Changeable unmanned aerial vehicle suitable for crane inspection and control method

Abstract

The variable unmanned aerial vehicle comprises a vehicle body, a mechanical arm is arranged on any side of the vehicle body, a detection device is arranged at the other end of the mechanical arm, four sets of power units are symmetrically arranged on the two sides of the vehicle body, and each set of power unit comprises a rotor wing driven by a first driving source and a rotor wing driven by a second driving source; the moving mechanism is driven by a second driving source; at least one supporting arm is symmetrically arranged on the two sides of the machine body, the tail ends of the supporting arms are connected with one or two power units through a configuration transformation mechanism, and the configuration transformation mechanism is configured to drive the power units to move relative to the supporting arms, so that the four sets of power units are switched between a first configuration and a second configuration; by arranging the power unit with the moving mechanism and the rotor wings and switching between the first configuration and the second configuration, the unmanned aerial vehicle not only can fly in the air, but also has the function of sliding and moving on the surface of the crane structure.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a versatile UAV adapted for crane inspection and its control method. Background Technology

[0002] As core equipment on construction sites, the structural and functional safety of cranes directly affects construction efficiency and operational safety. However, due to long-term exposure to cyclic loads, wind-induced vibrations, and environmental corrosion, components such as the tower / standard section, slewing system, boom, connecting welds, and fasteners are highly susceptible to cracks, corrosion thinning, loosening, and fatigue damage. Failure of safety devices such as limit switches, torque limiters, and windproof devices can lead to overloading or misoperation. If these defects propagate under high-stress conditions, they can cause serious accidents such as component fracture, load falling, or even overall instability, posing a significant threat to construction safety. Therefore, regular, comprehensive, and precise inspections of cranes are crucial for ensuring their reliable operation.

[0003] In recent years, the industry has gradually introduced drone technology for crane inspection, suitable for visual inspection of large-span structures such as main beams and end beams of cranes. However, the application of existing drones in crane inspection scenarios still has significant limitations: On the one hand, existing inspection drones only have flight capabilities and cannot glide or move on the structural surface of cranes. When close-range, long-term, and detailed inspections of specific crane components are required, the drones need to hover in the air continuously. This not only causes instability due to airflow, affecting inspection accuracy, but also significantly consumes battery power, shortens flight time, and makes it difficult to complete long-term fixed-point inspection tasks. On the other hand, existing drone-borne inspection equipment is mostly fixedly installed under or to the side of the fuselage, and can only change the inspection angle and position by adjusting the drone's flight attitude, failing to achieve independent, multi-degree-of-freedom adjustment of the inspection equipment. Cranes have complex key components, requiring inspection equipment that can move and position flexibly in different directions and at different distances; fixed-installation inspection devices cannot meet diverse inspection needs. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a versatile unmanned aerial vehicle (UAV) and control method adapted to crane inspection.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A versatile unmanned aerial vehicle (UAV) adapted for crane inspection includes a fuselage, with a robotic arm mounted on either side of the fuselage, and a detection device mounted on the other end of the robotic arm. The machine body has four sets of power units symmetrically arranged on both sides, and each set of power units includes: A rotor driven by a first drive source, the plane of rotation of which is primarily horizontal, for providing lift; A moving mechanism driven by a second drive source, the plane of rotation of the moving mechanism being primarily vertical, for rolling on a surface; The machine body is symmetrically provided with at least one support arm on both sides, and the end of the support arm is connected to one or two power units through a configuration transformation mechanism. The configuration transformation mechanism is configured to drive the power unit to move relative to the support arm, thereby switching the four sets of power units between the following two configurations. First configuration: In a top-down projection, the four power units are arranged in an X-shape, suitable for flight operations; Second configuration: Under top-down projection, the line connecting the two sets of power units on the same side is parallel to the central axis of the machine body and is distributed in a straight line, which is suitable for moving operations on the surface of the crane structure.

[0006] The configuration transformation mechanism includes: Mounting brackets are installed at the ends of each support arm; The drive assembly is mounted on the mounting bracket. The power unit is rotatably mounted on the mounting frame and driven by the drive assembly to change the included angle between two power units on the same side, thereby achieving the switching between the first configuration and the second configuration.

[0007] An attitude adjustment mechanism is provided between the body and the support arm. The attitude adjustment mechanism is configured to drive the support arm and its end power unit to perform overall pitching motion.

[0008] The attitude adjustment mechanism includes: Linear drive module mounted on the machine body; The first linkage frame is connected to the output end of the linear drive module; One end of the support arm is hinged to the machine body, and its lower surface is linked with the first linkage frame, so that the linear drive module can drive the support arms on both sides to perform synchronous pitching motion through the first linkage frame.

[0009] A linkage mechanism is provided between the support arm and the mounting frame. The linkage mechanism is configured to passively drive the mounting frame to rotate in the opposite direction when the attitude adjustment mechanism drives the support arm to perform pitch movement, so that the mounting frame always maintains a state parallel to the horizontal plane.

[0010] The power unit is connected to the support arm or mounting bracket via an angle adjustment mechanism; The angle adjustment mechanism can controllably drive the thrust direction of the rotor to change in at least one plane, so as to achieve control over the flight attitude and / or flight direction of the UAV.

[0011] The robotic arm is a multi-degree-of-freedom robotic arm, which is fixedly connected to the machine body through a connecting frame. The end of the multi-degree-of-freedom robotic arm is provided with a fixed gimbal for installing a detection device. The multi-degree-of-freedom robotic arm includes several alternately arranged rigid and flexible torsos.

[0012] At least two drive motors are fixedly installed inside the rigid torso, and the output shafts of the two drive motors are arranged perpendicularly. The flexible torso is provided with flexible joints, which are respectively linked to two drive motors opposite each other in the front and rear rigid torsos.

[0013] The flexible joint includes: A horizontal shaft is rotatably connected to a drive motor in the upper rigid body; A vertical axis is rotatably connected to a drive motor in the next rigid body; A connecting block is used to connect the horizontal axis and the vertical axis, so that the next rigid body can pitch and yaw relative to the previous rigid body.

[0014] A control method for a variable unmanned aerial vehicle (UAV) adapted to crane inspection, comprising the following steps: (1) Control the configuration transformation mechanism to switch the UAV to the first configuration; (2) Start the rotor and control the UAV to fly to the crane inspection area; (3) If there is a landable area in the area to be inspected by the crane, the UAV will be controlled to select a crane structure surface that can be landed on and land on that surface; (4) Control the configuration transformation mechanism to switch the UAV to the second configuration; (5) Start the moving mechanism to move the UAV on the surface of the structure, and at the same time control the robotic arm so that the detection device can inspect the area to be inspected. (6) If there is no landing area in the area to be inspected by the crane, the UAV will maintain its flight state in the area and control the robotic arm so that the inspection device can inspect the inspection area.

[0015] The beneficial effects of the present invention are as follows: by setting up a power unit with a moving mechanism and a rotor, and by switching between the first configuration and the second configuration, it can not only fly in the air, but also glide on the surface of the crane structure. When conducting close-range and long-term fine inspections on specific components of the tower, it does not need to hover in the air continuously, but can directly rely on the surface of the crane structure to achieve stable movement. Attached Figure Description

[0016] Figure 1 This is a top side view of the overall structure of the present invention.

[0017] Figure 2 This is a side-view view of the overall structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the assembly structure of the UAV body and power supply device of the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of the support frame, adjustment device, swing rod, auxiliary rod, mounting frame and power supply device of the present invention.

[0020] Figure 5 This is a schematic diagram of the structure of the support frame, adjustment device, swing rod, auxiliary rod and mounting frame of the present invention.

[0021] Figure 6 This is a rear view of the structure of the support frame, adjustment device, single-sided swing rod, auxiliary rod, and mounting frame of the present invention.

[0022] Figure 7 This is a front view of the structure of the support frame, adjustment device, single-sided swing rod, auxiliary rod, and mounting frame of the present invention.

[0023] Figure 8 This is an assembly diagram of the slider, linkage frame 1, and two side swing rods and their structures of the present invention.

[0024] Figure 9 This is an assembly diagram of the swing rod, auxiliary rod, and same-side structure of the present invention.

[0025] Figure 10 This is a schematic diagram of the assembly of the mounting bracket and the structure on the same side of the present invention.

[0026] Figure 11 This is a schematic diagram of the assembly structure of the swing frame 1, swing frame 2, sliding wheel and rotor of the present invention.

[0027] Figure 12 This is a schematic diagram of the structure of the robotic arm of the present invention.

[0028] Figure 13 This is a schematic diagram of the assembly structure of the two joints in the robotic arm of the present invention.

[0029] Figure 14 This is a schematic diagram of the joint structure in the robotic hand of the present invention.

[0030] Figure 15 This is a schematic diagram of the assembly structure of the connecting plate, rotating frame one, rotating frame two, rotating frame three and detector of the present invention.

[0031] Figure 16 This is a schematic diagram of the structure of the invention in its second configuration. Detailed Implementation

[0032] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] like Figure 1 and Figure 2 As shown, a versatile unmanned aerial vehicle (UAV) adapted for crane inspection includes a body 1. A robotic arm 2 is mounted on either side of the body 1, and a detection device 210 is mounted at the other end of the robotic arm 2. The main body is a support frame 101, on which a power supply device 3 and a controller 4 are mounted. The controller 4 controls the operation of the entire UAV, and the power supply device 3 supplies power to the electrical components of the entire UAV. The robotic arm 2 is coaxially aligned with the axis of the support frame, preferably positioned at the rear of the support frame. Four sets of power units are symmetrically arranged on both sides, making the overall structure resemble a dragonfly. The robotic arm, acting as the dragonfly's tail, can bend relative to the dragonfly's tail, allowing for detection at different angles by changing the angle of the robotic arm. The robotic arm can also be brought close to the crane for inspection.

[0035] like Figure 3 As shown, four sets of power units are symmetrically arranged on both sides of the machine body, and each set of power units includes: A rotor 113 driven by a first drive source, the rotor's plane of rotation being primarily horizontal, is used to provide lift, wherein the first drive source is a brushless motor; A moving mechanism 112 driven by a second drive source, wherein the plane of rotation of the moving mechanism 112 is mainly vertical, is used for rolling on the surface, and the second drive source is a hub motor. All of the above electrical components are known prior art in this field, and their specific structures, working principles, and conventional connection methods have been fully disclosed in published literature or existing products; therefore, they will not be described in detail herein.

[0036] Meanwhile, the moving mechanism 112 can be an omnidirectional wheel, a Mecanum wheel, or a regular wheel. One of them can be used as a support foot during landing, and the other can be driven independently to move along the surface of the structure. If an omnidirectional wheel or a Mecanum wheel is used, it has the ability to move laterally on a narrow crane beam, which greatly improves the flexibility and accuracy of the inspection.

[0037] like Figure 4 As shown, at least one support arm 103 is symmetrically provided on both sides of the body 1. The end of the support arm 103 is connected to one or two power units through a configuration transformation mechanism. The configuration transformation mechanism is configured to drive the power unit to move relative to the support arm 103, thereby switching the four sets of power units between the following two configurations. First configuration: In a top-down projection, the four power units are arranged in an X-shape, suitable for flight operations; Second configuration: In a top-down projection, the line connecting the two sets of power units on the same side is parallel to the central axis of the fuselage, forming a straight line. (See reference...) Figure 16 It is suitable for moving operations on the surface of crane structures.

[0038] The configuration transformation mechanism includes: Mounting bracket 106 is provided at the end of each support arm 103; The drive assembly 108 is disposed on the mounting bracket 106. The power unit is rotatably mounted on the mounting bracket 106 and driven by the drive assembly 108 to change the included angle between two power units on the same side, thereby switching between the first configuration and the second configuration. The drive assembly 108 is a servo motor, and the mounting bracket 106 is U-shaped with its opening facing the front and rear sides. Therefore, the power unit can be rotatably mounted in the opening slot of the mounting bracket, and a servo motor for driving the power unit to rotate is provided on its upper side.

[0039] In some embodiments, there can be four support arms, arranged symmetrically in two groups on both sides of the body, forming an X-shaped distribution. Each support arm is equipped with a power mechanism and a configuration transformation mechanism. In this embodiment, two support arms are used, symmetrically arranged on both sides of the body and coaxially arranged. In order to achieve the layout of four power mechanisms, there are two mounting frames in this embodiment, which are arranged opposite each other and connected by a rotating shaft. The rotating shaft passes through the support arm, and the two mounting frames are respectively equipped with a power unit and a configuration transformation mechanism.

[0040] In some embodiments, the support arm is fixedly connected to the support frame, meaning it cannot swing relative to the height of the machine body. However, in this embodiment, the support arm is hinged to the support frame to better adapt to the surface of the crane structure.

[0041] like Figure 5 , Figure 6 and Figure 7 As shown, an attitude adjustment mechanism 102 is provided between the body and the support arm 103. The attitude adjustment mechanism is configured to drive the support arm 103 and its end power unit to perform overall pitch movement. By utilizing the pitch movement of the support arm, the distance between the body and the structural surface is adjusted, thereby enabling adaptive obstacle avoidance and preventing damage to the body from unevenness of the structural surface.

[0042] The attitude adjustment mechanism 102 includes: A linear drive module is installed on the body 1; A first linkage 1023 connected to the output end of the linear drive module; One end of the support arm 103 is hinged to the body 1, and its lower surface is linked with the first linkage frame 1023, so that the linear drive module can drive the support arms 103 on both sides to perform synchronous pitching motion through the first linkage frame 1023.

[0043] In this embodiment, the linear drive module uses an adjusting screw 1021 and a slider 1022. The adjusting screw 1021 is mounted on a support frame and is driven to rotate by a servo motor fixedly mounted on the support frame. The slider is threadedly connected to the adjusting screw. The two ends of the first linkage frame are respectively hinged to the slider and the lower surface of the support arm. Thus, when the slider moves relative to the axis of the adjusting screw, it will drive the support arm to swing up and down relative to each other through the first linkage frame, thereby forming a pitch motion.

[0044] Preferably, a linkage mechanism is provided between the support arm 103 and the mounting frame 106. The linkage mechanism is configured to passively drive the mounting frame 106 to rotate in the opposite direction when the attitude adjustment mechanism 102 drives the support arm 103 to perform pitch movement, so that the mounting frame 106 always maintains a state parallel to the horizontal plane.

[0045] The linkage mechanism includes an auxiliary rod 104 disposed between the support frame 101 and the mounting frame 106. One end of the auxiliary rod is rotatably mounted on the support frame, and the other end is connected to the mounting frame via a second linkage 105. The second linkage 105 is sleeved on the rotating shaft of the mounting frame and fixedly connected thereto. When the support arm swings relative to the support, the auxiliary rod and the second linkage 105 move accordingly, causing the mounting frame 106 to rotate relative to the support and maintain a state parallel to the horizontal plane. This prevents the mounting frame from becoming non-parallel due to the swinging of the support arm, which could cause deviations in the rotor angles and affect flight. The linkage mechanism also increases the stability of all three components.

[0046] like Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, the power unit is connected to the support arm 103 or the mounting bracket 106 via an angle adjustment mechanism; The angle adjustment mechanism can controllably drive the thrust direction of the rotor 113 to change in at least one plane, so as to control the flight attitude and / or flight direction of the UAV.

[0047] The angle adjustment mechanism includes: The first swing frame 107 is rotatably connected to the mounting bracket, and its plane of rotation is horizontal. The second swing frame 109, which is rotatably connected to the first swing frame 107, has a rotation plane that is vertical. The power frame, fixedly connected to the second swing frame, is mainly used to support the first drive source, the second drive source, the rotor, and the moving mechanism. Meanwhile, the first swing frame is provided with a first drive cylinder 110 and a second drive cylinder 111 on its upper and lower sides respectively. The fixed ends of the first drive cylinder and the second drive cylinder are fixedly connected to the first swing frame, and their output ends are fixedly connected to the upper and lower sides of the first swing frame respectively. The angle between the first swing frame and the second swing frame is adjusted by the cooperation of the two drive cylinders, thereby adjusting the direction of the rotor and controlling the flight direction.

[0048] The robotic arm 2 is a multi-degree-of-freedom robotic arm, such as... Figure 12 As shown, it is fixedly connected to the machine body via a connecting frame 211. The end of the multi-degree-of-freedom robotic arm is provided with a fixed gimbal for mounting a detection device. The multi-degree-of-freedom robotic arm includes several alternately arranged rigid and flexible torsos. A protective cover 202 is provided on the outside of the flexible torso, and both ends of the protective cover 202 are fixedly connected to the rigid torsos respectively.

[0049] like Figure 15 As shown, the fixed gimbal is fixedly connected to the rigid body via a connecting plate 203. The fixed gimbal includes a first rotating frame 204 rotatably mounted on the connecting plate 203, a second rotating frame 206 rotatably mounted on the first rotating frame 204, and a third rotating frame 208 rotatably mounted on the second rotating frame 206. The detection device 210 is fixedly mounted on the third rotating frame 208 to realize the three-axis position adjustment of the detection device. The first rotating frame is driven to rotate by a first rotating motor 205 fixedly mounted on the connecting plate 203, the second rotating frame is driven to rotate by a second rotating motor 207 fixedly mounted on the first rotating frame, and the third rotating frame is driven to rotate by a third rotating motor fixedly mounted on the second rotating frame 206.

[0050] like Figure 13 and Figure 14As shown, at least two drive motors are fixedly installed inside the rigid torso, and the output shafts of the two drive motors are arranged vertically, that is, one drive motor is a horizontal axis rotation motor 2013 and the other drive motor is a vertical axis rotation motor 2016. The flexible torso is provided with flexible joints, which are respectively linked to the two drive motors opposite to each other in the front and rear rigid torsos.

[0051] The flexible joint includes: A horizontal shaft 2011 is rotatably connected to a drive motor in the upper rigid body; A vertical axis 2014 is rotatably connected to a drive motor in the next rigid body; A connecting block 2017 is used to connect the horizontal axis 2011 and the vertical axis 2014, so that the next rigid body can pitch and yaw relative to the previous rigid body.

[0052] Both the horizontal and vertical axes are fixedly installed inside the protective cover via mounting plates. The horizontal axis is driven by a horizontal axis rotation motor 2013 through a first transmission gear set 2012. The horizontal axis rotation motor 2013 is fixedly installed inside the rigid frame via a mounting plate, which is fixed to the rigid frame and passes through the protective cover. Adjacent mounting plates are staggered. The vertical axis 2014 is fixedly installed on a mounting plate located inside the protective cover 202 and is driven by a vertical axis rotation motor 2016 through a second transmission gear set 2015. The vertical axis rotation motor 2016 is fixedly installed inside the protective cover 202 via a mounting plate. A connecting block 2017 is fixedly installed on the horizontal axis 2011, and the vertical axis 2014 is rotatably installed on the connecting block 2017.

[0053] The first transmission gear set 2012 includes two meshing first gears, and the two first gears are respectively fixedly installed on the horizontal shaft 2011 and the output end of the horizontal shaft rotating motor 2013; the second transmission gear set 2015 includes two meshing second gears, and the two second gears are respectively fixedly installed on the vertical shaft 2014 and the output end of the vertical shaft rotating motor 2016.

[0054] The robotic arm, through its multi-joint mechanical structure and three-axis motion system (first rotating frame, second rotating frame, and third rotating frame), enables flexible adjustment of the inspection device in multiple dimensions, including horizontal, vertical, and rotational. For scenarios with complex structures and high requirements for inspection angles, operators can remotely control and precisely adjust the height, tilt angle, and shooting distance of the inspection equipment to ensure that the inspection equipment can penetrate deep into the gaps of components and fit against irregular surfaces to obtain clear images and data. This meets the diverse inspection needs of different key components of cranes and improves the inspection coverage and completeness.

[0055] As a specific implementation of this embodiment, the horizontal axis rotation motor 2013, the vertical axis rotation motor 2016, the first rotation motor 205, the second rotation motor 207, and the third rotation motor 209 are all servo motors; the detection device 210 is a commonly used detection device for problems such as wear, abnormal noise, and displacement of cranes, which belongs to the prior art known in the field. Its specific structure, working principle, and conventional connection method have been fully disclosed in published documents or existing products, so it will not be described in detail here.

[0056] As a specific implementation of this embodiment, the controller 4 is mounted on the connecting frame 211, and the drone is also equipped with a remote control device that establishes a data connection with the controller 4, so that the operator can control the operation of the drone.

[0057] The principle of drone's lifting and gliding: The rotation of the adjusting screw 1021 can drive the slider 1022 to move, and the slider 1022 drives the two support arms 103 to rotate through the first linkage frame 1023; the drive component drives the mounting frame 106 to rotate; the swing motor 108 drives the first swing frame 107 to rotate; the first drive cylinder 110 and the second drive cylinder 111 pull the second swing frame 109 to rotate; the above multi-directional movement realizes the position adjustment and extension of the sliding wheel 112 and the rotor 113; the flight direction of the drone is controlled by adjusting the position of the rotor 113; when it is necessary to detect a specific position (part of the horizontal area) of the crane tower, the entire body 1 is retracted, and the moving mechanism 112 drives the drone to glide, without having to hover in the air continuously.

[0058] The attitude adjustment principle of robotic arm 2: The horizontal axis rotation motor 2013 drives the horizontal axis 2011 to rotate through the first transmission gear set 2012, and drives the vertical axis 2014 to rotate as a whole through the connecting block 2017. The vertical axis rotation motor 2016 drives the vertical axis 2014 to rotate through the second transmission gear set 2015, thereby realizing the attitude adjustment of a single flexible joint 201. The combined action of multiple flexible joints 201 can realize the multi-degree-of-freedom attitude adjustment of robotic arm 2. At the same time, under the three-axis position adjustment of the first rotating frame 204, the second rotating frame 206, and the third rotating frame 208, the detection device 210 can move freely to adapt to inspection work under various working conditions. When the UAV is flying, robotic arm 2 bends and retracts as a whole. When it reaches the detection target location, the robotic arm drives the detection device 210 to move to the detection area.

[0059] The present invention also provides a control method for a variable unmanned aerial vehicle (UAV) adapted to crane inspection, which includes the following steps: (1) Control the configuration transformation mechanism to switch the UAV to the first configuration; (2) Start the rotor and control the UAV to fly to the crane inspection area; (3) If there is a landable area in the area to be tested of the crane, the UAV will be controlled to select a landable crane structure surface and land on the surface to test whether it is landable. This can be judged by observing the transmitted images. (4) Control the configuration transformation mechanism to switch the UAV to the second configuration; (5) Start the moving mechanism to move the UAV on the surface of the structure, and at the same time control the robotic arm so that the detection device can inspect the area to be inspected. (6) If there is no landing area in the area to be inspected by the crane, the UAV will maintain its flight state in the area and control the robotic arm so that the inspection device can inspect the inspection area.

[0060] The embodiments should not be regarded as limitations on the present invention, but any improvements made based on the spirit of the present invention should be within the protection scope of the present invention.

Claims

1. A multi-variable unmanned aerial vehicle adapted for crane inspection, comprising a body (1), characterized in that: The mechanical arm (2) is arranged on any side of the body (1), and the other end of the mechanical arm (2) is provided with a detection device (210), ​ The body is symmetrically arranged with four groups of power units on both sides, and each group of power units comprises: A rotor (113) driven by a first driving source, the rotation plane of the rotor is mainly horizontal, and the rotor is used for providing lift; A moving mechanism (112) driven by a second driving source, the rotation plane of the moving mechanism (112) is mainly vertical, and the moving mechanism (112) is used for rolling on the surface; At least one support arm (103) is symmetrically arranged on both sides of the body (1), and the end of the support arm (103) is connected with one or two power units through a configuration transformation mechanism, The configuration transformation mechanism is configured to drive the power units to move relative to the support arm (103), so that the four groups of power units are switched between the following two configurations, In the first configuration, the four groups of power units are distributed in an X shape in the top view, and are suitable for flight operation; In the second configuration, the connecting line of the two groups of power units on the same side is parallel to the body axis in the top view, and is distributed in a straight line, and is suitable for moving operation on the surface of the crane structure.

2. The multi-variable unmanned aerial vehicle adapted for crane inspection according to claim 1, wherein: The configuration transformation mechanism comprises: A mounting bracket (106) arranged at the end of each support arm (103); A driving assembly (108) arranged on the mounting bracket (106), Wherein, the power unit is rotatably mounted on the mounting bracket (106) and is driven by the driving assembly (108) to change the included angle between the two power units on the same side, so as to realize the switching between the first configuration and the second configuration.

3. The multi-variable UAV adapted for crane inspection of claim 1, wherein: The attitude adjusting mechanism (102) is arranged between the body and the support arm (103), and is configured to drive the support arm (103) and the power unit at the end of the support arm (103) to perform overall pitching motion.

4. The multi-variable UAV adapted for crane inspection of claim 3, wherein: The attitude adjusting mechanism (102) comprises: A linear driving module arranged on the body (1); A first linkage frame (1023) connected with the output end of the linear driving module; One end of the support arm (103) is hinged to the body (1), and the lower surface of the support arm (103) is linked and matched with the first linkage frame (1023), so that the linear driving module can drive the support arms (103) on both sides to perform synchronous pitching motion through the first linkage frame (1023).

5. The multi-variable UAV adapted for crane inspection of claim 4, wherein: The linkage mechanism is arranged between the support arm (103) and the mounting bracket (106), and is configured to be passively driven to generate reverse rotation of the mounting bracket (106) when the attitude adjusting mechanism (102) drives the support arm (103) to perform pitching motion, so that the mounting bracket (106) always maintains a state of being parallel to the horizontal plane.

6. The multi-variable unmanned aerial vehicle adapted for crane inspection according to any one of claims 1 to 5, characterized in that: The power unit is connected with the support arm (103) or the mounting bracket (106) through an angle adjusting mechanism; The angle adjusting mechanism can control the driving of the rotor (113) to change the thrust direction in at least one plane, so as to realize the control of the flight attitude and / or flight direction of the unmanned aerial vehicle.

7. The multi-variant drone adapted for crane inspection of any one of claims 1, wherein: The mechanical arm (2) is a multi-degree-of-freedom mechanical arm fixedly connected with the machine body through a connecting frame (211), the end of the multi-degree-of-freedom mechanical arm is provided with a fixed holder for mounting a detection device, and the multi-degree-of-freedom mechanical arm comprises a plurality of alternating rigid trunks and flexible trunks.

8. The multi-variable drone adapted for crane inspection of claim 7, wherein: At least two driving motors are fixedly arranged in the rigid trunk, and the output shafts of the two driving motors are arranged in perpendicular directions, and the flexible joint is arranged in the flexible trunk and is connected with the two driving motors in the opposite two rigid trunks in linkage.

9. The multi-variant drone adapted for crane inspection of claim 8, wherein: The flexible joint comprises: A horizontal shaft (2011) rotatably connected with the driving motor in the previous rigid trunk; A vertical shaft (2014) rotatably connected with the driving motor in the next rigid trunk; A connecting block (2017) for connecting the horizontal shaft (2011) and the vertical shaft (2014), so that the next rigid trunk can perform pitching and yawing movements relative to the previous rigid trunk.

10. A control method for the adaptive crane inspection multi-variable UAV based on any one of claims 1 to 9, characterized in that: It comprises the following steps: (1) controlling the configuration transformation mechanism to switch the unmanned aerial vehicle to the first configuration; (2) starting the rotor to control the unmanned aerial vehicle to fly to the crane detection area; (3) if the crane detection area has a landing area, the unmanned aerial vehicle is controlled to select the crane structure surface that can land and lands on the surface; (4) controlling the configuration transformation mechanism to switch the unmanned aerial vehicle to the second configuration; (5) starting the moving mechanism to make the unmanned aerial vehicle move on the structure surface, and controlling the mechanical arm to make the detection device patrol the detection area; (6) if the crane detection area has no landing area, the unmanned aerial vehicle maintains a flight state in the area, and the mechanical arm is controlled to make the detection device patrol the detection area.

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