An amphibious unmanned aerial vehicle

Abstract

The utility model discloses an air and land dual -purpose unmanned plane, including unmanned plane body, be provided with electric control module on unmanned plane body, the body of unmanned plane body is connected with the paddle for flying and is used for the walking component for land travel, the paddle sets up on walking component, and walking component is collapsible connection on the body through connecting rod structure, and connecting rod structure, paddle and walking component are electric connection with electric control module, and electric control module controls paddle and walking component switching operation, and electric control module control connecting rod structure drives walking component to fold or unfold. This air and land dual -purpose unmanned plane when switching land travel or air flight, electric control module controls paddle to stop or start operation, and stops or starts walking component's operation, simultaneously controls connecting rod structure to drive walking component to fold to contact ground and carry out land travel or away from ground and carry out air flight, and simple structure can realize quick switching.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an air-to-land UAV. Background Technology

[0002] With the rapid development of drone technology, drones are being used more and more widely in military, civilian, and commercial fields. Traditional drones can usually only fly in the air, performing tasks such as reconnaissance, surveillance, and mapping. However, in some complex terrains or special environments, relying solely on air flight cannot meet mission requirements, especially in scenarios requiring ground detection or data collection, where the limitations of traditional drones are particularly evident.

[0003] Existing drone technology mainly focuses on flight control and aerial mission execution. Although some drones have certain ground mobility capabilities, the mode switching mechanism between flight and ground driving is still immature. It often suffers from problems such as slow switching speed, complex structure, and low reliability, which limits its application in multiple scenarios. Utility Model Content

[0004] In view of the problems in the related technologies, this utility model proposes an air-land amphibious unmanned aerial vehicle (UAV) to overcome the aforementioned technical problems existing in the existing related technologies.

[0005] Therefore, the specific technical solution adopted by this utility model is as follows:

[0006] An amphibious unmanned aerial vehicle (UAV) includes a UAV body with an electronic control module. The UAV body has a propeller for flight and a walking component for land travel connected to its fuselage. The propeller is mounted on the walking component, which is foldably connected to the fuselage via a linkage structure. The linkage structure, propeller, and walking component are electrically connected to the electronic control module. The electronic control module controls the switching operation of the propeller and walking component, and controls the linkage structure to fold or unfold the walking component. The structure is simple and allows for rapid switching.

[0007] When switching between land walking and aerial flight, the electronic control module controls the propeller to stop or start, and stops or starts the operation of the walking component. At the same time, it controls the linkage structure to fold the walking component to make contact with the ground for land walking or fly away from the ground for aerial flight.

[0008] Furthermore, in order to achieve the folding of the walking component, a folding frame is used to connect the walking component and the body. The walking component is connected to one end of the folding frame, and the other end of the folding frame is rotatably connected to the body. The folding frame is connected to the body through a linkage structure. When it is necessary to switch modes, the linkage structure drives the folding frame to fold, thereby folding the walking component so that it leaves or touches the ground.

[0009] Furthermore, the folding frame is equipped with a walking component bracket and a connecting rod bracket. The walking component is connected to the walking component bracket, and the connecting rod bracket is rotatably connected to the connecting rod structure.

[0010] Furthermore, the linkage structure includes a first linkage and a rotating rod. The rotating rod is rotatably connected to the machine body and electrically connected to the electronic control module. The first linkage and the rotating rod are rotatably connected. The first linkage is rotatably connected to the folding frame. When it is necessary to switch modes, the rotating rod rotates to drive the first linkage to rotate, and the first linkage drives the folding frame to rotate to realize the folding or unfolding of the folding frame.

[0011] Furthermore, the walking components employ a tracked structure or wheels.

[0012] Furthermore, the linkage structure is driven by a servo motor.

[0013] Furthermore, the drone uses a brushless motor to provide lift, and the walking components are driven by a drive motor.

[0014] Furthermore, the aircraft is equipped with a lidar system, which is used to generate environmental maps in real time and supports high-precision detection and obstacle avoidance functions.

[0015] Furthermore, the drone is equipped with an optical flow module, which is used to enable precise positioning and hovering of the drone, and performs particularly well in indoor or GPS signal-weak environments.

[0016] Furthermore, the drone is equipped with a laser ranging module, which is used to measure the distance between the drone and the ground or obstacles, assisting in ground navigation and obstacle avoidance.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. When switching between land walking and aerial flight, the electronic control module controls the propeller to stop or start, and stops or starts the operation of the walking component. At the same time, it controls the linkage structure to drive the walking component to fold so that it can contact the ground for land walking or fly away from the ground for aerial flight. The structure is simple and can achieve rapid switching.

[0019] 2. The folding and unfolding of the drone is controlled by a linkage mechanism driven by a servo motor, ensuring that the drone can switch quickly and smoothly between flight mode and ground mode;

[0020] 3. The lightweight folding structure design ensures that no excessive weight is added during the transformation process, while guaranteeing the stability and reliability of the structure.

[0021] 4. When flying in the air, the high-efficiency brushless motor and propellers provide stable flight capabilities, supporting high-precision attitude control and hovering. When traveling on land, the drive motor and track design enhance the drone's passability and adaptability in complex terrain. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an air-to-land amphibious unmanned aerial vehicle according to an embodiment of the present utility model. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the structure of an air-to-land amphibious unmanned aerial vehicle according to an embodiment of the present utility model. Figure 2 ;

[0025] Figure 3 yes Figure 2 A magnified view of A in the middle. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] like Figures 1-3As shown in the figure, an air-to-ground amphibious unmanned aerial vehicle (UAV) according to an embodiment of this utility model includes a UAV body 1. An electronic control module (ECM) is mounted on the UAV body 1. The ECM uses an STM32 F403 as the main control chip, runs INAV firmware, and is responsible for attitude calculation, flight control, and mode switching. The ECM integrates a lidar, an optical flow module, and a laser ranging module for real-time environmental perception, high-precision hovering, and obstacle avoidance. Specifically, the lidar can quickly generate a 3D map of the environment, supporting autonomous navigation and obstacle avoidance in complex environments. The optical flow module analyzes pixel changes between image frames to achieve precise positioning and hovering of the UAV, performing particularly well indoors or in environments with weak GPS signals. The laser ranging module measures the distance between the UAV and the ground or obstacles in real time, assisting in ground navigation and obstacle avoidance, and improving safety. Through the collaborative work of the lidar and optical flow module, the UAV can generate high-precision maps in complex environments in real time, supporting obstacle avoidance, path planning, and data acquisition tasks. In ground mode, the UAV can penetrate complex terrain to perform detection, sampling, and data acquisition tasks, expanding its application range.

[0028] The fuselage 2 of the UAV body 1 is connected to a propeller 3 for flight and a walking component 4 for land travel. The walking component 4 adopts a track structure or wheels. The propeller 3 is set on the walking component 4. The walking component 4 is connected to a folding frame 5. The folding frame 5 is rotatably connected to the fuselage 2. The folding frame 5 is foldably connected to the fuselage 2 through a linkage structure. The linkage structure, propeller 3 and walking component 4 are electrically connected to the electronic control module. The electronic control module controls the propeller 3 and walking component 4 to switch operation. The electronic control module controls the linkage structure to drive the walking component 4 to fold or unfold. The folding frame 5 is equipped with a walking component bracket 51 and a connecting rod bracket 52. The walking component 4 is connected to the walking component bracket 51. The connecting rod bracket 52 is rotatably connected to a connecting rod structure, which includes a first connecting rod 53 and a rotating rod 54. The rotating rod 54 is rotatably connected to the fuselage 2 and is electrically connected to the electronic control module. The first connecting rod 53 and the rotating rod 54 are rotatably connected. The first connecting rod 53 is rotatably connected to the folding frame 5. When a mode switch is required, the electronic control module controls the rotating rod 54 to rotate. The rotating rod 54 drives the first connecting rod 53 to rotate and move, transmitting power to the folding frame 5. The folding frame 5 can be folded or unfolded to achieve the switch between flight and walking modes. The connecting rod mechanism adopts a lightweight design to ensure that no excessive weight is added during the mode switching process, while ensuring the stability and durability of the structure and adapting to repeated switching.

[0029] In flight mode, the folding frame 5 is deployed, and the propellers 3 provide lift for aerial flight. When switching to ground mode, the servo motor drives the linkage mechanism to fold the folding frame 5, retract the propellers 3, and bring the walking assembly 4 into contact with the ground. At the same time, the ground drive motor is activated, enabling the drone to move on the ground.

[0030] It should be noted that the linkage structure is driven by servo motors, the drone provides lift through brushless motors, and the walking component 4 is driven by drive motors. In flight mode, high-efficiency brushless motors are used to provide stable lift and long endurance. In ground mode, low-power drive motors are used to ensure energy efficiency when navigating complex terrain. The drone uses an ESP32 as a coprocessor, responsible for driving the servo motors, controlling the drive motors, and handling wireless communication tasks. The servo motors drive the linkage mechanism, enabling the drone to quickly and smoothly switch between flight and ground modes in just a few seconds, significantly improving mission efficiency.

[0031] This drone can be used in the military field: it can be used for battlefield reconnaissance, target tracking, and material transportation, thereby improving combat efficiency and security.

[0032] This drone can be used in the civilian sector: it is suitable for disaster relief, environmental monitoring, agricultural plant protection and other scenarios, providing efficient data collection and detection capabilities.

[0033] This drone can be used in the commercial sector: it can be used for tasks such as logistics delivery and infrastructure inspection, reducing labor costs and improving efficiency.

[0034] In summary, this land-air dual-use UAV provides an efficient, reliable, and low-cost solution through its innovative form-switching mechanism, highly integrated control system, real-time environmental perception technology, and multi-terrain adaptability, demonstrating broad application prospects and significant technological advantages.

[0035] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An air-to-land amphibious unmanned aerial vehicle (UAV), characterized in that, The device includes a drone body (1), an electronic control module is installed on the drone body (1), and a propeller (3) for flight and a walking assembly (4) for land travel are connected to the fuselage (2) of the drone body (1). The propeller (3) is installed on the walking assembly (4), and the walking assembly (4) is foldably connected to the fuselage (2) through a linkage structure. The linkage structure, the propeller (3) and the walking assembly (4) are electrically connected to the electronic control module. The electronic control module controls the propeller (3) and the walking assembly (4) to switch operation. The electronic control module controls the linkage structure to drive the walking assembly (4) to fold or unfold.

2. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The walking component (4) is connected to the folding frame (5), which is rotatably connected to the fuselage (2). The folding frame (5) is connected to the fuselage (2) through a linkage structure.

3. The air-to-land amphibious unmanned aerial vehicle according to claim 2, characterized in that, The folding frame (5) is provided with a walking component bracket (51) and a connecting rod bracket (52). The walking component (4) is connected to the walking component bracket (51), and the connecting rod bracket (52) is rotatably connected to the connecting rod structure.

4. The air-to-land amphibious unmanned aerial vehicle according to claim 2, characterized in that, The linkage structure includes a first linkage (53) and a rotating rod (54). The rotating rod (54) is rotatably connected to the body (2) and electrically connected to the electronic control module. The first linkage (53) and the rotating rod (54) are rotatably connected, and the first linkage (53) is rotatably connected to the folding frame (5).

5. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The walking component (4) adopts a track structure or wheels.

6. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The linkage structure is driven by a servo motor.

7. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, The drone is powered by a brushless motor, and the walking component (4) is driven by a drive motor.

8. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, A lidar is installed on the fuselage (2).

9. The air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, An optical flow module is installed on the fuselage (2).

10. An air-to-land amphibious unmanned aerial vehicle according to claim 1, characterized in that, A laser ranging module is installed on the fuselage (2).

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