Wall Scaling UAV With Tangential Rollers For Lateral Movement
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Solution Overview
Problem
Aircrafts with rotating wings face difficulty in moving horizontally along a vertical wall surface due to the design of wheels that are rotatably supported around an axis extending in the left and right direction, making it challenging to maintain contact and stability during lateral movement.
Innovation Solution
The aircraft is equipped with a pair of rollers that protrude forward and upward, supported by an axis extending in a tangential direction, allowing the aircraft to incline and maintain contact with the vertical wall surface while moving laterally, with a controller adjusting motor speeds to stabilize the aircraft's position and reduce contact area for smoother movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wheels are used for movement, then the aircraft can move along the vertical wall surface, but the aircraft cannot move in the left and right direction when the wheels are in contact with the wall surface
Solution Approach 1:
The movement function is segmented between wheels (for vertical movement) and rollers (for lateral movement). The rollers are rotatably supported independently and can protrude to contact the wall surface, enabling lateral movement while wheels maintain vertical contact.
Solution Approach 2:
The rollers extend in the tangential direction of the wheels, adding a new dimension of movement capability. This allows the aircraft to move not only vertically along the wall but also laterally by rotating the rollers around their axes.
2Ease of operation
If the aircraft inclines forward to bring rollers into contact with the wall surface, then lateral movement is enabled, but the contact area increases causing vibrations
Solution Approach 1:
The aircraft body can dynamically incline forward to bring rollers into contact with the wall surface for lateral movement, then return to horizontal position. This dynamic adjustment allows contact only when needed, reducing vibration during operation.
Solution Approach 2:
The inclining and returning of the aircraft body occurs periodically only when lateral movement is required. This intermittent contact minimizes the duration of vibration-generating contact while still enabling lateral movement capability.
3Stability of the object's composition
If the aircraft body is kept horizontal, then stability is maintained, but the rollers cannot contact the vertical wall surface for lateral movement
Solution Approach 1:
The aircraft body dynamically adjusts its inclination angle based on operational requirements. It remains horizontal for stable vertical movement but inclines forward when lateral movement is needed, allowing rollers to contact the wall surface.
Solution Approach 2:
The inclination angle of the aircraft body is changed from horizontal (0 degrees) to a forward-inclined position when lateral movement is required. This parameter change enables the rollers to protrude and contact the vertical wall surface.
Data Source
AI summary
An aircraft includes: an aircraft body including rotating wings and motors that rotates the rotating wings; wheels arranged on both sides of the aircraft body and rotatably supported around an axis that extends in a left and right direction of the aircraft body; rollers that protrude forward and upward with respect to each of the wheels when the aircraft body is in a horizontal state, and are rotatably supported around an axis that extends in a tangential direction of each of the wheels; and a controller that controls a rotation speed of the motors such that, when the aircraft body is moved in the left and right direction along a vertical wall surface, the aircraft body is inclined forward to bring the rollers into contact with the vertical wall surface, and the aircraft body is inclined to a side where the aircraft body moves in the left and right direction.