Water-land-air triphibian self-driving cruising intelligent guide vehicle

Abstract

The invention discloses a water-land-air triphibian self-driving cruising intelligent guide vehicle which comprises a vehicle shell and a chassis arranged at the bottom of the vehicle shell, and the chassis is provided with a chassis driving part used for driving rear wheels to rotate. A front wheel steering mechanism is arranged at the front end of the chassis and cooperates with the chassis driving part to complete front wheel steering of the guide vehicle; the side wall of the vehicle shell and the chassis are provided with buoyancy materials used for providing buoyancy, the rear end of the chassis is provided with a rear wheel conversion mechanism used for converting the positions of rear wheels of the guide vehicle, propeller hubs are installed in the rear wheels, and propellers rotate to drive the guide vehicle to sail on the water surface; a four-rotor cross aircraft adopting a tandem twin-propeller four-rotor structure is arranged at the top of the vehicle shell, propellers are mounted on aircraft motors, and the propellers rotate to drive the guide vehicle to fly in the air; a vehicle-mounted central control touch screen is arranged in the vehicle shell and connected with the laser radar, the camera and the audio output device. Through the above mode, the system integrates multi-habitat driving and intelligent navigation, expands the touring dimension, and is innovative and practical.

Description

Technical Field

[0001] The present invention relates to the technical fields of transportation tools and intelligent navigation devices, and particularly to a technology of an amphibious and aerial automatic navigation vehicle with functions of autonomous driving and intelligent navigation, which can operate in multiple environments on land, water and in the air. Background Art

[0002] With the booming development of the tourism industry and the increasingly diverse and personalized pursuit of tourists for tourism experiences. However, the traditional single land navigation tools and methods supporting them lag to a certain extent and are difficult to fully meet the high requirements of the market. Against the background of the rapid progress of modern technology, significant innovative achievements have been made in intelligent navigation devices and special transportation tools.

[0003] Traditional land navigation vehicles are relatively common in scenic spots, but their limitations are very obvious. Many navigation vehicles can only move slowly along the established tracks, and the tourist routes are rigid, lacking the flexibility of independent selection. Even those automatic navigation vehicles that can freely drive on the scenic spot roads are often limited by complex road conditions and narrow passages, and are extremely prone to congestion during peak tourist hours, resulting in a significant reduction in the tour efficiency. Moreover, most of them rely on preset voice explanations, and the content is not updated in a timely manner, making it difficult to provide personalized navigation services according to the real-time interests and questions of tourists.

[0004] Water navigation devices, such as common cruise ships, often have relatively single functions. They mainly focus on providing water sightseeing experiences, but lack systematic and intelligent navigation functions. Generally, it is necessary to equip a special guide on the ship for explanations. Not only is the labor cost quite high, but the coverage of the explanations is also limited, making it difficult to ensure that tourists in every position on the ship can clearly hear. At the same time, the driving routes of cruise ships are relatively fixed and cannot flexibly shuttle between different water area scenic spots. It is very difficult to accurately navigate for tourists to some small, hidden but unique water landscapes.

[0005] Currently, aerial navigation methods are even rarer. For example, helicopters are mostly used for high-end sightseeing projects, with high costs, limited number of tourists that can be carried, and strict control over flight altitudes and routes. It is very difficult to hover at low altitude for a long time to introduce various landscapes to tourists in detail. Although drones can take pictures from the air, they do not have the ability to carry people and provide comprehensive navigation, but only provide one-sided visual pictures, lacking interactivity and systematic explanations.

[0006] In summary, the existing navigation vehicles or navigation devices are all limited to a single driving environment, and the degree of intelligent navigation varies, making it difficult to meet the expectations of tourists for a full-range and personalized experience.

[0007] In this context, to solve the above technical problems, the present invention proposes an amphibious, aerial and terrestrial self-driving cruise intelligent guide vehicle, which is a means of transportation that can not only break through the environmental limitations of water, land and air, but also achieve highly intelligent automatic guiding, so as to improve and optimize the problems such as the limited driving range, single guiding function and insufficient intelligence of traditional single-environment guiding tools, improve the adaptability and comprehensive performance of guiding tools in various complex environments, provide tourists with a more rich, convenient and personalized all-round guiding service experience, meet the growing diverse needs of the tourism market, fill the technical gap in the field of current tourism guiding means of transportation, and promote the tourism guiding industry to move towards the direction of intelligence and diversification. Summary of the Invention

[0008] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] An amphibious, aerial and terrestrial self-driving cruise intelligent guide vehicle, comprising a vehicle shell, a chassis arranged at the bottom of the vehicle shell, and a chassis driving member arranged on the chassis for driving the rear wheels to rotate; a front wheel steering mechanism is arranged at the front end of the chassis, and the front wheel steering mechanism interacts with the chassis driving member to complete the front wheel steering of the guide vehicle; buoyancy materials for providing buoyancy to the guide vehicle in water are arranged on the side wall of the vehicle shell and the chassis, a rear wheel transformation mechanism is arranged at the rear end of the chassis, the rear wheel transformation mechanism adjusts the position of the rear wheels according to the environment where the guide vehicle is located, a propeller hub is installed in the rear wheels, and the propeller rotates to drive the guide vehicle to sail on the water surface; a quadcopter cross-shaped aircraft with a series-connected double propeller structure is arranged on the top of the vehicle shell, the propellers are movably installed on the aircraft motors, and the propellers rotate to drive the guide vehicle to fly in the air; a vehicle-mounted central control touch screen is arranged inside the vehicle shell, and the vehicle-mounted central control touch screen is connected to a lidar, a camera, a GPS / GLONASS receiver, a millimeter wave radar, an ultrasonic sensor and an audio output device.

[0010] Preferably, the front part of the vehicle shell is wedge-shaped, the vehicle shell structure is streamlined, and the tail of the vehicle shell is wide and upturned; buoyancy materials are arranged on the lower side of the side wall of the vehicle shell and the bottom of the chassis.

[0011] Preferably, the lidar is installed on the top of the vehicle shell through a support rod, the millimeter wave radar is installed at the front and rear of the vehicle shell, the ultrasonic sensor is installed at the front and rear of the vehicle shell, the GPS / GLONASS receiver is installed at the front of the vehicle shell, the vehicle-mounted central control touch screen is installed on the front side inside the vehicle shell, the camera is installed on the front side inside the vehicle shell through a support rod, and the audio output device is installed on the upper side inside the vehicle shell.

[0012] Preferably, the chassis driving member includes a driving motor, a driving gear, a motor fixing member and a driving gear fixing member; the driving gear is meshed and connected with the driving motor through the driving gear fixing member, the driving motor is installed on the lower side of the chassis rear plate through the motor fixing member, and the driving motor is connected with the rear wheel through a rear wheel coupling; the chassis rear plate is installed on the lower rear side of the chassis through a chassis support aluminum tube, the chassis driving member is installed on the lower side of the chassis rear plate, and the chassis is installed at the bottom of the vehicle shell.

[0013] Preferably, the front wheel steering mechanism includes a steering motor, a driving gear, a driven rack, a transmission system and a fixing mechanism; the steering motor is installed on the lower side of the steering plate through a motor bracket, the driving gear is installed on the steering motor, and the driving gear is meshed and connected with the driven rack; the steering slide rail and the steering slider form a transmission system, and the steering motor is connected with the front wheel through the transmission system; the fixing mechanism is installed on the transmission system through a copper column, and the front wheel steering mechanism is installed on the lower front side of the chassis through a steering fixing aluminum tube.

[0014] Preferably, the fixing mechanism includes a thrust ball bearing, a bearing, a bearing fixing plate and a fixing plate; the bearing is installed inside the fixing mechanism through the bearing fixing plate, the height compensation large plate is connected with the bearing fixing plate through a copper column, the thrust ball bearing is installed outside the bearing through a thrust ball bearing fixing plate, the height compensation small plate is connected with the thrust ball bearing fixing plate through a copper column, and the fixing plate is installed on the upper side of the bearing.

[0015] Preferably, the rear wheel conversion mechanism includes a driving motor, a driving gear, a self-made coupling, a small thrust ball bearing, a propeller hub, a rear wheel coupling, a bearing, a universal joint initial end, a universal joint cross connection and a universal joint end; the driving gear is installed on the driving motor through a driving gear fixing member, the driving motor is installed on the lower side of the chassis rear plate through a motor fixing member, and the driving motor is meshed and connected with the driving gear; the bearing connects the universal joint initial end and the universal joint end, the universal joint initial end is connected with the self-made coupling, the universal joint initial end is connected with the universal joint end through the universal joint cross connection, and the universal joint end is connected with the small thrust ball bearing; the propeller hub is installed on the rear wheel through a rear wheel coupling, and the rear wheel conversion mechanism is installed on the lower side of the chassis rear plate through a connecting processing member.

[0016] Preferably, the quadcopter cross-shaped aircraft includes a protective aluminum part, aircraft motors, propellers, telescopic drive motors, aircraft slide rails, aircraft sliders, aircraft gears, and aircraft racks; the aircraft gears are installed on the telescopic drive motors, the telescopic drive motors are installed at the center of the aircraft bottom plate, and the aircraft gears are meshed and connected to the aircraft racks and installed on the aircraft bottom plate; the quadcopter cross-shaped aircraft adopts a series-connected dual-propeller quadcopter structure, the upper-side propellers of the rotors are installed on the upper-side aircraft motors of the rotors, and the upper-side aircraft motors of the rotors are installed on the upper side of the ends of the propeller fixing aluminum tubes; the lower-side propellers of the rotors are installed on the lower-side aircraft motors of the rotors, and the lower-side aircraft motors of the rotors are installed on the lower side of the ends of the propeller fixing aluminum tubes, and the propeller fixing aluminum tubes are connected to the aircraft slide rails through the aircraft sliders; the outside of the quadcopter cross-shaped aircraft is connected with the protective aluminum part, and the quadcopter cross-shaped aircraft is installed on the top of the vehicle shell.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Multi-environment adaptability

[0019] 1) Breaking through land limitations: It can freely shuttle through various complex land terrains, such as narrow paths in parks and scenic spots, undulating hillsides, etc. This benefits from the application of the front-wheel steering mechanism of the guided vehicle. The front-wheel steering mechanism enables the guided vehicle to flexibly adjust its driving direction, easily cope with various complex road conditions, and is not restricted by the tracks or fixed routes of traditional guided vehicles. This design greatly expands the tourist's tour range and route selection freedom, enhancing the tour experience. At the same time, the application of the front-wheel steering mechanism also improves the stability and safety of the guided vehicle, ensuring the safety and comfort of the tourist's journey.

[0020] 2) Water travel function: Buoyancy materials for increasing the buoyancy of the guided vehicle in water are provided on both the side enclosure and the chassis of the guided vehicle shell. It can smoothly enter the water for navigation, providing tourists with a water sightseeing perspective, and can reach some waterfront scenic spots that cannot be directly reached by land, enriching the tourism experience scenarios, and thus effectively expanding the use scenarios and application scope of the guided vehicle. In addition, the guided vehicle adopts an advanced rear-wheel transformation mechanism, and this design makes it have better mobility and flexibility compared with traditional water-guided vehicles, and can quickly switch between different waters. The application of the rear-wheel transformation mechanism improves the adaptability of the guided vehicle, enabling it to flexibly travel in complex and changeable waterfront environments, and providing tourists with a more comfortable and reassuring sightseeing experience.

[0021] 3) Advantages of aerial flight: Although traditional guided tour vehicles can lead tourists deep into the scenic area, it is difficult for them to display the macroscopic landscape. The addition of a quadcopter cross-shaped aircraft adds a new dimension to tourist guiding, enabling the guided tour vehicle to have the ability to fly in the air, allowing tourists to overlook the entire scenic area from a high altitude and enjoy unique beautiful scenery. This quadcopter cross-shaped aircraft adopts a series-connected dual-propeller quadcopter structure, and innovatively sets the aircraft motor and propeller on the upper and lower sides of each rotor respectively. This design not only significantly enhances the power output of the aircraft, ensuring the stability and sufficient power of the guided tour vehicle during flight, but also greatly improves the flight safety performance. Even if a certain propeller on a certain rotor fails, the aircraft can still maintain the stability of the overall flight state, thus effectively avoiding the safety risks caused by a single component failure. Its flexible, safe and environmentally friendly characteristics form a perfect complement to the guided tour vehicle, bringing tourists an unprecedented panoramic experience and enhancing the attractiveness and competitiveness of tourism.

[0022] 2. Improvement of intelligent guiding

[0023] 1) Precise positioning and navigation: Adopting an advanced positioning system, combined with multiple sensor devices such as lidar, cameras, GPS / GLONASS receivers, millimeter-wave radars and ultrasonic sensors, it can accurately determine its own position in different land, water and air environments. Through the high-precision data fusion of these devices, combined with intelligent algorithms, the optimal route can be planned in real time according to the needs of tourists and the actual situation of the scenic area, effectively avoiding congestion and ensuring that tourists do not miss any important scenic spots. The application of lidar and millimeter-wave radars significantly improves the obstacle detection ability and enhances the driving safety; using cameras and ultrasonic sensors, the intelligent guided tour vehicle system can more accurately detect and avoid obstacles to ensure driving safety; while the use of GPS / GLONASS receivers ensures global coverage and high accuracy of positioning, overcoming the problems of inflexible route planning and inaccurate navigation of traditional guided tour vehicles.

[0024] 2) Personalized interactive experience: Equipped with an intelligent interaction interface, including an in-vehicle central control touch screen and audio output devices, it can provide personalized guided tour content recommendations according to the personal preferences, interest points and tour history of tourists. Diverse information output methods such as voice explanations, video displays, and text introductions not only meet the information reception habits of different tourists, but also enrich the single and fixed guided tour information playback form of traditional guided tour vehicles, greatly enhancing the interactivity and sense of participation between tourists and guided tour vehicles. The high-definition playback of the audio output device enhances the auditory experience of tourists, and the intuitive operation of the central control touch screen allows tourists to easily customize their own tour routes and guided tour content.

[0025] 3. Operational and usage benefits

[0026] 1) Efficient resource integration: The guided vehicle innovatively integrates the guiding functions on land, water, and air seamlessly, forming an integrated guiding solution. This integration not only significantly reduces the cost investment of scenic spots in separately equipping different types of guiding devices but also remarkably decreases the management complexity. Through centralized management and unified scheduling, the maximization of resource utilization is achieved, improving the operation efficiency. Scenic spots no longer need to maintain, train, and manage different types of guiding devices separately, thus saving a large amount of human and material resources. At the same time, the integrated guiding system also enhances the satisfaction of tourists' experiences. Tourists can enjoy a coherent and comprehensive guiding service without switching between different guiding devices.

[0027] 2) Safety and reliability: The guided vehicle is equipped with a complete safety monitoring and control system, which can automatically detect environmental parameters and its own status in real time during the conversion and driving on land, water, and air. Once potential risks are detected, the system will immediately issue a warning and take corresponding measures to ensure the safety of tourists. Traditional devices often have greater safety risks when facing bad weather, complex terrains, or emergencies. Compared with traditional guiding devices, the safety of this guided vehicle is more powerfully guaranteed in complex environments. In addition, by adopting high-standard hardware devices and advanced software algorithms, the stability and accuracy of the system during long-term operation are ensured, and the reliability of the system is also greatly improved. Brief Description of the Drawings

[0028] Figure 1 It is a schematic front side structure diagram of the guided vehicle;

[0029] Figure 2 corresponding to the guided vehicle Figure 1 is a schematic side structure diagram;

[0030] Figure 3 corresponding to the guided vehicle Figure 2 is a schematic oblique side structure diagram;

[0031] Figure 4 is a schematic chassis structure diagram of the guided vehicle in the land state;

[0032] Figure 5 is a schematic chassis structure diagram of the guided vehicle in the water state;

[0033] Figure 6 is a schematic front wheel steering mechanism structure diagram of the guided vehicle;

[0034] Figure 7 corresponding to the guided vehicle Figure 6 is a schematic oblique side structure diagram of the actuator;

[0035] Figure 8 corresponding to the guided vehicle Figure 7 is a schematic front side structure diagram;

[0036] Figure 9 Top view corresponding to the guided vehicle Figure 8 ;

[0037] Figure 10 Partial front side structure schematic diagram corresponding to the guided vehicle Figure 6 ;

[0038] Figure 11 Front view corresponding to the guided vehicle Figure 10 ;

[0039] Figure 12 Structure schematic diagram of the front wheel steering fixing mechanism of the guided vehicle

[0040] Figure 13 Exploded view corresponding to the guided vehicle Figure 12 ;

[0041] Figure 14 Structure schematic diagram of the steering plate of the guided vehicle

[0042] Figure 15 Structure schematic diagram of the rear wheel transformation mechanism of the guided vehicle

[0043] Figure 16 Drive mechanism structure schematic diagram corresponding to the guided vehicle Figure 15 ;

[0044] Figure 17 Execution mechanism structure schematic diagram corresponding to the guided vehicle Figure 15 ;

[0045] Figure 18 Structure schematic diagram of the connecting workpiece and the special steering workpiece of the guided vehicle

[0046] Figure 19 Structure schematic diagram of the coupling of the guided vehicle

[0047] Figure 20 Structure schematic diagram of the rear wheel coupling of the guided vehicle

[0048] Figure 21 Structure schematic diagram of the wheel hub and the rear wheel of the guided vehicle

[0049] Figure 22 Structure schematic diagram of the quadcopter cross-shaped aircraft of the guided vehicle

[0050] Figure 23 Exploded view corresponding to the guided vehicle Figure 22 ;

[0051] Figure 24 Structure schematic diagram of the aircraft floor corresponding to the guided vehicle Figure 23 ;

[0052] Description of main component symbols

[0053] In the figure: A - quadrotor cross - shaped aircraft, B - vehicle shell, C - chassis, D - front - wheel steering mechanism, E - rear - wheel transformation mechanism, F - fixing mechanism, G - buoyancy material, 1 - lidar, 2 - camera, 3 - GPS / GLONASS receiver, 4 - millimeter - wave radar, 5 - ultrasonic sensor, 6 - audio output device, 7 - in - vehicle central control touch screen, 8 - chassis bottom plate, 9 - chassis rear plate, 10 - chassis support aluminum tube, 11 - motor bracket, 12 - steering motor, 13 - rack fixing plate, 14 - steering plate, 15 - steering fixing aluminum tube, 16 - steering fixing plate, 17 - driven rack, 18 - driving gear, 19 - steering slide rail, 20 - steering slide block, 21 - steering connecting rod, 22 - steering gasket, 23 - steering extension plate, 24 - copper column, 25 - wheel - axle support angle - bar, 26 - front wheel, 27 - steering plate, 28 - flange bearing, 29 - coupling, 30 - front - wheel rotating shaft, 31 - thrust - ball bearing fixing plate, 32 - thrust - ball bearing, 33 - height - compensation large plate, 34 - bearing fixing plate, 35 - bearing, 36 - fixing plate, 37 - height - compensation small plate, 38 - driving gear, 39 - driving motor, 40 - motor fixing part, 41 - driving - gear fixing part, 42 - connecting and processing part, 43 - rear - wheel support connecting part, 44 - self - made coupling, 45 - isolation sleeve, 46 - initial end of universal joint, 47 - cross - connection of universal joint, 48 - special steering processing part, 49 - terminal end of universal joint, 50 - small - size thrust - ball bearing, 51 - propeller hub, 52 - rear wheel, 53 - rear - wheel coupling, 54 - bearing, 55 - propeller, 56 - aircraft motor, 57 - propeller - fixing aluminum tube, 58 - aircraft slide block, 59 - aircraft slide rail, 60 - aircraft bottom plate, 61 - aircraft gear, 62 - telescopic driving motor, 63 - aircraft rack, 64 - protective aluminum part.

[0054] The following specific embodiments will further illustrate the present invention in conjunction with the above - mentioned drawings. Specific embodiments

[0055] Please refer to Figures 1 to 24, in a preferred embodiment of the present invention, an amphibious and aerial self-driving cruise intelligent guide vehicle includes a vehicle shell B and a chassis C disposed at the bottom of the vehicle shell B. A chassis C driving member for driving the rear wheel 52 to rotate is disposed on the chassis C. It is characterized in that: a front wheel steering mechanism D is disposed at the front end of the chassis C, and the front wheel steering mechanism D interacts with the chassis C driving member to complete the steering of the front wheel 26 of the guide vehicle; buoyancy materials G for providing buoyancy to the guide vehicle in water are disposed on the side wall of the vehicle shell B and the chassis C. A rear wheel conversion mechanism E is disposed at the rear end of the chassis C, and the rear wheel conversion mechanism E adjusts the position of the rear wheel 52 according to the environment where the guide vehicle is located. The propeller hub 51 is installed on the rear wheel 52, and the rotation of the propeller hub 51 drives the guide vehicle to sail on the water surface; a quadcopter cross-shaped aircraft A with a series-connected dual-propeller quadcopter structure is disposed on the top of the vehicle shell B. The propeller 55 is movably installed on the aircraft motor 56, and the rotation of the propeller 55 drives the guide vehicle to fly in the air; a vehicle-mounted central control touch screen 7 is disposed inside the vehicle shell B, and the vehicle-mounted central control touch screen 7 is connected to a lidar 1, a camera 2, a GPS / GLONASS receiver 3, a millimeter wave radar 4, an ultrasonic sensor 5 and an audio output device 6.

[0056] In the present invention, the guide vehicle travels on land under the action of the chassis C driving member; in this embodiment, for the specific structure, please refer to Figure 15 and Figure 16 , the chassis C driving member includes a driving motor 39, a driving gear 38, a motor fixing member 40 and a driving gear fixing member 41, which together constitute an efficient power transmission system; specifically, the driving gear 38 is precisely meshed and connected to the driving motor 39 through the driving gear fixing member 41, ensuring the stability and efficiency of power transmission; the driving motor 39 is firmly installed on the lower side of the chassis rear plate 9 through the motor fixing member 40, providing support for the entire system; the driving motor 39 is also tightly connected to the rear wheel 52 through a rear wheel coupling 53, realizing the transmission of power to the rear wheel 52; the chassis rear plate 9 is installed on the lower rear side of the chassis C through a chassis support aluminum tube 10, not only enhancing the overall structural stability but also improving the vehicle's load-bearing capacity; the chassis C driving member is installed on the lower side of the chassis rear plate 9, forming a tight fit with the chassis C and the bottom of the vehicle shell B; during driving, the chassis C driving member converts electrical energy into mechanical energy efficiently through the coordinated operation of the driving motor 39 and the driving gear 38, and then drives the rear wheel 52 of the guide vehicle to rotate, realizing the stable and rapid driving of the vehicle on land.

[0057] In the present invention, the guide vehicle realizes the steering of the front wheel 26 during land travel under the action of the front wheel steering mechanism D; in this embodiment, for the specific structure, please refer to Figures 6 to 11, the front-wheel steering mechanism D includes a motor bracket 11, a steering motor 12, a rack fixing plate 13, a steering plate 14, a steering fixed aluminum tube 15, a steering fixing plate 16, a driven rack 17, a driving gear 18, a steering slide rail 19, a steering slide block 20, a steering connecting rod 21, a steering gasket 22, a steering extension plate 23, a copper column 24, a wheel axle support angle code 25, a front wheel 26, a steering plate 27, a flange bearing 28, a coupling 29, a front-wheel rotating shaft 30 and a fixing mechanism F; specifically, in the driving device of the front-wheel steering mechanism D, the steering motor 12 is the power source of the entire front-wheel steering mechanism D and is firmly connected to the steering plate 14 through the motor bracket 11. The driving gear 18 is installed on the output shaft of the steering motor 12 and is meshed with the driven rack 17 through the rack fixing plate 13 and installed on the steering plate 14. This design enables the rotational movement of the driving gear 18 to be converted into the linear movement of the driven rack 17 through the meshing of the teeth, thereby realizing power transmission and the output of the steering movement form; in the sliding structure of the front-wheel steering mechanism D, in order to ensure the smoothness and accuracy of steering, the steering slide block 20 and the steering slide rail 19 form a sliding pair. The steering plate 14 is connected to the steering fixing plate 16 through this sliding structure to achieve parallel movement. The steering slide rail 19, as a fixed guiding component, is located below the driven rack 17 and is parallel to it, while the steering slide block 20 is connected to the steering plate 14. By virtue of its adaptability in size and shape to the steering slide rail 19, it can perform stable linear displacement on the track. The steering connecting rod 21 is connected to the steering extension plate 23 through the steering gasket 22, effectively expanding the parallel movement range of the steering plate 14. The addition of the steering gasket 22 reduces the friction between the steering connecting rod 21 and the steering extension plate 23, ensuring the smoothness of steering; the steering extension plate 23 is connected to the steering plate 27 through the copper column 24. The coupling 29 is connected to the flange bearing 28, and the flange bearing 28 is connected to the steering plate 27 through the wheel axle support angle code 25. The front-wheel rotating shaft 30 is connected to the flange bearing 28 and is connected to the front wheel 26 through the steering fixing plate 16, ensuring the stability of the entire front-wheel steering mechanism D; the steering fixed aluminum tube 15 is installed on the steering fixing plate 16, and the front-wheel steering mechanism D is installed on the front lower side of the chassis C through the steering fixed aluminum tube 15. The specific position is within the vertical projection area of the front end lower side of the chassis C, within a certain range along the longitudinal central axis of the chassis C forward from the front edge of the chassis C, and on the side of the chassis C bottom surface opposite to the ground; when it is necessary to adjust the driving direction of the sightseeing vehicle, the steering motor 12 drives the driving gear 18 to rotate. The driving gear 18 meshes with the driven rack 17, converting the rotational movement into a linear movement. The driven rack 17 pushes the steering plate 14 to move parallel along the steering slide rail 19. The movement is transmitted to the front-wheel rotating shaft 30 through components such as the steering connecting rod 21 and the steering extension plate 23. The front-wheel rotating shaft 30 drives the front wheel 26 to achieve steering, thus completing the steering action of the front wheel 26 of the sightseeing vehicle.

[0058] In the present invention, the front-wheel steering mechanism D of the guide vehicle is fixed to the front wheel 26 through the fixing mechanism F; in this embodiment, for the specific structure, please refer to Figure 12 and Figure 13 , the fixing mechanism F includes a thrust ball bearing fixing plate 31, a thrust ball bearing 32, a height compensation large plate 33, a bearing fixing plate 34, a bearing 35, a fixing plate 36 and a height compensation small plate 37; specifically, the fixing mechanism F is installed on the steering plate 27, and the bearing 35 is connected to the inside of the fixing mechanism F through the bearing fixing plate 34 to ensure that when the front-wheel steering mechanism D performs a rotational movement, the action range of its rotation axis can be expanded; the thrust ball bearing 32 is fixed to the outside of the bearing 35 through the thrust ball bearing fixing plate 31, and the height compensation small plate 37 is connected to the thrust ball bearing fixing plate 31 through the copper column 24 to achieve the geometric expansion effect on a single small shaft; the fixing plate 36 is installed on the upper side of the bearing 35 to ensure the stable operation of the fixing mechanism F; when the front-wheel steering device D guides the front wheel 26 to perform a steering action, the components of the fixing mechanism F work together to fix the front wheel 26 and the front-wheel steering mechanism D, and provide an auxiliary stabilizing effect when the front-wheel rotating shaft 30 rotates.

[0059] In the present invention, the guide vehicle sails on the water under the action of the buoyancy material G and the rear-wheel conversion mechanism E; in this embodiment, for the specific structure, please refer to Figure 15 and Figure 16, the rear-wheel transformation mechanism E includes a driving gear 38, a driving motor 39, a motor fixing member 40, a driving-gear fixing member 41, and a rear wheel 52; specifically, the buoyancy material G is installed between the lower side of the side enclosure of the vehicle body B and the bottom of the chassis C. The buoyancy material G is in a cuboid shape and tightly fills the space formed by the side enclosure of the vehicle body B and the bottom of the chassis C. When the guided vehicle enters the water, these buoyancy materials G can quickly play a role, providing stable and reliable buoyancy support for the guided vehicle to ensure its smooth travel on the water surface; the rear-wheel transformation mechanism E is installed on the lower side of the rear chassis plate 9, directly below the rear end of the chassis C, within the vertical projection range of the rear chassis plate 9, in the area corresponding to the installation position of the rear wheel 52, and is arranged along the trailing edge of the rear chassis plate 9; the motor assembly structure of the rear-wheel transformation mechanism E is connected to the rear chassis plate 9 through the motor fixing member 40. The driving gear 38 constitutes a gear transformation mechanism, and this gear transformation mechanism is connected to the driving motor 39 through the driving-gear fixing member 41, jointly forming the water-surface navigation driving device of the guided vehicle; when it is necessary to transform the position of the rear wheel 52, the driving motor 39 is started, and the gear transformation mechanism is driven to work through the driving gear 38. Under the transmission action of the driving gear 38, the gear transformation mechanism operates to push the rear wheel 52 of the guided vehicle to achieve a position transformation in space, that is, the rear wheel 52 moves from the two side edges at the rear end of the chassis C to the middle of the rear end of the chassis C, and its connection position changes at the rear end of the chassis C, changing from being parallel to the left and right sides of the vehicle body B to being perpendicular to the left and right sides of the vehicle body B, thereby realizing the position change of the rear wheel 52 of the guided vehicle.

[0060] In the present invention, the rear-wheel transformation mechanism E of the guided vehicle further includes a main actuator for driving the guided vehicle forward; in this embodiment, for the specific structure, please refer to Figures 17 to 21, the actuator includes a connecting workpiece 42, a rear-wheel support connecting piece 43, a homemade coupling 44, an isolating sleeve 45, an initial end of a universal joint 46, a universal joint cross connection 47, a special steering workpiece 48, a terminal end of a universal joint 49, a small-sized thrust ball bearing 50, a propeller hub 51, a rear wheel 52, a rear-wheel coupling 53 and a bearing 54; specifically, the bearing 54 connects the initial end of the universal joint 46 and the terminal end of the universal joint 49, ensuring smooth rotation between the two. The initial end of the universal joint 46 is connected to the homemade coupling 44 and forms a stable connection structure with the terminal end of the universal joint 49 through the universal joint cross connection 47. This design not only achieves precise positioning of the initial end of the universal joint 46, the universal joint cross connection 47 and the terminal end of the universal joint 49, but also improves the flexibility of the entire mechanism. The homemade coupling 44 is connected to the gear-changing mechanism through the rear-wheel support connecting piece 43, realizing efficient power transmission. The connecting workpiece 42 is effectively isolated from the homemade coupling 44 through the isolating sleeve 45, avoiding unnecessary interference and wear. The special steering workpiece 48 is also isolated from the universal joint cross connection 47 through the isolating sleeve 45, ensuring the accuracy and stability of steering. In the rear-wheel 52 part, the rear-wheel coupling 53 is tightly connected to the bearing 54 to support the rotation of the rear wheel 52. The propeller hub 51 is installed in the rear wheel 52 through the rear-wheel coupling 53, and its installation position is at the exact center of the rear wheel 52. The rotation axis coincides with the central axis of the rear wheel 52, enabling the propeller hub 51 to generate uniform and powerful power during operation and transmit it along the central symmetry direction of the rear wheel 52, forming a tight power coupling structure with the rear wheel 52. When the driving motor 39 drives the propeller hub 51 to rotate, the blades cut into the water at a specific inclination angle. As the rotation progresses, the water is continuously pushed backward and its momentum is changed. According to Newton's third law, the water generates an equal and opposite reaction force on the propeller hub 51. This force is transmitted to the guided vehicle through the underwater thruster body, thereby realizing the fast and stable navigation of the guided vehicle on the water surface.

[0061] In the present invention, the guided vehicle realizes flight in the air under the action of the quadrotor cross-shaped aircraft A; in this embodiment, for the specific structure, please refer to Figures 22 to 24, the quadcopter cross-shaped aircraft A includes propellers 55, aircraft motors 56, propeller fixing aluminum tubes 57, aircraft sliders 58, aircraft slide rails 59, aircraft bottom plates 60, aircraft gears 61, telescopic drive motors 62, aircraft racks 63 and protective aluminum parts 64; specifically, the quadcopter cross-shaped aircraft A adopts a series-connected dual-propeller quadcopter structure and is installed at the exact center of the top of the vehicle shell B. The installation base is firmly attached to the top surface of the vehicle shell B. Taking the geometric center of the top of the vehicle shell B as the reference benchmark, the main structure of the quadcopter cross-shaped aircraft A is completely symmetrically distributed both horizontally and vertically. From the perspective of spatial layout, the vertical line of the center of gravity of the quadcopter cross-shaped aircraft A coincides with the central vertical line of the top of the vehicle shell B to ensure flight stability. The quadcopter cross-shaped aircraft A is connected to the top of the vehicle shell B through the aircraft bottom plate 60; in the propeller movement mechanism of the quadcopter cross-shaped aircraft A, in the series-connected dual-propeller quadcopter structure, that is, the upper-side propeller 55 of the rotor is connected to the upper-side aircraft motor 56 of the rotor, and the upper-side aircraft motor 56 of the rotor is further connected to the upper side of the end of the propeller fixing aluminum tube 57. The lower-side propeller 55 of the rotor is connected to the lower-side aircraft motor 56 of the rotor, and the lower-side aircraft motor 56 of the rotor is further connected to the lower side of the end of the propeller fixing aluminum tube 57. The propeller fixing aluminum tube 57 is connected to the aircraft bottom plate 60 through the aircraft slider 58 and the aircraft slide rail 59 to achieve the movement of the propeller 55. Specifically, the propeller fixing aluminum tube 57 moves linearly outward along the aircraft slide rail 59 through the aircraft slider 58, driving the propeller 55 to move linearly outward synchronously; in the quadcopter cross-shaped aircraft A, the aircraft motor 56 and the propeller 55 are respectively arranged on the upper side and the lower side of each rotor. The series-connected dual-propeller quadcopter structure not only significantly enhances the power output of the aircraft but also ensures the stability and safety of the guided vehicle during flight. Even if a certain propeller 55 on a certain rotor fails, the quadcopter cross-shaped aircraft A can still maintain the stability of the overall flight state, thus effectively avoiding the safety risks caused by a single component failure and providing a solid guarantee for the flight safety of the guided vehicle; in the telescopic drive mechanism of the quadcopter cross-shaped aircraft A, the telescopic drive motor 62 is fixedly installed at the geometric center position of the aircraft bottom plate 60 in such a way that its central axis coincides with the central vertical line of the aircraft bottom plate 60. The outer peripheral wall of the telescopic drive motor 62 is in vertical contact connection with the upper surface of the aircraft bottom plate 60. The central axis of the aircraft gear 61 is horizontally arranged, and its main body is located at a specific height above the aircraft bottom plate 60. The aircraft rack 63 is vertically arranged, and its upper end meshes with the aircraft gear 61. The aircraft gear 61 and the aircraft rack 63 are perpendicular to each other, and the intersection point of the two is located in the central area of the aircraft bottom plate 60. The telescopic drive motor 62 is meshed and connected with the aircraft gear 61;When the quadrotor cross-shaped aircraft A is working, the aircraft motor 56 starts, driving the propeller 55 to rotate to generate lift. When it is necessary to adjust the position of the propeller 55, the propeller fixed aluminum tube 57 moves along the aircraft slide rail 59 through the aircraft slider 58, driving the propeller 55 to move outwards. At the same time, the telescopic drive motor 62 operates, driving the aircraft gear 61 meshed with it to rotate. Since the aircraft rack 63 is perpendicular to and meshed with it, the aircraft rack 63 vertically expands and contracts, cooperating with the propeller 55 to complete the aerial flight of the guide vehicle; in the protection mechanism of the quadrotor cross-shaped aircraft A, the outside of the quadrotor cross-shaped aircraft A is connected with a protection aluminum part 64. The protection aluminum part 64 and the aircraft bottom plate 60 are installed through a matching connection structure, covering the corresponding parts of the aircraft bottom plate 60 and the propeller fixed aluminum tube 57 from above. The aircraft bottom plate 60 closely fits from below, and the two are tightly joined at the surrounding sides to construct a complete protection space, ensuring the safety of the aircraft during flight.;

[0062] In the present invention, a variety of advanced devices are provided inside the vehicle shell B of the guide vehicle to improve the safety and navigation effect of the guide vehicle and at the same time provide a personalized tour experience; in this embodiment, for the specific structure, please refer to Figures 1 to 3, the multiple advanced devices include a lidar 1, a camera 2, a GPS / GLONASS receiver 3, a millimeter-wave radar 4, an ultrasonic sensor 5, an audio output device 6, and an in-vehicle central control touch screen 7; the lidar 1 is a high-precision sensing device, mounted on the top of the vehicle body B through a support rod, for real-time scanning and monitoring of the vehicle's surrounding environment. The lidar 1 calculates the distance and position from surrounding objects by emitting laser beams and receiving reflected signals, providing accurate three-dimensional environmental information for the guided vehicle; the camera 2 is mounted on the front side inside the vehicle body B through a support rod, for monitoring and recording the situation inside the vehicle and the surrounding environment. The camera 2 uses a high-resolution image sensor, capable of capturing clear images and videos, providing intuitive environmental perception for tourists; the GPS / GLONASS receiver 3 is mounted at the front of the vehicle body B, for receiving GPS and GLONASS signals to achieve precise positioning. The GPS / GLONASS receiver 3 has high sensitivity and fast positioning capabilities, ensuring that the guided vehicle can obtain accurate geographical location information in any environment; the millimeter-wave radar 4 is mounted at the front and rear of the vehicle body B, for detecting obstacles and moving objects around the vehicle. The millimeter-wave radar 4 calculates the distance and speed from the object by emitting millimeter waves and receiving reflected signals, providing obstacle avoidance and warning functions for the guided vehicle; the ultrasonic sensor 5 is mounted at the front and rear of the vehicle body B, for detecting obstacles at close range. The ultrasonic sensor 5 calculates the distance from the obstacle by emitting ultrasonic waves and receiving echoes, providing an auxiliary obstacle avoidance function for the guided vehicle; the audio output device 6 is mounted on the upper side inside the vehicle body B, for playing audio information such as voice prompts, background music, and emergency alarms. The audio output device 6 uses high-quality speakers to ensure clear audio output, providing a comfortable auditory experience for tourists; the in-vehicle central control touch screen 7 is mounted on the front side inside the vehicle body B, serving as a human-machine interaction interface. The in-vehicle central control touch screen 7 has high-resolution display and multi-touch functions. Users can intuitively operate various functions through the touch screen, such as viewing the vehicle's surrounding environment, selecting a guided route, adjusting the volume, etc. The in-vehicle central control touch screen 7 also supports voice operation, and tourists can quickly obtain information and guided services through voice commands.

[0063] Working principle of the present invention:

[0064] When the chassis C drive component of the guided vehicle works, the drive motor 39 converts electrical energy into mechanical energy. The drive motor 39 is fixed to the lower side of the chassis rear plate 9, meshes with the drive gear 38 to ensure smooth power transmission, and is connected to the rear wheel 52 through the rear wheel coupling 53, so that the power can be effectively transmitted to the rear wheel 52. The chassis rear plate 9 is supported by the chassis support aluminum tube 10, providing stable support for the chassis C drive component. The entire chassis C drive component is installed under the chassis C at the bottom of the vehicle shell B. The drive motor 39 and the drive gear 38 work together to drive the rear wheel 52 to rotate, enabling the guided vehicle to travel on land.

[0065] When the front wheel steering mechanism D of the guided vehicle works, the steering motor 12 rotates to drive the active gear 18 to rotate. Since the active gear 18 meshes with the driven rack 17, the rotational motion is converted into the linear motion of the driven rack 17, which is the drive source. The driven rack 17 drives the steering plate 14 through the rack fixing plate 13, and realizes parallel movement by means of the steering slider 20 sliding on the steering slide rail 19. The steering link 21 is connected to the steering extension plate 23 through the steering gasket 22, expanding the range of parallel movement of the steering plate 14 while reducing friction, and transmits the action to the front wheel rotating shaft 30 through the steering link 21 and the steering extension plate 23 in sequence, driving the front wheel 26 to rotate to achieve steering. At the same time, the components of the fixing mechanism F cooperate with each other. The thrust ball bearing fixing plate 31, the thrust ball bearing 32, etc. fix the front wheel 26 and the front wheel steering mechanism D, and play an auxiliary stabilizing role when the front wheel rotating shaft 30 rotates.

[0066] When the rear wheel conversion mechanism E of the guided vehicle works, the drive motor 39 starts, drives the conversion gear device through the drive gear 38, and pushes the rear wheel 52 from the two side edges at the rear end of the chassis C to the middle, changing its connection position with the rear end of the chassis C, that is, changing from being parallel to the left and right sides of the vehicle shell B to being vertical. When the guided vehicle sails on the water, the drive motor 39 drives the propeller hub 51 to rotate. The blade inclination angle makes the water push backward. According to Newton's third law, the water generates a reaction force on the propeller hub 51, which is transmitted to the guided vehicle through the power coupling structure, pushing it forward. During this period, components such as the self-made coupling 44, the small-sized thrust ball bearing 50, the rear wheel coupling 53, the bearing 54, and the special steering processed part 48 are connected and cooperate with each other to realize the limit of each joint of the universal joint and the accurate power transmission to the rear wheel 52, ensuring the effective coupling of the propeller hub 51 and the rear wheel 52 and stable power supply.

[0067] When the quadrotor cross-shaped aircraft A of the guided vehicle is working, the aircraft motor 56 drives the propeller 55 to rotate to generate lift, enabling the guided vehicle to fly in the air. During the flight, if the aircraft motor 56 or the propeller 55 on a certain rotor suddenly fails and cannot work properly, the remaining propellers 55 can still continuously and stably generate rotational lift to ensure that the guided vehicle remains in flight in the air, effectively avoiding the safety risks caused by a single component failure; when it is necessary to adjust the position of the propeller 55, the propeller fixing aluminum tube 57 moves linearly under the cooperation of the aircraft slider 58 and the aircraft slide rail 59, driving the propeller 55 to move synchronously; at the same time, the telescopic drive motor 62 drives the aircraft gear 61 to rotate through gear meshing and works together with the vertically arranged aircraft rack 63 to achieve telescopic movement in the horizontal direction, further adjusting the flight attitude; the quadrotor cross-shaped aircraft A takes the center of the top of the vehicle shell B as the reference to maintain the center of gravity stability, and provides comprehensive protection through the external protective aluminum part 64 to ensure the stability and safety of the guided vehicle during flight in the air.

[0068] The guided vehicle realizes an efficient, safe and personalized tour experience through the integration of advanced devices such as lidar 1, camera 2, GPS / GLONASS receiver 3, millimeter wave radar 4, ultrasonic sensor 5, audio output device 6 and in-vehicle central control touch screen 7; the lidar 1 is installed on the top of the vehicle shell B to scan the surrounding environment in real time and provide three-dimensional environment information; the camera 2 monitors the interior and surrounding environment of the vehicle and captures clear images; the GPS / GLONASS receiver 3 realizes precise positioning; the millimeter wave radar 4 and the ultrasonic sensor 5 work together to detect obstacles and give early warnings; the audio output device 6 plays voice prompts and music; the in-vehicle central control touch screen 7 serves as a man-machine interaction interface, supporting touch and voice operations, enabling tourists to intuitively view the environment, select routes and adjust the volume, so as to enjoy a convenient and comfortable tour guide service.

[0069] As for the autonomous navigation and obstacle avoidance functions of the guided vehicle realized based on the lidar 1, camera 2, millimeter wave radar 4 and ultrasonic sensor 5, they are prior art and will not be described in detail here.

[0070] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An amphibious self-driving cruise intelligent tour guide vehicle, comprising a vehicle shell and a chassis arranged at the bottom of the vehicle shell, wherein the chassis is provided with a chassis driving member for driving the rear wheels to rotate, and characterized in that: A front wheel steering mechanism is arranged at the front end of the chassis, and the front wheel steering mechanism interacts with the chassis driving part to complete the front wheel steering of the tour guide car; buoyancy materials for providing buoyancy for the tour guide car in the water are arranged on the side of the car body and the chassis, and a rear wheel conversion mechanism is arranged at the rear end of the chassis, and the rear wheel conversion mechanism adjusts the position of the rear wheel according to the environment in which the tour guide car is located, and the propeller hub is installed in the rear wheel, and the rotation of the propeller drives the tour guide car to sail on the water surface; a four-rotor cross-shaped aircraft with a tandem double-propeller four-rotor structure is arranged on the top of the car body, and the propeller is movably installed on the aircraft motor, and the rotation of the propeller drives the tour guide car to fly in the air; a vehicle-mounted central control touch screen is arranged inside the car body, and the vehicle-mounted central control touch screen is connected to a laser radar, a camera, a GPS / GLONASS receiver, a millimeter wave radar, an ultrasonic sensor and an audio output device.

2. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The front part of the vehicle shell is set to be wedge-shaped, the vehicle shell structure is set to be streamlined, and the rear part of the vehicle shell is set to be wide and upturned; buoyancy materials are set on the lower side of the vehicle shell side and the bottom of the chassis.

3. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The laser radar is installed on the top of the vehicle shell through a bracket rod, the millimeter wave radar is installed at the front and rear of the vehicle shell, the ultrasonic sensor is installed at the front and rear of the vehicle shell, the GPS / GLONASS receiver is installed at the front of the vehicle shell, the vehicle-mounted central control touch screen is installed on the front side of the interior of the vehicle shell, the camera is installed on the front side of the interior of the vehicle shell through a bracket rod, and the audio output device is installed on the upper side of the interior of the vehicle shell.

4. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The chassis driving member includes a driving motor, a driving gear, a motor fixing member and a driving gear fixing member; The driving gear is meshed and connected with the driving motor through a driving gear fixing piece, the driving motor is installed on the lower side of the chassis rear plate through a motor fixing piece, and the driving motor is connected to the rear wheel through a rear wheel coupling; the chassis rear plate is installed on the lower rear side of the chassis through a chassis supporting aluminum tube, the chassis driving piece is installed on the lower side of the chassis rear plate, and the chassis is installed on the bottom of the vehicle shell.

5. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The front wheel steering mechanism comprises a steering motor, a driving gear, a driven rack, a transmission system and a fixing mechanism; the steering motor is installed on the lower side of the steering plate through a motor bracket, the driving gear is installed on the steering motor, and the driving gear is connected to the driven rack through meshing; the steering slide rail and the steering slider constitute a transmission system, and the steering motor is connected to the front wheel through the transmission system; the fixing mechanism is installed on the transmission system through a copper column, and the front wheel steering mechanism is installed on the front lower side of the chassis through a steering fixing aluminum tube.

6. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 or 5, characterized in that: The fixing mechanism includes a thrust ball bearing, a bearing, a bearing fixing plate and a fixing plate; the bearing is installed inside the fixing mechanism through the bearing fixing plate, the large height compensation plate is connected to the bearing fixing plate through a copper column, the thrust ball bearing is installed outside the bearing through the thrust ball bearing fixing plate, the small height compensation plate is connected to the thrust ball bearing fixing plate through a copper column, and the fixing plate is installed on the upper side of the bearing.

7. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The rear wheel conversion mechanism includes a drive motor, a drive gear, a self-made coupling, a small-sized thrust ball bearing, a propeller hub, a rear wheel coupling, a bearing, a universal joint initial end, a universal joint cross connection and a universal joint end; the drive gear is mounted on the drive motor through a drive gear fixing member, the drive motor is mounted on the lower side of the rear plate of the chassis through a motor fixing member, and the drive motor is meshed and connected with the drive gear; The bearing connects the initial end of the universal joint with the end of the universal joint, the initial end of the universal joint is connected to a homemade coupling, the initial end of the universal joint is connected to the end of the universal joint through a universal joint cross connection, and the end of the universal joint is connected to a small thrust ball bearing; the propeller hub is installed on the rear wheel through a rear wheel coupling, and the rear wheel conversion mechanism is installed on the lower side of the rear plate of the chassis through a connecting processed part.

8. The amphibious self-driving cruise intelligent tour guide vehicle according to claim 1 is characterized by: The four-rotor cross-shaped aircraft includes a protective aluminum part, an aircraft motor, a propeller, a telescopic drive motor, an aircraft slide rail, an aircraft slider, an aircraft gear and an aircraft rack; the aircraft gear is installed on the telescopic drive motor, the telescopic drive motor is installed in the center of the aircraft base plate, and the aircraft gear is meshed and connected with the aircraft rack and installed on the aircraft base plate; the propeller on the upper side of the rotor is installed on the aircraft motor on the upper side of the rotor, and the aircraft motor on the upper side of the rotor is installed on the upper side of the propeller fixed aluminum tube end; the four-rotor cross-shaped aircraft adopts a tandem double-propeller four-rotor structure, the propeller on the lower side of the rotor is installed on the aircraft motor on the lower side of the rotor, and the aircraft motor on the lower side of the rotor is installed on the lower side of the propeller fixed aluminum tube end; the propeller fixed aluminum tube is connected to the aircraft slide rail through the aircraft slider; the four-rotor cross-shaped aircraft is externally connected to the protective aluminum part, and the four-rotor cross-shaped aircraft is installed on the top of the vehicle shell.

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