CN115675838A

CN115675838A - Double-perch arm perching unmanned aerial vehicle and self-adaptive rising, falling and perching method

Info

Publication number: CN115675838A
Application number: CN202211391656.1A
Authority: CN
Inventors: 李斌; 阳碧慰
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-02-03
Anticipated expiration: 2042-11-07
Also published as: CN115675838B

Abstract

A dual-perch arm perch unmanned aerial vehicle and a self-adaptive rising, falling and perch method, wherein a left perch arm and a right perch arm are respectively connected with a middle shaft of a four-rotor unmanned aerial vehicle system; four rotor modules of this four rotor unmanned aerial vehicle systems are the suit respectively at the cantilever end of the left forearm, right forearm, left postbrachium and the right postbrachium of this frame to make the central line of this left forearm and the central line of right forearm all be 120 with the contained angle between the central line of this jackshaft. The left rear arm and the right rear arm are installed at the other end of the intermediate shaft through a rack rear three-way connecting piece, and an included angle between the central line of the left rear arm and the central line of the right rear arm and the central line of the intermediate shaft is 120 degrees. Each perching arm of the invention only needs one motor to drive, thus reducing the whole weight while meeting the same function; each perch arm has large rotation angle and long perch arm, so that the perch arm has large grabbing range, larger fault tolerance, high grabbing success rate, strong self-adaptive rising and falling capability and perch under different conditions.

Description

Double-perch arm perching unmanned aerial vehicle and self-adaptive rising, falling and perching method

Technical Field

The invention relates to the technical field of robot application, in particular to a dual-perch arm perching unmanned aerial vehicle and a self-adaptive rising and falling and perching method.

Background

Four rotor unmanned aerial vehicle exert huge effect in many fields, and civilian four rotor unmanned aerial vehicle mainly used take photo by plane, plant protection, patrol and examine etc. for military use four rotor unmanned aerial vehicle mainly used reconnaissance. Although the quad-rotor unmanned aerial vehicle is continuously developed in the aspects of power and endurance, the endurance time is limited to about 10 to 30 minutes, and the long-time reconnaissance and detection requirements cannot be met. Each unmanned aerial vehicle manufacturer prolongs the endurance time of the unmanned aerial vehicle by reducing the weight of the material of the airframe and optimizing the aerodynamic characteristics of the blades, but the effect is not obvious. The energy density of the lithium battery used by the existing unmanned aerial vehicle cannot meet the working requirement of long-time reconnaissance and shooting of the unmanned aerial vehicle, the electric energy of the unmanned aerial vehicle is mainly consumed by the work of the rotor motor, and the best energy-saving method is to stop the rotor motor. If can realize under this background that unmanned aerial vehicle dwells in the air with the help of the object and stop promptly and hover like birds, will greatly prolong unmanned aerial vehicle reconnaissance and shoot operating time.

Chinese patent CN112937840B, published japanese 20220422, discloses a multi-rotor bionic perching unmanned aerial vehicle and an attached movement method, belonging to the technical field of robot application. The perch device is fixed right above the multi-rotor unmanned aerial vehicle through a connecting plate and comprises N symmetrically-installed toe mechanisms and a power system; the thread push rod motor rotates forwards or reversely to drive the inhabitation device to contract or expand; the toe mechanism comprises a curled sole, an adhesion material, a guide roller and a claw push rod; the first end of the claw push rod is hinged with the threaded flange support, and the guide roller is installed at the second end of the claw push rod and is always tangent to the lower surface of the second end of the curled sole. The perching device can be charged in the air, is suitable for the horizontal top surface, the horizontal cylindrical surface and the horizontal round hole top surface, and achieves the all-weather multi-perching function of the multi-rotor unmanned aerial vehicle. However, when the grapple is hung on the horizontal cylinder, the grapple is not positioned above the gravity center of the whole machine, the body of the rotor wing can lose balance after the rotor wing is stopped, so that the body of the rotor wing greatly shakes, and the body of the rotor wing becomes in an inclined state after the rotor wing stops shaking, so that the takeoff difficulty is very high in the state. The porous and cylindrical inhabitation points corresponding to the inhabitation device are not common due to the size and the position, and the application conditions are limited. The adhesion mode is adopted for the inhabitation of the top surface, the requirement on the flatness of the top surface is high, the adhesion times are limited, and the adhesion material is easy to lose effectiveness after multiple times of adhesion. Its perch device focus is higher, leads to unmanned aerial vehicle stability not strong.

Chinese patent CN110626514A, open day 20191231 disclose an amphibious four rotor unmanned aerial vehicle with multiple perch structure, including unmanned aerial vehicle main part, lithium cell box, brushless motor, third micro motor and electric telescopic handle, its characterized in that: the upper surface of the unmanned aerial vehicle main body is fixed with a support table through screws, the lower surface of the unmanned aerial vehicle main body is fixed with a lithium battery box through screws, two sides of the unmanned aerial vehicle main body are both fixed with support loop bars through screws, the inner sides of the support loop bars are provided with support bars, the top of bracing piece is passed through the screw fixation and is had clamping jaw main part, the both sides of unmanned aerial vehicle main part all are passed through the screw fixation and are had the buffer, the top of buffer is equipped with first link, the bottom of buffer is provided with the second link. The wing-type unmanned aerial vehicle can be clamped inside and outside, the clamping form is increased, the use range is improved, the wing-type unmanned aerial vehicle has a wing contraction protection structure when the unmanned aerial vehicle dwells for a long time, and the service life of the unmanned aerial vehicle is prolonged. However, this perch mechanism needs the grapple to reach the position that is close to top cylinder object distance in advance when being used for grabbing top cylinder object because the grapple is less, and then leads to the grabbing process to aircraft stability and flight position precision requirement higher, and unmanned aerial vehicle receives the interference of wind easily and takes place the swing in practical application, makes its snatching accuracy descend. Its snatch mechanism size is less for unmanned aerial vehicle fuselage size, and the crack perches the scene complicated and the space of topography usually is narrow, therefore the fuselage collides with the cliff easily. The rope driving mode is adopted, the driving resistance is large, the requirement on the torque of the driving motor is high, and due to the fact that the length of the rope is long, elastic extension is easy to occur under the condition of large tensile force, and the grabbing hook is enabled to be insufficient in holding force and fall off.

Chinese patent CN112455661A, published japanese 20210309 disclose an unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact, relate to the aviation field, can only realize perching through the relative position appearance of adjustment undercarriage and unmanned aerial vehicle, need not holistic change unmanned aerial vehicle's flight state, and the operation is quick simple. The invention comprises the following steps: unmanned aerial vehicle, undercarriage, perch contact module, additive manufacturing module, camera. The undercarriage is installed at the bottom of the unmanned aerial vehicle, the undercarriage consists of one or more pairs of mechanical arms, the undercarriage is movably connected with the unmanned aerial vehicle, and the landing gear is provided with a perching contact module. The unmanned aerial vehicle bottom still installs camera and additive manufacturing module, and the operating range of additive manufacturing module covers the installation and the home range of undercarriage. The unmanned aerial vehicle can stably contact with surrounding structures through the inhabitation contact module, and after the unmanned aerial vehicle stably inhales, some rotor wings can be slowed down or completely stopped, so that the task operation flexibility and the operation time of the unmanned aerial vehicle are greatly enhanced. But its undercarriage can only move in fuselage below, when gripping top cylinder pole class perch point, need control unmanned aerial vehicle reversal 180 make unmanned aerial vehicle bottom up, this has increased unmanned aerial vehicle's the control degree of difficulty. Its single undercarriage adopts two joint arms to constitute, has increased and has snatched the control degree of difficulty, and motor weight is the difficult point that puzzles the weight reduction of perching mechanism, and many joints mean many motors, and then has increased the weight of perching mechanism, has increased the flight consumption. Its barb module is limited only to coarse wall, and the barb attachment point fulcrum is less, drops easily and common wall attachment point is difficult for supporting unmanned aerial vehicle's weight, leads to the attachment point to destroy easily, and the barb drops.

Chinese patent CN102390528B, published as 20140108, an aerial flight and all-round absorption micro robot is disclosed, including adsorption equipment, adsorb the articulated arm, articulated arm drive steering wheel, four rotors, four rotor motors, four drivers, the robot body, remote control ware, adsorption equipment sets up the one end at adsorbing the articulated arm, the other end and the output shaft of articulated arm drive steering wheel of this adsorption articulated arm, this articulated arm drive steering wheel sets up on steering wheel support, steering wheel support fixed mounting is on the robot body, four rotors fixed mounting are on respective rotor motor, four drivers are connected with respective rotor motor, remote control ware sends control command and realizes aerial flight and all-round absorption for the robot body. The robot has the characteristic of stable low-altitude flight based on four-rotor aerial flight, and has the capability of inhabiting and adsorbing on the surface of an aerial object through the adsorption device, so that a mechanism of simulating the flight and inhabitation of a flying organism is realized. However, the adsorption module has certain flexibility, so that the adsorption module is easy to swing under wind interference after inhabitation, and the sucking disc is easy to leak air after swinging, so that the inhabitation falls off. When the suction cup is used for lateral perching, the machine body is only supported by a single arm, and the resistance arm is large, so that the machine body is easy to fall, and the suction cup is caused to be stressed unevenly and is easy to fall off. The adsorption process needs the work of a turbine to generate negative pressure, and the power consumption of the turbine motor is relatively high in the process, so that the energy-saving effect is not ideal.

Chinese patent CN105836114A, open day 20160810 disclose a many rotor unmanned aerial vehicle, belong to unmanned vehicles technical field, including fuselage, horn, motor, rotor, foot rest etc. its characteristics are: still be equipped with folding gallows on the fuselage, this gallows includes link up with, jib, base, and the jib is folding sectional type structure, and the link up with and sets up in the upper end of jib, and the base setting is equipped with the connector at the lower extreme of jib on the base. In the use, can be through the couple on the gallows that expands with many rotor unmanned aerial vehicle hang on the object of eminence. The multi-rotor unmanned aerial vehicle in the hanging state does not need battery electric energy to provide lift force, and the working time of airborne working equipment in the one-time taking-off and landing process can be greatly prolonged. However, the device is only limited to be used for hooking the top inhabitation point, and the applicable scene is single. It only possesses single couple, perchs the back under the disturbance of wind, and unmanned aerial vehicle amplitude of fluctuation is too big then can cause the couple to drop.

Disclosure of Invention

In order to solve the defects of poor stability and reliability, insufficient gripping force of a grapple when the tensile force is large, or severe inhabitation conditions in the prior art, the invention provides a dual-inhabitation-arm inhabitation unmanned aerial vehicle and a self-adaptive rising and falling and inhabitation method.

The dual-perch arm perching unmanned aerial vehicle is of a symmetrical structure and comprises a left perch arm, a right perch arm and a four-rotor unmanned aerial vehicle system; wherein: the upper end of the left perch arm and the upper end of the right perch arm are respectively connected with the intermediate shaft of the four-rotor unmanned aerial vehicle system, and the four-rotor perch unmanned aerial vehicle system with the double perch arms is formed.

Four rotor unmanned aerial vehicle systems include frame, four rotor modules, control storehouse and cloud platform camera, wherein, four rotor modules suit respectively at the cantilever end of the left forearm, the right forearm, the left postbrachium and the right postbrachium of this frame. The control bin is arranged at the middle section of the middle shaft of the rack; the cloud platform camera is installed at this control cabin lower surface.

The method is characterized in that:

the frame is arranged at the top ends of the left perch arm and the right perch arm; the frame comprises a left front arm, a right front arm, a frame front three-way connecting piece, a middle shaft, a frame rear three-way connecting piece, a left rear arm and a right rear arm. The left front arm and the right front arm are installed at one end of the middle shaft through a rack front three-way connecting piece, and an included angle between the center line of the left front arm and the center line of the right front arm and the center line of the middle shaft is 120 degrees. The left rear arm and the right rear arm are installed at the other end of the intermediate shaft through a rack rear three-way connecting piece, and an included angle between the central line of the left rear arm and the central line of the right rear arm and the central line of the intermediate shaft is 120 degrees. The connected four arms are positioned on the same horizontal plane.

The left perching arm comprises a left perching arm support, a left perching arm power assembly, a left perching arm front double-claw hook and a left perching arm rear double-claw hook.

Connecting sleeves are respectively fixed at the top ends of the two support rods of the left perching arm support, wherein a left perching arm short round sleeve is arranged in the connecting sleeve close to one side support rod of the front three-way connecting piece of the rack, and the connecting sleeve is in interference fit with the left perching arm short round sleeve; a left perching arm power assembly is arranged in the connecting sleeve close to a side branch rod of the three-way connecting piece at the back of the machine frame. The bottom ends of the two support rods at the lower end of the left perching arm support are respectively provided with a left perching arm front double-claw and a left perching arm rear double-claw, the left perching arm front double-claw is close to one side of the rack front three-way connecting piece, and the left perching arm rear double-claw is close to one side of the rack rear three-way connecting piece.

The right perching arm comprises a right perching arm support, a right perching arm power assembly, a right perching arm front double-claw hook and a right perching arm rear double-claw hook. Connecting sleeves are respectively fixed at the top ends of the two support rods at the upper end of the right perching arm support, wherein a right perching arm short circular sleeve is arranged in the connecting sleeve close to the support rod on one side of the rear three-way connecting piece of the rack, and the connecting sleeve is in interference fit with the right perching arm short circular sleeve; a right perching arm power assembly is arranged at the position close to a connecting sleeve of a side branch rod of the front three-way connecting piece of the machine frame. The bottom ends of the two support rods at the lower end of the right perching arm support are respectively provided with a right perching arm front double-claw and a right perching arm rear double-claw, the right perching arm front double-claw is close to one side of the rack front three-way connecting piece, and the left perching arm rear double-claw is close to one side of the rack rear three-way connecting piece.

The left perching arm power assembly comprises a first clamping ring, a left perching arm short circular sleeve, a second clamping ring, a left perching arm motor base, a left perching arm motor, a third clamping ring, a left perching arm driving gear, a left perching arm driven gear, a left perching arm long circular sleeve and a fourth clamping ring. The left perch arm support is sleeved on the middle shaft, and the rear end of the left perch arm support is arranged in a connecting sleeve on one side, close to the rack rear tee joint connecting piece, of the left perch arm support; interference fit is between the long round sleeve of the left perching arm and the connecting sleeve. The left perch arm driven gear is sleeved on the outer circumferential surface of the front end of the left perch arm long circular sleeve, and the left perch arm driven gear and the left perch arm long circular sleeve are in interference fit. The motor base of the left perching arm is sleeved and fixed on the intermediate shaft. The round sleeve is arranged on the intermediate shaft and enables the intermediate shaft and the intermediate shaft to be in running fit. The left perching arm motor is fixed on the upper surface of the motor base; the left perch arm driving gear is sleeved on an output shaft of the left perch arm motor and is meshed with the left perch arm driven gear. The middle shaft is sleeved with a first clamping ring and a second clamping ring, and the first clamping ring and the second clamping ring are respectively positioned at two ends of the left perching arm short circular sleeve to limit axial movement of the left perching arm short circular sleeve. The middle shaft is sleeved with a third clamping ring and a fourth clamping ring, and the third clamping ring and the fourth clamping ring are respectively positioned at two ends of the long round sleeve of the left perching arm so as to limit the axial movement of the long round sleeve of the left perching arm.

The right perching arm power assembly comprises a right perching arm motor, a right perching arm motor base, a fifth clamping ring, a right perching arm driven gear, a right perching arm driving gear, a right perching arm long circular sleeve, a sixth clamping ring, a seventh clamping ring, a right perching arm short circular sleeve and an eighth clamping ring. The right perching arm support is sleeved on the middle shaft, and the rear end of the right perching arm support is arranged in a connecting sleeve on one side, close to the front three-way connecting piece of the rack, of the right perching arm support; interference fit is kept between arm long circle sleeve and the connecting sleeve to the right side. The driven gear of the right perch arm is sleeved on the outer circumferential surface of the front end of the circular sleeve, and the driven gear and the circular sleeve are in interference fit. The right perching arm motor base is sleeved and fixed on the intermediate shaft. The round sleeve is arranged on the intermediate shaft and enables the intermediate shaft and the intermediate shaft to be in running fit. The right perching arm motor is fixed on the upper surface of the motor base; the right perching arm driving gear is sleeved on an output shaft of the right perching arm motor and is meshed with the right perching arm driven gear. And a seventh clamping ring and an eighth clamping ring are sleeved on the intermediate shaft and are respectively positioned at two ends of the right perching arm short circular sleeve to limit the axial movement of the right perching arm short circular sleeve. And the fifth clamping ring and the sixth clamping ring are sleeved on the intermediate shaft and are positioned at two ends of the long round sleeve of the right perching arm so as to limit the axial movement of the long round sleeve of the right perching arm.

The left perching arm front double-claw comprises a first outer claw, a left perching arm front double-claw three-way connecting piece and a first inner claw; the inner hole of the left perching arm front double-hook claw three-way connecting piece is connected with the first inner claw, the outer hole is connected with the first outer claw, and the middle hole is connected with the left perching arm support.

The left perching arm rear double-claw comprises a second outer claw, a left perching arm rear double-claw three-way connecting piece and a second inner claw; the inner hole of the left perching arm rear double-hook claw three-way connecting piece is connected with the second inner claw, the outer hole is connected with the second outer claw, and the middle hole is connected with the left perching arm support.

The right perching arm front double-claw comprises a third outer claw, a right perching arm front double-claw three-way connecting piece and a third inner claw; the inner hole of the right perching arm front double-claw three-way connecting piece is connected with the third inner claw, the outer hole is connected with the third outer claw, and the middle hole is connected with the right perching arm support.

The right perching arm rear double-claw comprises a fourth outer claw, a right perching arm rear double-claw three-way connecting piece and a fourth inner claw; an inner hole of the right perching arm rear double-hook claw three-way connecting piece is connected with the fourth inner claw, an outer hole is connected with the fourth outer claw, and a middle hole is connected with the right perching arm support.

The working process of the left perch arm is as follows: however, the left perch arm motor drives the left perch arm driving gear to rotate anticlockwise, the left perch arm driving gear drives the left perch arm driven gear to rotate clockwise, the left perch arm driven gear drives the left arm support to rotate clockwise around the middle shaft, and the front double-claw of the left perch arm and the rear double-claw of the left perch arm are lifted, so that the left perch arm is lifted.

When the left perching arm motor drives the left perching arm driving gear to rotate clockwise, the left perching arm driving gear drives the left perching arm driven gear to rotate anticlockwise, the left perching arm driven gear drives the left arm support to rotate anticlockwise around the middle shaft, and the front double-claw and the rear double-claw of the left perching arm descend, namely the left perching arm descends.

The working process of the right perching arm is as follows:

when right arm motor drive right side perches the arm driving gear clockwise rotation, and right arm driving gear drives right arm driven gear anticlockwise rotation of perching, and right arm driven gear drives right arm support around jackshaft anticlockwise rotation perching, then the double hook claw lifting after the preceding double hook claw of right arm and the right arm of perching is known as right arm lifting of perching.

When the right perching arm motor drives the right perching arm driving gear to rotate anticlockwise, the right perching arm driving gear drives the right perching arm driven gear to rotate clockwise, the right perching arm driven gear drives the right arm support to rotate clockwise around the middle shaft, and the front double-claw and the rear double-claw of the right perching arm descend, namely the right perching arm descends.

The invention provides a self-adaptive landing method of a dual-perch-arm perched unmanned aerial vehicle, which comprises horizontal plane landing and taking-off motion, inclined surface landing and taking-off motion and uneven surface landingTaking off and landing movement is characterized in that self-adaptive rising and falling are realized by controlling the unfolding angle of the left perch arm and the unfolding angle of the right perch arm. The unfolding angle is based on the symmetry plane of the frame, and the included angle between the left perch arm and the symmetry plane of the frame is the unfolding angle theta of the left perch arm ₁ The included angle between the right perch arm and the symmetrical plane of the frame is the unfolding angle theta of the right perch arm ₂ . The specific process is as follows:

the first kind, when this two perch arm perch unmanned aerial vehicle takes off at the horizontal plane and lands the motion:

when taking off and landing on the horizontal plane:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm to rotate to the unfolding angle theta of the left perch arm ₁ =30 °, such that the first inner jaw and the second inner jaw are both parallel to the horizontal plane.

Meanwhile, the gear is driven by the motor to drive the right perch arm to rotate to the unfolding angle theta of the right perch arm ₂ =30 °, so that the third inner jaw and the fourth inner jaw are both parallel to the ground.

Perch unmanned aerial vehicle with this pair of arm of perching and place on this horizontal plane, make four rotor unmanned aerial vehicle systems keep the horizontality.

The motor that the start is located in rotor module on four of left forearm, right postbrachium and left forearm respectively makes each rotor work in the four rotor unmanned aerial vehicle systems, this pair of arms of perching perch unmanned aerial vehicle takes off at the horizontal plane.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm ₁ =30 °, the first inner jaw and the second inner jaw are both parallel to the plane.

Maintaining the spread angle theta of the right perch arm ₂ =30 °, the third inner jaw and the fourth inner jaw are both parallel to the plane.

The reduction is located respectively the power of the motor in the rotor module on four of left forearm, right postbrachium and left forearm makes this dual perch arm unmanned aerial vehicle perch steadily to descend on the horizontal plane.

And finishing the takeoff and landing of the dual-perch arm perching unmanned aerial vehicle on the horizontal plane.

The second kind, when this pair perch arm perches unmanned aerial vehicle takes off at the inclined surface and lands the motion:

the inclination of the inclined surface is theta ₅ ，0°＜θ ₅ ＜30°。

When the inclined surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm to rotate to the unfolding angle theta of the left perch arm ₁ ＝(30°-θ ₅ ) And the first inner claw and the second inner claw are parallel to the inclined surface.

Meanwhile, the gear is driven by the motor to drive the right perch arm to rotate to the unfolding angle theta of the right perch arm ₂ ＝(30°+θ ₅ ) And the third inner claw and the fourth inner claw are parallel to the inclined surface.

Place this dual-perch arm perch unmanned aerial vehicle on this inclined surface to make four rotor unmanned aerial vehicle systems keep the horizontality.

Starting motors respectively located in the rotor modules on the four of the left forearm, the right rear arm and the left forearm to enable each rotor in the four-rotor unmanned aerial vehicle system to work, and taking off the dual-perch-arm perch unmanned aerial vehicle on the inclined surface.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm ₁ ＝(30°-θ ₅ ) And enabling the first inner claw and the second inner claw to be parallel to the inclined surface.

Maintaining the spread angle theta of the right perch arm ₂ ＝3(30°+θ ₅ ) And enabling the third inner claw and the fourth inner claw to be parallel to the inclined surface.

The power of the motors in the rotor modules on the left forearm, the right rear arm and the left forearm is reduced and is respectively positioned, so that the dual-perch arm perch unmanned aerial vehicle stably lands on the inclined surface.

And finishing the take-off and landing of the dual-perch arm perched unmanned aerial vehicle on the inclined surface.

The third kind, perch unmanned aerial vehicle when the takeoff and landing motion of step face at this pair of arm of perching:

and setting the height drop of the step surface as h. H is more than 0.1t and less than 1.5t; the t is the length of the right perch arm.

And a contact point of the tail end of the fourth inner claw on the right perching arm and the high surface is set to be Z, and the right perching arm rotates around the intermediate shaft. The included angle between the connecting line OZ between the central line of the intermediate shaft and the contact point Z and the symmetrical plane of the rack is theta ₃ (ii) a The included angle between the connecting line OZ and the right perching arm support is theta ₄ 。

When the step surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perching arm to rotate to the left perching arm unfolding angle theta ₁ ＝30°。

The gear is driven by the motor to drive the right perch arm to rotate to the unfolding angle theta of the right perch arm ₂ ＝θ ₃ +θ ₄ 。

Place this two arms of perching unmanned aerial vehicle on this step face, make claw all is parallel with the low face and fall on the low face in claw and the second in the first, make the third in claw and the fourth terminal between them fall on the high face, make four rotor unmanned aerial vehicle systems keep the level.

The motor that the start is located in rotor module on four of left forearm, right postbrachium and left forearm respectively makes each rotor work in the four rotor unmanned aerial vehicle systems, this pair of arms of perching perch unmanned aerial vehicle takes off at the step face.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm ₁ ＝30°。

Maintaining the spread angle theta of the right perch arm ₂ ＝θ ₃ +θ ₄ 。

The reduction is located respectively the power of the motor in the rotor module on four of left forearm, right postbrachium and left forearm makes claw in first and the second all parallel with the low side and fall on the low side, makes the end of claw in claw and the fourth all falls on the high side in the third, makes four rotor unmanned aerial vehicle systems keep the level.

And finishing the take-off and landing of the dual-perch arm perching unmanned aerial vehicle on the horizontal plane, the inclined surface and the step surface.

The invention provides a perching process of the unmanned aerial vehicle perched by the double perching arms, which is divided into side lightning protection belt perching, top surface cylindrical perching and upside-down slit perching according to different perching conditions.

The specific process is as follows:

the first method for inhabiting the lightning protection belt on the side surface comprises the following steps:

the side lightning protection belt is positioned on the parapet wall on the roof. The specific process is as follows:

first, the dual-perch arm perch unmanned aerial vehicle takes off.

Second, the left perch arm rotates to the left perch arm unfolding angle theta ₁ =120 °; simultaneously, the right perch arm rotates to the right perch arm deployment angle θ ₂ ＝120°。

And thirdly, the dual-inhabiting-arm inhabiting unmanned aerial vehicle flies to the position 1m above the outer side of the parapet wall of the roof.

And fourthly, descending the unmanned aerial vehicle perched by the dual perching arms until the third inner claw and the fourth inner claw of the right perching arm are hung on the lightning protection belt on the parapet wall.

Fifthly, the unmanned aerial vehicle perched by the double perching arms keeps still, the left perching arm rotates anticlockwise until the first inner claw and the second inner claw of the left perching arm contact with the daughter wall surface.

And sixthly, locking a motor of the left perching arm and a motor of the right perching arm so that the left perching arm and the right perching arm can not rotate. A stable triangle is formed among the left perch arm, the right perch arm, the lightning protection belt and the parapet wall. The quad-rotor drone system remains horizontal.

Seventhly, all rotor modules are shut down to save the electric energy, the cloud platform camera continues to shoot the operation to ground.

Step eight, when two perch arms perch unmanned aerial vehicle accomplish aerial work and need fly away from this perch, its flight from the process is:

i all rotor modules work and generate lift, making this dual perch arm perch unmanned aerial vehicle hover.

Ii, unlocking the left perching arm motor; the left perch arm is rotated clockwise until theta ₁ ＞0°。

Iii, enabling the dual-perch arm perching unmanned aerial vehicle to vertically fly upwards to a safe height; simultaneously, the left perching arm continues to rotate clockwise to theta ₁ And stops after =120 °. The side lightning protection belt inhabits.

Second, the top surface cylinder perches:

during the top surface cylinder perches, this cylindrical perch point is located this pair of arms of perching and perchs unmanned aerial vehicle top. The specific process is as follows:

first, the dual-perch arm perch unmanned aerial vehicle takes off.

And secondly, the dual-perch arm perching unmanned aerial vehicle flies to the position 1m below the top surface cylinder.

Thirdly, the left perch arm is lifted to the unfolding angle theta of the left perch arm ₁ =150 °; simultaneously, the right perch arm is lifted to the right perch arm deployment angle theta ₂ ＝150°。

And fourthly, the unmanned aerial vehicle perched by the double perching arms ascends until the first outer claw and the second outer claw of the left perching arm are higher than the top surface cylinder, and the third outer claw and the fourth outer claw of the right perching arm are higher than the top surface cylinder.

And fifthly, stopping the unmanned aerial vehicle perched by the double perching arms.

Sixthly, lifting the left perching arm to an unfolding angle theta of the left perching arm ₁ =170 °. Simultaneously, the right perch arm is lifted to the right perch arm deployment angle theta ₂ And =170 °, the left and right perch arms completely embrace the top surface cylinder.

Seventhly, the quad-rotor unmanned aerial vehicle system descends until the first outer claw and the second outer claw of the left perch arm are both hung on the top surface cylinder, and the third outer claw and the fourth outer claw of the right perch arm are both hung on the top surface cylinder. The quad-rotor drone system remains horizontal at this time.

Eighth step, all rotor modules are shut down in order to save the electric energy, and the cloud platform camera continues to shoot ground.

The left perching arm motor and the right perching arm motor are not required to be locked after the top surface cylinder perches, the top surface cylinder is firmly hung through the structures of the left perching arm and the right perching arm, and the electric energy is saved by the perching method.

The ninth step, work as when two arms perch unmanned aerial vehicle accomplish aerial operation and need fly away from this perch, its process of flying away is:

all the rotor wing modules work, so that the dual-perch arm unmanned aerial vehicle flies for 10cm in the vertical upward direction.

Ii the left perch arm is lowered to the left perch arm unfolding angle theta ₁ =150 °, simultaneously, right perch arm drops to right perch arm deployment angle θ ₂ ＝150°。

Iii the dual-perch arm perching unmanned aerial vehicle descends to a safe height. The resting of the top surface cylinder is completed.

Third, hanging the slit upside down for perching:

in the slot perching of hanging upside down, this slot is located this pair of arms of perching and perches unmanned aerial vehicle top.

First, the dual-perch arm perch unmanned aerial vehicle takes off.

Second, the left perch arm is lifted to the left perch arm unfolding angle theta ₁ =170 °, simultaneously, right perch arm lift to right perch arm deployment angle θ ₂ ＝170°。

And thirdly, the dual-inhabiting-arm inhabiting unmanned aerial vehicle flies to the position 1m below the top surface of the slit.

And fourthly, the unmanned aerial vehicle perched by the double perching arms ascends, the left perching arm and the right perching arm penetrate through the slit, the claws are higher than the slit top surface by 10cm in the first inner claw and the second of the left perching arm, and the claws are higher than the slit top surface by 10cm in the third inner claw and the fourth of the right perching arm.

And fifthly, stopping ascending and keeping hovering the double-perch-arm perching unmanned aerial vehicle.

And sixthly, the left perching arm descends to a position where the first inner claw and the second inner claw are in contact with the top surface of the slit, and meanwhile, the right perching arm descends to a position where the third inner claw and the fourth inner claw are in contact with the top surface of the slit. At this time, the left perch arm and the right perch arm are hung on the top surface of the slit in an inverted manner.

And seventhly, locking the motor of the left perching arm and the motor of the right perching arm, and enabling the left perching arm and the right perching arm not to rotate. The unmanned aerial vehicle perches on the double perching arms and keeps horizontal.

Ninth step, when two perch arms perch unmanned aerial vehicle accomplish aerial work and need fly away from this perch, its flight from the process is:

i all rotor modules work and produce lift, make this two perch arm perch unmanned aerial vehicle keep hovering.

Ii the left perch arm is lifted to the left perch arm unfolding angle theta ₁ =170 °, simultaneously, right perch arm lifts to right perch arm deployment angle θ ₂ ＝170°。

Iii the dual-perch arm perching unmanned aerial vehicle descends to a safe height. The hanging slit perches and finishes.

So far, the dual-inhabiting-arm inhabiting unmanned aerial vehicle inhales under different conditions of the side lightning strip, the top surface cylinder and the inverted slit

Compared with the prior art, the invention has the following advantages:

1. the invention can realize the inhabitation of the side lightning protection belt, which is an inhabitation point which is not utilized in the prior art at present and is common, and the inhabitation point has the advantages of high height, obvious characteristic shape and fixed characteristic shape. The invention has strong stability after the lightning protection belt on the side surface inhales, the left and right inhabitation arms and the wall body form a stable triangle, and the wind interference factors are small.

2. The invention has three inhabitation abilities of side lightning protection belt inhabitation, top surface cylindrical inhabitation and slit inverted hanging inhabitation, and has good urban complex environment adaptability.

3. The invention has simple and reliable structure and driving mode, can drive a single perching arm by only one motor, and reduces the whole weight while meeting the same function compared with a multi-motor multi-joint mechanical arm. Each perching arm has large rotation angle and long perching arm, so that the perching arm has large grabbing range, larger fault tolerance and high grabbing success rate.

4. The unmanned aerial vehicle can take off and land in a self-adaptive mode, the left perching arm and the right perching arm can actively adjust the unfolding angle of the perching arms according to ground characteristics, the plane body can be kept horizontal all the time in the take-off and landing processes, and the stability of the unmanned aerial vehicle in the take-off and landing processes is improved.

5. The invention has strong stability after the top surface cylinder inhales, the left and right inhabitation arms embrace the cylinder ring, and the double hook claws hook the cylinder, thereby effectively preventing the hook from falling off. Controlling and perching the arm symmetric distribution, fuselage focus can not squint after snatching the top surface cylinder, can keep unmanned aerial vehicle level all the time, effectively avoids perching the back focus slope. But perch arm motor outage inoperative after the top surface cylinder perches, reduced the power consumption.

Drawings

FIG. 1 is an axial schematic view of the present invention.

FIG. 2 is a schematic view of the perch mechanism.

Fig. 3 is a schematic diagram of a quad-rotor drone system.

FIG. 4 is a schematic view of the entire structure of the left perch arm.

FIG. 5 is a schematic view showing the entire structure of the right perch arm.

Fig. 6 is an exploded view of the left perch arm assembly.

Fig. 7 is an exploded view of the right perch arm assembly.

Fig. 8 is a schematic structural view of the rack.

FIG. 9 is a schematic structural view of a three-way connecting piece of the front double-claw of the left perching arm.

Fig. 10 is a schematic structural diagram of a gantry front tee connection.

FIG. 11 is the left perch arm deployment angle θ ₁ Angle theta of spread with right perch arm ₂ Schematic representation of (a).

Fig. 12 is a schematic diagram of the dual perch arm perch unmanned aerial vehicle taking off and landing on a horizontal plane.

Fig. 13 is a schematic view of a dual perch arm perch drone taking off and landing on an inclined surface.

Fig. 14 is a schematic view of take-off and landing of the dual-perch arm perched unmanned aerial vehicle on a step surface.

FIG. 15 is a schematic diagram of the second and third steps in the perching of the lightning conduction belt on the side.

FIG. 16 is a schematic view of the fourth step in the perching of the lateral lightning zone.

FIG. 17 is a schematic view of a fifth step in the perching of the lateral lightning zone.

FIG. 18 is a schematic view of the sixth step and the seventh step in the perch of the lateral lightning zone.

FIG. 19 is a schematic diagram of the eighth step i and the eighth step ii in the perch of the lateral lightning zone.

FIG. 20 is a schematic view of the eighth step iii in the perch of the lateral lightning zone.

FIG. 21 is a schematic diagram of the first and second steps in the top cylindrical perch.

FIG. 22 is a schematic view showing the third and fourth steps in the resting of the top surface cylinder.

FIG. 23 is a schematic view of the fifth step and the sixth step in the top cylindrical habitat.

FIG. 24 is a schematic view of the seventh and eighth steps in the cylindrical perch.

FIG. 25 is a schematic diagram of the ninth step i in the top cylindrical habitat.

FIG. 26 is a schematic view of the ninth step ii in the top cylindrical habitat.

FIG. 27 is a schematic representation of the ninth step iii in top cylindrical perch.

FIG. 28 is a schematic view showing the first, second and third steps in the inverted slit perching.

FIG. 29 is a schematic view of the fourth step and the fifth step in the upside-down slit perch.

FIG. 30 is a schematic view showing the sixth, seventh and eighth steps in the upside-down slit perch.

FIG. 31 is a schematic diagram of the ninth step i in the inverted slit perch.

FIG. 32 is a schematic view of the ninth step ii in the inverted slit perch.

FIG. 33 is a schematic view of the positions of the section A and the section B.

Fig. 34 is a partial sectional view a.

Fig. 35B is a partial sectional view.

Fig. 36 is a schematic view of a plane of symmetry of the gantry.

In the figure: 1. a left perch arm; 2. a right perch arm; 3. a quad-rotor drone system; 4. a left perch arm support; 5. a front double claw of the left perching arm; 6. the rear double claw of the left perching arm; 7. a left perch arm power assembly; 8. a right perch arm support; 9. the front double claw of the right perching arm; 10. the rear double claw of the right perching arm; 11. a right perch arm power assembly; 12. a first outer jaw; 13. a left perching arm front double-claw three-way connecting piece; 14. a first inner jaw; 15. a second outer jaw; 16. a left perching arm rear double-claw three-way connecting piece; 17 a second inner jaw; 18. A frame; 19. a third outer jaw; 20. a right perching arm front double-claw three-way connecting piece; 21 a third inner jaw; 22. a fourth outer jaw; 23. a right perching arm rear double-claw three-way connecting piece; 24 a fourth inner jaw; 25. a first snap ring; 26. a short round sleeve of the left perch arm; 27. a second snap ring; 28. a motor base of the left perch arm; 29. a left perch arm motor; 30. a third snap ring; 31. a left perch arm drive gear; 32. a left perch arm driven gear; 33. a long round sleeve of the left perch arm; 34. a fourth snap ring; 35. a right perch arm motor; 36. a right perch arm motor mount; 37. a fifth snap ring; 38. a right perch arm driven gear; 39. a right perch arm drive gear; 40. a long round sleeve of the right perch arm; 41. a sixth snap ring; 42. a seventh snap ring; 43. a short round sleeve of the right perch arm; 44. an eighth snap ring; 45. a left forearm; 46. a right forearm; 47. a frame front tee connecting piece; 48. an intermediate shaft; 49. a rack rear tee joint connecting piece; 50. a left rear arm; 51. a right rear arm; a rotor module; 53. a control cabin; 54. a pan-tilt camera; 55. a plane of symmetry of the frame.

Detailed Description

The present embodiment is an unmanned aerial vehicle with two perching arms, which is a symmetrical structure, and the unmanned aerial vehicle is divided into a left side and a right side according to the flight direction of the unmanned aerial vehicle, and the components located on the left side are called a left perching arm, a left perching arm support, a left perching arm front double claw, a left perching arm rear double claw, a left perching arm power assembly, a left perching arm short circular sleeve, a left perching arm motor base, a left perching arm motor, a left perching arm driving gear, a left perching arm driven gear, a left perching arm long circular sleeve, a left front arm and a left rear arm; the parts on the right side are called a right perching arm, a right perching arm support, a right perching arm front double-claw, a right perching arm rear double-claw, a right perching arm power assembly, a right perching arm motor base, a right perching arm driven gear, a right perching arm driving gear, a right perching arm long round sleeve and a right perching arm short round sleeve; a right forearm and a right hind arm.

The embodiment comprises a left perch arm 1, a right perch arm 2 and a quad-rotor unmanned aerial vehicle system 3; wherein: the upper end of the left perch arm and the upper end of the right perch arm are respectively connected with the intermediate shaft of the four-rotor unmanned aerial vehicle system, and the four-rotor perch unmanned aerial vehicle system with the double perch arms is formed.

Quad-rotor unmanned aerial vehicle system 3 includes frame 18, four rotor modules 52, control cabin 53 and cloud platform camera 54, wherein, four rotor modules suit respectively at the cantilever end of the left forearm 45, the right forearm 46, the left trailing arm 50 and the right trailing arm 51 of this frame. The control cabin 53 is arranged in the middle section of the middle shaft 48 of the frame; a pan-tilt camera 54 is mounted on the lower surface of the control cabin.

The frame 18 comprises a left front arm 45, a right front arm 46, a frame front three-way connecting piece 47, a middle shaft 48, a frame rear three-way connecting piece 49, a left rear arm 50 and a right rear arm 51. The left front arm and the right front arm are installed at one end of the middle shaft through a rack front three-way connecting piece, and an included angle formed by the center line of the left front arm and the center line of the right front arm and the center line of the middle shaft is 120 degrees. The left rear arm and the right rear arm are installed at the other end of the intermediate shaft through a rack rear three-way connecting piece, and an included angle between the central line of the left rear arm and the central line of the right rear arm and the central line of the intermediate shaft is 120 degrees. The four connected left front arm 45, right front arm 46, left rear arm 50 and right rear arm 51 are located on the same horizontal plane. The rotor module 52, the control cabin 53 and the pan-tilt camera 54 in the airframe are all in the prior art.

In order to be suitable for the assembly with the left and right perch arms 1 and 2, the present embodiment modifies the shape and size of the frame 18, including: 1. the length and width ratio of the whole frame is changed into 8:5 to ensure that the left and right perch arms do not interfere with rotor module 52; 2. in order to avoid the overlarge deformation of the middle shaft caused by the long length of the middle shaft 48, a rack front three-way connecting piece 47 and a rack rear three-way connecting piece 49 are added, and the lengths of the left front arm, the right rear arm and the left front arm 45 are increased through the rack front three-way connecting piece and the rack rear three-way connecting piece, so that the length of the middle shaft is reduced, and the deformation of the middle shaft is further reduced. The structure of the rack front three-way connecting piece 47 is the same as that of the rack rear three-way connecting piece 49.

The left perching arm 1 comprises a left perching arm support 4, a left perching arm power assembly 7, a left perching arm front double-claw 5 and a left perching arm rear double-claw 6. The left perch arm support comprises two support rods with equal length and two transverse support rods, and the two support rods are connected through the two transverse support rods and are parallel to each other. Connecting sleeves are respectively fixed at the top ends of the two support rods at the upper end of the left perch arm support 4, wherein a short round sleeve 26 of the left perch arm is arranged in the connecting sleeve which is close to one side support rod of the front three-way connecting piece 47 of the machine frame, and the connecting sleeve is in interference fit with the round sleeve; a left perching arm power assembly 7 is arranged in a connecting sleeve close to a side branch rod of a rack rear three-way connecting piece 49. The bottom ends of the two support rods at the lower end of the left perching arm support 4 are respectively provided with a left perching arm front double-claw 5 and a left perching arm rear double-claw 6, the left perching arm front double-claw is close to one side of a rack front three-way connecting piece 47, and the left perching arm rear double-claw is close to one side of a rack rear three-way connecting piece 49.

The left perching arm power assembly 7 comprises a first clamping ring 25, a left perching arm short circular sleeve 26, a second clamping ring 27, a left perching arm motor base 28, a left perching arm motor 29, a third clamping ring 30, a left perching arm driving gear 31, a left perching arm driven gear 32, a left perching arm long circular sleeve 33 and a fourth clamping ring 34. Wherein, the long round sleeve 33 of the left perching arm is sleeved on the intermediate shaft, and the rear end of the round sleeve is arranged in the connecting sleeve at one side of the left perching arm bracket close to the rear three-way connecting piece 49 of the frame; and the round sleeve is in interference fit with the connecting sleeve. The left perch arm driven gear 32 is fitted around the outer circumferential surface of the front end of the circular sleeve, and is in interference fit therewith. The motor base 28 of the left perch arm is sleeved and fixed on the middle shaft. The circular sleeve 26 is fitted over the intermediate shaft and provides a running fit between the two. The left perch arm motor 29 is fixed on the upper surface of the motor base; the left perch arm driving gear 31 is sleeved on an output shaft of the left perch arm motor and is meshed with the left perch arm driven gear 32. The middle shaft is sleeved with a first clamping ring 25 and a second clamping ring 27, and the first clamping ring 25 and the second clamping ring 27 are respectively positioned at two ends of the left perching arm short round sleeve 26 to limit axial movement of the left perching arm short round sleeve. The middle shaft is sleeved with a third snap ring 30 and a fourth snap ring 34, and the third snap ring 30 and the fourth snap ring 34 are respectively positioned at two ends of the left perching arm long round sleeve 33 so as to limit the axial movement of the left perching arm long round sleeve.

The front double claw 5 of the left perching arm comprises a first outer claw 12, a front double claw three-way connecting piece 13 of the left perching arm and a first inner claw 14; an inner hole of the front double-hook claw three-way connecting piece 13 of the left perching arm is connected with a first inner claw 14, an outer hole is connected with a first outer claw 12, and a middle hole is connected with the left perching arm support 4.

The left perching arm rear double-claw 6 comprises a second outer claw 15, a left perching arm rear double-claw three-way connecting piece 16 and a second inner claw 17; the inner hole of the left perching arm rear double-claw three-way connecting piece 16 is connected with the second inner claw 17, the outer hole is connected with the second outer claw 15, and the middle hole is connected with the left perching arm support 4.

The right perching arm 2 comprises a right perching arm support 8, a right perching arm power assembly 11, a right perching arm front double-claw 9 and a right perching arm rear double-claw 10. The right perching arm support comprises two support rods with equal length and two transverse support rods, and the two support rods are connected through the two transverse support rods and are parallel to each other. A connecting sleeve is respectively fixed at the top ends of the two support rods at the upper end of the right perching arm support 8, wherein a right perching arm short circular sleeve 43 is arranged in the connecting sleeve of the support rod at one side of the rear three-way connecting piece 49 close to the rack, and the connecting sleeve is in interference fit with the right perching arm short circular sleeve; a right perching arm power assembly 11 is arranged at the position close to a connecting sleeve of a side branch rod of the frame front three-way connecting piece 47. The bottom ends of the two support rods at the lower end of the right perching arm support 8 are respectively provided with a right perching arm front double-claw 9 and a right perching arm rear double-claw 10, the right perching arm front double-claw is close to one side of a frame front three-way connecting piece 47, and the left perching arm rear double-claw is close to one side of a frame rear three-way connecting piece 49.

The support rod lengths of the left perch arm support 4 and the right perch arm support 8 are equal.

The right perch arm power assembly 11 comprises a right perch arm motor 35, a right perch arm motor base 36, a fifth snap ring 37, a right perch arm driven gear 38, a right perch arm driving gear 39, a right perch arm long circular sleeve 40, a sixth snap ring 41, a seventh snap ring 42, a right perch arm short circular sleeve 43 and an eighth snap ring 44. Wherein, the long round sleeve 40 of the right perching arm is sleeved on the intermediate shaft, and the rear end of the round sleeve is arranged in the connecting sleeve at one side of the right perching arm bracket close to the front three-way connecting piece 47 of the frame; and the round sleeve is in interference fit with the connecting sleeve. The right perch arm driven gear 38 is fitted around the outer circumferential surface of the front end of the circular sleeve, and is in interference fit therewith. The right perch arm motor mount 36 is sleeved and fixed on the intermediate shaft. The circular sleeve 43 is sleeved on the intermediate shaft and enables the intermediate shaft and the intermediate shaft to be in running fit. The right perch arm motor 35 is fixed on the upper surface of the motor base; a right perch arm driving gear 39 is fitted around the output shaft of the right perch arm motor 35 and engaged with the right perch arm driven gear 38. A seventh snap ring 42 and an eighth snap ring 44 are sleeved on the intermediate shaft, and the seventh snap ring 42 and the eighth snap ring 44 are respectively positioned at two ends of the right perching arm short round sleeve 43 to limit the axial movement of the right perching arm short round sleeve. A fifth snap ring 37 and a sixth snap ring 41 are fitted around the intermediate shaft and located at both ends of the right perch arm long round sleeve 40 to restrict axial play of the right perch arm long round sleeve.

The first snap ring 25, the second snap ring 27, the third snap ring 30, the fourth snap ring 34, the fifth snap ring 37, the sixth snap ring 41, the seventh snap ring 42 and the eighth snap ring 44 have the same structure.

The front double claw 9 of the right perching arm comprises a third outer claw 19, a front double claw three-way connecting piece 20 of the right perching arm and a third inner claw 21; an inner hole of the right perching arm front double-claw three-way connecting piece 20 is connected with a third inner claw 21, an outer hole is connected with a third outer claw 19, and a middle hole is connected with the right perching arm support 8.

The right perching arm rear double-claw 10 comprises a fourth outer claw 22, a right perching arm rear double-claw three-way connecting piece 23 and a fourth inner claw 24; an inner hole of the right perching arm rear double-claw three-way connecting piece 23 is connected with a fourth inner claw 24, an outer hole is connected with a fourth outer claw 22, and a middle hole is connected with the right perching arm support 8.

The left perching arm front double-claw three-way connecting piece 13, the left perching arm rear double-claw three-way connecting piece 16, the right perching arm front double-claw three-way connecting piece 20 and the right perching arm rear double-claw three-way connecting piece 23 are identical in structure.

The first inner claw 14, the second inner claw 17, the third inner claw 21, the fourth inner claw 24, the first outer claw 12, the second outer claw 15, the third outer claw 19 and the fourth outer claw 22 have the same structure.

When in work:

the left perching arm motor 29 of the left perching arm 1 drives the left perching arm driving gear 31 to rotate anticlockwise, the left perching arm driving gear 31 drives the left perching arm driven gear 32 to rotate clockwise, the left perching arm driven gear 32 drives the left arm support 4 to rotate clockwise around the intermediate shaft 48, and then the front double-claw 5 of the left perching arm and the rear double-claw 6 of the left perching arm are lifted, which is called as left perching arm lifting.

The left perching arm motor 29 of the left perching arm 1 drives the left perching arm driving gear 31 to rotate clockwise, the left perching arm driving gear 31 drives the left perching arm driven gear 32 to rotate counterclockwise, the left perching arm driven gear 32 drives the left arm support 4 to rotate counterclockwise around the intermediate shaft 48, and then the front double-claw 5 of the left perching arm and the rear double-claw 6 of the left perching arm descend, which is called as the descending of the left perching arm.

The right perching arm motor 35 of the right perching arm 2 drives the right perching arm driving gear 39 to rotate clockwise, the right perching arm driving gear 39 drives the right perching arm driven gear 38 to rotate counterclockwise, the right perching arm driven gear 38 drives the right arm support 18 to rotate counterclockwise around the intermediate shaft 48, and then the right perching arm front double-claw 9 and the right perching arm rear double-claw 10 are lifted, which is called as right perching arm lifting.

The right perching arm motor 35 of the right perching arm 2 drives the right perching arm driving gear 39 to rotate counterclockwise, the right perching arm driving gear 39 drives the right perching arm driven gear 38 to rotate clockwise, the right perching arm driven gear 38 drives the right arm support 18 to rotate clockwise around the intermediate shaft 48, and then the right perching arm front double-claw 9 and the right perching arm rear double-claw 10 descend, which is called as the right perching arm descending.

The self-adaptive rising and falling of the dual-perch arm perching unmanned aerial vehicle comprises horizontal plane rising and falling motion, inclined surface rising and falling motion and rising and falling motion of a concave-convex uneven surface. The dual-perch-arm perching unmanned aerial vehicle realizes self-adaptive rising and falling by controlling the unfolding angle of the left perch arm and the unfolding angle of the right perch arm. The expansion angle is based on the symmetry plane 55 of the frame, and the included angle between the left perching arm 1 and the symmetry plane of the frame is the expansion angle theta of the left perching arm ₁ The included angle between the right perch arm 2 and the symmetrical plane of the frame is a right perch arm unfolding angle theta ₂ 。

The specific process is as follows:

the first kind, when this pair perch arm perches unmanned aerial vehicle takes off at the horizontal plane and lands the motion:

when taking off and landing on the horizontal plane:

i two arm unmanned aerial vehicle that perches take off:

the gear is driven by the motor to drive the left perch arm 1 to rotate to the left perch arm unfolding angle theta ₁ =30 °, such that the first inner jaw 14 and the second inner jaw 17 are both parallel to the horizontal plane.

Meanwhile, the gear is driven by the motor to drive the right perch arm 2 to rotate to the unfolding angle theta of the right perch arm ₂ =30 °, so that the third inner jaw 21 and the fourth inner jaw 24 are both parallel to the ground.

Place this two arms of perching unmanned aerial vehicle on this horizontal plane, make four rotor unmanned aerial vehicle system 3 keep the horizontality.

The motors in the rotor modules 52 on the left forearm, the right rear arm and the left forearm respectively are started to make each rotor in the quad-rotor unmanned aerial vehicle system work, and the dual-perch arm perch unmanned aerial vehicle takes off at the horizontal plane.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm 1 ₁ =30 °, the first inner jaw 14 and the second inner jaw 17 are both parallel to a plane.

Maintaining the spread angle theta of the right perch arm 2 ₂ =30 °, with the third inner jaw 21 and the fourth inner jaw 24 both parallel to a plane.

The power of the motors in the rotor modules 52 on the left forearm, the right trailing arm and the left forearm, respectively, is reduced, so that the dual-perch arm perch unmanned aerial vehicle stably lands on the horizontal plane.

And finishing the take-off and landing of the double-perch arm perched unmanned aerial vehicle on the horizontal plane.

the inclination of the inclined surface is theta ₅ ，0°＜θ ₅ ＜30°。

When the inclined surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm 1 to rotate to the left perch arm unfolding angle theta ₁ ＝(30°-θ ₅ ) And the first inner jaw 14 and the second inner jaw 17 are parallel to the inclined surface.

Meanwhile, the gear is driven by the motor to drive the right perching arm 2 to rotate to the unfolding angle theta of the right perching arm ₂ ＝(30°+θ ₅ ) The third inner jaw 21 and the fourth inner jaw 24 are made parallel to the inclined surface.

Place this dual perch arm perch unmanned aerial vehicle on this inclined surface to make quad-rotor unmanned aerial vehicle system 3 keep the horizontality.

The motors in rotor modules 52 on the left forearm, right trailing arm and left forearm are activated respectively, making each rotor in the quad-rotor unmanned aerial vehicle system works, and this dual-perch arm perch unmanned aerial vehicle takes off on the inclined surface.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm 1 ₁ ＝(30°-θ ₅ ) The first inner jaw 14 and the second inner jaw 17 are made parallel to the inclined surface.

Maintaining the spread angle theta of the right perch arm 2 ₂ ＝3(30°+θ ₅ ) The third inner jaw 21 and the fourth inner jaw 24 are made parallel to the inclined surface.

The power of the motors in the rotor modules 52 located on the four left, right, rear and front arms, respectively, is reduced, allowing the dual perch arm perch drone to land steadily on an inclined surface.

And finishing the takeoff and landing of the dual-perch-arm perching unmanned aerial vehicle on the inclined surface.

The third kind, when this pair perch arm perch unmanned aerial vehicle at the takeoff and landing motion of step face:

And a contact point of the tail end of the fourth inner claw 24 on the right perching arm 2 and the high surface is set to be Z, and the right perching arm 2 rotates around the middle shaft. The included angle between the connecting line OZ between the central line of the intermediate shaft and the contact point Z and the rack symmetrical plane 55 is theta ₃ (ii) a The included angle between the connecting line OZ and the right perching arm support 8 is theta ₄ 。

When the step surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm 1 to rotate to a left perch arm unfolding angle theta ₁ ＝30°。

The gear is driven by the motor to drive the right perch arm 2 to rotate to a right perch arm unfolding angle theta ₂ ＝θ ₃ +θ ₄ 。

Place this two arms of perching unmanned aerial vehicle on this step face, make claw 17 all is parallel with the low face and falls on the low face in claw 14 and the second in the first, make the end between claw 21 and the fourth in claw 24 fall on the high face in the third, make four rotor unmanned aerial vehicle system 3 keep the level.

The motor that starts to be located respectively in rotor module 52 on four of left forearm, right postbrachium and left forearm makes each rotor work in the four rotor unmanned aerial vehicle systems, this pair of arms of perching perch unmanned aerial vehicle takes off at the step face.

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm 1 ₁ ＝30°。

Maintaining the spread angle theta of the right perch arm 2 ₂ ＝θ ₃ +θ ₄ 。

Reduce the power of the motor in rotor module 52 that is located respectively on four of left forearm, right postbrachium and left forearm, make claw 14 and second in the first claw 17 all parallel with the low side and fall on the low side, make the end of claw 24 all falls on the high side in claw 21 and the fourth in the third, make four rotor unmanned aerial vehicle system 3 keep the level.

And finishing the take-off and landing of the unmanned aerial vehicle perched on the double perching arms on the horizontal plane, the inclined surface and the step surface.

The perch process of the dual perch arm perch unmanned aerial vehicle of this embodiment is divided into side lightning protection zone perch, top surface cylinder perch, inverted slit perch according to different perch conditions.

The first method is that the lateral lightning protection belt inhabits:

the side lightning protection belt is positioned on the parapet wall on the roof.

First, the dual-perch arm perch unmanned aerial vehicle takes off.

Second, the left perch arm 1 rotates to the left perch arm unfolding angle theta ₁ =120 °; at the same time, the right perch arm 2 rotates to the right perch arm deployment angle θ ₂ ＝120°。

And fourthly, descending the dual-perch arm perching unmanned aerial vehicle until the third inner claw 21 and the fourth inner claw 24 of the right perch arm 2 are hung on the lightning protection belt on the parapet wall.

Fifthly, the unmanned aerial vehicle perched on the double perching arms keeps still, the left perching arm 1 rotates anticlockwise until the first inner claw 14 and the second inner claw 17 of the left perching arm 1 contact with the parapet wall surface.

And sixthly, locking the left perching arm motor 29 and the right perching arm motor 35 to prevent the left perching arm 1 and the right perching arm 2 from rotating. Form stable triangle between left perch arm 1, right perch arm 2, lightning strip and parapet. Quad-rotor drone system 3 remains horizontal.

Seventhly, all rotor modules 52 are stopped to save electric energy, and the pan-tilt camera continues to shoot on the ground.

i all rotor modules 52 work and generate lift, causing the dual perch arm perch drone to hover.

Ii the left perch arm motor 29 is unlocked; the left perch arm 1 is rotated clockwise until theta ₁ ＞0°。

Iii, enabling the dual-perch arm perching unmanned aerial vehicle to vertically fly upwards to a safe height; meanwhile, the left perch arm 1 continues to rotate clockwise to θ ₁ And stops after =120 °. The side lightning protection belt inhabits.

Second, top cylindrical perch:

during the top surface cylinder perches, this cylindrical perch point is located this pair of arms of perching and perchs unmanned aerial vehicle top.

First, the dual-perch arm perch unmanned aerial vehicle takes off.

Thirdly, the left perch arm 1 is lifted to the left perch arm unfolding angle theta ₁ =150 °; simultaneously, the right perch arm is lifted to the right perch arm deployment angle theta ₂ ＝150°。

Fourthly, the dual-perch arm perch unmanned aerial vehicle ascends until the first outer claw 12 and the second outer claw 15 of the left perch arm 1 are higher than the top surface cylinder, and the third outer claw 19 and the fourth outer claw 22 of the right perch arm 2 are higher than the top surface cylinder.

And fifthly, stopping ascending of the unmanned aerial vehicle perched by the double perching arms.

Sixthly, lifting the left perching arm to an unfolding angle theta of the left perching arm ₁ =170 °. Simultaneously, the right perch arm is lifted to the right perch arm deployment angle theta ₂ =170 °, the top surface cylinder is completely embraced by the left perch arm 1 and the right perch arm 2.

Seventh, quad-rotor drone system 3 descends until both first outer jaw 12 and second outer jaw 15 of left perch arm 1 ride against the top surface cylinder, and both third outer jaw 19 and fourth outer jaw 22 of right perch arm 2 ride against the top surface cylinder. Quad-rotor drone system 3 remains horizontal at this time.

Eighth step, all rotor modules 52 are shut down in order to save the electric energy, and the pan-tilt camera continues to shoot on ground.

The left perching arm motor 29 and the right perching arm motor 35 do not need to be locked after the top surface cylinder perches, the top surface cylinder is firmly hung through the structures of the left perching arm 1 and the right perching arm 2, and the electric energy is saved by the perching method.

i all the rotor modules 52 are working to fly the dual perch arm drone in the vertical upward direction 10cm.

Ii the left perch arm is lowered to the left perch arm unfolding angle theta ₁ =150 °, simultaneously, right perch arm descends to right perch arm deployment angle θ ₂ ＝150°。

Third, the hanging slot perches:

hang the slit and perch in, this slit is located this pair of arms of perching and perches unmanned aerial vehicle top.

First, the dual-perch arm perch unmanned aerial vehicle takes off.

Second, the left perch arm is lifted to the left perch arm unfolding angle theta ₁ =170 °, simultaneously, right perch arm lifts to right perch arm deployment angle θ ₂ ＝170°。

The fourth step, the unmanned aerial vehicle of perching of arm pair rises, and the arm of perching on the left side 1 passes the slit with the arm of perching on the right side 2, and claw 17 all is higher than slit top surface 10cm in claw 14 and the second in the first of the arm of perching on the left side 1, and claw 24 all is higher than slit top surface 10cm in claw 21 and the fourth in the third of the arm of perching on the right side 2.

And fifthly, stopping ascending and keeping hovering of the unmanned aerial vehicle perched by the double perching arms.

Sixthly, the left perching arm descends until the first inner claw 14 and the second inner claw 17 are contacted with the top surface of the slit, and meanwhile, the right perching arm descends until the third inner claw 21 and the fourth inner claw 24 are contacted with the top surface of the slit. At this time, the left perch arm 1 and the right perch arm 2 are hung upside down on the top surface of the slit.

Seventhly, the left perching arm motor 29 and the right perching arm motor 35 are locked, and the left perching arm 1 and the right perching arm 2 cannot rotate. The unmanned aerial vehicle perched on the double perching arms keeps horizontal.

Eighth, all rotor modules 52 are shut down to save power, and the pan-tilt camera continues to shoot on the ground.

i all rotor modules 52 are working to generate lift to keep the dual perch arm perch drone hovering.

Iii the dual-perch arm perching unmanned aerial vehicle descends to a safe height. And finishing the inhabitation of the upside-down slit.

And finishing the inhabitation of the double inhabitation arms under different conditions of the side lightning protection belt, the top surface cylinder and the inverted slit of the unmanned aerial vehicle.

Claims

1. A dual-perch arm perch unmanned aerial vehicle is of a symmetrical structure and comprises a left perch arm (1), a right perch arm (2) and a four-rotor unmanned aerial vehicle system (3); wherein: the upper end of the left perch arm and the upper end of the right perch arm are respectively connected with a middle shaft of the four-rotor unmanned aerial vehicle system, so that the four-rotor perch unmanned aerial vehicle system with double perch arms is formed;

the quad-rotor unmanned aerial vehicle system comprises a rack (18), four rotor modules (52), a control cabin (53) and a pan-tilt camera (54), wherein the four rotor modules are respectively sleeved on cantilever ends of a left front arm (45), a right front arm (46), a left rear arm (50) and a right rear arm (51) in the rack; the control cabin is arranged in the middle section of a middle shaft (48) of the rack; the pan-tilt camera is arranged on the lower surface of the control cabin;

characterized in that the frame is mounted on the top ends of the left and right perch arms); the frame comprises a left front arm, a right front arm, a frame front three-way connecting piece (47), a middle shaft (48), a frame rear three-way connecting piece (49), a left rear arm and a right rear arm; the left front arm and the right front arm are installed at one end of the middle shaft through a rack front three-way connecting piece, and an included angle between the center line of the left front arm and the center line of the right front arm and the center line of the middle shaft is 120 degrees; the left rear arm and the right rear arm are installed at the other end of the middle shaft through a rack rear three-way connecting piece, and an included angle between the center line of the left rear arm and the center line of the right rear arm and the center line of the middle shaft is 120 degrees; the connected left front arm, the right front arm, the left rear arm and the right rear arm are positioned on the same horizontal plane;

the left perching arm (1) comprises a left perching arm support (4), a left perching arm power assembly (7), a left perching arm front double-claw (5) and a left perching arm rear double-claw (6);

connecting sleeves are respectively fixed at the top ends of the two support rods of the left perch arm support, wherein a left perch arm short round sleeve (26) is arranged in the connecting sleeve close to one side support rod of the rack front three-way connecting piece (47), and the connecting sleeve is in interference fit with the left perch arm short round sleeve; a left perching arm power assembly is arranged in a connecting sleeve of a side branch rod close to the three-way connecting piece (49) at the back of the machine frame; the bottom ends of the two support rods at the lower end of the left perching arm support (4) are respectively provided with a left perching arm front double-claw and a left perching arm rear double-claw, the left perching arm front double-claw is close to one side of a rack front three-way connecting piece, and the left perching arm rear double-claw is close to one side of the rack rear three-way connecting piece;

the right perching arm (2) comprises a right perching arm support (8), a right perching arm power assembly (11), a right perching arm front double-claw (9) and a right perching arm rear double-claw (10); a connecting sleeve is respectively fixed at the top ends of the two support rods at the upper end of the right perching arm support, wherein a right perching arm short circular sleeve (43) is arranged in the connecting sleeve of one side support rod close to the rack rear three-way connecting piece (49), and the connecting sleeve is in interference fit with the right perching arm short circular sleeve; a right perching arm power assembly is arranged at a connecting sleeve close to a side branch rod of the three-way connecting piece (47) at the front of the stander; the bottom ends of the two support rods at the lower end of the right perching arm support are respectively provided with a right perching arm front double-claw and a right perching arm rear double-claw (10), the right perching arm front double-claw is close to one side of the rack front three-way connecting piece, and the left perching arm rear double-claw is close to one side of the rack rear three-way connecting piece.

2. The dual perch arm drone of claim 1, wherein said left perch arm power assembly (7) comprises a first snap ring (25), a left perch arm short circular sleeve (26), a second snap ring (27), a left perch arm motor mount (28), a left perch arm motor (29), a third snap ring (30), a left perch arm drive gear (31), a left perch arm driven gear (32), a left perch arm long circular sleeve (33), and a fourth snap ring (34); the left perch arm long round sleeve is sleeved on the middle shaft, and the rear end of the left perch arm long round sleeve is arranged in a connecting sleeve on one side, close to a rack rear three-way connecting piece (49), of the left perch arm support; the long round sleeve of the left perching arm is in interference fit with the connecting sleeve; the driven gear of the left perch arm is sleeved on the outer circumferential surface of the front end of the circular sleeve, and the driven gear and the circular sleeve are in interference fit; the motor base (28) of the left perching arm is sleeved and fixed on the intermediate shaft; the long round sleeve of the left perch arm is arranged on the intermediate shaft and enables the intermediate shaft and the intermediate shaft to be in running fit; the left perching arm motor is fixed on the upper surface of the motor base; the left perching arm driving gear is sleeved on an output shaft of the left perching arm motor and is meshed with the left perching arm driven gear; a first clamping ring (25) and a second clamping ring are sleeved on the middle shaft, and the first clamping ring and the second clamping ring are respectively positioned at two ends of the left perching arm short round sleeve (26) so as to limit the axial movement of the left perching arm short round sleeve; the middle shaft is sleeved with a third clamping ring and a fourth clamping ring, and the third clamping ring and the fourth clamping ring are respectively positioned at two ends of the left perching arm long round sleeve (33) to limit the axial movement of the left perching arm long round sleeve.

3. The dual perch arm drone of claim 1, wherein said right perch arm power assembly (11) comprises a right perch arm motor (35), a right perch arm motor mount (36), a fifth snap ring (37), a right perch arm driven gear (38), a right perch arm drive gear (39), a right perch arm long round sleeve (40), a sixth snap ring (41), a seventh snap ring (42), a right perch arm short round sleeve (43), and an eighth snap ring (44); the long round sleeve of the right perching arm is sleeved on the intermediate shaft, and the rear end of the round sleeve is arranged in the connecting sleeve at one side of the right perching arm support close to the front three-way connecting piece (47) of the rack; the round sleeve is in interference fit with the connecting sleeve; the driven gear of the right perching arm is sleeved on the outer circumferential surface of the front end of the circular sleeve, and the driven gear and the circular sleeve are in interference fit; the right perching arm motor base is sleeved and fixed on the intermediate shaft; the right perching arm short round sleeve is arranged on the intermediate shaft and is in running fit with the intermediate shaft; the right perching arm motor is fixed on the upper surface of the motor base; the right perching arm driving gear is sleeved on an output shaft of the right perching arm motor and is meshed with the right perching arm driven gear; a seventh clamping ring and an eighth clamping ring are sleeved on the intermediate shaft and are respectively positioned at two ends of the short round sleeve of the right perching arm so as to limit the axial movement of the short round sleeve of the right perching arm; and the fifth clamping ring and the sixth clamping ring are sleeved on the intermediate shaft and are positioned at two ends of the long round sleeve of the right perching arm so as to limit the axial movement of the long round sleeve of the right perching arm.

4. The dual perch arm perch unmanned aerial vehicle of claim 1, wherein said left perch arm forward dual-knuckle (5) comprises a first outer jaw (12), a left perch arm forward dual-knuckle three-way connector (13), and a first inner jaw (14); an inner hole of the front double-claw three-way connecting piece of the left perching arm is connected with the first inner claw, an outer hole is connected with the first outer claw (12), and a middle hole is connected with the left perching arm support (4);

the left perching arm rear double-claw (6) comprises a second outer claw (15), a left perching arm rear double-claw three-way connecting piece (16) and a second inner claw (17); the inner hole of the left perching arm rear double-hook claw three-way connecting piece is connected with the second inner claw, the outer hole is connected with the second outer claw (15), and the middle hole is connected with the left perching arm support (4).

5. The dual perch arm perch unmanned aerial vehicle of claim 1, wherein said right perch arm front dual claw (9) comprises a third outer claw (19), a right perch arm front dual claw three-way connector (20), and a third inner claw (21); an inner hole of the front double-claw three-way connecting piece (20) of the right perching arm is connected with a third inner claw (21), an outer hole is connected with a third outer claw (19), and a middle hole is connected with the right perching arm support (8);

the right perching arm rear double-claw (10) comprises a fourth outer claw (22), a right perching arm rear double-claw three-way connecting piece (23) and a fourth inner claw (24); an inner hole of the right perching arm rear double-hook-claw three-way connecting piece (23) is connected with a fourth inner claw (24), an outer hole is connected with a fourth outer claw (22), and a middle hole is connected with the right perching arm support (8).

6. The dual perch unmanned aerial vehicle of claim 1, wherein the working process of said left perch arm (1) is: however, the left perching arm motor (29) drives the left perching arm driving gear (31) to rotate anticlockwise, the left perching arm driving gear (31) drives the left perching arm driven gear (32) to rotate clockwise, the left perching arm driven gear (32) drives the left arm support (4) to rotate clockwise around the middle shaft (48), and then the front double-claw (5) of the left perching arm and the rear double-claw (6) of the left perching arm are lifted, namely left perching arm lifting;

7. The dual perch arm drone of claim 1, wherein said right perch arm (2) works by: when the right perching arm motor (35) drives the right perching arm driving gear (39) to rotate clockwise, the right perching arm driving gear (39) drives the right perching arm driven gear (38) to rotate anticlockwise, the right perching arm driven gear (38) drives the right arm support (18) to rotate anticlockwise around the middle shaft (48), and then the front double-claw (9) of the right perching arm and the rear double-claw (10) of the right perching arm are lifted, namely the right perching arm is lifted;

8. An adaptive landing method of the dual-perch arm perched unmanned aerial vehicle of claim 1, comprising a horizontal plane landing and takeoff motion, an inclined surface landing and takeoff motion, and a rugged surface landing and takeoff motion, wherein adaptive landing is realized by controlling the deployment angle of the left perch arm and the deployment angle of the right perch arm; the unfolding angle is based on the symmetry plane of the frame, and the included angle between the left perching arm (1) and the symmetry plane of the frame is the unfolding angle theta of the left perching arm ₁ The included angle between the right perching arm (2) and the symmetrical plane of the frame is a right perching arm unfolding angle theta ₂ (ii) a The specific process is as follows:

when taking off and landing on the horizontal plane:

i two arm unmanned aerial vehicle that perches take off:

the gear is driven by the motor to drive the left perching arm (1) to rotate to the left sidePerching arm deployment angle θ ₁ =30 °, with the first inner jaw (14) and the second inner jaw (17) both parallel to a horizontal plane;

meanwhile, the gear is driven by the motor to drive the right perching arm (2) to rotate to the unfolding angle theta of the right perching arm ₂ =30 °, with the third inner jaw (21) and the fourth inner jaw (24) both parallel to the ground;

placing the dual-perch arm perching unmanned aerial vehicle on the horizontal plane to enable the four-rotor unmanned aerial vehicle system (3) to keep a horizontal state;

starting motors in rotor modules (52) respectively positioned on the left front arm, the right rear arm and the left front arm to enable each rotor in the four-rotor unmanned aerial vehicle system to work, wherein the dual-perch-arm perch unmanned aerial vehicle takes off in a horizontal plane;

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm (1) ₁ =30 °, having both the first inner jaw (14) and the second inner jaw (17) parallel to a plane;

maintaining the spread angle theta of the right perch arm (2) ₂ -30 °, the third inner jaw (21) and the fourth inner jaw (24) are both parallel to a plane;

reducing the power of motors in rotor modules (52) respectively positioned on the left front arm, the right rear arm and the left front arm to enable the dual-perch arm perch unmanned aerial vehicle to stably land on a horizontal plane;

so far, the takeoff and landing of the unmanned aerial vehicle perched by the double perching arms on the horizontal plane are finished;

the second kind, when this dual perch arm perch unmanned aerial vehicle takes off at the inclined surface and lands the motion:

the inclination of the inclined surface is theta ₅ ，0°＜θ ₅ ＜30°；

When the inclined surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm (1) to rotate to the unfolding angle theta of the left perch arm ₁ ＝(30°-θ ₅ ) And the first inner jaw (14) and the second inner jaw(17) Are all parallel to the inclined surface;

meanwhile, the gear is driven by the motor to drive the right perch arm (2) to rotate to the unfolding angle theta of the right perch arm ₂ ＝(30°+θ ₅ ) -making said third inner jaw (21) and said fourth inner jaw (24) both parallel to the inclined surface;

placing the dual-perch arm perch drone on the inclined surface and keeping the quad-rotor drone system (3) in a horizontal state;

starting motors in rotor modules (52) respectively positioned on the four front arms, the four rear arms and the four front arms to enable each rotor in the four-rotor unmanned aerial vehicle system to work, wherein the dual-perch-arm perch unmanned aerial vehicle takes off on an inclined surface;

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm (1) ₁ ＝(30°-θ ₅ ) -making both said first inner jaw (14) and said second inner jaw (17) parallel to an inclined surface;

maintaining the spread angle theta of the right perch arm (2) ₂ ＝3(30°+θ ₅ ) -making said third inner jaw (21) and fourth inner jaw (24) both parallel to the inclined surface;

reducing power to motors in rotor modules (52) located on the left forearm, the right trailing arm, and the left forearm, respectively, to cause the dual perch arm perch drone to land steadily on an inclined surface;

so far, the takeoff and landing of the dual-perch arm perch unmanned aerial vehicle on the inclined surface are finished;

setting the height drop of the step surface as h; h is more than 0.1t and less than 1.5t; the t is the length of the right perch arm;

a contact point of the tail end of a fourth inner claw (24) on the right perching arm and a high surface is set to be Z, and the right perching arm rotates around the middle shaft; the included angle between the connecting line OZ between the central line of the intermediate shaft and the contact point Z and the symmetrical plane of the rack is theta ₃ (ii) a The included angle between the connecting line OZ and the right perching arm support (8)Is theta ₄ ；

When the step surface takes off and lands:

i two arms of perching perch unmanned aerial vehicle take off:

the gear is driven by the motor to drive the left perch arm (1) to rotate to a left perch arm unfolding angle theta ₁ ＝30°；

The gear is driven by the motor to drive the right perch arm (2) to rotate to a right perch arm unfolding angle theta ₂ ＝θ ₃ +θ ₄ ；

Placing the dual-perch arm perching unmanned aerial vehicle on the step surface, enabling the first inner claw (14) and the second inner claw (17) to be parallel to the low surface and fall on the low surface, enabling the tail ends of the third inner claw (21) and the fourth inner claw (24) to fall on the high surface, and enabling the four-rotor unmanned aerial vehicle system (3) to be kept horizontal;

starting motors in rotor modules (52) respectively positioned on the front left arm, the front right arm, the rear right arm and the front left arm to enable each rotor in the four-rotor unmanned aerial vehicle system to work, and enabling the dual-perch-arm perch unmanned aerial vehicle to take off on a step surface;

II two arms of perching perch unmanned aerial vehicle descend:

maintaining the spread angle theta of the left perch arm (1) ₁ ＝30°；

Maintaining the spread angle theta of the right perch arm (2) ₂ ＝θ ₃ +θ ₄ ；

Reducing the power of motors in rotor modules (52) respectively positioned on the four front left arms, the four front right arms, the four rear right arms and the four front left arms to enable the first inner claws (14) and the second inner claws (17) to be parallel to the low plane and fall on the low plane, enable the tail ends of the third inner claws (21) and the fourth inner claws (24) to fall on the high plane and enable the four-rotor unmanned aerial vehicle system (3) to be horizontal;

9. The method for the dual-arm unmanned aerial vehicle of claim 1, wherein the dual-arm unmanned aerial vehicle inhabits according to different inhabitation conditions, and is divided into lateral lightning protection belt inhabitation, top cylindrical inhabitation and inverted slit inhabitation;

the specific process is as follows:

the side lightning protection belt is positioned on the roof parapet wall; the specific process is as follows:

firstly, taking off the dual-inhabiting-arm inhabiting unmanned aerial vehicle;

secondly, the left perching arm (1) rotates to the unfolding angle theta of the left perching arm ₁ =120 °; simultaneously, the right perch arm (2) rotates to the right perch arm unfolding angle theta ₂ ＝120°；

Thirdly, the dual-inhabiting-arm inhabiting unmanned aerial vehicle flies to the position 1m above the outer side of the parapet wall of the roof;

fourthly, descending the dual-inhabiting-arm inhabiting unmanned aerial vehicle until the third inner claw (21) and the fourth inner claw (24) of the right inhabiting arm are hung on a lightning protection belt on the parapet wall;

fifthly, the unmanned aerial vehicle perched by the dual-perch arm keeps still, the left perch arm rotates anticlockwise until the first inner claw (14) and the second inner claw (17) of the left perch arm (1) contact with the wall surface of the daughter;

sixthly, locking a left perching arm motor (29) and a right perching arm motor (35) to prevent the left perching arm (1) and the right perching arm from rotating; a stable triangle is formed among the left perch arm (1), the right perch arm, the lightning protection belt and the parapet wall; the four-rotor unmanned aerial vehicle system (3) is kept horizontal;

seventhly, stopping all the rotor modules (52) to save electric energy, and continuously shooting the ground by the holder camera;

the eighth step, work as when two arms perch unmanned aerial vehicle accomplish aerial operation and need fly away from this perch, it flies away the process and is: i all rotor modules (52) work and generate lift force to enable the dual-perch-arm perched unmanned aerial vehicle to hover;

ii unlocking the left perch arm motor (29); the left perch arm (1) rotates clockwise until theta ₁ ＞0°；

Iii, enabling the dual-perch arm perching unmanned aerial vehicle to vertically fly upwards to a safe height; meanwhile, the left perch arm (1) continues to clockwiseRotated to theta ₁ Stopping after =120 ℃; finishing the inhabitation of the lightning protection belt on the side surface;

second, the top surface cylinder perches:

the cylindrical inhabiting point is positioned above the dual-inhabiting-arm inhabiting unmanned aerial vehicle; the specific process is as follows:

firstly, taking off the dual-inhabiting-arm inhabiting unmanned aerial vehicle;

secondly, the dual-inhabiting-arm inhabiting unmanned aerial vehicle flies to a position 1m below the top surface cylinder;

thirdly, the left perch arm (1) is lifted to the unfolding angle theta of the left perch arm ₁ =150 °; simultaneously, the right perch arm is lifted to the right perch arm deployment angle theta ₂ ＝150°；

Fourthly, the dual-perch arm perch unmanned aerial vehicle ascends until the first outer claw (12) and the second outer claw (15) of the left perch arm (1) are higher than the top surface cylinder, and the third outer claw (19) and the fourth outer claw (22) of the right perch arm (2) are higher than the top surface cylinder;

fifthly, stopping the unmanned aerial vehicle perched by the double perching arms from rising;

sixthly, lifting the left perch arm to the unfolding angle theta of the left perch arm ₁ =170 °; simultaneously, the right perch arm is lifted to the right perch arm unfolding angle theta ₂ =170 °, the top surface cylinder is completely embraced by the left perch arm and the right perch arm;

seventhly, the four-rotor unmanned aerial vehicle system (3) descends until the first outer claw (12) and the second outer claw (15) of the left perch arm are hung on the top surface cylinder, and the third outer claw (19) and the fourth outer claw (22) of the right perch arm are hung on the top surface cylinder; at the moment, the four-rotor unmanned aerial vehicle system keeps horizontal;

step eight, stopping all the rotor modules (52) to save electric energy, and continuously shooting the ground by the pan-tilt camera;

after the top surface cylinder inhales, the left inhabitation arm motor (29) and the right inhabitation arm motor (35) do not need to be locked, and the top surface cylinder is firmly hung through the structures of the left inhabitation arm (1) and the right inhabitation arm, so that the inhabitation method saves more electric energy;

ninth step, when two perch arms perch unmanned aerial vehicle accomplish aerial work and need fly away from this perch, its flight from the process is: all the rotor wing modules work, so that the dual-perch arm perch unmanned aerial vehicle flies 10cm in the vertical upward direction;

ii the left perch arm descends to the left perch arm unfolding angle theta ₁ =150 °, simultaneously, right perch arm descends to right perch arm deployment angle θ ₂ ＝150°；

Iii, descending the dual-perch arm perching unmanned aerial vehicle to a safe height; finishing the resting of the top surface cylinder;

third, hanging the slit upside down for perching:

in the perching of the inverted slit, the slit is positioned above the dual-perch arm perching unmanned aerial vehicle;

firstly, taking off the dual-inhabiting-arm inhabiting unmanned aerial vehicle;

second, the left perch arm is lifted to the left perch arm unfolding angle theta ₁ =170 °, simultaneously, right perch arm lifts to right perch arm deployment angle θ ₂ ＝170°；

Thirdly, the dual-inhabiting-arm inhabiting unmanned aerial vehicle flies to a position 1m below the top surface of the slit;

fourthly, the dual-perch arm perching unmanned aerial vehicle ascends, the left perch arm (1) and the right perch arm (2) penetrate through the slit until a first inner claw (14) and a second inner claw (17) of the left perch arm (1) are higher than the top surface of the slit by 10cm, and until a third inner claw (21) and a fourth inner claw (24) of the right perch arm are higher than the top surface of the slit by 10cm;

fifthly, stopping the unmanned aerial vehicle perched by the double perching arms to ascend and keep hovering;

sixthly, the left perching arm descends until the first inner claw (14) and the second inner claw (17) are both contacted with the top surface of the slit, and meanwhile, the right perching arm descends until the third inner claw and the fourth inner claw are both contacted with the top surface of the slit; at the moment, the left perch arm and the right perch arm are hung on the top surface of the slit in an inverted mode;

seventhly, locking a left perching arm motor (29) and a right perching arm motor (35), wherein the left perching arm (1) and the right perching arm (2) cannot rotate; at the moment, the dual-perch arm perching unmanned aerial vehicle keeps horizontal;

ninth step, when two perch arms perch unmanned aerial vehicle accomplish aerial work and need fly away from this perch, its flight from the process is: all the rotor modules work to generate lift force, so that the dual-perch arm perching unmanned aerial vehicle keeps hovering;

ii the left perch arm is lifted to the left perch arm unfolding angle theta ₁ =170 °, simultaneously, right perch arm lifts to right perch arm deployment angle θ ₂ ＝170°；

Iii, descending the unmanned aerial vehicle perched by the double perching arms to a safe height; finishing the inhabitation of the upside-down slit;

and finishing the inhabitation of the double inhabitation arms under different conditions of the side lightning strip, the top surface cylinder and the inverted hanging slit of the unmanned aerial vehicle.