CN112046221A - Dual-purpose unmanned aerial vehicle in air and ground - Google Patents
Dual-purpose unmanned aerial vehicle in air and ground Download PDFInfo
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- CN112046221A CN112046221A CN202010996720.3A CN202010996720A CN112046221A CN 112046221 A CN112046221 A CN 112046221A CN 202010996720 A CN202010996720 A CN 202010996720A CN 112046221 A CN112046221 A CN 112046221A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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Abstract
The invention discloses an air-ground dual-purpose unmanned aerial vehicle, wherein a folding type flying support is arranged on a body, the flying support can be folded and contracted within the range of the body and can be unfolded and extended out of the body, the flying support adopts a folding type structure, and is folded and contracted when not flying, so that the volume of outward extension is reduced; the flight bracket is provided with a propeller, the propeller is used for driving the unmanned aerial vehicle to fly in the air, and the propeller and the flight bracket contract synchronously when the unmanned aerial vehicle is folded; at least four travelling wheels are arranged on the periphery of the machine body, the travelling wheels move on the ground through independent operation, and the travelling direction can be controlled through independent steering; when flying in the air, the flying support is unfolded, so that the propeller extends to the periphery and is exposed out of the airplane body, and the propeller rotates to enable the unmanned aerial vehicle to fly in the air; when needs are walked on the ground, the fuselage is folded to the shrink of flight support, reduces holistic volume, reduces the collision probability to the narrow and small space of accessible improves the throughput rate, and this unmanned aerial vehicle can empty ground dual-purpose, strong adaptability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an air-ground dual-purpose unmanned aerial vehicle.
Background
With the continuous development of e-commerce, the business volume in the logistics fields of express delivery, take-out, goods and materials and the like is continuously increased, and the existing unmanned distribution machine technology development of express delivery, take-out, goods and materials and the like is still not mature; air flight receives weather influence great, runs into bad weather such as strong wind, overcast and rainy and is difficult to accomplish effectively flight, and distribution danger coefficient is high, distribution is efficient low when weather is bad, therefore the application scene of unmanned aerial vehicle distribution receives the restriction.
To technical personnel in the field, how to design an all-terrain and strong-adaptability unmanned aerial vehicle is a technical problem to be solved at present.
Disclosure of Invention
The invention provides an air-ground dual-purpose unmanned aerial vehicle, which can fly in the air and walk on the ground, and has strong adaptability, and the specific scheme is as follows:
an air-ground dual-purpose unmanned aerial vehicle comprises a body, wherein a foldable flying support is arranged on the body, the flying support can be folded and retracted within the range of the body and can be unfolded and extended out of the body, a propeller is arranged on the flying support, and the propeller rotates independently and is used for driving the unmanned aerial vehicle to fly in the air;
at least four walking wheels are arranged on the periphery of the machine body, and each walking wheel independently runs and turns.
Optionally, the top of fuselage sets up folding storehouse, flight support rotates to be installed in folding storehouse's intermediate layer, flight support can follow the horizontal direction rotation and get into folding storehouse.
Optionally, two flight supports are respectively arranged at four top corners of the folding bin.
Optionally, the upper surface in folding storehouse sets up the solar panel who is used for converting solar energy, solar panel passes through the stabiliser to the power supply of solar cell group, solar cell group and battery mutually support the power supply drive the screw with the walking wheel.
Optionally, the travelling wheels comprise a central support, a plurality of rotating supports, a deformation telescopic rod and a crawler belt, the plurality of rotating supports surround the periphery of the central support, the outer surfaces of the rotating supports can surround to form a cylindrical surface, and the crawler belt surrounds the outer surfaces of the rotating supports;
one end of the rotating support is rotatably connected with the central support, the other end of the rotating support is connected with the central support through the deformation telescopic rod, and the deformation telescopic rod contracts to drive the rotating support to rotate to form a triangular prism shape.
Optionally, a sun gear is arranged on the central support, a planetary gear and a rolling driving block are arranged on the periphery of the sun gear, the planetary gear and the rolling driving block can move along the axial direction, and the sun gear can be respectively and independently in meshing transmission with the planetary gear or in meshing transmission with the rolling driving block;
when the planetary gear is in meshing transmission with the sun gear, the planetary gear is meshed with a gear ring which is convexly arranged on the inner periphery of the crawler belt to drive the crawler belt to independently rotate;
when the rolling driving block is in meshing transmission with the sun gear, the rolling driving block and the crawler belt rotate synchronously.
Optionally, a storage box for placing goods is arranged in the machine body.
Optionally, a lifting rod is arranged between the folding bin and the machine body and used for driving the folding bin to ascend and descend.
Optionally, the inside of the wing of the propeller is provided with a honeycomb net.
Optionally, a heating plate and a balancing device are respectively arranged in the storage box of the machine body, and the heating plate is used for heating and insulating the storage box and is powered by the solar battery pack;
the balancing device is located on the inner bottom surface of the storage box and comprises a hole plate and balancing columns, mounting holes are arranged in an array mode on the hole plate, one balancing column is arranged in each mounting hole, and the goods stored in the holes are kept horizontal through the telescopic state of the balancing columns.
Optionally, the system further comprises an information acquisition unit, wherein the information acquisition unit is used for collecting data of the GPS module, the laser radar module, the weather measuring instrument and the plane sensor, sending the data to the central processor through the information processing unit, outputting a signal to the control unit module by the central processor, and outputting a control signal by the control unit module.
The invention provides an air-ground dual-purpose unmanned aerial vehicle, wherein a folding type flying support is arranged on a machine body, the flying support can be folded and contracted within the range of the machine body and can be unfolded and extended out of the machine body, the flying support adopts a folding type structure, and is folded and contracted when not flying, so that the volume of the outward extension is reduced; the flight bracket is provided with a propeller, the propeller is used for driving the unmanned aerial vehicle to fly in the air, and the propeller and the flight bracket contract synchronously when the unmanned aerial vehicle is folded; at least four travelling wheels are arranged on the periphery of the machine body, the travelling wheels move on the ground through independent operation, and the travelling direction can be controlled through independent steering; when flying in the air, the flying support is unfolded, so that the propeller extends to the periphery and is exposed out of the airplane body, and the propeller rotates to enable the unmanned aerial vehicle to fly in the air; when needs are walked on the ground, the fuselage is folded to the shrink of flight support, reduces holistic volume, reduces collision probability, and the narrow and small space of accessible improves the throughput rate, and this unmanned aerial vehicle can empty ground dual-purpose, strong adaptability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an axis measuring view of a specific embodiment of the air-ground dual-purpose unmanned aerial vehicle provided by the invention;
fig. 2A and fig. 2B are top views of the flight mode and the walking mode of the air-ground dual-purpose unmanned aerial vehicle provided by the invention respectively;
fig. 3A and 3B are an isometric view and a front view, respectively, of a road wheel in a rounded state;
fig. 4A and 4B are an isometric view and a front view, respectively, of a road wheel in a triangular state;
fig. 5A is a schematic structural view of the inside of the road wheel;
FIG. 5B is a cross-sectional view of the traveling wheel;
FIG. 5C is a front view of the road wheel in a triangular state;
FIG. 5D is a schematic view of the structure of the rolling driving block meshing with the sun gear;
FIG. 5E is a front view of the road wheel in a rounded state;
FIG. 6 is a partial cross-sectional view of the airfoil of the propeller;
fig. 7 is a schematic structural view of the balancing device 11;
FIG. 8A is a flow chart of control information for the balancing apparatus;
FIG. 8B is a schematic diagram of power supply;
FIG. 8C is a graph of the power supply and signal control relationship for the propeller;
FIG. 8D is the operation process and control diagram for the conversion to walking mode;
FIG. 8E is a graph illustrating the control and energization of the rotation of the road wheels;
fig. 8F is a diagram of the operation process of switching to the flight mode and the relationship between the power supply and the control.
The figure includes:
the device comprises a machine body 1, a balancing device 11, a pore plate 111, a balancing column 112, a flight support 2, a propeller 3, a travelling wheel 4, a central support 41, a rotating support 42, a deformation telescopic rod 43, a crawler belt 44, a sun gear 45, a planetary gear 46, a rolling driving block 47, a folding bin 5, a solar panel 51 and a lifting rod 6.
Detailed Description
The core of the invention is to provide an air-ground dual-purpose unmanned aerial vehicle which can fly in the air and walk on the ground, can be applied to uneven ground and has strong adaptability.
In order to make those skilled in the art better understand the technical solution of the present invention, the air-ground dual-purpose unmanned aerial vehicle of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an axis measuring and indicating diagram of a specific embodiment of the air-ground dual-purpose unmanned aerial vehicle provided by the invention is shown; the air-ground dual-purpose unmanned aerial vehicle comprises a body 1, wherein the body 1 is a main body part of the whole unmanned aerial vehicle, and other components are arranged on the body part; the foldable flight support 2 is arranged on the fuselage 1, the flight support 2 can be extended and folded relative to the fuselage 1, the flight support 2 can be folded and retracted within the range of the fuselage 1 and can be unfolded and extended out of the fuselage 1, and the state of the flight support 2 is adjusted according to the use mode.
Set up screw 3 on flight support 2, screw 3 sets up the end at flight support 2, and screw 3 is equipped with a plurality of fins, and every screw 3 drives the fin rotation through each motor, and screw 3 drives unmanned aerial vehicle flight aloft when the fin is placed, and under flight mode, flight support 2 keeps extending, makes screw 3 stretch outside the scope of fuselage 1, provides sufficient air current when screw 3 rotates and produces lift.
At least four walking wheels 4 are arranged around the body 1, each walking wheel 4 is provided with an independent driving device, and each walking wheel 4 can independently run and turn to control the moving direction on the ground.
The air-ground dual-purpose unmanned aerial vehicle can realize two working modes, namely flying in the air and walking on the ground; as shown in fig. 2A and fig. 2B, which are top views of the flight mode and the walking mode of the air-ground dual-purpose unmanned aerial vehicle provided by the present invention, respectively; when flying in the air, the flying support 2 is unfolded to enable the propeller 3 to extend to the periphery and be exposed out of the airframe 1, and the propeller 3 rotates to provide ascending airflow to enable the unmanned aerial vehicle to fly in the air; when needs are walked on the ground, flight support 2 is folded and is contracted back fuselage 1, reduces holistic volume, reduces flight support 2 and screw 3's collision probability, avoids damaging, and the narrow and small space of accessible improves the throughput rate, and this unmanned aerial vehicle can empty dual-purpose, consequently has wider range of application, especially to the unmanned aerial vehicle of transportation goods.
On the basis of the scheme, the top of the aircraft body 1 is provided with the folding bin 5, the middle of the folding bin 5 is provided with the interlayer, the interlayer is surrounded by an upper layer structure and a lower layer structure which are horizontally arranged, the flying support 2 is rotatably installed in the interlayer of the folding bin 5, the rotating shaft of the flying support 2 is vertically arranged, the flying support 2 can rotate in the horizontal direction to enter the folding bin 5, and the folding bin 5 provides protection for the flying support 2. The flying support 2 and the folding bin 5 can be driven to fold by a rod piece of the telescopic rod. Besides the arrangement form of horizontal rotation, folding and contraction, the flying support 2 can also adopt the arrangement form of vertical folding and contraction.
As shown in fig. 2A, the folding bin 5 is substantially a square structure, two flying brackets 2 are respectively arranged at four top corners of the folding bin 5, and the whole flying bracket 2 is provided with eight flying brackets 2 and eight propellers 3; the extending directions of the two flying supports 2 at the same top angle are approximately vertical, the two flying supports 2 at one top angle are respectively positioned at two different sides, and the two flying supports 2 at each side are folded into the same side.
As shown in fig. 2A, the upper surface of folding storehouse 5 sets up solar panel 51 that is used for converting solar energy, and solar panel 51 passes through the stabiliser to the power supply of solar cell group, turns into extra electric energy through solar energy, improves unmanned aerial vehicle's time of endurance. Besides the solar battery set, a storage battery is also arranged and can be charged, and the solar battery set and the storage battery are matched with each other to supply power to drive the propeller 3 and the travelling wheels 4.
On the basis of any one of the above technical solutions and the combination thereof, the traveling wheel 4 of the present invention includes a central bracket 41, a rotating bracket 42, a transformable telescopic rod 43 and a crawler 44, as shown in fig. 3A and 3B, which are respectively an axonometric view and a front view of the traveling wheel 4 in a circular state; fig. 4A and 4B are an isometric view and a front view, respectively, of the road wheel 4 in a triangular state.
The central bracket 41 is connected with the machine body 1, and a driving device such as a motor and the like on the machine body 1 can drive the central bracket 41 to enable the whole walking wheel 4 to rotate and walk on the ground in a rolling manner. The plurality of rotating supports 42 surround the center support 41, the outer surfaces of the rotating supports 42 are arc-shaped, the outer surfaces of the rotating supports 42 can surround to form a cylindrical surface, as shown in fig. 5A, six rotating supports 42 are arranged for a structural schematic diagram of the interior of the walking wheel 4, the outer surfaces of the six rotating supports 42 are located on the same cylindrical surface, the crawler belt 44 surrounds the outer surface of the rotating supports 42, when the rotating supports 42 surround to form a circle, the whole walking wheel 4 rotates synchronously, and the walking wheel rolls on the ground.
One end of the rotating bracket 42 is rotatably connected to the central bracket 41, the other end of the rotating bracket 42 is connected to the central bracket 41 through the deformation telescopic rod 43, and the deformation telescopic rod 43 contracts to drive the rotating bracket 42 to rotate to form a triangular prism; as shown in fig. 3B and 4B, six rotating support 42 are rotatably connected to three apex angles, rotating support 42 surrounds to form a triangular prism structure when deformation telescopic rod 43 contracts, track 44 can rotate circularly independently at the moment, and whole walking wheel 4 walks through the motion realization of track 44, can use on uneven ground, and can adapt to more terrains and road conditions.
As shown in fig. 5B, is a sectional structure view of the traveling wheel 4; a sun gear 45 is arranged on the central bracket 41, the sun gear 45 is positioned in the center of the central bracket 41, the sun gear 45 is driven by a motor to rotate, and a gear ring is arranged on the inner wall of the crawler belt 44 corresponding to the position of the sun gear 45; a planetary gear 46 and a rolling drive block 47 are arranged on the periphery of the sun gear 45, and the planetary gear 46 and the rolling drive block 47 can translate along the axial direction; the sun gear 45 can be meshed with the planetary gear 46 or the rolling drive block 47 independently.
When the planetary gear 46 moves leftwards (i.e. away from the body) to be meshed with the sun gear 45 for transmission, the planetary gear 46 is meshed with a gear ring which is convexly arranged on the inner periphery of the crawler belt 44, the sun gear 45 rotates to drive the planetary gear 46 to rotate independently, the planetary gear 46 drives the crawler belt 44 to rotate independently through the gear ring, and as shown in fig. 5C, the crawler belt 44 rotates independently on the ground as the travelling wheel 4 is in a front view of a triangular state.
As shown in fig. 5D, it is a schematic structural view of the rolling driving block 47 and the sun gear 45 engaging with each other; the rolling driving block 47 is of an annular structure, the inner ring and the outer ring are respectively provided with a toothed block, the inner ring is meshed with the sun gear 45, the outer ring is meshed with the crawler belt 44, when the rolling driving block 47 is meshed with the sun gear 45 for transmission, the sun gear 45, the rolling driving block 47 and the crawler belt 44 synchronously rotate, and fig. 5E is a front view of the traveling wheel 4 in a circular state, and the traveling wheel travels on the ground in a rolling mode.
As shown in fig. 1, a storage box for placing goods is arranged in the fuselage 1, and the opening of the storage box is upward to serve as an unmanned aerial vehicle for transporting goods.
Set up lifter 6 between folding storehouse 5 and the fuselage 1 for drive folding storehouse 5 and rise and descend, make lifter 6 lifting that makes when getting and put the goods, lifter 6 descends when transporting the goods, makes whole unmanned aerial vehicle's focus reduce, and plays spacing effect to the goods.
As shown in fig. 6, which is a partial cross-sectional structure diagram of the wing of the propeller 3, the inside of the wing of the propeller 3 is provided with a honeycomb network, the outer surface of the wing is a smooth and flat surface, the honeycomb network inside the wing is formed by micro through holes arranged in an array, each through hole is a hexagonal prism, by arranging the honeycomb network inside, materials can be saved, and when the wing is subjected to an external load perpendicular to the cross section, the bending rigidity and strength of the wing are almost the same as those of a solid plate made of the same material and having the same thickness, and the wing is lighter in weight; the honeycomb structure also helps to reduce noise generated when the propeller 3 rotates.
Set up hot plate and balancing unit 11 in the storage box of fuselage 1 respectively, the hot plate heats the goods of storage for use when transporting goods such as food, the hot plate passes through the thermostabilizer and realizes temperature control, is supplied power by solar cell group. As shown in fig. 7, for balancing unit 11's structural schematic, balancing unit 11 is located the interior bottom surface of storage box, balancing unit 11 includes orifice plate 111 and balancing post 112, be the array mounting hole of arranging on the orifice plate 111, set up a balancing post 112 in every mounting hole, the goods that make through balancing post 112 flexible state hold the level, when balancing post 112 upwards stretches out with the bottom contact of goods, support the goods, the length of stretching out through each balancing post 112 difference makes the goods remain the horizontality all the time.
The control system comprises an information acquisition unit, wherein the information acquisition unit is used for collecting data of a GPS module, a laser radar module, a weather measuring instrument and a plane sensor, and the GPS module is used for distinguishing flight and land road areas and positioning and identifying lane information; the laser radar module is used for detecting road condition information and detecting whether obstacles such as bulges exist or not; the weather measuring instrument is used for acquiring weather information in real time; the plane sensor is used for acquiring the horizontal state of the top end of the balancing pole 112 and providing data for the balancing device 11 so as to facilitate timely adjustment. The data of the information acquisition unit is sent to the central processing unit through the information processing unit, and the central processing unit outputs a signal to the control unit module, as shown in fig. 8A, which is a control information flow diagram of the balancing device; the control unit module outputs control signals, and controls the motion states of the balance device 11, the flight support 2, the propeller 3, the walking wheels 4, the lifting rod 6 and other components through the effect driver.
FIG. 8B is a schematic diagram of power supply; the solar panel absorbs solar energy, the voltage is regulated by the voltage stabilizer to charge the solar battery pack, the current of the solar battery pack and the storage battery is regulated by the transformer, the voltage is converted into alternating current by the inverter to supply power for the starter, and the solar battery pack can also supply power for the heating plate and the temperature stabilizer.
The air-ground dual-purpose unmanned aerial vehicle can switch the flight mode and the walking mode at any time according to actual conditions.
When the air-ground dual-purpose unmanned aerial vehicle disclosed by the invention is in a flight mode, the flight support 2 is unfolded from the folding bin 5 to extend outwards and is kept relatively fixed, as shown in a figure 8C, the flight support supplies power to the propeller 3 together with the storage battery and the solar battery pack, as shown in a relation graph of power supply and signal control of the propeller, the central processing unit sends a control instruction, the propeller rotates to provide rising power, and the unmanned aerial vehicle flies in the air.
When unmanned aerial vehicle is in flight mode and is flying in the air, suddenly meet adverse circumstances such as torrential rain strong air current, flight mode is unfavorable for unmanned aerial vehicle's safety, therefore unmanned aerial vehicle need switch to the walking mode. As shown in fig. 8D, the motion process and the power supply and control of the map for switching to the walking mode; at first carry out unmanned aerial vehicle's descending process, confirm safe landing place point back, the last screw blade of unmanned aerial vehicle begins to slow down, and screw lift reduces, and when the lift sum of eight screws of unmanned aerial vehicle was less than the unmanned aerial vehicle total weight, unmanned aerial vehicle began by descending aloft, descends to ground safety position gradually until unmanned aerial vehicle, accomplishes the descending, and the screw stop work. At this moment, the propellers 3 are not needed to participate in the work, the central processing unit in the machine body controls the flight support 2 to rotate from the rotating shaft connected between the folding bins 5, so that the eight propellers are successively and inwardly contracted to reach the state shown in figure 2B, the instant volume of the unmanned aerial vehicle is reduced, and the propellers are prevented from being damaged by collision, scraping and other actions. When the flight support 2 contracts inwards, the two flight supports 2 positioned on the same side rotate successively respectively to prevent mutual obstruction, after a certain degree is reached, the propeller 3 rotates clockwise around the shaft, the contraction is completed, the flight support 2 rotates horizontally and contracts to enter the folding bin 5, as shown in fig. 8E, for the control and energy supply relation graph of the rotation of the walking wheels, the central processing unit sends a control signal, and the storage battery and the solar battery pack jointly supply power to the walking wheels 4 to enable the walking wheels to operate on the ground.
When the unmanned aerial vehicle is in the walking mode, when the unmanned aerial vehicle encounters the situation that the road conditions are too complex and the air flight environment is good, the unmanned aerial vehicle needs to be switched to the flight mode to carry out air flight. As shown in fig. 8F, it is a diagram of the action process, energy supply and control relationship for switching to the flight mode; firstly, the extension process of the propeller is carried out, namely the propeller is changed from a contraction state to an extension state, after the extension process is finished, the propeller starts to work, and the blades rotate, so that the propeller generates rising power. When the sum of the lift force of the eight propellers of the unmanned aerial vehicle is larger than the total weight of the unmanned aerial vehicle, the unmanned aerial vehicle starts to lift and flies up from the ground to the air.
When the vehicle runs on an uneven road and the flying condition is not good, the deformation telescopic rod 43 is shortened to drive the rotating support 42 to rotate, so that the traveling wheels 4 are deformed into a triangle, the storage battery and the solar battery pack supply power for the motor driving the sun gear 45, the sun gear 45 is meshed with the driving planetary gear 46 to rotate, and the planetary gear 46 further drives the crawler belt 44 to move on the ground to travel.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. The air-ground dual-purpose unmanned aerial vehicle is characterized by comprising a machine body (1), wherein a foldable flight support (2) is arranged on the machine body (1), the flight support (2) can be folded and contracted within the range of the machine body (1) and can be unfolded and extended out of the machine body (1), a propeller (3) is arranged on the flight support (2), and the propeller (3) can rotate independently and is used for driving the unmanned aerial vehicle to fly in the air;
the four sides of the machine body (1) are provided with at least four walking wheels (4), and each walking wheel (4) independently runs and turns.
2. The air-ground dual-purpose unmanned aerial vehicle of claim 1, wherein a folding bin (5) is arranged at the top of the fuselage (1), the flying support (2) is rotatably installed in an interlayer of the folding bin (5), and the flying support (2) can rotate in the horizontal direction to enter the folding bin (5).
3. The air-ground dual-purpose unmanned aerial vehicle of claim 2, wherein two flying supports (2) are respectively arranged at four corners of the folding bin (5).
4. An air-ground dual-purpose unmanned aerial vehicle according to claim 2, wherein the upper surface of the folding bin (5) is provided with a solar panel (51) for converting solar energy, the solar panel (51) supplies power to a solar battery pack through a voltage stabilizer, and the solar battery pack and a storage battery are mutually matched for supplying power to drive the propeller (3) and the travelling wheels (4).
5. The air-ground dual-purpose unmanned aerial vehicle of any one of claims 2 to 4, wherein the travelling wheels (4) comprise a central support (41), a rotating support (42), a deformation telescopic rod (43) and a crawler belt (44), the plurality of rotating supports (42) are enclosed around the central support (41), the outer surface of each rotating support (42) can be enclosed to form a cylindrical surface, and the crawler belt (44) is enclosed on the outer surface of each rotating support (42);
the one end of rotating bracket (42) rotate connect in central support (41), the other end of rotating bracket (42) passes through deformation telescopic link (43) connect in central support (41), deformation telescopic link (43) shrink and drive rotating bracket (42) rotate and form the triangular prism shape.
6. An air-ground dual-purpose unmanned aerial vehicle according to claim 5, wherein a sun gear (45) is arranged on the central support (41), a planetary gear (46) and a rolling driving block (47) are arranged on the periphery of the sun gear (45), the planetary gear (46) and the rolling driving block (47) can move along the axial direction, and the sun gear (45) can be respectively and independently in meshing transmission with the planetary gear (46) or in meshing transmission with the rolling driving block (47);
when the planetary gear (46) is in meshing transmission with the sun gear (45), the planetary gear (46) is meshed with a gear ring which is convexly arranged on the inner periphery of the crawler belt (44) to drive the crawler belt (44) to independently rotate;
when the rolling driving block (47) is in meshed transmission with the sun gear (45), the rolling driving block (47) and the crawler belt (44) rotate synchronously.
7. An air-ground dual-purpose unmanned aerial vehicle according to claim 5, wherein a storage box for placing goods is arranged in the fuselage (1).
8. An air-ground dual-purpose unmanned aerial vehicle according to claim 5, wherein a lifting rod (6) is arranged between the folding bin (5) and the machine body (1) and used for driving the folding bin (5) to ascend and descend.
9. An air-ground dual-purpose unmanned aerial vehicle according to claim 5, wherein the inside of the wing pieces of the propeller (3) is provided with a honeycomb net.
10. An air-ground dual-purpose unmanned aerial vehicle according to claim 7, wherein a heating plate and a balancing device (11) are respectively arranged in the storage box of the fuselage (1), the heating plate is used for heating and insulating the storage box and is powered by a solar battery pack;
balancing unit (11) are located the interior bottom surface of storage box, balancing unit (11) include orifice plate (111) and balancing post (112), be array arrangement mounting hole on orifice plate (111), set up one in every mounting hole balancing post (112), through the goods that hold keep the level in the flexible state messenger of balancing post (112).
11. An air-ground dual-purpose unmanned aerial vehicle according to claim 5, further comprising an information acquisition unit, wherein the information acquisition unit is used for collecting data of the GPS module, the laser radar module, the weather measuring instrument and the plane sensor, sending the data to the central processing unit through the information processing unit, outputting a signal to the control unit module by the central processing unit, and outputting a control signal by the control unit module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115782485A (en) * | 2022-12-23 | 2023-03-14 | 广东汇天航空航天科技有限公司 | Method, device and storage medium for controlling arm of flying vehicle |
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