Air-ground dual-purpose fire-fighting unmanned aerial vehicle system

Abstract

The invention relates to an air-ground dual-purpose fire-fighting unmanned aerial vehicle system which comprises an unmanned aerial vehicle body, a flight assembly, a ground running assembly, a control assembly and a fire-fighting operation assembly. The flight assembly is connected with the unmanned aerial vehicle body through a first connecting piece and comprises a rotor wing mechanism and a driving piece. The ground running assembly is connected through a second connecting piece and comprises a running track and a driving piece; the control assembly comprises a control piece and a sensor array. In addition, the system further comprises a self-reconfiguration power cabin, a quick-change fire extinguishing cabin and other modules. The air-ground amphibious switching is realized, efficient fire behavior detection, terrain modeling and accurate fire extinguishing capabilities are realized, and the flexibility and adaptability of fire fighting operation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire rescue equipment, in particular to an air-ground dual-purpose fire unmanned aerial vehicle system. BACKGROUND

[0002] In recent years, air-ground dual-purpose fire unmanned aerial vehicle technology has developed rapidly and has become an important equipment in the field of fire rescue. By combining the high-altitude operation capability of unmanned aerial vehicles with the ground driving capability, such systems can adapt to complex disaster site environments and significantly improve fire operation efficiency and safety. With the acceleration of urbanization, the demand for fire protection in special scenarios such as high-rise buildings and underground spaces is increasing, which has promoted the continuous innovation and development of related technologies.

[0003] In the prior art, to solve the problem of fire operation under complex terrain conditions, a single-function unmanned aerial vehicle or a ground vehicle is usually used. For example, a traditional unmanned aerial vehicle realizes flight in the air through a rotor, but cannot effectively deal with ground obstacles; while a ground fire robot relies on a wheeled or tracked chassis for movement, but cannot be deployed in the air. In addition, some schemes try to enhance the adaptability of the system through modular design, such as using detachable fire extinguishing devices or additional sensor modules, but these schemes usually require human intervention and have low automation.

[0004] However, the air-ground dual-purpose fire system in the prior art generally has low switching efficiency and insufficient terrain adaptability. In particular, when facing complex terrain, the traditional structure of the unmanned aerial vehicle cannot quickly complete the conversion from the flight mode to the ground driving mode, resulting in an extended response time and reduced fire extinguishing efficiency. At the same time, the connection between its components is also relatively cumbersome, which cannot meet the requirements of rapid switching and high reliability in actual applications, limiting the overall performance of the system. SUMMARY

[0005] The purpose of the present application is to overcome the above technical problems, and an air-ground dual-purpose fire unmanned aerial vehicle system is provided.

[0006] An air-ground dual-purpose fire unmanned aerial vehicle system, comprising: an unmanned aerial vehicle body; a flight assembly connected to the unmanned aerial vehicle body through a first connecting piece, comprising a rotor mechanism, the rotor mechanism comprising a rotatable wing and a first driving piece, the rotatable wing being connected to the unmanned aerial vehicle body through the first connecting piece, and the first driving piece being fixedly arranged on the first connecting piece to drive the rotatable wing to rotate; The ground traveling assembly is arranged below the unmanned aerial vehicle body and connected with the unmanned aerial vehicle body through a second connecting member arranged below the unmanned aerial vehicle body, and comprises a connecting chassis and walking tracks arranged on both sides of the connecting chassis and a second driving member for controlling the walking tracks to walk. The control assembly comprises a control member arranged on the unmanned aerial vehicle body and an environmental perception sensor array, the control member being electrically connected with the environmental perception sensor array and electrically connected with the first driving member and the second driving member.

[0007] By adopting the above technical scheme, the aerial-ground dual-purpose fire-fighting unmanned aerial vehicle system can realize the dual functions of aerial flight and ground travel. The unmanned aerial vehicle body is connected with the flight assembly through the first connecting member, so that the rotor mechanism can be rotated under the driving of the first driving member, thereby providing flight power. The ground traveling assembly is installed below the unmanned aerial vehicle body through the second connecting member, and uses the walking tracks and the second driving member to realize the ground moving ability. The control assembly integrates the environmental perception sensor array and the control member, realizes the cooperative control of the flight assembly and the ground traveling assembly, ensures that the system intelligently switches the working mode according to the environmental information, and improves the adaptability and operation efficiency under complex terrain.

[0008] Preferably, the rotatable wings are circumferentially provided with rolling wheels outside, and the rolling wheels are fixedly connected with the rotatable wings; The first connecting member comprises a crankshaft rotatably connected with the unmanned aerial vehicle body at one end, a pull rod rotatably connected with the unmanned aerial vehicle body at one end, and a rotating rod rotatably connected with the crankshaft and the other end of the pull rod, and the rotor mechanism is fixedly connected with one side of the rotating rod; The other side of the rotating rod is provided with a first connecting rod and a second connecting rod rotatable with the crankshaft and the pull rod, respectively; The crankshaft is arranged as an L-shaped rod; The pull rod comprises a rotating pipe and a connecting pipe located inside the rotating pipe and telescopic along the length direction of the rotating pipe, and the other end of the connecting pipe away from the rotating pipe is rotatably connected with the second connecting rod; The first connecting member further comprises a third driving member and a fourth driving member, the third driving member drives the connecting pipe to rotate along the rotating shaft rotatable with the unmanned aerial vehicle body, and the fourth driving member drives the connecting pipe to slide in the rotating pipe for telescoping; The third driving member and the fourth driving member are electrically connected with the control member to control the rotating rod to be in a horizontal state and / or a vertical state; When the rotating rod is in the horizontal state, the rotor mechanism is horizontally arranged above the unmanned aerial vehicle body; When the rotating rod is in a vertical state, the rotor mechanism is vertically arranged on the side of the walking track away from the unmanned aerial vehicle body, and the rolling wheel contacts the ground to roll.

[0009] By adopting the above technical scheme, the air-ground dual-purpose fire-fighting unmanned aerial vehicle system can realize quick switching between the flight mode and the ground driving mode. Specifically, the fixed connection design of the rolling wheel and the rotatable wing enables the rotor mechanism to be used as a driving wheel in the ground driving mode, thereby improving the terrain adaptability of the system. The combination structure of the crankshaft, the pull rod and the rotating rod, in cooperation with the precise control of the third driving member and the fourth driving member, realizes flexible conversion of the rotor mechanism between the horizontal state and the vertical state. This design not only simplifies the operation process of mode switching, but also improves the switching efficiency, thereby shortening the response time and enhancing the overall performance of the system. In addition, the design of the L-shaped crankshaft and the telescopic pull rod further optimizes the space utilization, ensuring stable operation of the system in complex environments.

[0010] Preferably, the rolling wheel is a deformable wheel, which comprises a fixed plate fixedly connected with the output shaft of the first driving member, a deformation leg, and a fifth driving member for driving the deformation of the deformation leg. The fixed plate is located on the side of the rotatable wing close to the first driving member and has a distance from the rotatable wing. The deformation leg is rotationally connected with the fixed plate.

[0011] By adopting the above technical scheme, the deformable wheel can adjust its shape according to the actual terrain requirements, thereby improving the adaptability of the unmanned aerial vehicle system in complex ground environments. Specifically, the fixed connection of the fixed plate and the output shaft of the first driving member ensures the stability of power transmission of the rolling wheel, and the rotational connection design of the deformation leg and the fixed plate realizes flexible change of the shape of the rolling wheel. The driving effect of the fifth driving member on the deformation leg further enhances the controllability of the rolling wheel, so that the unmanned aerial vehicle can effectively deal with uneven road surfaces or obstacles when switching to the ground driving mode, thereby improving the overall driving efficiency and stability.

[0012] Preferably, the fifth driving member drives the deformation of the deformation leg through a deformation structure, which comprises a deformation tooth arranged on the deformation leg and a first gear rotationally connected with the fixed plate and engaged with the deformation tooth. The output shaft of the fifth driving member is provided with a second gear, which is engaged with the first gear and drives the first gear to rotate by driving the second gear, thereby controlling the deformation of the deformation leg.

[0013] By adopting the technical scheme, the fifth driving member drives the second gear to rotate, and then drives the first gear to rotate, so that the deformed leg deforms in a predetermined manner, improving the adaptability of the rolling wheel, and being capable of adjusting the shape under different terrain conditions and enhancing the ground driving performance. The design of the deformation structure simplifies the control process, ensures the stability and reliability of the deformation process, and provides support for the rapid switching of the system in a complex environment.

[0014] Preferably, the deformation diameter of the rolling wheel is 200-400mm.

[0015] By adopting the technical scheme, the air-ground dual-purpose fire-fighting unmanned aerial vehicle system can realize the switching of the rolling wheel in different diameter states, thereby adapting to various terrain requirements. Specifically, the deformation diameter of the rolling wheel is set to be in the range of 200-400mm, which can ensure good contact between the rolling wheel and the ground while providing sufficient grip and obstacle crossing ability. The smaller diameter is suitable for narrow spaces and high-precision operations, while the larger diameter improves the passing efficiency under complex terrain, ensuring higher stability and flexibility of the system in the ground driving mode.

[0016] Preferably, the second connecting member is provided as a suspension damping system.

[0017] By adopting the technical scheme, the suspension damping system can effectively reduce the influence of the vibration generated during ground driving on the unmanned aerial vehicle body and internal precision equipment, improving the stability and reliability of the system. The specific effects include: improving the passing ability of the ground driving assembly under complex terrain, reducing the risk of equipment damage caused by vibration, ensuring the data acquisition accuracy of the environmental perception sensor array during driving, thereby enhancing the adaptability and operation efficiency of the overall system.

[0018] Preferably, the environmental perception sensor array includes a multi-spectral fire detection module and a three-dimensional terrain modeling radar, and the wavelength range of the multi-spectral fire detection module is 3-5μm, which cooperates with the three-dimensional terrain modeling radar to realize accurate positioning of fire points and real-time modeling of terrain.

[0019] By adopting the technical scheme, the multi-spectral fire detection module can detect infrared signals with a wavelength range of 3-5μm, realizing accurate identification and positioning of fire points. Combined with the three-dimensional terrain modeling radar, the system can construct a three-dimensional terrain model of the disaster site in real time, providing accurate environmental information support for the path planning and operation of the unmanned aerial vehicle. This combination effectively improves the navigation ability and fire response efficiency of the air-ground dual-purpose fire-fighting unmanned aerial vehicle in complex environments, ensuring the safety and accuracy of the fire-fighting operation.

[0020] Preferably, the fire-fighting operation assembly is arranged on the unmanned aerial vehicle body and comprises a quick-change fire-extinguishing cabin, a high-pressure directional spray pipe and a chemical mixing system, the high-pressure directional spray pipe is provided with a bimodal nozzle, and the bimodal nozzle comprises an atomization channel with an atomized particle size of 50-100 microns and a columnar channel with a columnar flow rate of 15 L / s.

[0021] By adopting the technical scheme, the quick-change fire-extinguishing cabin can quickly replace fire-extinguishing chemicals, and the continuity and efficiency of fire-fighting operation are improved; the high-pressure directional spray pipe cooperates with the bimodal nozzle, can flexibly switch the spraying mode in different scenes, the particle size in the atomization mode is 50-100 microns, can effectively cover a large area of fire source, and reduce the risk of fire spread, and the columnar mode flow rate reaches 15 L / s, is suitable for long-distance precise fire extinguishing, and ensures the suppression effect on high-intensity fire source; the chemical mixing system adjusts the proportioning of fire-extinguishing chemicals in real time according to the fire situation, and further improves the fire extinguishing effect and adaptability.

[0022] In summary, the present application has at least one of the following beneficial technical effects: 1. By quick switching of the unmanned aerial vehicle body, the flight assembly and the ground driving assembly, the adaptability of the system to complex terrain conditions is significantly improved, the conversion time from the flight mode to the ground driving mode is shortened, and the overall response speed is improved. 2. The environmental perception sensor array, in combination with the multispectral fire detection module and the three-dimensional terrain modeling radar, realizes accurate positioning of the fire point and real-time terrain modeling of the disaster site, and enhances the operation accuracy and safety of the system. 3. The rotor mechanism in the flight assembly and the walking track in the ground driving assembly work cooperatively, ensure efficient fire extinguishing, and ensure stable operation of the system in various complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structure schematic view of the air-ground dual-purpose fire-fighting unmanned aerial vehicle system of the present application.

[0024] Figure 2 is a front view of the air-ground dual-purpose fire-fighting unmanned aerial vehicle system.

[0025] Figure 3 is a structure schematic view of the rolling wheel after deformation.

[0026] Explanation of reference signs: 1, unmanned aerial vehicle body; 2, flight assembly; 21, rotor mechanism; 211, rotatable wing; 212, first driving member; 213, rolling wheel; 2131, fixed plate; 2132, deformation leg; 2133, fifth driving member; 2134, deformation structure; 21341, deformation tooth; 21342, first gear; 21343, second gear; 3, first connecting member; 31, crankshaft; 32, pull rod; 321, rotating pipe; 322, connecting pipe; 33, rotating rod; 331, first connecting rod; 332, second connecting rod; 34, third driving member; 35, fourth driving member; 4, ground driving assembly; 41, connecting chassis; 42, walking track; 43, second driving member; 5, second connecting member; 6, control assembly; 61, control member; 62, environment perception sensor array; 621, multi-spectrum fire detection module; 622, three-dimensional terrain modeling radar; 7, fire fighting operation assembly; 71, quick-change fire extinguishing cabin; 72, high-pressure directional spray pipe; 73, medicament mixing system. DETAILED DESCRIPTION

[0027] Embodiment 1

[0028] The air-ground dual-purpose fire-fighting unmanned aerial vehicle system provided by the embodiments of the present application, with reference to Figure 1 , comprises an unmanned aerial vehicle body 1, a flight assembly 2, a ground driving assembly 4, a control assembly 6 and a fire fighting operation assembly 7, wherein the flight assembly 2 is connected with the unmanned aerial vehicle body 1 through a first connecting member 3, the ground driving assembly 4 is arranged below the unmanned aerial vehicle body 1 and connected with the unmanned aerial vehicle body 1 through a second connecting member 5, the control assembly 6 comprises a control member 61 and an environment perception sensor array 62, and the components are mutually matched, so as to improve the overall performance of the system, enhance the terrain adaptability and switching efficiency.

[0029] Specifically, the flight assembly 2 comprises a rotor mechanism 21, and the rotor mechanism 21 comprises a rotatable wing 211 and a first driving member 212. The rotatable wing 211 is connected with the unmanned aerial vehicle body 1 through the first connecting member 3, and the first driving member 212 is fixedly arranged on the first connecting member 3 and used for driving the rotatable wing 211 to rotate. The first driving member 212 is an electric motor, preferably a brushless motor or a direct current servo motor, and a protection device such as a high-temperature-resistant heat shield is arranged on the outer side to prevent the high temperature of the fire from affecting the normal work of the first driving member 212. The rotatable wing 211 is made of a lightweight high-strength material, such as carbon fiber composite material, to ensure its stability and durability during high-speed rotation.

[0030] With reference to Figure 1 , Figure 2, the first connecting piece 3 is designed with a multi-stage linkage structure, including a crankshaft 31, a pull rod 32 and a rotating rod 33. One end of the crankshaft 31 is rotatably connected with the unmanned aerial vehicle body 1, and the other end is rotatably connected with the rotating rod 33; the pull rod 32 includes a rotating tube 321 and a connecting tube 322, and the connecting tube 322 can be telescopic along the length direction in the rotating tube 321. This design enables the rotor mechanism 21 to be flexibly switched between horizontal and vertical states, thereby realizing the rapid conversion between the flight mode and the ground driving mode. Among them, the crankshaft 31 is arranged as an L-shaped rod, the crankshaft 31 is rotatably connected with a first connecting rod 331, the connecting tube 322 of the pull rod 32 is rotatably connected with a second connecting rod 332 at the end away from the rotating tube 321, a third driving piece 34 drives the connecting tube 322 to rotate along the rotating shaft of the unmanned aerial vehicle body 1, and a fourth driving piece 35 drives the connecting tube 322 to slide and extend in the rotating tube 321. The third driving piece 34 can be an electric push rod, a gas cylinder or a hydraulic cylinder, and the fourth driving piece 35 can be an electric push rod, a gas cylinder, a hydraulic cylinder, a gear and rack motor structure or a motor lead screw. Both are electrically connected with the control piece 61, and the state of the rotor mechanism 21 is controlled by controlling the rotating rod 33 to be in a horizontal state or a vertical state. When the rotating rod 33 is in a horizontal state, the rotor mechanism 21 is horizontally arranged above the unmanned aerial vehicle body 1; when the rotating rod 33 is in a vertical state, the rotor mechanism 21 is vertically arranged on the side of the walking track 42 away from the unmanned aerial vehicle body 1.

[0031] Reference Figure 1 , Specifically, the ground driving assembly 4 includes a connecting chassis 41, a walking track 42 and a second driving piece 43. The connecting chassis 41 is made of high-strength aluminum alloy material, has the characteristics of light weight and high strength, and has good corrosion resistance. The walking track 42 is made of rubber material and embedded in a metal skeleton to enhance wear resistance and grip, suitable for driving in complex terrain. The second driving piece 43 is an electric motor, preferably a brushless motor or a DC servo motor, and a protective device such as a high-temperature resistant heat shield is provided on the outside to prevent fire and high temperature from affecting its normal work, and is used to drive the walking of the walking track 42. The second connecting piece 5 adopts a suspension damping system, which includes springs, shock absorbers and damping adjustment devices, which can effectively absorb the impact force from the ground and ensure the stability of the unmanned aerial vehicle when driving on the ground.

[0032] Reference Figure 1 , Figure 2Specifically, the outer side of the rotatable wing 211 is circumferentially provided with a rolling wheel 213 fixedly connected with the rotatable wing 211. The rolling wheel 213 adopts a deformable design and includes a fixed plate 2131, a deformed leg 2132 and a fifth driving element 2133. The fixed plate 2131 is kept at a certain distance from the rotatable wing 211, and the deformed leg 2132 is rotationally connected with the fixed plate 2131. The fifth driving element 2133 is an electric motor, and an outer side is provided with a protective device such as a high-temperature-resistant heat shield to prevent fire and high temperature from affecting its normal work. Figure 3 The fifth driving element 2133 drives the deformed leg 2132 to deform through a deformed structure 2134. The deformed structure 2134 includes a deformed tooth 21341 provided on the deformed leg 2132 and a first gear 21342 rotationally connected with the fixed plate 2131. The output shaft of the fifth driving element 2133 is provided with a second gear 21343, which is engaged with the first gear 21342. The first gear 21342 is driven to rotate by driving the second gear 21343 to control the deformation of the deformed leg 2132. The diameter of the rolling wheel 213 after deformation ranges from 200 mm to 400 mm, which can be adjusted according to the actual terrain requirements.

[0033] Referring to Figure 1 Specifically, the control assembly 6 includes a control element 61 and an environment perception sensor array 62. The control element 61 serves as the control center of the whole system and can adopt a microcontroller or a single-chip microcomputer, responsible for receiving sensor signals and outputting control instructions. The environment perception sensor array 62 includes a multi-spectral fire detection module 621 and a three-dimensional terrain modeling radar 622. The wavelength range of the multi-spectral fire detection module 621 is 3-5 μm, which can accurately detect the position of the fire point. The three-dimensional terrain modeling radar 622 is used to construct a terrain model in real time, and the two cooperate to realize accurate positioning of the fire point and path planning. The control element 61 is electrically connected with the first driving element 212, the second driving element 43, the third driving element 34, the fourth driving element 35, the fifth driving element 2133 and the environment perception sensor array 62, forming a closed-loop control system to ensure the collaborative work of each component.

[0034] Specifically, the fire fighting assembly 7 is arranged on the unmanned aerial vehicle body and includes a quick-change fire extinguishing cabin 71, a high-pressure directional spray pipe 72 and a medicament mixing system 73. The quick-change fire extinguishing cabin 71 adopts a modular design and can be quickly installed and detached through buckles or bolts, facilitating replacement of different types of fire extinguishing agents according to actual requirements. The high-pressure directional spray pipe 72 is provided with a dual-mode nozzle including an atomization channel with an atomization particle size of 50-100 μm and a columnar channel with a columnar flow rate of 15 L / s, which can select appropriate spraying modes according to the fire situation. The medicament mixing system 73 includes a medicament storage tank, a mixing pump and a flow control valve, which are used to mix different medicaments in proportion and then deliver them to the high-pressure directional spray pipe 72 to meet various fire extinguishing requirements.

[0035] The implementation principle of the embodiment is: by optimizing the connection mode of the flight assembly 2 and the ground driving assembly 4, adopting a multi-stage linkage first connecting piece 3 and a suspension damping second connecting piece 5, the system can quickly switch between the flight mode and the ground driving mode. At the same time, the introduction of the environment perception sensor array 62 improves the intelligent level of the system, enabling it to automatically adjust the working mode according to the actual environment, significantly improving the overall performance of the system. This design not only solves the problem of low switching efficiency in the prior art, but also enhances the adaptability to complex terrain, providing more reliable protection for fire rescue.

[0036] Embodiment

[0037] The embodiment describes in detail the specific steps of switching from the flight mode to the ground driving mode.

[0038] S1, after the control piece 61 receives the ground driving mode switching instruction, the third driving piece 34 (electric push rod, air cylinder or hydraulic cylinder) is controlled to drive the connecting pipe 322 to rotate along the rotation shaft of the unmanned aerial vehicle body 1, so that the rotating rod 33 gradually presents a vertical state, and the fourth driving piece 35 (electric push rod, air cylinder, hydraulic cylinder, gear and rack motor structure or motor lead screw) is controlled to drive the connecting pipe 322 to slide along the rotating pipe 321 for extension and retraction, until the rotor mechanism 21 is completely vertically arranged on the side of the walking track 42 away from the unmanned aerial vehicle body 1; S2, the second driving piece 43 (motor) is started by the control piece 61 to drive the walking track 42 to start walking; S3, the control piece 61 adjusts the damping parameters of the suspension damping system according to the terrain information detected by the environment perception sensor array 62, to adapt to the current terrain conditions; S4, the control piece 61 controls the deformation diameter of the rolling wheel 213 according to the actual demand, and drives the deformation of the deformation leg 2132 through the fifth driving piece 2133 (motor) to further improve the stability of the ground driving.

[0039] The implementation principle of the embodiment is: by specifying the specific steps of switching from the flight mode to the ground driving mode, the operation process is simplified, the efficiency and reliability of the system switching between different modes are improved, and a more efficient solution is provided for fire rescue.

[0040] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An aerial-terrestrial dual-purpose firefighting drone system, characterized in that, The utility model relates to a kind of unmanned aerial vehicle, including: Unmanned aerial vehicle body (1); Flight assembly (2), which is connected with the unmanned aerial vehicle body (1) by a first connecting member (3), includes a rotor mechanism (21), the rotor mechanism (21) includes rotatable wings (211) and a first driving member (212), the rotatable wings (211) are connected with the unmanned aerial vehicle body (1) by the first connecting member (3), and the first driving member (212) is fixedly arranged on the first connecting member (3) to drive the rotatable wings (211) to rotate; Ground travel assembly (4) is arranged below the unmanned aerial vehicle body (1) and is connected with the unmanned aerial vehicle body (1) by a second connecting member (5) arranged below the unmanned aerial vehicle body (1), and includes a connecting chassis (41) and walking tracks (42) arranged on both sides of the connecting chassis (41) and a second driving member (43) for controlling the walking tracks (42) to walk; Control assembly (6) includes a control member (61) arranged on the unmanned aerial vehicle body (1) and an environmental perception sensor array (62), the control member (61) is electrically connected with the environmental perception sensor array (62) and is electrically connected with the first driving member (212) and the second driving member (43).

2. The aerial-ground dual-purpose fire-fighting drone system according to claim 1, characterized in that, The rotatable wings (211) are circumferentially provided with rolling wheels (213) outside, and the rolling wheels (213) are fixedly connected with the rotatable wings (211); The first connecting member (3) includes a crankshaft (31) rotatably connected with the unmanned aerial vehicle body (1) at one end, a pull rod (32) rotatably connected with the unmanned aerial vehicle body (1) at one end, and a rotating rod (33) rotatably connected with the crankshaft (31) and the other end of the pull rod (32), and the rotor mechanism (21) is fixedly connected with one side of the rotating rod (33); The rotating rod (33) is provided with a first connecting rod (331) and a second connecting rod (332) rotatably connected with the crankshaft (31) and the pull rod (32) at the other end, respectively; The crankshaft (31) is arranged as an L-shaped rod member; The pull rod (32) includes a rotating tube (321) and a connecting tube (322) located inside the rotating tube (321) and telescopic along the length direction of the rotating tube (321), and the connecting tube (322) is rotatably connected with the second connecting rod (332) at the end away from the rotating tube (321); The first connecting member (3) further includes a third driving member (34) and a fourth driving member (35), the third driving member (34) drives the connecting tube (322) to rotate along the rotation shaft rotatable with the unmanned aerial vehicle body (1), and the fourth driving member (35) drives the connecting tube (322) to slide along the rotating tube (321) to be telescopic; The third driving member (34) and the fourth driving member (35) are electrically connected with the control member (61) to control the rotating rod (33) to be in a horizontal state and / or a vertical state. When the rotating rod (33) is in a horizontal state, the rotor mechanism (21) is horizontally arranged above the unmanned aerial vehicle body (1); When the rotating rod (33) is in a vertical state, the rotor mechanism (21) is vertically arranged on the side of the walking track (42) away from the unmanned aerial vehicle body (1), and the rolling wheel (213) contacts the ground and rolls.

3. The aerial-ground dual-purpose fire-fighting drone system according to claim 2, characterized in that, The rolling wheel (213) is a deformable wheel, which comprises a fixed plate (2131) fixedly connected with the output shaft of the first driving member (212), a deformed leg (2132), and a fifth driving member (2133) for driving the deformed leg (2132) to deform, the fixed plate (2131) is located on the side of the rotatable wing (211) close to the first driving member (212) and has a distance from the rotatable wing (211), and the deformed leg (2132) is rotationally connected with the fixed plate (2131).

4. The aerial-ground dual-purpose fire-fighting drone system according to claim 3, characterized in that, The fifth driving member (2133) drives the deformed leg (2132) to deform through a deformation structure (2134), the deformation structure (2134) comprises deformed teeth (21341) arranged on the deformed leg (2132) and a first gear (21342) rotationally connected with the fixed plate (2131) and engaged with the deformed teeth (21341), and the output shaft of the fifth driving member (2133) is provided with a second gear (21343), the second gear (21343) is engaged with the first gear (21342), and the first gear (21342) is driven to rotate by driving the second gear (21343) to control the deformed leg (2132) to deform.

5. The aerial-ground dual-purpose fire-fighting drone system according to claim 4, characterized in that, The deformed diameter of the rolling wheel (213) is 200-400 mm.

6. The aerial-terrestrial dual-purpose firefighting drone system of claim 1, wherein, The second connecting member (5) is provided as a suspension damping system.

7. The aerial-terrestrial dual-purpose firefighting drone system of claim 1, wherein, The environmental perception sensor array (62) comprises a multi-spectral fire detection module (621) and a three-dimensional terrain modeling radar (622), the wavelength range of the multi-spectral fire detection module (621) is 3-5 μm, and the multi-spectral fire detection module (621) cooperates with the three-dimensional terrain modeling radar (622) to realize accurate positioning of fire points and real-time modeling of terrain.

8. The aerial-terrestrial dual-purpose firefighting drone system of claim 1, wherein, Further comprising a fire fighting assembly (7) arranged on the unmanned aerial vehicle body (1), which comprises a quick-change fire extinguishing cabin (71), a high-pressure directional spray pipe (72), and a medicament mixing system (73), the high-pressure directional spray pipe (72) is provided with a double-mode nozzle, the double-mode nozzle comprises an atomization channel with an atomized particle size of 50-100 μm and a columnar channel with a columnar flow rate of 15 L / s.

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