Ground-air dual-purpose multi-rotor self-walking unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an air-ground dual-purpose multi-rotor self-walking unmanned aerial vehicle which comprises a lower chassis, steering wheels are arranged on the four sides of the lower chassis, the four steering wheels are distributed in a rectangular array mode, a driving mechanism is installed in the lower chassis, the four steering wheels are all installed on the driving mechanism, a controller is installed on one side of the lower chassis, and the controller is connected with the controller. The upper end of the lower chassis is fixedly connected with an upper chassis, one side of the upper chassis is provided with a pan-tilt camera, and the upper end of the pan-tilt camera is provided with a laser radar. Through cooperation of the laser radar and the pan-tilt camera, the equipment realizes autonomous navigation and real-time obstacle avoidance, and meanwhile, real-time image data collected by the pan-tilt camera is transmitted to an unmanned aerial vehicle management platform; remote monitoring of the operation state and the working environment of the unmanned aerial vehicle is realized; in a scene with limited airspace, the controller can remotely issue a control instruction to drive the unmanned aerial vehicle to be automatically switched to a ground running mode, and accurate tail end delivery of goods is completed by means of the ground moving mechanism.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a ground-to-air multi-rotor self-propelled UAV. Background Technology

[0002] Drones are self-powered aircraft that do not require an onboard pilot and are controlled by remote control, preset programs, or AI autonomous systems. They are currently widely used in logistics and distribution, agriculture, energy and power inspection, and emergency rescue.

[0003] Currently, most drones used for logistics and delivery or emergency rescue supplies transport on the market adopt fixed-wing or multi-rotor configurations, and realize the air transport and delivery of bulk goods through pre-planned routes.

[0004] However, when drones transport goods to the last mile, complex environmental factors such as altitude restrictions, no-fly zones, and building obstructions prevent them from directly delivering goods or emergency supplies to people. Typically, ground stations are established in the target area as transit nodes. Drones first deliver goods to the ground stations, and then station staff complete the final delivery, thus achieving the goal of goods delivery. This method adds transit links and labor costs, has poor delivery timeliness, is difficult to adapt to the immediacy requirements of emergency rescue, and cannot achieve the goal of precise last-mile delivery to the door, making it inconvenient to use. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a ground-to-air multi-rotor self-propelled drone with the advantage of ground mobility. This allows for precise last-mile delivery of goods via ground-based mobile mechanisms, while avoiding intermediate transfer links and quickly delivering goods to users.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a ground-to-air dual-purpose multi-rotor self-propelled unmanned aerial vehicle (UAV), comprising a lower chassis, with steering wheels arranged on all four sides of the lower chassis in a rectangular array; a drive mechanism installed inside the lower chassis; the four steering wheels mounted on the drive mechanism; a controller installed on one side of the lower chassis; an upper chassis fixedly connected to the upper end of the lower chassis; a gimbal camera installed on one side of the upper chassis; a lidar installed above the gimbal camera; robotic arms installed on all four sides of the upper chassis in a rectangular array; a motor installed at one end of each of the four robotic arms; propellers connected to the output ends of the four motors via couplings; a transport cargo compartment fixedly connected to the upper center of the upper chassis; and a sealing cover hinged to the edge of the cargo compartment's inlet.

[0007] Preferably, a battery compartment is provided on the other side of the upper chassis, a battery is installed in the battery compartment, and a battery compartment door is connected to one side of the battery compartment by a hinge.

[0008] Preferably, a second motor is installed on one side of the transport warehouse near its edge. A sliding groove is provided at the bottom of the transport warehouse. A double-ended lead screw is rotatably connected inside the sliding groove. One end of the double-ended lead screw is connected to the output end of the second motor via a coupling. T-blocks are threaded to both sides of the double-ended lead screw. Both T-blocks slide within the sliding groove, and a clamping plate is fixedly connected to one side of each T-block.

[0009] Preferably, a side plate is slidably connected to one side of the clamping plate, an extension block is fixedly connected to one side of the side plate, and a cavity is formed inside the clamping plate, with the extension block extending into the cavity.

[0010] Preferably, a sliding rod is slidably connected to one side of the extension block, a spring is fixedly connected to one side of the extension block, a mounting ring is fixedly connected to one side of the outer surface of the sliding rod, one end of the spring is fixedly connected to one side of the mounting ring, an I-shaped block is fixedly connected to one end of the sliding rod, a guide groove is formed at the upper end of the clamping plate, and one side of the I-shaped block is slidably connected in the guide groove.

[0011] Preferably, a rack one is fixedly connected to the top of the inner wall of the cavity, and a rack two is fixedly connected to one side of the I-shaped block, with the teeth of the rack one engaging in the tooth grooves of the rack two. Preferably, rubber pads are fixedly connected to the surfaces of both the clamping plate and the side plate.

[0012] Preferably, an anti-slip strip is fixedly connected to the upper end of the I-shaped block.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention uses a combination of lidar and gimbal camera to enable autonomous navigation and real-time obstacle avoidance. At the same time, the real-time image data collected by the gimbal camera is transmitted to the UAV management platform to enable remote monitoring of the UAV's operating status and working environment. When encountering scenarios where airspace is restricted, the controller can remotely issue control commands to drive the UAV to automatically switch to ground driving mode and complete the precise last-mile delivery of goods by relying on ground mobile mechanisms.

[0014] 2. This invention activates motor two, causing the double-headed lead screw to rotate within the sliding groove. This allows two T-blocks to slide within the sliding groove, bringing the two clamping plates closer together. This achieves double-sided clamping and positioning of the goods within the transport cargo compartment. Simultaneously, the rubber pad contacts the goods and forms a flexible compression, ensuring the goods are stably positioned within the transport cargo compartment. This effectively prevents damage caused by the drone's shaking during flight, which could result in the goods sliding back and forth within the cargo compartment or colliding with the inner wall of the cargo compartment.

[0015] 3. This invention, by pressing the I-shaped block, allows the sliding rod to slide on the extension block. When the toothed block of rack two moves out of the toothed groove of rack one, the restriction of the side plate on the clamping plate is released, and the position of the side plate can be adjusted to limit and fix the other two sides of the goods. This results in the four-sided enclosure and fixation of the goods in the transport cargo compartment, further preventing the goods from shifting or tilting laterally during the switching between flight and ground travel of the drone. This comprehensively ensures the stability of the goods throughout the transportation process and can flexibly adapt to goods of different specifications and sizes, greatly improving the universality and adaptability of the equipment. Attached Figure Description

[0016] Figure 1 This is a first-view three-dimensional structural diagram of the device of the present invention.

[0017] Figure 2 This is a second-view three-dimensional structural diagram of the device of the present invention.

[0018] Figure 3 This is a circuit diagram of the entire device of the present invention.

[0019] Figure 4 This is a schematic diagram of the internal structure of the transport warehouse in the device of the present invention.

[0020] Figure 5 This is a partial cross-sectional schematic diagram of the connection relationship between the clamping plate and the side plate in the device of the present invention.

[0021] Figure 6 for Figure 5 A magnified view of a portion of region A in the middle.

[0022] Figure 7 This is a schematic diagram showing the connection relationship between the side plate, the sliding rod, and the extension block in the device of the present invention.

[0023] In the diagram: 1. Lower chassis; 11. Upper chassis; 12. Gimbal camera; 13. LiDAR; 14. Arm; 15. Steering wheel; 16. Propeller; 17. Motor 1; 18. Controller; 2. Transport cargo compartment; 21. Sealing cover; 3. Battery compartment door; 4. Motor 2; 41. Double-ended lead screw; 42. Clamping plate; 43. T-block; 44. Sliding groove; 45. Side plate; 46. Cavity; 47. Rack 1; 5. Rubber pad; 6. I-shaped block; 61. Extension block; 62. Sliding rod; 63. Spring; 64. Rack 2; 65. Anti-slip strip. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0025] Example 1 Please see Figures 1 to 3 This invention provides a first embodiment of a technical solution: a ground-to-air dual-use multi-rotor self-propelled unmanned aerial vehicle (UAV), comprising a lower chassis 1, with steering wheels 15 arranged on all four sides of the lower chassis 1 in a rectangular array; a drive mechanism is installed inside the lower chassis 1, with the four steering wheels 15 mounted on the drive mechanism; a controller 18 is mounted on one side of the lower chassis 1; an upper chassis 11 is fixedly connected to the upper end of the lower chassis 1; a gimbal camera 12 is mounted on one side of the upper chassis 11; and a gimbal camera 12 is mounted on the upper end of the gimbal camera 12. The system includes a lidar 13, four robotic arms 14 mounted on the four sides of the upper chassis 11, arranged in a rectangular array, with a motor 17 mounted at one end of each arm 14, and the output ends of each motor 17 connected to a blade 16 via a coupling. A transport cargo compartment 2 is fixedly connected to the upper center of the upper chassis 11, and a sealing cover 21 is hinged to the edge of the inlet of the transport cargo compartment 2. A battery compartment is located on the other side of the upper chassis 11, containing batteries, and a battery compartment door 3 is hinged to one side of the battery compartment.

[0026] In practical work, the device achieves autonomous navigation and real-time obstacle avoidance through the cooperation of LiDAR 13 and gimbal camera 12. At the same time, the real-time image data collected by gimbal camera 12 is transmitted to the UAV management platform to realize remote monitoring of the UAV's operating status and working environment. When encountering scenarios where airspace is restricted, controller 18 can remotely issue control commands to drive the UAV to automatically switch to ground driving mode and complete the precise last-mile delivery of goods by relying on ground mobile mechanisms.

[0027] It is worth noting that: the drive structure within the lower chassis 1 can adjust the steering wheel 15, and the steering wheel 15 is an Ackerman wheel; the arm 14 is made of carbon fiber or engineering plastic to reduce the overall weight of the device; its control system can be based on ROS, embedded systems, or cloud-based collaborative platforms; the UAV system is connected and communicates through three controllers, consisting of one main controller and two sub-controllers. The main controller is mainly responsible for receiving information from the sub-controllers and sending control signals, while the sub-controllers process the underlying sensor data and then send the processed data to the main controller.

[0028] Example 2 Please see Figures 1 to 4This is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that: a second motor 4 is installed on one side of the transport warehouse 2 near the edge; a sliding groove 44 is opened at the bottom of the interior of the transport warehouse 2; a double-ended lead screw 41 is rotatably connected inside the sliding groove 44; one end of the double-ended lead screw 41 is connected to the output end of the second motor 4 through a coupling; T-blocks 43 are threadedly connected to both sides of the double-ended lead screw 41; both T-blocks 43 slide in the sliding groove 44; and a clamping plate 42 is fixedly connected to one side of the T-block 43; rubber pads 5 are fixedly connected to the surfaces of the clamping plate 42 and the side plate 45.

[0029] During use, by turning on motor 4, the double-headed lead screw 41 rotates in the sliding groove 44, causing the two T-blocks 43 to slide in the sliding groove 44, bringing the two clamping plates 42 closer together, and achieving double-sided clamping and positioning of the goods in the transport cargo compartment 2. At the same time, the rubber pad 5 contacts the goods and forms a flexible compression, ensuring that the goods are stably placed in the transport cargo compartment 2, effectively preventing the goods from sliding back and forth in the cargo compartment and colliding with the inner wall of the cargo compartment due to the shaking of the drone during flight, which would cause damage.

[0030] The remaining structure is the same as that in Example 1.

[0031] Example 3 Please see Figures 4 to 7 This is the third embodiment of the present invention. This embodiment differs from the first and second embodiments in that: a side plate 45 is slidably connected to one side of the clamping plate 42; an extension block 61 is fixedly connected to one side of the side plate 45; a cavity 46 is formed inside the clamping plate 42; the extension block 61 extends into the cavity 46; a sliding rod 62 is slidably connected to one side of the extension block 61; a spring 63 is fixedly connected to one side of the extension block 61; an installation ring is fixedly connected to one side of the outer surface of the sliding rod 62; one end of the spring 63 is fixedly connected to one side of the installation ring; an I-shaped block 6 is fixedly connected to one end of the sliding rod 62; a guide groove is formed at the upper end of the clamping plate 42; one side of the I-shaped block 6 is slidably connected within the guide groove; a rack 47 is fixedly connected to the top of the inner wall of the cavity 46; a rack 64 is fixedly connected to one side of the I-shaped block 6; the teeth of the rack 47 are engaged in the tooth grooves of the rack 64; and multiple anti-slip strips 65 are fixedly connected to the upper end of the I-shaped block 6. Multiple anti-slip strips 65 are evenly distributed on the surface of the I-shaped block 6.

[0032] During use, by pressing the I-shaped block 6, the sliding rod 62 slides on the extension block 61. When the toothed block of the second rack 64 moves out of the tooth groove of the first rack 47, the restriction of the side plate 45 on the clamping plate 42 is released, and the position of the side plate 45 can be adjusted to limit and fix the other two sides of the goods, so that the goods in the transport cargo compartment 2 are fixed in a four-sided enclosure, further preventing the goods from moving laterally or tilting during the switching between flight and ground driving of the UAV, ensuring the stability of the goods throughout the entire transportation process. At the same time, it can flexibly adapt to goods of different specifications and sizes, greatly improving the universality and adaptability of the equipment.

[0033] The remaining structures are the same as those in Examples 1 and 2.

[0034] This invention provides a ground-to-air dual-use multi-rotor self-propelled unmanned aerial vehicle (UAV), the specific working principle of which is as follows: When transporting goods, the goods are first placed in the transport compartment 2. Motor 2 4 is turned on, and the double-headed lead screw 41 rotates within the sliding groove 44, causing the two T-blocks 43 to slide within the sliding groove 44. This brings the two clamping plates 42 closer together, achieving double-sided clamping and positioning of the goods in the transport compartment 2. Simultaneously, the rubber pad 5 contacts the goods and forms a flexible pressure, initially fixing the goods. Then, the I-shaped blocks 6 on the clamping plates 42 are pressed, and the sliding rod 62 slides on the extension block 61. When the toothed block of rack 2 64 moves out of the toothed groove of rack 1 47, the restriction of the side plate 45 on the clamping plate 42 is released, allowing adjustment of the position of the side plate 45. The cargo is secured on both sides, ensuring it is completely enclosed on all four sides within the cargo compartment 2. The sealing cover 21 is then closed. Motor 17 is activated, causing the propellers 16 to rotate and the entire device to take off. With the assistance of LiDAR 13 and gimbal camera 12, the device achieves autonomous navigation and real-time obstacle avoidance. Simultaneously, the real-time image data collected by gimbal camera 12 is transmitted to the UAV management platform, enabling remote monitoring of the UAV's operating status and working environment. In scenarios where airspace is restricted, controller 18 can remotely issue control commands to automatically switch the UAV to ground driving mode, relying on ground-based mobile mechanisms to complete precise last-mile delivery of the cargo.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ground-to-air dual-purpose multi-rotor self-propelled unmanned aerial vehicle, comprising, characterized in that: The lower chassis (1) has four steering wheels (15) on its four sides, arranged in a rectangular array. A drive mechanism is installed inside the lower chassis (1), and the four steering wheels (15) are mounted on the drive mechanism. A controller (18) is installed on one side of the lower chassis (1). An upper chassis (11) is fixedly connected to the upper end of the lower chassis (1). A gimbal camera (12) is installed on one side of the upper chassis (11). A laser radar (13) is installed on the upper end of the upper chassis (11). Four robotic arms (14) are installed on the four sides of the upper chassis (11). The four robotic arms (14) are arranged in a rectangular array. A motor (17) is installed at one end of each of the four robotic arms (14). The output ends of the four motors (17) are connected to blades (16) through couplings. A transport cargo compartment (2) is fixedly connected to the middle of the upper end of the upper chassis (11). A sealing cover (21) is connected to the edge of the feed inlet of the transport cargo compartment (2) through a hinge.

2. The dual-purpose (ground and air) multi-rotor self-propelled unmanned aerial vehicle (UAV) according to claim 1, characterized in that: A battery compartment is provided on the other side of the upper chassis (11), and a battery is installed in the battery compartment. A battery compartment door (3) is connected to one side of the battery compartment by a hinge.

3. The dual-purpose (ground and air) multi-rotor self-propelled unmanned aerial vehicle (UAV) according to claim 1, characterized in that: A motor (4) is installed on one side of the transport warehouse (2) near the edge. A sliding groove (44) is provided at the bottom of the interior of the transport warehouse (2). A double-ended lead screw (41) is rotatably connected inside the sliding groove (44). One end of the double-ended lead screw (41) is connected to the output end of the motor (4) through a coupling. T-blocks (43) are threadedly connected to both sides of the double-ended lead screw (41). Both T-blocks (43) slide in the sliding groove (44). A clamping plate (42) is fixedly connected to one side of the T-block (43).

4. The dual-purpose (ground and air) multi-rotor self-propelled unmanned aerial vehicle according to claim 3, characterized in that: A side plate (45) is slidably connected to one side of the clamping plate (42), and an extension block (61) is fixedly connected to one side of the side plate (45). A cavity (46) is opened inside the clamping plate (42), and the extension block (61) extends into the cavity (46).

5. The dual-purpose (ground and air) multi-rotor self-propelled unmanned aerial vehicle according to claim 4, characterized in that: A sliding rod (62) is slidably connected to one side of the extension block (61), a spring (63) is fixedly connected to one side of the extension block (61), an mounting ring is fixedly connected to one side of the outer surface of the sliding rod (62), one end of the spring (63) is fixedly connected to one side of the mounting ring, an I-shaped block (6) is fixedly connected to one end of the sliding rod (62), a guide groove is opened at the upper end of the clamping plate (42), and one side of the I-shaped block (6) is slidably connected in the guide groove.

6. The dual-purpose (ground and air) multi-rotor self-propelled unmanned aerial vehicle according to claim 5, characterized in that: A rack one (47) is fixedly connected to the top of the inner wall of the cavity (46), and a rack two (64) is fixedly connected to one side of the I-shaped block (6). The toothed blocks of the rack one (47) are engaged in the toothed grooves of the rack two (64).

7. A ground-to-air dual-purpose multi-rotor self-propelled unmanned aerial vehicle according to claim 4, characterized in that: Rubber pads (5) are fixedly connected to the surfaces of the clamping plate (42) and the side plate (45).

8. A ground-to-air dual-purpose multi-rotor self-propelled unmanned aerial vehicle according to claim 6, characterized in that: The upper end of the I-shaped block (6) is fixedly connected with an anti-slip strip (65).

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