CN106926655A - A kind of four rotor intelligent automobiles - Google Patents
A kind of four rotor intelligent automobiles Download PDFInfo
- Publication number
- CN106926655A CN106926655A CN201710153783.0A CN201710153783A CN106926655A CN 106926655 A CN106926655 A CN 106926655A CN 201710153783 A CN201710153783 A CN 201710153783A CN 106926655 A CN106926655 A CN 106926655A
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- CN
- China
- Prior art keywords
- wheel
- intelligent automobile
- chassis
- rotor
- rotors
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
Abstract
The present invention relates to a kind of four rotors intelligent automobile, the intelligent automobile includes chassis, it is arranged on the vehicle body on chassis, walking mechanism, four rotor flying mechanisms and respectively with walking mechanism, the automatic control system of four rotor flying mechanisms electrical connection, walking mechanism includes being arranged on the vehicle wheel component of chassis both sides and the wheel driving assembly being connected with vehicle wheel component respectively, wheel steering component, four rotor flying mechanisms are located at vehicle body both sides, under the regulation and control of automatic control system, intelligent automobile automatic switchover walking mechanism and the motion state of four rotor flying mechanisms, to adapt to different road conditions.Compared with prior art, with unmanned air vehicle technique be combined intelligent automobile by the present invention, can be according to real-time road automatic switchover motion state, simply and easily realize that four-wheel drive avoidance in ground is advanced and airflight is advanced, the traffic capacity is strong, and motion state switch speed is fast, is widely used.
Description
Technical field
The invention belongs to intelligent automobile technical field, it is related to a kind of four rotors intelligent automobile.
Background technology
With developing rapidly for intelligent automation, modern automobile industry gradually with the newest section such as electronic computer
Skill achievement is combined, and then just occurs in that intelligent automobile.Intelligent automobile is that advanced biography is increased on the basis of common vehicle
The devices such as sensor (radar, shooting), controller, actuator, are realized and people, car, road by vehicle-mounted sensor-based system and information terminal
Deng intelligent information exchange, vehicle is possessed intelligent environment sensing ability, can automatically analyze vehicle traveling safety and danger
Dangerous state, and vehicle is arrived at according to the wish of people, the final purpose for realizing substituting people operating.
At present, the subject matter that intelligent automobile is present is poor obstacle climbing ability, higher when occurring on driving path
During the ditch of barrier or deeper, just cannot pass through, thus limitation is larger.
Application publication number discloses a kind of intelligent automobile for the Chinese invention patent of the A of CN 106183674, and in-car adds rotation
Wing controller, roof adds rotor driver, and multiple propellers are driven by spiral arm and are sequentially placed in roof into arranged in parallel.Offline mode
When, pivoted arm device sequentially rotates spiral arm and is suspended in outside car, and suitable distance is kept between each spiral arm, and dynamic equipment rotates propeller and pushes down on
Air makes vehicle ground, with rotor controller according to gyroplane mode flight.In the technical scheme of above-mentioned patent disclosure, by intelligence
The roof of energy automobile adds rotor driver, and the ability for making intelligent automobile have airflight is easy to clear the jumps or ditch, but
The intelligent automobile is when taking off, it is necessary to spiral arm is fully deployed to body exterior, time-consuming more, takeoff speed is slow, and spiral arm exhibition
It is many beyond overall width after opening, vehicle volume is become too much, it is impossible to be taken off on highway, local ability that can only be spacious around
There are enough space development spiral arms, thus limit its range of application.
The content of the invention
The purpose of the present invention be exactly provided for the defect for overcoming above-mentioned prior art to exist a kind of obstacle climbing ability it is strong and
Four rotor intelligent automobiles having a wide range of application.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of four rotor intelligent automobiles, the intelligent automobile includes chassis, the vehicle body being arranged on chassis, walking mechanism, four
Rotor flying mechanism and the automatic control system for being electrically connected with walking mechanism, four rotor flying mechanisms respectively, described traveling
Mechanism includes being arranged on the vehicle wheel component of chassis both sides and the wheel driving assembly, the wheel that are connected with vehicle wheel component respectively
Steering assembly, four described rotor flying mechanisms are located at vehicle body both sides, under the regulation and control of automatic control system, described intelligent vapour
Car automatic switchover walking mechanism and the motion state of four rotor flying mechanisms, to adapt to different road conditions.
Described vehicle wheel component includes one in front and one in back being separately positioned on front vehicle wheel, the rear wheel of chassis side, described car
Wheel drive component is connected with rear wheel, and described wheel steering component is connected with front vehicle wheel.Intelligent automobile is on road surface
During upper traveling, rear wheel is driving wheel, and front vehicle wheel changes the travel direction of intelligent automobile by wheel steering component.
As preferred technical scheme, anti-slip rubber layer is equipped with described front vehicle wheel and rear wheel.
Described wheel driving assembly includes being arranged on wheel drive motors on chassis and with wheel drives electricity respectively
Machine, the travelling gear of rear wheel drive connection；Described wheel steering component include being arranged on steering-engine on chassis and
The connecting rod being connected with steering-engine, front vehicle wheel respectively.Power is transferred to rear car by wheel drive motors by travelling gear
Wheel, makes intelligent automobile advance；Steering-engine controls the steering of front vehicle wheel by connecting rod, to control the direction of advance of intelligent automobile.
Wheel damping assembly is additionally provided with described chassis, the wheel damping assembly includes the fixation being arranged on chassis
Frame, the fixed pillar being arranged vertically on fixed mount, the sleeve being slidably located on fixed pillar and solid with sleeve
The wheel installing plate of fixed connection, described vehicle wheel component is arranged on wheel installing plate, and described fixed pillar is provided with difference
With the shock-absorbing spring group of the two ends elastic connection of sleeve.When ground is rugged and rough, shock-absorbing spring group can buffer vehicle wheel component
The fluctuation up and down being subject to, to ensure the steady of chassis and vehicle body.
Upper and lower ends of the top and bottom of described fixed mount respectively with fixed pillar are fixedly connected, described vibration damping bullet
Spring group includes the upper shock-absorbing spring, the lower shock-absorbing spring that are respectively sleeved at one on the other on fixed pillar, and described sleeve is arranged on
Between upper shock-absorbing spring and lower shock-absorbing spring.By setting upper shock-absorbing spring, lower shock-absorbing spring, intelligent automobile is further improved
Damping capacity, it is to avoid the damage of associated components, it is ensured that the stationarity and service life of intelligent vehicle running.
Four described rotor flying mechanisms include be arranged on chassis brushless electric machine fixed seat, be arranged on brushless electric machine consolidate
Brushless electric machine in reservation, the rotorshaft for vertically setting and being connected with brushless electric machine and it is set in rotor and turns
Rotor on axle.Brushless electric machine drives rotor rotational by rotorshaft, intelligent automobile is taken off and held stationary flight.
Used as preferred technical scheme, described brushless electric machine can both be rotated forward, and can be inverted again.When brushless electric machine is rotated forward,
Drive rotor to rotate forward, intelligent automobile is taken off；When brushless electric machine is inverted, rotor is driven to rotate backward, to increase wheel
Component and the frictional force on ground, improve vehicle wheel component grabs ground ability, it is to avoid skidding occur.
The outside of described rotor is additionally provided with rotor protective cover, and the rotor protective cover is in cylindric vertically.It is cylindric vertically
Rotor protective cover can either prevent intelligent automobile side debris enter rotor pivot region and damage rotor, while can again
For the rotation of rotor provides vertical air flue, it is ensured that the smooth flight of intelligent automobile.
Described automatic control system includes being arranged in vehicle body and is electrically connected respectively with walking mechanism, four rotor flying mechanisms
The single-chip microcomputer for connecing and sensor respectively with monolithic mechatronics, signal transceiver.Signal transceiver be used for
Control centre carries out data exchange or signal transmission, and sensor is capable of the running status and intelligent automobile of real-time monitoring intelligent automobile
The environment of surrounding, and monitoring result is transferred in single-chip microcomputer in real time, single-chip microcomputer is again to walking mechanism and four rotor flying mechanisms
Give an order, to change or maintain the running status of intelligent automobile.
Used as preferred technical scheme, described automatic control system also includes relay.
Described sensor include infrared sensor, temperature sensor, humidity sensor, ultrasound apart from sensor and
Gyroscope.Sensor is arranged on each orientation such as vehicle body, chassis, walking mechanism and the four rotor flying mechanisms of intelligent automobile, with
Just comprehensive monitoring can be carried out to surrounding enviroment.Sensor can sense external signal, and transmit signals to single-chip microcomputer, single
Piece machine is ordered accordingly according in the signal configuration processor for receiving, and steering-engine drives front vehicle wheel to rotate to control after being connected to order
The direction of advance of intelligent automobile processed, avoiding obstacles eventually arrive at destination.Cannot advance when sensor detects front
During road surface, intelligent automobile automatically turns on offline mode, to fly over barrier.
The front end on described chassis is provided with bumper, and empennage is provided with the top of described vehicle body.It is additionally provided with vehicle body and tail
The empennage regulation stepper motor of the bottom driving connection of the wing, the rotation of stepper motor is adjusted by empennage, drives empennage to rotate, with
Angle between regulation empennage and horizontal plane.
Described body structure is provided with camera, the photo that intelligent automobile can be photographed camera by wireless network
Control centre is sent in real time, aerial photography function is played.
Described intelligent automobile also includes battery, to provide the electric energy needed for intelligent automobile operation.
Used as preferred technical scheme, described battery is arranged in vehicle body, and vehicle body top is provided with detachable outer
Shell, is easy to the replacing and maintenance of battery and automatic control system.
Described intelligent automobile also includes locator, is positioned in real time by GPRS or GPS.
The present invention is in practical application, signal transceiver receives the destination information that control centre's transmission comes, and opens
Beginning enters running status, and wheel drive motors are rotated, and intelligent automobile starts to advance；Intelligent automobile during traveling, by many
Sensor senses external signal is planted, the road conditions advanced are judged with this, when road conditions are preferable, automatic control system takes ground row
Enter pattern, control intelligent automobile is fast forwarded through on the ground；When needing to turn, steering-engine drives front vehicle wheel to rotate, and realizes
Turn；When the larger turning of camber is run into, rotor is reversely rotated, to increase the frictional force of vehicle wheel component and ground, raising
Vehicle wheel component grab ground ability, it is to avoid there is skidding；When sensor is detected, road conditions are worse so that intelligent automobile cannot
By when, automatic control system automatically switches to offline mode, and brushless electric machine starts high-speed cruising, and intelligent automobile starts to take off simultaneously
Into state of flight, to fly over gully or other larger barriers, while wheel drive motors are stopped, electricity is saved with this
Amount；In flight course, related sensor be may proceed to detect surface conditions, and when flight is to preferable road surface, intelligent automobile is opened
Begin slowly to decline until landing, brushless electric machine is stopped afterwards, wheel drive motors are switched to working condition, the intelligent vapour of control
Car is fast forwarded through, until destination.
Compared with prior art, the invention has the characteristics that：
1) intelligent automobile is combined with unmanned air vehicle technique, not only Function for Automatic Pilot and power consumption with intelligent automobile
Small advantage, also has the superpower by performance and the function such as take photo by plane of unmanned plane concurrently, thus it is fast, winged to solve unmanned plane power consumption simultaneously
The row time is short and intelligent automobile obstacle detouring is poor, by the problem of property difference, can according to real-time road automatic switchover motion state,
Simply and easily realize that four-wheel drive avoidance in ground is advanced and airflight is advanced, the traffic capacity is strong；
2) small volume is taken, and can be automatically rapidly switched to state of flight, and can realize that figure is passed and communication work(in real time
Can, it is adaptable to express delivery industry, security industry, take photo by plane and road clap industry, when express delivery industry is applied to, can determining according to addressee
Express delivery is sent to destination by position, and traditional express delivery dispatching person and unmanned plane dispensing device can be replaced to carry out express mail with matching somebody with somebody for taking out
Send, consume less energy, dispense farther distance；When security industry is applied to, independently a certain region can be monitored by tracking
Safe condition；When some hazardous areas are applied to, the situation of hazardous area can be fed back to people, using quite varied.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural representation of wheel damping assembly in the present invention；
Fig. 3 is the structural representation of four rotor flying mechanisms in the present invention；
Description of symbols in figure：
Gu 1-chassis, 2-vehicle body, 3-front vehicle wheel, 4-rear wheel, 5-wheel drive motors, 6-travelling gear, 7-
Determine frame, 8-fixed pillar, 9-sleeve, 10-wheel installing plate, 11-upper shock-absorbing spring, 12-lower shock-absorbing spring, 13-turn
To steering wheel, 14-connecting rod, 15-brushless electric machine, 16-rotor, 17-rotor protective cover, 18-bumper, 19-empennage, 20-
Signal transceiver, 21-brushless electric machine fixed seat, 22-rotorshaft.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment：
A kind of four rotors intelligent automobile as shown in Figure 1, the intelligent automobile includes chassis 1, is arranged on the One On The Chassis vehicle body
2nd, walking mechanism, four rotor flying mechanisms and automatically controlling of being electrically connected with walking mechanism, four rotor flying mechanisms respectively are
System, walking mechanism includes being arranged on that the vehicle wheel component of the both sides of chassis 1 and the wheel being connected with vehicle wheel component respectively drive
Component, wheel steering component, four rotor flying mechanisms are located at the both sides of vehicle body 2, under the regulation and control of automatic control system, intelligent automobile
Automatic switchover walking mechanism and the motion state of four rotor flying mechanisms, to adapt to different road conditions.
Wherein, vehicle wheel component includes one in front and one in back being separately positioned on front vehicle wheel 3, the rear wheel 4 of the side of chassis 1, and wheel drives
Dynamic component is connected with rear wheel 4, and wheel steering component is connected with front vehicle wheel 3.Wheel driving assembly includes being arranged on
The One On The Chassis wheel drive motors 5 and the travelling gear 6 being connected with wheel drive motors 5, rear wheel 4 respectively；Wheel
Steering assembly includes the company for being arranged on the One On The Chassis steering-engine 13 and being connected with steering-engine 13, front vehicle wheel 3 respectively
Bar 14.
Wheel damping assembly is additionally provided with chassis 1, as shown in Fig. 2 the wheel damping assembly is the One On The Chassis including being arranged on
Fixed mount 7, the fixed pillar 8 being arranged vertically on fixed mount 7, the sleeve 9 being slidably located on fixed pillar 8 and
The wheel installing plate 10 being fixedly connected with sleeve 9, vehicle wheel component is arranged on wheel installing plate 10, and fixed pillar 8 is provided with point
Not with the shock-absorbing spring group of the two ends elastic connection of sleeve 9.The top and bottom of fixed mount 7 are upper and lower with fixed pillar 8 respectively
Two ends are fixedly connected, and shock-absorbing spring group includes the upper shock-absorbing spring 11, the lower vibration damping that are respectively sleeved at one on the other on fixed pillar 8
Spring 12, sleeve 9 is arranged between shock-absorbing spring 11 and lower shock-absorbing spring 12.
As shown in figure 3, four rotor flying mechanisms include being arranged on the One On The Chassis brushless electric machine fixed seat 21, being arranged on nothing
Brushless electric machine 15 in brush motor fixed seat 21, the rotorshaft 22 for vertically setting and being connected with brushless electric machine 15
And it is set in rotor 16 on rotorshaft 22.The outside of rotor 16 is additionally provided with rotor protective cover 17, and the rotor protective cover 17 is in
It is cylindric vertically.
Automatic control system includes being arranged in vehicle body 2 and is electrically connected respectively with walking mechanism, four rotor flying mechanisms
Single-chip microcomputer and sensor respectively with monolithic mechatronics, signal transceiver 20.Sensor includes infrared sensor, temperature
Degree sensor, humidity sensor, ultrasound are apart from sensor and gyroscope.
The front end on chassis 1 is provided with bumper 18, and the top of vehicle body 2 is provided with empennage 19.
Intelligent automobile transmits the destination information of coming in practical application, signal transceiver 20 receives control centre,
And running status is initially entered, wheel drive motors 5 are rotated, and intelligent automobile starts to advance；Intelligent automobile leads to during traveling
Various sensor senses external signals are crossed, the road conditions advanced are judged with this, when road conditions are preferable, automatic control system takes ground
Face traveling mode, control intelligent automobile is fast forwarded through on the ground；When needing to turn, steering-engine 13 drives 3 turns of front vehicle wheel
It is dynamic, realize turning；When the larger turning of camber is run into, rotor 16 is reversely rotated, to increase rubbing for vehicle wheel component and ground
Power is wiped, that improves vehicle wheel component grabs ground ability, it is to avoid skidding occur；When sensor, to detect road conditions worse so that intelligent
Automobile cannot by when, automatic control system automatically switches to offline mode, and brushless electric machine 15 starts high-speed cruising, intelligent automobile
Start state of flight of taking off and enter, to fly over gully or other larger barriers, while wheel drive motors 5 are stopped,
Electricity is saved with this；In flight course, related sensor may proceed to detect surface conditions, when flight to preferable road surface
When, intelligent automobile starts slowly to decline until landing, brushless electric machine 15 is stopped afterwards, and wheel drive motors 5 are switched to work
Make state, control intelligent automobile is fast forwarded through, until destination.
The above-mentioned description to embodiment is to be understood that and use invention for ease of those skilled in the art.
Person skilled in the art obviously can easily make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without by performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel announcement of the invention, does not depart from improvement that scope made and modification all should be of the invention
Within protection domain.
Claims (10)
1. a kind of four rotors intelligent automobile, it is characterised in that the intelligent automobile includes chassis (1), the car being arranged on chassis (1)
Body (2), walking mechanism, four rotor flying mechanisms and the automatic control for being electrically connected with walking mechanism, four rotor flying mechanisms respectively
System processed, described walking mechanism includes being arranged on the vehicle wheel component of chassis (1) both sides and is driven with vehicle wheel component respectively to connect
Wheel driving assembly, the wheel steering component for connecing, four described rotor flying mechanisms are located at vehicle body (2) both sides, are automatically controlling
Under the regulation and control of system, described intelligent automobile automatic switchover walking mechanism and the motion state of four rotor flying mechanisms, to adapt to
Different road conditions.
2. a kind of four rotors intelligent automobile according to claim 1, it is characterised in that before described vehicle wheel component includes
The front vehicle wheel (3), rear wheel (4) of chassis (1) side, described wheel driving assembly and rear wheel (4) are separately positioned on after one
Drive connection, described wheel steering component is connected with front vehicle wheel (3).
3. a kind of four rotors intelligent automobile according to claim 2, it is characterised in that described wheel driving assembly includes
The wheel drive motors (5) that are arranged on chassis (1) and it is connected with wheel drive motors (5), rear wheel (4) respectively
Travelling gear (6)；Described wheel steering component include being arranged on steering-engine (13) on chassis (1) and respectively with steering
Steering wheel (13), the connecting rod (14) of front vehicle wheel (3) drive connection.
4. a kind of four rotors intelligent automobile according to claim 1, it is characterised in that be additionally provided with described chassis (1)
Wheel damping assembly, the wheel damping assembly includes the fixed mount (7) being arranged on chassis (1), is arranged vertically at admittedly
Determine the fixed pillar (8) on frame (7), the sleeve (9) being slidably located on fixed pillar (8) and be fixedly connected with sleeve (9)
Wheel installing plate (10), described vehicle wheel component is arranged on wheel installing plate (10), and described fixed pillar (8) is provided with
Respectively with the shock-absorbing spring group of the two ends elastic connection of sleeve (9).
5. a kind of four rotors intelligent automobile according to claim 4, it is characterised in that the top of described fixed mount (7)
And upper and lower ends of the bottom respectively with fixed pillar (8) are fixedly connected, described shock-absorbing spring group includes covering respectively one on the other
Upper shock-absorbing spring (11), lower shock-absorbing spring (12) on fixed pillar (8) are located at, described sleeve (9) is arranged on vibration damping bullet
Between spring (11) and lower shock-absorbing spring (12).
6. a kind of four rotors intelligent automobile according to claim 1, it is characterised in that described four rotor flying mechanisms bag
Include the brushless electric machine fixed seat (21) being arranged on chassis (1), the brushless electric machine being arranged in brushless electric machine fixed seat (21)
(15), vertically set and with brushless electric machine (15) be connected rotorshaft (22) and be set in rotorshaft
(22) rotor (16) on.
7. a kind of four rotors intelligent automobile according to claim 6, it is characterised in that the outside of described rotor (16) is also
Rotor protective cover (17) is provided with, the rotor protective cover (17) is in vertical cylindrical shape.
8. a kind of four rotors intelligent automobile according to claim 1, it is characterised in that described automatic control system includes
The single-chip microcomputer that is arranged in vehicle body (2) and is electrically connected with walking mechanism, four rotor flying mechanisms respectively and respectively with single-chip microcomputer
The sensor of electrical connection, signal transceiver (20).
9. a kind of four rotors intelligent automobile according to claim 8, it is characterised in that described sensor includes infrared biography
Sensor, temperature sensor, humidity sensor, ultrasound are apart from sensor and gyroscope.
10. a kind of four rotors intelligent automobile according to any one of claim 1 to 9, it is characterised in that described chassis
(1) front end is provided with bumper (18), and empennage (19) is provided with the top of described vehicle body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153783.0A CN106926655A (en) | 2017-03-15 | 2017-03-15 | A kind of four rotor intelligent automobiles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153783.0A CN106926655A (en) | 2017-03-15 | 2017-03-15 | A kind of four rotor intelligent automobiles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926655A true CN106926655A (en) | 2017-07-07 |
Family
ID=59433245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710153783.0A Pending CN106926655A (en) | 2017-03-15 | 2017-03-15 | A kind of four rotor intelligent automobiles |
Country Status (1)
| Country | Link |
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| CN (1) | CN106926655A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488598A (en) * | 2019-08-07 | 2019-11-22 | 清华大学 | Air-ground amphibious unmanned vehicle control |
| CN110488863A (en) * | 2019-08-07 | 2019-11-22 | 清华大学 | Air-ground amphibious unmanned platform |
| CN114475117A (en) * | 2022-03-21 | 2022-05-13 | 常州伊迈斯动力科技有限公司 | Aerocar and running state switching method thereof |
| CN116749866A (en) * | 2023-08-22 | 2023-09-15 | 常州星宇车灯股份有限公司 | Vertical take-off and landing lighting auxiliary system of aerocar and aerocar |
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