WO2017197601A1

WO2017197601A1 - Unmanned aerial vehicle capable of walking on ground

Info

Publication number: WO2017197601A1
Application number: PCT/CN2016/082495
Authority: WO
Inventors: 王建军
Original assignee: 深圳市创客工场科技有限公司
Priority date: 2016-05-18
Filing date: 2016-05-18
Publication date: 2017-11-23
Also published as: CN107000837A; CN107000837B

Abstract

An unmanned aerial vehicle capable of walking on the ground, comprising a main housing (11), a first rotor group (12), and a second rotor group (13). The first rotor group (12) and the second rotor group (13) are mounted on edge surfaces and are symmetrically distributed on both sides of a plane of symmetry. The first rotor group (12) comprises a first rotor (121) and a second rotor (122). The second rotor group (13) comprises a third rotor (131) and a fourth rotor (132). Rotating shafts of the first rotor (121), the second rotor (122), and the third rotor (131), and the fourth rotor (132) are parallel to a reference plane of the end surfaces, and an included angle between each of the rotating shafts and the plane of symmetry is an acute angle. The first rotor (121) and the third rotor (131) are used for jointly driving the unmanned aerial vehicle to move in a first direction, and the second rotor (122) and the fourth rotor (132) are used for jointly driving the unmanned aerial vehicle to move in a second direction. The unmanned aerial machine can implement the function of walking on the ground, enhance the environmental applicability of the unmanned aerial machine, and improve the use performance of the unmanned aerial machine.

Description

Ground-moving drone

Technical field

The present application relates to the field of drone technology, and in particular to a drone that can walk on the ground.

Background technique

With the continuous advancement of the science and technology society, the drone industry is gradually expanding. The multi-rotor UAV has developed rapidly due to its simple mechanical structure, simple power system, and the ability to take off and land vertically. At one time, researchers have become more and more eager to start. The use of rotorcraft drones has led to a global boom in the commercialization of multi-rotors.

In the prior art, in order to enable the drone to perform more complicated tasks or to realize the multi-functionality of the drone, the range of the drone's activity has long been limited to the initial sky flight. However, the current research on open space integrated drones is less, so it is difficult to meet the increasingly complex requirements of the use environment.

Summary of the invention

The purpose of the present application is to provide a ground-moving drone that realizes the amphibious function of the unmanned aerial vehicle.

To achieve the above objective, the present application provides the following technical solutions:

The invention provides a ground-accessible drone comprising a main casing, a first rotor group and a second rotor group, the main casing being symmetric along a plane of symmetry, the main casing comprising two oppositely arranged An end face reference surface and a facet connected between the two end face reference faces, the first rotor group and the second rotor group being mounted on the facet and symmetrically distributed on both sides of the symmetry plane The first rotor group includes a first rotor and a second rotor, the second rotor group includes a third rotor and a fourth rotor, the first rotor, the second rotor, the third rotor, and the a rotation axis of the fourth rotor is parallel to the end surface reference surface and an acute angle with the symmetry plane, and the first rotor and the third rotor are used to jointly drive the drone to move in a first direction, The second rotor and the fourth rotor are used to jointly drive the drone to move in a second direction, the first direction and the second direction being opposite.

Wherein, the main casing has a regular hexagonal prism structure, the first rotor and the third rotor are disposed on two adjacent prism faces, and the second rotor and the fourth rotor are respectively disposed on two other Adjacent prism faces, the rotation axes of the first rotor, the second rotor, the third rotor and the fourth rotor respectively Parallel to the corresponding facet.

Wherein, the main casing has a regular hexagonal prism structure, the first rotor and the second rotor are disposed on two adjacent prism faces, and the third rotor and the fourth rotor are respectively disposed on two other On the adjacent facets, the rotation axes of the first rotor, the second rotor, the third rotor and the fourth rotor are respectively parallel to the corresponding facets.

Also including a fifth rotor and a sixth rotor, the fifth rotor and the sixth rotor are different from the first rotor, the second rotor, the third rotor, and the fourth rotor On the facet surface, the rotation axes of the fifth rotor and the sixth rotor are oriented in the same direction, and the rotation axes of the fifth rotor and the sixth rotor are parallel to the corresponding facets and parallel to the main Housing end face reference surface.

Wherein the first rotor, the third rotor, the second rotor, the fourth rotor, the fifth rotor and the sixth rotor have a regular hexagonal structure, the sides of the hexagon The length is equal to the length of the bottom surface of the hexagonal prism.

The first magnetic medium and the second magnetic medium are further disposed on the edge surface of the main casing, the first rotor, the second rotor, the third rotor and the The second rotor is disposed on the fourth rotor, the first magnetic medium and the second magnetic medium are attracted to each other, and the main casing is further provided with a slot on the edge surface, the first rotor, The second rotor, the third rotor and the fourth rotor are respectively provided with latches that cooperate with the slots.

Wherein, the slot has a cross shape.

The base further includes a base on which the card slot and the movement mechanism are disposed, and the first rotor group and the second rotor group are fixed in the card slot.

Wherein, the base is made of an elastic material.

Wherein, the motion mechanism is a universal wheel or a spherical contact.

The drone of the present application realizes the function of the drone walking on the ground by setting the base under the power component and the moving mechanism on the base, enhancing the applicable environment of the drone and improving the performance of the drone. .

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present application. Embodiments, for those of ordinary skill in the art, without creative labor Further drawings can also be obtained from these drawings.

1 is a schematic exploded view of a ground-moving drone according to a first embodiment of the present application.

2 is a schematic structural view of the ground-movable drone shown in FIG. 1.

3 is a schematic structural view of a ground-movable drone provided by a second embodiment of the present application.

4 is a schematic structural view of a ground-movable drone provided by a third embodiment of the present application.

FIG. 5 is a schematic structural diagram of a ground-accessible drone provided by a fourth embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The ordinal qualifiers used in the following embodiments of the present application, the first, second, etc. are merely for the purpose of clearly indicating the distinctive features of the similar features in the present application, and do not represent the order of the corresponding features or the order of use.

Referring to FIG. 1, the ground-movable drone of the present invention comprises: a power assembly 10 and a base 20. The power assembly 10 includes a main housing 11, a first rotor group 12 and a second rotor group 13, the main housing 11 including two opposite end face reference faces and a facet connecting the two end face reference faces The main casing 11 has a symmetrical structure, and a symmetry plane (such as AA' in FIG. 2) of the main casing 11 is perpendicular to the end surface. Here, the end face reference surface refers to a section in which both ends of the main casing 11 are perpendicular to the facet. The first rotor group 12 and the second rotor group 13 are mounted on the face of the main casing 11. The first rotor group 12 includes a first rotor 121 and a second rotor 122, and the second rotor group 13 includes a third rotor 131 and a fourth rotor 132. The first rotor 121 and the third rotor 131 are mirrored with respect to the main casing 11, and the second rotor 122 and the fourth rotor 132 are mirrored with respect to the main casing 11. That is to say, the first rotor group 12 and the second rotor group 13 are symmetrically distributed with respect to the symmetry plane of the main casing 11. Referring to FIG. 2, FIG. 2 is a schematic structural view of the first embodiment of the ground-movable drone of FIG. 1. The direction indicated by the solid arrow in the figure is the rotation axis of each rotor. The rotation axes of the first rotor 121, the second rotor 122, the third rotor 131, and the fourth rotor 132 are parallel to the end surface of the main casing 11 and are at an acute angle with the symmetry plane AA'. The rotation axes of the first rotor 121 and the third rotor 131 are positively biased toward the first direction X, and the second rotor 122 and the axis of rotation of the fourth rotor 132 are positively biased toward the second direction. The first direction is opposite to the second direction. It can be understood that the rotation axis described in the present invention positively satisfies the right hand spiral rule. That is, when the right hand four fingers rotate in the direction of the propeller, the direction indicated by the thumb is the positive direction of the rotating shaft. The first rotor 121 and the third rotor 131 are capable of driving the drone to move in a first direction. The second rotor 122 and the fourth rotor 132 are capable of driving the drone to move in a second direction. The power assembly 10 is mounted on the base 20, and the base 20 is provided with a motion mechanism 21. The ground-moving drone is placed on the ground through the base 20, and can be driven on the ground under the driving of the power unit 10.

More specifically, the main casing 11 has a regular hexagonal prism structure, and the six prism faces of the main casing 11 are sequentially disposed. The first rotor 121 and the third rotor 131 are disposed on two adjacent ribs, and the second rotor 122 and the fourth rotor 132 are disposed on two adjacent ribs. Referring to FIG. 2, each of the rotors is fixed to one of the facets, and the rotor shafts fixed to the facets are parallel to the facets. When the drone needs to move in the first direction, the first rotor 121 and the third rotor 131 rotate, and the second rotor 122 and the fourth rotor 132 stop moving (or reverse movement to change The rotating shaft is in the forward direction); when the drone needs to turn to the right in FIG. 2, the second rotor 122 and the third rotor 131 rotate, and the first rotor 121 and the fourth rotor 132 stop moving ( Or reverse movement to change the positive direction of the shaft).

It can be understood that when the drone needs to move in the second direction or turn to the left side in FIG. 2, each rotor operates in the opposite manner to the above. In other embodiments, the forward rotation of all the rotor shafts in FIG. 2 can also be rotated by 180°, and the working process is similar to the above-mentioned working process, and details are not described herein again.

Further, the ground-accessible drone further includes a fifth rotor 15 and a sixth rotor 16, and the fifth rotor 15 and the sixth rotor 16 are disposed on the main casing 11 and the remaining two are not provided. The face of the rotor is provided. That is, the fifth rotor 15 and the sixth rotor 16 are different from the first rotor 121, the second rotor 122, the third rotor 131, and the fourth rotor 132. On the face, the rotation axes of the fifth rotor 15 and the sixth rotor 16 are the same in the same direction, and the rotation axes of the fifth rotor 15 and the sixth rotor 16 are parallel to the corresponding facets and parallel to the main casing 11 End face. The rotation axes of the fifth rotor 15 and the sixth rotor 16 in FIG. 2 are oriented in the first direction for pushing the ground-moving drone to move in the first direction. When the rotation axes of the fifth rotor 15 and the sixth rotor 16 are changed to face in the second direction, they can be used to push the ground-moving drone to move in the second direction.

More specifically, the first rotor 121, the third rotor 131, the second rotor 122, The fourth rotor 132, the fifth rotor 15 and the sixth rotor 16 have a regular hexagonal structure, and the sides of the hexagon are equal in length to the edge of the bottom surface of the hexagonal prism. The advantage of this arrangement is that when the ground-moving drone needs to be converted into the flight mode, that is, the direction of the rotation axis of each rotor is perpendicular to the horizontal plane, the adjacent rotors can abut each other to enhance the stability of the structure. Sex.

More specifically, the ground-accessible drone further includes a first magnetic medium 17 and a second magnetic medium 18, and the first magnetic medium 17 is disposed on each of the facets of the main casing 11 The second magnetic medium 18 is disposed on a rotor 121, the second rotor 122, the third rotor 131, the fourth rotor 132, the fifth rotor 15 and the sixth rotor 16 The first magnetic medium 17 and the second magnetic medium 18 are attracted to each other to fix the rotor and the main casing 11. a slot 110 is further disposed on the main housing face, the first rotor 121, the second rotor 122, the third rotor 131, the fourth rotor 132, the fifth rotor 15 and The sixth rotor 16 is respectively provided with a plug 111 that cooperates with the slot 110. The positioning function is realized by the cooperation of the latch 111 and the slot 110.

More specifically, the slot 110 has a substantially cross shape, that is, the latch 111 has a cross shape. The advantage of this design is that the angle of the rotor system 20 can be adjusted to achieve various flight modes according to different needs. For example, the rotation axes of all the rotors can be set to face up to achieve the flight mode of the drone.

More specifically, the base 20 is provided with six card slots 201, the first rotor 121, the third rotor 131, the second rotor 122, the fourth rotor 132, and the fifth rotor. 15 and the sixth rotor 16 are both fixed in the card slot 201. The base 20 is made of an elastic material such as rubber, elastic plastic or the like. Preferably, the base 20 can be formed by injection molding or blow molding, and the base has a certain strength to support and protect. The power assembly 10 is fixed integrally with the base 20 by the pressing force generated by the rotation of the rotor into the card slot 201. At the same time, this connection also facilitates removal of the base 20 from the main assembly 10 to form different modes of operation. The motion mechanism 21 on the base 20 can be a universal wheel or a spherical contact.

Please refer to FIG. 3. FIG. 3 is a schematic structural view of a second embodiment of a ground-moving drone. The direction indicated by the solid arrow in the figure is the rotation direction of each rotor, and each rotor is fixed to a facet. on. Specifically, the first rotor 121 and the second rotor 122 are disposed on two adjacent prism faces, and the third rotor 131 and the fourth rotor 132 are disposed on two adjacent adjacent facets. The rotor shaft fixed to the facet is parallel to the facet. When the drone needs to move in the first direction, the first a rotor 121 and the third rotor 131 rotate, the second rotor 122 and the fourth rotor 132 stop moving (or reverse movement to change the positive direction of the rotating shaft); when the drone needs to go to the right in FIG. When the side turns, the first rotor 121 and the fourth rotor 132 rotate, and the second rotor 122 and the third rotor 131 stop moving (or reverse movement to change the positive direction of the rotating shaft). It will be appreciated that when the drone needs to move in the second direction or turn to the left in Figure 3, the individual rotors operate in the opposite manner as described above. In other embodiments, the forward rotation of all the rotor shafts in FIG. 2 can also be rotated by 180°, and the working process is similar to the above-mentioned working process, and details are not described herein again.

Further, the ground-accessible drone further includes a fifth rotor 15 and a sixth rotor 16, and the fifth rotor 15 and the sixth rotor 16 are disposed on the main casing 11 and the remaining two are not provided. a ridge face provided with a rotor, the rotation axes of the fifth rotor 15 and the sixth rotor 16 are the same in the same direction, and the rotation axes of the fifth rotor 15 and the sixth rotor 16 are parallel to the corresponding facet and parallel In the water level. The rotation axes of the fifth rotor 15 and the sixth rotor 16 in FIG. 3 are oriented in a direction perpendicular to the first direction for pushing the ground-moving drone to move in a vertical first direction.

It will be appreciated that a detachable connection is employed between the rotor of the present invention and the main housing 11. Therefore, there may be a motion mode of the third embodiment shown in FIG. 4 and the fourth embodiment shown in FIG. 5. The motion mode shown in Figure 4 can be rotated in situ or spirally. The motion mode of Figure 5 enables fast movement in one direction.

The embodiments of the present application have been described in detail above. The principles and implementations of the present application are described in the specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present application. A person skilled in the art will have a change in the specific embodiments and the scope of the application according to the idea of the present application. In summary, the content of the present specification should not be construed as limiting the present application.

Claims

A ground-accessible drone characterized by comprising a main casing, a first rotor group and a second rotor group, the main casing being symmetric along a plane of symmetry, the main casing comprising two opposite arrangements An end face reference surface and a facet connected between the two end face reference faces, the first rotor group and the second rotor group being mounted on the facet and symmetrically distributed on both sides of the symmetry plane The first rotor group includes a first rotor and a second rotor, the second rotor group includes a third rotor and a fourth rotor, the first rotor, the second rotor, the third rotor, and the The rotation axis of the fourth rotor is parallel to the end surface reference surface and is at an acute angle with the symmetry plane, and the first rotor and the third rotor are used to jointly drive the drone to move toward the first direction. The second rotor and the fourth rotor are used to jointly drive the drone to move in a second direction, the first direction and the second direction being opposite.
The ground-moving drone according to claim 1, wherein the main casing has a regular hexagonal prism structure, and the first rotor and the third rotor are disposed on two adjacent facets. The second rotor and the fourth rotor are respectively disposed on two other adjacent prism faces, and the rotation shafts of the first rotor, the second rotor, the third rotor, and the fourth rotor are respectively Parallel to the corresponding facet.
The ground-moving drone according to claim 1, wherein said main casing has a regular hexagonal prism structure, and said first rotor and said second rotor are disposed on two adjacent facets. The third rotor and the fourth rotor are respectively disposed on two other adjacent prism faces, and the rotation shafts of the first rotor, the second rotor, the third rotor, and the fourth rotor are respectively Parallel to the corresponding facet.
A ground-moving drone according to claim 2 or 3, further comprising a fifth rotor and a sixth rotor, said fifth rotor and said sixth rotor and said first rotor, said The second rotor, the third rotor and the fourth rotor belong to different ribs, and the fifth rotor and the sixth rotor have the same direction of rotation, the fifth rotor and The rotation axis of the sixth rotor is parallel to the corresponding facet and parallel to the main casing end face reference surface.
The ground-moving drone according to claim 4, wherein said first rotor, said third rotor, said second rotor, said fourth rotor, said fifth rotor, and said The sixth rotor has a regular hexagonal structure, and the side length of the hexagon is equal to the length of the edge of the bottom surface of the hexagonal prism.
The ground-moving drone according to claim 1, further comprising a first a magnetic medium and a second magnetic medium, the first magnetic medium is disposed on a surface of the main casing, and the first rotor, the second rotor, the third rotor, and the fourth rotor are disposed There is a second magnetic medium, the first magnetic medium and the second magnetic medium are attracted to each other, and a slot is further disposed on a surface of the main casing, the first rotor, the second rotor, The third rotor and the fourth rotor are respectively provided with latches that cooperate with the slots.
The ground-accessible drone of claim 6 wherein said slot is in the shape of a cross.
The ground-moving drone according to claim 1, further comprising a base, wherein the base is provided with a card slot and a movement mechanism, and the first rotor group and the second rotor group are fixed to In the card slot.
The ground-moving drone according to claim 8, wherein the base is made of an elastic material.
The ground-moving drone according to claim 8, wherein the movement mechanism is a universal wheel or a spherical contact.