CN113752766A - Two-wheeled aerodyne with balanced propeller - Google Patents

Abstract

A two-wheeled aerodyne with balanced propellers is characterized in that wheels are respectively arranged at the front and the rear of a carriage, the front wheels can be steered, the steering of the front wheels is driven by a steering wheel, the rear wheels are fixed-direction wheels, an engine or a motor is arranged to drive the rear wheels, a vertical rod is arranged at the top of the carriage, a transverse variable-pitch propeller is arranged at the top of the vertical rod and driven by a motor to rotate, a longitudinal beam is arranged at the center of gravity of an aerodyne body at the top of the carriage and intersected with the vertical rod, four propellers which are longitudinally arranged and have horizontal rotating surfaces are arranged on the longitudinal beam, the connecting lines of the rotating centers of the four propellers are a straight line, or the rotating centers of the two propellers at the front of the longitudinal beam are overlapped in projection on the horizontal plane, the rotating centers of the two propellers at the rear of the longitudinal beam are overlapped in projection on the horizontal plane, and the aerodyne has the advantages of light weight and small occupied space and can be used on narrow roads, the multifunctional vehicle can fly in narrow space in farmlands, orchards and woodlands, and can be applied to transportation in mountainous and hilly areas.

Description

Two-wheeled aerodyne with balanced propeller

Technical Field

The invention relates to an aerocar capable of taking off and landing vertically, in particular to a two-wheeled aerocar, which is balanced by a propeller capable of balancing the car body transversely and stably without relying on wheels when the aerocar runs on the land.

Background

The prior known flying motor vehicle capable of vertically taking off and landing is provided with a four-wheeled flying motor vehicle, when the flying motor vehicle runs on the land, the four wheels at the front, the back, the left and the right of the flying motor vehicle body are used for realizing longitudinal and transverse stability and steering, when the flying motor vehicle vertically takes off and lands, the propeller driven by electric power is used for controlling the pitching, rolling and course of the flying motor vehicle, because the vehicle body of the four wheels is wider, the flying motor vehicle needs a wider road to run, the space occupied by the propeller is large, the flying motor vehicle cannot fly in a narrow space, the whole weight is large, and the flying time is short.

Disclosure of Invention

In order to overcome the defects that a four-wheel aircraft motor vehicle needs to run on a wider road, cannot fly in a narrow space and has large overall weight, the invention provides a propeller-balanced two-wheel aircraft, and the aim is achieved.

The technical scheme adopted by the invention for solving the technical problems is as follows: the front wheel and the rear wheel are respectively arranged under an approximately rectangular closed carriage with a door for entering and exiting, the front wheel is a steerable wheel, the steering of the front wheel is driven by a steering wheel, the rear wheel is a wheel with a fixed direction, an engine or a motor is arranged for driving the rear wheel, a vertical rod is arranged on the gravity center of the top body of the approximately rectangular closed carriage, a transverse variable pitch propeller is arranged at the top of the vertical rod, the rotating surface of the transverse variable pitch propeller is perpendicular to the horizontal plane, the normal line of the rotating surface of the transverse variable pitch propeller is parallel to the transverse axis of the body, the transverse variable pitch propeller is driven by the motor to rotate, the pitch of the transverse variable pitch propeller is controlled and changed by a total pitch controller driven by a steering engine or a servo motor, and a protective cover is arranged on the periphery of the transverse variable pitch propeller to prevent the transverse variable pitch propeller from hurting people.

A left support frame capable of being retracted and extended backwards is arranged near the gravity center of the vehicle body and on the left side of the vehicle body, a right support frame capable of being retracted and extended backwards is arranged near the gravity center of the vehicle body and on the right side of the vehicle body, and the left support frame and the right support frame are retracted and extended under the driving of a servo motor.

Set up a longeron on the focus of carriage top automobile body, the longeron is crossing with vertical pole, set up first front end motor mount pad at the front end of longeron, install first front end motor at first front end motor mount pad, install first front end screw on first front end motor, the rotating surface level of first front end screw sets up, on the longeron behind first front end screw, set up second front end motor mount pad, install second front end motor at second front end motor mount pad, install second front end screw on second front end motor, the rotating surface level of second front end screw sets up, first front end screw and second front end screw are close to very much but the rotating surface is not overlapped each other.

Set up first rear end motor mount pad in the rear end of longeron, install first rear end motor at first rear end motor mount pad, install first rear end screw on first rear end motor, the rotating surface level of first rear end screw sets up, on the preceding longeron of first rear end screw, set up second rear end motor mount pad, install second rear end motor at second rear end motor mount pad, install second rear end screw on second rear end motor, the rotating surface level of second rear end screw sets up, first rear end screw and second rear end screw are very close to but the rotating surface is not overlapped each other.

The projection of the rotation center of the first front end propeller and the projection of the rotation center of the first rear end propeller on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity, and the rotation directions of the first front end propeller and the first rear end propeller are the same.

The projection of the rotation center of the second front end propeller and the projection of the rotation center of the second rear end propeller on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity, and the rotation directions of the second front end propeller and the second rear end propeller are the same.

The rotating directions of the first front end propeller and the second front end propeller are the same and opposite.

The rotating directions of the first rear end propeller and the second rear end propeller are the same and opposite.

The periphery of the first front end propeller is provided with a protective cover, the periphery of the second front end propeller is provided with a protective cover, the periphery of the first rear end propeller is provided with a protective cover, and the periphery of the second rear end propeller is provided with a protective cover.

The first front end propeller, the second rear end propeller and the first rear end propeller are longitudinally arranged, and a connecting line of rotation centers of the first front end propeller, the second rear end propeller and the first rear end propeller is a straight line.

The first front end propeller, the second rear end propeller and the first rear end propeller are fixed-distance propellers with the same size, and the corresponding four driving motors are the same in size, so that the two-wheeled aerodyne with balanced propellers is formed.

The working principle of the propeller-balanced two-wheeled aerodyne is explained below.

Setting the pitch of the transverse variable-pitch propeller as positive time, and enabling the tension direction of the transverse variable-pitch propeller to be leftward; when the pitch of the transverse variable-pitch propeller is negative, the pulling force direction of the transverse variable-pitch propeller is rightward.

The first front end propeller rotates clockwise, and the first rear end propeller rotates clockwise.

The second front end propeller rotates counterclockwise, and the second rear end propeller rotates counterclockwise.

The two-wheeled aerodyne with the balanced screw propeller has two working modes of land running and air flying.

Firstly, a propeller balance two-wheel aerodyne land running working mode is explained:

when the propeller balance two-wheeled aerodyne is on the road surface, a motor for driving the transverse variable pitch propeller is started to enable the transverse variable pitch propeller to rotate at a high speed, meanwhile, the pitch of the transverse variable pitch propeller is controlled to be zero, the tension of the transverse variable pitch propeller is enabled to be zero, the left support frame and the right support frame are folded backwards, the transverse direction of the propeller balance two-wheeled aerodyne is unstable, if the propeller balance two-wheeled aerodyne inclines rightwards, the positive pitch of the transverse variable pitch propeller is increased, the tension direction of the transverse variable pitch propeller is leftwards, the propeller balance two-wheeled aerodyne inclines leftwards, and the propeller balance two-wheeled aerodyne keeps transverse balance; if the propeller balance two-wheeled aerodyne tilts leftwards, the negative pitch of the transverse variable pitch propeller is increased, the pulling force direction of the transverse variable pitch propeller is rightward, and the propeller balance two-wheeled aerodyne tilts rightwards, so that the propeller balance two-wheeled aerodyne keeps transverse balance.

The engine or the motor for driving the rear wheel is started, the rear wheel is enabled to rotate forwards, the propeller balance two-wheel aerodyne is driven to run forwards, the steering wheel drives the front wheel to turn left, the propeller balance two-wheel aerodyne runs leftwards and forwards, the steering wheel drives the front wheel to turn rightwards, and the propeller balance two-wheel aerodyne runs rightwards and forwards.

The steering wheel drives the front wheel to keep turning left, the positive pitch of the transverse variable pitch propeller is slightly increased, the tension direction of the transverse variable pitch propeller is leftward, the propeller balances the two-wheeled aerodyne to slightly tilt leftward, the propeller balances the two-wheeled aerodyne to slightly turn leftward, after the left turning is completed, the steering wheel drives the front wheel to return to positive, the negative pitch of the transverse variable pitch propeller is slightly increased, the tension direction of the transverse variable pitch propeller is rightward, the propeller balances the two-wheeled aerodyne to slightly tilt rightward, the propeller balances the two-wheeled aerodyne to return to positive, and the propeller balances the two-wheeled aerodyne to move forward.

The steering wheel drives the front wheel to keep turning to the right, the negative pitch of the transverse variable pitch propeller is slightly increased, the tension direction of the transverse variable pitch propeller is rightward, the propeller balance two-wheel aerodyne slightly inclines to the right, the propeller balance two-wheel aerodyne slightly turns to the right, after the turning to the right is completed, the steering wheel drives the front wheel to return to the positive direction, the positive pitch of the transverse variable pitch propeller is slightly increased, the tension direction of the transverse variable pitch propeller is leftward, the propeller balance two-wheel aerodyne slightly inclines to the left, the propeller balance two-wheel aerodyne returns to the positive direction, and the propeller balance two-wheel aerodyne runs to the positive front.

When the two-wheeled aerodyne runs at a high speed with the balanced propeller, the horizontal balance of the two-wheeled aerodyne can be kept by the propeller due to the gyroscopic force of the two wheels of the two-wheeled aerodyne balanced by the propeller, the rotating speed or the stalling of the horizontal variable pitch propeller can be reduced, energy is saved, the horizontal balance of the two-wheeled aerodyne balanced by the propeller is kept in a carriage by a driver, and when the speed of the vehicle is reduced, the rotating speed of the horizontal variable pitch propeller returns to a high speed to participate in keeping the horizontal balance of the two-wheeled aerodyne balanced by the propeller.

The propeller balance two-wheeled aerodyne aerial flight working mode is as follows:

when the two-wheeled aerodyne with the balanced propellers stops on the ground, a motor for driving the transverse variable-pitch propeller is started to enable the transverse variable-pitch propeller to rotate at a high speed, and meanwhile, the pitch of the transverse variable-pitch propeller is controlled to be zero, so that the tension of the transverse variable-pitch propeller is zero.

The motor driving the first front end propeller, the motor driving the second rear end propeller and the motor driving the first rear end propeller are started.

The rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are enabled to be the same and increased, the reactive torques of the first front end propeller and the second front end propeller are offset, the reactive torques of the second rear end propeller and the first rear end propeller are offset, the reactive torques of the first front end propeller, the second rear end propeller and the first rear end propeller are offset, and the propellers balance two-wheeled aerodyne is kept stable in course.

And continuously increasing the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller in the same way, increasing the lift force of the first front end propeller, the second rear end propeller and the first rear end propeller, and enabling the two-wheeled aerodyne to be vertically lifted by the balanced propeller when the total lift force is larger than the weight of the two-wheeled aerodyne.

The same reduction first front end screw, second rear end screw and the rotational speed of first rear end screw, the lift of first front end screw, second rear end screw and first rear end screw reduces, and the balanced two-wheeled aerodyne of screw hovers when total lift equals the weight of the balanced two-wheeled aerodyne of screw.

And continuously reducing the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller in the same way, reducing the lift force of the first front end propeller, the second rear end propeller and the first rear end propeller, and enabling the two-wheeled aerodyne to be vertically descended in a balanced manner by the propellers when the total lift force is smaller than the weight of the two-wheeled aerodyne in a balanced manner by the propellers.

When the propeller balance two-wheeled aerodyne is in the air, the positive pitch of the transverse variable pitch propeller is increased, the tension direction of the transverse variable pitch propeller is leftward, and the propeller balance two-wheeled aerodyne rolls leftward; the negative pitch of the transverse variable pitch propeller is increased, the pulling force direction of the transverse variable pitch propeller is rightward, the propeller balances the two-wheeled aerodyne to roll rightwards, and the roll is controlled.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller and the second front end propeller are increased in the same way, the lifting forces of the first front end propeller and the second front end propeller are increased, meanwhile, the rotating speeds of the second rear end propeller and the first rear end propeller are reduced in the same way, the lifting forces of the second rear end propeller and the first rear end propeller are reduced, and the propeller balances the two-wheeled aerodyne to lean backwards; the same rotational speed that reduces first front end screw, second front end screw, the lift of first front end screw, second front end screw reduces, and simultaneously, the same increase second rear end screw and the rotational speed of first rear end screw, the lift increase of second rear end screw and first rear end screw, the balanced two-wheeled aircraft of screw mansion realize the every single move and control.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller and the first rear end propeller are increased in the same way, the lift forces of the first front end propeller and the first rear end propeller are increased, the reaction torque of the clockwise rotating propeller is increased, and meanwhile, the rotating speeds of the second front end propeller, the second rear end propeller, the second front end propeller and the second rear end propeller are decreased in the same way, the reaction torque of the anticlockwise rotating propeller is decreased, and the reaction torque of the clockwise rotating propeller enables the propeller to balance the two-wheeled aerodyne to rotate anticlockwise, namely turn left; the same first front end screw of reduction, the rotational speed of first rear end screw, first front end screw, the lift of first rear end screw reduces, the reaction torque of the screw that turns clockwise reduces, and simultaneously, the same increase second front end screw, the rotational speed of second rear end screw, the second front end screw, the lift increase of second rear end screw, the reaction torque increase of the screw that turns anticlockwise, the reaction torque of the screw that turns anticlockwise makes the balanced two-wheeled driving of screw turn clockwise, turn right promptly, realize the course and control.

When the two-wheeled aerodyne with the balanced screw propeller is in the air, the left support frame and the right support frame are folded backwards, the front mansion of the two-wheeled aerodyne with the balanced screw propeller is controlled, the rotating speeds of the first front end screw propeller, the second rear end screw propeller and the first rear end screw propeller are increased simultaneously, and the two-wheeled aerodyne with the balanced screw propeller flies forwards.

And the propellers are operated to balance the front mansion and the left steering of the two-wheeled aerobat, the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly towards the left front.

The propellers are operated to balance the front mansion and the right steering of the two-wheeled aerobat, the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly to the right front.

And the propellers are operated to balance the two-wheeled aerodyne to lean backwards, the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly backwards.

And the propellers are operated to balance the two-wheeled aerodyne to roll leftwards, the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly leftwards.

And the propellers balance the two-wheeled aerodyne to roll rightwards, the rotating speeds of the first front end propeller, the second rear end propeller and the first rear end propeller are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly rightwards.

The two-wheeled aerodyne is in the air flight working mode with the balanced propeller.

When the two-wheeled aerodyne with the balanced screw propeller runs on the road in a land running working mode, a motor for driving the first front end screw propeller, a motor for driving the second rear end screw propeller and a motor for driving the first rear end screw propeller are started, so that the rotating speeds of the first front end screw propeller, the second rear end screw propeller and the first rear end screw propeller are increased in the same way, an engine or a motor for driving a rear wheel is turned off, and the two-wheeled aerodyne with the balanced screw propeller enters an air flight working mode from the land running working mode.

The two-wheeled aerodyne with the balanced propeller has the advantages that the vehicle body of the two-wheeled aerodyne is narrow and long, the first front-end propeller, the second rear-end propeller and the first rear-end propeller are longitudinally arranged, occupied transverse space is small, the weight of the two-wheeled aerodyne with the balanced propeller is light, and flight time is increased. The two-wheeled vehicle can run on a narrow road, the propellers are longitudinally arranged, the vehicle can fly in a narrow space, and can run or fly in mountainous regions and forest lands, so that the vehicle is suitable for the fields of personal cross-country, mountain transportation, agricultural operation and the like.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Figure 1 is an isometric view of a propeller-balanced two-wheeled aircraft in accordance with a first embodiment of the present invention.

Figure 2 is an isometric view of a propeller-balanced two-wheeled flying vehicle according to a second embodiment of the present invention.

Figure 3 is an isometric view of a propeller-balanced two-wheeled aircraft in accordance with a third embodiment of the present invention.

Figure 4 is an isometric view of a four propeller-balanced two-wheeled aircraft in accordance with a fourth embodiment of the present invention.

In the figure, 1, a transverse variable-pitch propeller, 2, a total pitch controller of the transverse variable-pitch propeller, 3, a rotating direction of the transverse variable-pitch propeller, 4, a protective cover of the transverse variable-pitch propeller, 5, a vertical rod for supporting the variable-pitch propeller, 6, a carriage, 7, a vehicle door, 8, a front wheel, 9, a front wheel arm, 10, a rear wheel, 11, a rear wheel arm, 12, a right supporting arm capable of being retracted and extended backwards, 13, a left supporting arm capable of being retracted and extended backwards, 14, a longitudinal beam, 15, a first front end motor mounting seat, 16, a second front end motor mounting seat, 17, a second rear end motor mounting seat, 18, a first rear end motor mounting seat, 19, a first front end motor, 20, a second front end motor, 21, a second rear end motor, 22, a first rear end motor, 23, a first front end propeller protective cover, 24, a second front end propeller protective cover, 25. a second rear end propeller protective cover, 26 a first rear end propeller protective cover, 27 a first front end propeller, 28 a second front end propeller, 29 a second rear end propeller, 30 a first rear end propeller, 31 a first front end upper motor mount, 32 a first rear end upper motor mount, 33 a first front end lower motor mount, 34 a first rear end lower motor mount, 35 a first front end upper motor, 36 a first rear end upper motor, 37 a first front end lower motor, 38 a first rear end lower motor, 39 a first front end upper propeller protective cover, 40 a first rear end upper propeller protective cover, 41 a first front end lower propeller protective cover, 42 a first rear end lower propeller protective cover, 43 a first front end upper propeller, 44 a first rear end upper propeller, 45. a first front lower propeller, 46, a first rear lower propeller, 47, a second front upper motor mount, 48, a second rear upper motor mount, 49, a second front lower motor mount, 50, a second rear lower motor mount, 51, a second front upper motor, 52, a second rear upper motor, 53, a second front lower motor, 54, a second rear lower motor, 55, a second front upper propeller guard, 56, a second rear upper propeller guard, 57, a second front lower propeller guard, 58, a second rear lower propeller guard, 59, a second front upper propeller, 60, a second rear upper propeller, 61, a second front lower propeller, 62, a second rear lower propeller, 63, a longitudinal beam extension beam, 64, an extension beam front motor mount, 65, an extension beam front motor, 66. the propeller at the front end of the extension beam rotates clockwise S, the propeller rotates anticlockwise N, and the center of gravity P.

Detailed Description

Fig. 1 is a perspective view showing a propeller-balanced two-wheeled flying vehicle according to a first embodiment of the present invention, wherein a substantially rectangular closed vehicle body 6 with a door 7 is provided on the vehicle body, one wheel is provided under the vehicle body 6 in front and in back, the front wheel 8 is a steerable wheel, the steering of the front wheel 8 is controlled by a steering wheel, the front wheel 8 is supported by a front wheel arm 9, the rear wheel 10 is a fixed-direction wheel, the rear wheel 10 is supported by a rear wheel arm 11, and the front wheel 8 and the rear wheel 10 are provided with a brake and a parking device which prevents the rear wheel from rotating when the vehicle is parked.

The rear wheel is provided with an engine or a motor for driving a rear wheel 10, a vertical rod 5 is arranged on the gravity center P of a car body at the top of a carriage 6, a transverse variable-pitch propeller 1 is arranged at the top of the vertical rod 5, the rotating surface of the transverse variable-pitch propeller 1 is perpendicular to the horizontal plane, the normal line of the rotating surface of the transverse variable-pitch propeller 1 is parallel to the transverse axis of the car body, the transverse variable-pitch propeller 1 is driven by the motor to rotate, the pitch of the transverse variable-pitch propeller 1 is controlled and changed by a total pitch controller 2 driven by a steering engine or a servo motor, a protective cover 4 is arranged on the periphery of the transverse variable-pitch propeller 1, the rotating direction 3 of the transverse variable-pitch propeller is that the upper blade is forward and the lower blade is backward.

A left support frame 13 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the left side of the vehicle body, a right support frame 12 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the right side of the vehicle body, the right support frame 12 and the left support frame 13 are retracted by being driven by a servo motor,

a longitudinal beam 14 is arranged on the gravity center P of a car body on the top of a carriage 6, the longitudinal beam 14 is intersected with a vertical rod 5, a first front-end motor mounting seat 15 is arranged at the front end of the longitudinal beam 14, a first front-end motor 19 is arranged on the first front-end motor mounting seat 15, a first front-end screw 27 is arranged on the first front-end motor 19, the rotating surface of the first front-end screw 27 is horizontally arranged, a second front-end motor mounting seat 16 is arranged on the longitudinal beam 14 behind the first front-end screw 27, a second front-end motor 20 is arranged on the second front-end motor mounting seat 16, a second front-end screw 28 is arranged on the second front-end motor 20, the rotating surface of the second front-end screw 28 is horizontally arranged, and the first front-end screw 27 and the second front-end screw 28 are very close to each other but the rotating surfaces are not mutually overlapped.

The rear end of the longitudinal beam 14 is provided with a first rear end motor mounting base 18, the first rear end motor 22 is mounted on the first rear end motor mounting base 18, the first rear end screw 30 is mounted on the first rear end motor 22, the rotating surface of the first rear end screw 30 is horizontally arranged, the longitudinal beam 14 in front of the first rear end screw 30 is provided with a second rear end motor mounting base 17, the second rear end motor 21 is mounted on the second rear end motor mounting base 17, the second rear end screw 29 is mounted on the second rear end motor 21, the rotating surface of the second rear end screw 29 is horizontally arranged, and the first rear end screw 30 and the second rear end screw 29 are very close to each other but the rotating surfaces are not overlapped with each other.

The projection of the rotation center of the first front end screw 27 and the rotation center of the first rear end screw 30 on a horizontal plane passing through the center of gravity is symmetrical to the center of gravity P, and the rotation directions of the first front end screw 27 and the first rear end screw 30 are the same.

The projection of the rotation center of the second front end screw 28 and the rotation center of the second rear end screw 29 on the horizontal plane passing through the center of gravity is symmetrical to the center of gravity P, and the rotation directions of the second front end screw 28 and the second rear end screw 29 are the same.

The first front end screw 27 and the second front end screw 28 rotate in the same direction and in opposite directions.

The first and second rear end propellers 30, 29 have the same and opposite rotational directions.

A first front end screw protection cover 23 is provided on the periphery of the first front end screw 27, a second front end screw protection cover 24 is provided on the periphery of the second front end screw 28, a first rear end screw protection cover 26 is provided on the periphery of the first rear end screw, and a second rear end screw protection cover 25 is provided on the periphery of the second rear end screw.

The first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30 are arranged longitudinally, and a line connecting the rotation centers of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30 is a straight line.

The first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are fixed-distance propellers with the same size, and the corresponding four driving motors are the same in size, so that the propeller-balanced two-wheel aerodyne is formed.

The working principle of the propeller-balanced two-wheeled aerodyne is as follows:

setting the pitch of the transverse variable-pitch propeller 1 as positive time, and enabling the tension direction of the transverse variable-pitch propeller 1 to be leftward; when the pitch of the transverse variable pitch propeller 1 is negative, the pulling force direction of the transverse variable pitch propeller 1 is rightward.

The first front end screw 27 turns clockwise S and the first rear end screw 30 turns clockwise S.

The second front end screw 28 rotates counterclockwise by N, and the second rear end screw 29 rotates counterclockwise by N.

The propeller balance two-wheeled aerodyne land running working mode is as follows:

when the propeller-balanced two-wheeled aerodyne is on the road surface, a motor for driving the transverse variable-pitch propeller 1 is started, the transverse variable-pitch propeller 1 is enabled to rotate at a high speed, meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, the tension of the transverse variable-pitch propeller 1 is enabled to be zero, the left support frame 13 and the right support frame 12 are retracted backwards, the transverse direction of the propeller-balanced two-wheeled aerodyne is unstable, if the propeller-balanced two-wheeled aerodyne inclines rightwards, the positive pitch of the transverse variable-pitch propeller 1 is increased, the tension direction of the transverse variable-pitch propeller 1 is enabled to be leftwards, and the propeller-balanced two-wheeled aerodyne inclines leftwards, so that the propeller-balanced two-wheeled aerodyne keeps transverse balance; if the propeller balance two-wheeled aerodyne tilts leftwards, the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, and the propeller balance two-wheeled aerodyne tilts rightwards, so that the propeller balance two-wheeled aerodyne keeps transverse balance.

An engine or a motor for driving the rear wheel 10 is started, the rear wheel 10 is rotated forwards, the propeller balance two-wheeled aerodyne is driven to run forwards, the steering wheel drives the front wheel 8 to turn left, the propeller balance two-wheeled aerodyne runs leftwards and forwards, the steering wheel drives the front wheel 8 to turn rightwards, and the propeller balance two-wheeled aerodyne runs rightwards and forwards.

The steering wheel drives the front wheel 8 to keep turning to the left, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balances the two-wheeled aerobat to slightly tilt leftward, the propeller balances the two-wheeled aerobat to slightly turn leftward, after the left turning is completed, the steering wheel drives the front wheel 8 to return to the positive direction, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerobat to slightly tilt rightward, so that the propeller balances the two-wheeled aerobat to return to the positive direction, and the propeller balances the two-wheeled aerobat to move forward.

The steering wheel drives the front wheel 8 to keep turning to the right, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balance two-wheeled aerodyne slightly inclines to the right, after the rightward turning is finished, the steering wheel drives the front wheel 8 to return to the positive position, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balance two-wheeled aerodyne slightly inclines to the left, the propeller balance two-wheeled aerodyne returns to the positive position, and the propeller balance two-wheeled aerodyne runs to the positive front.

The propeller balance two-wheeled aerodyne aerial flight working mode is as follows:

when the two-wheeled aerodyne with the balanced propellers stops on the ground, a motor for driving the transverse variable-pitch propeller 1 is started to enable the transverse variable-pitch propeller 1 to rotate at a high speed, and meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, so that the tension of the transverse variable-pitch propeller 1 is zero.

And starting a motor 19 for driving the first front end propeller, a motor 20 for driving the second front end propeller, a motor 21 for driving the second rear end propeller and a motor 22 for driving the first rear end propeller, so that the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are the same and increased, the reactive torques of the first front end propeller 27 and the second front end propeller 28 are mutually offset, the reactive torques of the second rear end propeller 29 and the first rear end propeller 30 are mutually offset, the reactive torques of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are mutually offset, and the two-wheeled vehicle with balanced propeller keeps the course stable.

Continuing to increase the rotation speed of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 in the same manner, the lift force of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 is increased, and when the total lift force is greater than the weight of the two-wheeled aerodyne, the two-wheeled aerodyne is balanced by the propeller and vertically ascends.

The same reduction in the rotational speed of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30, the reduction in the lift force of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30, and the balance in the two-wheeled aerodyne hovering with the propeller when the total lift force is equal to the weight of the balance in the two-wheeled aerodyne.

Continuing to reduce the rotation speed of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 in the same manner, the lift force of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 is reduced, and the two-wheeled aerodyne is balanced by the propellers to descend vertically when the total lift force is less than the weight of the two-wheeled aerodyne.

When the propeller balance two-wheeled aerodyne is in the air, the positive pitch of the transverse variable pitch propeller 1 is increased, the tension direction of the transverse variable pitch propeller 1 is leftward, and the propeller balance two-wheeled aerodyne rolls leftward; the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerodyne to roll rightward, and the roll is controlled.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller 27 and the second front end propeller 28 are increased in the same way, the lifting forces of the first front end propeller 27 and the second front end propeller 28 are increased, meanwhile, the rotating speeds of the second rear end propeller 29 and the first rear end propeller 30 are reduced in the same way, the lifting forces of the second rear end propeller 29 and the first rear end propeller 30 are reduced, and the propeller balances the two-wheeled aerodyne and leans backwards; the same rotational speed that reduces first front end screw 27, second front end screw 28, the lift of first front end screw 27, second front end screw 28 reduces, and simultaneously, the same rotational speed that increases second rear end screw 29 and first rear end screw 30, the lift increase of second rear end screw 29 and first rear end screw 30, the balanced two-wheeled flying mansion of screw, realization every single move manipulation.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller 27 and the first rear end propeller 30 are increased in the same way, the lift forces of the first front end propeller 27 and the first rear end propeller 30 are increased, the reaction torque of the propeller which rotates clockwise S is increased, meanwhile, the rotating speeds of the second front end propeller 28 and the second rear end propeller 29 are decreased in the same way, the lift forces of the second front end propeller 28 and the second rear end propeller 29 are decreased, the reaction torque of the propeller which rotates anticlockwise N is decreased, and the reaction torque of the propeller which rotates clockwise S enables the propeller to balance the two-wheeled aerodyne to rotate anticlockwise N, namely to turn left; the same rotational speed that reduces first front end screw 27, first rear end screw 30, first front end screw 27, the lift of first rear end screw 30 reduces, the reaction torque of the screw of the clockwise rotation S reduces, and simultaneously, the same increase second front end screw 28, the rotational speed of second rear end screw 29, second front end screw 28, the lift increase of second rear end screw 29, the reaction torque of the screw of the anticlockwise rotation N increases, the reaction torque of the screw of the anticlockwise rotation N makes the balanced two-wheeled aerodyne of screw rotate clockwise S, turn to the right promptly, realize the course and control.

When the two-wheeled aerodyne with the balanced screw propeller is in the air, the left support frame 13 and the right support frame 12 are retracted backwards, the front mansion of the two-wheeled aerodyne with the balanced screw propeller is controlled, the rotating speeds of the first front end screw propeller 27, the second front end screw propeller 28, the second rear end screw propeller 29 and the first rear end screw propeller 30 are increased simultaneously, and the two-wheeled aerodyne with the balanced screw propeller flies forwards.

The propellers are operated to balance the front mansion and the left steering of the two-wheeled aerobat, the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly towards the left front.

The propellers are operated to balance the front mansion and the right steering of the two-wheeled aerobat, the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly towards the right front.

The propellers balance the two-wheeled aerodyne to lean backwards, the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly backwards.

The propellers are operated to balance the two-wheeled aerodyne to roll leftwards, and the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are increased simultaneously, so that the propellers balance the two-wheeled aerodyne to fly leftwards.

The propellers balance the two-wheeled aerodyne to roll rightwards, and simultaneously the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are increased, so that the propellers balance the two-wheeled aerodyne to fly rightwards.

Fig. 2 is a perspective view showing a propeller-balanced two-wheeled flying vehicle according to a second embodiment of the present invention, in which a substantially rectangular closed vehicle body 6 with a door 7 is installed on the vehicle body, one wheel is installed under the vehicle body 6 in front and in back, the front wheel 8 is a steerable wheel, the steering of the front wheel 8 is controlled by a steering wheel, the front wheel 8 is supported by a front wheel arm 9, the rear wheel 10 is a fixed-direction wheel, the rear wheel 10 is supported by a rear wheel arm 11, and the front wheel 8 and the rear wheel 10 are provided with a brake and a parking device which prevents the rear wheel from rotating when the vehicle is parked.

The rear wheel is provided with an engine or a motor for driving a rear wheel 10, a vertical rod 5 is arranged on the gravity center P of a car body at the top of a carriage 6, a transverse variable-pitch propeller 1 is arranged at the top of the vertical rod 5, the rotating surface of the transverse variable-pitch propeller 1 is perpendicular to the horizontal plane, the normal line of the rotating surface of the transverse variable-pitch propeller 1 is parallel to the transverse axis of the car body, the transverse variable-pitch propeller 1 is driven by the motor to rotate, the pitch of the transverse variable-pitch propeller 1 is controlled and changed by a total pitch controller 2 driven by a steering engine or a servo motor, a protective cover 4 is arranged on the periphery of the transverse variable-pitch propeller 1, the rotating direction 3 of the transverse variable-pitch propeller is that the upper blade is forward and the lower blade is backward.

A left support frame 13 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the left side of the vehicle body, a right support frame 12 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the right side of the vehicle body, the right support frame 12 and the left support frame 13 are retracted by being driven by a servo motor,

a longitudinal beam 14 is arranged on the gravity center P of a vehicle body on the top of a carriage 6, the longitudinal beam 14 is intersected with a vertical rod 5, a first front-end upper motor mounting seat 31 is arranged above the front end of the longitudinal beam 14, a first front-end upper motor 35 is arranged on the first front-end upper motor mounting seat 31, a first front-end upper propeller 43 is arranged on the first front-end upper motor 35, and the rotating surface of the first front-end upper propeller 43 is horizontally arranged.

A first front-end lower motor mounting base 33 is arranged below the front end of the longitudinal beam 14, a first front-end lower motor 37 is mounted on the first front-end lower motor mounting base 33, a first front-end lower propeller 45 is mounted on the first front-end lower motor 37, and the rotating surface of the first front-end lower propeller 45 is arranged horizontally.

The projections of the rotation centers of the first front-end upper propeller 43 and the first front-end lower propeller 45 in the horizontal plane overlap.

A first rear upper motor mounting base 32 is arranged above the rear end of the longitudinal beam 14, a first rear upper motor 36 is arranged on the first rear upper motor mounting base 32, a first rear upper propeller 44 is arranged on the first rear upper motor 36, and the rotating surface of the first rear upper propeller 44 is horizontally arranged.

A first rear lower motor mounting base 34 is arranged below the rear end of the longitudinal beam 14, a first rear lower motor 38 is mounted on the first rear lower motor mounting base 34, a first rear lower propeller 46 is mounted on the first rear lower motor 38, and the rotating surface of the first rear lower propeller 46 is horizontally arranged.

The projections of the rotation centers of the first rear upper propeller 44 and the first rear lower propeller 46 in the horizontal plane overlap.

The projections of the rotation centers of the first front-end upper propeller 43 and the first rear-end upper propeller 44 on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity P.

The projections of the rotation centers of the first front-end lower propeller 45 and the first rear-end lower propeller 46 on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity P.

The first front end upper propeller 43 and the first rear end upper propeller 44 are opposite in rotation direction.

The first front-end lower propeller 45 and the first rear-end lower propeller 46 rotate in opposite directions.

The first front-end upper propeller 43 and the first front-end lower propeller 45 rotate in opposite directions.

The first aft upper propeller 44 and the first aft lower propeller 46 rotate in opposite directions.

The first front-end upper propeller 43 and the first rear-end lower propeller 46 rotate in the same direction.

The first rear-end upper propeller 44 and the first front-end lower propeller 45 rotate in the same direction.

A first front-end upper propeller protecting cover 39 is provided around the first front-end upper propeller 43, a first front-end lower propeller protecting cover 41 is provided around the first front-end lower propeller 45, a first rear-end upper propeller protecting cover 40 is provided around the first rear-end upper propeller 44, and a first rear-end lower propeller protecting cover 42 is provided around the first rear-end lower propeller 46.

The first front-end upper propeller 43 and the first rear-end upper propeller 44 are longitudinally aligned, and the first front-end lower propeller 45 and the first rear-end lower propeller 46 are longitudinally aligned.

The first front-end upper propeller 43 and the first front-end lower propeller 45, and the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are fixed-distance propellers having the same size, and the corresponding four drive motors have the same size, so that the propeller-balanced two-wheeled aerodyne is formed.

The working principle of the propeller-balanced two-wheeled aerodyne is as follows:

setting the pitch of the transverse variable-pitch propeller 1 as positive time, and enabling the tension direction of the transverse variable-pitch propeller 1 to be leftward; when the pitch of the transverse variable pitch propeller 1 is negative, the pulling force direction of the transverse variable pitch propeller 1 is rightward.

The first front end upper propeller 43 turns clockwise S and the first front end lower propeller 45 turns counterclockwise N.

The first rear upper propeller 44 turns counterclockwise N and the first rear lower propeller 46 turns clockwise S.

The propeller balance two-wheeled aerodyne land running working mode is as follows:

when the propeller-balanced two-wheeled aerodyne is on the road surface, a motor for driving the transverse variable-pitch propeller 1 is started, the transverse variable-pitch propeller 1 is enabled to rotate at a high speed, meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, the tension of the transverse variable-pitch propeller 1 is enabled to be zero, the left support frame 13 and the right support frame 12 are retracted backwards, the transverse direction of the propeller-balanced two-wheeled aerodyne is unstable, if the propeller-balanced two-wheeled aerodyne inclines rightwards, the positive pitch of the transverse variable-pitch propeller 1 is increased, the tension direction of the transverse variable-pitch propeller 1 is enabled to be leftwards, and the propeller-balanced two-wheeled aerodyne inclines leftwards, so that the propeller-balanced two-wheeled aerodyne keeps transverse balance; if the propeller balance two-wheeled aerodyne tilts leftwards, the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, and the propeller balance two-wheeled aerodyne tilts rightwards, so that the propeller balance two-wheeled aerodyne keeps transverse balance.

An engine or a motor for driving the rear wheel 10 is started, the rear wheel 10 is rotated forwards, the propeller balance two-wheeled aerodyne is driven to run forwards, the steering wheel drives the front wheel 8 to turn left, the propeller balance two-wheeled aerodyne runs leftwards and forwards, the steering wheel drives the front wheel 8 to turn rightwards, and the propeller balance two-wheeled aerodyne runs rightwards and forwards.

The steering wheel drives the front wheel 8 to keep turning to the left, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balances the two-wheeled aerobat to slightly tilt leftward, the propeller balances the two-wheeled aerobat to slightly turn leftward, after the left turning is completed, the steering wheel drives the front wheel 8 to return to the positive direction, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerobat to slightly tilt rightward, so that the propeller balances the two-wheeled aerobat to return to the positive direction, and the propeller balances the two-wheeled aerobat to move forward.

The steering wheel drives the front wheel 8 to keep turning to the right, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balance two-wheeled aerodyne slightly inclines to the right, after the rightward turning is finished, the steering wheel drives the front wheel 8 to return to the positive position, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balance two-wheeled aerodyne slightly inclines to the left, the propeller balance two-wheeled aerodyne returns to the positive position, and the propeller balance two-wheeled aerodyne runs to the positive front.

The propeller balance two-wheeled aerodyne aerial flight working mode is as follows:

when the two-wheeled aerodyne with the balanced propellers stops on the ground, a motor for driving the transverse variable-pitch propeller 1 is started to enable the transverse variable-pitch propeller 1 to rotate at a high speed, and meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, so that the tension of the transverse variable-pitch propeller 1 is zero.

And starting a motor 35 for driving the first front-end upper propeller, a motor 37 for driving the first front-end lower propeller, a motor 36 for driving the first rear-end upper propeller and a motor 38 for driving the first rear-end lower propeller to increase the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 to be the same, so that the reactive torques of the first front-end upper propeller 43 and the first front-end lower propeller 45 are offset with each other, the reactive torques of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are offset with each other, the reactive torques of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are offset with each other, and the balanced propellers keep the course of the two-wheeled aerodyne stable.

Continuing to increase the rotation speed of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44 and the first rear end lower propeller 46 in the same manner, the lift force of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44 and the first rear end lower propeller 46 is increased, and when the total lift force is greater than the weight of the propeller-balanced two-wheeled aerodyne, the propeller-balanced two-wheeled aerodyne vertically rises.

The same reduces the rotational speed of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44, and the first rear end lower propeller 46, the lift of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44, and the first rear end lower propeller 46 is reduced, and the propellers balance the two-wheeled aerodyne hovering when the total lift equals the weight of the propellers balancing two-wheeled aerodyne.

Continuing to similarly reduce the rotational speed of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44, and the first rear end lower propeller 46, the lift of the first front end upper propeller 43, the first front end lower propeller 45, the first rear end upper propeller 44, and the first rear end lower propeller 46 is reduced, and the propeller balance two-wheeled aircraft descends vertically when the total lift is less than the weight of the propeller balance two-wheeled aircraft.

When the propeller balance two-wheeled aerodyne is in the air, the positive pitch of the transverse variable pitch propeller 1 is increased, the tension direction of the transverse variable pitch propeller 1 is leftward, and the propeller balance two-wheeled aerodyne rolls leftward; the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerodyne to roll rightward, and the roll is controlled.

When the propeller balance two-wheeled aerodyne is in the air, the rotating speeds of the first front-end upper propeller 43 and the first front-end lower propeller 45 are increased in the same way, the lift force of the first front-end upper propeller 43 and the first front-end lower propeller 45 is increased, meanwhile, the rotating speeds of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are reduced in the same way, the lift force of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 is reduced, and the propeller balance two-wheeled aerodyne is tilted backwards; the rotating speeds of the first front-end upper propeller 43 and the first front-end lower propeller 45 are reduced in the same manner, the lift force of the first front-end upper propeller 43 and the lift force of the first front-end lower propeller 45 are reduced, meanwhile, the rotating speeds of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are increased in the same manner, the lift force of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 is increased, the propellers balance the front mansion of the two-wheeled aircraft, and pitching operation is achieved.

When the two-wheeled aerodyne is balanced by the propellers, the rotating speeds of the first front-end upper propeller 43 and the first rear-end lower propeller 46 are increased, the lift force of the first front-end upper propeller 43 and the first rear-end lower propeller 46 is increased, the reaction torque of the propeller rotating clockwise S is increased, the rotating speeds of the first front-end lower propeller 45 and the first rear-end upper propeller 44 are decreased, the lift force of the first front-end lower propeller 45 and the first rear-end upper propeller 44 is decreased, the reaction torque of the propeller rotating anticlockwise N is decreased, and the reaction torque of the propeller rotating clockwise S enables the two-wheeled aerodyne to rotate anticlockwise N by the propeller balancing the propellers, namely, the aerodyne turns left; the rotating speeds of the first front-end upper propeller 43 and the first rear-end lower propeller 46 are reduced in the same manner, the lift force of the first front-end upper propeller 43 and the first rear-end lower propeller 46 is reduced, the reaction torque of the propeller rotating clockwise by S is reduced, meanwhile, the rotating speeds of the first front-end lower propeller 45 and the first rear-end upper propeller 44 are increased in the same manner, the lift force of the first front-end lower propeller 45 and the first rear-end upper propeller 44 is increased, the reaction torque of the propeller rotating counterclockwise by N is increased, and the reaction torque of the propeller rotating counterclockwise by N enables the propeller to balance the two-wheeled aerodyne to rotate clockwise by S, namely turn right, so that course control is realized.

When the two-wheeled aerodyne with the balanced screw propeller is in the air, the left support frame 13 and the right support frame 12 are folded backwards, the front mansion of the two-wheeled aerodyne with the balanced screw propeller is controlled, the rotating speeds of the first front-end upper screw propeller 43, the first front-end lower screw propeller 45, the first rear-end upper screw propeller 44 and the first rear-end lower screw propeller 46 are increased simultaneously, and the two-wheeled aerodyne with the balanced screw propeller flies forwards.

The propellers are operated to balance the front mansion and the left steering of the two-wheeled aerobat, and simultaneously the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are increased, so that the two-wheeled aerobat is balanced by the propellers to fly towards the left front.

The propellers are operated to balance the front of the two-wheeled aerobat and to turn right, and simultaneously the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are increased, so that the two-wheeled aerobat balanced by the propellers flies to the right front.

The propellers balance the two-wheeled aerodyne to pitch backwards, and the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are increased simultaneously, so that the two-wheeled aerodyne is balanced by the propellers to fly backwards.

The propellers balance the two-wheeled aerodyne to roll leftward and simultaneously increase the rotation speed of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46, and the propellers balance the two-wheeled aerodyne to fly leftward.

The propeller balance two-wheeled aerodyne is operated to roll rightwards, and the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are simultaneously increased, so that the propeller balance two-wheeled aerodyne flies rightwards.

Fig. 3 is a perspective view showing a propeller-balanced two-wheeled flying vehicle according to a third embodiment of the present invention, wherein a substantially rectangular closed vehicle body 6 with a door 7 is provided on the vehicle body, one wheel is provided under the vehicle body 6 in front and in back, the front wheel 8 is a steerable wheel, the steering of the front wheel 8 is controlled by a steering wheel, the front wheel 8 is supported by a front wheel arm 9, the rear wheel 10 is a fixed-direction wheel, the rear wheel 10 is supported by a rear wheel arm 11, and the front wheel 8 and the rear wheel 10 are provided with a brake and a parking device which prevents the rear wheel from rotating when the vehicle is parked.

The rear wheel is provided with an engine or a motor for driving a rear wheel 10, a vertical rod 5 is arranged on the gravity center P of a car body at the top of a carriage 6, a transverse variable-pitch propeller 1 is arranged at the top of the vertical rod 5, the rotating surface of the transverse variable-pitch propeller 1 is perpendicular to the horizontal plane, the normal line of the rotating surface of the transverse variable-pitch propeller 1 is parallel to the transverse axis of the car body, the transverse variable-pitch propeller 1 is driven by the motor to rotate, the pitch of the transverse variable-pitch propeller 1 is controlled and changed by a total pitch controller 2 driven by a steering engine or a servo motor, a protective cover 4 is arranged on the periphery of the transverse variable-pitch propeller 1, the rotating direction 3 of the transverse variable-pitch propeller is that the upper blade is forward and the lower blade is backward.

A left support frame 13 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the left side of the vehicle body, a right support frame 12 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the right side of the vehicle body, the right support frame 12 and the left support frame 13 are retracted by being driven by a servo motor,

a longitudinal beam 14 is arranged on the gravity center P of a vehicle body on the top of a carriage 6, the longitudinal beam 14 is intersected with a vertical rod 5, a first front-end upper motor mounting seat 31 is arranged above the front end of the longitudinal beam 14, a first front-end upper motor 35 is arranged on the first front-end upper motor mounting seat 31, a first front-end upper propeller 43 is arranged on the first front-end upper motor 35, and the rotating surface of the first front-end upper propeller 43 is horizontally arranged.

A first front-end lower motor mounting base 33 is arranged below the front end of the longitudinal beam 14, a first front-end lower motor 37 is mounted on the first front-end lower motor mounting base 33, a first front-end lower propeller 45 is mounted on the first front-end lower motor 37, and the rotating surface of the first front-end lower propeller 45 is arranged horizontally.

The projections of the rotation centers of the first front-end upper propeller 43 and the first front-end lower propeller 45 in the horizontal plane overlap.

A second front-end upper motor mounting base 47 is provided above the side member 14 behind the first front-end upper propeller 43, a second front-end upper motor 51 is mounted on the second front-end upper motor mounting base 47, a second front-end upper propeller 59 is mounted on the second front-end upper motor 51, and the rotation surface of the second front-end upper propeller 59 is disposed horizontally.

A second front end lower motor mounting seat 49 is arranged below the longitudinal beam 14 behind the first front end lower propeller 45, a second front end lower motor 53 is arranged on the second front end lower motor mounting seat 49, a second front end lower propeller 61 is arranged on the second front end lower motor 53, and the rotating surface of the second front end lower propeller 61 is arranged horizontally.

The projections of the rotation centers of the second front-end upper propeller 59 and the second front-end lower propeller 61 in the horizontal plane overlap.

A first rear upper motor mounting base 32 is arranged above the rear end of the longitudinal beam 14, a first rear upper motor 36 is arranged on the first rear upper motor mounting base 32, a first rear upper propeller 44 is arranged on the first rear upper motor 36, and the rotating surface of the first rear upper propeller 44 is horizontally arranged.

A first rear lower motor mounting base 34 is arranged below the rear end of the longitudinal beam 14, a first rear lower motor 38 is mounted on the first rear lower motor mounting base 34, a first rear lower propeller 46 is mounted on the first rear lower motor 38, and the rotating surface of the first rear lower propeller 46 is horizontally arranged.

The projections of the rotation centers of the first rear upper propeller 44 and the first rear lower propeller 46 in the horizontal plane overlap.

A second rear upper motor mounting base 48 is provided above the longitudinal beam 14 in front of the first rear upper motor 44, a second rear upper motor 52 is mounted on the second rear upper motor mounting base 48, a second rear upper motor 60 is mounted on the second rear upper motor 52, and the rotation surface of the second rear upper motor 60 is arranged horizontally.

A second rear lower motor mounting base 50 is arranged below the longitudinal beam 14 in front of the first rear lower propeller 46, a second rear lower motor 54 is mounted on the second rear lower motor mounting base 50, a second rear lower propeller 62 is mounted on the second rear lower motor 54, and the rotating surface of the second rear lower propeller 62 is arranged horizontally.

The projections of the rotation centers of the second rear upper propeller 60 and the second rear lower propeller 62 in the horizontal plane overlap.

The projections of the rotation centers of the first front-end upper propeller 43 and the first rear-end upper propeller 44 on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity P.

The projections of the rotation centers of the first front-end lower propeller 45 and the first rear-end lower propeller 46 on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity P.

The projections of the rotation centers of the second front-end upper propeller 59 and the second rear-end upper propeller 60 on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity P.

The projection of the rotation centers of the second front-end lower propeller 61 and the second rear-end lower propeller 62 on a horizontal plane passing through the center of gravity is symmetrical to the center of gravity P.

The rotational surfaces of the first front-end upper screw 43 and the second front-end upper screw 59 are very close to each other but do not overlap each other.

The surfaces of rotation of the first rear upper propeller 44 and the second rear upper propeller 60 are very close but do not overlap each other.

The first front end upper propeller 43 and the first rear end upper propeller 44 are opposite in rotation direction.

The first front-end lower propeller 45 and the first rear-end lower propeller 46 rotate in opposite directions.

The first front-end upper propeller 43 and the first front-end lower propeller 45 rotate in opposite directions.

The first aft upper propeller 44 and the first aft lower propeller 46 rotate in opposite directions.

The first front-end upper propeller 43 and the first rear-end lower propeller 46 rotate in the same direction.

The first rear-end upper propeller 44 and the first front-end lower propeller 45 rotate in the same direction.

The first front-end upper propeller 43 and the second front-end upper propeller 59 rotate in the same direction.

The first rear upper propeller 44 and the second rear upper propeller 60 rotate in the same direction.

The first front-end lower propeller 45 and the second front-end lower propeller 61 rotate in the same direction.

The first rear lower propeller 46 and the second rear lower propeller 62 rotate in the same direction.

A first front-end upper propeller protecting cover 39 is provided around the first front-end upper propeller 43, a first front-end lower propeller protecting cover 41 is provided around the first front-end lower propeller 45, a first rear-end upper propeller protecting cover 40 is provided around the first rear-end upper propeller 44, and a first rear-end lower propeller protecting cover 42 is provided around the first rear-end lower propeller 46.

A second front-end upper propeller protecting cover 55 is provided around the second front-end upper propeller 59, a second front-end lower propeller protecting cover 57 is provided around the second front-end lower propeller 61, a second rear-end upper propeller protecting cover 56 is provided around the second rear-end upper propeller 60, and a second rear-end lower propeller protecting cover 58 is provided around the second rear-end lower propeller 62.

The first front-end upper propeller 43, the second front-end upper propeller 59, the second rear-end upper propeller 60, and the first rear-end upper propeller 44 are arranged longitudinally,

the first front-end lower propeller 45, the second front-end lower propeller 61, the second rear-end lower propeller 62, and the first rear-end lower propeller 46 are longitudinally aligned.

The first front end upper propeller 43 and the first front end lower propeller 45, the first rear end upper propeller 44 and the first rear end lower propeller 46, the second front end upper propeller 59 and the second front end lower propeller 61, and the second rear end upper propeller 60 and the second rear end lower propeller 62 are fixed-distance propellers with the same size, and the corresponding eight driving motors are the same size, so that the propeller-balanced two-wheeled aerodyne is formed.

The working principle of the propeller-balanced two-wheeled aerodyne is as follows:

setting the pitch of the transverse variable-pitch propeller 1 as positive time, and enabling the tension direction of the transverse variable-pitch propeller 1 to be leftward; when the pitch of the transverse variable pitch propeller 1 is negative, the pulling force direction of the transverse variable pitch propeller 1 is rightward.

The first front end upper propeller 43 turns clockwise S and the first front end lower propeller 45 turns counterclockwise N.

The first rear upper propeller 44 turns counterclockwise N and the first rear lower propeller 46 turns clockwise S.

The second front-end upper propeller 59 rotates clockwise S and the second front-end lower propeller 61 rotates counterclockwise N.

The second rear upper propeller 60 rotates counterclockwise N and the second rear lower propeller 62 rotates clockwise S.

The propeller balance two-wheeled aerodyne land running working mode is as follows:

when the propeller-balanced two-wheeled aerodyne is on the road surface, a motor for driving the transverse variable-pitch propeller 1 is started, the transverse variable-pitch propeller 1 is enabled to rotate at a high speed, meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, the tension of the transverse variable-pitch propeller 1 is enabled to be zero, the left support frame 13 and the right support frame 12 are retracted backwards, the transverse direction of the propeller-balanced two-wheeled aerodyne is unstable, if the propeller-balanced two-wheeled aerodyne inclines rightwards, the positive pitch of the transverse variable-pitch propeller 1 is increased, the tension direction of the transverse variable-pitch propeller 1 is enabled to be leftwards, and the propeller-balanced two-wheeled aerodyne inclines leftwards, so that the propeller-balanced two-wheeled aerodyne keeps transverse balance; if the propeller balance two-wheeled aerodyne tilts leftwards, the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, and the propeller balance two-wheeled aerodyne tilts rightwards, so that the propeller balance two-wheeled aerodyne keeps transverse balance.

An engine or a motor for driving the rear wheel 10 is started, the rear wheel 10 is rotated forwards, the propeller balance two-wheeled aerodyne is driven to run forwards, the steering wheel drives the front wheel 8 to turn left, the propeller balance two-wheeled aerodyne runs leftwards and forwards, the steering wheel drives the front wheel 8 to turn rightwards, and the propeller balance two-wheeled aerodyne runs rightwards and forwards.

The steering wheel drives the front wheel 8 to keep turning to the left, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balances the two-wheeled aerobat to slightly tilt leftward, the propeller balances the two-wheeled aerobat to slightly turn leftward, after the left turning is completed, the steering wheel drives the front wheel 8 to return to the positive direction, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerobat to slightly tilt rightward, so that the propeller balances the two-wheeled aerobat to return to the positive direction, and the propeller balances the two-wheeled aerobat to move forward.

The steering wheel drives the front wheel 8 to keep turning to the right, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balance two-wheeled aerodyne slightly inclines to the right, after the rightward turning is finished, the steering wheel drives the front wheel 8 to return to the positive position, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balance two-wheeled aerodyne slightly inclines to the left, the propeller balance two-wheeled aerodyne returns to the positive position, and the propeller balance two-wheeled aerodyne runs to the positive front.

The propeller balance two-wheeled aerodyne aerial flight working mode is as follows:

when the two-wheeled aerodyne with the balanced propellers stops on the ground, a motor for driving the transverse variable-pitch propeller 1 is started to enable the transverse variable-pitch propeller 1 to rotate at a high speed, and meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, so that the tension of the transverse variable-pitch propeller 1 is zero.

Starting the motor 35 for driving the first front-end upper propeller, the motor 37 for the first front-end lower propeller, the motor 36 for the first rear-end upper propeller, the motor 38 for the first rear-end lower propeller, the second front-end upper motor 51, the second front-end lower motor 53, the second rear-end upper motor 52 and the second rear-end lower motor 54, so that the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44, the first rear-end lower propeller 46, the second front-end upper propeller 59, the second front-end lower propeller 61, the second rear-end upper propeller 60 and the second rear-end lower propeller 62 are increased in the same manner, the reactive torques of the first front-end upper propeller 43 and the first front-end lower propeller 45 are offset with each other, the reactive torques of the first rear-end upper propeller 44 and the first rear-end lower propeller 46 are offset with each other, the reactive torques of the second front-end upper propeller 59 and the second front-end lower propeller 61 are offset with each other, The reactive torques of the second rear-end upper propeller 60 and the second rear-end lower propeller 62 are offset with each other, the reactive torques of the eight propellers with horizontal rotating surfaces, namely the first front-end upper propeller 43, the first front-end lower propeller 45, the first rear-end upper propeller 44, the first rear-end lower propeller 46, the second front-end upper propeller 59, the second front-end lower propeller 61, the second rear-end upper propeller 60 and the second rear-end lower propeller 62, are offset with each other, and the propellers balance two-wheeled aerodyne keeps the course stable.

And continuously and identically increasing the rotating speed of the eight propellers with the horizontal rotating surfaces, increasing the lift force of the propellers with the horizontal rotating surfaces, and vertically ascending the two-wheeled aerodyne balanced by the propellers when the total lift force is larger than the weight of the two-wheeled aerodyne balanced by the propellers.

The rotating speed of the propellers with the eight horizontal rotating surfaces is reduced, the lift force of the propellers with the eight horizontal rotating surfaces is reduced, and the propellers balance the two-wheeled aerodyne to hover when the total lift force is equal to the weight of the propellers balance the two-wheeled aerodyne.

And continuously and identically reducing the rotating speed of the eight propellers with the horizontal rotating surfaces, reducing the lift force of the eight propellers with the horizontal rotating surfaces, and vertically descending the two-wheeled aerodyne balanced by the propellers when the total lift force is smaller than the weight of the two-wheeled aerodyne balanced by the propellers.

When the propeller balance two-wheeled aerodyne is in the air, the positive pitch of the transverse variable pitch propeller 1 is increased, the tension direction of the transverse variable pitch propeller 1 is leftward, and the propeller balance two-wheeled aerodyne rolls leftward; the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerodyne to roll rightward, and the roll is controlled.

When the two-wheeled aerodyne is in the air, the rotating speeds of the first front-end upper propeller 43, the first front-end lower propeller 45, the second front-end upper propeller 59 and the second front-end lower propeller 61 are increased in the same way, the lift forces of the first front-end upper propeller 43, the first front-end lower propeller 45, the second front-end upper propeller 59 and the second front-end lower propeller 61 are increased, meanwhile, the rotating speeds of the first rear-end upper propeller 44, the first rear-end lower propeller 46, the second rear-end upper propeller 60 and the second rear-end lower propeller 62 are reduced in the same way, the lift forces of the first rear-end upper propeller 44, the first rear-end lower propeller 46, the second rear-end upper propeller 60 and the second rear-end lower propeller 62 are reduced, and the two-wheeled aerodyne is balanced by the propellers; the rotating speeds of the first front end upper propeller 43, the first front end lower propeller 45, the second front end upper propeller 59 and the second front end lower propeller 61 are reduced in the same manner, the lifting forces of the first front end upper propeller 43, the first front end lower propeller 45, the second front end upper propeller 59 and the second front end lower propeller 61 are reduced in the same manner, meanwhile, the rotating speeds of the first rear end upper propeller 44, the first rear end lower propeller 46, the second rear end upper propeller 60 and the second rear end lower propeller 62 are increased in the same manner, the lifting forces of the first rear end upper propeller 44, the first rear end lower propeller 46, the second rear end upper propeller 60 and the second rear end lower propeller 62 are increased in the same manner, the propellers balance the front mansion of the two-wheeled aircraft, and pitching operation is achieved.

When the propellers balance the two-wheeled aerodyne in the air, the rotating speeds of the first front end upper propeller 43 and the first rear end lower propeller 46, the second front end upper propeller 59 and the second rear end lower propeller 62 are increased in the same way, the lift forces of the first front end upper propeller 43 and the first rear end lower propeller 46, the second front end upper propeller 59 and the second rear end lower propeller 62 are increased, the reaction torque of the propeller rotating clockwise S is increased, the rotating speeds of the first front end lower propeller 45 and the first rear end upper propeller 44, the second front end lower propeller 61 and the second rear end upper propeller 60 are reduced in the same way, the lift forces of the first front end lower propeller 45 and the first rear end upper propeller 44, the second front end lower propeller 61 and the second rear end upper propeller 60 are reduced in the same way, the reaction torque of the propeller rotating clockwise N is reduced, the reaction torque of the propeller rotating clockwise S makes the two-wheeled aerodyne balance the counter-clockwise aerodyne rotating N, i.e., to turn left; the same reduction in the rotational speed of the first front-end upper propeller 43 and the first rear-end lower propeller 46, the second front-end upper propeller 59, and the second rear-end lower propeller 62, the reduction in the lift force of the first front-end upper propeller 43 and the first rear-end lower propeller 46, the second front-end upper propeller 59, and the second rear-end lower propeller 62, the reduction in the reaction torque of the propeller that turns clockwise S, meanwhile, the rotating speeds of the first front-end lower propeller 45 and the first rear-end upper propeller 44, the second front-end lower propeller 61 and the second rear-end upper propeller 60 are increased in the same manner, the lift forces of the first front-end lower propeller 45 and the first rear-end upper propeller 44, the second front-end lower propeller 61 and the second rear-end upper propeller 60 are increased, the reaction torque of the propeller rotating counterclockwise by N is increased, the reaction torque of the propeller rotating counterclockwise by N enables the propeller to balance the two-wheeled aerodyne to rotate clockwise by S, namely, the two-wheeled aerodyne turns to the right, and course control is achieved.

When the two-wheeled aerodyne with the balanced screw propeller is in the air, the left support frame 13 and the right support frame 12 are folded backwards, the front mansion of the two-wheeled aerodyne with the balanced screw propeller is controlled, the rotating speeds of the first front-end upper screw propeller 43, the first front-end lower screw propeller 45, the first rear-end upper screw propeller 44 and the first rear-end lower screw propeller 46 are increased simultaneously, and the two-wheeled aerodyne with the balanced screw propeller flies forwards.

The propellers are operated to balance the front mansion and the left steering of the two-wheeled aerobat, the rotating speeds of the propellers with the eight horizontal rotating surfaces are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly towards the left front.

The propellers are operated to balance the front mansion and the right steering of the two-wheeled aerobat, the rotating speeds of the eight propellers with the horizontal rotating surfaces are increased simultaneously, and the propellers balance the two-wheeled aerobat to fly towards the right front.

The propellers balance the two-wheeled aerodyne to tilt backwards, the rotating speeds of the eight propellers with the horizontal rotating surfaces are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly backwards.

The propellers balance the two-wheeled aerodyne to roll leftwards, the rotating speeds of the eight propellers with the horizontal rotating surfaces are increased simultaneously, and the propellers balance the two-wheeled aerodyne to fly leftwards.

The two-wheeled aerodyne is controlled to roll rightwards by the aid of the propellers, rotating speeds of the eight propellers with horizontal rotating surfaces are increased simultaneously, and the two-wheeled aerodyne is balanced by the propellers to fly rightwards.

Fig. 4 is a perspective view showing a propeller-balanced two-wheeled flying vehicle according to a fourth embodiment of the present invention, in which a substantially rectangular closed vehicle body 6 with a door 7 is installed on the vehicle body, one wheel is installed under the vehicle body 6 in front and in back, the front wheel 8 is a steerable wheel, the steering of the front wheel 8 is controlled by a steering wheel, the front wheel 8 is supported by a front wheel arm 9, the rear wheel 10 is a fixed-direction wheel, the rear wheel 10 is supported by a rear wheel arm 11, and the front wheel 8 and the rear wheel 10 are provided with a brake and a parking device which prevents the rear wheel from rotating when the vehicle is parked.

The rear wheel is provided with an engine or a motor for driving a rear wheel 10, a vertical rod 5 is arranged on the gravity center P of a car body at the top of a carriage 6, a transverse variable-pitch propeller 1 is arranged at the top of the vertical rod 5, the rotating surface of the transverse variable-pitch propeller 1 is perpendicular to the horizontal plane, the normal line of the rotating surface of the transverse variable-pitch propeller 1 is parallel to the transverse axis of the car body, the transverse variable-pitch propeller 1 is driven by the motor to rotate, the pitch of the transverse variable-pitch propeller 1 is controlled and changed by a total pitch controller 2 driven by a steering engine or a servo motor, a protective cover 4 is arranged on the periphery of the transverse variable-pitch propeller 1, the rotating direction 3 of the transverse variable-pitch propeller is that the upper blade is forward and the lower blade is backward.

A left support frame 13 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the left side of the vehicle body, a right support frame 12 which can be retracted backwards is arranged near the gravity center P of the vehicle body and on the right side of the vehicle body, the right support frame 12 and the left support frame 13 are retracted by being driven by a servo motor,

a longitudinal beam 14 is arranged on the gravity center P of a car body on the top of a carriage 6, the longitudinal beam 14 is intersected with a vertical rod 5, a first front-end motor mounting seat 15 is arranged at the front end of the longitudinal beam 14, a first front-end motor 19 is arranged on the first front-end motor mounting seat 15, a first front-end screw 27 is arranged on the first front-end motor 19, the rotating surface of the first front-end screw 27 is horizontally arranged, a second front-end motor mounting seat 16 is arranged on the longitudinal beam 14 behind the first front-end screw 27, a second front-end motor 20 is arranged on the second front-end motor mounting seat 16, a second front-end screw 28 is arranged on the second front-end motor 20, the rotating surface of the second front-end screw 28 is horizontally arranged, and the first front-end screw 27 and the second front-end screw 28 are very close to each other but the rotating surfaces are not mutually overlapped.

The rear end of the longitudinal beam 14 is provided with a first rear end motor mounting base 18, the first rear end motor 22 is mounted on the first rear end motor mounting base 18, the first rear end screw 30 is mounted on the first rear end motor 22, the rotating surface of the first rear end screw 30 is horizontally arranged, the longitudinal beam 14 in front of the first rear end screw 30 is provided with a second rear end motor mounting base 17, the second rear end motor 21 is mounted on the second rear end motor mounting base 17, the second rear end screw 29 is mounted on the second rear end motor 21, the rotating surface of the second rear end screw 29 is horizontally arranged, and the first rear end screw 30 and the second rear end screw 29 are very close to each other but the rotating surfaces are not overlapped with each other.

The height of setting up first rear end motor mount 18 is greater than second rear end motor mount 17, the height of setting up second rear end motor mount 17 is greater than second front end motor mount 16, the height of setting up second front end motor mount 16 is greater than motor mount 17, first front end motor mount 15, the height that highly is greater than the plane of rotation of second rear end screw 29 of the plane of rotation of messenger's first rear end screw 30, the height that highly is greater than the plane of rotation of second front end screw 28 of the plane of rotation of second rear end screw 29, the height that highly is greater than the plane of rotation of second front end screw 28 of the plane of rotation of second front end screw 28 is greater than the height of the plane of rotation of first front end screw 27.

The projection of the rotation center of the first front end screw 27 and the rotation center of the first rear end screw 30 on a horizontal plane passing through the center of gravity is symmetrical to the center of gravity P, and the rotation directions of the first front end screw 27 and the first rear end screw 30 are the same.

The projection of the rotation center of the second front end screw 28 and the rotation center of the second rear end screw 29 on the horizontal plane passing through the center of gravity is symmetrical to the center of gravity P, and the rotation directions of the second front end screw 28 and the second rear end screw 29 are the same.

The first front end screw 27 and the second front end screw 28 rotate in the same direction and in opposite directions.

The first and second rear end propellers 30, 29 have the same and opposite rotational directions.

The first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30 are arranged longitudinally, and a line connecting the rotation centers of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30 is a straight line.

The first front end propeller 27, the second front end propeller 28, the second rear end propeller 29, and the first rear end propeller 30 are pitch propellers having the same size, and the four corresponding drive motors have the same size.

The front end of a longitudinal beam 14 is connected with a longitudinal beam extension beam 63, the front end of the longitudinal beam extension beam 63 is provided with an extension beam front end motor mounting seat 64, an extension beam front end motor 65 is mounted on the extension beam front end motor mounting seat 64, an extension beam front end screw 66 is mounted on the extension beam front end motor 65, the rotating surface of the extension beam front end screw 66 is perpendicular to the horizontal plane, the normal direction of the rotating surface is parallel to the longitudinal axis of the screw balance two-wheel aerocar, the rotating direction 67 of the extension beam front end screw 66 can rotate clockwise S or anticlockwise N when seen from the direction of a driver, the clockwise S rotating example is shown in figure 4, and the propeller balance two-wheel aerocar is formed.

The working principle of the propeller-balanced two-wheeled aerodyne is as follows:

setting the pitch of the transverse variable-pitch propeller 1 as positive time, and enabling the tension direction of the transverse variable-pitch propeller 1 to be leftward; when the pitch of the transverse variable pitch propeller 1 is negative, the pulling force direction of the transverse variable pitch propeller 1 is rightward.

The first front end screw 27 turns clockwise S and the first rear end screw 30 turns clockwise S.

The second front end screw 28 rotates counterclockwise by N, and the second rear end screw 29 rotates counterclockwise by N.

The propeller balance two-wheeled aerodyne land running working mode is as follows:

when the propeller-balanced two-wheeled aerodyne is on the road surface, a motor for driving the transverse variable-pitch propeller 1 is started, the transverse variable-pitch propeller 1 is enabled to rotate at a high speed, meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, the tension of the transverse variable-pitch propeller 1 is enabled to be zero, the left support frame 13 and the right support frame 12 are retracted backwards, the transverse direction of the propeller-balanced two-wheeled aerodyne is unstable, if the propeller-balanced two-wheeled aerodyne inclines rightwards, the positive pitch of the transverse variable-pitch propeller 1 is increased, the tension direction of the transverse variable-pitch propeller 1 is enabled to be leftwards, and the propeller-balanced two-wheeled aerodyne inclines leftwards, so that the propeller-balanced two-wheeled aerodyne keeps transverse balance; if the propeller balance two-wheeled aerodyne tilts leftwards, the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, and the propeller balance two-wheeled aerodyne tilts rightwards, so that the propeller balance two-wheeled aerodyne keeps transverse balance.

An engine or a motor for driving the rear wheel 10 is started, the rear wheel 10 is rotated forwards, the propeller balance two-wheeled aerodyne is driven to run forwards, the steering wheel drives the front wheel 8 to turn left, the propeller balance two-wheeled aerodyne runs leftwards and forwards, the steering wheel drives the front wheel 8 to turn rightwards, and the propeller balance two-wheeled aerodyne runs rightwards and forwards.

The steering wheel drives the front wheel 8 to keep turning to the left, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balances the two-wheeled aerobat to slightly tilt leftward, the propeller balances the two-wheeled aerobat to slightly turn leftward, after the left turning is completed, the steering wheel drives the front wheel 8 to return to the positive direction, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerobat to slightly tilt rightward, so that the propeller balances the two-wheeled aerobat to return to the positive direction, and the propeller balances the two-wheeled aerobat to move forward.

The steering wheel drives the front wheel 8 to keep turning to the right, the negative pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is rightward, the propeller balance two-wheeled aerodyne slightly inclines to the right, after the rightward turning is finished, the steering wheel drives the front wheel 8 to return to the positive position, the positive pitch of the transverse variable pitch propeller 1 is slightly increased, the tension direction of the transverse variable pitch propeller 1 is leftward, the propeller balance two-wheeled aerodyne slightly inclines to the left, the propeller balance two-wheeled aerodyne returns to the positive position, and the propeller balance two-wheeled aerodyne runs to the positive front.

The propeller balance two-wheeled aerodyne aerial flight working mode is as follows:

when the two-wheeled aerodyne with the balanced propellers stops on the ground, a motor for driving the transverse variable-pitch propeller 1 is started to enable the transverse variable-pitch propeller 1 to rotate at a high speed, and meanwhile, the pitch of the transverse variable-pitch propeller 1 is controlled to be zero, so that the tension of the transverse variable-pitch propeller 1 is zero.

And starting a motor 19 for driving the first front end propeller, a motor 20 for driving the second front end propeller, a motor 21 for driving the second rear end propeller and a motor 22 for driving the first rear end propeller, so that the rotating speeds of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are the same and increased, the reactive torques of the first front end propeller 27 and the second front end propeller 28 are mutually offset, the reactive torques of the second rear end propeller 29 and the first rear end propeller 30 are mutually offset, the reactive torques of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 are mutually offset, and the two-wheeled vehicle with balanced propeller keeps the course stable.

Continuing to increase the rotation speed of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 in the same manner, the lift force of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 is increased, and when the total lift force is greater than the weight of the two-wheeled aerodyne, the two-wheeled aerodyne is balanced by the propeller and vertically ascends.

The same reduction in the rotational speed of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30, the reduction in the lift force of the first front end screw 27, the second front end screw 28, the second rear end screw 29, and the first rear end screw 30, and the balance in the two-wheeled aerodyne hovering with the propeller when the total lift force is equal to the weight of the balance in the two-wheeled aerodyne.

Continuing to reduce the rotation speed of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 in the same manner, the lift force of the first front end propeller 27, the second front end propeller 28, the second rear end propeller 29 and the first rear end propeller 30 is reduced, and the two-wheeled aerodyne is balanced by the propellers to descend vertically when the total lift force is less than the weight of the two-wheeled aerodyne.

When the propeller balance two-wheeled aerodyne is in the air, the positive pitch of the transverse variable pitch propeller 1 is increased, the tension direction of the transverse variable pitch propeller 1 is leftward, and the propeller balance two-wheeled aerodyne rolls leftward; the negative pitch of the transverse variable pitch propeller 1 is increased, the pulling force direction of the transverse variable pitch propeller 1 is rightward, the propeller balances the two-wheeled aerodyne to roll rightward, and the roll is controlled.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller 27 and the second front end propeller 28 are increased in the same way, the lifting forces of the first front end propeller 27 and the second front end propeller 28 are increased, meanwhile, the rotating speeds of the second rear end propeller 29 and the first rear end propeller 30 are reduced in the same way, the lifting forces of the second rear end propeller 29 and the first rear end propeller 30 are reduced, and the propeller balances the two-wheeled aerodyne and leans backwards; the same rotational speed that reduces first front end screw 27, second front end screw 28, the lift of first front end screw 27, second front end screw 28 reduces, and simultaneously, the same rotational speed that increases second rear end screw 29 and first rear end screw 30, the lift increase of second rear end screw 29 and first rear end screw 30, the balanced two-wheeled flying mansion of screw, realization every single move manipulation.

When the propeller balances the two-wheeled aerodyne in the air, the rotating speeds of the first front end propeller 27 and the first rear end propeller 30 are increased in the same way, the lift forces of the first front end propeller 27 and the first rear end propeller 30 are increased, the reaction torque of the propeller which rotates clockwise S is increased, meanwhile, the rotating speeds of the second front end propeller 28 and the second rear end propeller 29 are decreased in the same way, the lift forces of the second front end propeller 28 and the second rear end propeller 29 are decreased, the reaction torque of the propeller which rotates anticlockwise N is decreased, and the reaction torque of the propeller which rotates clockwise S enables the propeller to balance the two-wheeled aerodyne to rotate anticlockwise N, namely to turn left; the same rotational speed that reduces first front end screw 27, first rear end screw 30, first front end screw 27, the lift of first rear end screw 30 reduces, the reaction torque of the screw of the clockwise rotation S reduces, and simultaneously, the same increase second front end screw 28, the rotational speed of second rear end screw 29, second front end screw 28, the lift increase of second rear end screw 29, the reaction torque of the screw of the anticlockwise rotation N increases, the reaction torque of the screw of the anticlockwise rotation N makes the balanced two-wheeled aerodyne of screw rotate clockwise S, turn to the right promptly, realize the course and control.

When the two-wheeled aerodyne with the balanced propeller vertically rises to the air, the left support frame 13 and the right support frame 12 are retracted backwards, the front end motor 65 of the extension beam is started, the propeller 66 at the front end of the extension beam rotates at a high speed, and the propeller 66 at the front end of the extension beam pulls to enable the two-wheeled aerodyne with the balanced propeller to fly forwards.

The two-wheeled aerodyne is controlled to steer to the left by operating the propeller to balance the two-wheeled aerodyne, and the tension of the propeller 66 at the front end of the extension beam enables the two-wheeled aerodyne balanced by the propeller to fly to the left front.

The two-wheeled aerodyne with the balanced screw propeller is controlled to turn right, and the tension of the screw propeller 66 at the front end of the extension beam enables the two-wheeled aerodyne with the balanced screw propeller to fly to the right front.

The propeller-balanced two-wheeled aerodyne flies forward without being vertical to the front house, so that the riding comfort is improved.

The height of the plane of rotation of the first rear end propeller 30 is greater than the height of the plane of rotation of the second rear end propeller 29, the height of the plane of rotation of the second rear end propeller 29 is greater than the height of the plane of rotation of the second front end propeller 28, and the height of the plane of rotation of the second front end propeller 28 is greater than the height of the plane of rotation of the first front end propeller 27, thereby reducing the mutual interference of the airflows of the propellers when the level flies forward.

Claims (4)

1. A propeller balanced two-wheeled aerodyne is characterized in that an approximately rectangular closed compartment with a door for entering and exiting is arranged on an aerodyne body, a wheel is respectively arranged at the front and the back of the approximately rectangular closed compartment with the door for entering and exiting, the front wheel is a steerable wheel, the steering of the front wheel is driven by a steering wheel, the front wheel is supported by a front wheel arm, the rear wheel is a wheel with a fixed direction, the rear wheel is supported by a rear wheel arm, the front wheel and the rear wheel are provided with a brake and a parking device, the parking device prevents the rear wheel from rotating when parking, an engine or a motor is arranged for driving the rear wheel, a vertical rod is arranged on the gravity center of the aerodyne at the top of the aerodyne, a transverse variable-pitch propeller is arranged at the top of the vertical rod, the rotating surface of the transverse variable-pitch propeller is vertical to the horizontal plane, the normal line of the rotating surface of the transverse variable-pitch propeller is parallel to the transverse axis of the aerodyne body, the transverse variable-pitch propeller is driven by the motor, the propeller is controlled and changed by a total pitch controller driven by a servo motor, the periphery at horizontal displacement screw sets up the safety cover, and the direction of rotation of horizontal displacement screw is that the paddle of top is forward, and the paddle of below is backward, near the focus of automobile body, the left side of automobile body set up the left branch strut that can receive and release backward, near the focus of automobile body, the right branch strut that can receive and release backward of automobile body, right branch strut and left branch strut receive and release by servo motor drive, characterized by: a longitudinal beam is arranged on the gravity center of a car body at the top of a carriage, the longitudinal beam is intersected with a vertical rod, a first front-end motor mounting seat is arranged at the front end of the longitudinal beam, a first front-end motor is mounted on the first front-end motor mounting seat, a first front-end propeller is mounted on the first front-end motor, the rotating surface of the first front-end propeller is horizontally arranged, a second front-end motor mounting seat is arranged on the longitudinal beam behind the first front-end propeller, a second front-end motor is mounted on the second front-end motor mounting seat, a second front-end propeller is mounted on the second front-end motor, the rotating surface of the second front-end propeller is horizontally arranged, the first front-end propeller and the second front-end propeller are very close but the rotating surfaces are not overlapped with each other, a first rear-end motor mounting seat is arranged at the rear end of the longitudinal beam, a first rear-end motor is mounted on the first rear-end motor mounting seat, a first rear-end propeller is mounted on the first rear-end motor, the rotating surface of the first rear end screw is horizontally arranged, a second rear end motor mounting seat is arranged on a longitudinal beam in front of the first rear end screw, a second rear end motor is mounted on the second rear end motor mounting seat, a second rear end screw is mounted on the second rear end motor, the rotating surface of the second rear end screw is horizontally arranged, the first rear end screw and the second rear end screw are very close to each other but the rotating surfaces are not overlapped with each other, the projection of the rotating center of the first front end screw and the rotating center of the first rear end screw on a horizontal plane passing through the center of gravity is symmetrical to the center of gravity, the rotating directions of the first front end screw and the first rear end screw are the same, the projection of the rotating center of the second front end screw and the rotating center of the second rear end screw on the horizontal plane passing through the center of gravity is symmetrical to the center of gravity, the rotating directions of the second front end screw and the second rear end screw are the same, the rotating directions of the first front end screw and the second rear end screw are the same, and the rotating directions of the first front end screw and the second rear end screw are the second rear end screw, the rotation directions of the first rear end propeller and the second rear end propeller are the same and opposite, the protective cover is arranged on the periphery of the first front end propeller, the protective cover is arranged on the periphery of the second front end propeller, the protective cover is arranged on the periphery of the first rear end propeller, the protective cover is arranged on the periphery of the second rear end propeller, the connecting line of the rotation centers of the first front end propeller, the second rear end propeller and the first rear end propeller is a straight line, the first front end propeller, the second rear end propeller and the first rear end propeller are fixed distances with the same size, and the sizes of the corresponding four driving motors are the same.

2. The propeller-balanced two-wheeled flying vehicle of claim 1, wherein: a first front end upper motor mounting seat is arranged above the front end of the longitudinal beam, a first front end upper motor is arranged on the first front end upper motor mounting seat, a first front end upper propeller is arranged on the first front end upper motor, the rotating surface of the first front end upper propeller is horizontally arranged, a first front end lower motor mounting seat is arranged below the front end of the longitudinal beam, a first front end lower motor is arranged on the first front end lower motor mounting seat, a first front end lower propeller is arranged on the first front end lower motor, the rotating surface of the first front end lower propeller is horizontally arranged, the rotating centers of the first front end upper propeller and the first front end lower propeller are overlapped in projection on the horizontal plane, a first rear end upper motor mounting seat is arranged above the rear end of the longitudinal beam, a first rear end upper motor is arranged on the first rear end upper motor mounting seat, a first rear end upper motor is arranged on the first rear end upper motor, and the rotating surface of the first rear end upper motor is horizontally arranged, a first rear-end lower motor mounting seat is arranged below the rear end of the longitudinal beam, a first rear-end lower motor is mounted on the first rear-end lower motor mounting seat, a first rear-end lower propeller is mounted on the first rear-end lower motor, the rotating surface of the first rear-end lower propeller 46 is horizontally arranged, the projections of the rotating centers of the first rear-end upper propeller and the first rear-end lower propeller on the horizontal plane are overlapped, the projections of the rotating centers of the first front-end upper propeller and the first rear-end upper propeller on the horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the projections of the rotating centers of the first front-end lower propeller and the first rear-end lower propeller on the horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the rotating directions of the first front-end upper propeller and the first rear-end upper propeller are opposite, the rotating directions of the first front-end lower propeller and the first rear-end lower propeller are opposite, the first front end upper propeller and the first rear end lower propeller are arranged longitudinally, the first front end upper propeller and the first rear end lower propeller are arranged longitudinally at a fixed distance, and the first front end upper propeller and the first rear end lower propeller are arranged in the same size, the four corresponding driving motors are the same in size.

3. The propeller-balanced two-wheeled flying vehicle of claim 1, wherein: a first front end upper motor mounting seat is arranged above the front end of the longitudinal beam, a first front end upper motor is arranged on the first front end upper motor mounting seat, a first front end upper propeller is arranged on the first front end upper motor, the rotating surface of the first front end upper propeller is horizontally arranged, a first front end lower motor mounting seat is arranged below the front end of the longitudinal beam, a first front end lower motor is arranged on the first front end lower motor mounting seat, a first front end lower propeller is arranged on the first front end lower motor, the rotating surface of the first front end lower propeller is horizontally arranged, the rotating centers of the first front end upper propeller and the first front end lower propeller 45 are overlapped in projection on the horizontal plane, a second front end upper motor mounting seat is arranged above the longitudinal beam behind the first front end upper propeller, a second front end upper motor is arranged on the second front end upper motor mounting seat, and a second front end upper motor is arranged on the second front end upper motor, the rotating surface of the second front-end upper propeller is horizontally arranged, a second front-end lower motor mounting seat is arranged below the longitudinal beam behind the first front-end lower propeller, a second front-end lower motor is mounted on the second front-end lower motor mounting seat, a second front-end lower propeller is mounted on the second front-end lower motor, the rotating surface of the second front-end lower propeller is horizontally arranged, the projections of the rotating centers of the second front-end upper propeller and the second front-end lower propeller on the horizontal plane are overlapped, a first rear-end upper motor mounting seat is arranged above the rear end of the longitudinal beam, a first rear-end upper motor is mounted on the first rear-end upper motor mounting seat, a first rear-end upper propeller is mounted on the first rear-end upper motor, the rotating surface of the first rear-end upper propeller is horizontally arranged, a first rear-end lower motor mounting seat is arranged below the rear end of the longitudinal beam, and a first rear-end lower motor is mounted on the first rear-end lower motor mounting seat, a first rear lower propeller is arranged on a first rear lower motor, the rotating surface of the first rear lower propeller is horizontally arranged, the projections of the rotating centers of the first rear upper propeller and the first rear lower propeller on the horizontal plane are overlapped, a second rear upper motor mounting seat is arranged above a longitudinal beam in front of the first rear upper propeller, a second rear upper motor is arranged on the second rear upper motor mounting seat, a second rear upper propeller is arranged on the second rear upper motor, the rotating surface of the second rear upper propeller is horizontally arranged, a second rear lower motor mounting seat is arranged below the longitudinal beam in front of the first rear lower propeller, a second rear lower motor is arranged on the second rear lower motor mounting seat, a second rear lower propeller is arranged on the second rear lower motor, the rotating surface of the second rear lower propeller is horizontally arranged, the projections of the rotating centers of the second rear upper propeller and the second rear lower propeller on the horizontal plane are overlapped, the projections of the rotation centers of the first front-end upper propeller and the first rear-end upper propeller on a horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the projections of the rotation centers of the first front-end lower propeller and the first rear-end lower propeller on the horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the projections of the rotation centers of the second front-end upper propeller and the second rear-end upper propeller on the horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the projections of the rotation centers of the second front-end lower propeller and the second rear-end lower propeller on the horizontal plane passing through the center of gravity are symmetrical to the center of gravity, the rotation planes of the first front-end upper propeller and the second front-end upper propeller are very close to but not overlapped with each other, the rotation planes of the first rear-end upper propeller and the second rear-end upper propeller are very close to but not overlapped with each other, the rotation directions of the first front-end upper propeller and the first rear-end upper propeller are opposite to each other, the rotating directions of the first front-end upper propeller and the first front-end lower propeller are opposite, the rotating directions of the first rear-end upper propeller and the first rear-end lower propeller are opposite, the rotating directions of the first front-end upper propeller and the first rear-end lower propeller are the same, the rotating directions of the first rear-end upper propeller and the first front-end lower propeller are the same, the rotating directions of the first front-end upper propeller and the second front-end upper propeller are the same, the rotating directions of the first rear-end upper propeller and the second rear-end upper propeller are the same, the rotating directions of the first front-end lower propeller and the second front-end lower propeller are the same, the rotating directions of the first rear-end lower propeller and the second rear-end lower propeller are the same, the first front-end upper propeller protective cover is arranged on the periphery of the first front-end upper propeller, the first front-end lower propeller protective cover is arranged on the periphery of the first front-end lower propeller, the first rear-end upper propeller protective cover is arranged on the periphery of the first rear-end upper propeller, a first rear lower propeller protecting cover is arranged on the periphery of the first rear lower propeller, a second front upper propeller protecting cover is arranged on the periphery of the second front upper propeller, a second front lower propeller protecting cover is arranged on the periphery of the second front lower propeller, a second rear upper propeller protecting cover is arranged on the periphery of the second rear upper propeller, a second rear lower propeller protecting cover is arranged on the periphery of the second rear lower propeller, the first front upper propeller, the second rear upper propeller and the first rear upper propeller are longitudinally arranged, the first front lower propeller, the second rear lower propeller and the first rear lower propeller are longitudinally arranged, the first front upper propeller and the first front lower propeller, the first rear upper propeller and the first rear lower propeller, the second front upper propeller and the second front lower propeller, The second rear end upper propeller and the second rear end lower propeller are fixed-distance propellers with the same size, and the corresponding eight driving motors are the same in size.

4. The propeller-balanced two-wheeled flying vehicle of claim 1, wherein: the height of the first rear end motor mounting seat is larger than that of the second rear end motor mounting seat, the height of the second rear end motor mounting seat is larger than that of the second front end motor mounting seat, the height of the second front end motor mounting seat is larger than that of the motor mounting seat, the first front end motor mounting seat ensures that the height of the rotating surface of the first rear end propeller is larger than that of the rotating surface of the second rear end propeller, the height of the rotating surface of the second rear end propeller is larger than that of the rotating surface of the second front end propeller, the height of the rotating surface of the second front end propeller is larger than that of the rotating surface of the first front end propeller, the front end of the longitudinal beam is connected with a longitudinal beam extension beam, the front end of the longitudinal beam extension beam is provided with the extension beam front end motor mounting seat, the extension beam front end motor is arranged on the extension beam front end motor mounting seat, the rotation surface of the propeller at the front end of the extension beam is perpendicular to the horizontal plane, the normal direction of the rotation surface is parallel to the longitudinal axis of the two-wheeled aerodyne with the balanced propeller, and the rotation direction of the propeller at the front end of the extension beam can rotate clockwise or anticlockwise when viewed from the direction of a driver.

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