Land-air dual-purpose coaxial propeller-reversing unmanned aerial vehicle with folding wheels

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By designing a folding wheel and rotor mechanism on the drone, the switching between the drone from air to land movement is achieved, the problem of rotor unmanned aerial vehicle lacking land movement capabilities is solved, and mission flexibility and stability are improved. And reduces energy consumption and maintenance costs.

CN119262359APending Publication Date: 2025-01-07JILIN UNIVERSITY

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Patent Information

Application Number: CN202411598838.5
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2024-11-11
Publication Date: 2025-01-07

AI Technical Summary

Technical Problem

Existing rotor drones lack the ability to move land and are difficult to perform ground work tasks.

Method used

A land-air dual-purpose coaxial anti-propeller drone with folding wheel is designed. By deploying the folding wheel, the servo unit controls the rotor by controlling the rotor by deploying the folding wheel. and folding wheels for stable land movement.

Benefits of technology

It expands the application range of drones, improves flexibility in performing tasks, has lower energy consumption, compact structure, high flight stability, easy to disassemble and replace parts, has good maintenance and low cost.

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Abstract

The invention discloses a land-air dual-purpose coaxial reverse propeller unmanned aerial vehicle with folding wheels, and belongs to the technical field of unmanned aerial vehicles, the land-air dual-purpose coaxial reverse propeller unmanned aerial vehicle comprises a rack, a rotor wing mechanism, two folding wheel mechanisms, a sensing control assembly and a battery system, the rotor wing mechanism comprises an upper rotor wing mechanism and a lower rotor wing mechanism, and the upper rotor wing mechanism and the lower rotor wing mechanism are arranged on the upper side and the lower side of the rack respectively to form a coaxial forward and reverse propeller structure; the two folding wheel mechanisms are symmetrically arranged on the upper side and the lower side of the rack; rotors are driven by motors in the rotor mechanisms, lift force is provided for the aircraft, the directions of the rotors are adjusted by steering engine sets, and the flight direction is controlled. Opening and closing of the folding wheel mechanism are driven by a hollow shaft gear motor, and the unfolding state of the folding wheel mechanism is locked by a buckle. The perception control assembly comprises a camera sensor and an airborne computer and is used for obtaining visual sensing information of the aircraft, processing sensor information and controlling flight. According to the invention, conversion from an air flight mode to a land movement mode can be completed by unfolding the folding wheels, and the flexibility of task execution is improved.

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Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a land and air dual-purpose coaxial counter-propeller unmanned aerial vehicle with folding wheels. Background Art

[0002] Drones play an important role in many fields, such as aerial photography, logistics and military, due to their small size and low cost. Among them, rotary-wing drones are widely used in environmental monitoring and search and rescue due to their excellent hovering flight capabilities.

[0003] At present, existing rotor UAVs mainly rely on flying in the air and do not have the ability to move on land. When UAVs are required to perform ground work tasks such as soil detection and sensor deployment, ordinary UAVs are difficult to perform. The significant advantage of dual-use land and air UAVs is that the UAV can switch to land mobile mode through land mobile devices, such as folding wheels, when performing ground work tasks, so as to flexibly complete ground work tasks. In addition, compared with the multi-rotor design, the coaxial double-propeller design has lower energy consumption due to fewer rotors, compact structure, small space occupation, high flight stability, and stronger adaptability to complex climatic conditions. Therefore, it is necessary to design a dual-use land and air coaxial reverse propeller UAV with folding wheels. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that most existing rotorcraft UAVs rely on air flight and lack the ability to move on land to perform ground work tasks, and to provide a land-air dual-purpose coaxial reverse propeller UAV with folding wheels and a control method thereof. The UAV can switch from an air flight mode to a land movement mode by unfolding the folding wheels, achieving land-air dual-purpose, and providing strong support for the UAV to perform ground work tasks.

[0005] A land-air dual-purpose coaxial reverse propeller UAV with folding wheels, comprising:

[0006] A frame A, a rotor mechanism B, two folding wheel mechanisms C, a sensing control component D, and a battery system E, wherein: the rotor mechanism B includes an upper rotor mechanism B1 and a lower rotor mechanism B2, which have the same structure except that the rotors of the aircraft are different, and are symmetrically arranged on the upper and lower sides of the frame A to form a forward and reverse propeller structure; the two folding wheel mechanisms C have the same structure, are located between the two rotor mechanisms and are symmetrically arranged on the frame A; the sensing control component D includes an onboard computer 12 and a camera sensor 14.

[0007] The frame A includes a supporting middle part and two hollow cylindrical ends symmetrically arranged on both sides thereof, the onboard computer 12, camera sensor 14 and battery system E are fixedly connected to the supporting middle part of the frame A; the outer surface of the hollow cylindrical end of the frame A is provided with a threaded section and an optical axis section, wherein the threaded section is close to the supporting middle part and is provided with an external thread which is threadedly matched with a hinge plate II 9012 with an internal thread on the inner side of the folding wheel 9 in the folding wheel mechanism C, below the lower stroke position d2 of the hinge plate II 9012, the thread is thickened to increase the matching resistance of the hinge plate II 9012 for clamping and limiting the hinge plate II 9012, the optical axis section is far away from the supporting middle part and is provided with an optical axis without threads, and the stator 10b of the hollow shaft reduction motor 10 is fixedly connected to the outermost side of the inner surface of the hollow cylindrical end of the frame A.

[0008] The upper rotor mechanism B1 includes: aircraft rotor Ⅰ1a, motor 2, cross 3, cross support 4, fixing frame 5, steering gear group 6, cover plate 7, connecting rod 8, wherein: the aircraft rotor Ⅰ1a rotates clockwise when viewed from top to bottom to generate lift; the bottom end of the motor 2 is fixed on the cross 3, which can drive the rotor Ⅰ1a to rotate; the cross 3 can rotate on the cross support 4; the cross support 4 can rotate on the fixing frame 5; the fixing frame 5 and the steering gear group 6 are both fixed on the outside of the cover plate 7; the connecting rod The upper end of 8 passes through the cover plate 7 and is fixedly connected to the base hole of the fixing frame 5, and the lower end passes through the hinge plate Ⅰ9011 of the folding wheel mechanism C and the rotor 10a of the hollow shaft reduction motor 10 in sequence, and is fixed on the stator 10b of the hollow shaft reduction motor 10; the steering gear group 6 includes two steering gears, which can control the angles of the cross 3 and the cross support 4, and then adjust the direction of the aircraft rotor Ⅰ1a, so as to control the flight direction of the UAV; the aircraft rotor Ⅱ1b of the lower rotor mechanism B2 rotates counterclockwise when viewed from top to bottom to generate lift.

[0009] The folding wheel mechanism C includes a folding wheel 9, a hollow shaft reduction motor 10, and a buckle 11. The folding wheel 9 includes a hinge plate I 9011, a hinge plate II 9012, a support rod I 902, a support rod II 903, a hinge I 904, a hinge II 905, and a wheel outer ring 906;

[0010] The lower surface of the hinge plate I9011 is evenly and alternately distributed with the straight-line fixing portion I9011a and the two-line fixing portion I9011b, and the upper surface of the hinge plate II9012 is evenly and alternately distributed with the straight-line fixing portion II9012a and the two-line fixing portion II9012b. The lower surface of the hinge plate I9011 and the upper surface of the hinge plate II9012 are arranged opposite to each other, and the straight-line fixing portion I9011a of the hinge plate I9011 is located directly above the two-line fixing portion II9012b of the hinge plate II9012; the straight-line fixing portion I9011a and the straight-line fixing portion II9012a are both hinged to the bracket rod II903, and the two-line fixing portion I9011b and the two-line fixing portion II9012b are both hinged to the bracket rod I902. The straight-line fixing portion I9011a and the two-line fixing portion II9012b below it are hinged to the bracket rod I902. The bracket rods Ⅱ903 and Ⅰ902 are respectively hinged to the two-character fixing part Ⅰ9011b and the one-character fixing part Ⅱ9012a below, and the bracket rods Ⅰ902 and Ⅱ903 are respectively hinged to the bracket rods Ⅰ902 and Ⅱ903, and the two are hinged to the middle to form an X-shaped cross arrangement; the outer side of each bracket rod Ⅰ902 is hinged to the hinge hole group Ⅵ30 in the middle of the hinge Ⅱ905, and the outer side of each bracket rod Ⅱ903 is hinged to the hinge hole Ⅵ27 in the middle of the hinge Ⅰ904, and the hinges Ⅰ904 and hinges Ⅱ905 arranged alternately up and down form a plurality of hinge groups; the inner ends of the wheel outer ring 906 are provided with hinge shafts, which are hinged to the inner sides of the upper and lower hinges Ⅰ904 or hinges Ⅱ905 in the two adjacent hinge groups through the hinge shafts on both sides;

[0011] The buckle 11 comprises an upper buckle 11a, a latch tongue 11b, a retaining spring 11c and a lower buckle 11d. The top end of the upper buckle 11a is fixedly connected to the lower surface of the hinge plate I9011, and the bottom end of the lower buckle 11d is fixedly connected to the upper surface of the hinge plate II9012. The upper buckle 11a is located directly above the lower buckle 11d, and the latch tongue 11b and the retaining spring 11c are located in the upper buckle 11a. An outlet groove I and a limiting slide groove are provided on one side of the lower part of the upper buckle 11a. The tongue 11b has a tongue and a tongue body. The upper and lower parts of the tongue are slopes, and the middle part of the tongue is a platform. The tongue body of the tongue 11b slides in the limiting slide groove, and the tongue extends from the outlet groove Ⅰ of the upper buckle 11a. The tongue 11b is connected to the inner wall of the upper buckle 11a through the tongue body through the retaining spring 11c. An outlet groove Ⅱ is provided on the same side of the upper part of the lower buckle 11d. When working, the tongue 11b extends through the outlet groove Ⅱ of the lower buckle 11d under the elastic force of the retaining spring 11c.

[0012] The onboard computer 12 is used to read sensor information, calculate data, and control the operation of the drone by controlling the motor 2, the steering gear unit 6, the hollow shaft reduction motor 10 and other components to ensure the normal operation of the drone; the camera sensor 14 is used to obtain visual sensor information of the aircraft.

[0013] The battery system E includes a lithium battery 13, which is responsible for providing the required electrical energy for the UAV to support the flight and mission execution of the UAV.

[0014] Another object of the present invention is to provide a control method for a land-air dual-purpose coaxial counter-propeller UAV with folding wheels.

[0015] The control method of the land-air dual-purpose coaxial reverse propeller UAV with folding wheels comprises the following steps:

[0016] 1) Flight: Start the rotor mechanism B, the aircraft rotor Ⅰ1a rotates clockwise when viewed from above, and the aircraft rotor Ⅱ1b rotates counterclockwise, providing lift for the UAV flight; the steering gear group 6 controls the UAV flight direction by controlling the cross 3 and the cross support 4;

[0017] 2) Landing: When the UAV reaches the target position, the aircraft rotor (1a) and the aircraft rotor (1b) gradually decelerate. When approaching the ground, the rotor (10a) of the hollow shaft reduction motor (10) on the upper side of the control frame A is rotated to unfold the folding wheels (9); the aircraft rotor II (1b) gradually decelerates and stops rotating; the UAV slowly lands on the ground and naturally falls over, and the aircraft I (1a) gradually decelerates and stops rotating, and the folding wheels 9 on both sides of the frame A support the UAV;

[0018] 3) Land movement: The steering gear unit (6) tilts the aircraft rotor (1a) and the control aircraft rotor (1b) inward through the cross support (4), and the two rotor planes form an eight-shaped shape; the aircraft rotor (1b) is started to rotate, and the two rotors rotate in the same direction and speed as the aircraft rotor (1a), and the folding wheel (9) rotates, and the UAV moves on land.

[0019] The invention provides a land and air dual-purpose coaxial reverse-propeller UAV with folding wheels, belonging to the technical field of UAVs, and comprising: a frame, a rotor mechanism, two folding wheel mechanisms, a sensing control component and a battery system, wherein: the rotor mechanism comprises an upper rotor mechanism and a lower rotor mechanism, the upper rotor mechanism is arranged on the upper side of the frame, and the lower rotor mechanism is arranged on the lower side of the frame, forming a coaxial forward and reverse propeller structure; the two folding wheel mechanisms are symmetrically arranged on the upper and lower sides of the frame; the rotors in the rotor mechanism are driven by a motor to provide lift for the aircraft, and the direction of the rotors is adjusted by a steering gear group, thereby controlling the flight direction of the UAV; the opening and closing of the folding wheel mechanism is driven by a hollow shaft reduction motor, and the unfolded state of the folding wheel mechanism is locked by a buckle; the sensing control component comprises a camera sensor and an onboard computer, which are used for obtaining visual sensor information of the aircraft, processing sensor information and flight control. The present invention can complete the conversion from the aerial flight mode to the land mobile mode by unfolding the folding wheels, thereby expanding the application scope of the UAV and improving its flexibility in performing tasks. Compared with the multi-rotor design, the coaxial counter-propeller design adopted by the present invention has lower energy consumption, compact structure, and high flight stability. The present invention has a sophisticated structure, and the parts are easy to disassemble and replace, and has good maintainability and low cost.

[0020] When moving on land, the steering gear unit (6) tilts the aircraft rotor (1a) and the control aircraft rotor (1b) inward through the cross support (4), and the two rotor planes are in an eight-shaped shape; the rotation speed of the aircraft rotor I1a and the aircraft rotor II1b is adjusted according to the rotation speed of the folding wheels 9 on both sides of the frame A, and the angular momentum generated by the aircraft rotor I1a, the aircraft rotor II1b and the folding wheels 9 offset each other, ensuring the stability of the UAV frame A when the UAV moves on land. The problem of the difficulty of controlling the two folding wheels of a coaxial counter-propeller UAV on land is solved. The problem of the difficulty of controlling the two folding wheels of a coaxial counter-propeller UAV on land is solved.

[0021] In summary, the land-air dual-purpose coaxial counter-propeller UAV with foldable wheels provided by the present invention has the following beneficial effects:

[0022] At present, rotary-wing UAVs are gradually being widely used by people, but existing rotary-wing UAVs mainly rely on aerial flight and lack the ability to move on land suitable for ground work tasks. The folding wheel structure provided by the present invention can complete the switch from aerial flight mode to land movement mode by unfolding the folding wheels when the UAV needs to perform ground work tasks, thereby achieving dual-use of land and air, expanding the application range of UAVs, and improving the flexibility of UAVs when performing tasks. Compared with the multi-rotor design, the coaxial counter-propeller design adopted by the present invention has lower energy consumption, compact structure, and high flight stability. At the same time, the overall structure of the present invention is compact, and the parts are easy to disassemble and replace, with good maintainability and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention A;

[0024] Figure 2 This is a schematic diagram B of the overall structure of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels of the present invention;

[0025] Figure 3 It is a cross-sectional structural schematic diagram of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0026] Figure 4 It is a schematic diagram of the overall structure of the rotor mechanism of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0027] Figure 5 A is a schematic diagram of the overall structure of a folding wheel mechanism of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0028] Figure 6 FIG. 1 is a schematic diagram B of the overall structure of a folding wheel mechanism of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0029] Figure 7 It is a specific schematic diagram of a folding wheel of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels of the present invention in a folded state;

[0030] Figure 8 It is a specific schematic diagram of a folding wheel unfolding state of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0031] Fig. 9 It is a structural schematic diagram of a hinge plate I of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0032] Fig.10 It is a structural schematic diagram of a hinge plate II of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0033] Fig.11 It is a structural schematic diagram of a support rod I of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0034] Fig.12 It is a structural schematic diagram of a support rod II of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0035] Fig.13 It is a structural schematic diagram of a hinge I of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0036] Fig.14It is a structural schematic diagram of a hinge II of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0037] Fig.15 It is a schematic structural diagram of the wheel outer ring of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0038] Fig.16 It is a schematic diagram of the buckle internal structure of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels according to the present invention;

[0039] Fig.17 The present invention is a schematic diagram of a land-air dual-purpose coaxial counter-propeller UAV with folding wheels in a land moving state.

[0040] In the attached picture:

[0041] A. Frame; B1. Upper rotor mechanism; B2. Lower rotor mechanism; C. Folding wheel mechanism; D. Sensing control component; E. Battery system; 1a. Aircraft rotor Ⅰ; 1b. Aircraft rotor Ⅱ; 2. Motor; 3. Cross; 4. Cross bracket; 5. Fixing frame; 6. Servo unit; 7. Cover plate; 8. Connecting rod; 9. Folding wheel; 10. Hollow shaft reduction motor; 10a. Rotor; 10b. Stator; 11. Buckle; 12. Onboard computer; 13. Lithium battery; 14. Camera sensor; 9011. Hinge plate Ⅰ; 9011a. One-shaped fixing part Ⅰ; 9011b. Two-shaped fixing part Ⅰ; 9012. Hinge plate Ⅱ; 9012a. One-shaped Fixing part II; 9012b. Two-character fixing part II; 902. Support rod I; 903. Support rod II; 904. Hinge I; 905. Hinge II; 906. Wheel outer ring; 11a. Upper buckle; 11b. Clamp tongue; 11c. Circlip; 11d. Lower buckle; 15. Reaming hole I; 16. Reaming hole group I; 17. Reaming hole II; 18. Reaming hole group II; 19. Reaming hole III; 20. Reaming hole IV; 21. Reaming hole V; 22. Reaming hole group III; 23. Reaming hole group IV; 24. Reaming hole group V; 25. Hinge point I; 26. Hinge point II; 27. Reaming hole VI; 28. Hinge point III; 29. Hinge point IV; 30. Reaming hole group VI; 31. Hinge shaft I; 32. Hinge shaft II. DETAILED DESCRIPTION

[0042] The following will be combined with the attached Figure 1-16 The advantages, purposes and features of the present invention are described more clearly and completely in the following specific implementation modes. It should be noted that the embodiments described below are only a part of all the embodiments of the present invention, but not all the embodiments.

[0043] Example 1

[0044] like Figures 1 to 3As shown, the present invention is a land and air dual-purpose coaxial counter-propeller UAV with folding wheels, comprising: a frame A, a rotor mechanism B, two folding wheel mechanisms C, a sensing control component D, and a battery system E, wherein: the rotor mechanism B comprises an upper rotor mechanism B1 and a lower rotor mechanism B2, the upper rotor mechanism B1 is arranged on the upper side of the frame A, and the lower rotor mechanism B2 is arranged on the lower side of the frame A, forming a coaxial forward and reverse propeller structure; the two folding wheel mechanisms C are symmetrically arranged on the upper and lower sides of the frame A; the sensing control component D comprises an onboard computer 12 and a camera sensor 14, the onboard computer 12 is used to read sensor information, calculate data, and drive and control the operation of the UAV by controlling the motor 2, the steering gear group 6, and the hollow shaft reduction motor 10 to ensure the normal operation of the UAV; the camera sensor 14 is used to obtain visual sensing information of the aircraft; the battery system E comprises a lithium battery 13, which is responsible for providing the required power for the UAV to support the flight and mission execution of the UAV.

[0045] The frame A includes a supporting middle part and two hollow cylindrical ends on both sides thereof, wherein: the supporting middle part includes four supporting rods distributed in a rectangular shape and two discs on both sides thereof; the camera sensor 14 and the onboard computer 12 are respectively fixed to the two rear supporting rods and the two front supporting rods in the supporting middle part of the frame A, and the battery system E is fixed between the two discs in the supporting middle part of the frame A; the two hollow cylindrical ends are symmetrically arranged at the upper and lower parts of the frame A, and taking the hollow cylindrical end at the upper part of the frame as an example, it includes a threaded section on the outer surface , the optical axis section and the inner surface of the hollow cylinder therein, wherein the threaded section is close to the middle part of the support, on which an external thread is provided to cooperate with the thread of the hinge plate Ⅱ9012 with an internal thread on the inner side of the folding wheel 9 in the folding wheel mechanism C, below the lower stroke position d2 of the hinge plate Ⅱ9012, the thread is thickened to increase the matching resistance of the hinge plate Ⅱ9012 for clamping the hinge plate Ⅱ9012, the optical axis section is far away from the middle part of the support, on which is a threadless optical axis, and the outermost end of the inner surface of the hollow cylinder is fixedly connected to the stator 10b of the hollow shaft reduction motor 10.

[0046] like Figure 4As shown, the rotor mechanism B includes an upper rotor mechanism B1 and a lower rotor mechanism B2, wherein the upper rotor mechanism B1 contains an aircraft rotor Ⅰ1a, and the lower rotor mechanism contains an aircraft rotor Ⅱ1b. Except for the different aircraft rotors, the two rotor mechanisms have the same structure and are respectively arranged on the upper and lower sides of the frame A; taking the upper rotor mechanism B1 as an example, it includes an aircraft rotor Ⅰ1a, a motor 2, a cross 3, a cross support 4, a fixing frame 5, a steering gear group 6, a cover plate 7, and a connecting rod 8, wherein: the aircraft rotor Ⅰ1a rotates clockwise from top to bottom to generate lift; the bottom end of the motor 2 is fixed on the cross 3, which can drive the aircraft rotor Ⅰ1a to rotate and provide lift for the aircraft; The cross 3 can rotate on the cross support 4; the cross support 4 can rotate on the fixing frame 5; the fixing frame 5 and the steering gear group 6 are both fixedly connected to the outer side of the cover plate 7; the upper end of the connecting rod 8 passes through the cover plate 7 and is fixedly connected to the base hole of the fixing frame 5, and the lower end passes through the hinge plate Ⅰ9011 of the folding wheel mechanism C and the rotor 10a of the hollow shaft reduction motor 10 in turn, and is fixed on the stator 10b of the hollow shaft reduction motor 10; the steering gear group 6 includes two steering gears, which can control the angles of the cross 3 and the cross support 4, and then adjust the direction of the aircraft rotor Ⅰ1a, so as to control the flight direction of the UAV; the aircraft rotor Ⅱ1b of the lower rotor mechanism B2 rotates counterclockwise when viewed from top to bottom to generate lift.

[0047] like Figure 3 , Figures 5 to 8 As shown, the folding wheel mechanism C includes a folding wheel 9, a hollow shaft reduction motor 10, and a buckle 11. Taking the folding wheel mechanism C on the upper side of the frame A as an example, the folding wheel 9 includes a hinge plate Ⅰ9011, a hinge plate Ⅱ9012, 6 bracket rods Ⅰ902, 6 bracket rods Ⅱ903, 6 hinges Ⅰ904, 6 hinges Ⅱ905 and 6 wheel outer rings 906; the lower surface of the hinge plate Ⅰ9011 and the upper surface of the hinge plate Ⅱ9012 are arranged opposite to each other, the one-character fixing portion Ⅰ9011a of the hinge plate Ⅰ9011 is located directly above the two-character fixing portion Ⅱ9012b of the hinge plate Ⅱ9012, and the two-character fixing portion Ⅰ9011b of the hinge plate Ⅰ9011 is located directly above the one-character fixing portion Ⅱ9012a of the hinge plate Ⅱ9012;

[0048] The three straight fixing parts I9011a of the hinge plate I9011 are respectively hinged to the hinge hole groups III22 on the three support rods II903 through the hinge hole I15, and the three two-character fixing parts II9012b of the hinge plate II9012 are respectively hinged to the hinge holes III19 on the three support rods I902 through the hinge hole group II18; the support rod II903 hinged to the hinge plate I9011 is hinged to the hinge hole IV20 of the support rod I902 hinged to the hinge plate II9012 through the hinge hole group IV23, and the support rod I902 passes through the support rod II903, and the two form an X-shaped cross arrangement; the support rod I902 hinged to the hinge plate I9011 through the hinge hole group I16 of the two-character fixing part I9011b is hinged to the hinge plate I9011 through the hinge hole 17 of the straight fixing part II9012a and the hinge plate II9012 through the hinge hole IV20. The support rod II 903 is hinged to the reaming hole group IV23, and the support rod I 902 passes through the support rod II 903, and the two form an X-shaped cross arrangement; the support rod II 903 hinged to the hinge plate I 9011 is hinged to the reaming hole group V24 and the reaming hole VI27 of the hinge I 904 located at the lower part of the folding wheel mechanism C, and the support rod I 902 hinged to the hinge plate I 9011 is hinged to the reaming hole V21 and the folding wheel mechanism C at the lower part of the folding wheel mechanism C. The hinge hole group VI30 of the hinge II 905 at the lower part of the wheel mechanism C is hinged, and the support rod II 903 hinged to the hinge plate II 9012 is hinged to the hinge hole group VI27 of the hinge I 904 located at the upper part of the folding wheel mechanism C through the hinge hole group V24, and the support rod I 902 hinged to the hinge plate II 9012 is hinged to the hinge hole group VI30 of the hinge II 905 located at the upper part of the folding wheel mechanism C through the hinge hole V21;

[0049] The hinge I904 located at the upper part of the folding wheel mechanism C and the hinge II905 located at the upper part of the folding wheel mechanism C are arranged alternately at intervals, and the hinge I904 located at the lower part of the folding wheel mechanism C and the hinge II905 located at the lower part of the folding wheel mechanism C are arranged alternately at intervals; the hinge I904 located at the upper part of the folding wheel mechanism C is directly above the hinge II905 located at the lower part of the folding wheel mechanism C, and the hinge I905 located at the upper part of the folding wheel mechanism C is directly above the hinge I904 located at the lower part of the folding wheel mechanism C; the wheel outer ring 906 includes 3 wheel outer rings 906 hinged to the hinge I904 and 3 wheel outer rings 906 hinged to the hinge II905, and the wheel outer ring 906 hinged to the hinge I904 is hinged to the hinge II905. The wheel outer rings 906 connected are arranged alternately at intervals; the wheel outer ring 906 hinged to the hinge Ⅰ904 is hinged to the hinge point Ⅰ25 of the hinge Ⅰ904 located at the lower part of the folding wheel mechanism C through the hinge shaft Ⅱ32, and is hinged to the hinge point Ⅱ26 of the hinge Ⅰ904 located at the upper right side adjacent to the hinge shaft Ⅰ31; the wheel outer ring 906 hinged to the hinge Ⅱ905 is hinged to the hinge point Ⅲ28 of the hinge Ⅱ905 located at the lower part of the folding wheel mechanism C through the hinge shaft Ⅱ32, and is hinged to the hinge point Ⅳ29 of the hinge Ⅱ905 located at the upper right side adjacent to the hinge shaft Ⅰ31; the hollow shaft reduction motor 10 comprises an upper rotor 10a and a lower stator 10b, and the hinge plate Ⅰ9011 is fixedly connected to the rotor 10a of the hollow shaft reduction motor 10 by screws.

[0050] like Fig. 9 As shown, the hinge plate Ⅰ9011 includes three straight-line fixing parts Ⅰ9011a and three double-line fixing parts Ⅰ9011b, and the three straight-line fixing parts Ⅰ9011a and the three double-line fixing parts Ⅰ9011b are alternately arranged and evenly distributed on the lower surface of the hinge plate Ⅰ9011, wherein a reamed hole Ⅰ15 is provided in the middle of the straight-line fixing part Ⅰ9011a, and a reamed hole group Ⅰ16 is provided in the middle of the double-line fixing part Ⅰ9011b.

[0051] like Fig.10 As shown, the inner side of the hinge plate II 9012 is provided with an internal thread which cooperates with the external thread provided on the threaded section at the end of the hollow cylinder on the upper part of the frame A. The hinge plate II 9012 includes three straight-line fixing parts II 9012a and three double-line fixing parts II 9012b. The three straight-line fixing parts II 9012a and the three double-line fixing parts II 9012b are alternately arranged and evenly distributed on the upper surface of the hinge plate II 9012. A reaming hole II 17 is provided in the middle of the straight-line fixing part II 9012a, and a reaming hole group II 18 is provided in the middle of the double-line fixing part II 9012b.

[0052] like Figures 11 to 16As shown, the support rod I902 is provided with a reaming hole III19, a reaming hole IV20 and a reaming hole V21; the support rod II903 is provided with a reaming hole group III22, a reaming hole group IV23 and a reaming hole group V24; the hinge I904 is provided with a hinge point I25, a hinge point II26 and a reaming hole VI27; the hinge II905 is provided with a hinge point III28, a hinge point IV29 and a reaming hole group VI30; the wheel outer ring 906 includes a hinge shaft I31 and a hinge shaft II32.

[0053] The buckle 11 comprises an upper buckle 11a, a latch tongue 11b, a retaining spring 11c and a lower buckle 11d. The top end of the upper buckle 11a is fixedly connected to the lower surface of the hinge plate I9011, and the bottom end of the lower buckle 11d is fixedly connected to the upper surface of the hinge plate II9012. The upper buckle 11a is located directly above the lower buckle 11d, and the latch tongue 11b and the retaining spring 11c are located in the upper buckle 11a. An outlet groove I and a limiting slide groove are provided on one side of the lower part of the upper buckle 11a. The tongue 11b has a tongue and a tongue body. The upper and lower parts of the tongue are slopes, and the middle part of the tongue is a platform. The tongue body of the tongue 11b slides in the limiting slide groove, and the tongue extends from the outlet groove Ⅰ of the upper buckle 11a. The tongue 11b is connected to the inner wall of the upper buckle 11a through the tongue body through the retaining spring 11c. An outlet groove Ⅱ is provided on the same side of the upper part of the lower buckle 11d. When working, the tongue 11b extends through the outlet groove Ⅱ of the lower buckle 11d under the elastic force of the retaining spring 11c.

[0054] During operation, in the folded state, hinge plate II 9012 is initially located at the lower stroke position d2. When the folding wheel needs to be changed from the folded state to the unfolded state, under the driving action of the rotor 10a of the hollow shaft reduction motor 10, hinge plate I 9011 rotates unidirectionally to drive the folding wheel 9 to rotate unidirectionally, and hinge plate II 9012 rotates unidirectionally. Since the inner side of hinge plate II 9012 is provided with an internal thread that cooperates with the external thread on the threaded section of the hollow cylindrical end portion of the upper part of the frame A, hinge plate II 9012 will continuously move upward along the external thread of the frame A, and at the same time drive the lower buckle 11d to move upward; as the unfolding process proceeds, the distance between hinge plate I 9011 and hinge plate II 9012 is shortened, and the distance between the upper buckle 11a and the lower buckle 11d is shortened;

[0055] The three X-shaped structures formed by the three support rods I902 hinged to the hinge plate I9011 and the three support rods II903 hinged to the hinge plate II9012 are deformed, the support rod I902 hinged to the hinge plate I9011 rotates upward around the reaming hole III19, and the support rod II903 hinged to the hinge plate II9012 rotates downward around the hinge group III22, so that the support rods I902 and II903 in the X-shaped structure rotate relative to each other around the reaming hole IV20, so that the reaming hole V21 and the reaming hole group V24 are close to each other;

[0056] The three X-shaped structures formed by the three support rods II903 hinged to the hinge plate I9011 and the three support rods I902 hinged to the hinge plate II9012 are deformed, the support rod II903 hinged to the hinge plate I9011 rotates upward around the reaming hole group III22, and the support rod I902 hinged to the hinge plate II9012 rotates downward around the hinge III19, so that the support rods I902 and II903 in the X-shaped structure rotate relative to each other around the reaming hole IV20, so that the reaming hole V21 and the reaming hole group V24 are close to each other;

[0057] The three hinges Ⅰ904 at the upper part of the folding wheel mechanism C move downward with the rotation of the three support rods Ⅱ903 hinged to the hinge plate Ⅱ9012, the three hinges Ⅱ905 at the upper part of the folding wheel mechanism C move downward with the rotation of the three support rods Ⅰ902 hinged to the hinge plate Ⅱ9012, the three hinges Ⅱ905 at the lower part of the folding wheel mechanism C move upward with the rotation of the three support rods Ⅰ902 hinged to the hinge plate Ⅰ9011, the three hinges Ⅰ904 at the lower part of the folding wheel mechanism C move upward with the rotation of the three support rods Ⅱ903 hinged to the hinge plate Ⅰ9011, and the three hinges Ⅰ904 and 3 hinges Ⅱ905 at the upper part of the folding wheel mechanism C and the three hinges Ⅱ905 and 3 hinges Ⅰ904 at the lower part of the folding wheel mechanism C approach each other;

[0058] The three wheel outer rings 906 hinged to the hinge Ⅰ904 rotate downward around the hinge shaft Ⅱ32 hinged to the hinge point Ⅰ25, and rotate upward around the hinge shaft Ⅰ31 hinged to the hinge point Ⅱ26. The three wheel outer rings 906 hinged to the hinge Ⅱ905 rotate downward around the hinge shaft Ⅱ32 hinged to the hinge point Ⅲ28, and rotate downward around the hinge shaft Ⅰ31 hinged to the hinge point Ⅳ29 of the hinge Ⅱ905.

[0059] When hinge plate II 9012 runs from the lower stroke position d2 to the end of the external thread of frame A, the thread is disengaged at this time, and hinge plate II 9012 reaches the optical axis section; the upper buckle 11a is inserted into the lower buckle 11d, and the upper side edge line of the inner surface of the outlet groove II of the lower buckle 11d just passes through the lower inclined surface and the middle platform of the tongue of the tongue 11b in the upper buckle 11a to reach the upper inclined surface, and under the action of the spring, the tongue of the tongue 11b extends outward, and the upper side edge line of the inner surface of the outlet groove II of the lower buckle 11d slides along the upper inclined surface to the upper end of the tongue of the tongue 11b, and the tongue of the tongue 11b is just embedded in the outlet groove II, and the relative positions of the upper buckle 11a and the lower buckle 11d are locked; the sliding of the lower buckle 11d on the tongue 11b drives the hinge plate II 9012 to move upward on the optical axis section to At the upper stroke position d1, the relative positions of the upper buckle 11a and the lower buckle 11d are locked, and the relative positions of the hinge plate II 9012 and the hinge plate I 9011 are locked. At this time, the six wheel outer rings 906 are unfolded to a plane, and the folding wheel is fully unfolded; when the folding wheel is reset, the operator manually presses the latch 11b and pulls the lower buckle 11d downward to separate the buckles; the downward movement of the lower buckle 11d drives the hinge plate II 9012 to move downward until the hinge plate II 9012 reaches the outer thread meshing position of the inner thread of the hinge plate II 9012 and the outer thread on the threaded section of the hollow cylindrical end of the upper part of the frame A of the frame A, and the inner and outer threads are manually aligned and rotated to combine. At this time, the operator can remotely control the hollow shaft reduction motor to reverse until the hinge plate II 9012 reaches the lower stroke position d2, and the folding wheel 9 is folded and reset.

[0060] Example 2 A control method for a land-air dual-purpose coaxial reverse propeller UAV with folding wheels

[0061] See also Fig.17 The control method of a land-air dual-purpose coaxial reverse propeller UAV with folding wheels has the following steps:

[0062] 1) Flight: Start the rotor mechanism B, the aircraft rotor Ⅰ1a rotates clockwise, and the aircraft rotor Ⅱ1b rotates counterclockwise to provide lift for the UAV flight; the steering gear group 6 controls the UAV flight direction by controlling the cross 3 and the cross support 4;

[0063] 2) Landing: After the UAV reaches above the target position, the aircraft rotors Ⅰ1a and Ⅱ1b gradually decelerate and the UAV gradually descends; when approaching the ground, the rotors 10a of the hollow shaft reduction motors 10 on both sides of the control frame A are rotated to unfold the folding wheels 9 on both sides, and the aircraft rotors Ⅱ1b gradually stop rotating; after the UAV slowly lands on the ground, it naturally topples over, and the aircraft Ⅰ1a gradually stops rotating, and the folding wheels 9 on both sides of the frame A support the UAV; the aircraft rotors Ⅰ1a and Ⅱ1b are driven to rotate clockwise, and the angular momentum generated causes the UAV to roll forward along the ground until the camera faces straight ahead, and the aircraft rotors Ⅰ1a and Ⅱ1b stop rotating.

[0064] 3) Land movement: The steering gear group 6 of the upper rotor mechanism B1 controls the cross support 4 to rotate counterclockwise around the fixed frame 5 at a certain angle when viewed from the front to the rear, and the steering gear group 6 of the lower rotor mechanism B2 controls the cross support 4 to rotate clockwise around the fixed frame 5 at the same angle when viewed from the front to the rear; the aircraft rotor Ⅰ1a and the aircraft rotor Ⅱ1b are driven to rotate clockwise, and the aircraft rotor (1a) and the control aircraft rotor (1b) are tilted inward, and the two rotor planes are in an eight-shaped shape; and the folding wheels 9 on both sides of the frame A are driven to rotate counterclockwise to make the UAV move forward; during the forward movement, the rotation speed of the aircraft rotor Ⅰ1a and the aircraft rotor Ⅱ1b is adjusted according to the rotation speed of the folding wheels 9 on both sides of the frame A, and the angular momentum generated by the aircraft rotor Ⅰ1a, the aircraft rotor Ⅱ1b and the folding wheels 9 offset each other, thereby ensuring the stability of the UAV frame A when the UAV moves on land.

[0065] The present invention provides a land-air dual-purpose coaxial reverse propeller UAV with folding wheels, and its working process and working principle are as follows:

[0066] In the initial state of a land-air dual-purpose coaxial reverse propeller drone with folding wheels of the present invention, the folding wheel 9 is in a folding state, and the hinge plate II 9012 of the folding wheel mechanism is located at the lower stroke position d2. Before the drone takes off vertically, the lower surface of the upper disc in the middle of the frame support can be horizontally lifted by a clamping device or the support rod in the middle of the handheld frame support. During takeoff, the motor of the rotor mechanism B of the drone drives the aircraft rotor I1a and the aircraft rotor II1b to rotate to provide lift for the drone, and the drone can fly after the clamp is released. When flying in the air, the drone mainly relies on the rotor mechanism B to move. When it is necessary to perform ground work tasks, the drone first obtains ground information through the camera sensor 14, the onboard computer 12 determines the flat ground suitable for landing, the motor 2 of the rotor mechanism B decelerates, drives the aircraft rotor I1a and the aircraft rotor II1b to decelerate, and the drone descends. When the drone descends to a height of 10 cm from the ground, the rotor 10a of the hollow shaft reduction motor 10 on both sides of the control frame A rotates to unfold the folding wheel 9. Taking the unfolding of the folding wheel on the upper side of the frame A as an example, the hinge plate I9011 fixed to the rotor 10a rotates unidirectionally, driving the folding wheel 9 and the hinge plate II9012 to rotate unidirectionally. Since the inner side of the hinge plate II9012 is provided with an internal thread that cooperates with the external thread on the threaded section of the hollow cylindrical end of the upper part of the frame A, the hinge plate II9012 will continuously move upward along the external thread of the frame A, and at the same time drive the lower buckle 11d to move upward; through the support rod I902, the support rod II903, the hinge I904, and the hinge II905, multiple wheel outer rings 906 are driven to rotate. As the unfolding process proceeds, the distance between the hinge plate I9011 and the hinge plate II9012 is shortened, and the distance between the upper buckle 11a and the lower buckle 11d is shortened. When the hinge plate II9012 runs from the lower stroke position d2 to the end of the external thread of the frame A, the thread is disengaged at this time, and the hinge plate II9012 reaches the optical axis section. The upper buckle 11a is inserted into the lower buckle 11d, and the upper side edge line of the inner surface of the outlet groove II of the lower buckle 11d just passes through the lower inclined surface and the middle platform of the tongue of the tongue 11b in the upper buckle 11a to reach the upper inclined surface. Under the action of the spring, the tongue of the tongue 11b extends outward, and the tongue of the tongue 11b is just embedded in the outlet groove II, and the relative positions of the upper buckle 11a and the lower buckle 11d are locked. The sliding of the lower buckle 11d on the tongue 11b drives the hinge plate II 9012 to move upward on the optical axis section to the upper stroke position d1, and the relative positions of the upper buckle 11a and the lower buckle 11d are locked, and the relative positions of the hinge plate II 9012 and the hinge plate I 9011 are locked. At this time, the six wheel outer rings 906 are unfolded to a plane, and the folding wheel 9 is fully unfolded into a wheel. The unfolding process of the folding wheel 9 on the lower side of the frame A is the same as that of the folding wheel 9 on the upper side of the frame A. After the folding wheels 9 on both sides of the frame A are unfolded, the aircraft rotor b gradually stops rotating and the UAV slowly lands.

[0067] After the drone lands on the ground, it naturally falls over, and the unfolded folding wheels 9 on both sides of the frame A contact the ground to support the drone; the aircraft rotors Ⅰ1a and Ⅱ1b are driven to rotate clockwise, and the angular momentum generated causes the drone to roll forward along the ground until the camera faces straight ahead, and the aircraft rotors Ⅰ1a and Ⅱ1b stop rotating. At this point, the drone completes the switch from the air flight mode to the land mobile mode and begins to perform ground work tasks. In the land mobile mode, the steering gear group 6 of the upper rotor mechanism B1 controls the cross support 4 to rotate counterclockwise around the fixed frame 5 at a certain angle from the front to the back, and the steering gear group 6 of the lower rotor mechanism B2 controls the cross support 4 to rotate clockwise around the fixed frame 5 at the same angle from the front to the back; the aircraft rotor Ⅰ1a and the aircraft rotor Ⅱ1b are driven to rotate clockwise, and the folding wheels 9 on both sides of the frame A are driven to rotate counterclockwise to make the UAV move forward; in the process of moving forward, the rotation speed of the aircraft rotor Ⅰ1a and the aircraft rotor Ⅱ1b are adjusted according to the rotation speed of the folding wheels 9 on both sides of the frame A, and the angular momentum generated by the aircraft rotor Ⅰ1a, the aircraft rotor Ⅱ1b and the folding wheels 9 offset each other, ensuring the stability of the UAV frame A when the UAV moves on land. When the UAV completes the ground work task, the operator recovers the UAV and resets the folding wheels 9 on the upper and lower sides of the frame A in turn. Taking the reset of the upper folding wheel 9 as an example, the operator manually presses the tongue 11b and pulls down the lower buckle 11d, and the buckle is separated. The downward movement of the lower buckle 11d drives the hinge plate II 9012 to move downward until the hinge plate II 9012 reaches the meshing position of the internal thread of the hinge plate II 9012 and the external thread on the threaded section of the hollow cylindrical end of the upper part of the frame A of the frame A, and the internal and external threads are manually aligned and rotated to combine. At this time, the operator can remotely control the hollow shaft reduction motor to reverse until the hinge plate II 9012 reaches the lower stroke position d2, and the folding wheel 9 is folded and reset. The reset of the folding wheel 9 on the lower side is the same. The drones on the upper and lower sides are completely reset, and the drones return to the initial state, completing a working process.

Claims

1. A land-air dual-purpose coaxial reverse propeller UAV with folding wheels, comprising: A frame (A), a rotor mechanism (B), two folding wheel mechanisms (C), a sensing control component (D), and a battery system (E), wherein: the rotor mechanism (B) includes an upper rotor mechanism (B1) and a lower rotor mechanism (B2), which are symmetrically arranged on the upper and lower sides of the frame (A) to form a forward and reverse propeller structure; the two folding wheel mechanisms (C) have the same structure, are located between the rotor mechanism and the frame (A), and are symmetrically arranged on the frame (A); the sensing control component (D) includes an onboard computer (12) and a camera sensor (14).

2. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 1, characterized in that: The frame (A) comprises a supporting middle part and two hollow cylindrical ends symmetrically arranged on both sides thereof, the onboard computer (12), the camera sensor (14), and the battery system (E) are fixedly connected to the supporting middle part of the frame (A); the outer surface of the hollow cylindrical end of the frame (A) is provided with a threaded section and an optical axis section, wherein the threaded section is close to the supporting middle part and is provided with an external thread which is threadedly matched with a hinge plate II (9012) with an internal thread on the inner side of a folding wheel (9) in a folding wheel mechanism (C); below the lower stroke position d2 of the hinge plate II (9012), the thread is thickened so that the matching resistance of the hinge plate II (9012) is increased for clamping and limiting the hinge plate II (9012); the optical axis section is far away from the supporting middle part and is provided with an optical axis without thread; the stator (10b) of a hollow shaft reduction motor (10) is fixedly connected to the outermost side of the inner surface of the hollow cylindrical end of the frame (A).

3. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 2, characterized in that: The upper rotor mechanism (B1) comprises an aircraft rotor I (1a), a motor (2), a cross (3), a cross support (4), a fixing frame (5), a steering gear unit (6), a cover plate (7), and a connecting rod (8). The bottom end of the motor (2) is fixedly connected to the cross (3) to drive the rotor I (1a) to rotate; the cross (3) rotates on the cross support (4); the cross support (4) rotates on the fixing frame (5); the fixing frame (5) and the steering gear unit (6) are fixedly connected to the outside of the cover plate (7); the upper end of the connecting rod (8) passes through the cover plate (7) and is fixedly connected to the base hole of the fixing frame (5), and the lower end passes through the hinge plate I (9011) of the folding wheel mechanism (C) and the rotor (10a) of the hollow shaft reduction motor (10) in sequence, and is fixed on the stator (10b) of the hollow shaft reduction motor (10); the steering gear group (6) includes two steering gears, which control the two-axis angles of the cross (3) and the cross support (4).

4. A land-air dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 1, 2 or 3, characterized in that: The folding wheel mechanism (C) comprises a folding wheel (9), a hollow shaft reduction motor (10), and a buckle (11); the folding wheel (9) comprises a hinge plate I (9011), a hinge plate II (9012), a support rod I (902), a support rod II (903), a hinge I (904), a hinge II (905), and a wheel outer ring (906); The lower surface of the hinge plate I (9011) is evenly and alternately distributed with the straight fixing portion I (9011a) and the double fixing portion I (9011b), and the upper surface of the hinge plate II (9012) is evenly and alternately distributed with the straight fixing portion II (9012a) and the double fixing portion II (9012b). The lower surface of the hinge plate I (9011) and the upper surface of the hinge plate II (9012) are arranged opposite to each other, and the straight fixing portion I (9011a) of the hinge plate I (9011) is located directly above the double fixing portion II (9012b) of the hinge plate II (9012).

5. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 4, characterized in that: The one-line fixing portion I (9011a) and the one-line fixing portion II (9012a) are both hinged to the support rod II (903), and the two-line fixing portion I (9011b) and the two-line fixing portion II (9012b) are both hinged to the support rod I (902). The one-line fixing portion I (9011a) and the two-line fixing portion II (9012b) below it are respectively hinged to the support rod II (903) and the support rod I (902), and the middle parts of the two are hinged to form an X-shaped cross arrangement; the two-line fixing portion I (9011b) and the one-line fixing portion II (9012a) below it are respectively hinged to the support rod I (902) and the support rod II (903), and the middle parts of the two are hinged to form an X-shaped cross arrangement; The outer side of each support rod I (902) is hinged to the reaming hole group VI (30) in the middle of the hinge II (905), and the outer side of each support rod II (903) is hinged to the reaming hole VI (27) in the middle of the hinge I (904). The hinges I (904) and hinges II (905) arranged alternately up and down form a plurality of hinge groups; The inner ends of the wheel outer ring (906) are provided with hinge shafts, which are hinged to the inner sides of hinges I (904) or hinges II (905) located one above and one below in two adjacent hinge groups through the hinge shafts on both sides.

6. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 5, characterized in that: The buckle (11) comprises an upper buckle (11a), a latch tongue (11b), a retaining spring (11c) and a lower buckle (11d). The top end of the upper buckle (11a) is fixedly connected to the lower surface of the hinge plate I (9011), and the bottom end of the lower buckle (11d) is fixedly connected to the upper surface of the hinge plate II (9012). The upper buckle (11a) is located directly above the lower buckle (11d), and the latch tongue (11b) and the retaining spring (11c) are located in the upper buckle (11a). An outlet groove I and a limiting slide groove are provided on one side of the lower part of the upper buckle (11a). The latch tongue (11b) and the retaining spring (11c) are provided on one side of the lower part of the upper buckle (11a). The upper and lower parts of the tongue are sloped, and the middle part of the tongue is a platform. The tongue body of the latch tongue 11b slides in the limiting slide groove, and the tongue extends from the outlet groove I of the upper buckle 11a. The tongue of the latch tongue (11b) slides in the limiting slide groove, extends from the outlet groove I of the upper buckle (11a), and is connected to the inner wall of the upper buckle (11a) through the tongue body and the retaining spring (11c). An outlet groove II is provided on the same side of the upper part of the lower buckle (11d). When working, the latch tongue (11b) is pressed and extends through the outlet groove II of the lower buckle (11d).

7. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 6, characterized in that: The onboard computer (12) is used to read sensor information, calculate data, and control the operation of the drone by controlling the motor (2), the steering gear unit (6), and the hollow shaft reduction motor (10); and the camera sensor (14) is used to obtain visual sensor information of the aircraft.

8. The dual-purpose coaxial reverse-propeller UAV with foldable wheels according to claim 7, characterized in that: The battery system (E) comprises a lithium battery (13).

9. The control method of the amphibious coaxial reverse propeller UAV with folding wheels as claimed in claim 3, comprising the following steps: 1) Flight: The rotor mechanism (B) is started, and the aircraft rotor (1a) and the aircraft rotor (1b) rotate forward and reverse respectively; the steering gear unit (6) controls the flight direction by adjusting the cross (3) and the cross support (4); 2) Landing: When the UAV reaches the target position, the aircraft rotor (1a) and the aircraft rotor (1b) gradually decelerate. When approaching the ground, the rotor (10a) of the hollow shaft reduction motor (10) on the upper side of the control frame A is rotated to unfold the folding wheels (9); the aircraft rotor II (1b) gradually decelerates and stops rotating; the UAV slowly lands on the ground and naturally falls over, and the aircraft I (1a) gradually decelerates and stops rotating, and the folding wheels 9 on both sides of the frame A support the UAV; 3) Land movement: The steering gear unit (6) tilts the aircraft rotor (1a) and the control aircraft rotor (1b) inward through the cross support (4), and the two rotor planes form an eight-shaped shape; the aircraft rotor (1b) is started to rotate, and the two rotors rotate in the same direction and speed as the aircraft rotor (1a), and the folding wheel (9) rotates, and the UAV moves on land.