Air-ground dual-purpose unmanned aerial vehicle capable of automatically deforming

Abstract

The invention relates to the technical field of air-ground unmanned aerial vehicles, in particular to an air-ground dual-purpose unmanned aerial vehicle capable of automatically deforming, which comprises a rack, a battery pack mounted at the top end of the rack, and a stretching structure mounted in the rack, the blades are installed at the ends of the stretching structures, the sliding rails are installed below the stretching structures and used for stretching and retracting of the stretching structures, the walking structures are installed at the top ends of the sliding rails, the land-air dual-purpose unmanned aerial vehicle capable of automatically deforming is provided, and the problem that a traditional unmanned aerial vehicle is extremely poor in ground stability in a non-flight mode is solved. In the prior art, the leg structure of the unmanned aerial vehicle is only a simple support and has no active movement capability, and the existing land-air dual-purpose unmanned aerial vehicle has significant defects in the aspects of the deformation mechanism and the structural reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of land-air unmanned aerial vehicles, and particularly relates to a land-air dual-purpose unmanned aerial vehicle capable of automatic deformation. BACKGROUND

[0002] The land-air dual-purpose unmanned aerial vehicle capable of automatic deformation is a special unmanned device integrating bionic structure and dynamic deformation technology, and has land walking and flight capabilities. The device realizes complex terrain adaptation (such as gully and gravel ground) through a modularized leg structure, and is equipped with a fixed wing. Under the driving of an AI algorithm, the device can autonomously determine terrain requirements and quickly switch to a flight mode, which significantly improves the operation efficiency of the unmanned device in extreme environments. The traditional multi-rotor unmanned aerial vehicle is widely used in aerial photography, monitoring, logistics and other fields due to the characteristics of vertical take-off and landing and flexible control, but its functions are highly dependent on the flight mode, and its adaptability in complex ground environments is almost zero.

[0003] More seriously, the ground stability of the traditional unmanned aerial vehicle in the non-flight mode is extremely poor. The leg structure of the unmanned aerial vehicle is usually only a simple support without active movement capability. In a search task for earthquake ruins, the unmanned aerial vehicle landed on a debris pile with an inclination of more than 15 degrees. Because the leg structure has no locking mechanism, the device repeatedly slips and finally rolls over, causing the camera to be damaged and unable to continue the search.

[0004] However, the existing land-air dual-purpose unmanned aerial vehicle has significant defects in the deformation mechanism and structural reliability. Taking the disaster rescue scene as an example, when the device needs to cross a ditch with a width of more than 2 meters, the traditional hydraulic drive deformation mechanism needs 20-30 seconds to complete the wing unfolding, while the actual rescue usually has a golden response time of less than 5 seconds, resulting in that the device is often trapped in front of the obstacle due to deformation delay. SUMMARY

[0005] Therefore, the present application provides a land-air dual-purpose unmanned aerial vehicle capable of automatic deformation, which aims to solve the above technical problems.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] The land-air dual-purpose unmanned aerial vehicle capable of automatic deformation comprises a rack, a battery pack installed at the top end of the rack, an extension structure installed in the interior of the rack, blades installed at the end of the extension structure, a slide rail installed below the extension structure for extension and contraction of the extension structure, and a walking structure installed at the top end of the slide rail.

[0008] Preferably, the telescopic structure comprises a sliding block in sliding connection with the slide rail; a first motor is installed on the rack bottom plate, a rotating disc is installed on the power output end of the first motor, a connecting rod is installed on the rotating disc, and a mounting seat is arranged above the sliding block, and the connecting rod is connected with the mounting seat.

[0009] Preferably, the walking structure comprises a power unit installed on the rack, and at least one power unit is arranged, a connecting block is connected to the power output end of each power unit, and a first connecting plate is connected to each power unit.

[0010] A second connecting plate and a third connecting plate are connected to the first connecting plate, the two ends of the second connecting plate are respectively connected with the connecting block and the first connecting plate, a fourth connecting plate is connected to the first connecting plate, a fifth connecting plate is connected between the fourth connecting plate and the second connecting plate, and a walking support leg is arranged at the end of the fourth connecting plate, and the two ends of the third connecting plate are respectively connected between the first connecting plate and the walking support leg.

[0011] Preferably, the rotating disc is provided with a connecting rod at each corner, the slide rail is provided with four slide rails, each of the four slide rails is provided with a sliding block, each of the sliding blocks is provided with the mounting seat, and the two ends of each of the connecting rods are respectively rotatably connected with each of the mounting seats.

[0012] Preferably, the shell of each of the power units is fixedly connected with the end of each of the slide rails, the two ends of the second connecting plate are rotatably connected with the connecting block and the first connecting plate, and one end of the first connecting plate is rotatably connected with the shell of the power unit.

[0013] The other end of the first connecting plate is rotatably connected with the fourth connecting plate, the two ends of the fifth connecting plate are rotatably connected with the second connecting plate and the fourth connecting plate, one end of the third connecting plate is rotatably connected with the end of the walking support leg, and the fourth connecting plate is rotatably connected with the middle part of the walking support leg.

[0014] Preferably, each of the blades is powered by a second motor, and the second motor is electrically connected with the battery pack.

[0015] Preferably, each of the power units and the first motor is electrically connected with the battery pack.

[0016] Preferably, the walking support leg comprises a support part rotatably connected with the fourth connecting plate and the third connecting plate, and a walking part for walking, and the end of the walking part is provided with an elevation angle for facilitating walking.

[0017] Preferably, a support column is arranged between the top end and the bottom end of the frame, and the connecting rod is arranged in a crescent shape.

[0018] Compared with the prior art, the land-air dual-purpose unmanned aerial vehicle capable of automatic deformation has the following positive effects:

[0019] The first motor drives the rotating disc, and the connecting rod is linked with the sliding block and the sliding rail to realize the rapid extension / contraction of the blade.

[0020] The four sliding rails are slidably connected with the sliding blocks, and the connecting rod is arranged in a crescent shape to ensure that the force is evenly distributed when the wing is unfolded, avoid scratching between the wing and the support column, and improve the space utilization.

[0021] The walking support leg is designed with multi-degree-of-freedom connection (such as the rotating pair combination of the first connecting plate, the second connecting plate and the fifth connecting plate), which can simulate the gait of spider-like organisms and adapt to complex terrains such as gravel, soft mud and inclined debris.

[0022] By adding an AI algorithm and multiple angle cameras to analyze the terrain (such as the width of the ditch and the hardness of the ground) in real time, when it is judged that the land mode cannot continue to move forward, the flight mode is automatically triggered to deform, and the whole process does not require manual intervention, and the manual operation time for a single task is reduced from 40% to 5% of the traditional scheme.

[0023] The walking support leg includes a support part and a walking part, and the end of the walking part is designed with an elevation angle to adapt to the stepping and crossing requirements of complex terrains such as gravel and ditches. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0025] Figure 1 is a structural schematic diagram A of the present application.

[0026] Figure 2 This is schematic diagram B of the present invention;

[0027] Figure 3 Figure A is a partial representation of the structure;

[0028] Figure 4 Figure B is a partial representation of the structure.

[0029] Figure 5 This is a schematic diagram of the walking structure;

[0030] Reference numerals: 1. Battery pack; 2. Frame; 3. Blade; 4. Slide rail; 5. Slider; 6. First motor; 7. Rotating disk; 8. Connecting rod; 9. Mounting base; 10. Power unit; 11. Connecting block; 12. First connecting plate; 13. Second connecting plate; 14. Third connecting plate; 15. Fourth connecting plate; 16. Fifth connecting plate; 17. Traveling leg; 18. Second motor; 19. Support column. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1:

[0033] like Figures 1-5 As shown, the land-air dual-use unmanned aerial vehicle disclosed in this embodiment takes complex terrain ground operations as its core optimization goal. Through modular structural design, it realizes stable switching between land walking and air flight, and is especially suitable for the operation needs of complex ground environments such as gullies and gravel ground.

[0034] The core frame of the aircraft is composed of a rack 2, which serves as a load-bearing base, and a battery pack 1 mounted at the top of the rack 2, providing continuous power support for the power system and transmission mechanism of the entire device. The rack 2 has a reserved space inside, and the built-in extension structure can be extended along the preset track. The end of the extension structure is equipped with a blade 3 for flight propulsion, and the rotation power of the blade 3 directly determines the flight efficiency. The slide rail 4 is arranged in parallel below the extension structure, which not only provides accurate guidance for the extension and retraction of the extension structure, ensuring stable action trajectory, but also serves as a mounting carrier for the walking structure. The walking structure is fixed at the top of the slide rail 4, forming an organic whole with the structure support of ground movement and air flight. The support columns 19 are evenly distributed between the top and bottom of the rack 2, which are made of high-strength alloy materials and enhance the anti-deformation ability of the rack 2 through multi-point connection. Even when the device is subjected to ground impact or air flow disturbance, the stability of the overall structure can still be maintained.

[0035] The extension structure is a key conversion component connecting the ground and flight modes, which is composed of a sliding block 5, a first motor 6, a rotating disc 7, a connecting rod 8, and a mounting seat 9. The sliding block 5 and the slide rail 4 adopt precise sliding fit, and the contact surface is treated with lubrication to greatly reduce the sliding friction resistance and ensure smooth extension and retraction of the extension structure. The first motor 6 is fixedly installed at the center of the bottom plate of the rack 2, and its power output end is rigidly connected with the rotating disc 7 through a shaft coupling, ensuring no loss of power transmission, and the rotating disc 7 is driven to rotate stably.

[0036] The connecting rod 8 is symmetrically distributed at the four corners of the rotating disc 7, and the connecting rod 8 adopts a crescent design. This arc-shaped structure can effectively distribute airflow and reduce air resistance during rotation, and the arc surface can also disperse stress concentration, so the bending strength is significantly improved compared with the straight rod structure. The mounting seat 9 is welded above each sliding block 5, and the mounting seat 9 is connected with the end of the connecting rod 8 through a bearing, forming a flexible rotating pair. When the rotating disc 7 rotates, the connecting rod 8 can synchronously push and pull the sliding block 5 to slide along the slide rail 4, realizing the unfolding and folding actions of the extension structure. The rotation power of the blade 3 is provided by the second motor 18, which is electrically connected with the battery pack 1 through high-temperature-resistant wires. The wires are hidden inside the extension structure to avoid wear and tear of the circuit by the external environment and ensure the stability of power output in flight mode.

[0037] The walking structure is the core execution component of ground operation, and adopts a multi-link 8 linkage mechanism to realize the adaptability to complex terrains. The power unit 10 is provided as a power source of the walking structure, at least one of which is fixedly connected with the end of the slide rail 4 through a bolt. The rigid connection mode makes the walking structure and the stretching structure form a force receiving whole, avoiding shaking of the equipment due to loose structure during walking. A connecting block 11 is sleeved on the output shaft of the power unit 10, and the connecting block 11 transmits torque through key connection, ensuring efficient power output to the subsequent linkage mechanism 8.

[0038] A first connecting plate 12 is hingedly connected to the shell of the power unit 10, and the first connecting plate 12 can rotate around the hinge point. One end of the first connecting plate 12 is connected with a fourth connecting plate 15 through a pin shaft, and the other end is rotatably connected with a second connecting plate 13 and a third connecting plate 14, respectively. The two ends of the second connecting plate 13 are hingedly connected with the connecting block 11 and the first connecting plate 12, respectively. When the connecting block 11 is driven to rotate by the power unit 10, the second connecting plate 13 can push and pull the first connecting plate 12 to swing around the hinge point, realizing power transmission in the steering direction. A fifth connecting plate 16 is further arranged between the fourth connecting plate 15 and the second connecting plate 13. The fifth connecting plate 16 forms a stable structure through the hinge points at the two ends. This structure design can effectively disperse the impact force during walking and reduce the stress load of a single component.

[0039] A walking leg 17 is installed at the end of the fourth connecting plate 15 and is composed of a supporting part and a walking part. The supporting part is made of hollow steel pipe material, which not only reduces the overall weight but also ensures the supporting strength. Wear-resistant bearings are arranged at the hinge points of the supporting part, the fourth connecting plate 15 and the third connecting plate 14, thereby prolonging the service life of the components. The end of the walking part is designed with an inclination angle of 15°. This inclined structure can lift and cross obstacles by the inclination angle when contacting gravel or protruding terrain, thereby reducing the walking jam. Meanwhile, the end of the inclination angle is made of anti-skid rubber material, which increases the friction force with the ground and avoids slipping on wet or inclined ground.

[0040] The battery pack 1 is electrically connected with each power unit 10, the first motor 6 and the second motor 18 through internal circuits, respectively. An overload protection module is arranged in the circuit, which can automatically cut off the power supply when an abnormal current occurs in a component, thereby protecting the core components of the equipment. In the ground operation mode, the battery pack 1 preferentially supplies power to the power unit 10, which drives the walking leg 17 to move alternately through the multi-link 8 mechanism, thereby realizing the forward movement, steering and climbing of the equipment. When it is necessary to switch to the flight mode, the battery pack 1 supplies power to the first motor 6, which drives the stretching structure to unfold the blades 3. After the blades 3 are completely unfolded, the second motor 18 is started and drives the blades 3 to rotate, thereby realizing smooth take-off.

[0041] Embodiment two:

[0042] This embodiment focuses on optimizing the deformation efficiency of the stretching structure and the running stability of the device in extreme environments, suitable for disaster rescue, military reconnaissance and other scenarios with extremely high requirements for response speed and anti-interference capability.

[0043] The frame 2 adopts a lightweight alloy frame combined with a carbon fiber panel structure, which not only reduces the overall weight but also improves the structural rigidity. The battery pack 1 adopts a modular design and is installed in the detachable battery compartment at the top of the frame 2. The battery compartment is provided with heat dissipation holes around it, which cooperate with the internal cooling fan to form air circulation, avoiding the influence of battery performance due to overheating during high-intensity operation. The stretching structure inside the frame 2 is additionally provided with guide slides 5 between the stretching structure and the slide rail 4. The guide slides 5 are made of self-lubricating materials, further reducing the frictional resistance during stretching and retracting.

[0044] The number of support columns 19 between the top and bottom of the frame 2 is increased to four, distributed in a rectangular shape. The inside of the support column 19 is provided with reinforcing ribs to enhance the support strength of the upper and lower plates of the frame 2. Even if the device is impacted during landing, the impact force can be dispersed through the support column 19 to protect the internal components from damage. The connection part of the slide rail 4 and the frame 2 is reinforced by welding, and the weld is polished to ensure the connection strength and avoid airflow interference caused by protruding structures.

[0045] The first motor 6 of the stretching structure selects a high-speed servo motor. A set of reduction gears is additionally provided between the output shaft and the rotating disc 7 to ensure power output while improving rotation accuracy, so that the rotation angle of the rotating disc 7 can be accurately controlled to ensure the consistency of the blade 3 expansion position. The edge of the rotating disc 7 is provided with an angle sensor, which can feedback the rotation position in real time. Through closed-loop control with the motor, precise start and stop of the stretching structure stretching and retracting action can be realized.

[0046] The connection part of the connecting rod 8 and the mounting seat 9 is fixed with high-strength bolts, and the surface of the bolt is treated with anti-corrosion treatment to adapt to extreme environments such as humidity and dust. The contact surface between the sliding block 5 and the slide rail 4 is embedded with a wear-resistant coating, which has uniform thickness and strong adhesion. Even after long-term sliding friction, it can still maintain good matching accuracy to avoid stretching and retracting actions caused by wear. The connection between the blade 3 and the second motor 18 adopts a quick release structure, which is convenient for quick replacement when the blade 3 is damaged. The shell of the second motor 18 is provided with a dust cover to prevent dust and debris from entering the motor during flight and affecting operation.

[0047] The power unit 10 selects a large-torque stepping motor. The connection between the shell of the power unit 10 and the end of the slide rail 4 adopts a double-reinforced connection structure of mortise and tenon connection plus bolt fixation. This connection structure can resist the lateral force generated by the walking leg 17 when the device crosses a wide ditch, avoiding structural loosening. An elastic coupling is provided between the connecting block 11 and the output shaft of the power unit 10 to buffer the impact vibration during power transmission and protect the motor output shaft from damage.

[0048] The first connecting plate 12, the second connecting plate 13, and the third connecting plate 14 are all made of high-strength aluminum alloy and have undergone heat treatment to enhance their hardness. The surface of the connecting plates is coated with an anti-corrosion coating to adapt to rainy and high-humidity working environments. The central hinge point between the fourth connecting plate 15 and the outrigger 17 adopts a double-bearing design, with the two bearings distributed in parallel to enhance the load-bearing capacity of the connection part, allowing the outrigger 17 to rotate flexibly even when bearing the weight of the equipment.

[0049] The support and walking unit of the outrigger 17 are detachably connected. The end caps of the walking unit can be replaced with different materials depending on the working environment. For example, a non-slip toothed end cap can be used in snowy environments, and a wide-faced shovel-shaped end cap can be used in muddy environments, improving the equipment's adaptability to diverse terrains. The elevation angle of the walking unit further optimizes its crossing performance under different terrain conditions.

[0050] The circuitry between battery pack 1 and each electrical component employs a redundant design, with the main circuit and backup circuit running in parallel. In the event of a failure in the main circuit, the system automatically switches to the backup circuit, ensuring basic operation of the equipment even in emergencies. Waterproof plugs are used at the circuit interfaces, with sealing rings on the plug surface to prevent rainwater and mist from entering and causing short circuits.

[0051] By incorporating AI algorithms and using multi-angle cameras to analyze the terrain in real time (such as the width of gullies and the hardness of the ground), the system automatically triggers a flight mode transformation when it determines that the land mode cannot continue. The entire process requires no manual intervention, reducing the manual operation time per task from 40% to 5% compared to traditional solutions. The walking structure is powered by a power unit, and through the coordinated rotation of multiple links such as the first, second, and third connecting plates, it drives the fourth connecting plate and the walking legs to move, achieving active walking functionality.

[0052] During mode switching, the rotational speed of the first motor 6 driving the rotating disk 7 is optimized. By adjusting the motor parameters, the deployment time of the blades 3 is significantly shortened, meeting the rapid response requirements in emergency rescue scenarios. When the equipment switches from flight mode to ground mode, the walking structure first adjusts the support angle of the outriggers 17 through the power unit 10, ensuring a smooth landing before retracting the blades 3, thus preventing the equipment from tilting due to uneven ground during landing. Simultaneously, the power management system of the battery pack 1 automatically allocates power according to the operating mode, prioritizing power output to the blades 3 in flight mode and focusing on powering the walking structure in ground mode, thereby improving battery energy utilization.

[0053] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary and that changes can be made in detail without departing from the principles and spirit of the application. The scope of the application is therefore defined by the appended claims and their equivalents.

Claims

1. An amphibious unmanned aerial vehicle capable of automatic deformation, characterized in that, Include: Frame (2), battery pack (1) installed at the top of the frame (2), installed in the frame (2) inside the stretch structure, the end of the stretch structure installed blade (3), installed below the stretch structure for the stretch of slide rail (4) and the walking structure installed at the top of the slide rail (4).

2. The transformable land-air dual-purpose unmanned aerial vehicle of claim 1, wherein, The telescopic structure includes a sliding block (5) connected between the slide rail (4); a first motor (6) is installed on the bottom plate of the frame (2), a rotating disc (7) is installed on the power output end of the first motor (6), a connecting rod (8) is installed on the rotating disc (7), an installation seat (9) is arranged above the sliding block (5), and the connecting rod (8) is connected between the installation seat (9).

3. The transformable land-air dual-purpose unmanned aerial vehicle of claim 1, wherein, The walking structure includes a power unit (10) installed on the frame (2), and the power unit (10) is provided at least one, and the power output end of each power unit (10) is connected with a connecting block (11), and each power unit (10) is connected with a first connecting plate (12); The first connecting plate (12) is connected with a second connecting plate (13) and a third connecting plate (14), the two ends of the second connecting plate (13) are connected with the connecting block (11) and the first connecting plate (12) respectively, the first connecting plate (12) is connected with a fourth connecting plate (15), the fourth connecting plate (15) and the second connecting plate (13) are connected with a fifth connecting plate (16), and the end of the fourth connecting plate (15) is provided with a walking support leg (17). The two ends of the third connecting plate (14) are connected between the first connecting plate (12) and the walking support leg (17) respectively.

4. The transformable land-air dual-purpose unmanned aerial vehicle of claim 2, wherein, The four corners of the rotating disc (7) are provided with connecting rods (8), the four slide rails (4) are provided, the four slide rails (4) are provided with sliding blocks (5), the sliding blocks (5) are provided with the installation seats (9), and the two ends of each connecting rod (8) are rotatably connected between each installation seat (9).

5. The transformable land-air dual-purpose unmanned aerial vehicle of claim 3, wherein, The shell of each power unit (10) is fixedly connected between the ends of each slide rail (4), the two ends of the second connecting plate (13) are rotatably connected between the connecting block (11) and the first connecting plate (12), and one end of the first connecting plate (12) is rotatably connected with the shell of the power unit (10); The other end of the first connecting plate (12) is rotatably connected with the fourth connecting plate (15), the two ends of the fifth connecting plate (16) are rotatably connected between the second connecting plate (13) and the fourth connecting plate (15), one end of the third connecting plate (14) is rotatably connected with the end of the walking support leg (17), and the fourth connecting plate (15) is rotatably connected with the middle part of the walking support leg (17).

6. The transformable land-air dual-purpose unmanned aerial vehicle of claim 1, wherein, Each blade (3) is powered by a second motor (18), and the second motor (18) is electrically connected with the battery pack (1).

7. The transformable land-air dual-purpose unmanned aerial vehicle of claim 3, wherein, Each of the power units (10) and the first motor (6) is electrically connected with the battery pack (1).

8. The transformable land-air dual-purpose unmanned aerial vehicle of claim 3, wherein, The walking support leg (17) comprises a support part rotatably connected with the fourth connecting plate (15) and the third connecting plate (14), and a walking part used for walking, and the end of the walking part is provided with an elevation angle for facilitating walking.

9. The transformable land-air dual-purpose unmanned aerial vehicle of claim 2, wherein, The top end and the bottom end of the rack (2) are provided with a support column (19), and the support column (19) is provided at least one, and the connecting rod (8) is arranged in a crescent shape.

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