CN110466743A - Unmanned plane and non-horizontal surface landing takeoff method based on bionical dry pasting material - Google Patents
Unmanned plane and non-horizontal surface landing takeoff method based on bionical dry pasting material Download PDFInfo
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- CN110466743A CN110466743A CN201910627348.6A CN201910627348A CN110466743A CN 110466743 A CN110466743 A CN 110466743A CN 201910627348 A CN201910627348 A CN 201910627348A CN 110466743 A CN110466743 A CN 110466743A
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- pasting material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
Abstract
The invention discloses unmanned planes and non-horizontal surface landing takeoff method based on bionical dry pasting material, including unmanned aerial vehicle body, remote control module, glutinous desorption mechanism, in which: the unmanned aerial vehicle body is fixed-wing or rotor wing unmanned aerial vehicle fuselage；The glutinous desorption mechanism includes landing bracket, bionical dry pasting material, desorption mechanism, landing bracket is installed on unmanned aerial vehicle body, pasting material substrate flexible is provided on landing bracket, bionical dry pasting material is attached in pasting material substrate, and the contact surface as unmanned plane and landing face；The remote control module includes remote controler and receiver, and for adjusting the flight attitude of unmanned plane, and the glutinous desorption mechanism of control makes to stick between pasting material and landing face and be desorbed.The present invention can make UAV Landing in non-horizontal surface, so that unmanned plane is had total space throwing power, greatly improve the flexibility of unmanned plane takeoff and anding, while reducing the requirement to takeoff and anding place, improve space utilization rate, and can reduce energy consumption.
Description
Technical field
The invention proposes a kind of unmanned plane based on bionical dry pasting material and its in the non-horizontal surface landing side of taking off
Method belongs to unmanned vehicle field.
Background technique
Traditional unmanned plane is all to take off, land on level ground, but in the city that high building stands in great numbers, the crowd is dense,
It is difficult to find a spacious ground and allows unmanned plane take-off and landing, this has certain limitation to the flexibility of unmanned plane.Therefore,
It proposes a kind of new UAV Landing lift-off technology, unmanned plane is allow to drop to the vertical glass surface of building or other light
On sliding surface and smooth negative surface, make unmanned plane that there is total space throwing power and higher flexibility, and extend it and hold
The continuous working time.Existing proposition can be used for the mode that the negative surface of unmanned plane is landed be electrostatic force attachment (M.A.Graule,
P.Chirarattananon,S.B.Fuller,N.T.Jafferis,K.Y.Ma,M.Spenko,R.Kornbluh,
R.J.Wood.Perching and takeoff of a robotic insect on overhangs using
Switchable electrostatic adhesion.Science, 2016,352 (6288): 978-982.), but electrostatic force
Biggish power module is needed, will increase the weight of unmanned plane, it is clear that is unfavorable for the practical application of unmanned plane.
Gecko can arbitrarily creep in vertical plane, on even negative surface, this is attributed to the fact that the microstructure on gecko sole.It is logical
It crosses and creeps the research of mechanism to gecko, have developed the bionical dry pasting material that there is similar micro-structure and function to gecko sole
(promulgated by the State Council in the adhesion material of Dai Zhendong, He Qingsong, Yu Min, Zhang Hao for bionic gecko foot palm adhesion Array and preparation method thereof
Bright patent, ZL201310284325.2；What pine, Dai Zhendong, Lu Mingyue, Ji Keju, Li Yang imitate gecko end electrification orientation carbon
The dry preparation method Chinese invention patent for sticking array of nanotube, 201710756785.9；What pine, Dai Zhendong is for extreme
The dry pasting material of bionic fiber under environment and its preparation method and application Chinese invention patent, 201711187845.6).Week
Much et al. propose using Electromagnetic Launching chamber device transmitting bionic gecko foot realize rotor wing unmanned aerial vehicle hovering technology (Zhou Yuanyuan,
A kind of energy saving multi-rotor unmanned aerial vehicle device Chinese invention based on bionical suspension of Yang Qinglong, Wang Teng, Qi Baoyun, Yang Yan, Yang Bo
Patent, 201610269382.7).But the device volume of its transmitting and recycling gecko foot, quality are larger, are unfavorable for saving energy
Amount, and the bionic gecko foot launched is uncontrolled, can generate shock loading, it is difficult to it is accurately and reliably attached to target surface,
And this mode is not suitable for vertical landing face.
Summary of the invention
The object of the present invention is to provide a kind of unmanned planes based on bionical dry pasting material and non-horizontal surface landing to take off
Method to improve the flexibility and space flight ability of unmanned plane, and extends it by unmanned plane in conjunction with bionical dry pasting material
Continuous working period.
To achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of unmanned plane based on bionical dry pasting material, including unmanned aerial vehicle body, remote control module, glutinous desorption mechanism,
In:
The unmanned aerial vehicle body is fixed-wing or rotor wing unmanned aerial vehicle fuselage；
The glutinous desorption mechanism includes landing bracket, bionical dry pasting material, desorption mechanism, and landing bracket is installed on nobody
Machine fuselage is provided with pasting material substrate flexible on landing bracket, and bionical dry pasting material is attached in pasting material substrate,
And the contact surface as unmanned plane and landing face, desorption mechanism include steering engine, bracing wire, bracing wire one end connects the rocker arm of steering engine, separately
One end connects pasting material substrate, is rotated by steering engine, and bracing wire control pasting material substrate is made to be in straight or rolled state, from
And it controls the landing of unmanned plane and takes off；The bionical dry pasting material is bionical with microstructure and micro-nano hierarchical structure
Material can be attached on other materials surface using intermolecular force, and can be in a manner of curling easily from other materials
Surface desorption；
The remote control module includes remote controler and receiver, and for adjusting the flight attitude of unmanned plane, and control is glutinous de-
Random structure makes to stick between pasting material and landing face and be desorbed.
The Chinese invention patent that the bionical dry pasting material is Publication No. CN103333495B " is slapped for bionic gecko foot
Adhesion material of adhesion Array and preparation method thereof " disclosed in bionic gecko foot palm adhesion Array adhesion material, or be open
Number be CN108192559A Chinese invention patent " dry pasting material of bionic fiber for extreme environment and preparation method thereof
And purposes " disclosed in the dry pasting material of bionic fiber, or be " Qingsong He, Xu Yang, Zhongyuan Wang, Jin
Zhao,Min Yu,Zhen Hu,Zhendong Dai.Advanced Electro-active Dry Adhesive
Actuated by an Artificial Muscle Constructed from an Ionic Polymer Metal
Composite Reinforced with Nitrogen-doped Carbon Nanocages[J].Journal of
Bionic Engineering.2017,14 (3): 567-578. " pasting material disclosed in.
The microstructure and micro-nano hierarchical structure of the bionical dry pasting material are cylindric, flat column or mushroom.It is imitative
The Van der Waals force macro manifestations that the bristle array of raw dry pasting material surface micro-nano is generated when contacting with other body surfaces
For adhesive force, easily locally can be gradually desorbed from normal direction by way of curling.
The maximum adhesive force of the bionical dry pasting material is greater than the total weight of unmanned plane.
For fixed-wing unmanned aerial vehicle body, the landing bracket of the glutinous desorption mechanism is extension type, including fore-stock is with after
Bracket, fore-stock are mounted on unmanned aerial vehicle body lower front, and after-poppet is mounted on unmanned aerial vehicle body lower rear, pasting material base
Bottom is arranged in fore-stock bottom, and bionical dry pasting material is fixed in pasting material substrate, and steering engine is arranged before unmanned aerial vehicle body
The rocker arm at end, steering engine is connect by bracing wire with pasting material substrate.
For rotor wing unmanned aerial vehicle fuselage, the landing bracket of the glutinous desorption mechanism is suspension type, and landing bracket is fixed on nothing
Man-machine body upper, pasting material substrate are arranged on landing cradle top surface, and bionical dry pasting material is fixed on pasting material
In substrate, steering engine setting is connect by bracing wire with pasting material substrate in unmanned aerial vehicle body upper end, the rocker arm of steering engine.
A kind of non-horizontal surface landing takeoff method of the unmanned plane based on bionical dry pasting material, comprising:
It when UAV Landing, is rotated by steering engine, so that bracing wire control pasting material substrate is in straightened condition, pass through remote control
Or the mode automatically controlled pre-adjusts UAV Attitude, then slowly close to landing face, until bionical dry pasting material contact
Landing face makes to generate precompression between bionical dry pasting material and landing face using the inertia of unmanned plane or the power of rotor, from
And come into full contact with the bristle on bionical dry pasting material surface with landing face, generate enough adhesive forces；
When unmanned plane lands completely, rotor power is closed, is only rested in by the adhesive force that bionical dry pasting material provides non-
On horizontal surface；
When unmanned plane takes off, signal is sent to control steering engine, makes its rotation, pasting material substrate volume is pulled by bracing wire
Song starts rotor power, can take off from landing face so that pasting material be made to be detached from landing face, or utilizes unmanned plane
Power generates a tilting moment assisted desorption, quickly takes off from landing face.
Further, the landing face of unmanned plane need to be more smooth surface, make to have between pasting material and landing face enough
Effective contact area.
Further, after UAV Landing, it may be configured as standby mode, or only partial function works normally, and is needing work
It is waken up when making, to save energy, extends it and persistently use the time.
Further, the modules such as carrying image transmission, infrared or ultrasonic listening on unmanned plane, for investigating or independently
It lands.
The utility model has the advantages that the present invention provides a kind of new landing approach for unmanned plane, unmanned plane is made to get rid of the beam on ground
It ties up, on the pinnacled non-horizontal surface that can land (such as vertical plane or negative surface), to enable unmanned plane that there is total space landing
Power greatly improves the flexibility of unmanned plane.For needing the task of unmanned plane hovering for a long time, technique can make nobody
It lands on the vertical plane of eminence nearby or negative surface when machine needs to hover, saves the energy consumed when the hovering of traditional unmanned plane
Amount, is able to extend its working time, this in city inspection, the fields such as monitor and take pictures and have certain application prospect, suitable for pushing away
Wide application.
Detailed description of the invention
Fig. 1 is SEM image of the bionical dry pasting material under 200 times and 800 times；
Fig. 2 is the fixed-wing unmanned plane structural schematic diagram to land in vertical plane that the embodiment of the present invention 1 provides；
Fig. 3 is the glutinous desorption structural scheme of mechanism that the embodiment of the present invention 1 provides；
Fig. 4 is a kind of unmanned plane vertical plane takeoff and anding based on bionical dry pasting material that the embodiment of the present invention 1 provides
Schematic illustration；
The force analysis when UAV Landing that Fig. 5 provides for the embodiment of the present invention 1；
Fig. 6 is the quadrotor drone structural schematic diagram to land on negative surface that the embodiment of the present invention 2 provides；
Fig. 7 is the glutinous desorption structural scheme of mechanism that the embodiment of the present invention 2 provides；
Fig. 8 is the landing schematic diagram that the embodiment of the present invention 2 provides；
Fig. 9 is desorption mechanism schematic diagram when taking off that the embodiment of the present invention 2 provides；
In Fig. 2 and 3,101- unmanned aerial vehicle body, 102- tailplane, 103- vertical tail, 104- aileron, 105- motor and
Propeller, 106- fore-stock, 107- after-poppet, 108- steering engine, 109- bracing wire, 110- pasting material substrate；
In Fig. 6 and 7,210- unmanned aerial vehicle body, the glutinous desorption mechanism of 220-, 221- landing bracket, 222- steering engine, 223- drawing
Line, the bionical dry pasting material of 224-, 225- pasting material substrate.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
A kind of unmanned plane based on bionical dry pasting material of the invention, including unmanned aerial vehicle body, remote control module, glutinous desorption
Mechanism, in which:
Unmanned aerial vehicle body is fixed-wing or rotor wing unmanned aerial vehicle fuselage；
Glutinous desorption mechanism includes landing bracket, bionical dry pasting material, desorption mechanism, and landing bracket is installed on unmanned plane machine
Body is provided with pasting material substrate flexible on landing bracket, and bionical dry pasting material is attached in pasting material substrate, and is made
For the contact surface of unmanned plane and landing face, it includes steering engine, bracing wire that mechanism, which is desorbed, and bracing wire one end connects the rocker arm of steering engine, the other end
Pasting material substrate is connected, is rotated by steering engine, so that bracing wire control pasting material substrate is in straight or rolled state, to control
It the landing of unmanned plane processed and takes off；The bionical dry pasting material is the bionical material with microstructure and micro-nano hierarchical structure
Material can be attached on other materials surface using intermolecular force, and can be in a manner of curling easily from other materials table
Emaciated face is attached；
Remote control module includes remote controler and receiver, for adjusting the flight attitude of unmanned plane, and the glutinous desorption machine of control
Structure makes to stick between pasting material and landing face and be desorbed.
The Chinese invention patent that bionical dry pasting material is Publication No. CN103333495B is " for bionic gecko foot palm adherency
Adhesion material of array and preparation method thereof " bionic gecko foot disclosed in (patent No. ZL201310284325.2) slaps adhesion Array
Adhesion material, or " bionic fiber for extreme environment is dry for the Chinese invention patent of Publication No. CN108192559A
Pasting material and its preparation method and application " the dry pasting material of bionic fiber disclosed in (application number 201711187845.6),
It or is " Qingsong He, Xu Yang, Zhongyuan Wang, Jin Zhao, Min Yu, Zhen Hu, Zhendong
Dai.Advanced Electro-active Dry Adhesive Actuated by an Artificial Muscle
Constructed from an Ionic Polymer Metal Composite Reinforced with Nitrogen-
Doped Carbon Nanocages [J] .Journal of Bionic Engineering.2017,14 (3): 567-578. "
Disclosed pasting material.The microstructure and micro-nano hierarchical structure of the bionical dry pasting material are cylindric, flat column or mushroom
Mushroom shape.Bionical dry pasting material, for bionical object, prepares surface bristle micro-structure, using microfabrication mode with gecko with reality
Its existing adhesive function, the Van der Waals force that the bristle and other surfaces that adhesion principle is micro-nano generate when contacting can be with
It is easily locally gradually desorbed from normal direction by way of curling.The bionical dry pasting material is a kind of with dry adhesive function
Flexible bionic material, tangential adhesive force are much larger than normal direction adhesive force, can be by way of curling easily from other surfaces
Upper desorption, adhesive function have preferable repeatability.
Fig. 1 is the SEM image under bionical dry 200 times and 800 times of the amplification of pasting material surface texture, a large amount of micron-sized
The Van der Waals force macro manifestations that bristle and other body surfaces generate when contacting are adhesive force.
The suitable bionical dry pasting material of mounting area on landing bracket, maximum adhesive force need to be greater than the total of unmanned plane
Weight enables unmanned plane to land on vertical plane or negative surface.
The present invention devises a kind of glutinous desorption mechanism, makes glutinous desorption mechanism using the inertia of unmanned plane or the power of rotor
On pasting material and landing face between generate certain precompression, keep the bristle of pasting material micro-nano level and landing face abundant
Contact, makes UAV Landing to generate enough adhesive forces.One key of glutinous desorption mechanism is there is suitable elasticity coefficient
Pasting material substrate, the flexible deformation that when landing generates can provide certain precompression for pasting material；When taking off, due to it
It is elastic good, it can be gradually desorbed part by way of curling, the desorption power very little needed.After UAV Landing, pasting material
Certain flexible deformation should occur for substrate, and precompression is provided between pasting material and landing face.It is glutinous by a steering engine
Power is desorbed in enclosure material offer, and steering engine is mounted on fuselage or is sticked in desorption mechanism, connects steering engine rocker arm with bracing wire and bionical do sticks
The edge of enclosure material substrate.The substrate of pasting material is elastic material, and steering engine rotation pulls substrate to make its curling by bracing wire；Rudder
When machine resets, straightened condition can be automatically replied under no external force, is ready to land next time, therefore can weigh
It is multiple to land and take off.
The non-horizontal surface landing UAV Landing of unmanned plane based on bionical dry pasting material of the invention and the side of taking off
Method is as follows:
Make unmanned plane close to landing position by remote control or environment sensing, and is adjusted to prepared landing attitude；
Unmanned plane moves closer to landing face, and pasting material is made to contact landing face at first, utilizes the inertia or rotor of unmanned plane
Power make to generate precompression between pasting material and landing face, so that pasting material be made to come into full contact with landing face, generate foot
Enough adhesive forces；
When unmanned plane lands completely, rotor power is closed, only rests in non-horizontal table by the adhesive force that pasting material provides
On face；
When unmanned plane takes off, the steering engine being desorbed to control pasting material sends signal, makes its rotation, is pulled by bracing wire glutinous
The curling of enclosure material substrate starts rotor power, can take off from landing face to make pasting material be detached from landing face.
When unmanned plane takes off, a tilting moment assisted desorption also is generated using the power of unmanned plane, quickly from landing
It takes off in face.
Below with reference to embodiment, the present invention will be further described.
Embodiment 1
In conjunction with Fig. 2-4, the present embodiment provides the fixed-wing unmanned planes that one kind can take off in vertical plane, land, and structure is such as
Shown in Fig. 2, including unmanned aerial vehicle body 101, remote control module, glutinous desorption mechanism, tailplane is provided on unmanned aerial vehicle body 101
102, vertical tail 103, aileron 104, motor and propeller 105, power and transmission module；Remote control module includes transmitter and connects
Receipts machine；Glutinous desorption mechanism is as shown in figure 3, include fore-stock 106, after-poppet 107, steering engine 108, bracing wire 109, pasting material substrate
110, bionical dry pasting material, fore-stock 106 are mounted on unmanned plane lower front, and after-poppet 107 is mounted under unmanned plane rear portion
Side, pasting material substrate 110 are arranged in 106 bottom of fore-stock, and bionical dry pasting material is fixed in pasting material substrate 110,
The setting of steering engine 108 is connect by bracing wire 109 with pasting material substrate 110 in 101 front end of unmanned aerial vehicle body, the rocker arm of steering engine 108.
UAV Landing process is adjusted to appearance shown in b-c as shown in figure 4, when unmanned plane is apart from landing face certain distance
State, unmanned plane is angled with landing face, reduces flying speed, moves closer to landing face.Bionical on fore-stock dry sticks
When material will contact landing face, motor is closed, makes to generate precompressed between pasting material and landing face using the inertia of unmanned plane
Power comes into full contact with pasting material and landing face to generate the adhesive force for being greater than unmanned plane weight.
As shown in figure 5, the tangential adhesive force F of pasting materialtGreater than normal direction adhesive force Fn, after UAV Landing should being made, fuselage
It is small as far as possible with the angle between landing face, make to land relatively reliable.
When unmanned plane takes off, steering engine is deflected through bracing wire and drives the curling of pasting material substrate, and pasting material is from landing emaciated face
It is attached, while the tailplane of unmanned plane is adjusted, so that unmanned plane is in posture of climbing and generate a tilting moment with assisted desorption, opens
Dynamic motor, unmanned plane can fly away from landing face.
Embodiment 2
In conjunction with Fig. 6-9, the present embodiment provides the quadrotor drones that one kind can take off, land on negative surface, and structure is such as
Shown in Fig. 6, including unmanned aerial vehicle body 210, stick desorption mechanism 220.As shown in fig. 7, wherein sticking desorption mechanism includes landing bracket
221, steering engine 222, bracing wire 223, bionical dry pasting material 224, pasting material substrate 225.Landing bracket 221 is suspension type,
Land bracket 221 is fixed on 210 top of unmanned aerial vehicle body, and the setting of pasting material substrate 225 is imitated in 221 top surface of landing bracket
Raw dry pasting material 224 is fixed in pasting material substrate 225, and steering engine 222 is arranged in 210 upper end of unmanned aerial vehicle body, steering engine 222
Rocker arm connect with pasting material substrate 225 by bracing wire 223.
It is slowly close to negative surface when quadrotor drone is landed, until bionical dry pasting material is adjacent to landing face
It realizes and lands on negative surface, such as Fig. 8.
When quadrotor drone is taken off, steering engine rotation is first made to pull pasting material curling, makes bionical dry pasting material from negative
Surface is detached from, and such as Fig. 9 can leave negative surface under the effect of gravity, and realization is taken off.
When quadrotor drone is taken off, the movement of a horizontal direction can be added to generate tilting moment assisted desorption,
Shorten desorption time.
The present invention applies bionical dry pasting material in unmanned vehicle field, propose it is a kind of new, reliable nobody
Machine landing approach extends the taking off of unmanned plane, place of landing, improves the flexibility and concealment of unmanned plane.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane based on bionical dry pasting material, it is characterised in that: including unmanned aerial vehicle body, remote control module, glutinous de-
Random structure, in which:
The unmanned aerial vehicle body is fixed-wing or rotor wing unmanned aerial vehicle fuselage；
The glutinous desorption mechanism includes landing bracket, bionical dry pasting material, desorption mechanism, and landing bracket is installed on unmanned plane machine
Body is provided with pasting material substrate flexible on landing bracket, and bionical dry pasting material is attached in pasting material substrate, and is made
For the contact surface of unmanned plane and landing face, it includes steering engine, bracing wire that mechanism, which is desorbed, and bracing wire one end connects the rocker arm of steering engine, the other end
Pasting material substrate is connected, is rotated by steering engine, so that bracing wire control pasting material substrate is in straight or rolled state, to control
It the landing of unmanned plane processed and takes off；The bionical dry pasting material is the bionical material with microstructure and micro-nano hierarchical structure
Material can be attached on other materials surface using intermolecular force, and can be in a manner of curling easily from other materials table
Emaciated face is attached；
The remote control module includes remote controler and receiver, for adjusting the flight attitude of unmanned plane, and the glutinous desorption machine of control
Structure makes to stick between pasting material and landing face and be desorbed.
2. the unmanned plane according to claim 1 based on bionical dry pasting material, it is characterised in that: described bionical dry to stick
Material be Publication No. CN103333495B Chinese invention patent " for bionic gecko foot slap adhesion Array adhesion material and its
Preparation method " disclosed in bionic gecko foot palm adhesion Array adhesion material, or China for Publication No. CN108192559A
Bionical fibre disclosed in patent of invention " dry pasting material of bionic fiber for extreme environment and its preparation method and application "
Dry pasting material is tieed up, or be " Qingsong He, Xu Yang, Zhongyuan Wang, Jin Zhao, Min Yu, Zhen Hu,
Zhendong Dai.Advanced Electro-active Dry Adhesive Actuated by an Artificial
Muscle Constructed from an Ionic Polymer Metal Composite Reinforced with
Nitrogen-doped Carbon Nanocages [J] .Journal of Bionic Engineering.2017,14 (3):
567-578. " disclosed in pasting material.
3. the unmanned plane according to claim 1 based on bionical dry pasting material, it is characterised in that: described bionical dry to stick
The microstructure and micro-nano hierarchical structure of material are cylindric, flat column or mushroom.
4. the unmanned plane according to claim 1 based on bionical dry pasting material, it is characterised in that: described bionical dry to stick
The maximum adhesive force of material is greater than the total weight of unmanned plane.
5. the unmanned plane according to claim 1 based on bionical dry pasting material, it is characterised in that: for fixed-wing nobody
The landing bracket of machine fuselage, the glutinous desorption mechanism is extension type, including fore-stock and after-poppet, fore-stock are mounted on unmanned plane
Below fore-body, after-poppet is mounted on unmanned aerial vehicle body lower rear, and the setting of pasting material substrate is bionical in fore-stock bottom
Dry pasting material is fixed in pasting material substrate, steering engine setting in unmanned aerial vehicle body front end, the rocker arm of steering engine by bracing wire with
The connection of pasting material substrate.
6. the unmanned plane according to claim 1 based on bionical dry pasting material, it is characterised in that: for rotor wing unmanned aerial vehicle
The landing bracket of fuselage, the glutinous desorption mechanism is suspension type, and landing bracket is fixed on above unmanned aerial vehicle body, pasting material base
Bottom is arranged on landing cradle top surface, and bionical dry pasting material is fixed in pasting material substrate, and steering engine is arranged in unmanned plane
The rocker arm of fuselage upper end, steering engine is connect by bracing wire with pasting material substrate.
7. a kind of non-horizontal surface landing takeoff method of the unmanned plane described in claim 1 based on bionical dry pasting material,
It is characterized by comprising:
It when UAV Landing, is rotated by steering engine, so that bracing wire control pasting material substrate is in straightened condition, by remote control or certainly
The mode of dynamic control pre-adjusts UAV Attitude, then slowly close to landing face, until bionical dry pasting material contact is landed
Face makes to generate precompression between bionical dry pasting material and landing face, to make using the inertia of unmanned plane or the power of rotor
The bristle on bionical dry pasting material surface comes into full contact with landing face, generates enough adhesive forces；
When unmanned plane lands completely, rotor power is closed, is only rested in non-horizontal surface by the adhesive force that pasting material provides；
When unmanned plane takes off, signal is sent to control steering engine, makes its rotation, the curling of pasting material substrate is pulled by bracing wire, from
And pasting material is made to be detached from landing face, start rotor power, can take off from landing face, or is produced using the power of unmanned plane
A raw tilting moment assisted desorption, quickly takes off from landing face.
8. the non-horizontal surface landing takeoff method of the unmanned plane according to claim 7 based on bionical dry pasting material,
It is characterized by: the landing face of unmanned plane need to be more smooth surface, make to have between bionical dry pasting material and landing face enough
Effective contact area.
9. the non-horizontal surface landing takeoff method of the unmanned plane according to claim 7 based on bionical dry pasting material,
It is characterized by: may be configured as standby mode after UAV Landing, or only partial function works normally, it will when needing work
It wakes up, and to save energy, extends it and persistently uses the time.
10. the non-horizontal surface landing takeoff method of the unmanned plane according to claim 7 based on bionical dry pasting material,
It is characterized by: the modules such as carrying image transmission, infrared or ultrasonic listening on unmanned plane, for investigation or independent landing.
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| CN201910627348.6A CN110466743B (en) | 2019-07-12 | 2019-07-12 | Unmanned aerial vehicle based on bionic dry adhesion material and non-horizontal surface landing and taking-off method |
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| CN110466743B CN110466743B (en) | 2021-02-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111688941A (en) * | 2020-05-11 | 2020-09-22 | 清华大学 | Unmanned aerial vehicle landing and docking device based on controllable adhesion and unmanned aerial vehicle with same |
| CN111874217A (en) * | 2020-06-16 | 2020-11-03 | 北京航空航天大学 | Unmanned aerial vehicle adsorption equipment with jack |
| CN112550682A (en) * | 2020-12-16 | 2021-03-26 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
| CN112937840A (en) * | 2021-02-02 | 2021-06-11 | 南京航空航天大学 | Perching device, multi-rotor bionic perching unmanned aerial vehicle and attachment movement method |
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| CN112937840A (en) * | 2021-02-02 | 2021-06-11 | 南京航空航天大学 | Perching device, multi-rotor bionic perching unmanned aerial vehicle and attachment movement method |
| CN112937840B (en) * | 2021-02-02 | 2022-04-22 | 南京航空航天大学 | Multi-rotor bionic inhabiting unmanned aerial vehicle and attachment movement method |
| CN113306720A (en) * | 2021-05-07 | 2021-08-27 | 北京航空航天大学 | A device is laid to warhead fixed point for miniature unmanned aerial vehicle |
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