CN118107812A

CN118107812A - Ground-air amphibious investigation system

Info

Publication number: CN118107812A
Application number: CN202311656551.9A
Authority: CN
Inventors: 陈梧; 丁红亮
Original assignee: Shenzhen Keweitai Enterprise Development Co ltd
Current assignee: Shenzhen Keweitai Enterprise Development Co ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-05-31

Abstract

The invention discloses a ground-air amphibious investigation system which comprises an unmanned aerial vehicle, a multi-light holder camera, a throwing recovery clamp and a strong off-road unmanned aerial vehicle, wherein the throwing recovery clamp and the multi-light holder camera are arranged on the unmanned aerial vehicle; the throwing recovery clamp comprises a right clamping jaw and a left clamping jaw which can be combined or opened, and can clamp and release the strong off-road unmanned trolley. According to the ground-air amphibious investigation system disclosed by the invention, the unmanned aerial vehicle cooperates with the unmanned aerial vehicle to execute tasks, the unmanned aerial vehicle can execute a large-scale target searching in a high altitude, meanwhile, the unmanned aerial vehicle can also detect a hidden target on the ground by throwing the unmanned aerial vehicle on the ground, and the unmanned aerial vehicle can be recovered, so that the investigation capability and the cruising capability of the system are greatly improved.

Description

Ground-air amphibious investigation system

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles and investigation, and particularly relates to a ground-air amphibious investigation system.

Background

In recent years, unmanned aerial vehicles rely on the characteristics of high flexibility, good environmental adaptability, strong combat capability, low cost, high quality and the like, and are widely applied to the fields of civil use, military use and the like.

At present, when an unmanned aerial vehicle executes a investigation task, the unmanned aerial vehicle needs to fly to a certain height to keep good link communication, and in view of the limitations of zoom and definition of a shooting cradle head, long-distance targets and ground concealed parts, such as dense forests, dense clusters, mountain areas and the like, are difficult to investigation; in addition, the unmanned aerial vehicle has short endurance time, and is difficult to detect and search a large-scale target for a long time; the existing integrated land-air amphibious can execute aerial and ground investigation tasks, but the parts of ground walking tools such as driving wheels and the like carried by the integrated land-air amphibious can increase the weight of aerial flight, shorten the influence on the endurance time, and in addition, when ground investigation is carried out, the shielding of surrounding environment obstacles can influence the smoothness of communication, so that the instability of a system is caused.

Disclosure of Invention

Aiming at the problems, the invention provides a ground-air amphibious investigation system which comprises an unmanned aerial vehicle, a multi-light holder camera, a throwing and recycling clamp and a strong off-road unmanned trolley, wherein the throwing and recycling clamp and the multi-light holder camera are arranged on the unmanned aerial vehicle, and the strong off-road unmanned trolley is arranged on the unmanned aerial vehicle through the throwing and recycling clamp.

The throwing recovery clamp comprises an upper carbon fiber plate, a plurality of groups of mounting columns are mounted at the bottom of the upper carbon fiber plate, a lower carbon fiber plate is mounted at two ends of the mounting columns, which are far away from the upper carbon fiber plate, a plurality of groups of mounting mechanisms are mounted at the top of the upper carbon fiber plate, mounting blocks are mounted at two sides of the lower carbon fiber plate, a left clamping jaw is hinged to each mounting block, a right clamping jaw is hinged to each mounting block, a steering engine support is mounted on the lower carbon fiber plate, a steering engine is mounted on each steering engine support, a crank is mounted at the output end of each steering engine, a right connecting rod and a left connecting rod are hinged to each of two ends of each crank, one end of each right connecting rod, which is far away from each crank, is hinged to each left clamping jaw, and one end, which is far away from each left connecting rod, of each left connecting rod is hinged to each left clamping jaw.

Further, the front limiting block is installed at one end of the lower carbon fiber plate, two groups of limiting blocks are installed at the other end of the lower carbon fiber plate, two groups of limiting blocks are symmetrically arranged by taking the central line of the lower carbon fiber plate as the center, and an upper overturning block is installed between the two groups of limiting blocks.

Further, a compression spring is installed at one end of the upper overturning block, one end, far away from the upper overturning block, of the compression spring is installed on the lower carbon fiber plate, the other end of the upper overturning block is hinged with the lower overturning block, and a torsion spring is arranged between the upper overturning block and the lower overturning block.

Further, the strong off-road unmanned trolley comprises a vehicle body assembly, a suspension assembly, four groups of steering wheel assemblies and two groups of middle driving wheel assemblies, wherein the suspension assembly is arranged on the vehicle body assembly, and the four groups of steering wheel assemblies and the two groups of middle driving wheel assemblies are arranged on the vehicle body assembly.

Further, the automobile body assembly contains automobile body upper cover and lower automobile body, the automobile body upper cover is installed on lower automobile body, install battery, first control module, second control module and data link module in the automobile body down, install on the automobile body upper cover and snatch the piece, snatch and install the GPS antenna on the piece.

Further, the three-axis single-light camera and the rearview module are respectively installed at two ends of the vehicle body upper cover, three groups of headlamps are installed at one end, close to the three-axis single-light camera, of the vehicle body upper cover, and the charging seat and the switch are installed at one end, close to the rearview module, of the vehicle body upper cover.

Further, the suspension assembly comprises two groups of middle connecting rods, a middle rotating shaft is installed at one end of each middle connecting rod in a army mode, a rear connecting rod is installed at one end, far away from the middle connecting rods, of each middle rotating shaft, a middle bearing is installed on each middle rotating shaft, a middle bearing seat is installed on each middle bearing, front rotating shafts are installed at the other ends of the two groups of middle connecting rods, and a first front connecting rod and a second front connecting rod are installed on the front rotating shafts.

Further, the suspension assembly further comprises a suspension rod, a flange shaft is arranged on the suspension rod, studs are respectively arranged at two ends of the suspension rod, fish-eye bearings are respectively arranged on the two groups of studs, and the two groups of fish-eye bearings are respectively arranged on the two groups of middle connecting rods.

Further, the steering wheel assembly comprises a steering wheel frame, a motor cover is arranged at the bottom of the steering wheel frame, a first gear motor is arranged in the motor cover, a first driving wheel is arranged at the output end of the first gear motor, a first motor electric adjuster is arranged in the steering wheel frame, an axial bearing seat is arranged at the top of the steering wheel frame, a rudder cover is arranged at one end, far away from the steering wheel frame, of the axial bearing seat, a steering engine is arranged in the rudder cover, and bearings are arranged at the joints of the axial bearing seat, the steering wheel frame and the rudder cover.

Further, the middle driving wheel assembly comprises a driving wheel frame, a second gear motor is arranged on the driving wheel frame, a second driving wheel is arranged at the output end of the second gear motor, a middle motor cover is arranged on the second gear motor, and a second motor regulator is arranged in the driving wheel frame.

The beneficial effects of the invention are as follows:

1. According to the ground-air amphibious investigation system disclosed by the invention, the unmanned aerial vehicle cooperates with the unmanned aerial vehicle to execute tasks, the unmanned aerial vehicle can execute a large-scale target searching in a high altitude, meanwhile, the unmanned aerial vehicle can also detect a hidden target on the ground by throwing the unmanned aerial vehicle on the ground, and the unmanned aerial vehicle can be recovered, so that the investigation capability and the cruising capability of the system are greatly improved.

2. According to the ground-air amphibious investigation system disclosed by the invention, the unmanned aerial vehicle flies in the air after being thrown, and can be used as a relay station for trolley communication, so that the unmanned aerial vehicle on the ground can keep good communication, the communication obstacle problem caused by the obstacle on the ground is avoided, and the stability of the system is maintained.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a general schematic of the present invention;

FIG. 2 is a schematic view of a cart and gripping jig of the present invention;

FIG. 3 is a schematic view of a casting recovery fixture of the present invention;

FIG. 4 is a rear limit schematic of the casting recovery clamp;

FIG. 5 is a front limit schematic of a casting recovery clamp;

FIG. 6 is a schematic diagram of a strong off-road unmanned cart of the present invention;

FIG. 7 is a schematic diagram of a body assembly of a strong off-road unmanned cart;

FIG. 8 is a rear view of a strong off-road unmanned cart;

FIG. 9 is a schematic diagram of a suspension system and drive wheel system of a strong off-road unmanned cart;

FIG. 10 is a schematic view of a suspension assembly of a strong off-road unmanned cart;

FIG. 11 is a schematic illustration of a steering wheel assembly of a strong off-road unmanned cart;

FIG. 12 is a schematic view of an intermediate drive wheel assembly of the strong off-road unmanned cart.

In the figure: 1000. unmanned plane; 2000. a multi-light pan-tilt camera; 3000. casting and recovering the clamp; 3100. a mounting mechanism; 3201. applying a carbon fiber plate; 3202. a crank; 3203. a right connecting rod; 3204. a mounting block; 3205. a right clamping jaw; 3206. a limiting block; 3207. an upper overturning block; 3208. a torsion spring; 3209. a lower overturning block; 3210. a compression spring; 3211. a lower carbon fiber plate; 3212. a left clamping jaw; 3213. a left connecting rod; 3214. steering engine bracket; 3215. steering engine; 3216. a mounting column; 3217. a front limiting block; 4000. strong off-road unmanned trolley; 4100. a vehicle body assembly; 4101. a GPS antenna; 4102. grabbing the block; 4103. a body cover; 4104. a rearview module; 4105. a battery; 4106. a first control module; 4107. a second control module; 4108. a lower body; 4109. a data link module; 4110. a head lamp; 4111. a triaxial single-light camera; 4112. a charging stand; 4113. a switch; 4200. a suspension assembly; 4201. a middle bearing seat; 4202. an intermediate bearing; 4203. a rear connecting rod; 4204. a middle rotating shaft; 4205. an intermediate connecting rod; 4206. a first front link; 4207. a front rotating shaft; 4208. a second front link; 4209. a fish-eye bearing; 4210. a double-ended stud; 4211. a flange shaft; 4212. a suspension rod; 4300. a steering wheel assembly; 4301. steering engine; 4302. a rudder cover; 4303. an axial bearing seat; 4304. a driving wheel; 4305. a speed reducing motor; 4306. a motor cover; 4307. electrically modulating electricity; 4308. steering wheel frame; 4309. a bearing; 4400. an intermediate drive wheel assembly; 4401. a driving wheel; 4402. a driving wheel frame; 4403. an intermediate motor cover; 4404. electrically modulating electricity; 4405. a gear motor.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-12, the present invention provides a technical solution: a ground-air amphibious investigation system. The multi-light pan-tilt camera comprises an unmanned aerial vehicle 1000, a multi-light pan-tilt camera 2000, a throwing recovery clamp 3000 and a strong off-road unmanned aerial vehicle 4000, wherein the throwing recovery clamp 3000 is arranged on the strong off-road unmanned aerial vehicle 4000, the multi-light pan-tilt camera 2000 is arranged on the unmanned aerial vehicle 1000, and the strong off-road unmanned aerial vehicle 4000 is arranged on the unmanned aerial vehicle 1000 through the throwing recovery clamp 3000;

The unmanned aerial vehicle 1000 is a four rotor unmanned aerial vehicle, mounts a multi-light cradle head camera 2000 as an aerial master and a data link relay, and can throw and recover the strong off-road unmanned trolley 4000 through throwing the recovery clamp 3000 so as to realize remote control, image and information feedback of all units in the system in a non-line-of-sight environment. The strong off-road unmanned trolley 4000 is provided with a special rocker-steering suspension system and six-wheel drive, has flexible steering performance, has minimum turning radius of zero, has super-strong off-road performance, and can adapt to complex environments such as dense forests, dense clusters, mountain areas and the like.

The throwing and recycling fixture 3000 comprises an upper carbon fiber plate 3201, a plurality of groups of mounting columns 3216 are mounted at the bottom of the upper carbon fiber plate 3201, a plurality of groups of lower carbon fiber plate 3211 are mounted at one end, far away from the upper carbon fiber plate 3201, of the mounting columns 3216, a plurality of groups of mounting mechanisms 3100 are mounted at the top of the upper carbon fiber plate 3201, mounting blocks 3204 are mounted at two sides of the lower carbon fiber plate 3211, two groups of mounting blocks 3204 are hinged with left clamping jaws 3212, the other two groups of mounting blocks 3204 are hinged with right clamping jaws 3205, steering engine supports 3214 are mounted on the lower carbon fiber plate 3211, steering engines 3215 are mounted at the output ends of the steering engines 3215, a right connecting rod 3203 and a left connecting rod 3213 are hinged at two ends of the crank 3202 respectively, one end, far away from the crank 3202, of the right connecting rod 3203 is hinged with the right clamping jaws 3205, and one end, far away from the crank 3202, of the left connecting rod 3213 is hinged with the left clamping jaws 3212.

The upper carbon fiber plate 3201, the lower carbon fiber plate 3211, and the mounting posts 3216 are mounted by screws, and constitute a main body frame of the casting recovery jig 3000. Steering engine 3215 is fixed on lower carbon fiber plate 3211 through steering engine support 3214, and steering engine 3215 output torque drives crank 3202 to rotate clockwise or anticlockwise to drive right clamping jaw 3205, left clamping jaw 3212 to open or close through right connecting rod 3203, left connecting rod 3213, realize throwing recovery anchor clamps 3000 to throwing or snatching of strong cross country unmanned car 4000. The crank 3202, the right connecting rod 3203, the right clamping jaw 3205, the left clamping jaw 3212 and the left connecting rod 3213 form a four-bar mechanism, when in a grabbing state, the force of a weight acting on the right clamping jaw 3205 and the left clamping jaw 3212 acts on the crank 3202 through the left clamping jaw 3212 and the left connecting rod 3213, as the acting lines of the two sides of the force penetrate through the right connecting rod 3203, the left connecting rod 3213 is intersected on the axis of the steering engine 3215, the steering engine 3215 can grab the weight without particularly large torsion by utilizing the dead point principle of the four-bar mechanism, and the steering engine with smaller torsion can be selected to drive the grabbing weight to play a role in reducing the weight of a system.

Front limiting blocks 3217 are installed at one end of the lower carbon fiber plate 3211, two groups of limiting blocks 3206 are installed at the other end of the lower carbon fiber plate 3211, the two groups of limiting blocks 3206 are symmetrically arranged by taking the central line of the lower carbon fiber plate 3211 as the center, and an upper overturning block 3207 is installed between the two groups of limiting blocks 3206.

The compression spring 3210 is installed to the one end of going up upset piece 3207, the one end that the compression spring 3210 kept away from last upset piece 3207 is installed on lower carbon fiber plate 3211, the other end of going up upset piece 3207 articulates has down upset piece 3209, just go up and be provided with torsional spring 3208 between upset piece 3207 and the upset piece 3209 down.

The stopper 3206 is bilateral symmetry and arranges, install in lower carbon fiber plate 3211, the centre passes through the screw and installs upset piece 3207, go up upset piece 3207 and pull through compression spring 3210, keep vertically downward state by last upset piece 3207, lower upset piece 3209 keeps the state of straightening under the effect of torsional spring 3208, and by upset piece 3209 restriction position down, can lead to the fluctuation from top to bottom of the location of the piece 4102 of snatching of strong cross-country unmanned car 4000 because the road surface is uneven in the snatch process, go up upset piece 3207 and upset piece 3209 down and constitute two-stage gyration stop gear, can guarantee to snatch the piece and get into the whole resume original position of upset piece 3207 down after right clamping jaw 3205 and left clamping jaw 3212's the snatch space, thereby prevent strong cross-country unmanned car 4000 and break away from backward. The front stop block 3217 prevents the strong off-road trolley from coming off forward.

The strong off-road vehicle 4000 comprises a vehicle body assembly 4100, a suspension assembly 4200, four sets of steering wheel assemblies 4300 and two sets of intermediate drive wheel assemblies 4400, wherein the suspension assembly 4200 is mounted on the vehicle body assembly 4100, and the four sets of steering wheel assemblies 4300 and the two sets of intermediate drive wheel assemblies 4400 are mounted on the vehicle body assembly 4100.

The vehicle body assembly 4100 comprises a vehicle body upper cover 4103 and a lower vehicle body 4108, wherein the vehicle body upper cover 4103 is mounted on the lower vehicle body 4108, a battery 4105, a first control module 4106, a second control module 4107 and a data link module 4109 are mounted in the lower vehicle body 4108, a grabbing block 4102 is mounted on the vehicle body upper cover 4103, and a GPS antenna 4101 is mounted on the grabbing block 4102.

The two ends of the upper cover 4103 are respectively provided with a triaxial single-light camera 4111 and a rearview module 4104, one end of the upper cover 4103 close to the triaxial single-light camera 4111 is provided with three groups of headlamps 4110, and one end of the upper cover 4103 close to the rearview module 4104 is provided with a charging seat 4112 and a switch 4113.

The triaxial single-light camera 4111 and the rearview module 4104 are respectively installed at the front end and the rear end of the vehicle body upper cover 4103, and serve as main visual mechanisms of the strong off-road unmanned vehicle 4000. Three head lamps 4110 are fixed to the front of the body cover 4103 as night work lighting tools. The rear link 4203, the middle link 4205 and the second front link 4208 are C-shaped cross-section links, which not only ensures the strength of the links, but also facilitates the installation of hidden connecting wires.

The suspension assembly 4200 includes two sets of intermediate links 4205, one ends of the two sets of intermediate links 4205 are provided with an intermediate shaft 4204, one end of the intermediate shaft 4204, which is far from the intermediate link 4205, is provided with a rear link 4203, an intermediate bearing 4202 is provided on the intermediate shaft 4204, an intermediate bearing block 4201 is provided on the intermediate bearing 4202, the other ends of the two sets of intermediate links 4205 are provided with a front shaft 4207, and the front shaft 4207 is provided with a first front link 4206 and a second front link 4208.

The suspension assembly 4200 further includes a suspension rod 4212, a flange shaft 4211 is mounted on the suspension rod 4212, studs 4210 are respectively mounted at two ends of the suspension rod 4212, fisheye bearings 4209 are mounted on two sets of studs 4210, and two sets of fisheye bearings 4209 are respectively mounted on two sets of intermediate links 4205.

The suspension assembly 4200 is a special rocker-steering suspension system, and is mounted on the left and right sides and bottom of the vehicle body assembly 4100 through a middle bearing seat 4201 and a flange shaft 4211, so that the steering flexibility and the strong off-road passing performance of the strong off-road unmanned vehicle 4000 are ensured.

The steering wheel assembly 4300 comprises a steering wheel frame 4308, a motor cover 4306 is arranged at the bottom of the steering wheel frame 4308, a first gear motor 4305 is arranged in the motor cover 4306, a first driving wheel 4304 is arranged at the output end of the first gear motor 4305, a first motor adjuster 4307 is arranged in the steering wheel frame 4308, an axial bearing seat 4303 is arranged at the top of the steering wheel frame 4308, a steering engine cover 4302 is arranged at one end, far away from the steering wheel frame 4308, of the axial bearing seat 4303, a steering engine 4301 is arranged in the steering engine cover 4302, and bearings 4309 are arranged at the joints of the axial bearing seat 4303, the steering wheel frame 4308 and the steering engine cover 4302. The first gear motor 4305 is fixed in the cavity of the steering wheel frame 4308, and the output shaft is connected with the driving wheel 4304 and provides driving force.

The bearing 4309 is installed up and down on the axial bearing seat 4303, the steering wheel frame 4308 is installed in an inner hole of the bearing 4309 to rotate, the upper end of the steering wheel frame 4308 is connected with an output shaft of the steering engine 4301, and steering power is provided by the steering engine 4301.

The intermediate driving wheel assembly 4400 comprises a driving wheel frame 4402, a second gear motor 4405 is arranged on the driving wheel frame 4402, a second driving wheel 4401 is arranged at the output end of the second gear motor 4405, an intermediate motor cover 4403 is arranged on the second gear motor 4405, and a second motor adjuster 4404 is arranged in the driving wheel frame 4402.

The unmanned aerial vehicle 1000 falls to subaerial, strong cross-country unmanned trolley 4000 is from back to front going conflict last upset piece 3207 and upset piece 3209 down, goes up upset piece 3207 and upset piece 3209 down, gets into at last and throws and retrieve clamp 3000 and snatchs the within range to stopper 3217 before contradicting, goes up upset piece 3207 and upset piece 3209 down and resumes vertical state, drives right clamping jaw 3205, and left clamping jaw 3212 closes and realizes snatching.

Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An air-ground amphibious investigation system is characterized in that: the multi-light-source self-service unmanned aerial vehicle comprises an unmanned aerial vehicle (1000), a multi-light holder camera (2000), a throwing and recycling clamp (3000) and a strong off-road unmanned aerial vehicle (4000), wherein the throwing and recycling clamp (3000) and the multi-light holder camera (2000) are arranged on the unmanned aerial vehicle (1000), and the strong off-road unmanned aerial vehicle (4000) is arranged on the unmanned aerial vehicle (1000) through the throwing and recycling clamp (3000);

The utility model provides a throw and retrieve anchor clamps (3000) include carbon fiber plate (3201), multiunit erection column (3216) are installed to the bottom of going up carbon fiber plate (3201), multiunit erection column (3216) keep away from the one end of going up carbon fiber plate (3201) and install down carbon fiber plate (3211), install multiunit mount mechanism (3100) on the top of going up carbon fiber plate (3201), install installation piece (3204) down carbon fiber plate (3211) both sides, wherein two sets of install left clamping jaw (3212) on articulated on installation piece (3204), two sets of in addition install steering wheel support (3214) on installation piece (3204) on lower carbon fiber plate (3211), install steering wheel (3215) on steering wheel support (3215)'s the output, install crank (3202) on the both ends of crank (3202) articulate respectively right connecting rod (3203) and left and right connecting rod (3203), crank (3203) are kept away from on crank (3202) one end (3202).

2. A ground-air amphibious investigation system according to claim 1, wherein: front limiting blocks (3217) are arranged at one end of the lower carbon fiber plate (3211), two groups of limiting blocks (3206) are arranged at the other end of the lower carbon fiber plate (3211), the two groups of limiting blocks (3206) are symmetrically arranged by taking the central line of the lower carbon fiber plate (3211) as the center, and an upper overturning block (3207) is arranged between the two groups of limiting blocks (3206).

3. A ground-air amphibious investigation system according to claim 2, wherein: the compression spring (3210) is installed to the one end of going up upset piece (3207), compression spring (3210) is kept away from the one end of going up upset piece (3207) and is installed on lower carbon fiber plate (3211), the other end of going up upset piece (3207) articulates has down upset piece (3209), just go up and be provided with torsional spring (3208) between upset piece (3207) and lower upset piece (3209).

4. A ground-air amphibious investigation system according to claim 3, wherein: the strong off-road unmanned trolley (4000) comprises a vehicle body assembly (4100), a suspension assembly (4200), four groups of steering wheel assemblies (4300) and two groups of middle driving wheel assemblies (4400), wherein the suspension assembly (4200) is installed on the vehicle body assembly (4100), and the four groups of steering wheel assemblies (4300) and the two groups of middle driving wheel assemblies (4400) are all installed on the vehicle body assembly (4100).

5. The ground-air amphibious investigation system of claim 4, wherein: the vehicle body assembly (4100) comprises a vehicle body upper cover (4103) and a lower vehicle body (4108), the vehicle body upper cover (4103) is installed on the lower vehicle body (4108), a battery (4105), a first control module (4106), a second control module (4107) and a data chain module (4109) are installed in the lower vehicle body (4108), a grabbing block (4102) is installed on the vehicle body upper cover (4103), and a GPS antenna (4101) is installed on the grabbing block (4102).

6. The ground-air amphibious investigation system of claim 5, wherein: three-axis single-light cameras (4111) and rearview modules (4104) are respectively installed at two ends of the vehicle body upper cover (4103), three groups of headlamps (4110) are installed at one end, close to the three-axis single-light cameras (4111), of the vehicle body upper cover (4103), and a charging seat (4112) and a switch (4113) are installed at one end, close to the rearview modules (4104), of the vehicle body upper cover (4103).

7. The ground-air amphibious investigation system of claim 6, wherein: the suspension assembly (4200) comprises two groups of intermediate links (4205), wherein an intermediate rotating shaft (4204) is arranged at one end of each of the two groups of intermediate links (4205), a rear link (4203) is arranged at one end, far away from the intermediate links (4205), of each intermediate rotating shaft (4204), an intermediate bearing (4202) is arranged on each intermediate rotating shaft (4204), an intermediate bearing seat (4201) is arranged on each intermediate bearing (4202), a front rotating shaft (4207) is arranged at the other end of each of the two groups of intermediate links (4205), and a first front connecting rod (4206) and a second front connecting rod (4208) are arranged on each front rotating shaft (4207).

8. The ground-air amphibious investigation system of claim 7, wherein: the suspension assembly (4200) further comprises a suspension rod (4212), a flange shaft (4211) is mounted on the suspension rod (4212), studs (4210) are mounted at two ends of the suspension rod (4212) respectively, fisheye bearings (4209) are mounted on two groups of studs (4210), and two groups of fisheye bearings (4209) are mounted on two groups of middle connecting rods (4205) respectively.

9. The ground-air amphibious investigation system of claim 8, wherein: the steering wheel assembly (4300) comprises a steering wheel frame (4308), a motor cover (4306) is arranged at the bottom of the steering wheel frame (4308), a first gear motor (4305) is arranged in the motor cover (4306), a first driving wheel (4304) is arranged at the output end of the first gear motor (4305), a first motor electric adjuster (4307) is arranged in the steering wheel frame (4308), an axial bearing seat (4303) is arranged at the top of the steering wheel frame (4308), a steering engine (4301) is arranged in the steering engine cover (4302) at the position, far away from one end of the steering wheel frame (4308), of the axial bearing seat (4303), and bearings (4309) are arranged at the joint of the steering wheel frame (4308) and the steering engine cover (4302).

10. The ground-air amphibious investigation system of claim 9, wherein: the middle driving wheel assembly (4400) comprises a driving wheel frame (4402), a second gear motor (4405) is arranged on the driving wheel frame (4402), a second driving wheel (4401) is arranged at the output end of the second gear motor (4405), a middle motor cover (4403) is arranged on the second gear motor (4405), and a second motor electric adjuster (4404) is arranged in the driving wheel frame (4402).