KR101926310B1 - Dual-mode unmanned aerial vehicle - Google Patents

Abstract

According to an embodiment, a dual-mode unmanned aerial vehicle comprises: a base plate; a plurality of wing support rods supporting a wing generating thrust, and fixated to the base plate; a suspension capable of relieving the shock; and a wheel assembly connected to the wing support rods.

Description

DUAL-MODE UNMANNED AERIAL VEHICLE}

The description below relates to a dual mode UAV.

Unmanned mobile robots are used in various fields. For example, it is preferable to send an unmanned mobile robot to a dangerous place such as a partial collapse of a building, an exploration of a natural object for the first time, or a city situation in a conflict area. In such a situation, the flat landform where the robot travels efficiently and the three-dimensional terrain where the robot is flying efficiently appear locally. Therefore, a robot that can switch between a vehicle type that can travel and a flight type that can hover is suitable for exploration mission. A typical example of a robot capable of switching between vehicle mode and flight mode is a dual mode UAV. The dual-mode UAV can be moved to a traveling mode that can run on the ground or to a flight mode that can fly from above.

Existing dual-mode UAVs do not include suspensions to maximize energy efficiency during flight by reducing weight as much as possible. However, the absence of the suspension causes difficulties in controlling the hull or slope. Further, the absence of the suspension may cause difficulty in control and may cause amplification of the sensor noise due to vibration. For this reason, the conventional dual-mode UAV needs to be switched to the flight mode because it can not travel when a horny or inclined surface appears. However, the energy efficiency of the flight mode is significantly lower than that of the traveling mode.

The background art described above is possessed or acquired by the inventor in the derivation process of the present invention, and can not be said to be a known art disclosed in general public before application of the present invention.

It is an object of one embodiment to provide a dual mode UAV that can greatly improve the durability and controllability on the hull or slope and greatly reduce the need for flight mode to maximize energy efficiency and mission performance time.

A dual mode UAV according to one embodiment includes a base plate; A plurality of wing support rods supported on said base plate to support wing generating thrust; And a wheel assembly that includes suspensions capable of mitigating impact and is disposed on both side portions of the base plate.

Wherein at least one wing support rod of the plurality of wing support rods is fixed to a side of the base plate such that the longitudinal direction is parallel to a traveling direction of the dual mode UAV on the ground, May be connected to the support rods.

The wheel assembly includes a wheel plate fixed to at least one wing support rod of the plurality of wing support rods; A first support plate rotatably connected to the wheel plate and extending downwardly and rearwardly from the wheel plate; A front drive wheel rotatably connected to the first support plate; And a first suspension connecting the wheel plate and the first support plate.

The wheel assembly includes a second support plate spaced from the first support plate, rotatably connected to the wheel plate, and extending downwardly and rearwardly from the wheel plate; A rear drive wheel rotatably connected to the second support plate; And a second suspension coupling the wheel plate and the second support plate.

The first suspension and the second suspension may extend downward and forward from the wheel plate.

The wheel assembly includes: a front support wheel connected to a front end of the wheel plate; A rear support wheel connected to the rear end of the wheel plate; And a trajectory wound on the front support wheel, the rear support wheel, the front drive wheel, and the rear drive wheel.

The distance between the front drive wheel and the rear drive wheel may be smaller than the distance between the front support wheel and the rear support wheel.

The front drive wheel and the rear drive wheel may be between the front support wheel and the rear support wheel as viewed from a direction perpendicular to the base plate.

The tension of the orbit can be adjusted.

The position at which at least one of the front support wheel and the rear support wheel is connected to the wheel plate may be adjusted along the longitudinal direction of the wheel plate.

The wheel plate includes a longitudinally disposed slot, and the at least one support wheel is movable along the slot.

The angle between the front supporting wheel and the portion connecting the front driving wheel with the ground surface can be adjusted.

The first support plate includes: a support body connecting the wheel plate and the front drive wheel; And a plurality of support holes provided along the longitudinal direction of the support body and supporting holes for supporting one end of the first suspension.

The dual mode UAV may further include a cover plate disposed parallel to the base plate, and the plurality of wing support rods may be disposed between the base plate and the cover plate.

The dual mode UAV further includes a kit transporting part connected to the base plate and transporting the kit, the kit transporting part including: a transport motor fixed to the base plate; A transportation arm connected to a shaft of the transportation motor and extending in a direction perpendicular to the axis; And a transport rod connected to the transport arm and slidable relative to the kit.

While the transport arm is rotating, the transport rod may slide in a direction away from the kit to separate the kit from the dual mode UAV.

The transport rod may have elasticity.

The dual mode UAV may further include a kit transport unit connected to the base plate, capable of supporting the kit, and capable of dropping the kit while moving in the flight mode.

The dual mode UAV according to one embodiment can improve the durability on the horn or the inclined plane. Specifically, the dual-mode UAV can absorb shocks applied to the gas by the suspension.

In addition, since the dual-mode UAV according to the embodiment is equipped with the multi-copter type air vehicle and the vehicle equipped with the suspension at the same time, it is possible to efficiently search the terrain provided with a rough or sloped surface, .

In addition, the dual-mode UAV according to the embodiment can improve the accuracy of the control by reducing the noise of the sensor. Specifically, the dual mode UAV can ensure that the wheel or track always touches the floor surface even when driving on hull or slope through the suspension. In addition, the suspension maintains the dual-mode UAV position close to the design in design, and at the same time, the width of the attitude change at the time of driving decreases. Thus, the computer resources used to filter the sensor noise caused by the posture change of the dual-mode UAV during running, in-situ rotation or take-off and landing on a hull or slope can be greatly reduced.

1 is a perspective view of a dual mode UAV according to one embodiment.
2 is an exploded perspective view of a dual mode UAV according to one embodiment.
FIG. 3 is a side view of a dual-mode UAV according to an embodiment, and shows a state when the dual-mode UAV travels on a flat ground.
FIG. 4 is a side view of a dual-mode UAV according to an embodiment, and shows a state when a dual-mode UAV crosses an obstacle.
5 is a partial enlarged view of a dual mode UAV according to an embodiment.
FIG. 6 is a partially enlarged view of a dual-mode UAV according to one embodiment, and shows an increased angle of the orbit with respect to the ground.
7 is a partial enlarged view of a dual mode UAV according to one embodiment.
FIG. 8 is a partially enlarged view of a dual-mode UAV according to an embodiment, showing a state in which the tension of a trajectory is increased.
FIG. 9 illustrates a kit carrier portion supporting a kit according to an embodiment.
FIG. 10 shows a view of separating the kit transport part kits according to one embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

FIG. 1 is a perspective view of a dual mode UAV according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of a dual mode UAV according to an embodiment.

Referring to FIGS. 1 and 2, the dual mode UAV 1 can move to a dual mode. The dual mode UAV 1 can be moved to a flying mode for flying in the sky or a running mode for traveling on the ground. The dual mode UAV 1 includes a base plate 11, a plurality of wing support rods 12, a plurality of wings w, a cover plate 13, a wheel assembly 14, a kit carrier 15, (19).

The base plate 11 may be parallel to the ground surface. The base plate 11 can support a plurality of wing support rods 12, a kit carrier 15, and the like. The base plate 11 may be provided with a control unit (not shown) for controlling the driving of the plurality of vanes w and the wheel assembly 14. [ The control unit can more accurately control the driving of the plurality of vanes w and the wheel assembly 14 when the base plate 11 is kept parallel to the ground. The wheel assembly 14 described later can assist the base plate 11 to keep parallel to the ground.

Each of the plurality of wing support rods 12 supports the wing w that generates the thrust and can be fixed to the base plate 11. [ The plurality of wing support rods 12 may be disposed parallel to the base plate 11. [ The plurality of wing support rods 12 may be fixed to the base plate 11 by a clamping structure. For example, the plurality of wing support rods 12 may include two wing support rods facing forward, two wing support rods facing rearward, one wing support rod toward the left, and one wing support ≪ / RTI > The plurality of wing support rods 12 may be disposed symmetrically.

A plurality of vanes (w) can generate thrust. The control unit controls the rotational speed of each of the plurality of vanes (w) to control the moving direction of the dual mode UAV.

At least one wing support rod of the plurality of wing support rods 12 may be fixed to the side of the base plate 11 such that the longitudinal direction thereof is parallel to the traveling direction of the dual mode UAV 1 on the ground. In other words, at least one wing support rod of the plurality of wing support rods 12 may be fixed to the left or right side of the base plate 11, and the lengthwise direction thereof may be parallel to the progress of the dual mode UAV 1 Direction. 1 and 2, two wing support rods 12 are fixed to the left side of the base plate 11 and two wing support rods 12 are fixed to the right side of the base plate 11. [ In this case, the plurality of vanes (w) may be located on the side of the base plate 11 other than the central portion thereof, thereby facilitating the control of the direction of movement of the dual mode UAV 1.

The cover plate 13 can cover the upper portion of the plurality of vane supporting rods 12. [ The cover plate 13 may be disposed parallel to the base plate 11. [ A plurality of wing support rods (12) may be disposed between the base plate (11) and the cover plate (13). The cover plate 13 supports the wing support rod 12 together with the base plate 11 to prevent the wing support rod 12 from rotating. The space between the cover plate 13 and the base plate 11 may be provided with a kit transportation unit 15 or the like described later. Since the cover plate 13 can reduce the load applied to the base plate 11, the structural stability of the dual mode UAV 1 can be improved. Also, due to the gap between the cover plate 13 and the base plate 11, the center of gravity of the dual mode UAV 1 can be formed relatively downward. As a result, the stability of the dual mode UAV 1 during traveling can be improved. Further, the cover plate 13 can provide a large space in which the mounting module 19, which will be described later, can be mounted.

The wheel assembly 14 can assist the dual mode UAV 1 to move to a running mode on which the vehicle is traveling on the ground. The wheel assemblies 14 may be provided on the left and right sides of the dual mode UAV 1, respectively. For example, the wheel assembly 14 may be composed of two, and may be disposed on both sides of the base plate 11, respectively. The wheel assemblies 14 provided on both side portions of the base plate 11 can assist the base plate 11 to keep parallel to the ground. The wheel assembly 14 can assist the dual mode UAV 1 to travel stably on the ground.

The wheel assembly 14 may be connected to a wing support rod 12 which is fixed to the side of the base plate 11. According to such a structure, since a separate structure for fixing the wheel assembly 14 on the base plate 11 is not required, weight saving of the dual mode UAV 1 can be achieved. In other words, since the wing support rod 12 for supporting the wing w also supports the wheel assembly 14, a dual mode can be realized with only a small number of components. Since the wing support rod 12 which is a longitudinal member can be fixed to the base plate 11 to support the wheel assembly 14, the length of both sides of the base plate 11 can be shortened, The weight saving of the dual mode UAV 1 can be achieved. For example, as shown in Figs. 1 and 2, the length of both sides of the base plate 11 may be shorter than the length of the center portion.

The kit transport section 15 is connected to the base plate 11 and can transport the kit.

The mounting module 19 can be mounted on the cover plate 13. [ Since the cover plate 13 has a flat plate shape covering the plurality of vane supporting rods 12, it is possible to secure a large space in which the mounting module 19 can be mounted. The mounting module 19 may comprise components for securing a field of view such as, for example, a GPS, a camera and / or a radar. The mounting module 19 may be removably mounted on the cover plate 13. [ The user can select the desired mounting module 19 and place it on the cover plate 13. [

FIG. 3 is a side view of a dual-mode UAV according to an embodiment, and shows a state when the dual-mode UAV travels on a flat ground. FIG. 4 is a side view of a dual-mode UAV according to an embodiment, and shows a state when a dual-mode UAV crosses an obstacle.

In the following description, "forward" means a direction in which the dual mode UAV travels, and means right in reference to Figs. 3 and 4. "Downward" means the direction from the dual mode unmanned aerial vehicle toward the ground (s).

3 and 4, the wheel assembly 14 includes a wheel plate 141, a first support plate 142, a second support plate 143, a front drive wheel 144, a rear drive wheel 145, A front support wheel 146, a rear support wheel 147, a first suspension 148, a second suspension 149 and an orbit 140.

The wheel plate 141 may be fixed to at least one wing support rod of the plurality of wing support rods 12. For example, the first portion 141a of the wheel plate 141 is fixed to the wing support rod 12 disposed at the rear of the base plate 11 among the plurality of wing support rods 12, 141b may be fixed to the wing support rod 12 disposed in front of the base plate 11 among the plurality of wing support rods 12. [ According to this structure, the wheel plate 141, the plurality of wing support rods 12, and the base plate 11 can be integrally formed. In other words, relative movement between any two of the wheel plate 141, the plurality of wing support rods 12, and the base plate 11 does not occur. Accordingly, the resources generated due to the connection scheme between the configurations can be minimized, so that the load on the control unit (not shown) can be reduced.

The wheel plate 141 may have an extension portion 141c protruding downward from the center portion. A second support plate 143, which will be described later, may be rotatably connected to the extension 141c. The wheel plate 141 may have an auxiliary wheel 141d rotatably connected to a center portion thereof. The auxiliary wheel 141d can support the track 140. [ For example, the wheel plate 141 may be orthogonal to the base plate 11.

The first support plate 142 may be rotatably connected to the wheel plate 141. For example, the first support plate 142 may be rotatably connected to the front end of the wheel plate 141. The first support plate 142 may extend downward and rearward from the wheel plate 141. In this case, when the dual mode UAV 1 passes the obstacle o, the first support plate 142 can be naturally rotated in the clockwise direction (refer to FIGS. 3 and 4).

The front drive wheel 144 may be rotatably connected to the first support plate 142. The front drive wheel 144 can be controlled by the control unit and rotated. The front drive wheel 144 can move the dual mode UAV 1 forward or backward.

The front support wheel 146 may be connected to the front end of the wheel plate 141. For example, the front support wheel 146 may be rotatably connected to the wheel plate 141.

The first suspension 148 may connect the wheel plate 141 and the first support plate 142. For example, one end of the first suspension 148 may be rotatably connected to the wheel plate 141, and the other end of the first suspension 148 may be rotatably coupled to the first support plate 142 . For example, when the dual mode UAV 1 passes an obstacle, the first suspension 148 may contract. The first suspension 148 can assist in maintaining the base plate 11 substantially parallel to the ground surface s.

The second support plate 143 may be rotatably connected to the wheel plate 141. For example, the second support plate 143 may be rotatably connected to the center of the wheel plate 141. For example, the second support plate 143 may be connected to the extension 141c of the wheel plate 141. The second support plate 143 may extend downward and rearward from the wheel plate 141. The second support plate 143 may be spaced from the first support plate 142 with respect to the longitudinal direction of the wheel plate 141.

The rear drive wheel 145 may be rotatably connected to the first support plate 142. The rear drive wheel 145 can be controlled by the control unit and rotated.

The rear support wheel 147 may be connected to the rear end of the wheel plate 141. For example, the rear support wheel 147 may be rotatably connected to the wheel plate 141.

The second suspension 149 can connect the wheel plate 141 and the second support plate 143. For example, one end of the second suspension 149 may be rotatably connected to the wheel plate 141, and the other end of the second suspension 149 may be rotatably connected to the second support plate 143 . For example, when the dual mode UAV 1 passes an obstacle, the second suspension 149 can contract.

At least one suspension of the first suspension 148 and the second suspension 149 may extend downward and forward from the wheel plate 141. In other words, the suspension of at least one of the first suspension 148 and the second suspension 149 does not extend vertically downward with respect to the wheel plate 141, and is supported by the support plates 142 and 143 in a forwardly inclined state, Lt; / RTI > With such a structure, the suspension of at least one of the first suspension 148 and the second suspension 149 can be structurally easily contracted while the dual mode UAV 1 is traveling forward. Further, when the dual-mode UAV 1 is landing on the ground while flying forward, it is possible to effectively absorb the shock, so that the mode can be quickly switched between the traveling mode and the flight mode.

The trajectory 140 may be wound on the front support wheel 146, the rear support wheel 147, the front drive wheel 144, and the rear drive wheel 145. The trajectory 140 can alleviate a sudden impact on the wheel assembly 14 due to the obstacle o while the dual mode UAV 1 is running. The trajectory 140 can also prevent an obstacle from being inserted into the space between the front support wheel 146 and the front drive wheel 144, the space between the rear support wheel 147 and the rear drive wheel 145 .

The front drive wheel 144 and the rear drive wheel 145 may be between the front support wheel 146 and the rear support wheel 147, The distance between the front drive wheel 144 and the rear drive wheel 145 may be less than the distance between the front support wheel 146 and the rear support wheel 147. [ According to this structure, since the front support wheel 146 protrudes forward than the front drive wheel 144, the orbit 140 can naturally pass the obstacle while the dual mode UAV 1 goes straight. On the other hand, since the rear support wheel 147 protrudes rearward from the rear drive wheel 145, the orbit 140 can naturally pass the obstacle while the dual mode UAV 1 is moving backward.

5 is a partial enlarged view of a dual mode UAV according to an embodiment. FIG. 6 is a partially enlarged view of a dual-mode UAV according to one embodiment, and shows an increased angle of the orbit with respect to the ground.

5 and 6, the first end 148a of the first suspension 148 is rotatably connected to the wheel plate 141 and the second end 148b is connected to the first support plate 142 And may be rotatably connected.

The first support plate 142 may include a support body 1421 and a plurality of support holes 1422.

The first end 142a of the support body 1421 may be rotatably connected to the front of the wheel plate 141. [ The second end 142b of the support body 1421 may be rotatably connected to the front drive wheel 144. [

A plurality of support holes 1422 may be provided along the longitudinal direction of the support body 1421. For example, a plurality of support holes 1422 may be provided as shown in FIG. 5 and FIG. The plurality of support holes 1422 can support the second end 148b of the first suspension 148.

The second end 148b of the first suspension 148 may be attached to and detached from any one of the plurality of support holes 1422. The angle of the orbit 140 with the ground surface can be adjusted according to which of the plurality of support holes 1422 the second end 148b of the first suspension 148 is connected to. 5) of the plurality of support holes 1422 supporting the first suspension 148 farthest from the first end 142a of the support body 1421 supports the first suspension 148, , And the angle formed by the orbit 140 and the ground surface may be? 1. On the other hand, when the support hole 1422 closest to the first end 142a of the support body 1421 among the plurality of support holes 1422 supports the first suspension 148 (see Fig. 6), the orbits 140 ) With the ground surface may be? 2 larger than? 1.

The angle of the orbit 140 with the ground can be adjusted according to the situation in the exploration area of the dual mode UAV. In a region where the obstacles are relatively large on the ground, the angle formed by the orbit 140 and the ground surface can be made large so that the dual mode UAV 1 can easily pass through large obstacles. On the other hand, in a region in which a low posture is required, the angle formed between the orbit 140 and the ground surface can be reduced, and the height of the dual mode UAV can be reduced.

7 is a partial enlarged view of a dual mode UAV according to one embodiment. FIG. 8 is a partially enlarged view of a dual-mode UAV according to an embodiment, showing a state in which the tension of a trajectory is increased.

7 and 8, at least one support wheel of the front support wheel 146 and the rear support wheel 147 (see FIG. 3) is connected to the wheel plate 141, Can be adjusted along the longitudinal direction. 7 and 8, the connecting position of the front support wheel 146 is shown as being adjusted along the longitudinal direction of the wheel plate 141, but it is not limited thereto.

The front support wheel 146 may include a front support wheel body 1461 and a front support wheel securing portion 1462. The wheel plate 141 may include a slot 141e formed along the longitudinal direction. The front support wheel fixing portion 1462 is fixed to one point of the slot 141e and the front support wheel body 1461 can be connected to the front support wheel fixing portion 1462. [

The front support wheel 146 may guide movement of the orbit 140. The front support wheel 146 moves along the longitudinal direction of the wheel plate 141 to adjust the tension applied to the orbit 140. For example, when the front support wheel 146 is moved forward, the tension of the orbit 140 is increased, and when the front support wheel 146 is moved backward, the tension of the orbit 140 may decrease have. For example, in a region with a relatively large number of obstacles, the tension of the trajectory 140 may be weakened, so that the dual mode UAV 1 can easily pass over obstacles. On the other hand, in the region where the obstacle is relatively small, the tension of the trajectory 140 can be increased, and the moving speed of the dual mode UAV 1 can be quickly controlled.

FIG. 9 shows a state in which the kit transportation part supports the kit according to the embodiment, and FIG. 10 shows the state in which the kit transportation part according to the embodiment separates the kit.

9 and 10, the kit carrier 15 (see Fig. 1) is connected to the base plate 11 and can carry the kit k. The kit (k) may be, for example, a treatment kit, a food kit or a tool kit. The kit transport section 15 may include a transport motor 151, a transport arm 152, and a transport rod 153.

The transport motor 151 can be fixed to the base plate 11 with the shaft facing upward or downward. The transportation motor 151 can rotate the transportation arm 152. [

The transportation arm 152 is connected to the axis of the transportation motor 151 and may extend in a direction perpendicular to the axis. The end of the transportation arm 152 can rotate about the axis of the transportation motor 151. [

The transport rod 153 is connected to the transport arm 152 and is slidable relative to the kit k. For example, the transportation rod 153 may pass through the hole provided in the transportation arm 152 and extend in parallel with the transportation arm 152. [ A part of the transportation rod 153 can be inserted into the kit k. For example, the transport rod 153 may have elasticity. While the transportation arm 152 is rotating, the transporting rod 153 having elasticity can slide in the direction passing through the hole provided in the kit k.

When the transport motor 151 is driven, the transport rod 153 can slide in the direction of departing from the kit k to separate the kit k from the dual mode UAV. For example, FIG. 9 shows a state in which the kit carrier 15 (see FIG. 1) carries the kit k. A part of the transportation rod 153 is inserted into the kit k to prevent the kit k from falling downward. On the other hand, Fig. 10 shows a state in which the kit carrier 15 separates the kit k. The transportation rod 153 can slide in the direction of departing from the kit k in accordance with the rotation of the transportation arm 152. [ The transport rod 153 no longer supports the kit k, and the kit k can fall downward.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Claims (19)

A base plate;
A plurality of wing support rods supported on said base plate to support wing generating thrust; And
And two wheel assemblies each including a suspension capable of relieving an impact and disposed on both sides of the base plate,
The wheel assembly includes:
A wheel plate fixed to at least one wing support rod of the plurality of wing support rods;
A first support plate rotatably connected to the wheel plate and extending downwardly and rearwardly from the wheel plate;
A front drive wheel rotatably connected to the first support plate; And
And a first suspension connecting the wheel plate and the first support plate.
The method according to claim 1,
Wherein at least one wing support rod of the plurality of wing support rods is fixed to the side of the base plate so that the longitudinal direction thereof is parallel to the traveling direction of the dual mode UAV on the ground,
Wherein the wheel assembly is coupled to the at least one wing support rod.
delete The method according to claim 1,
The wheel assembly includes:
A second support plate spaced from the first support plate and rotatably connected to the wheel plate and extending downwardly and rearwardly from the wheel plate;
A rear drive wheel rotatably connected to the second support plate; And
And a second suspension coupling the wheel plate and the second support plate.
5. The method of claim 4,
Wherein the first suspension and the second suspension extend downwardly and forwardly from the wheel plate.
6. The method of claim 5,
The wheel assembly includes:
A front support wheel connected to the front end of the wheel plate;
A rear support wheel connected to the rear end of the wheel plate; And
Further comprising a trajectory wound on the front support wheel, the rear support wheel, the front drive wheel, and the rear drive wheel.
The method according to claim 6,
Wherein an interval between the front drive wheel and the rear drive wheel is smaller than an interval between the front support wheel and the rear support wheel.
The method according to claim 6,
Wherein the front drive wheel and the rear drive wheel are between the front support wheel and the rear support wheel as viewed from a direction perpendicular to the base plate.
9. The method of claim 8,
Wherein the tension of the orbit is adjustable.
10. The method of claim 9,
Wherein a position at which at least one of the front support wheel and the rear support wheel is connected to the wheel plate can be adjusted along the length direction of the wheel plate.
10. The method of claim 9,
Wherein the wheel plate includes a slot provided in the longitudinal direction,
Wherein the at least one support wheel is movable along the slot.
12. The method of claim 11,
Wherein an angle between a portion connecting the front support wheel and the front drive wheel with respect to the ground surface of the track is adjustable.
13. The method of claim 12,
Wherein the first support plate comprises:
A support body connecting the wheel plate and the front drive wheel; And
And a plurality of support holes provided along the longitudinal direction of the support body,
Wherein the first suspension is connected to one of the support holes of the plurality of support holes.
14. The method of claim 13,
Further comprising a cover plate disposed parallel to the base plate,
Wherein the plurality of wing support rods are disposed between the base plate and the cover plate.
14. The method of claim 13,
Further comprising a kit transporting portion connected to the base plate for transporting the kit,
The kit conveying unit includes:
A transport motor fixed to the base plate;
A transportation arm connected to a shaft of the transportation motor and extending in a direction perpendicular to the axis; And
And a transport rod coupled to the transport arm and slidable relative to the kit.
16. The method of claim 15,
Wherein the transport rod slides in a direction away from the kit while the transport arm rotates to separate the kit from the dual mode UAV.
16. The method of claim 15,
Wherein the transport rod is resilient.
The method according to claim 6,
Wherein an angle between a portion connecting the front support wheel and the front drive wheel with respect to the ground surface of the track is adjustable.
The method according to claim 1,
And a kit transporting unit connected to the base plate and capable of supporting the kit and capable of dropping the kit while moving.

Images