Positive and negative pressure combined two-wheel wall climbing aircraft and control method

Abstract

The invention discloses a positive and negative pressure combined two-wheel wall climbing aircraft and a control method. The positive and negative pressure combined two-wheel wall climbing aircraft comprises a main body rack, a motion control module, a power supply module, an adsorption module, two sets of rotating wheel modules and four sets of rotor wing modules. The main body rack adopts a high-performance carbon fiber annular hollow frame, the adsorption module is installed in the center, the rotor wing modules are distributed on the periphery, and the rotating wheel modules are symmetrically arranged on the two sides. The adsorption module realizes wall adsorption through a negative pressure fan, and can provide positive pressure lift force to assist flight during reverse rotation; the rotating wheel module is used for rolling advancing of the wall surface, the ground or the ceiling; and the rotor modules provide aerial maneuvering capability. The motion control module coordinates all the modules to work, and seamless switching of a wall adsorption mode, an air flight mode and an obstacle crossing mode is achieved. The stability of negative pressure adsorption and the maneuverability of positive pressure flight are combined, and the unmanned aerial vehicle has the characteristics of light weight and modular design, is suitable for the fields of industrial inspection, emergency rescue and the like, and remarkably improves the moving efficiency and the working capacity in a complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of wall-climbing aircraft, and in particular relates to a two-wheeled wall-climbing aircraft combining positive and negative pressure and a control method thereof. Background Art

[0002] In recent years, with the rapid development of wall-climbing drone technology, the ability of drones to perform tasks on walls has significantly improved. However, while traditional negative-pressure wall-climbing drones can cling to vertical surfaces for stable operation, they suffer from low maneuverability, high energy consumption, limited endurance, and poor adaptability to different contact surfaces. While positive-pressure wall-climbing drones offer high maneuverability and the ability to flexibly switch between different surfaces, they suffer from poor stability on walls and are unsuitable for prolonged operations. Therefore, in applications such as inspection, rescue, and exploration, there is an urgent need for a flight system that combines the advantages of both positive- and negative-pressure wall-climbing drones to provide a more comprehensive and efficient solution.

[0003] Existing negative pressure wall-climbing aircraft, while offering superior wall stability, have relatively limited flight time and payload capacity due to their excessive number of actuators and excessive weight. Existing positive pressure wall-climbing aircraft, while highly maneuverable, suffer from poor stability under complex airflow disturbances. Summary of the Invention

[0004] The present invention aims to provide a two-wheeled wall-climbing aircraft with combined positive and negative pressure and a control method to solve the above-mentioned technical problems.

[0005] To solve the above technical problems, the specific technical solutions of the present invention for a two-wheeled wall-climbing aircraft with combined positive and negative pressure and its control method are as follows: A two-wheeled wall-climbing aircraft with a combination of positive and negative pressure comprises a main frame, a motion control module, a power supply module, an adsorption module, two sets of rotor modules, and four sets of rotor modules. The adsorption module is installed in the central area of the main frame, with four sets of rotor modules evenly distributed around it. The rotor modules are symmetrically fixed on both sides. The motion control module is installed above the main frame. The power supply module provides power support for the aircraft and achieves balanced charging and discharging through a power management chip. The motion control module is responsible for coordinating the work of various functional modules, including mode switching, power distribution, and path planning. The adsorption module achieves wall operation through negative pressure adsorption and provides aerial lift through a positive pressure mode. The rotor module is used for rolling on walls, the ground, or the ceiling. The rotor module provides the aircraft with aerial maneuverability.

[0006] Furthermore, the main frame is a circular hollow frame made of high-performance carbon fiber material, and four symmetrically distributed through holes are provided on the surface of the frame for installing positioning balls or bull's eye wheels.

[0007] Furthermore, the main frame is connected to a carrier plate via a plurality of aluminum columns, and a motion damping plate and a motion control module are installed on the carrier plate.

[0008] Furthermore, the power supply module includes two symmetrically distributed batteries and a power management chip. The two batteries are symmetrically fixed above the main frame and output different voltages to power each module. The power management chip is electrically connected to the battery to ensure balanced battery operation.

[0009] Furthermore, the motion control module includes a motion controller, an electronic speed regulator and an onboard computer. The motion controller is fixed to the carrier plate through a shock-absorbing plate and is responsible for generating real-time control instructions. The onboard computer is fixed on the left side of the main frame and is used to process sensor data and execute path planning. The electronic speed regulator is connected to the rotor module and is used to adjust the speed of the rotor module.

[0010] Furthermore, the adsorption module includes a negative pressure fan, a fan drive plate, a fan connector, a negative pressure cavity plate and an inflatable silicone ring. The negative pressure fan is rigidly connected to the main frame and the negative pressure cavity plate through two annular fan connectors respectively. The air inlet of the negative pressure fan is connected to the negative pressure cavity plate, and the air outlet is connected to the external environment. The fan drive plate is installed on the back of the main frame to control the start and stop and speed of the negative pressure fan. The bottom of the negative pressure cavity plate is provided with an adsorption port, and an inflatable silicone ring is installed on the edge to enhance the sealing. When the negative pressure fan rotates forward, negative pressure is generated in the cavity, so that the aircraft is adsorbed on the wall; when the negative pressure fan reverses, positive pressure lift is provided to assist the aerial flight mode. The motion controller monitors the air pressure of the negative pressure cavity plate in real time and dynamically adjusts the speed of the negative pressure fan to maintain the adsorption force.

[0011] Furthermore, the wheel module includes a tire, a carbon tube, a bearing, a bearing seat, a plum blossom coupling, a servo flange, a servo and a servo mounting bracket. The tire is fixed to one end of the carbon tube by a bolt, and the other end of the carbon tube is connected to the servo flange by a plum blossom coupling. The servo flange is connected to the servo, and the servo is fixed to the main frame through the servo mounting bracket to drive the carbon tube to rotate. The bearing is interference fit with the carbon tube and embedded in the bearing seat to reduce friction. The bearing seat is fixedly mounted on the main frame, and the left and right wheel modules are symmetrically distributed.

[0012] Furthermore, the rotor module includes four brushless motors and four propellers. The four brushless motors are evenly distributed on the main frame, and each brushless motor is connected to a propeller. The rotor module provides the aircraft with lift and maneuverability in the air, and assists in stabilizing the posture when switching modes.

[0013] The present invention also discloses a control method for a two-wheeled wall-climbing aircraft with combined positive and negative pressure, comprising the following steps: Wall adsorption mode: The adsorption module starts the negative pressure fan, and the inflated silicone ring fits against the wall to form a sealed cavity; The motion control module adjusts the fan speed to maintain sufficient adsorption force; The steering gear of the wheel module drives the tires to roll, thus achieving wall movement; Air flight mode: The adsorption module switches to positive pressure, and the rotor module runs at full speed to provide lift; The motion control module plans the path through the onboard computer and avoids obstacles; Obstacle switching: When the sensor detects a wall obstacle, the motion control module coordinates to reduce the suction force and start the rotor, completing a seamless switch from "wall → air → wall".

[0014] The two-wheeled wall-climbing aircraft and control method of the present invention, which combine positive and negative pressure, have the following advantages: The wall-climbing aircraft provided by the present invention organically combines the wall stability of negative pressure adsorption with the high maneuverability of positive pressure flight through a unique structural design, thereby achieving efficient movement and precise control in complex environments; the motion control module can dynamically adjust the wall adsorption force according to mission requirements, and cooperate with the rotor module to significantly improve the movement efficiency of the equipment on vertical surfaces; the modular design concept is adopted, so that the rotor module, adsorption module and rotor module can be quickly replaced, which not only improves the maintenance convenience, but also enhances the adaptability of the equipment to different mission scenarios; the aircraft has demonstrated outstanding application value in industrial inspection, emergency rescue, geological exploration and other fields. Its reliable multi-environment operation capability and efficient execution performance provide innovative technical solutions for related industries, and have significant market competitiveness and development potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the structure of a two-wheeled wall-climbing aircraft combining positive and negative pressure in an embodiment of the present invention.

[0016] Figure 2 1 is a top view of a two-wheeled wall-climbing aircraft combining positive and negative pressure according to an embodiment of the present invention.

[0017] Figure 3 Schematic diagram of the structure of the adsorption module of the aircraft in an embodiment of the present invention.

[0018] Figure 4 Schematic diagram of the structure of the rotor module of the aircraft in an embodiment of the present invention.

[0019] Explanation of the marks in the figure: 1. Tire; 2. Bearing; 3. Carbon tube; 4. Bearing seat; 5. Motion control module; 6. Servo; 7. Servo mounting bracket; 8. Brushless motor; 9. Propeller; 10. Power supply module; 11. Carrier board; 12. Main frame; 13. Plum blossom coupling; 14. Servo flange; 15. Battery; 16. Rotor module; 17. Rotor module; 18. Adsorption module; 19. Negative pressure cavity plate; 20. Fan drive plate; 21. Fan connector; 22. Onboard computer; 23. Shock absorber plate; 24. Aluminum column; 25. Through hole. DETAILED DESCRIPTION

[0020] In order to better understand the purpose, structure and function of the present invention, the control method of the two-wheeled wall-climbing aircraft with combined positive and negative pressure of the present invention is further described in detail below with reference to the accompanying drawings.

[0021] The present invention provides a two-wheeled wall-climbing aircraft with a combination of positive and negative pressure. Figure 1 As shown, its core structure includes: a main frame 12, a motion control module 5, a power supply module 10, an adsorption module 18, two sets of rotor modules 16, and four sets of rotor modules 17. These modules are integrated into the main frame 12 through a modular design, and work together to achieve the aircraft's wall adsorption, aerial flight, and ground movement functions.

[0022] Main frame 12: A circular hollow frame constructed of high-performance carbon fiber material, achieving a lightweight design through topological optimization, combining structural strength with low mass. Four symmetrically distributed through-holes 25 are provided on the frame surface for mounting positioning balls or bull's-eye wheels to assist in positioning and stabilizing the aircraft on complex surfaces. Motion control module 5: Serving as the "brain" of the aircraft, it coordinates the operations of various functional modules, including mode switching, power distribution, and path planning. Power supply module 10: Provides stable power to the aircraft and achieves balanced charging and discharging through a power management chip. Adsorption module 18: Achieves wall stabilization through negative pressure adsorption and supports positive pressure mode to provide aerial lift. Rotor modules 16: Symmetrically distributed on both sides of the frame, used for rolling motion on walls, floors, or ceilings. Rotor modules 17: Evenly distributed on the circular frame, they provide the aircraft's aerial maneuverability.

[0023] The main frame 12 is a circular ring-shaped frame, with the center area housing the suction module 18. Four rotor modules 17 are evenly distributed around the perimeter, and symmetrically fixed to the sides are the runner modules 16. The main frame 12 is connected to the carrier plate 11 via multiple aluminum columns 24. The carrier plate 11 is mounted with a motion damping plate 23 and the motion control module 5.

[0024] The power supply module 10 includes two symmetrically spaced batteries 15 and a power management chip. The two batteries 15 are symmetrically secured to the main chassis 12 with cable ties, outputting different voltages to power each module. The power management chip is electrically connected to the batteries 15 to ensure balanced operation and prevent current backflow or overload of individual batteries due to voltage or internal resistance differences.

[0025] The motion control module 5 includes a motion controller, an electronic speed regulator, and an onboard computer 22. The motion controller (not shown) is secured to the carrier board 11 via a damping plate 23 and is responsible for generating real-time control commands. The onboard computer 22 is directly secured to the left side of the main frame 12 and processes sensor data and performs path planning. The electronic speed regulator (not shown) is connected to the rotor module 17 and regulates its rotational speed.

[0026] like Figure 3 As shown, the adsorption module 17 includes a negative pressure fan (not shown in the figure), a fan drive plate 20, a fan connector 21, a negative pressure cavity plate 19 and an inflatable silicone ring. The negative pressure fan is rigidly connected to the main frame 12 and the negative pressure cavity plate 19 respectively through two annular fan connectors 21. The air inlet of the negative pressure fan is connected to the negative pressure cavity plate 19, and the air outlet is connected to the external environment. The fan drive plate 20 is installed on the back of the main frame 12 to control the start and stop and speed of the fan. An adsorption port is provided at the bottom of the negative pressure cavity plate 19, and an inflatable silicone ring is installed on the edge to enhance the sealing. Specifically, the two annular fan connectors 21 form a circular ring, and the negative pressure fan is fixed to the two annular fan connectors 21 respectively by bolts and nuts. One end of the fan connector 21 is fastened to the main frame 12 by bolts and nuts, and the other end is rigidly connected to the negative pressure cavity plate 19. When the negative pressure fan rotates forward, it creates negative pressure within the cavity, allowing the aircraft to cling to the wall. When the negative pressure fan rotates backward, it provides positive pressure lift, assisting in aerial flight. The motion controller monitors the air pressure within the negative pressure cavity plate 19 in real time and dynamically adjusts the negative pressure fan speed to maintain clinging force. It automatically switches between "wall mode" and "air mode" based on environmental obstacles. For example, if a concave or convex wall is detected, the clinging force is reduced and the rotor module 17 is activated, enabling obstacle-crossing flight.

[0027] The wheel module 16 includes: a tire 1, a carbon tube 3, a bearing 2, a bearing seat 4, a plum blossom coupling 13, a steering gear flange 14, a steering gear 6, and a steering gear mounting bracket 7. The tire 1 is fixed to one end of the carbon tube 3 by bolts, and the other end of the carbon tube 3 is connected to the steering gear flange 14 by a plum blossom coupling 13. The steering gear flange 14 is connected to the steering gear 6, and the steering gear 6 is fixed to the main frame 12 by the steering gear mounting bracket 7 to drive the carbon tube 3 to rotate. The bearing 2 is interference fit with the carbon tube 3 and is embedded in the bearing seat 4 to reduce friction. The bearing seat 4 is fixed to the main frame 12 by bolts and nuts. The left and right wheel modules 16 are symmetrically distributed. When rolling on a wall or the ground, the steering gear 6 drives the tire 1 to rotate, and cooperates with the differential control to achieve flexible steering.

[0028] Rotor module 17 includes four brushless motors 8 and four propellers 9. The four brushless motors 8 are evenly distributed on the main frame 12 and fixed with bolts. Each brushless motor 8 is connected to a propeller 9. Rotor module 17 provides lift and maneuverability for the aircraft and helps stabilize its attitude during mode switching.

[0029] Workflow Example Wall adsorption mode: The adsorption module 18 starts the negative pressure fan, and the inflated silicone ring adheres to the wall to form a sealed cavity.

[0030] The motion control module 5 adjusts the fan speed to maintain sufficient adsorption force.

[0031] The steering gear 6 of the wheel module 16 drives the tire 1 to roll, thereby achieving wall movement.

[0032] Air flight mode: The adsorption module 18 switches to positive pressure, and the rotor module 17 runs at full speed to provide lift.

[0033] The motion control module 5 plans a path through the onboard computer 22 to avoid obstacles.

[0034] Obstacle switching: When the sensor detects a wall obstacle, the motion control module 5 coordinates to reduce the adsorption force and start the rotor to complete the seamless switching of "wall → air → wall".

[0035] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A two-wheeled wall-climbing aircraft with combined positive and negative pressure, characterized in that: The invention comprises a main frame (12), a motion control module (5), a power supply module (10), an adsorption module (18), two sets of rotor modules (16) and four sets of rotor modules (17). The adsorption module (18) is installed in the central area of the main frame (12), and four sets of rotor modules (17) are evenly distributed around the main frame. The rotor modules (16) are symmetrically fixed on both sides. The motion control module (5) is installed above the main frame (12). The power supply module (10) provides power support for the aircraft and realizes balanced charging and discharging through the power management chip; the motion control module (5) is responsible for coordinating the work of various functional modules, including mode switching, power distribution and path planning; the adsorption module (18) realizes wall operation through negative pressure adsorption and provides aerial lift through positive pressure mode; the rotor module (16) is used for rolling on the wall, ground or ceiling; and the rotor module (17) provides the aircraft with aerial maneuverability.

2. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The main frame (12) is a circular hollow frame made of high-performance carbon fiber material, and the surface of the frame is provided with four symmetrically distributed through holes (25) for installing positioning balls or bull's eye wheels.

3. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The main frame (12) is connected to a carrier plate (11) via a plurality of aluminum columns (24), and a motion damping plate (23) and a motion control module (5) are installed on the carrier plate (11).

4. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The power supply module (10) includes two symmetrically distributed batteries (15) and a power management chip. The two batteries (15) are symmetrically fixed above the main frame (12) and output different voltages to power each module. The power management chip is electrically connected to the batteries (15) to ensure balanced battery operation.

5. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The motion control module (5) includes a motion controller, an electronic speed regulator and an onboard computer (22). The motion controller is fixed to the carrier plate (11) through a shock-absorbing plate (23) and is responsible for generating real-time control instructions. The onboard computer (22) is fixed to the left side of the main frame (12) and is used to process sensor data and perform path planning. The electronic speed regulator is connected to the rotor module (17) and is used to adjust the rotation speed of the rotor module (17).

6. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 5, characterized in that: The adsorption module (18) includes a negative pressure fan, a fan drive plate (20), a fan connector (21), a negative pressure cavity plate (19) and an inflatable silicone ring. The negative pressure fan is rigidly connected to the main frame (12) and the negative pressure cavity plate (19) through two annular fan connectors (21). The air inlet of the negative pressure fan is connected to the negative pressure cavity plate (19), and the air outlet is connected to the external environment. The fan drive plate (20) is installed on the back of the main frame (12) to control the start and stop and speed of the negative pressure fan. The bottom of the negative pressure cavity plate (19) is provided with an adsorption port, and an inflatable silicone ring is installed on the edge to enhance the sealing. When the negative pressure fan rotates forward, negative pressure is generated in the cavity, so that the aircraft is adsorbed on the wall; when the negative pressure fan rotates backward, positive pressure lift is provided to assist the aerial flight mode. The motion controller monitors the air pressure of the negative pressure cavity plate (19) in real time and dynamically adjusts the speed of the negative pressure fan to maintain the adsorption force.

7. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The wheel module (16) comprises a tire (1), a carbon tube (3), a bearing (2), a bearing seat (4), a plum blossom coupling (13), a steering gear flange (14), a steering gear (6) and a steering gear mounting bracket (7), wherein the tire (1) is fixed to one end of the carbon tube (3) by a bolt, the other end of the carbon tube (3) is connected to the steering gear flange (14) by a plum blossom coupling (13), the steering gear flange (14) is connected to the steering gear (6), the steering gear (6) is fixed to the main frame (12) by the steering gear mounting bracket (7), and is used to drive the carbon tube (3) to rotate, the bearing (2) and the carbon tube (3) are interference fit, and are embedded in the bearing seat (4) to reduce friction, the bearing seat (4) is fixedly mounted on the main frame (12), and the left and right wheel modules (16) are symmetrically distributed.

8. The two-wheeled wall-climbing aircraft with combined positive and negative pressure according to claim 1, characterized in that: The rotor module (17) includes four brushless motors (8) and four propellers (9). The four brushless motors (8) are evenly distributed on the main frame (12). Each brushless motor (8) is connected to a propeller (9). The rotor module (17) provides the aircraft with lift and maneuverability in the air and assists in stabilizing the attitude when switching modes.

9. A control method for a two-wheeled wall-climbing aircraft with combined positive and negative pressure according to any one of claims 1 to 8, characterized in that: The steps include: Wall adsorption mode: The adsorption module (18) starts the negative pressure fan, and the inflated silicone ring adheres to the wall to form a sealed cavity; The motion control module (5) adjusts the fan speed to maintain sufficient adsorption force; The steering gear (6) of the wheel module (16) drives the tire (1) to roll, thereby achieving wall movement; Air flight mode: The adsorption module (18) switches to positive pressure, and the rotor module (17) runs at full speed to provide lift; The motion control module (5) plans the path through the onboard computer (22) to avoid obstacles; Obstacle switching: When the sensor detects a wall obstacle, the motion control module (5) coordinates to reduce the suction force and start the rotor, completing the seamless switching of "wall → air → wall".

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