Air-ground dual-purpose unmanned aerial vehicle

[0042] The core of the invention is to provide an air-ground dual-purpose unmanned aerial vehicle, which can fly in the air and walk on the ground, can be applied to uneven ground, and has strong adaptability.

[0043] In order to make the technicians in the field better understand the technical scheme of the present invention, the air-ground dual-purpose unmanned aerial vehicle of the present invention will be described in detail below with reference to the attached drawings and specific embodiments.

[0044] such as Figure 1 Shown is an axonometric schematic diagram of a specific embodiment of the air-ground dual-purpose UAV provided by the present invention; The air-ground dual-purpose unmanned aerial vehicle of the invention comprises a fuselage 1, which is the main part of the whole unmanned aerial vehicle, and other components are mounted on the fuselage 1; A folding flight bracket 2 is arranged on the fuselage 1, which can be extended and folded relative to the fuselage 1. The flight bracket 2 can be folded and contracted into the range of the fuselage 1, and can be unfolded and extended out of the fuselage 1. The state of the flight bracket 2 is adjusted according to the use mode.

[0045] The flight bracket 2 is provided with a propeller 3, which is arranged at the tail end of the flight bracket 2. The propeller 3 is provided with a plurality of wings, and each propeller 3 drives the wings to rotate. When the wings are placed, the propeller 3 drives the unmanned aerial vehicle to fly in the air. In the flight mode, the flight bracket 2 keeps extending, so that the propeller 3 extends beyond the range of the fuselage 1. When the propeller 3 rotates, it provides enough airflow to generate lift.

[0046] At least four traveling wheels 4 are arranged around the machine body 1, and each traveling wheel 4 is provided with an independent driving device, so that each traveling wheel 4 can independently run and turn and control the direction of moving on the ground.

[0047] The air-ground dual-purpose unmanned aerial vehicle can realize two working modes, namely flying in the air and walking on the ground; such as Fig. 2A and Figure 2B Fig. 2 is a top view of the flight mode and walking mode of the air-ground dual-purpose UAV provided by the present invention. When flying in the air, the flight bracket 2 is unfolded, so that the propeller 3 extends around and is exposed to the fuselage 1, and the propeller 3 rotates to provide updraft to make the drone fly in the air; When walking on the ground, the flight support 2 folds and retracts back to the fuselage 1, which reduces the overall volume, reduces the collision probability between the flight support 2 and the propeller 3, and avoids damage. The pass rate can be improved through a narrow space. The UAV can be used in both air and ground, so it has a wider application range, especially for UAVs transporting goods.

[0048] On the basis of the above scheme, the folding bin 5 is arranged at the top of the fuselage 1, the middle of the folding bin 5 is provided with an interlayer, and the interlayer is surrounded by an upper layer and a lower layer which are horizontally arranged. The flight bracket 2 is rotatably installed in the interlayer of the folding bin 5, and the rotating shaft of the flight bracket 2 is vertically arranged, so that the flight bracket 2 can rotate into the folding bin 5 along the horizontal direction, and the folding bin 5 provides protection for the flight bracket 2. Between the flight bracket 2 and the folding bin 5, the rod of the telescopic rod can be used as the power of folding drive. In addition to horizontally rotating, folding and contracting, the flight support 2 can also adopt vertically folding and contracting.

[0049] such as Fig. 2A As shown, the folding bin 5 has a roughly square structure, and two flight brackets 2 are respectively arranged at four top corners of the folding bin 5, and the whole flight bracket 2 is provided with eight flight brackets 2 and eight propellers 3. The extension directions of the two flying brackets 2 located at the same top corner are roughly vertical, and the two flying brackets 2 located at one top corner are located at two different sides, and the two flying brackets 2 on each side are folded into the same side.

[0050] such as Fig. 2A As shown, the upper surface of the folding bin 5 is provided with a solar panel 51 for converting solar energy. The solar panel 51 supplies power to the solar battery pack through a voltage stabilizer, and the solar energy is converted into additional electric energy, so as to improve the endurance time of the UAV. In addition to the solar battery pack, there is also a rechargeable battery, and the solar battery pack and the battery cooperate with each other to supply power to drive the propeller 3 and the traveling wheel 4.

[0051] On the basis of any of the above technical solutions and their mutual combination, the walking wheel 4 of the present invention comprises a center bracket 41, a rotating bracket 42, a deformation telescopic rod 43 and a crawler belt 44, as shown in. Fig. 3A and Fig. 3B As shown, respectively, the isometric view and the front view of the circular state of the traveling wheel 4; Fig. 4A and Fig. 4B The isometric view and the front view of the triangular state of the traveling wheel 4 are respectively shown.

[0052] The central support 41 is connected with the machine body 1, and the motor and other driving devices on the machine body 1 can drive the central support 41 to make the whole walking wheel 4 rotate and roll on the ground. A plurality of rotating brackets 42 surround the center bracket 41, and the outer surface of the rotating bracket 42 is arc-shaped, and the outer surface of the rotating bracket 42 can be enclosed to form a cylindrical surface, for example Fig. 5A As shown in the figure, there are six rotating supports 42 inside the walking wheel 4. The outer surfaces of the six rotating supports 42 are located on the same cylindrical surface, and the crawler belt 44 is surrounded on the outer surface of the rotating support 42. When the rotating supports 42 are surrounded to form a circle, the whole walking wheel 4 rotates synchronously and rolls on the ground.

[0053] One end of the rotating bracket 42 is rotatably connected to the central bracket 41, and the other end of the rotating bracket 42 is connected to the central bracket 41 through a deformed telescopic rod 43, and the deformed telescopic rod 43 contracts to drive the rotating bracket 42 to rotate to form a triangular prism. such as Fig. 3B and Fig. 4B As shown, six rotating supports 42 are rotatably connected to three corners. When the deformation telescopic rod 43 contracts, the rotating supports 42 enclose to form a triangular prism structure. At this time, the crawler belt 44 can rotate independently and circularly. The whole walking wheel 4 can walk through the movement of the crawler belt 44, which can be applied to uneven ground and adapt to more terrains and road conditions.

[0054] such as Fig. 5B As shown, it is a sectional structure diagram of the traveling wheel 4; The central bracket 41 is provided with a sun gear 45, which is located in the center of the central bracket 41 and driven by a motor to rotate, and the inner wall of the crawler belt 44 is provided with a gear ring corresponding to the position where the sun gear 45 is located. The outer periphery of the sun gear 45 is provided with a planetary gear 46 and a rolling drive block 47, and the planetary gear 46 and the rolling drive block 47 can translate along the axial direction; The sun gear 45 can be engaged with the planetary gear 46 or the rolling drive block 47 independently.

[0055] such as Fig. 5B As shown, when the planetary gear 46 moves to the left (i.e., away from the machine body) and engages with the sun gear 45, the planetary gear 46 engages with the gear ring protruding from the inner circumference of the crawler belt 44, and the sun gear 45 rotates to drive the planetary gear 46 to rotate independently, and the planetary gear 46 then drives the crawler belt 44 to rotate independently through the gear ring, as shown in. Fig. 5CAs shown, the front view of the walking wheel 4 is in a triangular state, and the crawler belt 44 rotates independently to walk on the ground.

[0056] such as Fig. 5D Shown is a schematic structural diagram of the meshing between the rolling driving block 47 and the sun gear 45; The rolling drive block 47 has an annular structure, and the inner ring and the outer ring are respectively provided with toothed blocks. The inner ring meshes with the sun gear 45, and the outer ring meshes with the crawler belt 44. When the rolling drive block 47 meshes with the sun gear 45 for transmission, the sun gear 45, the rolling drive block 47 and the crawler belt 44 rotate synchronously. Fig. 5E It is the front view of the walking wheel 4 in a circular state, when the walking wheel rolls on the ground.

[0057] such as Figure 1 As shown, a storage box for placing goods is arranged in the fuselage 1, and the opening of the storage box is upward, serving as a drone for transporting goods.

[0058] A lifting rod 6 is arranged between the folding bin 5 and the fuselage 1, which is used to drive the folding bin 5 to ascend and descend. The lifting rod 6 is lifted up when picking and placing goods, and descends when transporting goods, so that the center of gravity of the whole unmanned aerial vehicle is lowered, and the goods are limited.

[0059] such as Figure 6 As shown, it is a partial cross-sectional structural diagram of the wing of propeller 3. The inside of the wing of propeller 3 is provided with a honeycomb net, and the outer surface of the wing is a smooth and flat surface. The honeycomb net inside the wing consists of tiny through holes arranged in an array, and each through hole is a hexagonal prism. By arranging the honeycomb net inside, materials can be saved, and its bending rigidity and strength are almost the same or even better than those of solid plates with the same material and thickness when subjected to an external load perpendicular to the cross section, and its weight is lighter. At the same time, the honeycomb structure also helps to reduce the noise generated when the propeller 3 rotates.

[0060] A heating plate and a balancing device 11 are respectively arranged in the storage box of the machine body 1. The heating plate heats the stored goods and is used for transporting goods such as food. The heating plate realizes temperature control through a thermostat and is powered by a solar battery pack. such as Figure 7 As shown, the balance device 11 is located at the inner bottom of the storage box. The balance device 11 includes an orifice plate 111 and balance columns 112. The orifice plate 111 is provided with mounting holes arranged in an array, and each mounting hole is provided with a balance column 112. The balance column 112 keeps the contained goods horizontal through its telescopic state, and when it extends upward, it contacts with the bottom of the goods to provide support for the goods. Each balance column 112 extends differently.

[0061] The control system includes an information acquisition unit, which is used to collect the data of GPS module, lidar module, weather meter and plane sensor. The GPS module is used to distinguish flight and land road areas and locate and identify lane information. The laser radar module is used to detect the road condition information and whether there are bumps and other obstacles. The weather measuring instrument is used for acquiring weather information in real time; The plane sensor is used to obtain the horizontal state of the top of the balance column 112 and provide data for the balance device 11 for timely adjustment. The data of the information acquisition unit is sent to the central processor through the information processing unit, and the central processor outputs signals to the control unit module, such as Fig. 8A Fig. 2 shows the control information flow diagram of the balancing device; The control unit module outputs a control signal, and the control unit module controls the motion states of the balancing device 11, the flight bracket 2, the propeller 3, the walking wheel 4, the lifting rod 6 and other components through the effect driver.

[0062] such as Fig. 8B Shown as the schematic diagram of power supply; The solar panel absorbs solar energy, and the voltage of the solar panel is regulated by a voltage regulator to charge the solar panel. The current of the solar panel and the storage battery is regulated by a transformer and converted into alternating current by an inverter to supply power to the starter. The solar panel can also supply power to the heating panel and the thermostat.

[0063] The air-ground dual-purpose unmanned aerial vehicle can switch between flight mode and walking mode at any time according to the actual situation.

[0064] When the air-ground dual-purpose unmanned aerial vehicle of the present invention is in flight mode, the flight bracket 2 extends outward from the folding bin 5 and remains relatively fixed, such as Fig. 8C Shown is the power supply and signal control diagram of the propeller. The battery and the solar battery pack jointly supply power to the propeller 3. The CPU sends control instructions, and the propeller rotates to provide ascending power, and the UAV flies in the air.

[0065] When the UAV is in flight mode and flying in the air, the flight mode is not conducive to the safety of the UAV, so the UAV needs to switch to walking mode. such as Figure 8D Shown as the action process, power supply and control chart of switching to walking mode; First, the landing process of the UAV is carried out. After the safe landing place is confirmed, the propeller blades on the UAV begin to slow down and the lift of the propeller decreases. When the sum of the lift of the eight propellers of the UAV is less than the total weight of the UAV, the UAV begins to descend from the air until the UAV gradually descends to a safe position on the ground, and the propeller stops working after landing. At this time, the propeller 3 does not need to participate in the work, and the central processing unit inside the machine body controls the flight support 2 to rotate from the rotating shaft connected between the folding bins 5, so that the eight propellers successively contract inward, reaching the goal of Figure 2B As shown, the instantaneous volume of the UAV is reduced, and the propeller is prevented from being damaged by collision, scraping and other behaviors. When the flight brackets 2 contract inward, the two flight brackets 2 located on the same side rotate successively to prevent mutual obstruction. After reaching a certain degree, the propeller 3 rotates clockwise around the shaft again, and the contraction is completed. The flight brackets 2 rotate horizontally and contract into the folding bin 5, as shown in Fig. 8E As shown in the figure, the relationship diagram of the control and power supply of the running wheel rotation is shown. The CPU sends a control signal, and the storage battery and the solar battery pack jointly supply power to the running wheel 4 to make it run on the ground.

[0066] When the UAV is in walking mode, when the road conditions are too complicated and the flying environment in the air is good, the UAV needs to switch to flying mode to fly in the air. such as Fig. 8F Shown as the action process, power supply and control relation diagram of switching to flight mode; Firstly, the propeller is extended, that is, the propeller changes from contraction state to extension state. After the extension process, the propeller starts to work, and the blades rotate, which makes the propeller generate upward power. When the sum of the lift of the eight propellers of the UAV is greater than the total weight of the UAV, the UAV begins to lift and soar from the ground to the air.

[0067] When an uneven road surface is encountered and the flight conditions are not good, the deformation telescopic rod 43 is shortened to drive the rotating bracket 42 to rotate, so that the traveling wheel 4 is deformed into a triangle. At this time, the storage battery and the solar battery pack supply power to the motor driving the sun gear 45, and the sun gear 45 meshes to drive the planetary gear 46 to rotate, and the planetary gear 46 further drives the crawler belt 44 to move and walk on the ground.

[0068] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Many modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.