Adsorption type flying platform and adsorption type unmanned aerial vehicle

Abstract

The utility model provides an adsorption type flying platform and an adsorption type unmanned aerial vehicle. The adsorption type flying platform comprises a fuselage frame, a rotor wing set, an adsorption part and a supporting part. The rotor wing set is connected to the fuselage frame, and rotor wing aerodynamic force is generated by sucking air flow from one side of the adsorption type flying platform and discharging the air flow from the other side of the adsorption type flying platform. The adsorption part is connected to the fuselage frame, and the adsorption part is arranged on the side, close to airflow suction of the rotor wing set, of the adsorption type flying platform and arranged on the peripheral edge of the airflow suction face of the rotor wing set. And the adsorption type flying platform is opened on the airflow suction side and the airflow exhaust side of the rotor wing group. The supporting part is arranged on the outer surface of the adsorption part and used for separating the outer surface of the adsorption part from the surface of the object, a high-speed airflow flowing space is formed between the outer surface of the adsorption part and the surface of the object, and therefore differential pressure adsorption force is generated. Adsorption is achieved through rotor wing aerodynamic force and differential pressure adsorption force, the adsorption capacity can be remarkably improved, and energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The embodiments of the present application generally relate to the field of unmanned aerial vehicle technology, and more particularly, to an adsorption type flight platform and an adsorption type unmanned aerial vehicle. BACKGROUND

[0002] With the gradual maturity of robot technology, robots are increasingly applied to the work on the surface of large objects, such as surface inspection, cleaning and maintenance, etc. Conventional robots mostly adopt the modes of magnetic adsorption, suction cup adsorption and negative pressure adsorption to adhere to the surface of objects for work.

[0003] Among them, magnetic adsorption needs to be realized by electromagnets, which not only has large weight and consumes large power, but also is inconvenient for fast and long distance work. Suction cup adsorption needs to be realized by vacuum suction cups, which not only has large weight and consumes large power, but also is slow, and usually needs to drag a cable, which is inconvenient for fast and long distance work. The mode of negative pressure adsorption is described in patent documents CN114537548A, CN115402439A and CN115402438A, which adopts a cavity structure with one side closed and one side open to extract negative pressure in the cavity structure, to form a negative pressure difference on the bottom surface, thereby generating suction force.

[0004] The existing adsorption modes not only have slow work speed, but also have strict requirements on the surface and poor adaptability. SUMMARY

[0005] In order to solve the above problems in the prior art, in a first aspect, the embodiments of the present application provide an adsorption type flight platform, which is adapted to move and work on the surface of an object, and comprises a body frame, a rotor group, an adsorption part and a support part. The rotor group comprises one or more rotors connected to the body frame, and is used to generate rotor aerodynamic force by inhaling airflow on one side of the adsorption type flight platform and discharging airflow on the other side. The adsorption part is connected to the body frame, and is arranged on the side of the adsorption type flight platform close to the rotor group inhaling airflow, and is provided on the outer peripheral edge of the rotor group inhaling airflow surface. The adsorption type flight platform is open on both the side inhaling airflow and the side discharging airflow. The support part is provided on the outer surface of the adsorption part, and is used to space the outer surface of the adsorption part from the surface of the object, to form an airflow flowing space between the outer surface of the adsorption part and the surface of the object, so that in a working state, the inhaling airflow of the rotor group enters the rotor group through the airflow flowing space, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption part, and further generating a pressure difference adsorption force between the adsorption part and the surface of the object.

[0006] In some embodiments, the adsorption type flight platform further comprises a movement assembly arranged on the fuselage frame, and the movement assembly is configured to drive the adsorption type flight platform to move on the object surface.

[0007] In some embodiments, the part between the outer surface of the adsorption part and the object surface constitutes the support part.

[0008] In some embodiments, the movement assembly comprises one or more of the following: a driving wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilt rotor, a deflection grid, a power duct.

[0009] In some embodiments, one or more of the rotation direction, the rotation speed, the rotor pitch angle of at least part of the rotors in the rotor group is adjustable, and the adsorption part is arranged on both sides of the adsorption type flight platform. In some embodiments, the height and / or angle of the support part is adjustable.

[0010] In some embodiments, the adsorption part comprises one or more surfaces, and the adsorption part comprises a flat surface and / or a curved surface.

[0011] In some embodiments, the rotors in the rotor group are arranged in a coaxial, tilting or flapping manner.

[0012] In some embodiments, one or more of the rotation direction, the rotation speed, the rotor pitch angle, the flapping angle, the tilting angle of the rotors in the rotor group is adjustable.

[0013] In a second aspect, the embodiments of the utility model provide an adsorption type unmanned aerial vehicle, which comprises the adsorption type flight platform described in any of the above embodiments.

[0014] The adsorption type flight platform and the adsorption type unmanned aerial vehicle provided by the embodiments of the utility model utilize the pressure difference generated by the rotor airflow to form the aerodynamic force on the adsorption surface, and obtain the pressure difference adsorption force. The resultant force of the pressure difference adsorption force and the rotor aerodynamic force can press the unmanned aerial vehicle tightly on the object surface. The additional pressure difference adsorption force combined with the rotor aerodynamic force can improve the adsorption capacity of the unmanned aerial vehicle on the object surface. Compared with the unmanned aerial vehicle being pressed tightly on the object surface by only relying on the rotor aerodynamic force, the embodiments of the utility model utilize the structural improvement to increase the adsorption surface, and utilize the pressure difference effect of the rotor suction airflow to generate the additional pressure difference adsorption force on the adsorption surface, so that the adsorption force is enhanced under the condition of the same energy consumption, or the energy consumption is reduced under the condition of ensuring the same adsorption force, and the adsorption capacity is significantly improved.

[0015] The adsorption type flight platform and the adsorption type unmanned aerial vehicle provided by the embodiment of the utility model do not need to be additionally closed, the basic flight appearance of the flight platform and the unmanned aerial vehicle is reserved, so that the flight control and the flight performance originally possessed by the flight platform and the unmanned aerial vehicle can be better maintained, the conventional flight control mode is combined with the motion control mode of the adsorption type unmanned aerial vehicle, such as the tilt rotor and the deflection grid, and the flight control function of the flight platform and the unmanned aerial vehicle is further improved.

[0016] The embodiment of the utility model gives the overall design scheme for special unmanned aerial vehicle, especially for the unmanned aerial vehicle for surface inspection, cleaning and maintenance of large objects (building, glass curtain wall, underground pipeline, photovoltaic panel, etc.), can realize stable adsorption and motion control on the surface of the object, and can be applied to the technical field of aerospace and unmanned aerial vehicle.

[0017] The main advantages of the adsorption type flight platform and the adsorption type unmanned aerial vehicle provided by the embodiment of the utility model are firm adsorption, flexible motion, stable flight, economic energy saving, simple structure, convenient combination, and are especially suitable for industrial unmanned aerial vehicle. However, the technical scheme provided by the embodiment of the utility model is not only suitable for industrial unmanned aerial vehicle, but also can be applied to any scene needing adsorption operation on the surface of the object. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other objects, features and advantages of the embodiments of the utility model will become easy to understand by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the utility model are shown in an exemplary but not restrictive manner, wherein:

[0019] Figure 1 A structural schematic view of one example of the adsorption type flight platform according to the embodiment of the utility model is shown;

[0020] Figure 2 A structural schematic view of another example of the adsorption type flight platform according to the embodiment of the utility model is shown;

[0021] Figure 3 An airflow schematic view of the top surface adsorption mode of the adsorption type flight platform according to the embodiment of the utility model is shown;

[0022] Figure 4 An airflow schematic view of the bottom surface adsorption mode of the adsorption type flight platform according to the embodiment of the utility model is shown;

[0023] Figure 5 A force schematic view of the top surface adsorption mode of the adsorption type flight platform according to the embodiment of the utility model is shown;

[0024] Figure 6A force schematic diagram in a driving state of one example of the tilt rotor according to the embodiment of the present application is shown.

[0025] Figure 7 A force schematic diagram in a steering state of one example of the tilt rotor according to the embodiment of the present application is shown.

[0026] Figure 8 A force schematic diagram in a driving state of one example of the four-wheel driving according to the embodiment of the present application is shown.

[0027] Figure 9 A force schematic diagram in a steering state of one example of the four-wheel driving according to the embodiment of the present application is shown.

[0028] Figure 10 A force schematic diagram in a driving-steering state of one example of the three-wheel driving according to the embodiment of the present application is shown.

[0029] Figure 11 A force schematic diagram in a steering state of one example of the three-wheel driving according to the embodiment of the present application is shown.

[0030] Figure 12 A force schematic diagram in a driving state of one example of the four-wheel driving + deflection grid according to the embodiment of the present application is shown.

[0031] Figure 13 A force schematic diagram in a steering state of one example of the four-wheel driving + deflection grid according to the embodiment of the present application is shown.

[0032] Figure 14 A force schematic diagram in a driving-steering state of one example of the three-wheel driving + deflection grid according to the embodiment of the present application is shown.

[0033] In the drawings, identical or corresponding reference signs indicate identical or corresponding parts. DETAILED DESCRIPTION

[0034] The principles and spirits of the present application will be described below with reference to a number of exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present application, and do not limit the scope of the present application in any way.

[0035] In one aspect, the embodiment of the present application provides an adsorptive flight platform adapted to be adsorbed on a surface of an object. Referring to Figure 1 which shows a structural schematic diagram of one example of the adsorptive flight platform according to the embodiment of the present application.

[0036] As Figure 1 shown in FIG. 1, the adsorption flying platform includes a body frame 101, a rotor set 102, an adsorption portion 103, and a support portion 104.

[0037] The body frame 101 is used to connect the components of the flying platform as a whole and maintain structural strength. Optionally, the body frame can include other components required by the flying platform, such as a power battery. In addition, the body frame can include an interface or a connection portion for mounting or carrying other components, devices, and equipment required by the actual application of the flying platform.

[0038] For the purpose of simplicity and clarity, Figure 1 As shown in FIG. 1, the body frame 101 is generally a square frame with rounded corners, and the center of the frame has a crossbeam. However, it should be noted that the shape and structure of the body frame are not limited thereto, and the present application does not make any limitation in this regard. For example, the body frame can be generally circular, square, triangular, oval, polygonal, or any other shape. The body frame can have no crossbeam inside and only a peripheral frame. Alternatively, the body frame can have one or more beams of various structures.

[0039] The rotor set 102 includes one or more rotors connected to the body frame 101. The rotor set 102 is used to generate a high-speed airflow to generate a rotor aerodynamic force (i.e., rotor thrust) by sucking in the airflow on one side of the adsorption flying platform and discharging the airflow on the other side. Optionally, the rotor set 102 can also generate a control moment through the high-speed airflow. In Figure 1 In the specific example shown in FIG. 1, the rotor set 102 includes four rotors arranged side by side in a 2x2 form. However, the arrangement of the rotor set 102 is not limited thereto. For example, the rotor set can include only one rotor. For another example, the rotor set can include a plurality of rotors arranged in a circular periphery, a star shape, a staggered type, or the like. As an embodiment of the present application, the rotors in the rotor set are arranged in a coaxial, tilting, or flapping form.

[0040] The adsorption portion 103 is connected to the body frame 101, and the adsorption portion 103 is arranged on the side of the adsorption flying platform close to the rotor set 102 that sucks in the airflow and is provided at the outer peripheral edge of the airflow-sucking surface of the rotor set 102.

[0041] The adsorption flying platform is open, i.e., open, on both the side where the rotor set 102 sucks in the airflow and the side where the rotor set 102 discharges the airflow. As Figure 1 shown in FIG. 1, the top and bottom of the adsorption flying platform are both open, i.e., the top and bottom do not need to take sealing measures.

[0042] The support portion 104 is arranged on the outer surface of the adsorption portion 103, and is used to separate the outer surface of the adsorption portion 103 from the surface of the object, that is, to isolate the outer surface of the adsorption portion 103 from the surface of the object and keep a certain distance. A high-speed airflow flow space is formed between the outer surface of the adsorption portion 103 and the surface of the object, so that the suction airflow of the rotor group 102 enters the rotor group 102 through the airflow flow space in the working state, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption portion 103, and further generating a pressure difference adsorption force between the adsorption portion 103 and the surface of the object. The outer surface of the adsorption portion 103 can also be referred to as an adsorption surface, which is a surface of a solid.

[0043] According to the embodiment of the utility model, the higher the fluid velocity, the lower the pressure, so that the pressure will be reduced in the process that the rotor inflow passes through the airflow flow space (that is, the airflow channel) formed between the outer surface of the adsorption portion and the surface of the object, thereby generating a pressure difference aerodynamic force between the inner surface and the outer surface of the adsorption portion. At the same time, the rotor itself also generates a rotor aerodynamic force (that is, a rotor thrust). The resultant force of the pressure difference aerodynamic force and the rotor aerodynamic force realizes adsorption, and the flight platform is pressed tightly on the surface of the object.

[0044] As an embodiment of the utility model, the height and / or angle of the support portion 104 can be adjustable. The height of the support portion 104 determines the volume or gap height of the airflow flow space formed between the outer surface of the adsorption portion 103 and the surface of the object. By adjusting the height of the support portion 104, the height of the outer surface of the adsorption portion 103 relative to the surface of the object can be adjusted, thereby adjusting the size of the generated pressure difference adsorption force. By adjusting the angle of the support portion 104, the angle of the surface of the adsorption portion 103 relative to the surface of the object can be adjusted, thereby adjusting the direction of the generated pressure difference adsorption force.

[0045] Arranging the adsorption portion 103 at the outer peripheral edge of the suction airflow surface of the rotor group 102 can ensure that as much as possible or almost all of the suction airflow of the rotor group 102 flows through the airflow flow space, thereby generating as large as possible pressure difference adsorption force.

[0046] For example only, Figure 1 The adsorption portion is shown as a flat shape parallel to the top surface or the bottom surface of the flight platform in the drawings, but it should be noted that the shape, structure and arrangement of the adsorption portion and the outer surface of the adsorption portion are not limited to this. Alternatively, the adsorption portion can include one surface or multiple surfaces. Additionally, the adsorption portion can include a plane and / or a curved surface. The adsorption surface can be located on any surface of the flight platform in any direction.

[0047] According to the actual application scene of the adsorption type flight platform, the surface area of the adsorption part can be adjusted. By increasing the surface area of the adsorption part, the adsorption force generated by the adsorption part under the same conditions can be increased. However, the increase of the surface area of the adsorption part means the increase of the volume and weight of the adsorption part. Therefore, in the actual application scene, the shape, volume, surface area, etc. of the adsorption part can be flexibly set according to the needs.

[0048] Optionally, the adsorption part, the support part, the fuselage frame and the rotor group can constitute a duct form, and the duct can be one or more ducts.

[0049] The embodiment of the utility model provides adsorption surface differential pressure adsorption type flight platform mode, through with the adsorption part of the duct outside as adsorption device, with the help of rotor airflow through the adsorption part outer surface and the pressure difference between the surface of the object narrow gap formed by the adhesion adsorption force. The embodiment of the utility model according to Bernoulli principle, the higher the fluid velocity, the lower the pressure, therefore, the pressure will be reduced in the process that rotor inflow is rapidly through the airflow flowing space (i.e. airflow channel) formed between the outer surface of the adsorption part and the surface of the object, thereby generating pressure difference aerodynamic force between the inner surface and the outer surface of the adsorption part. At the same time, the rotor aerodynamic force (i.e. rotor thrust) generated by the rotor itself, the resultant force constitutes the flight platform to be pressed on the surface of the object. The flight platform can be applied to unmanned aerial vehicle, flying robot and other equipment. This structure maximizes the basic flight appearance of unmanned aerial vehicle, flying robot, without open cavity structure. And, can reach and leave the surface of the object in the flight mode, greatly improves the operation efficiency, significantly improves the accessibility of operation, improves the operation speed of unmanned aerial vehicle or flying robot on the surface of the object.

[0050] It should be noted that the adsorption type flight platform is open on the side where the rotor group 102 inhales airflow and the side where the rotor group 102 exhausts airflow. As shown in FIG. 1, Figure 1 Compared with the prior art, the adsorption function of the flight platform proposed in the embodiment of the utility model is realized by using Bernoulli principle, rather than relying on negative pressure cavity, so that, Figure 1 As shown in FIG. 1, the top and bottom of the flight platform do not need to be additionally closed, the basic flight appearance layout of the flight platform is retained, so that the flight performance originally possessed by the flight platform can be better maintained.

[0051] It should also be noted that the flying platform according to the embodiments of the present application has an adsorption part added at the edge, and in the adsorption state, there is a high-speed airflow between the object surface and the outer surface of the adsorption part, and the airflow flows in the airflow flow space between the outer surface of the adsorption part and the object surface. According to Bernoulli's principle, the higher the fluid velocity, the lower the pressure, so in the process of the airflow rapidly passing through the airflow flow space (i.e., the airflow channel) formed between the outer surface of the adsorption part and the object surface, the pressure will be reduced. In the prior art, adsorption is achieved by a negative pressure cavity, and adsorption force can be generated only after the airflow is extracted from the cavity and negative pressure is generated in the cavity. In comparison, the embodiments of the present application generate adsorption force before the airflow enters the rotor (i.e., when flowing through the airflow flow space formed between the outer surface of the adsorption part and the object surface).

[0052] The flying platform according to the embodiments of the present application can utilize the airflow sucked by the rotor (i.e., rotor inflow) to generate additional differential pressure adsorption force, and combine the rotor aerodynamic force (i.e., rotor thrust) to press the flying platform tightly on the object surface, thereby improving the adsorption capacity.

[0053] Reference Figure 2 which shows a structural schematic diagram of another example of the adsorption type flying platform according to the embodiments of the present application. In this example, the adsorption type flying platform includes a fuselage frame 201, a rotor group 202, and an adsorption part 203. The adsorption type flying platform further includes a motion assembly 205 arranged on the fuselage frame. The motion assembly 205 is used to drive the adsorption type flying platform to move on the object surface.

[0054] Only as an example, Figure 2 In the example, the motion assembly 205 is shown in the form of a wheel. As Figure 2 shown, the motion assembly 205 is mounted on the adsorption part 203, specifically, on the two opposite edges of the adsorption part 203. However, it should be noted that the mounting and arrangement of the motion assembly are not limited thereto. In fact, the motion assembly can include one or more of the following: a drive wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilt rotor, a deflection grid, and a power duct.

[0055] As an embodiment of the present application, the part of the motion assembly located between the outer surface of the adsorption part and the object surface constitutes a support part. As Figure 2 shown, the part of the wheel of the motion assembly 205 protruding from the outer surface of the adsorption part 203 constitutes the support part.

[0056] The embodiment provided by the above-mentioned embodiment of the utility model can control the adsorption and movement of the unmanned aerial vehicle on the surface of the object by adjusting the wheel rotating speed and direction and the like. The flying platform can be firmly adsorbed on the surface of the object and can move quickly and flexibly on the surface of the object, so that the work efficiency can be greatly improved, and the accessibility of the work area can be significantly improved.

[0057] As an embodiment of the utility model, as shown in the figure, Figure 2 The rotating direction, rotating speed and rotor pitch angle of at least part of the rotors in the rotor group are adjustable, so that the direction of the air flow sucked by the rotors is changed, and the adsorption part 203 can be arranged on both sides of the adsorption flying platform, i.e. one adsorption part 203 is arranged on the top and bottom planes of the flying platform. The adjustment of the rotating direction of the rotors includes the reversal of the rotating direction of the rotors, for example, the rotating direction of the rotors is changed by reversing the motor; the adjustment of the rotating speed of the rotors includes the adjustment of the rotating speed of the rotors, for example, the bidirectional adjustment of the rotating speed and direction of the rotors is realized by a bidirectional motor speed regulator; the adjustment of the rotor pitch angle includes the adjustment of the size and direction of the rotor pitch angle, for example, the size and direction of the air flow sucked by the rotors are adjusted by changing the size and sign of the pitch angle.

[0058] In the above-mentioned embodiment, the support part can be arranged on the adsorption part on both sides of the adsorption flying platform. As an embodiment of the utility model, one or more of the rotating direction, rotating speed, pitch angle, flapping angle and tilt angle of the rotors in the rotor group are adjustable. The adsorption and movement of the unmanned aerial vehicle on the surface of the object can be controlled by adjusting the rotating direction, rotating speed, pitch angle, flapping angle and tilt angle of the rotors.

[0059] The flying platform with the movement assembly provided by the embodiment of the utility model realizes the movement and control of the unmanned aerial vehicle in the adsorption state on the surface of the object by the driving wheel, driven wheel, skid, tilt rotor, deflection grid and power duct.

[0060] Reference Figures 3-5 , wherein Figure 3 and Figure 4 show the air flow schematic diagrams of the top surface adsorption mode and the bottom surface adsorption mode of the adsorption flying platform according to the embodiment of the utility model, Figure 5 show the force schematic diagram of the top surface adsorption mode of the adsorption flying platform according to the embodiment of the utility model. In Figure 3 , the flying platform can be adsorbed on the surface of the object through the top surface, and in Figure 4In some embodiments, the flying platform can be attached to the object surface by the bottom surface. Alternatively, the flying platform can have only one of the bottom surface attachment mode and the top surface attachment mode, or both of the bottom surface attachment mode and the top surface attachment mode, and switch between the two modes according to the actual application scenario.

[0061] For the purpose of example and simplicity, Figure 3 and Figure 4 It is shown that the suction airflow passes through the airflow flow space in a direction parallel to the outer surface of the suction part. However, it should be noted that in actual applications, the suction airflow may not necessarily pass through the airflow flow space in a direction parallel to the outer surface of the suction part, but may flow in any other direction, or may change direction one or more times during the flow process, due to the shape, structure, temperature or other environmental factors of the object surface or the suction part surface. The present application does not make any limitation in this regard.

[0062] During the high-speed rotation of the rotor group, external airflow (pressure P0) is sucked from the outside of the suction surface, flows through the suction surface and is discharged by the rotor. A narrow airflow channel is formed between the suction surface and the object surface, forcing the airflow sucked by the rotor to accelerate through the airflow channel. According to Bernoulli's principle, the higher the fluid velocity, the lower the pressure, so the pressure of the airflow will decrease to P1 during the rapid passage through the airflow channel.

[0063] Therefore, the pressure difference on both sides of the suction surface is obtained according to the following formula (1):

[0064] ΔP = P0 - P1 Formula (1)

[0065] Where P0 is the pressure of the external atmosphere, P1 is the pressure in the airflow channel, and ΔP is the pressure difference on both sides of the suction surface.

[0066] Assuming that the effective area of the suction surface is S, the pressure difference adsorption force F P is obtained according to the following formula (2):

[0067] F P = ΔPS Formula (2)

[0068] Where F P is the pressure difference adsorption force, ΔP is the pressure difference on both sides of the suction surface, and S is the effective area of the suction surface.

[0069] In this process, the pressure difference adsorption force F P and the rotor aerodynamic force F RThe differential pressure adsorption force is generated by the differential pressure of the airflow flowing through the adsorption surface, and the rotor aerodynamic force is generated by the acceleration of the airflow by the rotor. The resultant force of the differential pressure adsorption force and the rotor aerodynamic force presses the unmanned aerial vehicle on the surface of the object, and the adsorption function of the unmanned aerial vehicle on the surface of the object is realized.

[0070] The relationship between the pressure and the flow rate in the airflow channel is obtained according to the Bernoulli equation shown in the following formula (3):

[0071]

[0072] Wherein, p is the pressure of a point in the fluid, v is the flow rate of the fluid at the point, p is the fluid density, g is the acceleration of gravity, h is the height of the point, and C is a constant.

[0073] The force mode of the flight platform when being adsorbed on the surface of the object through the top surface is as shown in Figure 5 . Wherein, F P represents the differential pressure adsorption force generated by the differential pressure when the airflow is sucked by the rotor and passes through the gap between the adsorption surface and the surface of the object at a high speed; F R represents the rotor aerodynamic force generated by the work of the rotor. The resultant force F=F P +F R of the differential pressure adsorption force and the rotor aerodynamic force presses the unmanned aerial vehicle on the surface of the object.

[0074] As an example of the embodiment of the utility model, the motion assembly can be a tilt rotor. Referring to Figures 6-7 , which respectively shows the force schematic diagram in the driving state and the steering state of an example of the tilt rotor according to the embodiment of the utility model. In the case that the rotor groups on both sides of the flight platform are synchronously tilted, the motion power driving the flight platform to translate on the surface of the object is generated, as shown in Figure 6 . In the case that the rotor groups on both sides of the flight platform are differentially tilted, the steering torque driving the unmanned aerial vehicle to rotate on the surface of the object is generated, as shown in Figure 7 . In the case that the rotor groups on both sides of the flight platform are both synchronously tilted and differentially tilted, the motion power and the steering torque driving the flight platform to travel on the surface of the object are generated.

[0075] As an example of the embodiment of the utility model, the motion assembly can be a power wheel. Referring to Figures 8-9 , which respectively shows the force schematic diagram in the driving state and the steering state of an example of the four-wheel travel according to the embodiment of the utility model. In the case that the power wheels on both sides of the flight platform are synchronously rotated (the rotation direction is shown by the arrow direction of F W in the figure, F WThe friction generated by the rotation of the flight platform's power wheels on the object's surface creates the kinetic force that propels the flight platform to translate along the object's surface. Figure 8 As shown. With the differential rotation of the drive wheels on both sides of the flight platform, a steering torque is generated that drives the flight platform to rotate on the object's surface, as... Figure 9 As shown, when the drive wheels on both sides of the flight platform tilt synchronously and differentially, the driving force and steering torque that propel the flight platform across the object's surface are generated. The drive wheels can be one or more of all the wheels.

[0076] As an example of an embodiment of this utility model, the motion component may include a steering drive wheel. (See reference...) Figure 10 It shows a force diagram of a three-wheeled vehicle in a drive-steering state according to an embodiment of the present invention. With the steering wheel rotating (rotation direction F in the figure), W As shown by the arrow direction, F W The friction generated by the rotation of the flight platform's drive wheels on the object's surface creates the kinetic force that propels the flight platform to translate along the object's surface. When the steering drive wheels rotate and steer, they generate the kinetic force that propels the flight platform to rotate along the object's surface and the steering torque. The steering drive wheels can be one or more of all the wheels.

[0077] In one embodiment of this invention, the motion component may include a steering wheel and a drive wheel. (See reference) Figure 11 It shows a force diagram of a three-wheeled vehicle in a steering state according to an embodiment of the present invention. When the drive wheels on both sides of the flight platform rotate synchronously, a kinetic force is generated to drive the flight platform to translate across the object surface; when the drive wheels on both sides of the flight platform rotate differentially (rotation direction F in the figure),... W As shown by the arrow direction, F W The friction generated by the rotation of the flight platform's drive wheels on the object's surface produces a steering torque that drives the flight platform to rotate on the object's surface. When the drive wheels on both sides of the flight platform rotate synchronously or differentially, the driving force and steering torque that propel the flight platform on the object's surface are generated. The drive wheels can be two or more of all the wheels.

[0078] In one embodiment of this invention, the motion component can be a deflection grid. (See reference...) Figures 12-13 The diagrams illustrate the force distribution in both driving and steering states of a four-wheeled driving + deflection grid example according to an embodiment of the present invention. In this embodiment, the adhesion and movement of the UAV on the object surface can be controlled by adjusting the grid control surfaces, etc. When the deflection grids on both sides of the flight platform deflect synchronously, a kinetic force is generated that drives the flight platform to translate on the object surface, such as...Figure 12 As shown in FIG. 1, the deflection grid on both sides of the flight platform is differentially deflected, and a steering torque driving the flight platform to rotate on the surface of the object is generated. Figure 13 As shown in FIG. 1, the deflection grid on both sides of the flight platform is differentially deflected, and a steering torque driving the flight platform to rotate on the surface of the object is generated.

[0079] As an embodiment of the present application, the motion assembly can adopt one or more of the above technical means. For example, in Figure 14 The motion assembly mode using the steering power wheel and the deflection grid at the same time is shown in FIG. 1. Figure 14 FIG. 1 shows a force schematic diagram of a three-wheel driving + deflection grid example in a driving-steering state according to an embodiment of the present application.

[0080] The adsorptive flight platform according to the embodiment of the present application does not need to be additionally closed, and the basic flight appearance layout of the flight platform is retained, so that the flight control and flight performance originally possessed by the flight platform can be better maintained, and the flight control mode of the conventional flight control mode combined with the motion control mode of the adsorptive flight platform, such as the tilt rotor and the deflection grid, is adopted, and the flight control function of the flight platform is further improved.

[0081] The main advantages of the adsorptive flight platform according to the embodiment of the present application are firm adsorption, simple structure, flexible flight, and convenient combination, and the adsorptive flight platform is particularly suitable for industrial unmanned aerial vehicles. However, the technical solution according to the embodiment of the present application is not only suitable for industrial unmanned aerial vehicles, but also can be applied to any scene requiring adsorption operation on the surface of an object.

[0082] The above embodiment of the present application proposes an adsorptive flight platform, and the flight platform can independently constitute an unmanned aerial vehicle or a flying robot, so that the description of the flight platform in the above embodiment can be replaced by an unmanned aerial vehicle or a flying robot.

[0083] In another aspect, the embodiment of the present application proposes an adsorptive unmanned aerial vehicle, which comprises the adsorptive flight platform described according to any of the above embodiments.

[0084] The embodiment of the utility model discloses an adsorption type unmanned plane, utilizes the pressure difference of rotor airflow, forms the aerodynamic force on the adsorption surface, obtains the pressure difference adsorption force, and through the resultant force of pressure difference adsorption force and rotor aerodynamic force, the unmanned plane is pressed tightly on the object surface.Extra pressure difference adsorption force combines the rotor aerodynamic force, and the adsorption capacity is improved.Compared with the unmanned plane that only relies on the rotor aerodynamic force and is attached to the object surface, the embodiment of the utility model utilizes the improvement on the structure, increases the adsorption surface, utilizes the pressure difference effect of the suction airflow of the rotor fully, thereby produces the extra pressure difference adsorption force on the adsorption surface.In the case of equal energy consumption, the adsorption force is enhanced, and in the case of guaranteeing equal adsorption force, the energy consumption is reduced, thereby the adsorption capacity of the unmanned plane on the object surface is improved significantly.

[0085] In the case that the adsorption type unmanned plane includes motion components, through the drive wheel, driven wheel, skid, tilt rotor, deflection grid, power duct and various motion component modes, the motion and control of the unmanned plane in the adsorption state on the object surface are realized.

[0086] The embodiment of the utility model discloses an adsorption type unmanned plane, utilizes the pressure difference of rotor airflow, forms the aerodynamic force on the adsorption surface, obtains the pressure difference adsorption force, and through the resultant force of pressure difference adsorption force and rotor aerodynamic force, the unmanned plane is pressed tightly on the object surface.Extra pressure difference adsorption force combines the rotor aerodynamic force, and the adsorption capacity is improved.Compared with the unmanned plane that only relies on the rotor aerodynamic force and is attached to the object surface, the embodiment of the utility model utilizes the improvement on the structure, increases the adsorption surface, utilizes the pressure difference effect of the suction airflow of the rotor fully, thereby produces the extra pressure difference adsorption force on the adsorption surface.In the case of equal energy consumption, the adsorption force is enhanced, and in the case of guaranteeing equal adsorption force, the energy consumption is reduced, thereby the adsorption capacity of the unmanned plane on the object surface is improved significantly.

[0087] The embodiment of the utility model gives the overall design scheme for special unmanned plane, especially for the unmanned plane that patrols, washes and maintains on the surface of large object (building, glass curtain wall, underground pipeline, photovoltaic panel etc.), can realize the stable adsorption and motion control on the object surface, can be applied to the technical field of aerospace and unmanned plane.

[0088] The main advantages of the adsorption type flight platform and adsorption type unmanned plane of the embodiment of the utility model are firm adsorption, simple structure, economic energy saving, flight flexibility, convenient combination, especially suitable for industrial unmanned plane.However, the technical scheme of the embodiment of the utility model is not only suitable for industrial unmanned plane, but also can be applied to any scene that needs to adsorb operation on the object surface.

[0089] The foregoing description of embodiments of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. An adsorbed flying platform, characterized by, The adsorptive flight platform is adapted to be adsorbed on a surface of an object, and comprises a body frame, a rotor set, an adsorption part, and a support part, The rotor set comprises one or more rotors connected to the body frame, and is configured to generate rotor aerodynamic force by sucking air on one side of the adsorptive flight platform and discharging air on the other side; The adsorption part is connected to the body frame, and is arranged on the adsorptive flight platform near the side where the rotor set sucks air, and is provided on the outer circumferential edge of the air-sucking surface of the rotor set; The adsorptive flight platform is open on both the side where the rotor set sucks air and the side where the rotor set discharges air, The support part is provided on the outer surface of the adsorption part, and is configured to separate the outer surface of the adsorption part from the surface of the object, to form an air flow space between the outer surface of the adsorption part and the surface of the object, so that in a working state, the air sucked by the rotor set passes through the air flow space before entering the rotor set, thereby generating a pressure difference between the outer surface and the inner surface of the adsorption part, and further generating a pressure difference adsorption force between the adsorption part and the surface of the object.

2. The flying platform of claim 1, wherein, The adsorptive flight platform further comprises a movement assembly provided on the body frame, and configured to drive the adsorptive flight platform to move on the surface of the object.

3. The flying platform of claim 2, wherein, The part of the movement assembly between the outer surface of the adsorption part and the surface of the object constitutes the support part.

4. The flying platform of claim 2, wherein, The movement assembly comprises one or more of the following: a drive wheel, a steering wheel, a driven wheel, a Mecanum wheel, a skid, a tilting rotor, a deflection grid, and a power duct.

5. The aeroadhesive flying platform according to any one of claims 1-4, wherein, One or more of the rotation direction, rotation speed, and rotor pitch angle of at least part of the rotors in the rotor set are adjustable, and The adsorption part is provided on both sides of the adsorptive flight platform.

6. The aeroadhesive flying platform according to any one of claims 1-4, wherein, The height and / or angle of the support part are adjustable.

7. The aeroadhesive flying platform according to any one of claims 1-4, wherein, The adsorption part comprises one or more surfaces, and The adsorption part comprises a flat surface and / or a curved surface.

8. The aeroadhesive flying platform according to any one of claims 1-4, wherein, The rotors in the rotor set are arranged in a coaxial, tilting, or flapping manner.

9. The aeroadhesive flying platform according to any one of claims 1-4, wherein, One or more of the rotation direction, rotation speed, pitch angle, flapping angle, and tilting angle of the rotors in the rotor set are adjustable.

10. An adsorbed drone, characterized by, An adsorptive flight platform according to any one of claims 1-9.

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