CN209649973U - Manned air-ground amphibious aircraft - Google Patents

Abstract

The utility model discloses a kind of manned air-ground amphibious aircraft, including fuselage and multiple folded wings；The folded wing is set to the top of the fuselage, has folded state and extended state, may be folded in the side of the fuselage；The end of the folded wing is equipped with propeller and the brushless motor for driving the propeller；The folded wing is equipped with elastic telescopic mechanism, so that the folded wing can be along length direction elastic telescopic；The end of the folded wing is equipped with first round group, and the propeller is equipped with zero-bit；When the folded wing is in folded state, the propeller is in zero-bit and the blade of the propeller is parallel to the ground.Technical solutions of the utility model can increase the stability of air-ground amphibious aircraft traveling.

Description

Manned air-ground amphibious aircraft

Technical field

The utility model relates to vehicle technology field, in particular to a kind of manned air-ground amphibious aircraft.

Background technique

With the development of society, the large- and-medium size cities size of population increases, the density of population increases, and possesses automobile quantity per capita Also increasing, but absolutely not method meets growing passage demand to traffic above-ground bearing capacity, especially current high The case where peak phase, traffic above-ground congestion, is difficult to solve, and often will appear the fast awkward situation of no walking of driving.And in recent years without Man-machine technology is quickly grown, and large-scale unmanned air vehicle technique is increasingly mature, has been used such aircraft as manned tool into possibility, Also alleviate traffic above-ground pressure at possible to utilize space resources.But as manned vehicle, in the adaptation of floor traffic Property is poor, and flying in the sky, there is also many danger.

Utility model content

The main purpose of the utility model is to propose a kind of manned air-ground amphibious aircraft, it is intended to improve manned vehicle and exist The adaptability of floor traffic.

To achieve the above object, the utility model proposes manned air-ground amphibious aircraft include fuselage and multiple folding machines The wing；The fuselage includes shell and hood, and the shell and the hood are enclosed cabin；The hood is by hinged shaft and certainly Dynamic telescopic rod is connected to the shell；The folded wing is set to the top of the fuselage, has folded state and extended state, It may be folded in the side of the fuselage；The end of the folded wing is equipped with propeller and for driving the brushless of the propeller Motor；The folded wing built-in electronic governor, to control the revolving speed of the brushless motor；The folded wing is equipped with elasticity Telescoping mechanism, so that the folded wing can be along length direction elastic telescopic；The end of the folded wing is equipped with first Wheel group, the first round group and the brushless motor are coaxially disposed；The propeller is equipped with zero-bit；It is in the folded wing When folded state, the propeller is in zero-bit and the blade of the propeller is parallel to the ground；It is described manned air-ground amphibious winged Row device further includes the second wheel group and third round group being set to below the fuselage；The second wheel group is driven by servo motor It is dynamic, to drive the manned air-ground amphibious aircraft in ground motion；The third round group is connected with steering mechanism, to control State direction of the manned air-ground amphibious aircraft in ground motion.

Preferably, the folded wing end is additionally provided with linkage mechanism；The first round group by the linkage mechanism with The linkage of the brushless motor.

Preferably, the cabin includes cockpit, control cabinet, piggyback pod and cargo hold, and the cockpit is equipped with operating mechanism, The operating mechanism includes control stick and instruction input mechanism, and the control cabinet is equipped with control module；The piggyback pod is equipped with stone Black alkene battery.

Preferably, the manned air-ground amphibious aircraft further includes intelligent barrier avoiding device, and the intelligent barrier avoiding device includes GPS module, height sensor, radar range finder, wireless communication module and processor.

Preferably, the manned air-ground amphibious aircraft further includes complete machine catapult-launching gear, and the complete machine catapult-launching gear is set to The fuselage roof, including parachute and ejection controller, the ejection controller are set to the cockpit.

Preferably, the manned air-ground amphibious aircraft further includes ultrasonic distance measurement avoidance lamp, and the ultrasonic distance measurement is kept away Hinder lamp and be set to the fuselage bottom, for detecting the barrier and floor light in below fuselage and front.

Preferably, the manned air-ground amphibious aircraft is additionally provided with balance wing, and the balance wing is set to the afterbody, And taillight built in the balance wing.

Technical solutions of the utility model by fuselage roof setting can elastic telescopic folded wing, can be at it on ground The danger that face avoids fuselage from toppling over when driving.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the structural schematic diagram of manned air-ground amphibious one embodiment of aircraft of the utility model；

Fig. 2 is folded wing folded state schematic diagram in Fig. 1；

Fig. 3 is another angle schematic diagram of Fig. 2.

Drawing reference numeral explanation:

Label	Title	Label	Title
				100	Fuselage	300	First round group
101	Shell	400	Second wheel group
				102	Hood	500	Third round group
200	Folded wing	600	Balance wing
				201	Propeller

The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, fall within the protection scope of the utility model.

It is to be appreciated that if related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding, Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture) Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.

In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve The combination of case is not present, also not within the protection scope of the requires of the utility model.

The utility model proposes a kind of manned air-ground amphibious aircraft, including fuselage 100 and multiple folded wings 200；Institute Stating fuselage 100 includes shell 101 and hood 102, and the shell 101 is enclosed cabin with the hood 102；The hood 102 are connected to the shell 101 by hinged shaft and automatic telescopic link；The folded wing 200 is set to the top of the fuselage 100 Portion has folded state and extended state, may be folded in the side of the fuselage 100；The end of the folded wing 200 is equipped with Propeller 201 and brushless motor for driving the propeller 201；The 200 built-in electronic governor of folded wing, with control Make the revolving speed of the brushless motor；The folded wing 200 is equipped with elastic telescopic mechanism, so that the folded wing 200 can edge Length direction elastic telescopic；The end of the folded wing 200 is equipped with first round group 300, the first round group 300 and institute State brushless motor coaxial arrangement；The propeller 201 is equipped with zero-bit；It is described when the folded wing 200 is in folded state Propeller 201 is in zero-bit and the blade of the propeller 201 is parallel to the ground；The manned air-ground amphibious aircraft further includes It is set to the second wheel group 400 and third round group 500 of 100 lower section of fuselage；The second wheel group 400 is driven by servo motor It is dynamic, to drive the manned air-ground amphibious aircraft in ground motion；The third round group 500 is connected with steering mechanism, with control Make direction of the manned air-ground amphibious aircraft in ground motion.

Identical as current more rotor vertically taking off and landing flyer, the propeller 201 for the amphibious aircraft that the application proposes also exists Horizontal direction rotation, amphibious aircraft provide power VTOL by propeller 201 and fly in the sky.In a specific implementation In example, four folded wings 200 are arranged in amphibious aircraft, and the propeller 201 of 200 end of folded wing is linear type propeller 201, there are two blades；Four folded wings 200 are set to the two sides at 100 top of fuselage two-by-two.Land in amphibious aircraft It to ground and needs when ground continues to move to, propeller 201 stops at dead-center position, and folded wing 200 is folded down to machine 100 two sides of body, at this point, the length direction of propeller 201 is parallel to the front and back axis on ground and fuselage 100.Folded wing 200 exists When in folded state, positioned at slightly above the second wheel group 400 and the third round group 500 of the first round group 300 of its end.It is amphibious to fly For row device in ground run, servo motor drives the rotation of the second wheel group 400 to drive entire amphibious aircraft in ground motion；The Three-wheel group 500 is deflecting roller group, for controlling entire amphibious aircraft in the direction of ground motion.

But amphibious aircraft, as aircraft, itself uses light-weight design, in addition need for cockpit it is reserved compared with Big space, thus it designs narrower width, height is higher.It can be kept to greatest extent when this flight in the sky of design itself The stabilization of entire fuselage 100, but this structural focus is relatively high, and chassis is relatively narrow, is not appropriate in ground run, compared to normal It is easier to topple over for rule ground traffic tools and cause the accident.For this purpose, cabin is divide into upper part and lower part by the application, top is divided into Cockpit and cargo hold, lower part are divided into piggyback pod and control cabinet, wherein operating mechanism is set to cockpit, and operating mechanism includes manipulation Bar and instruction input mechanism；Control cabinet is equipped with control module, and the graphene battery of large capacity is arranged in piggyback pod.Driver is driving Cabin controls control stick and inputs operation instruction, and control module executes specific operational order, to control aircraft according to driver Operational order operation.Control module and graphene battery quality for amphibious aircraft other component are larger, by it It is arranged in lower layer cabin, can lower the center of gravity height, enhance stability of the amphibious aircraft in ground run.Reduce weight The heart can make amphibious aircraft obtain preferable stability when ground is along straight-line travelling, but in its turning or road of ground surface When condition is poor, still there is the very big risk toppled over.To further increase its stability in ground run, the application is rolling over First round group 300 is arranged in folded 200 end of wing, and first round group 300 and the brushless motor of driving propeller 201 are coaxially disposed, and two Aircraft dwell in ground run, first round group 300 plays the role of balance and protection, when fuselage 100 is tilted to side, position First round group 300 in 200 end of folded wing contacts ground, plays a supporting role.And be arranged on folded wing 200 along it The telescoping mechanism of length direction elastic telescopic, when fuselage 100 tilts, and first round group 300 contacts and hits ground, elasticity Then telescoping mechanism compression is sprung back, can play the role of carrying out automatic straightening to inclined fuselage 100.

In other embodiments, linkage mechanism can also be set in 200 end of folded wing, makes first round group 300 and nothing Brush motor linkage.In amphibious aircraft in ground run, propeller 201 is separated with brushless motor, first round group 300 with it is brushless Motor linkage.First round group 300 can driving wheel under the driving of brushless motor as amphibious aircraft in ground run Assist the driving of second 400 pairs of amphibious aircraft of wheel group.

Elastic telescopic mechanism set on folded wing 200, can be in addition to it can compress and spring back automatically in stress Its stroke is controlled by control module.Such as it can be slightly above to the state of the second wheel group 400 and third round group 500 certainly, It extends to the state of slightly below the second wheel group 400 and third round group 500.When first round group 300 is lower than the second wheel group 400 and third When wheel group 500, amphibious aircraft is driven by first round group 300 completely in the traveling on ground and steering.It is only by electron speed regulator The velocity of rotation of four first round groups 300 of vertical adjustment, 100 liang of fuselage of differential and control by adjusting four first round groups 300 The stroke of the folded wing 200 of side, which controls, to be turned to, and stability when its steering is improved.Such as when turning to the left, reduce left side The revolving speed of two first round groups 300, and shorten the length of two folded wings 200 in left side, so that fuselage 100 is tilted to the left, to mention Feed to the centripetal force of left steering needs.

For the safety and stability for further increasing air-ground amphibious aircraft traveling, the manned land sky two that the application proposes Aircraft of dwelling further includes intelligent barrier avoiding device and complete machine catapult-launching gear, and ultrasonic distance measurement avoidance lamp and balance wing 600 is arranged；It is super Sound ranging avoidance lamp is set to 100 bottom of fuselage, for the barrier in 100 lower section of real-time detection fuselage and front and assists shining It is bright；Balance wing 600 is set to 100 tail portion of fuselage, and built-in taillight, to prompt rear aircraft or vehicle；The intelligent barrier avoiding dress It sets including GPS module, height sensor, radar range finder and processor；The complete machine catapult-launching gear is pushed up set on the fuselage 100 Portion, including parachute and ejection controller, the ejection controller are set to the cockpit.Complete machine catapult-launching gear is used for amphibious When out of control in aircraft flight, pop-up parachute makes amphibious aircraft security land.

GPS module obtains the latitude and longitude information of amphibious aircraft, and height sensor obtains the elevation information of amphibious aircraft； Radar range finder obtains the object location information in amphibious aircraft surrounding space；Processor collects the position letter of amphibious aircraft Object location information in breath, elevation information and amphibious aircraft surrounding space, and it is raw according to the operating status of amphibious aircraft At motion profile of the amphibious aircraft since current in a period of time；Processor is according to collected information and fortune generated Dynamic rail mark judges the safety of amphibious aircraft traveling, and has barrier away from amphibious aircraft motion profile distance less than one working as When pre-determined distance, generation evades path and issues warning information to cockpit and evade routing information, which is obstacle The linear distance of the amphibious aircraft motion profile of object distance.It is pre- when there is distance of the barrier away from amphibious aircraft motion profile to be less than this If distance, and distance of the barrier away from amphibious aircraft be less than another pre-determined distance when, processor is sounded an alarm to cockpit, And evade instruction to control module transmission, force amphibious aircraft according to evading route.Another pre-determined distance is according to two Depending on the speed of aircraft of dwelling, physical relationship are as follows:

Another pre-determined distance d=kv, wherein v is the speed of amphibious aircraft, and parameter k is and amphibious vehicle mass Coefficient related with volume.

In addition to the safety measure of amphibious aircraft itself, to further increase safety when its flight, the application is also mentioned A kind of group control system for manned amphibious aircraft out, the group control system include server and for controlling the manned land Empty amphibious flight control, the control system includes intelligent barrier avoiding system, and the intelligent barrier avoiding system includes GPS mould Block, height sensor, radar range finder, wireless communication module and processor；The manned air-ground amphibious aircraft passes through described Wireless communication module connects the server, and the location information of the manned air-ground amphibious aircraft and elevation information is real-time The server is uploaded to, the server generates the three-dimensional coordinate of the manned air-ground amphibious aircraft according to the information；When The distance between two manned air-ground amphibious aircraft in the manned air-ground amphibious aircraft group control system are accessed less than first When pre-determined distance, path and the manned air-ground amphibious aircraft to distance less than the first pre-determined distance are evaded in the server calculating It sends warning information and evades routing information.

When between the two manned air-ground amphibious aircraft accessed in the manned air-ground amphibious aircraft group control system away from When from less than the second pre-determined distance, the server restarts and calculates in real time to evade path and preset to distance less than second The manned air-ground amphibious aircraft of distance sends lasting hydropac and evades path in real time；Second pre-determined distance is small In first pre-determined distance.

When between the two manned air-ground amphibious aircraft accessed in the manned air-ground amphibious aircraft group control system away from When from being less than or equal to third pre-determined distance, the server forces the two manned air-ground amphibious aircraft along the real-time rule Keep away route；The third pre-determined distance is less than second pre-determined distance.

Wherein, the first pre-determined distance is safe distance, when distance is not less than the first pre-determined distance between amphibious aircraft, It, can respectively normal independent enforcement without interfering with each other between amphibious aircraft；It is risk distance in third pre-determined distance, flies when amphibious When distance is less than third pre-determined distance between row device, the control signal of control system can be interfered with each other, if not in time by distance It pulls open, it is easy to the accident of control system failure or the collision of fuselage 100 occur；Second pre-determined distance between the first pre-determined distance and Between third pre-determined distance, when the distance between amphibious aircraft is reduced to the second pre-determined distance from the first pre-determined distance, clothes Device of being engaged in amphibious aircraft issues hydropac, by alerting drivers at once according to according to current location and flying quality again in terms of What is calculated evades route to avoid the generation of accident.If but the driver of amphibious aircraft distance is pulled open not in time and When leading to that distance is further reduced to less than or equal to third pre-determined distance between amphibious aircraft, server is sent out to control system Operational order is sent, makes amphibious aircraft according to route is evaded in real time, with the generation for avoiding accident that spaces out.Fly when amphibious Row device, which is travelled according to the operational order that server is sent to distance, is greater than the second pre-determined distance, and control system can receive arrival The operational order of amphibious aircraft when, server stops sending operational order to control system, and continues to control by driver The flight of amphibious aircraft.

The group control system that the application is proposed is also used to amphibious in addition to for interfering with each other when preventing amphibious aircraft flight The automatic obstacle-avoiding of aircraft.Specifically, flying speed and flight of the processor according to the manned air-ground amphibious aircraft Telegoniometer calculates flight path of the manned air-ground amphibious aircraft in the preset time from current time；When the thunder Detect barrier up to rangefinder, and the barrier to the flight path distance less than four pre-determined distances when, it is described Intelligent barrier avoiding system sends location information and the warning instruction of barrier to cockpit and server.

Preset time can be set between 30 seconds to 300 seconds, and usually no less than 45 seconds, also not more than 120 seconds, to drive The person of sailing manipulates amphibious aircraft avoiding barrier and reserves enough reaction time and reply time, and avoids warning for a long time and be brought Fatigue, it is ensured that driver carry out once adjust.

When the distance of barrier to the flight path is less than four pre-determined distances, intelligent barrier avoiding system is removed to cockpit It sends except obstacle position information and warning instruction, location information and amphibious flight of the processor also according to the barrier The flight path of device calculates first and evades path, and the server is according to the location information and amphibious aircraft of the barrier Flight path calculate second and evade path；The intelligent barrier avoiding system evades path for described first and is uploaded to the service Device, the server evade path for described second and are sent to the processor；Road is evaded in the processor comparison described first Diameter and described second evades path, obtains the first deviant；Path and described second are evaded in the server comparison described first Evade path, obtains the second deviant；When the linear distance of the barrier to the manned air-ground amphibious aircraft is less than Five pre-determined distances, and when first deviant and second deviant are respectively less than the first preset value, the server is to institute It states control system and sends evasive action instruction, evade path row to control the manned air-ground amphibious aircraft along described second It sails.

Based on many reasons such as network delay and computing capability difference, what processor was obtained first evades path and service Device obtained second to evade path not fully identical.First deviant is first to evade path and second in processor and evade The ratio for the deflection angle that the angle difference in path evades path with first；Second deviant is first to evade path in server The ratio that the angle difference for evading path with second evades path with second.5th pre-determined distance less than the 4th pre-determined distance, when Heading is not adjusted when the distance between amphibious aircraft and barrier are less than five pre-determined distances yet, amphibious aircraft has The danger of barrier is bumped against, at this point, that is to say and deviate in the first deviant and second in the case where meeting the first safety condition When value is respectively less than the first preset value, server temporarily takes over amphibious flight control, it is made to evade path according to second Traveling is with avoiding barrier.

In the case where being unsatisfactory for safety condition and driver not controlling amphibious aircraft avoiding barrier yet, radar is surveyed The range information of distance meter real-time Transmission barrier, processor and server also real-time perfoming evade path calculating and safe item The detection of part.

When the linear distance of the barrier to the manned air-ground amphibious aircraft is less than the 6th pre-determined distance, and meet Second safety condition, that is, meet first deviant and when second deviant is respectively less than the second preset value, the processing Device generates control instruction, and the control system controls the manned air-ground amphibious aircraft along described the according to the control instruction One evades route；6th pre-determined distance is less than the 5th pre-determined distance；Second preset value is greater than described the One preset value.

The control system includes automated driving system and manual drive system, when the barrier is empty to the manned land The linear distance of amphibious aircraft is less than the 6th pre-determined distance, and first deviant and second deviant are respectively less than When two preset values, automated driving system described in the control system force start.In amphibious aircraft under automatic driving mode Flight switches to manual drive mode to home, and when control system receives the instruction for switching to manual drive mode, after It is continuous to be operated by driver.

The application proposes that group control system also supports full-automatic driving, and in the location information of starting point input terminal, GPS module is obtained Origin information is taken, origin information and endpoint information are uploaded to server by control system, and server calculates optimal path, control System controls amphibious aircraft takeoff, flight and landing by the optimal path.

The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model, It is all under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.

Claims (7)

1. a kind of manned air-ground amphibious aircraft characterized by comprising

Fuselage, the fuselage include shell and hood, and the shell and the hood are enclosed a cabin；The hood passes through Hinged shaft and automatic telescopic link are connected to the shell；

Multiple folded wings have folded state and extended state；The folded wing is set to the top of the fuselage, and can roll over It is laminated on the side of the fuselage；The end of the folded wing is equipped with propeller and the brushless electricity for driving the propeller Machine；The folded wing built-in electronic governor, to adjust the revolving speed of the brushless motor；The folded wing is stretched equipped with elasticity Contracting mechanism, so that the folded wing can be along length direction elastic telescopic；The end of the folded wing is equipped with the first round Group, the first round group and the brushless motor are coaxially disposed；

The propeller is equipped with zero-bit；When the folded wing is in folded state, the propeller is in zero-bit and described The blade of propeller is parallel to the ground；

Second wheel group is set to below the fuselage；The second wheel group is driven by servo motor, to drive the manned land empty Amphibious aircraft is in ground motion；

Third round group is set to below the fuselage；The third round group is connected with steering mechanism, to control the manned land sky two It dwells direction of the aircraft in ground motion.

2. manned air-ground amphibious aircraft as described in claim 1, which is characterized in that the folded wing end is additionally provided with connection Motivation structure；The linkage that the first round group passes through the linkage mechanism and the brushless motor.

3. manned air-ground amphibious aircraft as described in claim 1, which is characterized in that the cabin includes cockpit, control Cabin, piggyback pod and cargo hold, the cockpit are equipped with operating mechanism, and the operating mechanism includes control stick and instruction input mechanism, The control cabinet is equipped with control module；The piggyback pod is equipped with graphene battery.

4. manned air-ground amphibious aircraft as described in claim 1, which is characterized in that the manned air-ground amphibious aircraft is also Including intelligent barrier avoiding device, the intelligent barrier avoiding device includes GPS module, height sensor, radar range finder, wireless telecommunications mould Block and processor.

5. manned air-ground amphibious aircraft as claimed in claim 3, which is characterized in that the manned air-ground amphibious aircraft is also Including complete machine catapult-launching gear, the complete machine catapult-launching gear is set to the fuselage roof, and the complete machine catapult-launching gear includes parachute And ejection controller, the ejection controller are set to the cockpit.

6. manned air-ground amphibious aircraft as described in claim 1, which is characterized in that the manned air-ground amphibious aircraft is also Including ultrasonic distance measurement avoidance lamp, the ultrasonic distance measurement avoidance lamp is set to the fuselage bottom, for detecting below fuselage and The barrier and floor light in front.

7. manned air-ground amphibious aircraft as described in claim 1, which is characterized in that the manned air-ground amphibious aircraft is also Equipped with balance wing, the balance wing is set to the afterbody, and taillight built in the balance wing.