We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic adhesion mechanism with an adhesion force of over 20 N. The magnetic adhesion mechanism comprises a magnet, dual coil springs, and a switching mechanism. Using models of MAV and the adhesion mechanism, we determined the parameters of the mechanism. The magnetic adhesion mechanism can be detached easily by a force less than the magnetic adhesion force. The winch mechanism comprises a structure to retriev the adhesion mechanism, a strong, lightweight tether and a servo-motor that produces enough torque to lift the MAV by the tether. We confirmed that the MAV can hover without propulsion power by using these mechanisms.

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A battery powered MAV is used to search inside damaged building and plumbing. However, its flight time is from 10 to 15 minutes because of the limitation of battery. We proposed a MAV has adhesion mechanism to improve above problem. It can hover longer time without propelling by using adhesion mechanism and winch mechanism. In this paper, we evaluate adhesion performance of the MAV in considerable environment.