Amphibious mobile unmanned aerial vehicle with obstacle crossing capability

Abstract

The invention discloses an amphibious mobile unmanned aerial vehicle with obstacle crossing ability, and belongs to the technical field of amphibious unmanned aerial vehicles. The device comprises a center frame, swing frames are arranged at the two ends of the center frame, mounting holes are formed in the middles of the center frame and the swing frames, propellers are fixedly mounted on the inner walls of the mounting holes, and adjusting mechanisms used for adjusting the postures of the swing frames are arranged between the center frame and the swing frames. Folding grooves are formed in the edges of the two sides of the two swing frames, side edge supporting pieces are rotationally installed in the folding grooves, side edge rolling wheels are rotationally installed at the bottoms of the side edge supporting pieces, and a driving chassis is arranged at the bottom of the center frame. According to the unmanned aerial vehicle, the unmanned aerial vehicle body is divided into three sections, and the adjusting mechanism and the connecting piece are arranged, so that the swing frame and the center frame can relatively rotate, the unmanned aerial vehicle body can be bent and steered in the horizontal direction, and the obstacle avoidance capacity of the unmanned aerial vehicle body in the movement process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the amphibious unmanned vehicle technical field, especially to an amphibious mobile unmanned vehicle with obstacle crossing capability. BACKGROUND

[0002] Traditional unmanned vehicles show great advantages in aerial photography, inspection, surveying and mapping, etc. However, their flight is limited by energy endurance, weather conditions and regulatory airspace control. At the same time, the flight mode is inefficient and energy-consuming for long-time and high-precision close-range operation. On the other hand, although ground robots can perform long-term operation, their mobility is severely restricted by the terrain environment, and they are powerless when encountering ditches, ruins or large obstacles. Therefore, the industry urgently needs an amphibious unmanned vehicle that can quickly maneuver in open airspace, perform long-term and fine operation on the ground, and overcome ground obstacles.

[0003] Most existing unmanned vehicles are designed with rigid body structures, and their steering mode relies on differential or rudder steering when moving on the ground. Such structure is extremely clumsy in narrow or obstacle-filled environments, and cannot achieve flexible small-radius movement in multiple directions, greatly limiting its obstacle avoidance efficiency and passability in complex scenarios. SUMMARY

[0004] The present application provides an amphibious mobile unmanned vehicle with obstacle crossing capability, which can solve the problem of poor obstacle avoidance efficiency and passability of unmanned vehicles in complex scenarios in the prior art.

[0005] The present application provides an amphibious mobile unmanned vehicle with obstacle crossing capability, which includes a center frame, both ends of the center frame are provided with swing frames, mounting holes are formed in the middle parts of the center frame and the swing frames, helical propellers are fixedly installed on the inner walls of the mounting holes, an adjusting mechanism for adjusting the attitude of the swing frame is arranged between the center frame and the swing frame, folding grooves are formed in both side edges of the two swing frames, side edge support members are rotatably installed in the folding grooves, side edge rollers are rotatably installed at the bottoms of the side edge support members, and a driving chassis is arranged at the bottom of the center frame.

[0006] As a further scheme of the present application, the adjusting mechanism includes a rotating groove arranged on the center frame and a sliding groove arranged on the swing frame, a connecting piece is arranged between the rotating groove and the sliding groove, one end of the connecting piece is rotatably connected with the middle part of the inner wall of the rotating groove, an electric push rod is fixedly installed at one end of the inner wall of the sliding groove, the output end of the electric push rod is fixedly connected with a displacement frame, one side of the displacement frame is slidably connected with the inner wall of the sliding groove, and the other end of the connecting piece is rotatably connected with the inner wall of the displacement frame.

[0007] As a further scheme of the present application: the connecting piece comprises two connecting rods connected with each other to rotate, and the distal ends of the two connecting rods are provided with movable grooves, and the inner walls of the movable grooves are slidably connected with butt rods, and the butt rods are fixedly connected with buffer springs between the distal ends of the butt rods and the inner walls of the movable grooves.

[0008] As a further scheme of the present application: the two sides of the rotating groove are provided with electromagnets, the output ends of the electromagnets are arranged towards the swing frame, the two sides of the sliding groove are provided with receiving grooves, the inner walls of the two receiving grooves are fixedly connected with receiving plates, and the receiving plates are arranged correspondingly to the electromagnets.

[0009] As a further scheme of the present application: the side edge support comprises a support frame, the bottom of the support frame is fixedly connected with a roller frame, the side edge roller is rotatably installed in the roller frame, and the middle part of the side edge roller is provided with a driving tooth groove; the inside of the support frame is fixedly installed with a driving motor, the output end of the driving motor is fixedly connected with a driving gear, and the bottom of the driving gear is meshingly connected with the driving tooth groove.

[0010] As a further scheme of the present application: the side edge support further comprises a turnover motor, the output end of the turnover motor is fixedly connected with a turnover frame, the inner wall of the turnover frame is fixedly installed with a telescopic rod, the output end of the telescopic rod is fixedly connected with a pushing frame, the bottom of the pushing frame is fixedly connected with a pushing spring, the bottom of the pushing spring is fixedly connected with the support frame, and the support frame is slidably arranged in the turnover frame.

[0011] As a further scheme of the present application: the two sides of the swing frame are rotatably installed with fan blades, the middle part of the fan blades is fixedly connected with a transmission shaft, one end of the transmission shaft is fixedly connected with a transmission gear, the top of the driving gear protrudes out of the outer wall of the support frame, and the top of the transmission gear is correspondingly arranged with the driving gear.

[0012] As a further scheme of the present application: the driving chassis comprises a base frame, the bottom of the base frame is slidably connected with a bearing frame, the bottom of the bearing frame is rotatably installed with a plurality of bearing rollers, the top of the base frame is fixedly connected with a fixed frame, and the top of the fixed frame is fixedly connected with the center frame.

[0013] As a further scheme of the present application: the edge of the base frame is fixedly connected with a plurality of extension frames, and the bottom of each of the plurality of extension frames is rotatably connected with an auxiliary roller.

[0014] As a further scheme of the present application: one side of the swing frame towards the center frame is provided with a plurality of clamping holes, and the side of the center frame towards the swing frame is fixedly connected with a plurality of clamping rods, and the plurality of clamping rods are correspondingly arranged with the plurality of clamping holes.

[0015] Compared with the prior art, the present application has the advantages that: by dividing the unmanned aerial vehicle body into three sections, and configuring the adjusting mechanism and the connecting piece, the relative rotation between the swing frame and the center frame is enabled, and the unmanned aerial vehicle body can be bent and turned in the horizontal direction, thereby improving the obstacle avoidance capability during movement; by dividing the connecting piece into two sections connected with each other, the connecting piece itself can be vertically rotated, avoiding interference with the horizontal direction traction displacement adjustment, and by the characteristics of the connecting rod that can be vertically rotated and folded, in combination with the buffer springs arranged at both ends, the impact force during landing of the unmanned aerial vehicle is absorbed, thereby reducing the structural damage of the unmanned aerial vehicle. Meanwhile, in combination with the attraction of the receiving plate after the electromagnet is powered on, a traction force is applied to assist the movement of the swing frame, and the on-off operation control of the electromagnet is more rapid and flexible, and can quickly respond, and is more suitable for rapid obstacle avoidance operation during land travel. The present application drives the side edge rollers by driving the driving motor to rotate the driving gear, thereby assisting the land travel of the unmanned aerial vehicle; the side edge support of the present application moves the push frame and the lower support frame by the telescopic rod, adjusts the ejection distance of the side edge rollers, thereby adjusting the ground clearance of the unmanned aerial vehicle body, in combination with the sliding displacement of the support frame and the buffering effect of the push spring, the landing and land travel vibration impact of the unmanned aerial vehicle is absorbed. And by the push of the telescopic rod, the extension length of the support frame is adjusted, the height of the unmanned aerial vehicle body is changed, and the low-height obstacles on the ground are avoided; in combination with the rotation of the overturning motor to drive the overturning frame, the inclination angle of the side edge support is changed, the ground undulation and stepped obstacles are climbed by the alternating expansion and contraction movement of the side edge support, and the efficient obstacle crossing capability of the unmanned aerial vehicle under various terrain conditions is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the flight state of the unmanned aerial vehicle of the present application; Figure 2 It is a schematic diagram of the land travel state of the unmanned aerial vehicle of the present application; Figure 3 It is a side view of the present application; Figure 4 It is a structural schematic diagram of the adjusting mechanism of the present application; Figure 5 It is a top view sectional schematic diagram of the present application; Figure 6 It is a structural schematic diagram of the connecting piece of the present application; Figure 7 It is a three-dimensional schematic diagram of the side edge support of the present application; Figure 8 It is a sectional schematic diagram of the side edge support of the present application; Figure 9 Fig. 3 is a schematic view of a side support in a folded state according to the present application.

[0017] Marked as follows: 101, center frame; 102, swing frame; 103, propeller; 104, connecting piece; 1041, connecting rod; 1042, connecting rotating shaft; 1043, butt joint rod; 1044, buffer spring; 105, sliding groove; 106, rotating groove; 107, displacement frame; 108, electric push rod; 109, clamping rod; 110, clamping hole; 111, receiving groove; 112, electromagnet; 113, folding groove; 2, side support; 201, turnover frame; 202, support frame; 203, pushing frame; 204, roller frame; 205, side roller; 206, driving gear slot; 207, driving motor; 208, driving gear; 209, transmission gear; 210, fan blade; 211, telescopic rod; 3, driving chassis; 301, fixed frame; 302, base frame; 303, bearing frame; 304, bearing roller; 305, extension frame; 306, auxiliary roller. DETAILED DESCRIPTION

[0018] The specific embodiments of the present application are described in detail below, but it should be understood that the scope of protection of the present application is not limited by the specific embodiments.

[0019] As Figures 1 to 9 shown, the amphibious mobile unmanned aerial vehicle provided by the embodiment of the present application comprises an unmanned aerial vehicle body, please refer to Figure 1 and Figure 2 The unmanned aerial vehicle body is divided into three sections, comprising a center frame 101 located in the middle and two swing frames 102 arranged on both sides of the center frame 101, the center frame 101 and the swing frames 102 are both provided with mounting holes in the middle, the inner wall of the mounting hole is fixedly installed with a propeller 103, the specific structure and driving control mode of the propeller 103 are implemented by using the prior art, in the embodiment, the number of mounting holes is set to four, and they are centrally symmetrically distributed, two are symmetrically arranged on the center frame 101, and one is arranged on each of the two swing frames 102, so that the whole unmanned aerial vehicle has sufficient flight stress stability; An adjusting mechanism for adjusting the posture of the swing frame 102 is arranged between the center frame 101 and the swing frame 102, the unmanned aerial vehicle body is divided into three sections, and the adjusting mechanism is configured, so that the swing frame 102 and the center frame 101 can relatively rotate, and then the unmanned aerial vehicle body can bend and turn horizontally, and then the obstacle avoidance ability in the movement process is improved; Please refer to Figure 4The adjusting mechanism comprises a rotating groove 106 arranged on the center frame 101 and a sliding groove 105 arranged on the swing frame 102, a connecting piece 104 is arranged between the rotating groove 106 and the sliding groove 105, the inner side walls of the rotating groove 106 are all arranged to be inclined, so as to avoid the rotating displacement operation of the connecting piece 104, one end of the connecting piece 104 is rotationally connected with the middle part of the inner wall of the rotating groove 106, an electric push rod 108 is fixedly installed at one end of the inner wall of the sliding groove 105, the output end of the electric push rod 108 is fixedly connected with a displacement frame 107, one side of the displacement frame 107 is slidingly connected with the inner wall of the sliding groove 105, the sliding groove 105 is a square groove, so that the displacement frame 107 can move in parallel under the pushing action of the electric push rod 108, so as to realize the horizontal traction displacement of the connecting piece 104, and further drive the swing frame 102 connected with the connecting piece 104 to displace, the other end of the connecting piece 104 is rotationally connected with the inner wall of the displacement frame 107; the thickness of the connecting piece 104 is less than the thickness of the rotating groove 106 and the sliding groove 105, so that when the swing frame 102 and the center frame 101 are butted and combined, the connecting piece 104 can be located in the cavity surrounded by the rotating groove 106 and the sliding groove 105 through the rotating displacement of the connecting piece 104, so as to avoid the interference of the surrounding of the connecting piece 104 on the butting and combining action of the swing frame 102 and the center frame 101.

[0020] In one embodiment, referring to Figure 5 and Figure 6 The connecting piece 104 comprises two connecting rods 1041 rotationally connected with each other, in specific implementation, a rotating motor can be arranged to realize the automatic control of the rotation between the two connecting rods 1041, the end of the two connecting rods 1041 away from each other is provided with a movable groove, the inner wall of the movable groove is slidingly connected with a butt joint rod 1043, the butt joint rod 1043 is fixedly connected with a buffer spring 1044 between one end of the butt joint rod 1043 and the inner wall of the movable groove; the end of the two connecting rods 1041 close to each other is provided with a connecting rotating shaft 1042, the rotating direction of the connecting rotating shaft 1042 is the rotation of the two connecting rods 1041 in the vertical plane, thus the beneficial effect is that the connecting piece 104 itself can be folded for storage by rotating vertically, and the vertical rotation does not interfere with the horizontal traction displacement adjustment; at the same time, by virtue of the vertical rotation and folding characteristics of the connecting rod 1041, and in cooperation with the buffer springs 1044 arranged at both ends, the impact force during the landing of the unmanned aerial vehicle can be absorbed, so as to reduce the structural damage of the unmanned aerial vehicle.

[0021] In one embodiment, referring to Figure 2 and Figure 5In order to assist the adjusting mechanism to realize the displacement adjustment of the swing frame 102, electromagnets 112 are arranged on both sides of the rotating groove 106, the output end of the electromagnet 112 is arranged towards the swing frame 102, and the two sides of the sliding groove 105 are provided with receiving grooves 111, the inner walls of the two receiving grooves 111 are fixedly connected with receiving plates, the receiving plates are made of iron and are arranged corresponding to the output end of the electromagnet 112; the electromagnet 112 is attracted to the receiving plate after being electrified, a traction force is applied, the movement of the swing frame 102 is assisted, the on-off operation control of the electromagnet 112 is more rapid and flexible, can quickly respond, and is more suitable for the rapid obstacle avoidance operation in the land driving process.

[0022] In one embodiment, in order to further improve the connection stability between the swing frame 102 and the center frame 101 of the unmanned aerial vehicle, a plurality of clamping holes 110 are arranged on one side of the swing frame 102 towards the center frame 101, and a plurality of clamping rods 109 are fixedly connected to one side of the center frame 101 towards the swing frame 102, and the plurality of clamping rods 109 are arranged in alignment with the plurality of clamping holes 110.

[0023] In one embodiment, the bottom of the center frame 101 is provided with a driving chassis 3, the driving of the driving chassis 3 is used for realizing the walking driving of the unmanned aerial vehicle on land; in order to assist in realizing the support of the unmanned aerial vehicle body and improving the stability thereof in the land walking movement process, a plurality of side edge support members 2 are arranged on the two side edges of the two swing frames 102, please refer to Figure 2 , the bottom of the side edge support member 2 is rotatably installed with a side edge roller 205, the side edge support member 2 and the side edge roller 205 are used for providing support to the unmanned aerial vehicle from the corner position thereof; please refer to Figure 1 In order to reduce the interference of the side edge support member 2 on the flight of the unmanned aerial vehicle, folding grooves 113 are arranged on the two side edges of the two swing frames 102, so as to realize the storage of the side edge support member 2 during flight.

[0024] In one embodiment, please refer to Figure 7 and Figure 8 The side edge support member 2 comprises a support frame 202, the bottom of the support frame 202 is fixedly connected with a roller frame 204, the side edge roller 205 is rotatably installed in the roller frame 204, and a driving tooth groove 206 is arranged in the middle of the side edge roller 205; the inside of the support frame 202 is fixedly installed with a driving motor 207, the output end of the driving motor 207 is fixedly connected with a driving gear 208, the bottom of the driving gear 208 is meshed and connected with the driving tooth groove 206, the driving motor 207 drives the driving gear 208 to rotate, realizes the driving of the side edge roller 205, and then assists the unmanned aerial vehicle to realize the land driving, and each driving motor 207 is independently controlled, so as to meet the needs of driving the side edge rollers 205 in different directions and at different speeds.

[0025] In one embodiment, the side support 2 further comprises a turnover motor, the output end of the turnover motor is fixedly connected with a turnover frame 201, the turnover frame 201 is driven to rotate by the turnover motor, and then the turnover of the side support 2 is realized. In specific use, the side support 2 can be tilted and rotated to the two sides by different angle turnover actions of the turnover motor, so as to lift the height of the side support 2 to exceed the obstacle, and then the turnover motor is reversely rotated to drive the side support 2 to be pressed downward, so that the unmanned aerial vehicle body is lifted, and the auxiliary device as a whole realizes the obstacle crossing operation. Please refer to Figure 8 The inner wall of the turnover frame 201 is fixedly installed with a telescopic rod 211, the output end of the telescopic rod 211 is fixedly connected with a pushing frame 203, the bottom of the pushing frame 203 is fixedly connected with a pushing spring, the bottom of the pushing spring is fixedly connected with a support frame 202, and the support frame 202 is slidingly arranged in the turnover frame 201. The telescopic rod 211 is arranged to drive the pushing frame 203 and the lower support frame 202 to move, so as to adjust the ejection distance of the side roller 205, and then adjust the ground clearance of the unmanned aerial vehicle body. The sliding displacement of the support frame 202 and the buffering effect of the pushing spring are combined, so as to absorb the vibration impact of the unmanned aerial vehicle during landing and land driving. At the same time, the telescopic rod 211 is pushed to adjust the extension length of the support frame 202, so as to change the height of the unmanned aerial vehicle body. The unmanned aerial vehicle body can also pass through a low-height hole and can be tilted by using telescopic rods 211 at different positions with different pushing distances, so as to realize flexible obstacle avoidance.

[0026] In one embodiment, please refer to Figure 9 To realize the horizontal displacement adjustment of the unmanned aerial vehicle during flight, so as to improve the obstacle avoidance ability, the fan blades 210 are rotatably installed on both sides of the swing frame 102. The horizontal pushing force generated by the rotation of the fan blades 210 drives the horizontal displacement of the unmanned aerial vehicle.

[0027] The middle part of the fan blade 210 is fixedly connected with a transmission shaft, one end of the transmission shaft is fixedly connected with a transmission gear 209, the top of the drive gear 208 protrudes from the outer wall of the support frame 202, and the top of the transmission gear 209 is correspondingly arranged with the drive gear 208. Therefore, the drive motor 207 is used to drive the fan blades 210, so as to reduce the number of motors used. In specific implementation, a separate complete fan can also be directly used to realize lateral air blowing and pushing.

[0028] In one embodiment, please refer to Figure 3The driving chassis 3 comprises a chassis 302, the bottom of the chassis 302 is slidingly connected with a bearing frame 303, the bottom of the bearing frame 303 is rotatably installed with a plurality of bearing rollers 304, the top of the chassis 302 is fixedly connected with a fixed frame 301, the top of the fixed frame 301 is fixedly connected with the central frame 101, by arranging the driving chassis 3, the bearing and driving functions are borne when the unmanned aerial vehicle travels on the ground; In one embodiment, in order to improve the support stability of the driving chassis 3, the edges of the chassis 302 are fixedly connected with a plurality of extension frames 305 which are arranged in the edge direction and are inclined, the bottom of each of the plurality of extension frames 305 is rotatably connected with an auxiliary roller 306.

[0029] The working principle of the present application is as follows: the unmanned aerial vehicle has two movement modes of flight and land travel; the specific description is as follows: When flying, the state of the whole unmanned aerial vehicle is shown in Figure 1 At this time, the swing frames 102 on both sides are attached to the central frame 101, the clamping rods 109 are clamped and connected to the clamping holes 110, the connecting pieces 104 are in the upwardly folded and bent state, the side support pieces 2 are horizontally folded and located in the folding grooves 113, please refer to Figure 9 At this time, the top of the driving gear 208 is engaged with the transmission gear 209; when the unmanned aerial vehicle flies, the driving power is provided by the rotation of the propeller 103, when horizontal displacement and obstacle avoidance are needed, the driving motor 207 is started to drive the driving gear 208 to rotate, thereby driving the transmission gear 209 and the fan blades 210 to rotate, thereby generating a lateral blowing air flow to drive the whole unmanned aerial vehicle to translate and overcome obstacles; When land traveling, first, the turnover frame 201 is turned over vertically by the turnover motor, then the unmanned aerial vehicle lands, the side rollers 205 are first in contact with the ground, the pushing spring is compressed and shrunk to absorb the landing impact, then the extension rod 211 is started to drive the support frame 202 to move upwardly as a whole, so that the support frame 202 gradually retracts into the turnover frame 201, so that the height of the unmanned aerial vehicle body gradually decreases, until the bearing rollers 304 below the driving chassis 3 are in contact with the ground, the driving chassis 3 and the whole device are driven to travel on the ground by the rotation of the bearing rollers 304, when needed, the driving motor 207 can also be started to drive the rotation of the driving gear 208 to drive the rotation of the side rollers 205, thereby assisting in realizing the driving and steering actions of the unmanned aerial vehicle; The over-land obstacle operation of the unmanned aerial vehicle has the following modes: first, the push of the telescopic rod 211 adjusts the extension length of the support frame 202, thereby changing the height of the unmanned aerial vehicle body to avoid the obstacles with low height on the ground; second, the overturning motor drives the overturning frame 201 to rotate, thereby changing the inclination angle of the side support 2, and the unmanned aerial vehicle body is lifted and folded alternately to climb the uneven ground and the stepped obstacles; finally, the electric push rod 108 drives the displacement frame 107 to move, thereby driving the connecting piece 104 to rotate, driving the swing frame 102 to rotate relative to the center frame 101, cooperating with the starting attraction of the electromagnet 112, so that the unmanned aerial vehicle body can produce a horizontal torsional motion, and the unmanned aerial vehicle can flexibly avoid the horizontal obstacles and conveniently move in the narrow area, thereby ensuring the efficient obstacle crossing ability of the unmanned aerial vehicle.

[0030] The above disclosure is only a few specific embodiments of the present application, but the embodiments of the present application are not limited thereto, and any changes that can be thought of by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. An amphibious mobile unmanned aerial vehicle with obstacle crossing capability, characterized in that, The utility model relates to a center frame (101) is provided with swing frame (102) at both ends, the middle part of center frame (101) and swing frame (102) are all provided with mounting hole, the inner wall of mounting hole is fixedly installed with propeller (103), the adjusting mechanism for adjusting the posture of swing frame (102) is arranged between center frame (101) and swing frame (102), the both sides of two swing frame (102) are all provided with folding groove (113), the inside of folding groove (113) is rotatably installed with side support (2), the bottom of side support (2) is rotatably installed with side roller (205), the bottom of center frame (101) is provided with drive chassis (3).

2. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 1, wherein, The adjusting mechanism includes a rotating groove (106) provided on the center frame (101) and a sliding groove (105) provided on the swing frame (102), a connecting piece (104) is arranged between the rotating groove (106) and the sliding groove (105), one end of the connecting piece (104) is rotatably connected with the middle part of the inner wall of the rotating groove (106), an electric push rod (108) is fixedly installed on one end of the inner wall of the sliding groove (105), the output end of the electric push rod (108) is fixedly connected with a displacement frame (107), the other end of the connecting piece (104) is rotatably connected with the inner wall of the displacement frame (107).

3. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 2, wherein, The connecting piece (104) includes two connecting rods (1041) rotatably connected with each other, the ends of the two connecting rods (1041) away from each other are both provided with a movable groove, a butt joint rod (1043) is slidably connected with the inner wall of the movable groove, a buffer spring (1044) is fixedly connected between one end of the butt joint rod (1043) and the inner wall of the movable groove.

4. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 2, wherein, Both sides of the rotating groove (106) are provided with electromagnets (112), the output end of the electromagnet (112) is arranged towards the swing frame (102), both sides of the sliding groove (105) are provided with receiving grooves (111), the inner walls of the two receiving grooves (111) are both fixedly connected with receiving plates.

5. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 1, wherein, The side support (2) includes a support frame (202), the bottom of the support frame (202) is fixedly connected with a roller frame (204), the side roller (205) is rotatably installed in the roller frame (204), and the middle part of the side roller (205) is provided with a driving gear slot (206); a driving motor (207) is fixedly installed in the support frame (202), the output end of the driving motor (207) is fixedly connected with a driving gear (208), and the bottom of the driving gear (208) is meshedly connected with the driving gear slot (206).

6. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 5, wherein, The side support (2) further comprises a turnover motor, an output end of the turnover motor is fixedly connected with a turnover frame (201), an inner wall of the turnover frame (201) is fixedly installed with a telescopic rod (211), an output end of the telescopic rod (211) is fixedly connected with a pushing frame (203), a bottom of the pushing frame (203) is fixedly connected with a pushing spring, and the bottom of the pushing spring is fixedly connected with a support frame (202).

7. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 6, wherein, Both sides of the swing frame (102) are rotatably installed with fan blades (210), the middle part of the fan blades (210) is fixedly connected with a transmission shaft, one end of the transmission shaft is fixedly connected with a transmission gear (209), the top of the driving gear (208) protrudes out of the outer wall of the support frame (202), and the top of the transmission gear (209) is correspondingly provided with the driving gear (208).

8. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 1, wherein, The driving chassis (3) comprises a base frame (302), the bottom of the base frame (302) is slidably connected with a bearing frame (303), the bottom of the bearing frame (303) is rotatably installed with a plurality of bearing rollers (304), the top of the base frame (302) is fixedly connected with a fixed frame (301), and the top of the fixed frame (301) is fixedly connected with the center frame (101).

9. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 8, wherein, The edges of the base frame (302) are fixedly connected with a plurality of extension frames (305), and the bottoms of the plurality of extension frames (305) are rotatably connected with auxiliary rollers (306).

10. The amphibious mobile unmanned aerial vehicle with obstacle crossing capability of claim 1, wherein, One side of the swing frame (102) towards the center frame (101) is provided with a plurality of clamping holes (110), and one side of the center frame (101) towards the swing frame (102) is fixedly connected with a plurality of clamping rods (109), and the plurality of clamping rods (109) are respectively and correspondingly provided with the plurality of clamping holes (110).

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