Agile configuration air-ground variable structure flying vehicle for post-disaster rescue

Abstract

The invention provides a post-disaster rescue-oriented agile-configuration land-air-variable-structure flying vehicle. The agile-configuration land-air-variable-structure flying vehicle comprises a crawler-type driving structure, a bottom plate, four ducts arranged on the bottom plate and a controller, wherein two variable-structure swing arms are arranged at the front end of the driving structure; the bottom plate is arranged on the driving structure; the bottom plate is provided with a hollow pattern for the four ducts to penetrate through the bottom plate; the controller is used for controlling the two variable-structure swing arms to make contact with a front obstacle and then rotate to lift or lower the vehicle body when the air-ground amphibious aerodyne encounters the obstacle so as to cross the obstacle. The air-ground amphibious aerodyne is provided with a four-duct flight structure and a swing arm track structure, and is more suitable for search and rescue in disaster areas with complex environments.

Description

Technical Field

[0001] This application relates to the technical field of flying cars, and in particular to an agile configuration land-air variable structure flying vehicle for post-disaster rescue. Background Art

[0002] After the emergence of unmanned aerial vehicles (UAVs) with a rotor flight mode, due to their characteristics of high speed, strong flexibility, and little terrain restriction, they have been widely used in disaster relief and played a significant role in aspects such as environmental detection. However, when facing narrow channels leading to the interior of the ruins, UAVs often show weakness and cannot penetrate deeply; when passing through sections with small and complex obstacles in a narrow space, UAVs are often difficult to pass safely due to their fragile rotors; when UAVs are required to deliver supplies to steep or narrow places, their load-carrying capacity and small-volume flexibility are often not available at the same time. In addition, there is also a risk of UAV rotors hurting people. Summary of the Invention

[0003] In view of this, this application provides an agile configuration land-air variable structure flying vehicle for post-disaster rescue to solve the above technical problems.

[0004] An embodiment of this application provides an agile configuration land-air variable structure flying vehicle for post-disaster rescue, including: a crawler-type drive structure, a bottom plate, four ducts arranged on the bottom plate, and a controller; wherein,

[0005] Two variable structure swing arms are arranged at the front end of the drive structure;

[0006] The bottom plate is arranged on the drive structure; the bottom plate is provided with a hollowed-out pattern for the four ducts to pass through the bottom plate;

[0007] The controller is used to control the two variable structure swing arms to contact the front obstacle and then rotate to raise or lower the vehicle body when the land-air amphibious vehicle encounters an obstacle, so as to cross the obstacle.

[0008] In a possible implementation, the drive structure includes: a first driving wheel, a second driving wheel, a first driven wheel, and a second driven wheel; the first driving wheel and the first driven wheel are linked by a first crawler; the second driving wheel and the second driven wheel are linked by a second crawler; a first driving wheel bracket is arranged on the side opposite to the second driving wheel with respect to the first driving wheel, and a first driving motor is arranged on the first driving wheel bracket; a second driving wheel bracket is arranged on the side opposite to the first driving wheel with respect to the second driving wheel, and a second driving motor is arranged on the second driving wheel bracket.

[0009] In a possible implementation, a first driven wheel bracket is provided on the side opposite to the second driven wheel, and a first variable structure swing arm is provided on the first driven wheel bracket; the first variable structure swing arm is connected to a first servo motor, the first servo motor is used to control the first variable structure swing arm, and the first servo motor is fixed on a first servo motor bracket;

[0010] A second driven wheel bracket is provided on the side opposite to the first driven wheel, and a second variable structure swing arm is provided on the second driven wheel bracket; the second variable structure swing arm is connected to a second servo motor, the second servo motor is used to control the second variable structure swing arm, and the second servo motor is fixed on a second servo motor bracket.

[0011] In a possible implementation, the first servo motor bracket includes a straight plate and a side plate that are vertically hinged; aluminum columns are respectively provided at the four corners of the straight plate for fixing to the lower surface of the bottom plate; the first servo motor is fixed on the side plate.

[0012] In a possible implementation, the first variable structure swing arm includes: a first swing arm and a first swing arm wheel at the end of the first swing arm; the second variable structure swing arm includes: a second swing arm and a second swing arm wheel at the end of the second swing arm.

[0013] In a possible implementation, the bottom plate is arranged on the plane where the first driving wheel bracket, the second driving wheel bracket, the first driven wheel bracket and the second driven wheel bracket are located; a battery bottom plate is embedded in the middle of the lower surface of the bottom plate.

[0014] In a possible implementation, a camera is provided on the bottom plate of the amphibious vehicle; the controller includes:

[0015] A sensing unit, which is used to judge whether there is an obstacle in front according to the image in front collected by the camera, and the height H, width S of the existing obstacle and the lateral position offset X between the amphibious vehicle and the obstacle; when H is greater than 0, it is determined that the obstacle in front is a convex platform, and when H is less than 0, it is determined that the obstacle in front is a gully;

[0016] A decision-making unit, which is used when the obstacle in front is a convex platform:

[0017] When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is greater than a preset second threshold, a flight obstacle instruction is issued;

[0018] When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is not greater than a preset second threshold, the steering angle is determined and a steering over-obstacle instruction is issued;

[0019] When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel meets the first preset condition, the first swing angles of the first swing arm wheel and the second swing arm wheel are determined and then an instruction to lift the swing arm wheel over the obstacle is issued;

[0020] When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel does not meet the first preset condition, an instruction to return along the original path is issued;

[0021] When the obstacle ahead is a gully:

[0022] When the length of the first swing arm wheel meets the second preset condition, determine the second swing angles of the first swing arm wheel and the second swing arm wheel and then issue an instruction for the swing arm wheels to droop and cross the obstacle; otherwise, issue an instruction to return along the original path.

[0023] A control unit is configured to respectively control the first drive motor, the second drive motor, the first servo and the second servo to operate according to the received instruction.

[0024] In a possible implementation, determining the steering angle includes:

[0025] The steering angle θ is:

[0026]

[0027] where D0 is the distance between the amphibious vehicle and the obstacle; W0 is the width of the amphibious vehicle.

[0028] In a possible implementation, the first preset condition is:

[0029]

[0030] where D0 is the distance between the vehicle and the obstacle, h0 is the distance between the bearing of the first swing arm wheel and the track, and L0 is the length of the first swing arm;

[0031] The first swing angle α1 is:

[0032]

[0033] In a possible implementation, the second preset condition is:

[0034]

[0035] The second swing angle α2 is:

[0036]

[0037] The amphibious vehicle of the present application has a four-ducted flight structure and a swing arm track structure, and is more suitable for search and rescue in disaster areas with complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 Structural diagram of the agile configuration land-air variable structure flying vehicle for post-disaster rescue provided by the embodiment of the present application;

[0040] Figure 2 Structural diagram of the variable structure swing arm provided by the embodiment of the present application.

[0041] Reference numerals in the drawings:

[0042] 101: drive structure; 102: bottom plate; 103: duct; 104: top plate;

[0043] 105: first duct fixing member; 106: second duct fixing member;

[0044] 107: first driving wheel; 108: first driven wheel;

[0045] 109: first crawler belt; 110: second crawler belt; 111: first driven wheel bracket;

[0046] 112: first variable structure swing arm; 113: first servo bracket;

[0047] 114: second variable structure swing arm; 115: first servo;

[0048] 201: straight plate; 202: side plate; 203: aluminum column;

[0049] 204: first swing arm; 205: first swing arm wheel. Specific embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0051] Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0052] First, a brief introduction to the design concept of the embodiments of the present application will be given.

[0053] When natural disasters occur, the disaster areas and ruins are characterized by rough ground, broken roads, narrow spaces, and complex structures. It is difficult for traditional manned aircraft and manned vehicles to take off and land or enter, and the search and rescue of unmanned aerial vehicles and unmanned vehicles are also restricted.

[0054] Existing amphibious flying vehicles mainly use propellers to provide flight power, and their ground parts adopt wheeled structures. However, existing land-air amphibious platforms basically do not adopt tracked structures. Although a few existing amphibious platforms adopt tracked structures, they simply apply the tracks to the bottom plate structure. Compared with the existing tracked structure with swing arms, their ability to cross obstacles and cope with complex environments still needs to be improved.

[0055] To solve the above technical problems, the present application provides a land-air amphibious flying vehicle for complex environments. This flying vehicle combines the advantages of unmanned aerial vehicles and unmanned tracked vehicles. It can not only cross obstacles and enter complex environments to carry out search and rescue, but also has a certain load capacity to bring urgently needed supplies to the trapped people and save lives to the greatest extent. By integrating the four-ducted flight structure and the swing-arm tracked structure, control integration is achieved. Studying the land-air amphibious variable-structure flying vehicle for complex environments is of great significance for perceiving the disaster area environment, searching for trapped people, and saving more lives.

[0056] To meet the requirements of disaster relief missions in terms of flexibility, bearing capacity, passability, safety, etc., the flying vehicle of the present application uses ducts for the following reasons: 1. By retracting several originally extended rotors into the platform interior and instead using four ducts, the platform volume can be greatly reduced, increasing its passability and ensuring its safety. 2. By changing the rotors to ducts, the thrust-to-weight ratio is greatly improved, enabling it to have a greater load. 3. The tracked part of the land-air amphibious vehicle, combined with its small volume, can travel into narrow spaces that are difficult for aircraft to enter because complex turbulent flows may be generated in narrow spaces, making flight unsustainable. 4. The tracks on the land part give it good load-bearing and passability, while the ducts on the flight part enable it to pass through complex terrains. The combination of the two parts enables it to better meet the needs of the disaster area and play a greater role in disaster area rescue.

[0057] The flying vehicle of the present application adopts a swing-arm wheel structure with a variable structure. This swing-arm wheel structure can help the land-air amphibious variable-structure flying vehicle cross obstacles that ordinary wheeled unmanned vehicles and tracked unmanned vehicles cannot cross in complex environments such as earthquake-stricken areas and debris flow disaster areas. For example, when encountering a relatively deep gully, the servo can control the swing-arm wheel to make it touch the bottom of the gully and lift the land-air amphibious flying vehicle up by a certain amount, so that the land-air amphibious flying vehicle can then pass through the obstacle.

[0058] The flying vehicle of the present application uses a design method that combines four ducted fans with a crawler structure. Currently, general vehicles that can achieve land travel and air flight functions adopt a propeller structure. After this structure is deployed, it occupies a large amount of space and is not conducive to passing through relatively narrow places such as the gaps between collapsed buildings during an earthquake. In addition, the rotation speed of the propeller is relatively fast, and there is a possibility of causing secondary injuries to the trapped people when used for disaster relief. The land-air amphibious variable-structure flying vehicle adopts a four-ducted fan structure, which occupies less space, has better safety, and the pulling force is also greater than that of a propeller of the same size. It is estimated that under the same load requirements, using the four-ducted fan structure can reduce the occupied area by about 40% compared with deploying the propeller structure. When the ducted fan and the propeller are of the same size, the takeoff weight of using the ducted fan is about 15% greater than that of the propeller. These data can illustrate the superiority of using the ducted fan structure. In addition, the crawler structure can effectively enhance the ability of the amphibious flying vehicle to travel on rough ground and further improve the ability of the land-air amphibious variable-structure flying vehicle to adapt to complex environments.

[0059] The flying vehicle of the present application uses an integrated control design, that is, the flight part and the crawler driving part use a set of control systems and a control chip. Such a design helps to simplify the control system, can not only improve the control efficiency but also reduce the self-weight of the flying vehicle. In addition, the control process of the flying vehicle is simplified, which is conducive to the operation of rescue personnel and makes it more suitable for the actual application of disaster relief.

[0060] After introducing the application scenarios and design concepts of the embodiments of the present application, the technical solutions provided by the embodiments of the present application will be described below.

[0061] As Figure 1 shown, the embodiments of the present application provide an agile configuration land-air variable-structure flying vehicle for post-disaster rescue, including: a crawler-type drive structure 101, a bottom plate 102, four ducted fans 103 arranged on the bottom plate, and a controller; wherein,

[0062] Two variable-structure swing arms are arranged at the front end of the drive structure;

[0063] The bottom plate 102 is arranged on the drive structure 101; the bottom plate 102 is provided with a hollowed-out pattern for the four ducted fans 103 to pass through the bottom plate 102;

[0064] The controller is used to control the two variable-structure swing arms to contact the obstacle in front and then rotate to raise or lower the vehicle body when the amphibious vehicle encounters an obstacle, so as to cross the obstacle.

[0065] The amphibious variable-structure vehicle facing complex environments in the embodiments of the present application realizes the combination of amphibious motion modes: through the design of the four-ducted swing-arm track structure, the amphibious vehicle has the ability to switch freely between the modes of flying in the air, traveling on the ground, and crossing obstacles on the ground. This structural design enables the vehicle to flexibly select the best way to pass according to the actual situation of the complex environment in the disaster area, improving its adaptability and disaster response ability.

[0066] As Figure 1 shown, a top plate 104 is arranged above the bottom plate. Four semi-circular grooves are arranged at two edges of the top plate 104 along the track direction for four ducts to pass through. To maintain the firm connection between the ducts and the vehicle bottom plate, a first duct fixing member 105 and a second duct fixing member 106 are arranged along the track direction for fixing the two ducts along the track direction. Both duct fixing members are made of high-strength nylon PC material, and the duct is fastened by using the ductility of the material. The second duct fixing member is designed with two fixing edges along the duct, and 6 nut fixing holes are designed on each fixing edge to facilitate the fixed connection between the fixing member and the bottom plate and the top plate. 6 nut fixing holes are designed between the two duct fixing members to ensure the fixing effect on the ducts. The other two ducts along the track direction are fixed by a third duct fixing member and a fourth duct fixing member.

[0067] In some embodiments, the drive structure 101 includes: a first driving wheel 107, a second driving wheel, a first driven wheel 108, and a second driven wheel; the first driving wheel 107 and the first driven wheel 108 are linked by a first track 109; the second driving wheel and the second driven wheel are linked by a second track 110; a first driving wheel bracket is arranged on the side opposite to the second driving wheel with respect to the first driving wheel 107, and a first driving motor is arranged on the first driving wheel bracket; a second driving wheel bracket is arranged on the side opposite to the first driving wheel 107 with respect to the second driving wheel, and a second driving motor is arranged on the second driving wheel bracket.

[0068] In some embodiments, a first driven wheel bracket 111 is arranged on the side opposite to the second driven wheel with respect to the first driven wheel 108, and a first variable-structure swing arm 112 is arranged on the first driven wheel bracket 111; the first variable-structure swing arm 112 is connected to a first steering gear, the first steering gear is used to control the first variable-structure swing arm 112, and the first steering gear is fixed on a first steering gear bracket 113;

[0069] A second driven wheel bracket is provided on the side opposite to the first driven wheel, and a second variable-structure swing arm 114 is provided on the second driven wheel bracket; the second variable-structure swing arm is connected to a second steering gear, the second steering gear is used to control the second variable-structure swing arm, and the second steering gear is fixed on a second steering gear bracket.

[0070] In some embodiments, as Figure 2 shown, the first steering gear bracket 113 includes a straight plate 201 and a side plate 202 that are vertically hinged; aluminum columns 203 are respectively provided at the four corners of the straight plate 201 for fixing to the lower surface of the bottom plate; the first steering gear 115 is fixed on the side plate 202.

[0071] The embodiment of the present application adopts a variable-structure swing arm wheel design. The swing arm wheel can effectively assist the flying vehicle to complete the ground obstacle crossing task, enhancing the passing performance of the flying vehicle when driving on the ground. Compared with the existing amphibious land-air platform, on the basis of a few designed track mechanisms, a variable-structure swing arm wheel structure is designed. This design not only improves the mobility and stability of the flying vehicle in complex terrains, but also enhances its ability to cope with various ground obstacles, further expanding the application field and disaster rescue ability of the flying vehicle. Compared with the swing arm track design of the existing swing arm moving mechanism, the power system of the swing arm part is omitted and used as a driven and supporting structure. On the basis of simplifying the design and reducing costs, a similar improvement in the obstacle crossing function is achieved. To cope with complex ground conditions and obstacle avoidance requirements, a variable-structure track system is designed as the bottom plate structure of the flying vehicle platform.

[0072] In some embodiments, as Figure 2 shown, the first variable-structure swing arm includes: a first swing arm 204 and a first swing arm wheel 205 at the end of the first swing arm. The second variable-structure swing arm has the same structure as the first variable-structure swing arm. The second variable-structure swing arm includes: a second swing arm and a second swing arm wheel at the end of the second swing arm.

[0073] The control process of the two variable-structure swing arms is as follows:

[0074] When the flying vehicle moves to a relatively high place, the steering gear first drives the swing arm to rotate, and then drives the swing arm wheel to contact the front obstacle. After contact, the steering gear drives the swing arm to rotate in the reverse direction, and then jacks up the vehicle body, so that the swing arm wheel and the rear half of the track form four fulcrums, and then cross the obstacle.

[0075] When the flying vehicle moves to a relatively low place, similarly, the steering gear drives the swing arm to rotate and contact the front obstacle. After crossing the obstacle, the steering gear drives the swing arm to rotate in the reverse direction and return to its original state.

[0076] In terms of materials, the swing arm is made of high-strength carbon fiber, and the servo bracket and aluminum column are made of aluminum alloy, which can reduce weight, increase structural strength, and improve its obstacle crossing ability. In terms of structural design, the swing arm is firmly connected to the base plate through 4 aluminum columns on the left and right to ensure the overall stability and reliability of the base plate structure. The servo bracket is designed as a nested structure, so that the servo can be directly fixed to the servo bracket on the basis of external fixation with nuts. The asymmetric notch design of the swing arm facilitates the retraction of the swing arm into the body when idle. The swing arm wheel design at the end of the swing arm gives the swing arm greater mobility and grip. Compared with the general swing arm crawler using a crawler structure, while meeting the swing arm function and the grip of the crawler, it greatly simplifies the swing arm structure, saves costs and reduces the weight of the flying car platform.

[0077] The swing arm portion of existing swing arm mechanisms utilizes a tracked structure with an independent power system. The principle of their obstacle-crossing process differs from that of the designed swing arm wheel. Once the swing arm track rotates to contact an obstacle, the swing arm does not need to reverse its rotation to lift the platform; the platform can be moved directly by the motor in the swing arm. However, the use of tracks in the swing arm requires a separate motor, significantly increasing the platform's weight. Furthermore, the tracks and motor increase the platform's size. In contrast, the swing arm wheel design is simple and effective, offering lower costs and greater feasibility.

[0078] In some embodiments, the base plate is arranged on a plane where the first driving wheel bracket, the second driving wheel bracket, the first driven wheel bracket and the second driven wheel bracket are located; and a battery base plate is embedded in the middle of the lower surface of the base plate.

[0079] In some embodiments, a camera is provided on the bottom plate of the amphibious flying vehicle; and the controller includes:

[0080] The perception unit is used to determine whether there is an obstacle ahead, as well as the height H, width S, and lateral offset X between the amphibious vehicle and the obstacle based on the image ahead captured by the camera. If H is greater than 0, the obstacle ahead is determined to be a convex platform; if H is less than 0, the obstacle ahead is determined to be a ravine.

[0081] Decision-making unit, used when the obstacle ahead is a ledge:

[0082] When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is greater than a preset second threshold, a flight obstacle instruction is issued;

[0083] When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is not greater than a preset second threshold, determining a steering angle and issuing a command to turn to overcome the obstacle;

[0084] When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel meets the first preset condition, determine the first swing angles of the first swing arm wheel and the second swing arm wheel, and then issue an instruction to lift the swing arm wheel to cross the obstacle;

[0085] When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel does not meet the first preset condition, issue an instruction to return the same way;

[0086] When the obstacle ahead is a gully:

[0087] When the length of the first swing arm wheel meets the second preset condition, determine the second swing angles of the first swing arm wheel and the second swing arm wheel, and then issue an instruction to lower the swing arm wheel to cross the obstacle; otherwise, issue an instruction to return the same way.

[0088] The control unit is configured to control the operation of the first drive motor, the second drive motor, the first servo, the second servo, and the four ducted fans respectively according to the received instructions. Among them, the first drive motor controls the movement of the first driving wheel, and the second drive motor controls the movement of the second driving wheel; the first servo controls the movement of the first variable structure swing arm, and the second servo controls the movement of the second variable structure swing arm; the four ducted fans control the movement of the four ducts respectively.

[0089] In some embodiments, determining the steering angle includes:

[0090] The steering angle θ is:

[0091]

[0092] where D0 is the distance between the amphibious vehicle and the obstacle; W0 is the width of the amphibious vehicle.

[0093] In some embodiments, the first preset condition is:

[0094]

[0095] where D0 is the distance between the vehicle and the obstacle, h0 is the distance between the bearing of the first swing arm wheel and the track, and L0 is the length of the first swing arm;

[0096] The first swing angle α1 is:

[0097]

[0098] In some embodiments, the second preset condition is:

[0099]

[0100] The second swing angle α2 is:

[0101]

[0102] In addition, considering the strength of the mechanism and the overall load, the bottom plate and the battery bottom plate are made of lightweight carbon fiber materials and adopt a hollow design to further reduce the weight. The driving wheel bracket and the driven wheel bracket are made of aluminum alloy materials, improving the impact resistance during landing. The designed track length is 58 cm and the tooth pitch is 1 cm, which is precisely matched with the driving and driven wheels of the flying vehicle. The outer surface of the track is designed with protrusions, which can improve the passing ability on muddy ground. It is designed with standardized parts, which are easy to process and assemble.

[0103] Considering that the weight of the amphibious flying vehicle is about 2 kg and the load is about 3 kg, assuming that the steering gear is firmly connected to its components, analyze the feasibility of the obstacle-crossing process. It can be analyzed that the maximum rotational torque required for the overall flying vehicle to fold down to the horizontal is the largest. Let the maximum torque be T max , given that the overall mass of the flying vehicle is m = 5 kg and the body length is l = 320 mm. Then:

[0104]

[0105] Considering the actual working environment, the rated torque of the selected steering gear is 10 N·m, which meets the working requirements for obstacle crossing.

[0106] The flight in the embodiment of this application adopts a four-ducted structure. Compared with the propeller structure used in general land-air amphibious platforms, the former has the characteristics of small occupied space, high safety, and greater thrust than propellers of the same size. Under the same mass, when comparing the volumes of the flying vehicle in this embodiment and the rescue drone, the former reduces the volume by about 40% compared to the latter and has a stronger ability to enter gaps. And the duct has higher safety and stability. In existing rotary-wing amphibious platforms, when the rotors rotate at high speed, aerodynamic interference is likely to occur between different rotors, affecting the stability and maneuverability of the platform. In addition, high-speed rotation of the rotors will generate relatively large induced drag and vortex losses, which reduces its overall efficiency. The open rotors are also vulnerable to the influence of the external environment (including weather, external forces, etc.), and their safety, service life, maintenance cost, etc. are higher than those of the ducts. At the same time, considering the flight stability and platform load, a four-ducted structure with better symmetry is selected instead of a two-ducted or eight-ducted structure.

[0107] Each duct is driven by a duct motor; considering that the weight of the amphibious flying vehicle is about 2 kg, the load is about 3 kg, and its takeoff under extreme conditions requires an acceleration of not less than 2 m / s 2 The parameter selection calculation of the duct is as follows:

[0108] Considering the state of the amphibious flying vehicle during takeoff, the thrust T t during duct takeoff should satisfy:

[0109] 4Tt -G = Ma

[0110] Wherein, G is the gravity of the flying vehicle, M is the mass of the flying vehicle, and a is the acceleration of the flying vehicle.

[0111] From this, the thrust T of the amphibious flying vehicle during ducted takeoff is calculated t :

[0112]

[0113] Furthermore, its thrust-to-mass ratio T can be known m as:

[0114]

[0115] To ensure sufficient thrust during takeoff, a QF2611 5000KV ducted fan with a single-ducted thrust of up to 1000g and a maximum power of 500W is selected.

[0116] The controller generates flight signals and sends the signals to the four electronic speed controllers, thereby driving the four ducted fans to operate and realizing the flight of the amphibious variable-structure flying vehicle.

[0117] It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0118] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that any modification or equivalent replacement of the technical solutions of the present application does not depart from the spirit and scope of the technical solutions of the present application, and they should all be covered within the scope of the claims of the present application.

Claims

1. An agile configuration land-air variable structure flying vehicle for post-disaster rescue, characterized in that, Including: A crawler-type drive structure, a bottom plate, four ducts arranged on the bottom plate, and a controller; wherein, Two variable-structure swing arms are arranged at the front end of the drive structure; The bottom plate is arranged on the drive structure; the bottom plate is provided with a hollow pattern for the four ducts to pass through the bottom plate; The controller is used to control the two variable-structure swing arms to contact the front obstacle and then rotate to raise or lower the vehicle body when the amphibious vehicle encounters an obstacle, so as to cross the obstacle.

2. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 1, wherein The drive structure includes: a first driving wheel, a second driving wheel, a first driven wheel and a second driven wheel; the first driving wheel and the first driven wheel are linked by a first crawler; the second driving wheel and the second driven wheel are linked by a second crawler; a first driving wheel bracket is arranged on the side opposite to the first driving wheel and the second driving wheel, and a first driving motor is arranged on the first driving wheel bracket; a second driving wheel bracket is arranged on the side opposite to the second driving wheel and the first driving wheel, and a second driving motor is arranged on the second driving wheel bracket.

3. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 2, wherein A first driven wheel bracket is arranged on the side opposite to the first driven wheel and the second driven wheel, and a first variable-structure swing arm is arranged on the first driven wheel bracket; the first variable-structure swing arm is connected to a first servo motor, and the first servo motor is used to control the first variable-structure swing arm, and the first servo motor is fixed on a first servo motor bracket; A second driven wheel bracket is arranged on the side opposite to the second driven wheel and the first driven wheel, and a second variable-structure swing arm is arranged on the second driven wheel bracket; the second variable-structure swing arm is connected to a second servo motor, and the second servo motor is used to control the second variable-structure swing arm, and the second servo motor is fixed on a second servo motor bracket.

4. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 3, characterized in that, The first servo motor bracket includes a straight plate and a side plate that are vertically hinged; aluminum columns are respectively arranged at the four corners of the straight plate for fixing to the lower surface of the bottom plate; the first servo motor is fixed on the side plate.

5. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 3, characterized in that The first variable-structure swing arm includes: a first swing arm and a first swing arm wheel at the end of the first swing arm; the second variable-structure swing arm includes: a second swing arm and a second swing arm wheel at the end of the second swing arm.

6. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 1, characterized in that, The bottom plate is arranged on the plane where the first driving wheel bracket, the second driving wheel bracket, the first driven wheel bracket and the second driven wheel bracket are located; a battery bottom plate is embedded in the middle of the lower surface of the bottom plate.

7. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 3, characterized in that A camera is arranged on the bottom plate of the amphibious vehicle; the controller includes: A sensing unit for judging whether there is an obstacle in front according to the image in front collected by the camera, and the height H, width S of the existing obstacle and the lateral position offset X between the amphibious vehicle and the obstacle; when H is greater than 0, it is determined that the front obstacle is a convex platform, and when H is less than 0, it is determined that the front obstacle is a gully; A decision-making unit for when the front obstacle is a convex platform: When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is greater than a preset second threshold, an instruction for a flight obstacle is issued; When the height of the obstacle is greater than a preset first threshold and the width of the obstacle is not greater than a preset second threshold, a steering angle is determined and an instruction for steering over the obstacle is issued; When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel meets a first preset condition, the first swing angles of the first swing arm wheel and the second swing arm wheel are determined and then an instruction for the swing arm wheel to lift over the obstacle is issued; When the height of the obstacle is not greater than a preset first threshold and the length of the first swing arm wheel does not meet the first preset condition, an instruction to return along the original path is issued; When the obstacle ahead is a gully: When the length of the first swing arm wheel meets the second preset condition, determine the second swing angles of the first swing arm wheel and the second swing arm wheel and then issue an instruction for the swing arm wheels to droop and cross the obstacle. Otherwise, issue an instruction to return along the original path. The control unit is configured to control the operation of the first drive motor, the second drive motor, the first servo, and the second servo respectively according to the received instructions.

8. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 7, characterized in that, Determining the steering angle includes: The steering angle θ is: where D0 is the distance between the amphibious vehicle and the obstacle; W0 is the width of the amphibious vehicle.

9. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 7, characterized in that The first preset condition is: where D0 is the distance between the vehicle and the obstacle, h0 is the distance between the bearing of the first swing arm wheel and the track, and L0 is the length of the first swing arm; The first swing angle α1 is:

10. The agile configuration land-air variable structure flying vehicle for post-disaster rescue according to claim 7, characterized in that, The second preset condition is: The second swing angle α2 is:

Images