Land-air dual-purpose unmanned aerial vehicle based on folding rotor wings and control system of land-air dual-purpose unmanned aerial vehicle

Abstract

The invention discloses an air-ground dual-purpose unmanned aerial vehicle based on folding rotors and a control system thereof.The bottom of an unmanned aerial vehicle body is symmetrically provided with supporting bases, the middle of the bottom end of each supporting base is fixedly sleeved with a connecting rectangular sleeve plate, and telescopic guide pipes are slidably installed at the four corners of the top end of each connecting rectangular sleeve plate in a penetrating and inserting mode; buffering is provided for the supporting driving box through the buffering rectangular air bag, so that the folding type rotor wing unmanned aerial vehicle is prevented from being subjected to rigid impact in the landing process, meanwhile, the convenience of the folding type rotor wing unmanned aerial vehicle in the land advancing process is improved, the bottom of the supporting driving box is protected through a wear-resisting rubber piece, and the service life of the folding type rotor wing unmanned aerial vehicle is prolonged. According to the folding type rotor wing unmanned aerial vehicle, the bottom of the supporting driving box is prevented from being scratched and damaged in the advancing process, the function of the folding type rotor wing unmanned aerial vehicle is effectively expanded, the environmental adaptability is improved, it is ensured that the position of the folding type rotor wing unmanned aerial vehicle can be finely adjusted after landing, and the overall use convenience of the folding type rotor wing unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a land-air dual-purpose UAV based on folding rotors and a control system thereof. Background Art

[0002] A foldable rotor drone is a type of drone that achieves portability through a foldable structure. Its core feature is that key components such as the rotor arm and fuselage can be folded and stored, significantly reducing its size while maintaining flight performance.

[0003] However, currently foldable rotor drones cannot be conveniently moved on land during use, making it impossible to fine-tune the landing position after landing, thereby reducing the convenience of using the foldable rotor drone. Summary of the Invention

[0004] The present invention provides a dual-purpose land and air drone based on folding rotors and its control system, which can effectively solve the problem proposed in the above-mentioned background technology that the folding rotor drone cannot be conveniently moved on land during use, making it impossible to fine-tune the landing position after landing during use, thereby reducing the convenience of use of the folding rotor drone.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a foldable rotor-based dual-purpose land and air drone and its control system, comprising a drone body, wherein a support base is symmetrically mounted on the bottom of the drone body;

[0006] The bottom of the support base is provided with a bottom buffer movement mechanism;

[0007] The bottom buffer movement mechanism includes a connecting rectangular sleeve, a telescopic guide tube, a support drive box, a buffer rectangular air bag, a wear-resistant rubber sheet and a drive roller;

[0008] A connecting rectangular sleeve is fixedly sleeved on the middle of the bottom end of the support base, and telescopic guide tubes are slidably inserted and installed at the four corners of the top end of the connecting rectangular sleeve;

[0009] The bottom ends of the multiple telescopic guide tubes are fixedly connected to a support drive box, and a buffer rectangular airbag is bonded to the middle of the top surface of the support drive box;

[0010] A wear-resistant rubber sheet is embedded and bonded in the middle of the bottom surface of the support driving box, and driving rollers are installed on the bottoms of both ends of the support driving box through motors.

[0011] Preferably, the top surface of the buffer rectangular airbag is tightly fitted with the bottom surface of the connecting rectangular sleeve, and the driving roller is driven by a motor inside the supporting driving box.

[0012] Preferably, the unmanned aerial vehicle body bottom surface is provided with a bottom auxiliary connecting mechanism;

[0013] The bottom auxiliary connecting mechanism comprises a connecting knob, a connecting guide shaft, a connecting flat plate, a horizontal connecting hole, an isolation film, a connecting vertical plate and a vertical connecting hole.

[0014] The connecting knob is fixedly installed at the middle of the bottom surface of the unmanned aerial vehicle body, the connecting guide shaft is fixedly installed at the middle of the bottom end of the connecting knob, the connecting flat plate is fixedly connected to the bottom end of the connecting guide shaft, and the horizontal connecting hole is uniformly and equidistantly formed on the bottom surface of the connecting flat plate.

[0015] The isolation film is embeddedly installed at the middle of the bottom surface of the connecting flat plate, the connecting vertical plate is connected to the position corresponding to the bottom of the connecting flat plate at the bottom end of the horizontal connecting hole, and the vertical connecting hole is uniformly and equidistantly formed on the side surface of the connecting vertical plate.

[0016] Preferably, the connecting vertical plate top surface is tightly attached to the connecting flat plate bottom surface, the connecting vertical plate top end is bolted through the horizontal connecting hole, and the vertical connecting hole and the horizontal connecting hole are aligned with each other.

[0017] Preferably, the unmanned aerial vehicle body edge is provided with an outer ring marking warning mechanism.

[0018] The outer ring marking warning mechanism comprises a connecting round seat, a connecting disc, a mounting vertical shaft, a reflecting rectangular block and an auxiliary illuminating lamp.

[0019] The connecting round seat is fixedly and equidistantly connected to the bottom end of the unmanned aerial vehicle body edge in the circumferential direction, and the connecting disc is threadedly installed at the bottom end of the connecting round seat.

[0020] The mounting vertical shaft is fixedly connected to the middle of the bottom surface of the connecting disc, the reflecting rectangular block is fixedly sleeved to the middle of the outer side of the mounting vertical shaft, and the auxiliary illuminating lamp is threadedly installed at the bottom end of the mounting vertical shaft.

[0021] Preferably, the reflecting rectangular block is sprayed with reflective paint on the outer side, and the auxiliary illuminating lamp is powered by the internal power supply.

[0022] Preferably, a control system of a land-air dual-purpose unmanned aerial vehicle based on a folding rotor comprises:

[0023] A flight control module is used to control the unfolding, speed adjustment and attitude stabilization of the folding rotor when the unmanned aerial vehicle is in the air mode.

[0024] A ground travel control module is used to control the wheel driving, steering and speed adjustment when the unmanned aerial vehicle is in the ground mode.

[0025] A mode switching module is used to identify the state and switch the control mode between the ground travel mode and the air flight mode.

[0026] folding mechanism control unit, for controlling the folding and unfolding operation of the rotors, and working in cooperation with the flight control module and the ground travel control module;

[0027] a sensor unit, comprising an attitude sensor, a speed sensor and an altitude sensor, for collecting the running state information of the UAV in real time;

[0028] a main controller, for comprehensively processing the sensor data and coordinating the work of the flight control module, the ground travel control module, the mode switching module and the folding mechanism control unit, to realize the integrated land-air control.

[0029] Preferably, the mode switching module has an automatic judgment capability, and when the sensor unit detects the intention of the UAV to take off, the change of the attitude angle, the throttle input threshold value exceeds the set value or the ground speed is lower than the preset value, it is automatically switched from the ground travel mode to the flight mode, and the rotors are unfolded in linkage;

[0030] When it is detected that the UAV lands and stops stably, it is automatically switched to the ground mode, and the folding mechanism is controlled to fold the rotors, realizing the full-process automatic operation and improving the intelligent degree and use convenience of the UAV.

[0031] Preferably, the flight control module, the ground travel control module and the folding mechanism control unit are uniformly dispatched through the main controller, realizing the centralized management of the control logic, and the main controller dynamically adjusts the rotor unfolding state and the wheel driving strategy according to the real-time data collected by the sensor unit, and under the instruction of the mode switching module, seamless switching between the flight and ground travel modes can be realized without manual operation of the user, so as to improve the response speed and running stability in the land-air conversion process.

[0032] Preferably, the main controller adopts a multi-core asynchronous cooperative architecture, wherein at least one core is dedicated to processing the flight control task, and another core is used for processing the ground travel control and mode switching logic, and the two cores communicate with each other through a real-time bus to realize concurrent management of the flight and ground modes in a dynamic environment, improve the system response speed and control accuracy, and effectively avoid system delay or logic conflict caused by task switching.

[0033] Compared with the prior art, the present application has the advantages of scientific and reasonable structure, safe and convenient use:

[0034] 1. The bottom buffer moving mechanism is provided, the support drive box and the components thereon are installed to the bottom of the connecting rectangular sleeve plate through the telescopic guide pipe, the drive roller is driven to roll by the motor in the support drive box, the unmanned aerial vehicle body is driven to move on land by the drive roller, the support drive box is buffered by the buffer rectangular air bag to prevent the folding rotor unmanned aerial vehicle from being impacted rigidly during landing, and the convenience of the folding rotor unmanned aerial vehicle during land travel is improved, the bottom of the support drive box is protected by the wear-resistant film to prevent the bottom of the support drive box from being scratched and damaged during travel, the function of the folding rotor unmanned aerial vehicle is effectively expanded, the environmental adaptability is improved, and it is ensured that the folding rotor unmanned aerial vehicle can be fine-tuned after landing, and the overall use convenience of the folding rotor unmanned aerial vehicle is effectively improved.

[0035] 2. The bottom auxiliary connecting mechanism is provided, the connecting guide shaft and the components thereon are installed to the bottom of the unmanned aerial vehicle body through the connecting knob, the corresponding accessories are vertically installed to the bottom of the connecting flat plate through the horizontal connecting hole, the corresponding accessories are horizontally installed to the bottom of the unmanned aerial vehicle body through the vertical connecting hole, the accessories installed on the bottom of the connecting flat plate are protected by the isolation film, and the accessories are installed more tightly by the telescopic characteristics of the isolation film, thereby effectively improving the adaptability of the folding rotor unmanned aerial vehicle to the accessories, effectively expanding the use scene of the folding rotor unmanned aerial vehicle, and reducing the use cost of the folding rotor unmanned aerial vehicle.

[0036] 3. The outer ring marking warning mechanism is provided, the components are installed to the bottom of the unmanned aerial vehicle body through the connecting round seat cooperating with the connecting disc, the position of the unmanned aerial vehicle is more conspicuous in the daytime by the light reflection characteristics of the reflection rectangular block, and the surrounding environment of the folding rotor unmanned aerial vehicle is illuminated by the auxiliary illuminating lamp, so that the collision accident caused by the loss of vision of the folding rotor unmanned aerial vehicle at night is prevented, and the use safety of the folding rotor unmanned aerial vehicle is further improved.

[0037] 3. The organic cooperation of the flight control module, the ground travel control module, the mode switching module, the folding mechanism control unit, the sensor unit and the main controller realizes efficient, stable and intelligent switching between the flight mode and the ground travel mode of the unmanned aerial vehicle, the mode switching module automatically identifies the take-off and landing state based on a variety of sensor information, the main controller adopts a multi-core asynchronous cooperative architecture to improve processing efficiency, the system as a whole has the advantages of simple operation, rapid response, high control precision and strong running stability, effectively improves the adaptability and operation efficiency of the unmanned aerial vehicle in complex scenes, and has wide practical value and promotion prospect. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and are used to explain the application without restricting it.

[0039] In the drawings:

[0040] Figure 1 is a structural schematic diagram of the application;

[0041] Figure 2 is a structural schematic diagram of the bottom buffer moving mechanism of the application;

[0042] Figure 3 is a structural schematic diagram of the bottom auxiliary connecting mechanism of the application;

[0043] Figure 4 is a structural schematic diagram of the outer ring marking warning mechanism of the application;

[0044] Figure label: 1, unmanned aerial vehicle main body; 2, support base;

[0045] 3, bottom buffer moving mechanism; 301, connecting rectangular sleeve plate; 302, telescopic guide pipe; 303, support drive box; 304, buffer rectangular air bag; 305, wear-resistant film; 306, drive roller;

[0046] 4, bottom auxiliary connecting mechanism; 401, connecting knob; 402, connecting guide shaft; 403, connecting flat plate; 404, horizontal connecting hole; 405, isolation film; 406, connecting vertical plate; 407, vertical connecting hole;

[0047] 5, outer ring marking warning mechanism; 501, connecting round seat; 502, connecting disc; 503, mounting vertical shaft; 504, reflecting rectangular block; 505, auxiliary illuminating lamp. DETAILED DESCRIPTION

[0048] The preferred embodiments of the application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described here are only used to illustrate and explain the application, and do not limit the application.

[0049] Embodiment: as Figures 1-4 shown, the application provides a technical solution, a land-air dual-purpose unmanned aerial vehicle based on a folding rotor and a control system thereof, comprising an unmanned aerial vehicle main body 1, the unmanned aerial vehicle main body 1 is symmetrically installed with a support base 2 at the bottom;

[0050] The support base 2 is provided with a bottom buffer moving mechanism 3 at the bottom;

[0051] The bottom buffer moving mechanism 3 comprises a connecting rectangular sleeve plate 301, a telescopic guide pipe 302, a support drive box 303, a buffer rectangular air bag 304, a wear-resistant film 305 and a drive roller 306;

[0052] The middle of the bottom end of the support base 2 is fixedly sleeved with a connecting rectangular sleeve plate 301, and the top end of the connecting rectangular sleeve plate 301 is slidably inserted with a telescopic guide pipe 302 at the four corners.

[0053] The bottom ends of the plurality of telescopic guide pipes 302 are fixedly connected with a support drive box 303, and the middle of the top surface of the support drive box 303 is bonded with a buffer rectangular air bag 304.

[0054] The middle of the bottom surface of the support drive box 303 is embeddedly bonded with a wear-resistant rubber sheet 305, and the bottom of each of the two ends of the support drive box 303 is provided with a drive roller 306 through a motor. The top surface of the buffer rectangular air bag 304 is tightly attached to the bottom surface of the connecting rectangular sleeve plate 301, the drive roller 306 is driven by the motor in the support drive box 303, the support drive box 303 and each component thereon are installed to the bottom of the connecting rectangular sleeve plate 301 through the telescopic guide pipe 302, the drive roller 306 is driven to roll by the motor in the support drive box 303, the unmanned aerial vehicle body 1 is moved on land by the drive roller 306, the support drive box 303 is provided with a buffer by the buffer rectangular air bag 304 to prevent rigid impact during landing of the folding rotor unmanned aerial vehicle, and the convenience of the folding rotor unmanned aerial vehicle during land travel is improved. The bottom of the support drive box 303 is protected by the wear-resistant rubber sheet 305 to prevent scratching and damage during travel, effectively expanding the function of the folding rotor unmanned aerial vehicle, improving the environmental adaptability, ensuring that the folding rotor unmanned aerial vehicle can fine-tune the position after landing, and effectively improving the overall use convenience of the folding rotor unmanned aerial vehicle.

[0055] The bottom surface of the unmanned aerial vehicle body 1 is provided with a bottom auxiliary connecting mechanism 4.

[0056] The bottom auxiliary connecting mechanism 4 comprises a connecting knob 401, a connecting guide shaft 402, a connecting flat plate 403, a horizontal connecting hole 404, an isolation rubber sheet 405, a connecting vertical plate 406, and a vertical connecting hole 407.

[0057] The middle of the bottom surface of the unmanned aerial vehicle body 1 is provided with a connecting knob 401 through a thread, the middle of the bottom end of the connecting knob 401 is fixedly provided with a connecting guide shaft 402, the bottom end of the connecting guide shaft 402 is fixedly connected with a connecting flat plate 403, and the bottom surface of the connecting flat plate 403 is provided with a horizontal connecting hole 404 at equal intervals.

[0058] An isolation film 405 is embedded in the middle of the bottom surface of the connecting plate 403, and a connecting vertical plate 406 is connected to the bottom of the connecting plate 403 at the bottom end of the horizontal connecting hole 404. Vertical connecting holes 407 are evenly opened on the side of the connecting vertical plate 406. The top surface of the connecting vertical plate 406 fits tightly with the bottom surface of the connecting plate 403. The top bolt of the connecting vertical plate 406 passes through the inside of the horizontal connecting hole 404. The vertical connecting hole 407 is aligned with the horizontal connecting hole 404. The connecting guide shaft 402 and the components thereon can be installed on the drone through the connecting knob 401. At the bottom of the main body 1, the corresponding accessories can be vertically installed on the bottom of the connecting plate 403 through the horizontal connecting hole 404, and the corresponding accessories can be horizontally installed on the bottom of the drone main body 1 through the vertical connecting hole 407. The accessories installed on the bottom of the connecting plate 403 are protected by the isolation film 405, and the retractable property of the isolation film 405 is used to make the accessories installed more tightly, thereby effectively improving the adaptability of the folding rotor drone and various accessories, effectively expanding the use scenarios of the folding rotor drone, and reducing the use cost of the folding rotor drone;

[0059] An outer ring marking warning mechanism 5 is provided on the edge of the drone body 1;

[0060] The outer ring marking warning mechanism 5 includes a connecting round seat 501, a connecting disc 502, a mounting vertical shaft 503, a reflective rectangular block 504 and an auxiliary lighting lamp 505;

[0061] The bottom end of the side of the drone body 1 is evenly and evenly fixedly connected with a connecting round seat 501 along the circumferential direction, and the bottom end of the connecting round seat 501 is fixed with a connecting disc 502 through a thread;

[0062] A mounting vertical axis 503 is fixedly connected to the middle of the bottom surface of the connecting disc 502, and a reflective rectangular block 504 is fixedly sleeved on the middle of the outer side of the mounting vertical axis 503. An auxiliary lighting lamp 505 is installed on the bottom end of the mounting vertical axis 503 through a thread, and the outer side of the reflective rectangular block 504 is sprayed with reflective paint. The auxiliary lighting lamp 505 is powered by its internal power supply. The various components are installed on the bottom of the drone body 1 by connecting the round seat 501 and cooperating with the connecting disc 502. The light-reflecting property of the reflective rectangular block 504 makes the position where no one is present more conspicuous during the day. The auxiliary lighting lamp 505 can illuminate the surrounding environment of the folding rotor drone to prevent the folding rotor drone from losing vision and causing collision accidents during use at night, thereby further improving the safety of the folding rotor drone.

[0063] Preferably, a control system for a dual-purpose land-air drone based on folding rotors comprises:

[0064] The flight control module is used to control the deployment of the folding rotors, speed adjustment, and attitude stabilization when the drone is in air mode;

[0065] a ground driving control module for controlling the wheel driving, steering and speed adjustment when the UAV is in the ground mode;

[0066] a mode switching module for state recognition and control mode switching between the ground driving mode and the air flight mode;

[0067] a folding mechanism control unit for controlling the folding and unfolding operations of the rotors and working in cooperation with the flight control module and the ground driving control module;

[0068] a sensor unit including attitude sensors, speed sensors and height sensors for collecting the running state information of the UAV in real time;

[0069] a main controller for comprehensively processing the sensor data and coordinating the work of the flight control module, the ground driving control module, the mode switching module and the folding mechanism control unit to realize the land-air integrated control.

[0070] Preferably, the mode switching module has an automatic judgment capability, and when the sensor unit detects the take-off intention of the UAV, the attitude angle changes, the throttle input threshold exceeds the set value or the ground speed is lower than the preset value, it automatically switches from the ground driving mode to the flight mode and simultaneously unfolds the rotors;

[0071] When it is detected that the UAV lands and stops stably, it automatically switches to the ground mode and controls the folding mechanism to fold the rotors, realizing the full-process automatic operation and improving the intelligent degree and use convenience of the UAV.

[0072] Preferably, the flight control module, the ground driving control module and the folding mechanism control unit are uniformly scheduled by the main controller to realize the centralized management of the control logic, and the main controller dynamically adjusts the rotor unfolding state and the wheel driving strategy according to the real-time data collected by the sensor unit, so that seamless switching between the flight and ground driving modes can be realized without manual operation under the instruction of the mode switching module, thereby improving the response speed and running stability in the land-air conversion process.

[0073] Preferably, the main controller adopts a multi-core asynchronous cooperative architecture, in which at least one core is dedicated to processing the flight control task and another core is used for processing the ground driving control and mode switching logic, and the two cores communicate with each other through a real-time bus to realize concurrent management of the flight and ground modes in a dynamic environment, improve the system response speed and control accuracy, and effectively avoid system delay or logic conflict caused by task switching.

[0074] The working principle and use process of the application: in the actual application process, the folding rotor unmanned aerial vehicle is supported by the support base 2, and when the unmanned aerial vehicle needs to be driven to move on land, the support driving box 303 and the components thereon are installed at the bottom of the connecting rectangular sleeve plate 301 through the telescopic guide pipe 302;

[0075] Then the motor inside the support driving box 303 drives the drive roller 306 to roll, and the unmanned aerial vehicle body 1 is moved on land by the drive roller 306, and the support driving box 303 is buffered by the buffer rectangular air bag 304 to prevent the folding rotor unmanned aerial vehicle from being impacted rigidly during landing, and the convenience of the folding rotor unmanned aerial vehicle during land travel is improved, and the bottom of the support driving box 303 is protected by the wear-resistant film 305 to prevent the bottom of the support driving box 303 from being scratched and damaged during travel, effectively expanding the function of the folding rotor unmanned aerial vehicle, improving the environmental adaptability, and ensuring that the folding rotor unmanned aerial vehicle can be fine-tuned after landing, effectively improving the overall use convenience of the folding rotor unmanned aerial vehicle;

[0076] When the corresponding accessories need to be installed at the bottom of the folding rotor unmanned aerial vehicle, the connecting guide shaft 402 and the components thereon can be installed at the bottom of the unmanned aerial vehicle body 1 through the connecting knob 401, the corresponding accessories can be vertically installed at the bottom of the connecting flat plate 403 through the horizontal connecting hole 404, the corresponding accessories can be horizontally installed at the bottom of the unmanned aerial vehicle body 1 through the vertical connecting hole 407, and the accessories installed at the bottom of the connecting flat plate 403 are protected by the isolation film 405, and the isolation film 405 can be stretched to make the installation of the accessories more compact, thereby effectively improving the adaptability of the folding rotor unmanned aerial vehicle and the accessories, effectively expanding the use scene of the folding rotor unmanned aerial vehicle, and reducing the use cost of the folding rotor unmanned aerial vehicle;

[0077] When the position of the folding rotor unmanned aerial vehicle needs to be marked, the components are installed at the bottom of the unmanned aerial vehicle body 1 through the connecting circular seat 501 and the connecting disc 502, the position of the unmanned aerial vehicle is more conspicuous in the daytime through the light reflecting characteristic of the reflecting rectangular block 504, and the surrounding environment of the folding rotor unmanned aerial vehicle can be illuminated by the auxiliary illuminating lamp 505 to prevent the folding rotor unmanned aerial vehicle from colliding in the night due to loss of vision, thereby further improving the use safety of the folding rotor unmanned aerial vehicle.

[0078] Finally, it should be noted that the above only describes the preferred examples of the present application, and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that modifications can be made to the technical solutions described in the foregoing embodiments, or some of the technical features thereof can be replaced equivalently, without departing from the spirit and principle of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dual-purpose land and air drone based on a folding rotor, comprising a drone body (1), characterized in that: A support base (2) is symmetrically mounted on the bottom of the drone body (1); A bottom buffer movement mechanism (3) is provided at the bottom of the support base (2); The bottom buffer movement mechanism (3) comprises a connecting rectangular sleeve (301), a telescopic guide tube (302), a support drive box (303), a buffer rectangular air bag (304), a wear-resistant rubber sheet (305) and a drive roller (306); A connecting rectangular sleeve (301) is fixedly sleeved on the middle of the bottom end of the support base (2), and telescopic guide tubes (302) are slidably inserted and installed at the four corners of the top end of the connecting rectangular sleeve (301); The bottom ends of the plurality of telescopic guide tubes (302) are fixedly connected to a support drive box (303), and a buffer rectangular air bag (304) is bonded to the middle of the top surface of the support drive box (303); A wear-resistant rubber sheet (305) is embedded and bonded in the middle of the bottom surface of the support driving box (303), and driving rollers (306) are installed on the bottoms of both ends of the support driving box (303) through motors.

2. The dual-purpose UAV based on folding rotors according to claim 1, characterized in that: The top surface of the buffer rectangular airbag (304) is tightly fitted to the bottom surface of the connecting rectangular sleeve (301), and the driving roller (306) is driven by the motor inside the supporting driving box (303).

3. The dual-purpose land and air drone based on folding rotors according to claim 1, characterized in that: The bottom surface of the drone body (1) is provided with a bottom auxiliary connection mechanism (4); The bottom auxiliary connection mechanism (4) comprises a connection knob (401), a connection guide shaft (402), a connection plate (403), a horizontal connection hole (404), an isolation film (405), a connection riser (406) and a vertical connection hole (407); A connecting knob (401) is threadedly mounted in the middle of the bottom surface of the drone body (1); a connecting guide shaft (402) is fixedly mounted in the middle of the bottom end of the connecting knob (401); a connecting plate (403) is fixedly connected to the bottom end of the connecting guide shaft (402); and horizontal connecting holes (404) are evenly spaced on the bottom surface of the connecting plate (403); An isolation film (405) is embedded in the middle of the bottom surface of the connecting plate (403), and a connecting vertical plate (406) is connected to the bottom of the horizontal connecting hole (404) corresponding to the bottom position of the connecting plate (403), and vertical connecting holes (407) are evenly opened on the side of the connecting vertical plate (406).

4. The dual-purpose land and air drone based on folding rotors according to claim 3, characterized in that: The top surface of the connecting vertical plate (406) is tightly fitted with the bottom surface of the connecting flat plate (403), the top bolt of the connecting vertical plate (406) passes through the inside of the horizontal connecting hole (404), and the vertical connecting hole (407) is aligned with the horizontal connecting hole (404).

5. The dual-purpose land and air drone based on foldable rotors according to claim 1, characterized in that: An outer ring marking warning mechanism (5) is provided on the edge of the drone body (1); The outer ring marking warning mechanism (5) comprises a connecting round seat (501), a connecting disc (502), a mounting vertical shaft (503), a reflective rectangular block (504) and an auxiliary lighting lamp (505); The bottom end of the edge of the drone body (1) is fixedly connected to a connecting round seat (501) at equal intervals and uniformly along the circumferential direction, and the bottom end of the connecting round seat (501) is fixed with a connecting disc (502) via a thread; A mounting vertical shaft (503) is fixedly connected to the middle of the bottom surface of the connecting disc (502), a reflective rectangular block (504) is fixedly sleeved on the middle of the outer side of the mounting vertical shaft (503), and an auxiliary lighting lamp (505) is screw-threadedly mounted on the bottom end of the mounting vertical shaft (503).

6. The dual-purpose land and air drone based on foldable rotors according to claim 5, characterized in that: The outer side of the reflective rectangular block (504) is sprayed with reflective paint, and the auxiliary lighting lamp (505) is powered by its internal power supply.

7. A control system for a dual-purpose land and air drone based on folding rotors, according to any one of claims 1 to 6, characterized in that: include: The flight control module is used to control the deployment of the folding rotors, speed adjustment, and attitude stabilization when the drone is in air mode; Ground driving control module, used to control wheel drive, steering and speed adjustment when the drone is in ground mode; Mode switching module, used for state recognition and control mode switching between ground driving mode and air flight mode; A folding mechanism control unit, which is used to control the folding and unfolding operations of the rotor and works in conjunction with the flight control module and the ground travel control module; The sensor unit includes an attitude sensor, a speed sensor, and an altitude sensor, which is used to collect the UAV's operating status information in real time; The main controller is used to comprehensively process sensor data and coordinate the work of the flight control module, ground driving control module, mode switching module and folding mechanism control unit to achieve integrated land and air control.

8. The control system of the amphibious aerial drone based on folding rotors according to claim 7, characterized in that: The mode switching module has automatic judgment capabilities. When the sensor unit detects the drone's takeoff intention, the attitude angle changes, the throttle input threshold exceeds the set value, or the ground speed is lower than the preset value, it automatically switches from ground driving mode to flight mode and deploys the rotors in a linked manner; When it detects that the drone has landed and stopped stably, it automatically switches to ground mode and controls the folding mechanism to retract the rotors, achieving fully automated operation.

9. The control system of the amphibious aerial drone based on folding rotors according to claim 7, characterized in that: The flight control module, ground driving control module and folding mechanism control unit are uniformly dispatched by the main controller to realize centralized management of control logic. The main controller dynamically adjusts the rotor deployment state and wheel drive strategy according to the real-time data collected by the sensor unit. Under the instruction of the mode switching module, seamless switching between flight and ground driving modes can be achieved without manual operation by the user.

10. The control system of the amphibious aerial drone based on folding rotors according to claim 7, characterized in that: The main controller adopts a multi-core asynchronous collaborative architecture, in which at least one core is dedicated to processing flight control tasks, and another core is used to process ground driving control and mode switching logic. The two cores exchange data through real-time bus communication, which can realize concurrent management of flight and ground modes in a dynamic environment.

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