Method and system for working surface adsorption and desorption control of magnetic adsorption rotor unmanned vehicle

Abstract

The application discloses a kind of magnetic adsorption formula rotor unmanned vehicle's working surface adsorption and desorption control method and system, it is related to wall-climbing robot technical field;Method includes: obtaining the state data of machine body;State data includes three-axis inclination data, three-axis acceleration data and relative position data;When receiving adsorption instruction, according to state data, the running state of each rotor is controlled, and each magnetic wheel is adsorbed to working surface;When receiving desorption instruction, control each rotor to rotate to provide hover lift;After hover lift reaches preset range, control each drive push rod to elongate until end contact working surface;According to state data, the elongation state of each drive push rod is controlled to push machine body away from working surface, while the rotating speed of each rotor is regulated, until each magnetic wheel is separated from adsorption state;Control each drive push rod to contract to initial state.The application can realize smooth and reliable adsorption and safe and stable separation of magnetic wheel on magnetically conductive working surface by cooperative control of rotor and drive push rod.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to a method and system for controlling the adsorption and detachment of the working surface of a magnetically adsorbed rotary unmanned vehicle. Background Technology

[0002] Currently, wall-climbing robots are widely used in public safety, industrial inspection and operations, and other fields. They can stably adhere to vertical or inclined walls, overcome the effects of gravity, and perform tasks such as inspection and maintenance in complex environments. In recent years, to meet the operational needs of large structural surfaces such as bridges and ship hulls, magnetic adsorption rotorcraft unmanned vehicles (UAVs) have emerged, combining the rapid arrival capabilities of UAVs with the persistent adsorption characteristics of unmanned vehicles. They achieve aerial mobility through rotors and use magnetic adsorption devices to adhere to magnetically conductive walls to perform operations, significantly improving the efficiency of operations on large facility surfaces.

[0003] However, its motion control in practical applications, especially the critical aspects involving wall contact and detachment, still faces severe challenges. During the adsorption phase, ensuring that the unmanned vehicle smoothly, safely, and reliably contacts and firmly adsorbs onto complex and variable magnetically conductive walls (such as those with welds, rust, or U-shaped ribs, etc.), and avoiding loss of control or equipment damage due to collisions, bouncing, or unstable adsorption, is the primary problem that urgently needs to be solved.

[0004] The challenges are even more pronounced during the desorption phase. To support the weight of the vehicle and its load, the magnetic wheels must possess strong adsorption forces, meaning that detaching from the wall requires overcoming enormous magnetic attraction. Existing methods are often complex and inefficient, making it difficult to achieve rapid and stable separation, especially on walls with complex geometries (such as the U-shaped ribs of a bridge), where jamming or attitude instability can easily occur. This problem severely restricts the ability of unmanned vehicles to cross obstacles, change work points, and safely return after completing tasks during continuous operation, limiting their operational efficiency and large-scale application potential in complex industrial scenarios. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a method and system for controlling the adsorption and detachment of the working surface of a magnetically adsorbed rotor unmanned vehicle. This method and system can achieve stable and reliable adsorption and safe and stable detachment of the magnetic wheel on the magnetically conductive working surface through coordinated control of the rotor and the drive push rod.

[0006] To achieve the above objectives, the present invention provides a method for controlling the adsorption and detachment of a magnetically adsorbed rotary-wing unmanned vehicle (UAV) on its working surface, applied to the processor of the UAV; the UAV includes a body, and multiple rotors, magnetic wheels, and drive push rods fixedly connected to the body; the UAV is adsorbed onto a magnetically conductive working surface by the magnetic wheels; the drive push rods are not in contact with the working surface in their initial state; the method includes:

[0007] Acquire the state data of the machine body; the state data includes three-axis tilt angle data, three-axis acceleration data, and relative position data representing the distance between the machine body and the working surface;

[0008] When an adsorption command is received, the operating state of each rotor is controlled according to the status data, so that each magnetic wheel is adsorbed onto the working surface;

[0009] When a de-adhesion command is received, each of the rotors is controlled to rotate to provide hovering lift;

[0010] After the hovering lift reaches the preset range, control each of the drive push rods to extend until the end contacts the working surface;

[0011] Based on the state data, the extension state of each of the drive push rods is controlled to push the body away from the working surface, while the rotation speed of each of the rotors is adjusted until each of the magnetic wheels disengages from the adsorption state;

[0012] Control each of the drive push rods to retract to the initial state.

[0013] Optionally, the method further includes:

[0014] Based on the three-axis tilt angle data, determine the position height of each of the drive push rods;

[0015] The disengagement priority of each magnetic wheel is determined based on the position height;

[0016] The extension state of each of the drive push rods is controlled, specifically, the extension state of each of the drive push rods is controlled according to the disengagement priority.

[0017] Optionally, each of the drive push rods is fixedly connected to the machine body via a steering adjustment mechanism; controlling the extension of each drive push rod until its end contacts the working surface includes:

[0018] Obtain the geometric data of the working surface and the position information of each of the magnetic wheels;

[0019] Based on the geometric data and position information, calculate the target deflection angle of each of the drive push rods;

[0020] The steering adjustment mechanism is controlled to adjust each of the drive push rods to its corresponding target deflection angle.

[0021] The adjusted drive push rods extend until their ends contact the working surface.

[0022] Optionally, based on the triaxial tilt angle data and relative position data, the operating state of each rotor is controlled to cause each magnetic wheel to adhere to the working surface, including:

[0023] Based on the triaxial tilt angle data and triaxial acceleration data, the attitude compensation amount of the machine body is determined;

[0024] Based on the relative position data and triaxial acceleration data, the approach rate between the machine body and the working surface is calculated;

[0025] Based on the attitude compensation amount and approach rate, the rotational speed of each rotor is dynamically adjusted so that the fuselage approaches the working surface at a preset speed;

[0026] When the distance between the machine body and the working surface is determined to reach the adsorption threshold based on the relative position data, and the machine body is determined to maintain attitude balance based on the three-axis tilt angle data, the rotors are controlled to decelerate to a stop state, causing each magnetic wheel to adsorb onto the working surface.

[0027] Optionally, the magnetic wheel is internally embedded with an alternating array of permanent magnets and an array of electromagnetic blocks; before controlling the extension of each of the drive push rods until its end contacts the working surface, the method further includes:

[0028] Disconnect the excitation current of the electromagnetic block array.

[0029] Optionally, multiple drive push rods are distributed inside each of the magnetic wheels; the drive push rods are electric push rods, hydraulic push rods, or pneumatic push rods.

[0030] Optionally, adjusting the rotational speed of each rotor includes:

[0031] Based on the triaxial tilt angle data and triaxial acceleration data, the attitude balance compensation amount of the machine body is calculated;

[0032] The rotational speed of each rotor is dynamically adjusted based on the attitude balance compensation amount.

[0033] This invention also provides a magnetic adsorption type rotor unmanned vehicle working surface adsorption and desorption control system, applied to the processor of the rotor unmanned vehicle; the rotor unmanned vehicle includes a body, and multiple rotors, magnetic wheels and drive push rods fixedly connected to the body; the rotor unmanned vehicle is adsorbed onto a magnetically conductive working surface by each of the magnetic wheels; each of the drive push rods is not in contact with the working surface in the initial state; the system includes:

[0034] The data acquisition unit is used to acquire the state data of the machine body; the state data includes three-axis tilt angle data, three-axis acceleration data, and relative position data representing the distance between the machine body and the working surface;

[0035] An adsorption control unit is used to control the operating state of each rotor according to the status data when an adsorption command is received, so that each magnetic wheel is adsorbed onto the working surface;

[0036] Desorption control unit, used for:

[0037] When a de-adhesion command is received, each of the rotors is controlled to rotate to provide hovering lift;

[0038] After the hovering lift reaches the preset range, control each of the drive push rods to extend until the end contacts the working surface;

[0039] Based on the state data, the extension state of each of the drive push rods is controlled to push the body away from the working surface, while the rotation speed of each of the rotors is adjusted until each of the magnetic wheels disengages from the adsorption state;

[0040] Control each of the drive push rods to retract to the initial state.

[0041] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0042] The adsorption and detachment control method for the working surface of a magnetically adsorbed rotorcraft unmanned vehicle provided by this invention effectively solves the core problems of jamming, attitude instability, and low operating efficiency caused by strong magnetic adsorption forces when the vehicle detaches from the working surface in existing technologies. Specifically, upon responding to the detachment command, the rotor rotation is first controlled to provide hovering lift, allowing the vehicle to establish gravitational balance before detachment. Once the lift reaches a preset range, the drive pusher is then controlled to extend, pushing the vehicle away from the working surface and gradually weakening the magnetic wheel's adsorption force until complete detachment. This phased operation avoids the instantaneous enormous external force required for forced separation in traditional methods, significantly reducing the risk of mechanical jamming or loss of control due to strong magnetic adsorption forces.

[0043] During the detachment process, the rotor speed is dynamically adjusted based on the status data to compensate for attitude deviations caused by the push rod thrust in real time, ensuring the machine maintains spatial attitude stability at the moment of detachment and throughout the detachment process. This design is particularly suitable for non-flat working surfaces such as bridge U-ribs, solving the problems of tilting, swaying, and even overturning caused by uneven local stress on complex geometric walls. Through the synergistic effect of rotor lift and drive push rod thrust, the process of the magnetic wheel detaching from the adsorption state is smoother and more efficient, significantly shortening the detachment time and improving operational continuity (such as rapid obstacle crossing or site transfer); at the same time, it reduces the risk of mechanical damage to the magnetic wheel and working surface caused by forced detachment, extending the service life of the equipment. Attached Figure Description

[0044] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0045] Figure 1 This is a schematic diagram of the process flow for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary unmanned vehicle according to an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the structure of a magnetically adsorbed rotor unmanned vehicle according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the magnetic adsorption type rotor unmanned vehicle adsorption state shown in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the magnetically adsorbed rotor unmanned vehicle in the detached state, as shown in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the structure of the drive push rod shown in an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram illustrating the detachment process of a magnetically adsorbed rotorcraft unmanned vehicle according to an embodiment of the present invention.

[0051] Figure 7 This is a schematic diagram of the module structure of the adsorption and desorption control system for the working surface of a magnetically adsorbed rotary unmanned vehicle, as shown in an embodiment of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the process for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle. Figure 2 This is a schematic diagram of the structure of a magnetically adsorbed rotor unmanned vehicle.

[0054] A method for controlling the adsorption and desorption of magnetically adsorbed rotorcraft unmanned vehicles on their working surfaces, applied to the processor of the rotorcraft unmanned vehicle; such as Figure 2 As shown, the rotorcraft unmanned vehicle includes a body 2, and multiple rotors 3, magnetic wheels 4, and drive push rods 1 fixedly connected to the body 2; as Figure 3 As shown, the rotorcraft unmanned vehicle is attracted to the magnetically conductive working surface 5 by each magnetic wheel 4; each drive push rod 1 is not in contact with the working surface 5 in the initial state. The adsorption and detachment control method of the working surface of the magnetically adsorbed rotorcraft unmanned vehicle includes the following steps:

[0055] S101: Obtain the status data of the machine.

[0056] The status data includes triaxial tilt angle data, triaxial acceleration data, and relative position data characterizing the distance between the machine body and the working surface. These three-axis tilt angle data, triaxial acceleration data, and relative position data together form the sensing basis for the adsorption and desorption control of the working surface. The triaxial tilt angle data reveals the spatial orientation and equilibrium state of the machine body 2 itself; the triaxial acceleration data reflects the linear motion and vibration state of the machine body 2 in real time; and the relative position data quantifies the distance between the machine body 2 and the working surface 5 in the normal direction. The normal direction refers to the perpendicular direction of the tangent plane of the working surface at the measurement point; when the working surface is planar, this direction is globally uniform; when the working surface is curved, it can be calculated separately according to requirements such as the magnetic wheel adsorption position.

[0057] In the application, the processor can synchronously acquire three-axis tilt and acceleration data via an inertial measurement unit (IMU) configured on the body 2. This IMU integrates a three-axis gyroscope and a three-axis accelerometer, enabling precise measurement of the rotational angle changes of the body 2 around its X-axis roll, Y-axis pitch, and Z-axis yaw, while simultaneously detecting linear acceleration values ​​along these three axes. These data reflect the body 2's attitude balance and dynamic motion characteristics in three-dimensional space in real time. For example, when approaching the working surface 5, unexpected attitude deviations or sudden vibrations may cause the magnetic wheel 4 to become unstable.

[0058] Simultaneously, the processor can acquire relative positional data characterizing the distance between the body 2 and the working surface 5 via a distance sensor on the body 2 facing the working surface 5. This sensor can employ ultrasonic, infrared, or laser ranging technology to directly measure the vertical distance between a specific reference point on the body 2 and the magnetically conductive working surface 5. This data accurately characterizes the spatial relationship between the body 2 and the working surface 5. The distance sensor can be positioned near the mounting plane of the magnetic wheel 4 to ensure that the measured value truly reflects the gap changes at the magnetic adsorption interface.

[0059] S102: When an adsorption command is received, the operating status of each rotor is controlled according to the status data, so that each magnetic wheel is adsorbed onto the working surface.

[0060] In the application, operators can send adsorption commands to the rotorcraft unmanned vehicle via a wireless transmission module. When the processor receives the adsorption command, it immediately initiates a collaborative control mechanism based on state data (three-axis tilt data, three-axis acceleration data, and relative position data). The processor first analyzes the three-axis tilt data and three-axis acceleration data, fusing the deviation between the current attitude of the aircraft 2 and the target adsorption attitude (usually the normal direction of the working surface 5). This deviation includes compensation requirements in three dimensions: roll angle, pitch angle, and yaw angle, used to determine the differential adjustment strategy of the rotor 3. Among these, the three-axis acceleration data is used to help identify the instantaneous motion trend of the aircraft 2 (such as vibration or impact), improving the dynamic response accuracy of the attitude compensation.

[0061] Simultaneously, the processor combines relative position data with triaxial acceleration data to calculate the relative motion state between the machine body 2 and the working surface 5 in real time. Based on continuous distance changes and acceleration information, it can more accurately deduce the instantaneous speed and acceleration of the machine body 2 approaching the working surface 5. If the approach speed exceeds a preset safety threshold (e.g., a critical speed that may cause a collision), a deceleration command is generated; if the speed is lower than the minimum adsorption efficiency value, an acceleration command is generated.

[0062] In one embodiment, controlling the operating state of each rotor based on state data to cause each magnetic wheel to adhere to the working surface specifically includes:

[0063] The attitude compensation amount of the aircraft is determined based on the three-axis tilt angle data and the three-axis acceleration data;

[0064] Based on relative position data and triaxial acceleration data, the approach rate of the computer body to the working surface;

[0065] Based on the attitude compensation amount and approach rate, the rotational speed of each rotor is dynamically adjusted so that the fuselage approaches the working surface at a preset speed.

[0066] When the distance between the aircraft and the working surface is determined to reach the adsorption threshold based on the relative position data, and the aircraft is determined to maintain attitude balance based on the three-axis tilt angle data, the rotors are controlled to slow down to a stop state, so that each magnetic wheel is adsorbed to the working surface.

[0067] When the magnetic adsorption rotor unmanned vehicle needs to perform an adsorption operation, the processor responds to the adsorption command and, based on the acquired triaxial tilt angle data of the body 2 and the relative position data representing the distance between the body 2 and the working surface 5, precisely controls the operating state of the rotor 3, ultimately enabling the magnetic wheel 4 to stably adsorb onto the working surface 5.

[0068] Specifically, the processor calculates the attitude compensation amount of the airframe 2 based on real-time three-axis tilt and acceleration data. This attitude compensation amount is a vector used to quantify the degree to which the current attitude of the airframe 2 (such as pitch and roll angles) deviates from the ideal adsorption attitude (for example, requiring the normal direction of the working surface 5 to be as parallel as possible to the Z-axis of the airframe 2). It indicates the amount of attitude deviation that needs to be corrected by adjusting the lift difference of the rotors 3 at different positions.

[0069] Simultaneously, the processor calculates the approach rate of the aircraft 2 relative to the working surface 5 based on continuously acquired relative position data and triaxial acceleration data. This approach rate characterizes how quickly the aircraft 2 approaches the working surface 5. Next, the processor uses the calculated attitude compensation and approach rate as key input parameters to dynamically adjust the rotational speed of each rotor 3. The adjustment aims to achieve two goals: first, to correct attitude deviations in real time through differentiated rotor 3 lift output (e.g., increasing the rotational speed of the rotor 3 on the side with a lower attitude), ensuring the aircraft 2 remains stable throughout the approach process; second, to control the overall movement of the aircraft 2 by coordinating increases and decreases in the total rotational speed of all rotors 3, allowing it to approach the working surface 5 stably at a preset speed (e.g., 0.2-0.5 m / s, which can be flexibly set in advance to avoid bouncing or damage caused by high-speed collisions).

[0070] As the machine body 2 approaches the working surface 5, the processor continuously monitors the relative position data. When it is determined that the distance between the machine body 2 and the working surface 5 has decreased to a preset adsorption threshold, it indicates that the magnetic wheel 4 has already or is about to contact the working surface 5. This adsorption threshold can be or slightly greater than the distance between the machine body 2 and the working surface 5 when each magnetic wheel 4 physically contacts the working surface 5. In application, it can be flexibly set considering sensor error and safety margin.

[0071] At this point, the processor further checks the three-axis tilt angle data to confirm whether the body 2 maintains attitude balance within a preset small angle range (i.e., the attitude angle is close to zero degrees or stable within an acceptable range). Only when both conditions (distance reaches the adsorption threshold and attitude is maintained in balance) are met simultaneously, it indicates that the magnetic wheel 4 can be adsorbed onto the working surface 5 under the action of magnetic force; only then will the processor issue a command to control all rotors 3 to gradually reduce their speed until they stop rotating completely.

[0072] S103: When a de-adhesion command is received, control the rotation of each rotor to provide hovering lift.

[0073] See Figure 3 , Figure 3 This is a schematic diagram of the magnetic adsorption state of a rotorcraft unmanned vehicle. Figure 3As shown, the magnetically adsorbed rotorcraft combines the flexibility of a drone with the stability and superior endurance of a rovers, enabling it to adhere to magnetically conductive surfaces. The detachment device consists of four independent drive rods 1, fixedly connected to the body 2. When the drive rods 1 are retracted, they are close to the inner side of the magnetic wheel 4 in the horizontal direction and close to the working surface in the vertical direction, slightly below the adsorption surface where the magnetic wheel 4 contacts the working surface 5. A processor is located inside the body 2 and connected to the rotor 3 and drive rods 1. The processor controls the extension and retraction of the drive rods 1, causing the magnetic wheels 4 located around the body to detach from the working surface, thus detaching the magnetically adsorbed rotorcraft.

[0074] When the magnetically attached rotorcraft completes a wall-mounted task and needs to detach from the magnetically conductive working surface 5 (such as a vertical bridge deck or ship hull plate) to return to the ground or cross an obstacle (such as a bridge U-rib) to proceed to the next work area, the operator can send a detachment command to the rotorcraft via a wireless transmission module. Upon receiving the detachment command, the processor first controls multiple rotors 3 to begin rotating.

[0075] The rotational motion of rotor 3 generates a vertically upward aerodynamic force in the air, which forms the hovering lift required for the aircraft to overcome gravity. During this process, the rotational speed of rotor 3 is dynamically adjusted by the processor based on the aircraft weight, environmental parameters, and preset lift target values ​​to ensure stable and controllable lift output. Providing hovering lift in advance during the detachment process ensures that the aircraft 2 maintains a stable aerial attitude during the moment and process of the subsequent detachment of the magnetic wheel 4 from the adsorption state, preventing the aircraft 2 from falling rapidly due to gravity and causing collisions or damage.

[0076] S104: After the hovering lift reaches the preset range, control each drive push rod to extend until the end contacts the working surface.

[0077] After the processor confirms that the hovering lift generated by each rotor 3 has reached the preset range, it signifies that the aircraft 2 has achieved stable gravity balance, laying the foundation for subsequent disengagement. This preset range is set to ensure that the total lift generated by the rotor 3 is sufficient to support the aircraft 2 and its load in a stable hovering or extremely slow descent under the current environment (such as gravitational acceleration and air density), providing reliable assurance for the intervention of the drive lever 1. The operator can set this preset range via command or automatic calculation by the system, based on the specific load, environmental conditions, and safety margin requirements of the unmanned vehicle.

[0078] Once the hovering lift reaches the preset range, the processor issues a command to drive each drive push rod 1 to extend. The initial position of the drive push rod 1 is designed so that it remains in non-contact with the working surface 5 in the retracted state. It can be located in the inner area of ​​each magnetic wheel 4, and its end is slightly lower than the adsorption plane formed by the contact between the magnetic wheel 4 and the working surface 5 in the vertical direction, so as to avoid interfering with the normal adsorption function of the magnetic wheel 4.

[0079] Upon receiving a control signal, the drive rod 1's internal drive mechanism (such as an electric motor, hydraulic cylinder, or pneumatic cylinder) begins to operate, pushing the movable part of the drive rod 1 (such as the rod body) along its axial direction from its initial retracted state toward the working surface 5. The drive rod 1 continues to extend, gradually bringing its end (moving end) closer to the magnetically conductive working surface 5. The processor monitors the extension status in real time via a distance sensor or a stroke sensor built into the drive rod 1. When the end of the drive rod 1 makes physical contact with the working surface 5, a small pressure or displacement feedback signal is generated at the contact point. Based on this, the processor determines that contact is complete and immediately stops the extension action of the drive rod 1, ensuring that its end is firmly abutted against the working surface 5 without applying excessive force.

[0080] S105: Based on the status data, control the extension state of each drive push rod to push the body away from the working surface, and at the same time adjust the speed of each rotor until each magnetic wheel is disengaged from the adsorption state.

[0081] After the end of the drive push rod 1 makes stable contact with the working surface 5, the processor, based on the real-time acquired three-axis tilt angle data of the body 2 (reflecting the pitch, roll, and yaw attitude of the body 2) and relative position data (reflecting the vertical distance between the body 2 and the working surface 5), coordinates the further extension state of each drive push rod 1 and the rotation speed of each rotor 3, jointly pushing the body 2 smoothly away from the working surface 5.

[0082] The processor first analyzes the three-axis tilt data to determine the current attitude stability of the airframe 2. If an attitude imbalance is detected (such as tilting of the airframe 2 due to uneven working surface 5 or uneven thrust), the processor adjusts the rotational speed of each rotor 3: by increasing the lift of the rotor 3 on the side with a lower attitude or decreasing the lift of the side with a higher attitude, a restoring torque is generated to dynamically offset the attitude deviation, ensuring that the airframe 2 maintains a stable attitude throughout the disengagement process. This adjustment of the rotor 3 is continuous and responds in real time to changes in tilt angle.

[0083] Simultaneously, the processor controls the extension state of each drive lever 1 based on the changing trend of relative position data (the distance should continue to increase) and the preset disengagement strategy. The processor commands drive the push lever 1 to continue extending at a preset or calculated safe speed. The extension speed needs to balance disengagement efficiency and stability, avoiding excessive speed which would cause the body 2 to suddenly spring back or excessive slowness which would prolong the disengagement time. The processor can fine-tune the extension speed in real time according to the rate of increase in distance.

[0084] See Figure 4 , Figure 4This is a schematic diagram of the magnetically adsorbed rotorcraft unmanned vehicle in the detachment state. As the drive push rod 1 continues to extend, the thrust it applies is transmitted through the body 2 to the magnetic wheels 4, gradually overcoming the strong magnetic attraction between the magnetic wheels 4 and the magnetically conductive working surface 5. Under the combined action of thrust, rotor lift 3, and attitude control torque, the body 2 smoothly moves away from the working surface 5. The processor continuously monitors the relative position data. When it determines that the distance between the body 2 and the working surface 5 has significantly increased and exceeded the detachment threshold, indicating that the attraction force corresponding to all magnetic wheels 4 has disappeared or fallen below the threshold, it is confirmed that each magnetic wheel 4 has completely detached from the adsorption state.

[0085] In one embodiment, the above-mentioned adjustment of the rotational speed of each rotor includes:

[0086] Based on the three-axis tilt angle data and three-axis acceleration data, the computer calculates the attitude balance compensation amount of the computer body;

[0087] The rotational speed of each rotor is dynamically adjusted based on the attitude balance compensation.

[0088] In the application, the processor dynamically calculates attitude balance compensation based on three-axis tilt and acceleration data. Based on rigid body dynamics principles, it converts the tilt offset into lift correction values ​​required for each rotor 3. Specifically, it first establishes a mapping relationship between the tilt rate of change and the offset of the aircraft's center of mass, then calculates the torque vector required to restore balance based on the spatial layout of the rotor 3. For example, when the aircraft 2 is detected to tilt 5° to the left, it automatically generates a lift increase command for the right rotor and a lift decrease command for the left rotor, forming a restoring torque to counteract the tilt. Based on the real-time calculated attitude balance compensation, the processor generates differentiated rotor control commands to dynamically adjust the rotational speed of each rotor 3, thereby ensuring the stability of the rotorcraft's attitude.

[0089] S106: Control each drive push rod to retract to its initial state.

[0090] After the processor confirms that all magnets 4 have successfully detached from the adsorption state of the working surface 5, and that the aircraft 2 has reached a stable flight state under the control of the rotor 3, the processor immediately issues a command to control each drive rod 1 to perform a retraction action. After receiving the retraction command, the drive mechanism inside the drive rod 1 (such as electric motor reversal, hydraulic backflow, or pneumatic release) starts to work, and the movable part of the drive rod 1 retracts along its axis from the current extended contact state toward the aircraft 2.

[0091] The processor continuously monitors the stroke sensor or position feedback signal built into the drive push rod 1 to ensure that each drive push rod 1 retracts synchronously and smoothly. The retraction process is carried out at a preset safe retraction speed to avoid unnecessary vibrations caused by rapid rebound that could interfere with the flight attitude of the aircraft 2. When the moving part of the drive push rod 1 is fully retracted into the housing and its length reaches the preset initial position, the stroke sensor or limit switch triggers a signal, the processor confirms that the retraction is complete and stops the drive mechanism from working.

[0092] This invention, by precisely monitoring the distance change between the body 2 and the working surface 5, can both prevent premature retraction of the push rod leading to disengagement failure and prevent excessive extension of the push rod causing energy waste or mechanical damage. Simultaneously, the automated retraction process eliminates the delay of manual judgment, allowing the body 2 to quickly enter a free-flight state after disengagement, significantly improving obstacle-crossing efficiency and safety performance. Real-time recording of relative position data can also be used to analyze the dynamic characteristics of the disengagement process, providing data support for system parameter optimization.

[0093] For example, the drive rod 1 may be an electric push rod, a hydraulic push rod, or a pneumatic push rod.

[0094] See Figure 5 , Figure 5 This is a schematic diagram of the drive actuator. (See attached diagram.) Figure 5 As shown, the drive push rod 1 includes: a moving end 11, a fixed end 12, a transmission mechanism 13, and a protective cover 14; wherein, the fixed end 12 is used to be fixedly connected to the body 2, and the fixed end 12 and the moving end 11 are movably connected through the transmission mechanism 13; a protective cover 13 is also provided at the end of the moving end 11, and the moving end 11 contacts the working surface 5 through the protective cover 13; the protective cover 13 is made of wear-resistant material to increase the service life of the push rod.

[0095] The drive push rod 1 also includes an electric drive unit, a guide system, and a control module; the electric drive unit is used to drive the transmission mechanism 13 to extend and retract in the longitudinal direction, converting the rotational motion of the motor into the linear motion of the push rod; the guide system is used to ensure the stable movement of the transmission mechanism 13; the guide system includes a sliding guide rail and a guide slider, which work together to ensure the stable guidance of the transmission mechanism 13 during the extension and retraction process; the control module is connected to the processor and is used to control the operation of the electric drive unit, thereby adjusting the extension and retraction state of the transmission mechanism 13; the electric drive unit, the guide system, and the control module can be located inside the fixed end 12.

[0096] like Figure 2As shown, multiple drive push rods 1 are distributed on the inner side of each magnetic wheel 4. In application, the number and installation position of the disengagement device, i.e., the drive push rods, can be flexibly set according to the actual situation. Operators can increase or decrease the number of drive push rods according to the actual application scenario and the actual needs of the wall-climbing robot, and can also change the installation position of the drive push rods according to the actual shape characteristics of the wall-climbing robot.

[0097] The complete operation and detachment process of the magnetically adsorbed rotorcraft is as follows: Place the magnetically adsorbed rotorcraft in the ready-to-takeoff position, start the processor and sensor system, and ensure that all systems are operating normally. Then, the ground operator starts the rotor 3 of the magnetically adsorbed rotorcraft and takes off from the ground using a remote control or other control device. It proceeds to the designated work area according to the instructions. After arriving at the designated area, the magnetically adsorbed rotorcraft attaches to the magnetically conductive wall surface, i.e., the working surface 5, through the magnetic wheels 4. After the ground operator monitors the sensor data to ensure that the adsorption status is reliable, the operator can operate the work module on the body 2 through the processor to perform the work as needed.

[0098] After completing the operation, the ground operators issued instructions, such as... Figure 6 As shown, the rotor 3 provides the lift required for the hovering of the vehicle body 2 by pre-rotating the rotor 3. Then, the drive push rod 1 is activated. The control module inside the push rod processes the received signal and drives the motor through the electric drive device, converting electrical energy into linear motion of the transmission mechanism 13. Through the action of the guide system, the transmission mechanism 13 moves linearly along a predetermined trajectory. When the protective cover 14 contacts the magnetically conductive wall surface 5, it pushes the vehicle body, which is fixedly connected to the fixed end 12, to separate from the working surface 5, thereby releasing the adsorption state of the magnetic wheel 4. After the vehicle body 2 reaches the predetermined position, the control module stops the motor drive, the moving end 11 stops moving, and the ground operator monitors the sensor data. After confirming successful disengagement, the operator issues a command to control the retraction of the drive push rod 1 through the processor, restoring it to its initial state. Finally, the magnetically adsorbed rotor unmanned vehicle executes corresponding actions according to subsequent commands, returning to the ground end or overcoming obstacles to go to the next working area. If going to the next working area, the adsorption, adsorption status detection, and operation processes are repeated.

[0099] In one embodiment, the above method further includes:

[0100] Based on the three-axis tilt angle data, determine the position height of each of the drive push rods;

[0101] The disengagement priority of each magnetic wheel is determined based on the position height;

[0102] The extension state of each of the drive push rods is controlled, specifically, the extension state of each of the drive push rods is controlled according to the disengagement priority.

[0103] In the application, based on real-time three-axis tilt data, the processor can calculate and determine the position height of each drive actuator 1 relative to the coordinate system of the body 2 using a built-in spatial geometric transformation algorithm. The "position height" referred to here specifically refers to the vertical distance component of the mounting point (typically the connection point between the fixed end 12 and the body 2) or the expected contact point of the movable end 11 of each drive actuator 1 relative to a preset reference plane (e.g., an ideal horizontal plane or an estimated tangent plane of the working surface 5) under the current attitude of the body 2. This calculation takes into account the influence of the body 2's attitude tilt angle on the spatial position of the drive actuator 1. For example, when the body 2 has a pitch angle, the position height of the drive actuator 1 located at the front and rear of the body 2 will differ.

[0104] Based on the calculated position height information of each drive push rod 1, the processor further determines the disengagement priority of its associated magnetic wheel 4. Specifically, the magnetic wheel 4 corresponding to the drive push rod 1 with a lower position height (meaning its end is closer to the working surface 5 in the vertical direction) is usually in a position where it needs to overcome a larger gravitational torque or is more susceptible to the effects of gravity. During the disengagement process, prioritizing the push of these lower position height areas helps to alleviate the "adsorption-gravity" coupling load on the corresponding parts of the body 2 earlier, reducing the risk of overall attitude instability and potentially reducing the total thrust required. Therefore, the processor can assign the drive push rod 1 with the lowest position height and its associated magnetic wheel 4 the highest disengagement priority, the next lowest position height to the next highest priority, and so on. This priority ranking aims to optimize the mechanical efficiency and attitude stability of the disengagement process.

[0105] When the drive push rod 1 extends to push the body 2 away from the working surface 5, the processor operates strictly according to the determined priority sequence for disengagement of the magnetic wheels 4. Specifically, the processor first sends an extension command to the drive push rod 1 with the highest disengagement priority, causing its end to contact and begin pushing the working surface 5, attempting to release the magnetic wheel 4 from its attachment state. The processor monitors the disengagement status of the magnetic wheel 4 (e.g., by detecting a sudden increase in distance sensor data or a sudden decrease in associated pressure sensor data). After confirming that the highest priority magnetic wheel 4 has successfully disengaged, the processor then sends extension commands to the drive push rod 1 with the next highest priority, and so on, with each drive push rod 1 extending in priority order until all magnetic wheels 4 have disengaged from their attachment state.

[0106] In one embodiment, each drive push rod is fixedly connected to the machine body via a steering adjustment mechanism; the aforementioned control of each drive push rod to extend until its end contacts the working surface includes:

[0107] Acquire the geometric data of the working surface and the position information of each magnetic wheel;

[0108] Calculate the target deflection angle of each drive push rod based on geometric data and position information;

[0109] The steering adjustment mechanism controls each drive push rod to its corresponding target deflection angle.

[0110] After adjustment, each drive push rod extends until its end contacts the working surface.

[0111] In the application, during the process of the magnetically adsorbed rotorcraft detaching from the working surface 5, when it is necessary to control the extension of the drive push rod 1 to contact the working surface 5, the processor can acquire the geometric data of the working surface 5 through the onboard sensing system. This geometric data includes the local three-dimensional topographic features of the working surface 5, such as key spatial information like surface curvature, normal vector direction, and height of undulations, which can be generated in real time through LiDAR, depth camera, or pre-stored digital model.

[0112] Simultaneously, the processor acquires the precise position information of each magnetic wheel 4 in the coordinate system of the machine body 2 through the positioning module. This position information includes the installation coordinates of the magnetic wheel 4 and its real-time distance relationship relative to the working surface 5, providing a spatial reference for subsequent calculations.

[0113] Based on the geometric data of the working surface 5 and the position information of the magnetic wheel 4, the processor executes a spatial geometric analysis algorithm to calculate the target deflection angle required for each drive push rod 1. Specifically, a local coordinate system is established with the adsorption point of the magnetic wheel 4 as the center, and the tangent plane at the contact point is fitted by combining the curvature data of the working surface 5; the spatial relationship between the axis of the drive push rod 1 and the normal vector of the working surface 5 is determined by vector projection; finally, the rotation angle values ​​of the drive push rod 1 around the X-axis (pitch angle) and Y-axis (yaw angle) required to keep its end perpendicular to the working surface 5 are calculated, and these angle values ​​are the target deflection angles.

[0114] After the calculation is completed, the processor sends control commands to the steering adjustment mechanism. The steering adjustment mechanism uses a servo motor to drive a universal joint or rotary joint, and independently adjusts the spatial orientation of each drive push rod 1 according to the received target deflection angle parameters. The angle sensor provides real-time feedback on the actual deflection angle until the error with the target value is less than a set threshold (e.g., ±1°), confirming that the attitude calibration is complete.

[0115] After the drive rod 1 completes its spatial orientation adjustment, the processor controls it to extend synchronously along the optimized axial direction. The protective cover 14 at the end of the drive rod contacts the working surface 5 in a vertical or near-vertical direction, ensuring that the thrust is efficiently transmitted along the normal of the working surface. The pressure sensor data and distance sensor data at the moment of contact work together to verify the end contact state, providing a precise mechanical fulcrum for subsequent push-off.

[0116] This invention uses a steering adjustment mechanism to adjust the angle, which can effectively eliminate the lateral force generated by the non-perpendicular contact of the push rod. This not only prevents mechanical damage to the drive push rod 1 due to bending stress, but also avoids slippage or attitude instability of the machine body, thus maximizing the thrust transmission efficiency.

[0117] In one embodiment, an alternating array of permanent magnets and an array of electromagnetic blocks are embedded inside the magnetic wheel; the method further includes, before controlling the extension of each drive push rod until its end contacts the working surface:

[0118] Disconnect the excitation current of the electromagnetic block array.

[0119] In applications, the magnetic wheel 4 can employ a composite design with alternating permanent magnet arrays and electromagnetic block arrays. The permanent magnet array provides a basic constant attraction force, while the electromagnetic block array generates a controllable enhanced magnetic field under the action of excitation current. When the processor receives a desorption command, before extending the drive push rod 1, it first sends a circuit breaker command to the power module of the electromagnetic block array, cutting off the excitation current supply to all electromagnetic blocks. This allows the electromagnetic block array to demagnetize immediately, and the total attraction force of the magnetic wheel subsequently decreases to the reference level provided only by the permanent magnet array.

[0120] Corresponding to the aforementioned application function implementation method embodiments, the present invention also provides a working surface adsorption and desorption control system for a magnetic adsorption rotor unmanned vehicle and corresponding embodiments.

[0121] Please see Figure 7 , Figure 7 This is a schematic diagram of the module structure of the magnetic adsorption-type rotorcraft unmanned vehicle's working surface adsorption and detachment control system. The magnetic adsorption-type rotorcraft unmanned vehicle's working surface adsorption and detachment control system is applied to the rotorcraft's processor; the rotorcraft includes a body, and multiple rotors, magnetic wheels, and drive push rods fixedly connected to the body; the rotorcraft is adsorbed onto the magnetically conductive working surface by the magnetic wheels; each drive push rod is not in contact with the working surface in its initial state; the system includes:

[0122] The data acquisition unit 71 is used to acquire the status data of the machine body; the status data includes three-axis tilt angle data, three-axis acceleration data, and relative position data representing the distance between the machine body and the working surface;

[0123] The adsorption control unit 72 is used to control the operating status of each rotor according to the status data when an adsorption command is received, so that each magnetic wheel is adsorbed onto the working surface.

[0124] Desorption control unit 73, used for:

[0125] When a de-adhesion command is received, the rotors are controlled to rotate to provide hovering lift;

[0126] After the hovering lift reaches the preset range, control each drive push rod to extend until the end contacts the working surface;

[0127] Based on the status data, control the extension state of each drive push rod to push the body away from the working surface, and at the same time adjust the speed of each rotor until each magnetic wheel is disengaged from the adsorption state.

[0128] Control each drive push rod to retract to its initial state.

[0129] In one embodiment, the desorption control unit 73 is further configured to:

[0130] Based on the three-axis tilt angle data, determine the position and height of each drive push rod;

[0131] Determine the disengagement priority of each magnet based on its position and altitude;

[0132] The extension state of each drive push rod is controlled, specifically, the extension state of each drive push rod is controlled according to the disengagement priority.

[0133] In one embodiment, each drive push rod is fixedly connected to the machine body via a steering adjustment mechanism; the aforementioned desorption control unit 73 is specifically used for controlling the extension of each drive push rod until its end contacts the working surface, in order to:

[0134] Acquire the geometric data of the working surface and the position information of each magnetic wheel;

[0135] Calculate the target deflection angle of each drive push rod based on geometric data and position information;

[0136] The steering adjustment mechanism controls each drive push rod to its corresponding target deflection angle.

[0137] After adjustment, each drive push rod extends until its end contacts the working surface.

[0138] In one embodiment, the adsorption control unit 72 is specifically used to control the operating state of each rotor based on state data, so that each magnetic wheel is attracted to the working surface.

[0139] The attitude compensation amount of the aircraft is determined based on the three-axis tilt angle data and the three-axis acceleration data;

[0140] Based on relative position data and triaxial acceleration data, the approach rate of the computer body to the working surface;

[0141] Based on the attitude compensation amount and approach rate, the rotational speed of each rotor is dynamically adjusted so that the fuselage approaches the working surface at a preset speed.

[0142] When the distance between the aircraft and the working surface is determined to reach the adsorption threshold based on the relative position data, and the aircraft is determined to maintain attitude balance based on the three-axis tilt angle data, the rotors are controlled to slow down to a stop state, so that each magnetic wheel is adsorbed to the working surface.

[0143] In one embodiment, an alternating array of permanent magnets and an array of electromagnetic blocks are embedded inside the magnetic wheel; before controlling the extension of each drive push rod until its end contacts the working surface, the aforementioned desorption control unit 73 is further configured to:

[0144] Disconnect the excitation current of the electromagnetic block array.

[0145] In one embodiment, multiple drive push rods are distributed inside each magnetic wheel; the drive push rods are electric push rods, hydraulic push rods, or pneumatic push rods.

[0146] In one embodiment, the desorption control unit 73 is specifically used for: regulating the rotational speed of each rotor.

[0147] Based on the three-axis tilt angle data and three-axis acceleration data, the computer calculates the attitude balance compensation amount of the computer body;

[0148] The rotational speed of each rotor is dynamically adjusted based on the attitude balance compensation.

[0149] Regarding the system in the above embodiments, the specific manner in which each unit module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0150] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle, characterized in that, A processor is applied to the rotorcraft unmanned vehicle; the rotorcraft unmanned vehicle includes a body, and multiple rotors, magnetic wheels, and drive push rods fixedly connected to the body; the rotorcraft unmanned vehicle is attracted to a magnetically conductive working surface by each of the magnetic wheels; each of the drive push rods is not in contact with the working surface in its initial state; the method includes: Acquire the state data of the machine body; the state data includes three-axis tilt angle data, three-axis acceleration data, and relative position data representing the distance between the machine body and the working surface; When an adsorption command is received, the operating state of each rotor is controlled according to the status data, so that each magnetic wheel is adsorbed onto the working surface; When a de-adhesion command is received, each of the rotors is controlled to rotate to provide hovering lift; After the hovering lift reaches the preset range, control each of the drive push rods to extend until the end contacts the working surface; Based on the state data, the extension state of each of the drive push rods is controlled to push the body away from the working surface, while the rotation speed of each of the rotors is adjusted until each of the magnetic wheels disengages from the adsorption state; Control each of the drive push rods to retract to the initial state; The adjustment of the rotational speed of each rotor includes: Based on the triaxial tilt angle data and triaxial acceleration data, the attitude balance compensation amount of the machine body is calculated; The rotational speed of each rotor is dynamically adjusted based on the attitude balance compensation amount.

2. The adsorption and desorption control method for the working surface of the magnetic adsorption rotor unmanned vehicle according to claim 1, characterized in that, The method further includes: Based on the three-axis tilt angle data, determine the position height of each of the drive push rods; The disengagement priority of each magnetic wheel is determined based on the position height.

3. The method for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle according to claim 1, characterized in that, Each of the drive push rods is fixedly connected to the machine body via a steering adjustment mechanism; controlling the extension of each drive push rod until its end contacts the working surface includes: Obtain the geometric data of the working surface and the position information of each of the magnetic wheels; Based on the geometric data and position information, calculate the target deflection angle of each of the drive push rods; The steering adjustment mechanism is controlled to adjust each of the drive push rods to its corresponding target deflection angle. The adjusted drive push rods extend until their ends contact the working surface.

4. The method for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle according to claim 1, characterized in that, Based on the state data, the operating state of each rotor is controlled to cause each magnetic wheel to adhere to the working surface, including: Based on the triaxial tilt angle data and triaxial acceleration data, the attitude compensation amount of the machine body is determined; Based on the relative position data and triaxial acceleration data, the approach rate between the machine body and the working surface is calculated; Based on the attitude compensation amount and approach rate, the rotational speed of each rotor is dynamically adjusted so that the fuselage approaches the working surface at a preset speed; When the distance between the machine body and the working surface is determined to reach the adsorption threshold based on the relative position data, and the machine body is determined to maintain attitude balance based on the three-axis tilt angle data, the rotors are controlled to decelerate to a stop state, so that each magnetic wheel is adsorbed onto the working surface.

5. The method for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle according to claim 1, characterized in that, The magnetic wheel is internally embedded with an alternating array of permanent magnets and an array of electromagnetic blocks; before controlling the extension of each of the drive push rods until their ends contact the working surface, the method further includes: Disconnect the excitation current of the electromagnetic block array.

6. The method for controlling the adsorption and desorption of the working surface of a magnetically adsorbed rotary-wing unmanned vehicle according to claim 1, characterized in that, Multiple drive push rods are distributed on the inner side of each of the magnetic wheels; the drive push rods are electric push rods, hydraulic push rods or pneumatic push rods.

7. A magnetic adsorption rotary-wing unmanned vehicle's working surface adsorption and desorption control system, characterized in that, The rotorcraft unmanned vehicle includes a body, and multiple rotors, magnetic wheels, and drive push rods fixedly connected to the body; the rotorcraft unmanned vehicle is attracted to a magnetically conductive working surface by each of the magnetic wheels; each of the drive push rods is not in contact with the working surface in its initial state; the system includes: The data acquisition unit is used to acquire the state data of the machine body; the state data includes three-axis tilt angle data, three-axis acceleration data, and relative position data representing the distance between the machine body and the working surface; An adsorption control unit is used to control the operating state of each rotor according to the status data when an adsorption command is received, so that each magnetic wheel is adsorbed onto the working surface; Desorption control unit, used for: When a de-adhesion command is received, each of the rotors is controlled to rotate to provide hovering lift; After the hovering lift reaches the preset range, control each of the drive push rods to extend until the end contacts the working surface; Based on the state data, the extension state of each of the drive push rods is controlled to push the body away from the working surface, while the rotation speed of each of the rotors is adjusted until each of the magnetic wheels disengages from the adsorption state; Control each of the drive push rods to retract to the initial state; In regulating the rotational speed of each rotor, the desorption control unit is specifically used for: Based on the three-axis tilt angle data and three-axis acceleration data, the computer calculates the attitude balance compensation amount of the computer body; The rotational speed of each rotor is dynamically adjusted based on the attitude balance compensation.

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