Flight-wall climbing dual-mode conversion unmanned aerial vehicle integrating adsorption force control

Abstract

The utility model provides a flight-wall climbing dual-mode conversion unmanned aerial vehicle integrating adsorption force control, and relates to the technical field of aircrafts, the unmanned aerial vehicle comprises a rack, the top of which is provided with a laser radar; an adsorption mechanism; each wall surface crawling mechanism comprises a fixed bracket, a walking wheel, a rotor wing, a first motor and a second motor; a plurality of mode conversion mechanisms, wherein each mode conversion mechanism is connected with one wall surface crawling mechanism; and the controller obtains target wall surface characteristics through the laser radar, controls the second motor to drive the rotor wings to rotate to enable the unmanned aerial vehicle to approach the target wall surface, controls the first steering engine and the second steering engine to rotate to adjust the attitude of the unmanned aerial vehicle and the adsorption force of the adsorption mechanism to enable the adsorption mechanism to be adsorbed with the target wall surface, and controls the first motor to drive the walking wheels to move on the target wall surface. The unmanned aerial vehicle has the advantages that stable and efficient switching between a flight mode and a wall climbing mode of the unmanned aerial vehicle is achieved, and it is ensured that the unmanned aerial vehicle can be stably transited to the wall surface and stably attached.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of aircraft technology especially relates to a flight - wall climbing dual - mode conversion unmanned plane of fusion adsorption force control. BACKGROUND

[0002] Current multi-rotor unmanned plane has been widely applied in diversified task scenes such as aerial inspection, environmental monitoring and the like owing to its flexible control performance and relatively convenient deployment mode. However, owing to inherent constraint of its flight characteristic, multi-rotor unmanned plane can only execute tasks in three-dimensional space aerial environment, and has obvious application limitation in vertical wall surface, complex terrain and the like special operation scene, which specifically shows that it cannot operate on these special surfaces, and simultaneously faces dual technical bottlenecks of insufficient flight performance and wall climbing capability.

[0003] In order to effectively overcome the above technical problems, part of the front research proposes an innovative solution, that is, deeply fusing adsorption force technology and flight control system of quad-rotor unmanned plane, aiming at realizing stable adhesion of unmanned plane on wall surface and the like special surface, and simultaneously ensuring that it can carry out accurate motion control. This technical fusion scheme provides new ideas and possibility for expanding application boundary of quad-rotor unmanned plane. However, although the technical scheme combining adsorption force and flight control has significant application potential, how to realize smooth and efficient switching of unmanned plane between flight mode and wall climbing mode, and simultaneously ensure that flight trajectory of unmanned plane keeps smooth and collision does not occur in mode transition process, is still a key technical challenge to be conquered. SUMMARY

[0004] Therefore, in order to solve the problem of stable adhesion of unmanned plane on wall surface and the like special surface, and simultaneously ensure that it can carry out accurate motion control, the embodiment of the utility model provides a flight-wall climbing dual-mode conversion unmanned plane of fusion adsorption force control.

[0005] The embodiment of the utility model provides a flight-wall climbing dual-mode conversion unmanned plane of fusion adsorption force control, which comprises:

[0006] A rack is provided with a laser radar at the top;

[0007] An adsorption mechanism is arranged at the bottom of the rack and is used for adsorbing with a target wall surface;

[0008] A plurality of wall climbing mechanisms, comprising a fixed support, a walking wheel, a rotor, a first motor and a second motor, wherein the walking wheel is rotatably installed on the fixed support, the first motor is connected with the walking wheel to drive the walking wheel to rotate, the rotor is installed in the walking wheel, and the second motor is connected with the rotor to drive the rotor to rotate;

[0009] a plurality of mode conversion mechanisms, each of the mode conversion mechanisms is arranged at intervals around the frame, each of the mode conversion mechanisms is connected with one of the wall-climbing mechanisms, each of the mode conversion mechanisms comprises a first steering engine and a second steering engine, the first steering engine is fixedly installed on the frame and has an output end connected with the second steering engine, an output end of the second steering engine is connected with one of the fixed supports, the first steering engine and the second steering engine are used to drive the wall-climbing mechanisms to rotate around two mutually perpendicular rotation axes, so that the walking wheels of each of the wall-climbing mechanisms are in contact with the target wall surface;

[0010] and a controller connected with the laser radar, the adsorption mechanism, the first motor, the second motor, the first steering engine and the second steering engine respectively, wherein the controller is used to acquire the characteristics of the target wall surface by the laser radar, control the second motor to drive the rotor to rotate so that the unmanned aerial vehicle approaches the target wall surface, control the first steering engine and the second steering engine to rotate to adjust the posture of the unmanned aerial vehicle and the adsorption force of the adsorption mechanism so that the adsorption mechanism is adsorbed to the target wall surface, and control the first motor to drive the walking wheels to move on the target wall surface.

[0011] Further, the adsorption mechanism comprises an adsorption cavity and a vacuum pump, an upper end of the adsorption cavity is connected with a bottom surface of the frame through a plurality of support columns, the vacuum pump is installed at an upper end of the adsorption cavity and communicates with the adsorption cavity, and a lower end of the adsorption cavity is provided with a soft skirt.

[0012] Further, the adsorption cavity comprises a fixed plate, a sealing cover and a movable plate, the fixed plate is fixed to the bottom of the frame, the sealing cover is a multi-layer folded cavity structure, an upper end of the sealing cover is connected with the fixed plate, a lower end of the sealing cover is connected with the movable plate, and an upper end of the soft skirt is connected with the movable plate and is arranged around the movable plate.

[0013] Further, the adsorption mechanism further comprises a pressure sensor arranged in the sealing cover to detect the air pressure in the sealing cover.

[0014] Further, the soft skirt is made of rubber.

[0015] Further, the walking wheel comprises a hub, the hub comprises a hub outer ring, a hub inner ring and a plurality of connecting plates connected between the hub outer ring and the hub inner ring, the second motor is installed in the hub inner ring, and the rotor is located at a front side of the hub inner ring and connected with the second motor.

[0016] Further, a front side edge of the hub outer ring is further provided with a protective cover extending forward, the protective cover is a hollow structure, and the rotor is located in the protective cover.

[0017] Further, the rotor comprises two helical blades and a blade support, one end of the two helical blades coincides and is fixed on the blade support, and the blade support is connected to the second motor.

[0018] Further, the first motor is connected to the walking wheel through a gear set, the gear set comprises a driving gear and a driven gear, the driving gear is rotatably installed on the fixed support, the driven gear is sleeved and installed on the inner ring of the wheel hub, the driving gear and the driven gear are engaged, and the first motor is connected to the driving gear.

[0019] Further, the rack is rectangular, and the number of the wall surface climbing mechanisms is four, and the four wall surface climbing mechanisms are arranged at four corners of the rack.

[0020] The embodiment of the technical scheme provided by the utility model has the beneficial effects that:

[0021] The utility model discloses a kind of flight-wall climbing dual-mode conversion unmanned aerial vehicles of fusion adsorption force control, with flight mode and wall climbing mode, each wall surface climbing mechanism generally keeps horizontal state under flight mode, makes unmanned aerial vehicle can be stably flown to target wall by second motor driven rotor rotation;When it needs to be converted to wall climbing mode, adsorption mechanism extracts negative pressure inside sealing cover by vacuum pump, promotes soft skirt edge to closely adhere target wall, and mode conversion mechanism drives each wall surface climbing mechanism to be inclined, and the walking wheel of wall surface climbing mechanism is contacted with target wall, realizes stable and reliable adsorption effect on complex curved surface;When adsorption mechanism and target wall successfully contact under wall climbing mode, each wall surface climbing mechanism can also be driven walking wheel by first motor, so that it is flexibly walked on target wall, and then realize the attitude adjustment of unmanned aerial vehicle, realize the smooth, efficient switching between flight mode and wall climbing mode of unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the schematic diagram of the utility model of a kind of flight-wall climbing dual-mode conversion unmanned aerial vehicles of fusion adsorption force control;

[0023] Figure 2 It is the schematic diagram of the utility model of a kind of flight-wall climbing dual-mode conversion unmanned aerial vehicles of fusion adsorption force control flight mode;

[0024] Figure 3 It is the schematic diagram of adsorption mechanism;

[0025] Figure 4 It is the first schematic diagram of wall surface climbing mechanism;

[0026] Figure 5 It is the second schematic diagram of wall surface climbing mechanism;

[0027] Figure 6 is a schematic view of a mode conversion mechanism;

[0028] Figure 7 is a schematic view of a process of converting from a flight mode to a wall-climbing mode of the unmanned aerial vehicle of the present application;

[0029] Figure 8 is a schematic view of a wall-climbing mode of the unmanned aerial vehicle of the present application.

[0030] In the figure: 1, a frame; 101, a radar support; 102, a laser radar; 2, an adsorption mechanism; 201, a vacuum pump; 202, a fixed plate; 203, a sealing cover; 204, a movable plate; 205, a soft skirt; 206, a support column; 3, a wall-climbing mechanism; 301, a wheel hub outer ring; 302, a wheel hub inner ring; 303, a connecting plate; 304, a spiral blade; 305, a blade support; 306, a support plate; 307, a first motor; 308, a second motor; 309, a protective cover; 310, a hollow hole; 311, a driving gear; 312, a driven gear; 4, a mode conversion mechanism; 401, a first steering engine; 402, a second steering engine; 403, a steering engine support. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will further describe the embodiments of the present application in connection with the drawings. The following is a relatively preferred one of the multiple possible embodiments of the present application, which is intended to provide a basic understanding of the present application, but is not intended to confirm the key or decisive elements or limit the scope of protection.

[0032] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of example embodiments can have different values.

[0033] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be regarded as part of the specification to the extent they are discussed herein.

[0034] It should be noted that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings. It is also to be understood that the dimensions of the various portions shown in the drawings are not necessarily to scale for ease of description.

[0035] It should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be mechanical connection, or electrical connection, it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according of the specific circumstances.

[0036] Please refer to Figure 1 And Figure 2 The embodiment of the utility model provides a kind of wall climbing dual-mode conversion unmanned aerial vehicle of fusing adsorption force control, including rack 1, adsorption mechanism 2, multiple wall surface crawling mechanisms 3, mode conversion mechanism 4, and controller.

[0037] Wherein the rack 1 is a carrying platform, and the top is provided with laser radar 102, and the laser radar 102 is used for target wall feature and current state information of unmanned aerial vehicle.The wall feature includes the position of wall, angle and the relative position between unmanned aerial vehicle and wall.

[0038] The shape of the rack 1 can be flexibly selected according to actual application scene, such as the rack 1 is rectangular in the embodiment, specifically rectangular frame structure, and the top of the rack 1 is provided with upwardly extending radar support 101, and the laser radar 102 is installed on the radar support.

[0039] Please refer to Figure 3 The adsorption mechanism 2 is arranged at the bottom of the rack 1 and is used for adsorbing with target wall.The adsorption mechanism 2 mainly includes adsorption cavity, vacuum pump 201 and pressure sensor, the vacuum pump 201 is connected with the adsorption cavity, the lower end of the adsorption cavity is provided with soft skirt 205, and the pressure sensor is arranged in the adsorption cavity to detect the air pressure in the adsorption cavity.

[0040] Wherein the adsorption cavity includes fixed plate 202, sealing cover 203 and movable plate 204, and the upper end of the adsorption cavity is connected with the bottom surface of the rack through a plurality of support columns 206, the fixed plate 202 is fixed to the bottom surface of the rack 1, a plurality of support columns 206 are arranged on the fixed plate 202, and the upper end of each support column 206 is fixedly connected with the bottom surface of the rack 1.The vacuum pump 201 is installed on the fixed plate 202 and communicates with the inside of the sealing cover 203, the upper end of the sealing cover 203 is connected with the fixed plate 202, the lower end is connected with the movable plate 204, and the upper end of the soft skirt 205 is connected with the movable plate 204 and is arranged around the movable plate 204.

[0041] The soft skirt 205 is generally made of rubber. The vacuum pump 201 can draw negative pressure in the sealing cover 203 to make the soft skirt 205 contact and adsorb the surface of the measured object. When the surface of the measured object is a curved surface or other uneven surface, the soft skirt 205 can adaptively deform according to the shape of the surface of the measured object, so as to stably contact and adsorb the surface of the measured object.

[0042] In some embodiments, the sealing cover 203 is a multi-layer folded cavity structure. Thus, when the vacuum pump 201 draws negative pressure in the sealing cover 203, the sealing cover 203 can be folded, so that the length of the sealing cover 203 is reduced, thereby more stably contacting and adsorbing the surface of the measured object.

[0043] Please refer to Figure 4 and Figure 5 , the wall climbing mechanism 3 is generally provided in multiple, each modal conversion mechanism 4 is arranged at intervals around the rack 1, and each modal conversion mechanism 4 is connected with a wall climbing mechanism 3.

[0044] Each wall climbing mechanism 3 includes a fixed support, a walking wheel, a rotor, a first motor 307 and a second motor 308. The walking wheel is rotatably mounted on the fixed support. The first motor 307 is connected with the walking wheel to drive the walking wheel to rotate. The rotor is mounted in the walking wheel. The second motor 308 is connected with the rotor to drive the rotor to rotate.

[0045] Specifically, the walking wheel includes a hub, the hub includes a hub outer ring 301, a hub inner ring 302, and a plurality of connecting plates 303 connected between the hub outer ring 301 and the hub inner ring 302. The hub outer ring 301 and the hub inner ring 302 are coaxially arranged. The number of connecting plates 303 is generally three or more, such as three in this embodiment. Each connecting plate 303 is generally uniformly and spacedly arranged around the hub inner ring 302. The second motor 308 is mounted in the hub inner ring 302. The rotor is located in front of the hub inner ring 302 and connected with the second motor 308. The first motor 307 and the second motor 308 can be selected as motors. The rotation of the motors can control the rotation of the hub and the rotor.

[0046] In some embodiments, the first motor 307 is connected to the traveling wheel through a gear set, which includes a driving gear 311 rotatably mounted on the fixed support and a driven gear 312 sleeved on the wheel hub inner ring 302, the driving gear 311 and the driven gear 312 being engaged, and the first motor 307 being connected to the driving gear 311.

[0047] The rotor can be flexibly selected according to actual application. In some embodiments, the rotor includes two helical blades 304 and a blade support 305, the two helical blades 304 being fixed at one end to the blade support 305, and the blade support 305 being connected to the second motor 308.

[0048] In some embodiments, the front side edge of the wheel hub outer ring 301 is further provided with a forwardly extending protective cover 309, and the rotor is located in the protective cover 309. The protective cover 309 is arranged around the circumference of the wheel hub outer ring 301, and the rotating diameter of the rotor is less than the inner diameter of the protective cover 309. In order to make the air flow more smoothly when the rotor rotates, the protective cover 309 is of a hollow structure, such as a ring of hollow holes 310 arranged on the side wall of the protective cover 309, to accelerate air flow.

[0049] Please refer to Figure 6 and Figure 8 , each of the modal conversion mechanisms 4 is arranged at intervals around the frame 1, each of the modal conversion mechanisms 4 is connected to the wall-climbing mechanism 3, each of the modal conversion mechanisms 4 includes a first steering gear 401 and a second steering gear 402, the first steering gear 401 is fixedly installed on the frame 1 and has an output end connected to the second steering gear 402, an output end of the second steering gear 402 is connected to the fixed support, and the first steering gear 401 and the second steering gear 402 are used to drive the wall-climbing mechanism 3 to rotate around two mutually perpendicular rotation axes, so that the traveling wheel can travel on a curved surface.

[0050] Specifically, the first steering gear 401 is a single-axis steering gear, and the second steering gear 402 is a double-axis steering gear. The single-axis steering gear is fixedly installed on a steering gear support 403, an output shaft of the single-axis steering gear is arranged and extends out of the steering gear support 403 along the front-rear direction and is connected to the double-axis steering gear, the fixed support includes two support plates 306 arranged opposite to each other, two output shafts of the double-axis steering gear extend leftward and rightward, respectively, and are connected to one end of the two support plates 306, respectively, and the two output shafts of the double-axis steering gear synchronously drive the two support plates 306 to rotate. The other end of the two support plates 306 is connected to the rear end of the wheel hub inner ring 302, thereby being connected to the traveling wheel.

[0051] It should be noted that the number of wall climbing mechanisms 3 can be flexibly set according to the walking needs of the rack 1. In this embodiment, the number of wall climbing mechanisms 3 is four, and the four wall climbing mechanisms 3 are arranged at the four corners of the rack 1.

[0052] Please refer to Figure 7 The controller is installed in the rack 1, and the controller is connected with the laser radar 102, the vacuum pump 201, the pressure sensor, the first motor 307, the second motor 308, the first steering wheel 401 and the second steering wheel 402 respectively, wherein the controller is used to acquire target wall features from the laser radar 102, control the second motor 308 to drive the rotor to rotate to make the unmanned aerial vehicle approach the target wall, control the first steering wheel 401 and the second steering wheel 402 to rotate to adjust the attitude of the unmanned aerial vehicle, control the vacuum pump 201 to adjust the air pressure in the adsorption cavity to make the adsorption cavity adsorb the target wall, and control the first motor 307 to drive the walking wheel to move on the target wall.

[0053] The utility model discloses a kind of flight-wall climbing dual-mode conversion unmanned aerial vehicles of fusion adsorption force control, with flight mode and wall climbing mode, each wall climbing mechanism 3 generally keeps horizontal state under flight mode, by second motor 308 driven rotor rotation, so that unmanned aerial vehicle can stably fly to target wall;When it needs to be converted to wall climbing mode, adsorption mechanism 2 is extracted by vacuum pump 201 to the negative pressure inside sealed cover, prompting soft skirt to closely adhere target wall, mode conversion mechanism drives the walking wheel of each wall climbing mechanism 3 to be inclined and contact target wall, realize stable and reliable adsorption effect on complex curved surface;Wall climbing mode under adsorption mechanism 2 and target wall successfully contact, each wall climbing mechanism 3 can also be driven walking wheel by first motor 307, so that it is flexibly walked on target wall, and then realize the attitude adjustment of unmanned aerial vehicle, present unmanned aerial vehicle between flight mode and wall climbing mode Stable, efficient switching.

[0054] In this paper, the front, back, up, down and other orientation words are defined by the position of the parts in the drawing and the position of the parts relative to each other in the drawing, just to express the technical scheme clearly and conveniently. It should be understood that they are relative concepts, which can be changed accordingly according to different ways of use and placement, and the use of the orientation words should not limit the scope of the application.

[0055] In the case of no conflict, the above embodiments and features in the embodiments can be combined with each other. The above is only the preferred embodiment of the utility model, and does not limit the utility model, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A flying-wall-climbing dual-mode conversion unmanned aerial vehicle with fusion adsorption force control, characterized in that, The wall-climbing robot comprises a frame, a laser radar arranged on the top of the frame, an adsorption mechanism arranged on the bottom of the frame for adsorbing to a target wall, a plurality of wall-climbing mechanisms, a plurality of modal conversion mechanisms, and a controller. The wall-climbing mechanism comprises a fixed support, a walking wheel rotatably mounted on the fixed support, a first motor connected to the walking wheel for driving the walking wheel to rotate, and a rotor mounted in the walking wheel and connected to a second motor for driving the rotor to rotate. Each modal conversion mechanism is connected to one wall-climbing mechanism and comprises a first servo motor fixedly mounted on the frame and having an output end connected to a second servo motor, and an output end of the second servo motor connected to the fixed support of the wall-climbing mechanism. The first and second servo motors are used for driving the wall-climbing mechanism to rotate around two mutually perpendicular rotation axes, so that the walking wheel of each wall-climbing mechanism is in contact with the target wall. The controller is connected to the laser radar, the adsorption mechanism, the first motor, the second motor, the first servo motor, and the second servo motor, respectively. The controller is used for acquiring the features of the target wall by the laser radar, controlling the second motor to drive the rotor to rotate so that the unmanned aerial vehicle approaches the target wall, controlling the first and second servo motors to rotate and adjust the posture of the unmanned aerial vehicle and the adsorption force of the adsorption mechanism so that the adsorption mechanism is adsorbed to the target wall, and controlling the first motor to drive the walking wheel to move on the target wall.

2. The fusion adsorption force controlled flight-wall climbing dual-mode conversion unmanned aerial vehicle according to claim 1, characterized in that: The adsorption mechanism comprises an adsorption cavity and a vacuum pump.

3. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 2, wherein: The upper end of the adsorption cavity is connected to the bottom surface of the frame by a plurality of support columns.

4. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 3, wherein: The vacuum pump is mounted on the upper end of the adsorption cavity and communicates with the adsorption cavity.

5. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 3, wherein: The lower end of the adsorption cavity is provided with a soft skirt.

6. The fusion adsorption force controlled flight-wall climbing dual-mode transition drone according to claim 1, wherein: The adsorption cavity comprises a fixed plate, a sealing cover, and a movable plate.

7. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 6, wherein: The sealing cover is a multi-layer folded cavity structure.

8. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 6, wherein: The soft skirt is made of rubber. The walking wheel comprises a hub. The hub comprises a hub outer ring, a hub inner ring, and a plurality of connecting plates connected between the hub outer ring and the hub inner ring. The rotor is located in front of the hub inner ring and connected to the second motor. The front side edge of the hub outer ring is further provided with a protective cover extending forward. The protective cover is a hollow structure. The rotor is located in the protective cover. The rotor comprises two helical blades and a blade support. One end of the two helical blades coincides and is fixed to the blade support. The blade support is connected to the second motor.

9. The fusion adsorption force controlled flight-wall climbing dual-mode transition UAV of claim 6, wherein: The first motor is connected with the traveling wheel through a gear set, the gear set comprises a driving gear and a driven gear, the driving gear is rotatably installed on the fixed support, the driven gear is sleeved on the wheel hub inner ring, the driving gear and the driven gear are engaged, and the first motor is connected with the driving gear.

10. The fusion adsorption force controlled flight-wall climbing dual-mode transition drone of claim 1, wherein: The frame is rectangular, and the number of the wall surface crawling mechanisms is four.

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