CN116374244A - Wall-attached self-walking flying and climbing unmanned aerial vehicle device - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle device with an adherence self-walking flying and climbing structure, which comprises the following components: the system comprises a fuselage structure, a rotor wing system, a traveling system, a fuselage structure, an obstacle avoidance positioning system, a power supply system and a load system, wherein the rotor wing system, the traveling system, the fuselage structure, the obstacle avoidance positioning system, the power supply system and the load system are arranged on the fuselage structure; the rotor wing system and the advancing system are matched to control the change of the angle of the rotor wing system so as to realize the take-off and landing states, the suspension static and moving states and the adherence static and moving states of the unmanned aerial vehicle; the unmanned aerial vehicle device with the flying and climbing structure can carry out wall-attached flying and walking on the surface of a structure, particularly in a closed space, the problem of low detection work efficiency can be effectively solved, and the personal safety of detection personnel is ensured.

Description

Wall-attached self-walking flying and climbing unmanned aerial vehicle device

Technical Field

The invention relates to the technical field of constructional engineering, in particular to an unmanned aerial vehicle device with an adherence self-walking flying and climbing structure.

Background

In recent years, the investment of the country in the field of engineering construction is continuously increased, and the construction of the building industry project is developed to a more intelligent direction. After construction of highways, railway project tunnels, house construction projects and the like is completed, a large amount of manpower and material resources are required to be spent for detecting the quality of the internal structure, and positions such as a high tower, a vault, a large-opening plate roof, a column roof and the like are required to be matched with vehicles, a support is erected, manual high-place operation is assisted for detection, detection efficiency is low, and great threat is brought to constructors.

Therefore, the unmanned aerial vehicle structure is urgently needed to replace manual detection on the surface of a structure to improve detection efficiency.

Disclosure of Invention

Aiming at the problems existing in the prior art, the invention aims at an unmanned aerial vehicle device with an adherence self-walking flying and climbing structure, which comprises: the system comprises a fuselage structure, a rotor wing system, a traveling system, a fuselage structure, an obstacle avoidance positioning system, a power supply system and a load system, wherein the rotor wing system, the traveling system, the fuselage structure, the obstacle avoidance positioning system, the power supply system and the load system are arranged on the fuselage structure; the rotor system comprises a first vector rotor, a second vector rotor, a third vector rotor, a fourth vector rotor, a second rotor steering gear and two first rotor steering gears; the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor are symmetrically arranged on the fuselage structure; the two first rotor steering gears are respectively arranged between two adjacent vector rotors and drive the two groups of vector rotors to turn in a first direction; the second rotor steering engine is respectively arranged on the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor and drives the second vector rotor to turn in a second direction; and the second rotor steering rudder and the first rotor steering rudder control the angle of the vector rotor in a linkage way so as to rotate the rotor system in two plane directions.

Further, the fuselage structure includes head rod, second connecting rod, third connecting rod and fourth connecting rod, head rod and second connecting rod set up in the both ends of fourth connecting rod, and the third connecting rod sets up in the terminal of fourth connecting rod, head rod, second connecting rod, third connecting rod and fourth connecting rod are mutually supported and are connected and constitute symmetrical structure main frame.

Further, the first, second, third and fourth vector rotor structures each comprise a blade assembly, a blade support boot, a rotor motor assembly and a support bar; the supporting rods are arranged in the blade supporting protective covers, and two ends of the supporting rods are respectively connected with the blade supporting protective covers; the rotor motor assembly is arranged on the supporting rod and is in driving connection with the blade assembly.

Further, the blade assembly includes a first set of blades and a second set of blades; the first group of paddles and the second group of paddles are respectively matched with the rotor motor assembly to be arranged at the upper end and the lower end of the supporting rod, and a double-layer power paddle is formed.

Further, the second rotor steering engine is arranged on the supporting rod and drives the first group of blades and the second group of blades in the vector rotor to turn over in the second direction relative to the blade supporting protective cover.

Further, the travel system includes two universal travel wheels and two directional travel wheels; the two universal traveling wheels are arranged on the blade supporting protective covers of the second vector rotor wing and the third vector rotor wing through connecting rods, and the two directional traveling wheels are respectively arranged at two ends of the fourth connecting rod through connecting rods.

Further, the obstacle avoidance positioning system comprises a gyroscope, a laser radar and a binocular camera; the binocular camera is arranged around the machine body structure; the gyroscope and the laser radar are respectively arranged on the machine body structure.

Further, the load system is placed in the middle of the fuselage structure and is in control connection with a rotor wing system, a traveling system, an obstacle avoidance positioning system and a power supply system on the unmanned aerial vehicle.

The invention provides an unmanned aerial vehicle device with an adherence self-walking flying and climbing structure, which can carry out adherence flying and walking on the surface of a structure, particularly can effectively solve the problem of low detection work efficiency in a closed space, ensures the personal safety of detection personnel and well overcomes the problems existing in the prior art.

Drawings

The invention is further described below with reference to the drawings and the detailed description.

Fig. 1 is a top perspective three-dimensional view of an unmanned aerial vehicle device with an attached self-walking flying and climbing structure;

fig. 2 is a bottom perspective three-dimensional view of the self-walking flying-climbing unmanned aerial vehicle device;

fig. 3 is a structural diagram of a rotor system in the self-walking flying-climbing unmanned aerial vehicle device;

fig. 4 is a schematic diagram of an operating state of a first rotor steering engine in the unmanned aerial vehicle device;

fig. 5 is a schematic diagram of an operating state of a second rotor steering engine in the present unmanned aerial vehicle device;

fig. 6 is a schematic view of the take-off/landing/up-down movement state of the unmanned aerial vehicle device;

fig. 7 is a schematic structural view of the unmanned aerial vehicle device in a first direction turning state;

fig. 8 is a schematic structural diagram of the second direction turning state of the unmanned aerial vehicle device.

Fig. 9 is a schematic structural view of the present unmanned aerial vehicle device in an adhesion resting state;

fig. 10 is a schematic structural view of the present unmanned plane device in an adhesion motion state;

fig. 11 is a schematic view of a stress state of the unmanned aerial vehicle device when working at an obtuse angle;

fig. 12 is a schematic view of the present unmanned aerial vehicle apparatus falling posture adjustment;

fig. 13 is a schematic view of a state of obstacle surmounting flight of the present unmanned aerial vehicle apparatus;

the following is a description of the components in the drawings:

1. first vector rotor 2, second vector rotor 3, third vector rotor 4, fourth vector rotor 5, load device 6, first connecting rod 7, second connecting rod 8, fourth connecting rod 9, blade support shroud 10, first set of blades 11, second set of blades 12, support rod 13, first rotor motor 14, second rotor motor 15, first rotor steering gear 16, second rotor steering gear 17, directional traveling wheel 18, universal traveling wheel 19, and third connecting rod.

Detailed Description

The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.

Aiming at the problems existing in the prior art, the invention aims to provide an unmanned aerial vehicle device with an adherence self-walking flying and climbing structure, which can carry out adherence flying and walking on the surface of a structure, particularly can effectively solve the problem of low detection efficiency in a closed space, ensures the personal safety of detection personnel and well overcomes the problems existing in the prior art.

Referring to fig. 1-3, the self-walking flying-climbing unmanned aerial vehicle device with the attached wall provided by the invention comprises a body structure, a rotor system, a traveling system, the body structure, an obstacle avoidance positioning system, a power supply system and a load system.

The fuselage structure includes a plurality of connecting rods, adopts four connecting rods to connect to form an integral main frame in this scheme for settle unmanned aerial vehicle's drive part, power part and power part etc..

The fuselage structure includes head rod 6, second connecting rod 7, third connecting rod 19 and fourth connecting rod 8, and wherein, head rod 6 and second connecting rod 7 set up in the both ends of fourth connecting rod 8, and third connecting rod 19 sets up in the terminal of fourth connecting rod 8, head rod 6, second connecting rod 7, and third connecting rod 19 and fourth connecting rod 8 mutually support and connect the symmetrical structure main frame that constitutes "king" font to guarantee the firm of fuselage.

In this scheme, the connecting rod is preferably inside to be hollow structure, can alleviate unmanned aerial vehicle's dead weight, also can be used to inside threading.

Meanwhile, the main frame structure formed by the connecting rods in the scheme is preferably of a symmetrical structure, so that the balance of the unmanned aerial vehicle in flight can be ensured, but the specific structure and the number of the scheme are not limited and can be determined according to actual conditions.

The rotor system includes four sets of rotor assemblies, including a first vector rotor 1, a second vector rotor 2, a third vector rotor 3, and a fourth vector rotor 4, respectively.

The first vector rotor wing 1, the second vector rotor wing 2, the third vector rotor wing 3 and the fourth vector rotor wing 4 are symmetrically arranged and connected with a connecting rod of a fuselage structure to form a power assembly of the unmanned aerial vehicle.

The first vector rotor 1, the second vector rotor 2, the third vector rotor 3 and the fourth vector rotor 4 have the same structure and respectively comprise a first group of blades 10 and a second group of blades 11, a blade supporting protective cover 9, a first rotor motor 13, a second rotor motor 14, a first rotor steering engine 15 and a supporting rod 12.

The paddle support protection cover 9 is arranged on the periphery of the vector rotor, and the paddle support protection cover between the first vector rotor 1 and the second vector rotor 2 and between the third vector rotor 3 and the fourth vector rotor 4 is connected through a support ring and is arranged on the third connecting rod 19, so that the vector rotor arranged in the support protection cover 9 can be protected from being damaged by other objects.

The bracing piece 12 sets up in every paddle supports safety cover 9, and both ends are connected with paddle support safety cover 9 respectively for fixed rotor overall structure.

Meanwhile, the support rod 12 preferably has a hollow structure inside, and can be used for wire arrangement.

The first group of paddles 10 and the second group of paddles 11 are respectively matched with the first rotor motor 13 and the second rotor motor 14 to be arranged at the upper end and the lower end of the supporting rod 12, and the first rotor motor 13 and the second rotor motor 14 are respectively in driving connection with the first group of paddles 10 and the second group of paddles 11 and can drive the first group of paddles 10 and the second group of paddles 11 to rotate.

The first group of paddles 10 and the second group of paddles 11 are placed at the upper end and the lower end of the supporting rod 12, so that double-layer power paddles can be formed, and power for unmanned aerial vehicle to fly, move and cling to the wall is generated.

Referring to fig. 4, the first rotor steering engine 15 is located between the first vector rotor 1 and the second vector rotor 2 and between the third vector rotor 3 and the fourth vector rotor 4, and is disposed at the end of the third connecting rod 19, and two ends of the shaft of the first rotor steering engine 15 respectively penetrate through the supporting ring to be in driving connection with the vector rotors at two ends, and are respectively used for controlling the first direction overturning of the first vector rotor 1 and the second vector rotor 2 and the third vector rotor 3 and the fourth vector rotor 4, so as to realize a rotating dimension of the vector rotors.

Meanwhile, referring to fig. 5, a second rotor steering engine 16 is disposed on the support rod 12 in each vector rotor, and the second rotor steering engine 16 can respectively drive the support rod 12 to rotate in a second direction relative to the blade support protection cover 9, so as to drive the first group of blades 10 and the second group of blades 11 disposed on the support rod 12 to rotate in the second direction relative to the support protection cover 9.

The second rotor steering engine 16 can be in linkage control with the first rotor shaft steering engine 15, two planar dimension rotation of the vector rotor system can be achieved, the first vector rotor 1, the second vector rotor 2, the third vector rotor 3 and the fourth vector rotor 4 are in linkage control with the second rotor steering engine 16 through the first rotor steering engine 15, and different working states of the unmanned aerial vehicle are achieved through the overturning angle of two groups of paddles in each vector rotor.

According to the scheme, different working states of the unmanned aerial vehicle are realized through the dimensional rotation of the two planes of the vector rotor, and the control precision of the unmanned aerial vehicle is further improved.

The traveling system comprises two universal traveling wheels 18 and two directional traveling wheels 17, wherein the two universal traveling wheels 18 are arranged on the blade supporting protection covers 9 of the second vector rotor 2 and the third vector rotor 3 through connecting rods, and the two directional traveling wheels 28 are respectively arranged at two ends of the fourth connecting rod 9; the steerable road wheels 18 may be turned while the drone is traveling to provide steering while traveling forward and backward.

The obstacle avoidance positioning system comprises a gyroscope, a laser radar and a binocular camera.

The binocular camera is arranged around the machine body and used for visual obstacle avoidance in the front-back left-right direction.

The laser radar is arranged on the machine body mechanism and used for ranging so as to assist in obstacle avoidance.

The gyroscope is arranged on the airframe structure and used for confirming the airframe state of the unmanned aerial vehicle.

The power supply system can be placed on the battery support and arranged on the machine body structure and used for integrally supplying power to the unmanned aerial vehicle.

The load system 5 is placed in the middle of the fuselage structure and is in control connection with a rotor system, a traveling system, an obstacle avoidance positioning system and a power supply system on the unmanned aerial vehicle for controlling equipment on the fuselage structure.

The wall-attached self-walking flying and climbing structure unmanned aerial vehicle device formed by the scheme can realize 4 working states through control:

and (3) a step of: take-off and landing states, the unmanned aerial vehicle is on the ground.

Referring to fig. 6, i.e. the two dimensions of the vector rotors do not need to rotate, the second rotor motor 14 synchronously drives the first set of blades 10 and the second set of blades 11 in each vector rotor to synchronously rotate through the first rotor motor 13, and the rotors generate upward thrust.

The rotor thrust is vertical upwards, overcomes self gravity, and when rotor thrust > gravity, unmanned aerial vehicle rises promptly, and rotor thrust is less than self gravity, unmanned aerial vehicle descends promptly.

And II: a suspended state including a suspended stationary state and a suspended moving state;

(1) When in a suspended static state:

when the unmanned aerial vehicle rises in the air, the two plane dimensions of the vector rotor do not need to rotate, rotor power/thrust=gravity, and the unmanned aerial vehicle is stationary in the air.

(2) When in a suspended motion state:

the drone may perform an aerial yaw/roll/pitch movement.

Specifically, when the unmanned aerial vehicle rises to the sky, the rotor wing speed is controlled through changing the rotational speed of each rotor wing to the traditional unmanned aerial vehicle to control action and advancing direction, unmanned aerial vehicle fuselage wholly incline the back, unmanned aerial vehicle just can the aerial yaw/roll/every single move.

And more two rotation dimension than traditional rotor in this scheme, two angles of vector rotor are adjusted through first rotor steering engine 15 and second rotor steering engine 16 to realize the differential of rotor, in order to reach aerial yaw/roll/every single move, but the fuselage is whole still guaranteed the level.

Compared with the traditional scheme, the scheme can ensure the accuracy of control precision and improve the reliability of controlling yaw/roll/pitch movement in the air of the unmanned aerial vehicle.

As an example, referring to fig. 7, the first direction roll state of the unmanned aerial vehicle may be realized by driving the first and second vector rotors 1 and 2 and the third and fourth vector rotors 3 and 4, respectively, by the first rotor steering engine 15 to perform overall first direction roll.

Referring to fig. 8, the second steering engine 16 of the second rotor drives the first vector rotor 1, the second vector rotor 2, the first group of blades 10 and the second group of blades 11 in the third vector rotor 3 and the fourth vector rotor 4 respectively to synchronously turn in the second direction relative to the blade supporting protective cover 9, so that the second direction rolling state of the unmanned aerial vehicle can be realized.

Thirdly,: the wall-attaching flying and climbing state comprises a wall-attaching static state, a wall-attaching moving state and a falling protection state.

(1) Referring to fig. 9, the drone mounts the side of the load system opposite the wall and engages the two universal travel wheels 18 and two directional travel wheels 17 of the drone with the wall.

When the unmanned aerial vehicle is in an adherence static state, flight control drives two groups of paddles in four vector rotors synchronously through driving a second rotor steering engine 14 to adjust a second direction angle, namely, adjust relative to the wall direction, so that thrust relative to the wall is generated, and meanwhile, upward thrust can be generated by matching with high-speed rotation of the paddles.

The rotor wing generates thrust and the thrust angle generates upward and wall-facing acting forces so as to keep the stress balance of the robot, and the unmanned aerial vehicle can be adsorbed on the vertical or arc wall surface and keep a static state.

When the robot works normally, static friction force is formed between the wheels and the wall, the maximum static friction force is generally slightly larger than sliding friction force, and the maximum static friction force is regarded as the sliding friction force for simplifying calculation.

(2) Referring to fig. 10, in the state of the wall-attached motion, by adjusting the angle of the vector rotor of the unmanned aerial vehicle, the component of the forward or backward force of the unmanned aerial vehicle is increased, so that the unmanned aerial vehicle generates free motion power, and the unmanned aerial vehicle can drive the universal travelling wheel 18 to move on the surface of the vertical or arc wall surface while being close to the vertical or arc wall surface.

The robot receives self gravity F, rotor thrust F1 generated by first vector rotor 1 and third vector rotor 3 through second vector steering engine 16, rotor thrust F2 generated by second vector rotor 2 and fourth vector rotor 4 through second vector steering engine 16, friction force between wheels and wall, upward component force generated by rotor thrust and friction force between wheels and wall counteract downward gravity, so that the robot can safely run on the wall.

The component forces F4 and F6 generated by the rotor thrust and vertical to the wall surface are sources of friction force of wheels, the magnitude of the component forces is controlled by the magnitude of the rotor thrust and the thrust angle, and preferably, a plurality of rotors can keep the same angle and magnitude when working, the robot can be ensured to be clung to the wall surface by keeping the same angle and magnitude, and the working reliability of the robot is realized.

In order to ensure the stress balance of the robot during operation, the rotor thrust F_1 needs to satisfy the requirement of 1

Simplifying and obtaining

Wherein:

mg is the weight force experienced by the robot;

f1 is the magnitude of rotor thrust;

is the direction of the thrust of the rotor;

u is the friction coefficient of the robot wheels and the working surface;

taking out

Range, when->

And F1 takes the minimum value. When the rotor wing works at the angle, the rotor wing has the best working efficiency, and is greatly helpful for reducing working noise, improving endurance and the like. The flight control obtains the friction coefficient through big data, online test and other methods, thereby adjusting the working angle of the rotor wing to achieve the optimal working state.

When the robot works on the obtuse angle surface, the stress condition is as shown in fig. 11.

At this time, the requirement for keeping the balance of the robot is satisfied:

after the term is shifted

Wherein:

is the angle of rotor thrust relative to the plane of the robot chassis;

is the angle of gravity relative to the plane of the robot chassis;

in operation, the robot clings to the wall, the plane of the robot floor is the inclined plane of the wall, and the robot is shown in the formula 4

Is a known parameter measured by a built-in acceleration sensor and a gyroscope of the robot, +.>

And F1 is a parameter of flight control adjustment. Thrust F1 and thrust angle +.>

The robot can be ensured to work safely on the obtuse-angle working surface by satisfying the formula 4.

3. Fall protection:

when the unmanned aerial vehicle falls, the flight control system needs to adjust the angle of the robot and quickly enters a flight mode to fall on the wall surface.

Be equipped with acceleration sensor and be equipped with pressure sensor on the wheel on unmanned aerial vehicle, gather unmanned aerial vehicle speed's change and drop fast at unmanned aerial vehicle and make the produced pressure change of wheel through acceleration sensor and wheel's pressure sensor to with these data transmission to main control terminal.

The main control end judges whether an unexpected drop condition occurs, if the unexpected drop condition occurs, the gyroscope detects the self posture, and the drop posture adjustment process is shown in fig. 12:

if the self posture is right side up, only the inclination direction of the unmanned aerial vehicle needs to be judged:

if the unmanned aerial vehicle is in the horizontal direction, the rotating speed of the blade can be controlled, so that the unmanned aerial vehicle can stably land on the ground.

If the unmanned aerial vehicle inclines to the first direction, the first rotor steering engine 15 is controlled to drive the two vector rotors of the first group to overturn at a certain angle in the second direction, so that the unmanned aerial vehicle is adjusted in the horizontal direction; similarly, if the unmanned aerial vehicle leans in the second reverse direction, the first rotor steering engine 15 is controlled to drive the two vector rotors of the second group to turn in the second direction by a certain angle, so that the unmanned aerial vehicle is adjusted in the horizontal direction.

If the unmanned aerial vehicle inclines to the third direction, the second rotor steering engine 16 of the two groups of vector rotors in the third direction is controlled to drive the paddles to turn over at a certain angle in the fourth direction, so that the unmanned aerial vehicle is adjusted in the horizontal direction.

If the unmanned aerial vehicle inclines to the fourth direction, the second rotor steering engine 16 of the two groups of vector rotors in the fourth direction is controlled to drive the paddles to turn over at a certain angle in the third direction, so that the unmanned aerial vehicle is adjusted in the horizontal direction.

If the self gesture is the back up, then need control first rotor steering engine 15 and overturn, turn over unmanned aerial vehicle for right side up, then judge unmanned aerial vehicle's incline direction to according to the adjustment of above-mentioned different incline position to its position.

The posture of the robot is quickly adjusted by adjusting the direction of the rotor thrust, so that the wheels of the robot enter a flying mode downwards at the same time and fall into the ground, the abnormal state can be captured and the posture of the robot can be resolved within a few milliseconds, and meanwhile, the posture adjustment is quickly completed.

4. Obstacle surmounting flight:

the robot may enter a flight mode jump or fly over an obstacle when encountering a large obstacle, the fly over being as shown in fig. 13.

Firstly, the four vector rotors generate upward thrust through the driving of the rotor motor, and meanwhile, the four vector rotors perform angular offset relative to the obstacle through the rotor steering engine, so that the four vector rotors are matched with the rotor motor to generate upward thrust relative to the obstacle, when the thrust is greater than the gravity of the robot, the robot can jump over the obstacle, and when the robot reaches a destination, the rotor generates horizontal thrust, so that the robot stably lands.

The unmanned aerial vehicle device with the self-walking flying and climbing structure is mainly used in project construction such as highway, railway and house building, especially in a closed space, and can be popularized to project construction such as high pier bridges and large space house building projects, and the unmanned aerial vehicle with the flying and climbing structure carries structural quality detection equipment (such as ground penetrating radar, elastic wave detectors and visible light lenses) on the surface of a structure to fly and climb, and meanwhile, structural health detection is carried out, so that the problem of low work efficiency of traditional manual detection can be effectively solved, and the personal safety of detection personnel is guaranteed.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (8)

1. An unmanned aerial vehicle device with an adherence self-walking and climbing structure, which is characterized by comprising: the system comprises a fuselage structure, a rotor wing system, a traveling system, a fuselage structure, an obstacle avoidance positioning system, a power supply system and a load system, wherein the rotor wing system, the traveling system, the fuselage structure, the obstacle avoidance positioning system, the power supply system and the load system are arranged on the fuselage structure; the rotor system comprises a first vector rotor, a second vector rotor, a third vector rotor, a fourth vector rotor, a second rotor steering gear and two first rotor steering gears; the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor are symmetrically arranged on the fuselage structure; the two first rotor steering gears are respectively arranged between two adjacent vector rotors and drive the two groups of vector rotors to turn in a first direction; the second rotor steering engine is respectively arranged on the first vector rotor, the second vector rotor, the third vector rotor and the fourth vector rotor and drives the second vector rotor to turn in a second direction; and the second rotor steering rudder and the first rotor steering rudder control the angle of the vector rotor in a linkage way so as to rotate the rotor system in two plane directions.

2. The unmanned aerial vehicle device with the self-walking, self-flying and climbing structure according to claim 1, wherein the fuselage structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod and the second connecting rod are arranged at two ends of the fourth connecting rod, the third connecting rod is arranged at the terminal end of the fourth connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are mutually matched and connected to form a main frame of the symmetrical structure.

3. The unmanned aerial vehicle of claim 1, wherein the first, second, third and fourth vector rotor structures comprise a blade assembly, a blade support shroud, a rotor motor assembly and a support bar, respectively; the supporting rods are arranged in the blade supporting protective covers, and two ends of the supporting rods are respectively connected with the blade supporting protective covers; the rotor motor assembly is arranged on the supporting rod and is in driving connection with the blade assembly.

4. An attached self-propelled, flying and climbing structure unmanned aerial vehicle device according to claim 1, wherein the paddle assembly comprises a first set of paddles and a second set of paddles; the first group of paddles and the second group of paddles are respectively matched with the rotor motor assembly to be arranged at the upper end and the lower end of the supporting rod, and a double-layer power paddle is formed.

5. The unmanned aerial vehicle device with the self-propelled, self-flying and climbing structure according to claim 1, wherein the second rotor steering engine is arranged on the supporting rod and drives the first group of paddles and the second group of paddles in the vector rotor to turn in a second direction relative to the paddle supporting protective cover.

6. An attached self-propelled, flying and climbing structure unmanned aerial vehicle device according to claim 1, wherein the travel system comprises two universal travel wheels and two directional travel wheels; the two universal traveling wheels are arranged on the blade supporting protective covers of the second vector rotor wing and the third vector rotor wing through connecting rods, and the two directional traveling wheels are respectively arranged at two ends of the fourth connecting rod through connecting rods.

7. The unmanned aerial vehicle device with the self-propelled, self-flying and climbing structure according to claim 1, wherein the obstacle avoidance positioning system comprises a gyroscope, a laser radar and a binocular camera; the binocular camera is arranged around the machine body structure; the gyroscope and the laser radar are respectively arranged on the machine body structure.

8. The unmanned aerial vehicle device with the self-propelled, self-flying and climbing structure according to claim 1, wherein the load system is placed in the middle of the fuselage structure and is in control connection with a rotor system, a traveling system, an obstacle avoidance positioning system and a power supply system on the unmanned aerial vehicle.

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