Three-rotor double-tilt wall-climbing aircraft and control method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a three-rotor double-tilt wall climbing aircraft and a control method thereof.The aircraft comprises an aircraft body frame, a rotor system and a wheel set system, and the aircraft body frame is of a rigid structure formed by connecting an upper carbon plate and a lower carbon plate through copper columns. The rotor system adopts a three-rotor layout, a left rotor and a right rotor realize synchronous tilting through an integrated tilting mechanism, and the rear rotor is provided with an independent tilting mechanism to realize vector thrust control. The wheel set system comprises a universal wheel and two driving wheels, and wall movement is achieved through differential driving. The aircraft adopts a six-star symmetrical layout, so that airflow interference is reduced, and stability is improved. The control method comprises three stages of flight attitude adjustment, wall surface pressing and attaching and wall surface moving, and seamless switching between a flight mode and a wall climbing mode is realized through cooperative work of the flight control module and the airborne computer. The robot has the advantages of light weight, high maneuverability and high adaptability, and is suitable for multi-scene operation in a complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a three-rotor two-tilting wall-climbing flying vehicle and a control method thereof. Background Art

[0002] In the era of rapid development of today's technology, wall-climbing unmanned aerial vehicles, as a type of highly innovative and application-potential special unmanned aerial vehicles, have demonstrated unique value in multiple fields and also attracted in-depth research by many scientific research teams and enterprises. Conventional quadrotor unmanned aerial vehicles, as an important foundation in the field of unmanned aerial vehicles, their technological development also provides important reference for the research of wall-climbing unmanned aerial vehicles.

[0003] Conventional quadrotor unmanned aerial vehicles generate lift through four symmetrically distributed rotors and rely on adjusting the rotational speeds of different rotors to control flight postures, such as actions like ascending, descending, moving forward, moving backward, and turning. Its structure is simple and the control is convenient, and it has been widely used in fields such as aerial photography, mapping, and agricultural plant protection. However, conventional quadrotor unmanned aerial vehicles have obvious limitations in complex environment adaptability and multi-functional integration. On the one hand, due to its fixed-wing rotor layout, when facing adverse weather conditions such as strong winds, the attitude stability is poor, and it is difficult to accurately hover and fly stably; on the other hand, its functions are mainly concentrated on aerial operations, lacking the ability to move on the ground or wall surface, and unable to meet the need to operate in close contact with target objects in specific scenarios.

[0004] Existing wall-climbing unmanned aerial vehicle technologies also face many challenges. Some wall-climbing unmanned aerial vehicles mostly adopt adsorption methods (such as vacuum adsorption, magnetic adsorption) or contact methods (such as wheeled, tracked) for movement. Among them, the adsorption methods have obvious limitations: vacuum adsorption relies on complex sealing structures and continuous air extraction systems, has extremely high requirements for the flatness of the wall surface, and it is difficult to maintain a stable adsorption force on rough or porous surfaces; magnetic adsorption is only applicable to ferromagnetic wall surfaces, and the application scenarios are limited. The contact methods, on the other hand, face the problem of insufficient movement flexibility. Wheeled and tracked structures are prone to slipping and jamming on uneven wall surfaces, and have poor turning and obstacle-crossing capabilities, making it difficult to adapt to complex building surfaces.

[0005] In terms of functional integration, for some unmanned aerial vehicles with dual functions of flight and wall climbing, due to the imperfect cooperative control strategy between the flight system and the wall-climbing system, there is a risk of attitude loss of control during the mode switching process; at the same time, the complex mechanical structure increases the weight and cost of the equipment, reducing the endurance and operation efficiency. In addition, existing technologies also have defects in environmental adaptability, and it is difficult to simultaneously meet the operation requirements of walls with different materials, slopes, and roughnesses, and unable to efficiently and stably perform diverse tasks in complex and changeable actual scenarios. There is an urgent need for a newly designed wall-climbing unmanned aerial vehicle to break through these technical bottlenecks. Summary of the Invention

[0006] The object of the present invention is to provide a three-rotor two-tilting wall-climbing aircraft and its control method to solve the above technical problems.

[0007] To solve the above technical problems, the specific technical solutions of a three-rotor two-tilting wall-climbing aircraft and its control method of the present invention are as follows: A three-rotor two-tilting wall-climbing aircraft includes a fuselage frame, a rotor system, and a wheel set system. The fuselage frame includes an upper carbon plate and a lower carbon plate, and multiple equally spaced copper columns are connected between the upper carbon plate and the lower carbon plate to form a stable rigid frame structure. The rotor system is installed on the upper carbon plate and includes three rotor units driven by independent motors: a left rotor unit, a right rotor unit, and a rear rotor unit. Each rotor unit includes a rotor motor and a rotor, and the rotor is driven to rotate by the rotor motor. The wheel set system is arranged on the lower carbon plate and includes a front universal wheel and two rear drive wheel assemblies. The three rotor units are arranged in an equilateral triangle on the upper carbon plate, and the three wheel sets of the wheel set system are symmetrically distributed on the lower carbon plate. The rotors and the wheel sets generally form a six-pointed star shape.

[0008] Furthermore, multiple standard holes are reserved on the fuselage frame for subsequent module expansion.

[0009] Furthermore, the left rotor unit and the right rotor unit are connected to an integrated tilting mechanism through tilting rod assemblies and are driven by the integrated tilting mechanism to achieve synchronous tilting.

[0010] Furthermore, the tilting rod assembly includes a tilting rod and an angle iron. The two ends of the tilting rod are fixedly connected to the angle iron. The left rotor unit and the right rotor unit are respectively fixedly installed on the angle irons at both ends. The middle of the tilting rod is connected to the integrated tilting mechanism and is driven to rotate by the integrated tilting mechanism.

[0011] Furthermore, the integrated tilting mechanism includes a servo motor, a large gear, and a small gear. The servo motor is installed on the lower carbon plate. The small gear is fixedly connected to the output shaft of the servo motor. The large gear is fixedly connected to the tilting rod. The large gear and the small gear are meshed. The rotation of the servo motor drives the small gear to rotate and drives the large gear to rotate synchronously, thereby realizing the rotation of the tilting rod, enabling the left rotor unit and the right rotor unit to synchronously adjust the thrust direction, and realizing forward, backward, and wall-attaching flight actions.

[0012] Furthermore, the rear rotor unit is provided with an independent tilting mechanism.

[0013] Further, the universal wheel is fixedly installed below the front end of the lower carbon plate for direction assistance and load balancing. The two active wheel assemblies include a left active wheel, a left servo, a right active wheel, a right servo, a servo driver board, and an on-board computer. The servo driver board and the on-board computer are fixedly installed on the lower carbon plate near the copper column. The left servo and the right servo are respectively fixedly installed at the left and right ends of the lower carbon plate. The left active wheel and the right active wheel are respectively fixedly connected to the output shafts of the left servo and the right servo. The on-board computer is electrically connected to the servo driver board, and the servo driver board is electrically connected to the left servo and the right servo. The on-board computer drives the left servo and the right servo to work through the servo driver board, driving the left active wheel and the right active wheel to rotate.

[0014] Further, a plurality of standard holes are reserved on the lower carbon plate, and the servo and wheel group interfaces adopt a replaceable modular design.

[0015] Further, the aircraft further includes a shock absorption assembly, a battery panel, and a flight control module. The shock absorption assembly is installed in the middle of the upper carbon plate. The flight control module is installed on the shock absorption assembly. The battery panel is fixedly installed on the upper part of the upper carbon plate near the flight control module. The battery panel is used to supply power to the entire aircraft. The flight control module is used to coordinate the rotor speed and tilt angle to achieve a closed-loop flight control. The shock absorption assembly is used to buffer the high-frequency vibration during the operation of the rotor motor.

[0016] The present invention also discloses a control method for a three-rotor two-tilting wall-climbing aircraft, including the following steps: During the flight state, the flight control module coordinately controls the speed and tilt angle of the three rotor motors to achieve the flight attitude control of the aircraft; When approaching the wall, the flight control module controls the rotor tilt angle to adjust to a nearly horizontal state, so that the fuselage is pressed against the wall; In the wall operation state, the flight control module and the on-board computer work together to control the left and right servos of the two left and right active wheels at the rear to achieve differential drive. The universal wheel is passively steered according to the directions of the left and right active wheels to complete the movement along the wall. The flight control module and the on-board computer perform attitude stabilization, path planning, and wheel speed adjustment.

[0017] A three-rotor two-tilting wall-climbing aircraft and its control method of the present invention have the following advantages: (1) The present invention adopts a three-rotor structure, which reduces one rotor, electric speed controller, motor and related structural components compared to the traditional four-rotor UAV, which not only reduces the overall weight but also simplifies the control logic of the flight control module. Fewer components means lower energy consumption and longer flight time, while reducing the number of failure points and improving the reliability and maintenance convenience of the whole machine. This structure is particularly suitable for flight operation scenarios that require a high level of platform lightweighting, such as exterior wall inspection and high-altitude inspection.

[0018] (2) The present invention realizes the vector thrust control function in the three-rotor system by combining the integrated tilt-rotor structure of the two front rotors with the independent tilt-rotor at the rear. This design greatly enhances the attitude adjustment capability of the aircraft and makes up for the under-actuation problem that naturally exists in the three-rotor system, making it more stable and flexible in complex working conditions such as tilted flight, wall attachment, and aerial transition. When transitioning to the wall, the thrust direction of the rotor can be precisely controlled to improve the overall transition efficiency and control accuracy.

[0019] (3) In the wall climbing mode, the present invention adopts a three-wheel combination of two active wheels independently driven by a steering gear and one passive universal wheel. By controlling the speed difference between the two active wheels, various movement modes such as wall advance, turning, and rotation on the spot can be achieved. This structure has stronger adaptability to wall materials and attachment conditions, overcoming the limitations of traditional wall climbing technologies such as magnetic attraction and negative pressure adsorption, which have high energy consumption and high surface requirements, and is particularly suitable for irregular or rough wall environments.

[0020] (4) The rotor and wheel assembly are arranged in a hexagram-like symmetric manner, forming a coordinated minimal interference layout between the aerodynamic and motion structures. This layout effectively avoids the obstruction and disturbance of the airflow of the upper rotor by the lower wheel assembly, improving aerodynamic efficiency and flight stability. At the same time, the entire aircraft is symmetrical in terms of the center of gravity layout, avoiding yaw or pitch imbalance in flight, which helps to improve the control accuracy and dynamic response capability of the platform.

[0021] (5) The main body of the drone is made of two carbon plates, connected by copper columns to form a rigid frame. The upper carbon plate mainly carries the flight control module, battery pack and rotor system, forming a flight control and power output platform; the lower carbon plate is used to centrally arrange the wheel set, steering gear drive board and onboard computer, forming a wall climbing execution and data processing module. This layered structure makes the division of labor and wiring of each module clear, and further improves the stability of the drone when running against the wall through the design of placing the center of gravity downward, avoiding rollover or slipping.

[0022] (6) The overall control system design fully considers the expansion requirements, has standard interfaces and a modular structure, and can adapt to various mission payloads, such as vision recognition cameras, infrared sensors, robotic arms, etc. Cooperating with the on-board computer and the independent servo driver board on the lower carbon plate, the system can achieve autonomous path planning, real-time attitude feedback, and autonomous task execution. Compared with traditional wall robots, the platform of the present invention has a significantly improved level of intelligence and meets the requirements of multi-task simultaneous execution in complex environments.

[0023] (7) The present invention integrates flight, wall attachment, and wall climbing movement, and can smoothly transition between the flight state and the wall operation state. Compared with a single-function platform that can only fly or only climb walls, this platform is suitable for multi-scenario cross-media operations, especially suitable for scenarios such as urban high-rise structure inspection, power tower maintenance, warehouse facility inventory, and post-disaster environment detection, significantly improving the operation efficiency and personnel safety. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the overall structure of the three-rotor two-tilting wall-climbing aircraft of the present invention; Figure 2 It is a schematic diagram of the structure of the three-rotor two-tilting wall-climbing aircraft of the present invention; Figure 3 It is a schematic diagram of the structure of the wheel set system of the present invention; Explanation of the marks in the figure: 1, airframe frame; 11, upper carbon plate; 12, lower carbon plate; 13, copper column; 2, rotor system; 21, left rotor unit; 22, right rotor unit; 23, rear rotor unit; 231, independent tilting mechanism; 24, tilting rod assembly; 241, tilting rod; 242, angle iron; 25, integrated tilting mechanism; 251, servo motor; 252, large gear; 253, small gear; 3, wheel set system; 31, universal wheel; 32, driving wheel assembly; 321, left driving wheel; 322, left servo; 323, right driving wheel; 324, right servo; 325, servo driver board; 326, on-board computer; 4, shock absorption assembly; 5, battery panel; 6, flight control module. Detailed Embodiments

[0025] In order to better understand the purpose, structure, and function of the present invention, the following further describes in detail a three-rotor two-tilting wall-climbing aircraft and its control method of the present invention with reference to the drawings.

[0026] Such as Figures 1-3As shown in the figure, a three-rotor two-tilting wall-climbing aircraft of the present invention includes a body frame 1, a rotor system 2, and a wheel set system 3. The body frame 1 includes an upper carbon plate 11 and a lower carbon plate 12. The upper carbon plate 11 and the lower carbon plate 12 are connected by a plurality of equally spaced copper columns 13 to form a stable rigid frame structure. The body frame 1 has the advantages of light weight, high strength, corrosion resistance, etc., and is suitable for various harsh environments. The upper carbon plate 11 and the lower carbon plate 12 are connected by copper columns 13 to ensure the overall structural stability and torsional resistance, and at the same time provide sufficient installation space for the layout of devices such as servo drive modules, controllers, and batteries. The copper columns 13 are fixed by countersunk screws to avoid interference caused by protruding components to the airflow and wall contact. The whole machine adopts an upper and lower layered wiring method, with high-current devices and low-voltage signal lines distributed on different layers. The upper carbon plate 11, the lower carbon plate 12, and the copper columns 13 are used as electromagnetic shielding paths, and ventilation openings are reserved for heat dissipation. The body frame 1 reserves a plurality of standard hole positions to facilitate subsequent module expansion, such as camera modules, laser rangefinders, spraying mechanisms, etc.

[0027] The rotor system 2 is installed on the upper carbon plate 11 and includes three independently motor-driven rotor units: the left rotor unit 21, the right rotor unit 22, and the rear rotor unit 23. Each rotor unit includes a rotor motor and a rotor, and the rotor is driven to rotate by the rotor motor. The left rotor unit 21 and the right rotor unit 22 are connected to the integrated tilting mechanism 25 through the tilting rod assembly 24 and are driven by the integrated tilting mechanism 25 to achieve synchronous tilting. The tilting rod assembly 24 includes a tilting rod 241 and an angle iron 242. Both ends of the tilting rod 241 are fixedly connected to the angle iron 242. The left rotor unit 21 and the right rotor unit 22 are respectively fixedly installed on the angle irons 242 at both ends. The middle of the tilting rod 241 is connected to the integrated tilting mechanism 25 and is driven to rotate by the integrated tilting mechanism 25. The integrated tilting mechanism 25 includes a servo motor 251, a large gear 252, and a small gear 253. The servo motor 251 is installed on the lower carbon plate 12. The small gear 253 is fixedly connected to the output shaft of the servo motor 251. The large gear 252 is fixedly connected to the tilting rod 241. The large gear 252 and the small gear 253 are meshed. When the servo motor 251 rotates, it drives the small gear 253 to rotate, which drives the large gear 252 to rotate synchronously, thereby realizing the rotation of the tilting rod 241, enabling the left rotor unit 21 and the right rotor unit 22 to synchronously adjust the thrust direction and achieve flight actions such as forward, backward, and wall attachment. The integrated tilting mechanism 25 can simultaneously adjust the tilting angles of the left and right rotors to quickly realize the change of flight attitude and the force vector control of forward propulsion, avoid the body attitude deviation caused by left-right asymmetry, and improve the system reliability. The rear rotor unit 23 is provided with an independent tilting mechanism 231, which can independently adjust the thrust direction, enhance the control ability of the drone around the vertical axis, and improve the attitude control flexibility of the body during the dynamic flight and climbing attachment switching process. The large gear and the small gear are processed entirely with metal, matched with the high-torque servo motor 251 for driving, and can withstand repeated start-stop and high-frequency tilting actions, adapting to the work tasks with frequent wall surface switching. During the flight stage, by adjusting the tilting angles and speed combinations of the three rotors, the system can achieve multi-degree-of-freedom control such as ascending, descending, forward, backward, sideward, and rotation.

[0028] The wheel set system 3 is arranged on the lower carbon plate 12, and includes a universal wheel 31 at the front and two driving wheel assemblies 32 at the rear. The universal wheel 31 is fixedly installed below the front end of the lower carbon plate 12, and is used for direction assistance and load balancing, so that the whole machine can still maintain stable attachment on an uneven wall surface. The two driving wheel assemblies 32 include a left driving wheel 321, a left steering gear 322, a right driving wheel 323, a right steering gear 324, a steering gear driving board 325 and an on-board computer 326. The steering gear driving board 325 and the on-board computer 326 are fixedly installed on the lower carbon plate 12, near the copper column 13. The left steering gear 322 and the right steering gear 324 are respectively fixedly installed at the left and right ends of the lower carbon plate 12. The left driving wheel 321 and the right driving wheel 323 are respectively fixedly connected to the output shafts of the left steering gear 322 and the right steering gear 324. The on-board computer 326 is electrically connected to the steering gear driving board 325, and the steering gear driving board 325 is electrically connected to the left steering gear 322 and the right steering gear 324. The on-board computer 326 drives the left steering gear 322 and the right steering gear 324 to work through the steering gear driving board 325, driving the left driving wheel 321 and the right driving wheel 323 to rotate. Multiple standard holes are reserved on the lower carbon plate 12, and the steering gear and wheel set interfaces adopt a replaceable modular design. The wheel set system 3 adopts a modular layout, so that the control system and the mechanical execution system are reasonably distributed, which is beneficial to the center of gravity moving down and enhancing the wall attachment stability. All wheels are installed at the edge position of the lower carbon plate, and used in combination with a wall adsorption structure (such as negative pressure adsorption or magnetic adsorption), so as to achieve continuous and stable adhesion force.

[0029] To improve the aerodynamic performance and reduce the flow field interference between the rotors and with the wheel set, the three rotor units are arranged in an equilateral triangle on the upper carbon plate 11. The three wheel sets (one universal wheel 31 and two driving wheels) of the wheel set system 3 are symmetrically distributed on the lower carbon plate 12. The rotors and the wheel set generally form a six-pointed star shape, effectively reducing the interference of the bottom wheel set on the downwash flow while ensuring the stability of the body attitude.

[0030] The three-rotor two-tilting wall-climbing aircraft of the present invention further includes a shock-absorbing component 4, a battery panel 5 and a flight control module 6. The shock-absorbing component 4 is installed in the middle of the upper carbon plate 11, the flight control module 6 is installed on the shock-absorbing component 4, and the battery panel 5 is fixedly installed above the upper carbon plate 11 near the flight control module 6, which is beneficial to the concentration of the center of gravity of the whole machine. The battery panel 5 is used to supply power to the entire aircraft, and the flight control module 6 is used to coordinate the rotor speed and tilting angle to achieve a closed-loop flight control. The shock-absorbing component 4 is used to buffer the high-frequency vibration during the operation of the rotor motor, improving the service life and control accuracy of the flight control module 6. The flight control module 6 is compatible with a variety of open-source systems and can be flexibly adapted to task algorithms and control logics.

[0031] A control method for a three-rotor two-tilting wall-climbing aircraft of the present invention includes the following steps: In the flight state, the flight control module 6 coordinately controls the rotational speeds and tilting angles of the three rotor motors to achieve the flight attitude control of the aircraft, including takeoff and landing, hovering, flight direction adjustment, etc.; When approaching the wall surface, the flight control module 6 controls the rotor tilting angle to be adjusted to a nearly horizontal state, so that the body is pressed against the wall surface; In the wall surface operation state, the flight control module 6 works in cooperation with the on-board computer 326 to control the left steering gears 322 and the right steering gears 324 of the two left active wheels 321 and the right active wheel 323 at the rear to achieve differential drive. The omnidirectional wheel 31 is passively steered according to the directions of the left active wheel 321 and the right active wheel 323 to complete the movement along the wall surface. The flight control module 6 and the on-board computer 326 perform attitude stabilization, path planning and wheel speed adjustment.

[0032] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A three-rotor two-tilting wall-climbing aircraft, comprising a fuselage frame (1), a rotor system (2), and a wheel set system (3), characterized in that, The body frame (1) includes an upper carbon plate (11) and a lower carbon plate (12). A stable rigid frame structure is formed by connecting the upper carbon plate (11) and the lower carbon plate (12) through multiple equally spaced copper columns (13). The rotor system (2) is installed on the upper carbon plate (11) and includes three independent rotor units driven by motors: a left rotor unit (21), a right rotor unit (22), and a rear rotor unit (23). Each rotor unit includes a rotor motor and a rotor, and the rotor is driven to rotate by the rotor motor. The wheel set system (3) is arranged on the lower carbon plate (12) and includes a universal wheel (31) at the front and two active wheel assemblies (32) at the rear. The three rotor units are arranged in an equilateral triangle on the upper carbon plate (11), and the three wheel sets of the wheel set system (3) are symmetrically distributed on the lower carbon plate (12). The overall rotor and wheel set form a six-pointed star shape.

2. The three-rotor two-tilting wall-climbing aircraft according to claim 1, wherein The body frame (1) is provided with multiple standard holes for subsequent module expansion.

3. The three-rotor two-tilting wall-climbing aircraft according to claim 1, characterized in that, The left rotor unit (21) and the right rotor unit (22) are connected to an integrated tilting mechanism (25) through a tilting rod assembly (24), and are driven by the integrated tilting mechanism (25) to achieve synchronous tilting.

4. The three-rotor two-tilting wall-climbing aircraft according to claim 3, wherein The tilting rod assembly (24) includes a tilting rod (241) and an angle iron (242). Both ends of the tilting rod (241) are fixedly connected to the angle iron (242). The left rotor unit (21) and the right rotor unit (22) are respectively fixedly installed on the angle irons (242) at both ends. The middle of the tilting rod (241) is connected to the integrated tilting mechanism (25) and is driven to rotate by the integrated tilting mechanism (25).

5. The three-rotor two-tilting wall-climbing aircraft according to claim 4, wherein The integrated tilting mechanism (25) includes a servo motor (251), a large gear (252), and a small gear (253). The servo motor (251) is installed on the lower carbon plate (12). The small gear (253) is fixedly connected to the output shaft of the servo motor (251). The large gear (252) is fixedly connected to the tilting rod (241). The large gear (252) and the small gear (253) are meshed. The rotation of the servo motor (251) drives the small gear (253) to rotate, which drives the large gear (252) to rotate synchronously, thereby realizing the rotation of the tilting rod (241), enabling the left rotor unit (21) and the right rotor unit (22) to synchronously adjust the thrust direction and achieve forward, backward, and wall-attaching flight actions.

6. The three-rotor two-tilting wall-climbing aircraft according to claim 1, characterized in that The rear rotor unit (23) is provided with an independent tilting mechanism (231).

7. The three-rotor two-tilting wall-climbing aircraft according to claim 1, characterized in that The universal wheel (31) is fixedly installed below the front end of the lower carbon plate (12) for direction assistance and load balancing. The two driving wheel assemblies (32) include a left driving wheel (321), a left steering gear (322), a right driving wheel (323), a right steering gear (324), a steering gear drive board (325) and an on-board computer (326). The steering gear drive board (325) and the on-board computer (326) are fixedly installed on the lower carbon plate (12) near the copper column (13). The left steering gear (322) and the right steering gear (324) are respectively fixedly installed at the left and right ends of the lower carbon plate (12). The left driving wheel (321) and the right driving wheel (323) are respectively fixedly connected to the output shafts of the left steering gear (322) and the right steering gear (324). The on-board computer (326) is electrically connected to the steering gear drive board (325). The steering gear drive board (325) is electrically connected to the left steering gear (322) and the right steering gear (324). The on-board computer (326) drives the left steering gear (322) and the right steering gear (324) to work through the steering gear drive board (325), driving the left driving wheel (321) and the right driving wheel (323) to rotate.

8. The three-rotor two-tilting wall-climbing aircraft according to claim 7, wherein, Multiple standard hole positions are reserved on the lower carbon plate (12), and the steering gear and wheel set interfaces adopt a replaceable modular design.

9. The three-rotor two-tilting wall-climbing aircraft according to claim 1, wherein The aircraft further includes a shock absorption assembly (4), a battery panel (5) and a flight control module (6). The shock absorption assembly (4) is installed in the middle of the upper carbon plate (11). The flight control module (6) is installed on the shock absorption assembly (4). The battery panel (5) is fixed at a position above the upper carbon plate (11) near the flight control module (6). The battery panel (5) is used to supply power to the entire aircraft. The flight control module (6) is used to coordinate the rotor speed and tilt angle to achieve a closed-loop flight control. The shock absorption assembly (4) is used to buffer the high-frequency vibration during the operation of the rotor motor.

10. A control method for a three-rotor two-tilting wall-climbing aircraft as described in any one of claims 1-9, characterized in that, It includes the following steps: During the flight state, the flight control module (6) coordinately controls the speeds and tilt angles of the three rotor motors to achieve the flight attitude control of the aircraft. When approaching the wall, the flight control module (6) controls the rotor tilt angle to be adjusted to a nearly horizontal state, pressing the fuselage against the wall. In the wall operation state, the flight control module (6) and the on-board computer (326) work together to control the left steering gear (322) and the right steering gear (324) of the two rear left driving wheels (321) and right driving wheels (323) to achieve differential drive. The universal wheel (31) is passively steered according to the directions of the left driving wheel (321) and the right driving wheel (323) to complete the movement along the wall. The flight control module (6) and the on-board computer (326) perform attitude stabilization, path planning and wheel speed adjustment.

Images