multi-rotor aircraft, for example, a commercially available UAV with a weight less than or equal to 350 grams and a power greater than or equal to 160 milliwatts. Figure 5A and Figure 5B Photos of drones including perching devices provided according to different embodiments of the present application are respectively shown. Figure 5A and Figure 5BThe drone shown in the figure is the commercially available Feather 120. The present application can apply a voltage of about 5V to the voltage booster via an electrical isolator through the power supply of the aircraft (such as the drone's own battery or an external power supply), and then the voltage booster increases the voltage of 5V to about 5000V; then, the first conductive layer is connected to the positive electrode (about 5000V), the second conductive layer is connected to the negative electrode (0V), and an electric field is formed between the two conductive layers. This electric field acts on materials such as electrorheological fluids, so that materials such as electrorheological fluids produce a stiffness enhancement effect, and then the adhesion device realizes the adhesion function. Typically, the electric field strength provided to the adhesion device via the power supply of the drone is in the range of 500V / mm to 2500V / mm.

[0118] An aerial vehicle such as a drone may be connected to the perch by means of a support. Figure 5A A support member with a cage-shaped structure having a bottom and composed of three pillars is shown, the top surfaces of the three pillars are in contact with the second electrode or the second adhesion layer of the adhesion device in the habitat (such as connected by an adhesive), and the voltage booster and electrical isolator in the habitat can be placed on the bottom of the cage-shaped structure; the support member can be mechanically connected to the drone through a column attached to the drone. Figure 5B A support member consisting of two pillars is shown, and the top surfaces of the two pillars are in contact with the second electrode or the second adhesion layer of the adhesion device in the perch device (such as connected by an adhesive); and the voltage booster and electrical isolator in the perch device can be placed on the top surface of the drone and fixed on the top surface (such as fixed by an adhesive), or fixed to other surfaces of the drone, as long as it does not affect the flight of the drone and can ensure that the adhesion device can achieve the adhesion function.

[0119] However, in other embodiments, the aircraft may be connected to the perch device through other forms of mechanical structures or electrical structures, as long as it is ensured that the aircraft can apply an electric field to the adhesion device via the voltage booster of the perch device.

[0120] The perch provided in the present application constructs a variable stiffness adhesion mechanism with a self-generated pressure difference by using a specific material with low surface energy and low tensile modulus, thereby realizing a process of controlled perching and re-takeoff from a target surface by an aircraft system equipped with the perch on target surfaces of different materials, roughness, and geometric shapes, as well as in different environmental media such as air, oil, or water and at different ambient temperatures.

[0121] Figure 6A-Figure 6I The process of a drone system formed by a commercially available drone Feather 120 equipped with the adhesive device manufactured by the present application perching on an acrylic ceiling and taking off is shown in an exemplary manner. The specific process may include using a remote control and a drone to adjust the frequency within 0-1 seconds, such as Fig. 6A As shown; in 2-3 seconds, unlock the drone's electrodes, such as Figure 6B As shown; in 3-4 seconds, send a command to the drone to make it take off from the ground, such as Figure 6C As shown; in 4-7 seconds, the lift of the drone rotor makes the first adhesive layer of the adhesive device in the habitat device closely contact with the acrylic ceiling, as shown Fig.6D As shown; at 7 seconds, the drone's own battery applies an electric field to the material in the adhesion device, such as the electrorheological fluid, through the voltage booster in the perch device, so that the electrorheological fluid has a stiffness enhancement, as shown in FIG. Fig. 6E As shown; at 7-21 seconds, after the stiffness is enhanced, the motor of the drone rotor can be turned off. At this time, the adhesion device is affected by the gravity of the drone. The gravity causes the adhesion device to be stretched, resulting in the expansion of the volume of the micro cavity formed at its adhesion contact interface, causing the pressure in the micro cavity to decrease, forming a negative pressure cavity, thereby generating the normal adhesion force of the adhesion device (i.e., the force perpendicular to the ceiling surface); the high stiffness characteristics of the adhesion device can ensure that the cavity edge maintains good sealing performance to prevent external air from infiltrating; stable adhesion is generated through continuous pressure difference, and the drone's perch on the ceiling surface only generates low energy consumption, such as Fig. 6F As shown; at 21 seconds, unlock the rotor motor to prepare for the second flight, as shown Figure 6G As shown; at 23-27 seconds, the drone stops applying the electric field to the adhesion device, so that the stiffness of the adhesion device decreases, the volume of the micro cavity decreases, and the negative pressure in the micro cavity decreases, thereby causing the normal adhesion force to decrease, so that the first adhesion layer of the adhesion device detaches from the ceiling surface, that is, the drone stops perching on the ceiling surface and leaves, as shown in FIG. Figure 6H As shown; in 27 seconds, the drone completed the perch and landed on the ground again. It can be seen that by setting and carrying the perch device manufactured by the present application, an aircraft such as a drone can achieve extended hovering and controllable perch on the ceiling surface.

[0122] In addition, the aircraft including the perch device of the present application can not only realize controllable perch, but also has wind resistance. The test process is similar to Figure 6A-Figure 6I After turning off the motor of the drone's rotor, an airflow disturbance of 5 m / s wind speed was applied to the drone. The results showed that the aircraft equipped with the perch device of the present application exhibited excellent anti-wind interference characteristics.

[0123] The aircraft including the perching device of the present application can also realize controllable perching in various scenarios, such as Figure 7A-Figure 7I As shown. Figure 7A-Figure 7IAs can be seen from the photos, in indoor environments, the drone including the perching device of the present application successfully achieves adhesion and attachment on the surfaces of various indoor facilities or devices such as under incandescent lamps (as shown in 7A), under fire sprinkler heads (as shown in 7B), under gypsum ceilings (as shown in 7C), under monitoring equipment (as shown in 7D), under smoke detectors (as shown in 7E), and under emergency lights (as shown in 7F); in outdoor environments, the drone including the perching device of the present application also achieves stable adhesion and attachment on the surfaces of various outdoor facilities and devices such as under tree branches (as shown in 7G), under scaffolding (as shown in 7H), and under road signs (as shown in 7I). This fully proves the practicality and reliability of the aircraft including the perching device of the present application for perching in diverse environments.

[0124] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0125] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A habitat for an unmanned aerial vehicle, characterized in that: include: An adhesion device, which is directly or indirectly connected to the unmanned aerial vehicle and comprises: A first encapsulation layer; a second encapsulation layer connected to the first encapsulation layer and forming a fluid-tight chamber with the first encapsulation layer, the chamber being adapted to contain a material selected from one of an electrorheological liquid, an electrorheological gel or an electrorheological elastomer; a first conductive layer covering at least a portion of the first encapsulation layer; a second conductive layer covering at least a portion of the second encapsulation layer; a first adhesive layer covering the first conductive layer; a voltage booster configured to provide an electric field to the adhesion device; an electrical isolator configured to electrically isolate the voltage booster from the unmanned aerial vehicle; The material used for the first adhesive layer has a tensile modulus in the range of 70-90 kPa and a strength of 0.1-0.3 J / m 2 Insulating materials with surface energy within a certain range.

2. The perch device according to claim 1, characterized in that: The amplification factor of the input voltage of the voltage booster is greater than or equal to 500.

3. The perch device according to claim 1, characterized in that: The electrical isolator is selected from a photoelectric coupler, an air isolation relay, a giant magnetoresistance isolator, and a capacitor isolator.

4. The perch device according to any one of claims 1 to 3, characterized in that: The material used for the first adhesive layer is silicone; preferably, the material used for the first adhesive layer is Ecoflex™.

5. The perch according to any one of claims 1 to 3, characterized in that: The first encapsulation layer and the second encapsulation layer are integral; Optionally, the material used for the first encapsulation layer is a polymer film; Optionally, the material used for the second encapsulation layer is a polymer film; Optionally, the polymer film is a polyurethane film; Optionally, the first encapsulation layer is in the shape of a pillar with one end closed and the other end open, and the second encapsulation layer is in the shape of a flat plate, and the second encapsulation layer seals the other open end of the first encapsulation layer; Optionally, the first encapsulation layer and the second encapsulation layer are sealed and connected by an adhesive; Optionally, the first encapsulation layer and the second encapsulation layer are coaxially arranged; Optionally, the first encapsulation layer and the second encapsulation layer are both in the shape of caps, and the brim of the first encapsulation layer is bonded and fixed to the brim of the second encapsulation layer.

6. The perch according to any one of claims 1 to 3, characterized in that: The material used for the first conductive layer is a carbon nanotube electrode or a liquid metal electrode; Optionally, the material used for the second conductive layer is a carbon nanotube electrode or a metal electrode.

7. The perch according to any one of claims 1 to 3, characterized in that: Also included is a second adhesive layer covering the second conductive layer.

8. The perch according to claim 7, characterized in that: The material used for the second adhesive layer is an insulating material; optionally, the material used for the second adhesive layer is silicone or a polymer film.

9. An unmanned aerial vehicle, characterized in that: comprising a perching device according to any one of claims 1 to 8, wherein the electrical isolator of the perch is connected to an I / O interface of the UAV; The UAV applies an electric field to the adhesion device via the voltage booster of the perch.

10. The unmanned aerial vehicle according to claim 9, characterized in that: The UAV is connected to the second electrode layer or the second adhesive layer of the perch via a plurality of struts.

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