CN113199915B - Air-ground amphibious unmanned aerial vehicle and flight control method thereof - Google Patents
Air-ground amphibious unmanned aerial vehicle and flight control method thereof Download PDFInfo
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- CN113199915B CN113199915B CN202110670138.2A CN202110670138A CN113199915B CN 113199915 B CN113199915 B CN 113199915B CN 202110670138 A CN202110670138 A CN 202110670138A CN 113199915 B CN113199915 B CN 113199915B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses an air-ground amphibious unmanned aerial vehicle and a flight control method thereof, belonging to the field of unmanned aerial vehicles and comprising a main body; the machine body main body is provided with a storage mechanism; running mechanisms are arranged on the machine body main body in pairs; the storage mechanism is used for driving the running mechanism to act so as to extend or store the running mechanism. When the aircraft takes off, the running mechanism is changed from an extension state to a storage state when reaching a set height; when the vehicle is lowered below the set height, the travel mechanism is changed from the retracted state to the extended state. According to the air-ground amphibious unmanned aerial vehicle and the flight control method thereof, the ground driving part can be accommodated into the air flying part, the airflow field cannot be influenced, the pneumatic performance of the flying part cannot be damaged, the air function in air-ground amphibious is highlighted, the road driving is only used as an auxiliary mode, the weight of the road driving structure is reduced to the maximum extent, the load of the flying part is reduced, and the flying time and the flying maneuverability are improved.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an air-ground amphibious unmanned aerial vehicle and a flight control method thereof.
Background
The air-ground amphibious robot aims to solve the problems that a model vehicle or a small mechanical vehicle in a special industry can only run on the road surface under working environments such as battlefield reconnaissance, search and rescue, geological exploration, high-altitude photography and the like, and cannot continue to work when encountering large obstacles or bad road sections with more sand and stones, and the defects that the existing aircraft is obviously influenced by weather and cannot be used when wind power is high and the air-ground amphibious robot has limited air endurance time due to small battery capacity, and various air-ground amphibious robots are developed in recent years.
For example, an air-ground amphibious intelligent vehicle mentioned in CN200920249678.8, an air-ground amphibious rescue robot of CN201910642520.5, an air-ground amphibious four-foot emergency rescue reconnaissance robot of CN201611037532.8 and the like solve the problem that a traditional ground vehicle cannot continuously execute tasks when encountering obstacles on the road surface to a certain extent, and sense the obstacles through a sensor to start a flight mode, and continuously execute given tasks when flying over the obstacles. The flight mode has high requirement on the electric quantity of the battery, the electric quantity of the battery is converted into a road mode when being lower than the minimum electric quantity required by flight, the electric quantity of the remaining battery can still be used for the normal running of the battery on the road, the working time is prolonged, and the working efficiency is improved.
In the prior art, an air-ground amphibious mode is used, but a road surface driving part is a single and complete wheel type, crawler type or multi-legged structure, and the part outside the structure for realizing the flight function is a finished ground vehicle, crawler vehicle or multi-legged robot. The functionally simple splicing mode does not really exert the advantages of an air-ground amphibious mode, and has a plurality of defects.
The disadvantages are as follows:
1. in the ground running mode, the running speed is slow, and the speed requirement for executing a task can not be met;
2. the ground running part has a complex structure and extremely large weight, and forms an overlarge load on the flying part, so that the flying speed and the flying mobility are greatly limited;
3. the simple up-down combination mode destroys the aerodynamic performance of the flying part and generates great air resistance during flying;
4. the running structure is accumulated below the propeller, so that the normal flow field of the propeller airflow is influenced, and the efficiency of the propeller is reduced;
5. in the front projection area, the flying part is far larger than the driving part, so that the maneuvering performance of driving on the ground is reduced;
6. the amphibious road has the advantages of large volume, low speed and no land-air amphibious function.
Disclosure of Invention
The invention aims to provide an air-ground amphibious unmanned aerial vehicle and a flight control method thereof aiming at the defects, and solves the problems that the ground running part and the flight part of the existing air-ground amphibious unmanned aerial vehicle are simply spliced and do not really exert the advantages of an air-ground amphibious mode and the like. In order to achieve the purpose, the invention provides the following technical scheme:
an air-ground amphibious unmanned aerial vehicle comprises a main body 1; the machine body main body 1 is provided with a containing mechanism; running mechanisms are arranged on the machine body 1 in pairs; the storage mechanism is used for driving the running mechanism to act so as to extend or store the running mechanism. According to the structure, the main body 1 is a main flying part of the unmanned aerial vehicle, the running mechanisms are arranged on the main body 1 in pairs, for example, the running mechanisms are arranged on two sides of the main body 1, when the ground running mode of the air-ground amphibious unmanned aerial vehicle is converted into the flying mode, the receiving mechanism is used for driving the running mechanisms to act, the running mechanisms are received in the main body 1, although the flying part carries the ground running part, the overall size of the flying part of the unmanned aerial vehicle is always kept unchanged or slightly changed, the airflow field is not influenced, and the pneumatic performance of the flying part is not damaged; the running mechanism or the running mechanism is accommodated on the surfaces of the two sides of the machine body main body 1, so that the running mechanism and the machine body main body 1 jointly form a complete flight part, and although the flight part carries the ground running part, the air flow field cannot be influenced, and the pneumatic performance of the flight part cannot be damaged; when the land-air amphibious unmanned aerial vehicle is converted into the ground driving mode from the flight mode, the storage mechanism is used for driving the driving mechanism to act, the driving mechanism is stretched to serve as driving power, the ground driving is facilitated, and the driving speed on the ground is high.
Further, the running mechanism is attached to two sides of the machine body 1 when being stored; when the running mechanism extends, the running mechanism turns downwards relative to the machine body 1. According to the structure, when the ground driving mode of the air-ground amphibious unmanned aerial vehicle is converted into the flight mode, the driving mechanisms are accommodated and attached to the two sides of the main body 1 of the unmanned aerial vehicle to form a complete flight part together, and although the flight part carries the ground driving part, the airflow field cannot be influenced, and the pneumatic performance of the flight part cannot be damaged; when the air-ground amphibious unmanned aerial vehicle is converted into a ground driving mode from a flight mode, driving mechanisms on two sides of the main body 1 of the vehicle body are turned over downwards and extended to serve as driving power.
Further, the running mechanism comprises a folding machine body part; the folding fuselage part is hinged with the fuselage main body 1; the containing mechanism is used for driving the folding machine body part to change an included angle relative to the machine body main body 1. As can be seen from the above structure, the folding body sections on both sides of the body main body 1 can be folded back with respect to the body main body 1 by driving the storage mechanism. When empty amphibious unmanned aerial vehicle in land changed into flight mode from ground mode of traveling, folding fuselage portion turned over from the bottom up, and folding fuselage portion laminating constitutes complete flight part jointly in fuselage main part 1 both sides. When the land-air amphibious unmanned aerial vehicle is changed from the flight mode to the ground driving mode, the folding fuselage portions on the two sides are turned over from top to bottom relative to the fuselage main body 1, the outer edges of the folding fuselage portions are supported on the ground and serve as driving power, the projection of the flight portion is reduced at the moment, the ground driving cannot be affected, the accommodating mechanism can adopt a telescopic rod to drive the folding fuselage portions to turn over relative to the fuselage main body 1, and the ground driving mode and the flight mode are changed.
Further, the running mechanism further comprises a crawler belt or wheels arranged on the outer side of the folding fuselage portion. According to the structure, the outer edge of the folding machine body part is provided with the crawler belt or the wheel, so that the folding machine body part is convenient to run quickly.
Further, the running mechanism comprises a containing arm 2 and a running rack 3; the storage arm 2 is connected with the traveling frame 3; the containing mechanism is used for driving the containing arm 2 to act, so that the traveling frame 3 is contained at the bottom or the top or two sides of the machine body 1. By the structure, the main body 1 is the main flying part of the unmanned aerial vehicle, and can adapt to working environments such as battlefield reconnaissance, search and rescue, geological exploration, high-altitude photography and the like and avoid large obstacles or bad road sections with more sand and stones. When the land-air amphibious unmanned aerial vehicle is switched from the ground driving mode to the flying mode, the accommodating mechanisms on the main body 1 drive the vertical accommodating arms 2 to act, the two originally vertical accommodating arms 2 respectively drive the two driving frames 3 to be close to the main body 1, for example, all the driving frames 3 can be hidden in the main body 1 from the bottom or the top or two sides of the main body 1, all the driving frames 3 can be attached to the bottom or the top or two sides of the main body 1, and all the driving frames 3 can be sunk into the bottom or the top or two sides of the main body 1, so that the driving mechanisms are accommodated, although the flying portion carries the ground driving portion, the outline size of the flying portion of the unmanned aerial vehicle is always kept unchanged or changed slightly, the airflow field is not influenced, the pneumatic performance of the flying portion is not damaged, namely, the air resistance is not greatly increased during flying, the flying speed and the flying capability are not influenced, and the speed requirement for executing tasks can be met. When empty amphibious unmanned aerial vehicle in land is changed into ground mode of traveling from the flight mode, receiving mechanism drive horizontally accomodate arm 2 and the frame 3 that traveles opens, and two are finally accomodate arm 2 and keep vertical in fuselage main part 1 both sides, and two frame 3 that traveles are located the bottom, and as the power of traveling, accomodate arm 2 and raised the height of fuselage main part 1, protected the flight part. Regardless of the storage or opening state of the traveling frame 3, the frontal projection of the fuselage main body 1 is approximately kept unchanged, and the maneuvering performance of traveling on the ground is not reduced because the flying part of the frontal projection area is far larger than the traveling part on the ground. The frontal projection refers to a projection downward from the top of the main body 1 of the body. The storage arm 2 is not necessarily in a completely vertical state or a completely horizontal state, and may have a certain inclination angle; the traveling frame 3 can be arranged into a wheel type, crawler type or multi-foot type traveling structure. The two sides of the machine body 1 are provided with running mechanisms, namely, the two sides are respectively provided with one running mechanism, and the two sides can also be respectively provided with two running mechanisms. Because the ground travel part is different from the prior complete ground vehicle, tracked vehicle or multi-legged robot, but adopts the travel mechanism formed by the storage arm 2 and the travel frame 3, the travel mechanism is stored by taking the machine body main body 1 as a shell when flying, the weight can not be increased, the structure is simple, the weight is light, the ultra-large load can not be formed on the flight part, meanwhile, the ground travel is facilitated, and the travel speed on the ground is high. The air-ground amphibious unmanned aerial vehicle disclosed by the invention highlights the air function in air-ground amphibious, and only takes road running as an auxiliary mode, so that the weight of a road running structure is reduced to the maximum extent, the load of a flying part is reduced, and the flying time and the flying maneuverability are improved. The purpose of "storage" here is to store the running mechanism capable of landing on the ground into the main body 1 as a whole, and the storage scope of the present invention includes telescopic folding, flip folding, and folding by a combination of telescopic folding and flip folding, and also includes the storage mechanism capable of extending the running mechanism outward, and the running frame 3 is supported on the ground.
Further, grooves 4 are formed in two sides of the machine body main body 1; the containing mechanism is used for driving the containing arm 2 to act, so that the running frame 3 is contained in the corresponding groove 4. According to the structure, receiving mechanism is used for the drive to accomodate 2 actions of arm, make and travel in frame 3 accomodates the recess 4 that corresponds, recess 4 that fuselage main part 1 one side was equipped with corresponds homonymy running gear's the frame 3 that travels, the ground part of traveling that the part of flying carried like this is accomodate, but unmanned aerial vehicle's the partial overall dimension of flying remains unchanged throughout or changes very little, can not influence the air current flow field, can not destroy the partial aerodynamic performance of flying, can not greatly increased air resistance during the flight promptly, flight speed, the flight mobility is not influenced, can reach the speed demand of executive task. Accomodate arm 2 and the frame 3 that traveles earlier whole from vertical direction upset to horizontal direction, then the frame 3 level of traveling is close to recess 4, inserts on recess 4 at last, accomplishes and accomodate. The running frame 3 is not directly stacked below the propeller, so that the normal flow field of the airflow of the propeller cannot be influenced, and the working efficiency of the propeller is kept.
Further, the traveling frame 3 is shaped like a sled with both ends bent in the same direction. As is apparent from the above configuration, since the traveling frame 3 has a sled shape with both ends bent in the same direction, both ends of the traveling frame 3 are raised when it falls on the ground in the ground traveling mode, so that the ground traveling section can cross an obstacle having a constant height. In this case, the crawler belt may be mounted on the traveling frame 3. The groove 4 is shaped like a concave sled with two ends bent in the same direction. The shape of recess 4 is the concave sled form of both ends syntropy crooked, consequently can hold the shape and be the sled form's of both ends syntropy crooked frame 3 that traveles, when making frame 3 insert on recess 4, unmanned aerial vehicle's the partial air current flow field of flight keeps unchangeable.
Further, a crawler belt is arranged on the traveling frame 3. With the above-described structure, the crawler belt is used as the traveling mechanism, and the ground traveling portion can travel on a non-flat road. The traveling frame 3 is provided with a track tightening structure. For the maximum reduction travel part weight, guarantee the partial intensity of traveling simultaneously, track structure frame adopts aviation aluminum product integrated into one piece, makes track structure length, height dimension possible to be less than the partial size length of flight, height. Thereby realizing the purpose that the traveling part is stored in the flying part.
Further, the containing mechanism comprises driving devices corresponding to the number of the running mechanisms; accommodating spaces 5 are arranged at two sides of the machine body 1; a driving device is placed in the accommodating space 5; the driving device is used for driving the receiving arm 2 of the corresponding running mechanism to be received in the receiving space 5 or pushed out of the receiving space 5. As can be seen from the above configuration, the movement of the storage arm 2 is controlled by the driving device. When empty amphibious unmanned aerial vehicle in land followed the ground mode of traveling and converts the flight mode into, the arm 2 of accomodating of the running gear that drive arrangement drive corresponds is accomodate to accommodation space 5 in, accomodates arm 2 simultaneously and drives the frame 3 that traveles, makes the frame 3 that traveles accomodate to corresponding recess 4 in, the ground part of traveling that the flight part carried is accomodate like this. When empty amphibious unmanned aerial vehicle in land converts ground mode into from the flight mode, the arm 2 of accomodating of the running gear that the drive arrangement drive corresponds is released from accommodating space 5, accomodates arm 2 simultaneously and drives frame 3 that traveles, and frame 3 that traveles breaks away from corresponding recess 4, and the final messenger accomodates arm 2 and traveles the upset of frame 3 and be vertical state, and frame 3 that traveles is located the bottom. The above-mentioned horizontal and vertical are not necessarily completely horizontal and vertical, and may have a certain angular deviation. The driving device comprises a moving block 6; the storage arm 2 comprises two folding single arms 7 keeping a gap; one end of each of the two folding single arms 7 is hinged on the movable block 6, and the other end is fixed on the traveling frame 3; a strip-shaped hole 8 is formed in the folding single arm 7; a fixing shaft 9 penetrates through the strip-shaped holes 8 of the two folding single arms 7 together; the fixing shaft 9 is fixed on two side walls of the accommodating space 5; the storage mechanism is a folding mechanism; the moving block 6 is used for driving the containing arm 2 to turn over, and the containing arm 2 is changed between a containing state and an extending state. When empty amphibious unmanned aerial vehicle in land followed the ground mode of traveling and converted into the flight mode, the movable block 6 drives 2 one end of vertical arm of accomodating and uses fixed axle 9 to rotate 90 degrees as the center, accomodates 2 upsets of arm and be horizontal position, then the movable block 6 drives the horizontal arm of accomodating 2 and to horizontal migration in accommodation space 5, makes and accomodates arm 2 and accomodate to accommodation space 5 in. When empty amphibious unmanned aerial vehicle in land converts the ground mode of traveling from the flight mode, the movable block 6 drives the horizontally accomodate arm 2 and releases to 5 outer levels of accommodation space, then fixed axle 9 pushes up in 8 one ends in bar hole, makes movable block 6 drive accomodate 2 one ends of arm and use fixed axle 9 to rotate 90 degrees as the center, accomodates 2 upsets of arm and is vertical position. The above-mentioned horizontal and vertical are not necessarily completely horizontal and vertical, and may have a certain angular deviation. The fixed shaft 9 can slide relatively in the strip-shaped hole 8. The driving device also comprises a motor 10 and a flexible screw rod; the motor 10 is used for driving the flexible screw rod to rotate; the flexible screw is connected to a threaded hole formed in the moving block 6 through threads. Flexible screw passes through threaded connection on the screw hole that is equipped with on the movable block 6, because the movable block 6 articulates on accomodating arm 2, so when motor 10 drive flexible screw rotated, movable block 6 can take place to remove rather than the rotation to flexible screw makes movable block 6 can drive and accomodates arm 2 and remove, and when fixed axle 9 card was in 8 one ends in the bar hole, flexible screw took place to deform, and movable block 6 drives and accomodates 2 one ends of arm and use fixed axle 9 to overturn as the center. The flexible screw may be a flexible threaded rod made in one piece. The flexible screw rod is a flexible threaded rod which is integrally manufactured, so that the moving block 6 can drive one end of the containing arm 2 to rotate by taking the fixed shaft 9 as a center when moving outwards to the limit. The flexible screw structure may also include a first threaded rod 11, a second threaded rod 12, and a third threaded rod 13; the motor 10 is used for driving the first threaded rod 11 to rotate; the first threaded rod 11 is hinged with the second threaded rod 12; the second threaded rod 12 is hinged to the third threaded rod 13. When empty amphibious unmanned aerial vehicle in land went the mode and convert the flight mode into from ground, movable block 6 is on third threaded rod 13, then motor 10 is used for driving first threaded rod 11 and rotates, and first threaded rod 11, second threaded rod 12 and third threaded rod 13 rotate wholly, and movable block 6 drives and accomodates 2 one end of arm and use fixed axle 9 to rotate as the center, accomodates arm 2 and turns into the level from vertical, then movable block 6 moves to the inboard, reachs first threaded rod 11 after second threaded rod 12. When empty amphibious unmanned aerial vehicle in land converts ground mode of traveling into from the flight mode, motor 10 is used for driving first threaded rod 11 and rotates, first threaded rod 11, second threaded rod 12 and third threaded rod 13 rotate as a whole, movable block 6 is on first threaded rod 11, then outwards removes, reachs third threaded rod 13 behind second threaded rod 12, movable block 6 can drive when outwards removing to the limit and accomodate 2 one end of arm and use fixed axle 9 to rotate as the center, accomodate arm 2 and turn into vertically from the level.
Furthermore, a limiting opening 14 is formed in the outer end of the accommodating space 5; the limiting opening 14 is used for limiting the overturning of the containing arm 2. According to the structure, the limiting opening 14 obstructs the overturning of the containing arm 2, so that the containing arm 2 stops overturning to the limiting opening 14, and the containing arm 2 is just in the vertical position.
Further, the unmanned aerial vehicle is a ducted unmanned aerial vehicle; at least three ducts 15 are arranged on the main body 1; the machine body main body 1 is flat and cubic and is made of light materials; a rotor 16 is arranged in the duct 15. According to the structure, the flying part is a duct type multi-rotor wing. The number of ducts 15 is an even number, for example, 4, 6, 8, etc., and is bilaterally symmetrical.
Further, when the traveling rack 3 is stored at the bottom or the top or both sides of the main body 1, the projected contour of the main body 1 remains unchanged. By the structure, the overall size of the flying part of the unmanned aerial vehicle is always kept unchanged or changed very little, an airflow flow field cannot be influenced, the pneumatic performance of the flying part cannot be damaged, namely, the air resistance cannot be greatly increased during flying, the flying speed and the flying mobility are not influenced, and the speed requirement for executing tasks can be met. The frontal projection of the fuselage main body 1 remains substantially unchanged, and there is no reduction in the maneuvering performance on the ground due to the flight portion of the frontal projection area being much larger than the ground travel portion. The fuselage main body 1 is flat. The fuselage main part 1 is regular square appearance, and the four corners radius, the platykurtic effectively reduces the resistance. The machine body main body 1 comprises a lower machine body and an upper machine body; the accommodating space 5 is arranged on the lower machine body; when the lower machine body is matched with the upper machine body, the accommodating space 5 is sealed up and down; when the lower body and the upper body are disassembled, the top of the accommodating space 5 is opened. The machine body main body 1 can be detached and divided into a lower machine body and an upper machine body, so that the accommodating space 5 can be conveniently opened, and a driving device is installed. The application provides an air-ground amphibious unmanned aerial vehicle's main mode is the flight mode in the air to very big mobility satisfies different task demands, only starts the land mode of traveling when the flight has the difficulty. For example, the flight space is narrow, the flight site has many obstacles, and the weather is wind, frost, rain and snow. The traveling part is contained in the flying mode, and the airflow field is not influenced. When the vehicle runs in a running mode, the crawler frame is turned downwards, namely the flying part is lifted, the propeller is protected, the collision of objects on the ground is avoided, and if the ground has a water pit, key parts such as a battery and the like in the flying part can be protected.
Furthermore, the device also comprises a height detector, a controller, a finger control end and a receiving end; the height detector, the accommodating mechanism and the receiving end are respectively and electrically connected with the controller; the finger control end is wirelessly connected with the receiving end; the height detector is used for measuring the height information of the machine body main body 1 relative to the ground and transmitting the height information to the controller; and the controller controls the storage mechanism to work according to the height information. According to the structure, when the height detector detects that the height information of the machine body 1 relative to the ground is lower than a certain height during landing, the controller controls the containing mechanism to be in a ground running mode, namely the containing mechanism is used for driving the running mechanism to act, the running mechanism keeps an extended state or the containing mechanism is used for driving the folding machine bodies on two sides to turn over relative to the machine body 1, the outer edges of the folding machine bodies face the ground and are ready to be supported on the ground at any time; when the aircraft takes off, when the height detector detects that the height information of the aircraft body 1 relative to the ground is higher than a certain height, the controller controls the containing mechanism to be in a flight mode, namely the containing mechanism is used for driving the running mechanism to act, the running mechanism keeps a containing state or the containing mechanism is used for driving the folding aircraft bodies on two sides to turn over relative to the aircraft body 1, and the folding aircraft bodies and the aircraft body 1 form a complete flight part to fly quickly.
A flight control method of an air-ground amphibious unmanned aerial vehicle adopts the air-ground amphibious unmanned aerial vehicle, and the flight control method specifically comprises the following steps: the height detector transmits the height information to the controller; the controller compares the height information with a set height; during takeoff, if the height information is not lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the storage mechanism to enable the running mechanism to be changed from the extending state to the storage state; when the automobile descends, if the height information is lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the storage mechanism to enable the running mechanism to be changed from the storage state to the extension state.
The beneficial effects of the invention are:
the invention discloses an air-ground amphibious unmanned aerial vehicle and a flight control method thereof, wherein the air-ground amphibious unmanned aerial vehicle comprises a main body; the machine body main body is provided with a containing mechanism; running mechanisms are arranged on the machine body main body in pairs; the storage mechanism is used for driving the running mechanism to act so as to extend or store the running mechanism. When the aircraft takes off and reaches a set height, the running mechanism is changed from an extending state to a receiving state; when the vehicle is lowered below the set height, the travel mechanism is changed from the retracted state to the extended state. According to the air-ground amphibious unmanned aerial vehicle and the flight control method thereof, the ground driving part can be accommodated into the air flying part, the airflow field cannot be influenced, the pneumatic performance of the flying part cannot be damaged, the air function in air-ground amphibious is highlighted, the road driving is only used as an auxiliary mode, the weight of the road driving structure is reduced to the maximum extent, the load of the flying part is reduced, and the flying time and the flying maneuverability are improved.
Drawings
FIG. 1 is a schematic top view of the present invention in a transition between flight mode and ground travel mode, with the upper fuselage removed and travel mechanisms on either side of the fuselage;
FIG. 2 is a partial schematic view of FIG. 1 adjacent a second threaded rod;
FIG. 3 is a schematic view of a portion of the structure of FIG. 1 in the vicinity of the moving block;
FIG. 4 is a schematic top view of the present invention in flight mode, with the upper fuselage removed and travel mechanisms on either side of the fuselage;
FIG. 5 is a schematic top view of the traveling mode of the present invention, wherein traveling mechanisms are provided on both sides of the body;
FIG. 6 is a schematic view of the cutaway configuration of FIG. 5;
FIG. 7 is a schematic top view of the present invention in a travel mode with the upper body removed and travel mechanisms disposed on either side of the body;
FIG. 8 is a schematic view of the cutaway configuration of FIG. 7;
FIG. 9 is a schematic of the three-dimensional structure of FIG. 5;
FIG. 10 is a schematic of the three-dimensional structure of FIG. 7;
FIG. 11 is a schematic three-dimensional structure of FIG. 7 with a travel mechanism removed;
in the drawings: the aircraft comprises an aircraft body 1, a storage arm 2, a traveling frame 3, a groove 4, a containing space 5, a moving block 6, a folding single arm 7, a strip-shaped hole 8, a fixed shaft 9, a motor 10, a first threaded rod 11, a second threaded rod 12, a third threaded rod 13, a limiting port 14, a duct 15 and a rotor 16.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and the embodiments, but the present invention is not limited to the following examples.
The first embodiment is as follows:
an air-ground amphibious unmanned aerial vehicle comprises a main body 1; the machine body main body 1 is provided with a storage mechanism; running mechanisms are arranged on the machine body 1 in pairs; the storage mechanism is used for driving the running mechanism to act so as to extend or store the running mechanism. According to the structure, the main body 1 is a main flying part of the unmanned aerial vehicle, the running mechanisms are arranged on the main body 1 in pairs, for example, the running mechanisms are arranged on two sides of the main body 1, when the ground running mode of the air-ground amphibious unmanned aerial vehicle is converted into the flying mode, the receiving mechanism is used for driving the running mechanisms to act, the running mechanisms are received in the main body 1, although the flying part carries the ground running part, the overall size of the flying part of the unmanned aerial vehicle is always kept unchanged or slightly changed, the airflow field is not influenced, and the pneumatic performance of the flying part is not damaged; the running mechanism or the running mechanism is accommodated on the surfaces of the two sides of the main body 1 of the airplane body, so that the running mechanism and the main body 1 of the airplane body jointly form a complete flying part, and although the flying part carries a ground running part, the flow field of airflow cannot be influenced, and the pneumatic performance of the flying part cannot be damaged; when empty amphibious unmanned aerial vehicle in land converts the ground mode of traveling into from the flight mode, receiving mechanism is used for driving the running gear action, and the running gear stretches out, as the power of traveling, is favorable to ground to travel, and it is fast to travel on ground.
Example two:
in addition to the first embodiment, the running mechanism is attached to both sides of the body main body 1 when being stored; when the running mechanism extends, the running mechanism turns downwards relative to the machine body 1. According to the structure, when the ground running mode of the air-ground amphibious unmanned aerial vehicle is converted into the flight mode, the running mechanisms are accommodated and attached to the two sides of the main body 1 of the vehicle body to jointly form a complete flight part, and although the flight part carries the ground running part, the airflow field cannot be influenced, and the pneumatic performance of the flight part cannot be damaged; when the air-ground amphibious unmanned aerial vehicle is converted into a ground driving mode from a flight mode, driving mechanisms on two sides of the body main body 1 are turned downwards and extended to serve as driving power.
The running mechanism comprises a folding machine body part; the folding fuselage part is hinged with the fuselage main body 1; the containing mechanism is used for driving the folding machine body part to change an included angle relative to the machine body main body 1. With the above configuration, the folding body sections on both sides of the body 1 can be folded back with respect to the body 1 by the driving of the storage mechanism. When empty amphibious unmanned aerial vehicle in land changed into flight mode from ground mode of traveling, folding fuselage portion turned over from the bottom up, and folding fuselage portion laminating constitutes complete flight part jointly in fuselage main part 1 both sides. When the land-air amphibious unmanned aerial vehicle is changed from the flight mode to the ground driving mode, the folding fuselage portions on the two sides are turned over from top to bottom relative to the fuselage main body 1, the outer edges of the folding fuselage portions are supported on the ground and serve as driving power, the projection of the flight portion is reduced at the moment, the ground driving cannot be affected, the accommodating mechanism can adopt a telescopic rod to drive the folding fuselage portions to turn over relative to the fuselage main body 1, and the ground driving mode and the flight mode are changed.
The running mechanism further comprises a crawler belt or wheels arranged on the outer side of the folding machine body part. According to the structure, the outer edge of the folding machine body part is provided with the crawler belt or the wheels, so that the folding machine body part is convenient to run quickly.
Example three:
see figures 1-11. On the basis of the first embodiment, the running mechanism comprises a storage arm 2 and a running rack 3; the storage arm 2 is connected with the traveling frame 3; the containing mechanism is used for driving the containing arm 2 to act, so that the running frame 3 is contained at the bottom or the top or two sides of the machine body 1. By the structure, the main body 1 is the main flying part of the unmanned aerial vehicle, can adapt to working environments such as battlefield reconnaissance, search and rescue, geological exploration, high-altitude photography and the like, and avoids large obstacles or bad road sections with more sand and stones. When the land-air amphibious unmanned aerial vehicle is switched from the ground driving mode to the flying mode, the accommodating mechanisms on the main body 1 drive the vertical accommodating arms 2 to act, the two originally vertical accommodating arms 2 respectively drive the two driving frames 3 to be close to the main body 1, for example, all the driving frames 3 can be hidden in the main body 1 from the bottom or the top or two sides of the main body 1, all the driving frames 3 can be attached to the bottom or the top or two sides of the main body 1, and all the driving frames 3 can be sunk into the bottom or the top or two sides of the main body 1, so that the driving mechanisms are accommodated, although the flying portion carries the ground driving portion, the outline size of the flying portion of the unmanned aerial vehicle is always kept unchanged or changed slightly, the airflow field is not influenced, the pneumatic performance of the flying portion is not damaged, namely, the air resistance is not greatly increased during flying, the flying speed and the flying capability are not influenced, and the speed requirement for executing tasks can be met. When empty amphibious unmanned aerial vehicle in land is changed into ground mode of traveling from the flight mode, receiving mechanism drive horizontally accomodate arm 2 and the frame 3 that traveles opens, and two are finally accomodate arm 2 and keep vertical in fuselage main part 1 both sides, and two frame 3 that traveles are located the bottom, and as the power of traveling, accomodate arm 2 and raised the height of fuselage main part 1, protected the flight part. Regardless of the storage or opening state of the traveling frame 3, the frontal projection of the fuselage main body 1 is approximately kept unchanged, and the maneuvering performance of traveling on the ground is not reduced because the flying part of the frontal projection area is far larger than the traveling part on the ground. The frontal projection refers to a projection downward from the top of the main body 1 of the body. The storage arm 2 is not necessarily in a completely vertical state or a completely horizontal state, and may have a certain inclination angle; the traveling frame 3 can be arranged into a wheel type, crawler type or multi-foot type traveling structure. The two sides of the machine body 1 are provided with running mechanisms, namely, the two sides are respectively provided with one running mechanism, and the two sides can also be respectively provided with two running mechanisms. Because the ground travel part is different from the prior complete ground vehicle, tracked vehicle or multi-legged robot, but adopts the travel mechanism formed by the storage arm 2 and the travel frame 3, the travel mechanism is stored by taking the machine body main body 1 as a shell when flying, the weight can not be increased, the structure is simple, the weight is light, the ultra-large load can not be formed on the flight part, meanwhile, the ground travel is facilitated, and the travel speed on the ground is high. The air-ground amphibious unmanned aerial vehicle disclosed by the invention highlights the air function in air-ground amphibious, and only takes road running as an auxiliary mode, so that the weight of a road running structure is reduced to the maximum extent, the load of a flying part is reduced, and the flying time and the flying maneuverability are improved. The purpose of "storage" here is to store the running mechanism capable of landing on the ground into the main body 1 as a whole, and the storage scope of the present invention includes telescopic folding, flip folding, and folding by a combination of telescopic folding and flip folding, and also includes the storage mechanism capable of extending the running mechanism outward, and the running frame 3 is supported on the ground.
Grooves 4 are formed in two sides of the machine body main body 1; the containing mechanism is used for driving the containing arm 2 to act, so that the running frame 3 is contained in the corresponding groove 4. According to the structure, receiving mechanism is used for the drive to accomodate 2 actions of arm, make and travel in frame 3 accomodates the recess 4 that corresponds, recess 4 that fuselage main part 1 one side was equipped with corresponds homonymy running gear's the frame 3 that travels, the ground part of traveling that the part of flying carried like this is accomodate, but unmanned aerial vehicle's the partial overall dimension of flying remains unchanged throughout or changes very little, can not influence the air current flow field, can not destroy the partial aerodynamic performance of flying, can not greatly increased air resistance during the flight promptly, flight speed, the flight mobility is not influenced, can reach the speed demand of executive task. Accomodate arm 2 and the frame 3 that traveles earlier whole from vertical direction upset to horizontal direction, then the frame 3 level of traveling is close to recess 4, inserts on recess 4 at last, accomplishes and accomodate. The running frame 3 is not directly stacked below the propeller, so that the normal flow field of the propeller airflow is not influenced, and the working efficiency of the propeller is kept.
The traveling frame 3 is shaped like a sled with both ends bent in the same direction. As is apparent from the above configuration, since the traveling frame 3 has a sled shape with both ends bent in the same direction, both ends of the traveling frame 3 are raised when it falls on the ground in the ground traveling mode, and the ground traveling part can cross an obstacle having a constant height. In this case, the traveling frame 3 may be equipped with a crawler belt. The groove 4 is shaped like a concave sled with two ends bent in the same direction. The shape of recess 4 is the concave sled form of both ends syntropy crooked, consequently can hold the shape and be the sled form's of both ends syntropy crooked frame 3 that traveles, when making frame 3 insert on recess 4, unmanned aerial vehicle's the partial air current flow field of flight keeps unchangeable.
And the traveling frame 3 is provided with a crawler belt. With the above-described structure, the crawler belt is used as the traveling mechanism, and the ground traveling portion can travel on a non-flat road. The traveling frame 3 is provided with a track tightening structure. For the maximum reduction part weight that traveles, guarantee the part intensity of traveling simultaneously, crawler structure frame adopts aviation aluminum product integrated into one piece, makes crawler structure length, height size can accomplish to be less than flying part size length, height. Thereby realizing the purpose that the traveling part is stored in the flying part.
The containing mechanism comprises driving devices corresponding to the number of the running mechanisms; accommodating spaces 5 are arranged at two sides of the machine body 1; a driving device is placed in the accommodating space 5; the driving device is used for driving the receiving arm 2 of the corresponding running mechanism to be received in the receiving space 5 or pushed out of the receiving space 5. As can be seen from the above configuration, the movement of the storage arm 2 is controlled by the driving device. When empty amphibious unmanned aerial vehicle in land followed the ground mode of traveling and converts the flight mode into, the arm 2 of accomodating of the running gear that drive arrangement drive corresponds is accomodate to accommodation space 5 in, accomodates arm 2 simultaneously and drives the frame 3 that traveles, makes the frame 3 that traveles accomodate to corresponding recess 4 in, the ground part of traveling that the flight part carried is accomodate like this. When empty amphibious unmanned aerial vehicle in land converts the ground mode of traveling from the flight mode, the drive arrangement drive corresponding travel mechanism accomodate arm 2 and release from accommodating space 5 in, accomodate arm 2 simultaneously and drive frame 3 that traveles, the frame 3 that traveles breaks away from corresponding recess 4, and finally the arm 2 is accomodate and frame 3 upset that traveles is vertical state, and the frame 3 that traveles is located the bottom. The horizontal and vertical directions are not necessarily perfect horizontal and vertical directions, and may be deviated by a certain angle. The driving device comprises a moving block 6; the storage arm 2 comprises two folding single arms 7 keeping a gap; one end of each of the two folding single arms 7 is hinged on the movable block 6, and the other end is fixed on the traveling frame 3; a strip-shaped hole 8 is formed in the folding single arm 7; a fixing shaft 9 penetrates through the strip-shaped holes 8 of the two folding single arms 7 together; the fixed shaft 9 is fixed on two side walls of the accommodating space 5; the storage mechanism is a folding mechanism; the moving block 6 is used for driving the containing arm 2 to turn over, and the containing arm 2 is changed between a containing state and an extending state. When empty amphibious unmanned aerial vehicle in ground went the mode and convert into the flight mode, the movable block 6 drives vertical 2 one end of accomodating the arm and uses fixed axle 9 to rotate 90 degrees as the center, accomodates the arm 2 upset and be horizontal position, then the movable block 6 drives horizontal accomodating arm 2 and to the horizontal migration in accommodation space 5, makes and accomodates arm 2 and accomodate in accommodation space 5. When empty amphibious unmanned aerial vehicle in land converts the ground mode of traveling from the flight mode, the movable block 6 drives the horizontally accomodate arm 2 and releases to 5 outer levels of accommodation space, then fixed axle 9 pushes up in 8 one ends in bar hole, makes movable block 6 drive accomodate 2 one ends of arm and use fixed axle 9 to rotate 90 degrees as the center, accomodates 2 upsets of arm and is vertical position. The above-mentioned horizontal and vertical are not necessarily completely horizontal and vertical, and may have a certain angular deviation. The fixed shaft 9 can slide relatively in the strip-shaped hole 8. The driving device also comprises a motor 10 and a flexible screw rod; the motor 10 is used for driving the flexible screw rod to rotate; the flexible screw rod is connected with a threaded hole formed in the moving block 6 through threads. The flexible screw passes through threaded connection on the screw hole that is equipped with on the movable block 6, because the movable block 6 articulates on accomodating arm 2, so when motor 10 drive flexible screw rotates, movable block 6 can take place to remove but non-rotation to flexible screw makes movable block 6 can drive and accomodates arm 2 and remove, and when fixed axle 9 card was in 8 one ends in the bar hole, flexible screw took place to deform, and movable block 6 drives and accomodates 2 one ends of arm and use fixed axle 9 to overturn as the center. The flexible screw may be a flexible threaded rod made in one piece. The flexible screw rod is a flexible threaded rod which is integrally manufactured, so that the moving block 6 can drive one end of the containing arm 2 to rotate around the fixed shaft 9 when moving outwards to the limit. The flexible screw structure may also include a first threaded rod 11, a second threaded rod 12, and a third threaded rod 13; the motor 10 is used for driving the first threaded rod 11 to rotate; the first threaded rod 11 is hinged with the second threaded rod 12; the second threaded rod 12 is hinged to the third threaded rod 13. When empty amphibious unmanned aerial vehicle in land went the mode and convert the flight mode into from ground, movable block 6 is on third threaded rod 13, then motor 10 is used for driving first threaded rod 11 and rotates, and first threaded rod 11, second threaded rod 12 and third threaded rod 13 rotate wholly, and movable block 6 drives and accomodates 2 one end of arm and use fixed axle 9 to rotate as the center, accomodates arm 2 and turns into the level from vertical, then movable block 6 moves to the inboard, reachs first threaded rod 11 after second threaded rod 12. When empty amphibious unmanned aerial vehicle in land converts ground mode into from the flight mode, motor 10 is used for driving first threaded rod 11 and rotates, and first threaded rod 11, second threaded rod 12 and third threaded rod 13 rotate as a whole, and movable block 6 is on first threaded rod 11, then outwards removes, reachs third threaded rod 13 behind second threaded rod 12, and movable block 6 can drive when outwards removing to the limit and accomodate 2 one end of arm and use fixed axle 9 to rotate as the center, accomodate arm 2 and trun into vertically from the level.
The outer end of the accommodating space 5 is provided with a limiting opening 14; the limiting opening 14 is used for limiting the overturning of the containing arm 2. According to the structure, the limiting opening 14 obstructs the overturning of the containing arm 2, so that the containing arm 2 stops overturning to the limiting opening 14, and the containing arm 2 is just in the vertical position.
The unmanned aerial vehicle is a ducted unmanned aerial vehicle; at least three ducts 15 are arranged on the fuselage main body 1; the machine body main body 1 is flat and cubic and is made of light materials; a rotor 16 is arranged in the duct 15. According to the structure, the flying part is a duct type multi-rotor wing. The number of ducts 15 is an even number, for example, 4, 6, 8, etc., and is bilaterally symmetrical.
When the traveling frame 3 is stored at the bottom or the top or both sides of the main body 1, the projected contour of the main body 1 remains unchanged. By the structure, the overall size of the flying part of the unmanned aerial vehicle is always kept unchanged or changed very little, an airflow flow field cannot be influenced, the pneumatic performance of the flying part cannot be damaged, namely, the air resistance cannot be greatly increased during flying, the flying speed and the flying mobility are not influenced, and the speed requirement for executing tasks can be met. The frontal projection of the fuselage main body 1 remains substantially unchanged, and the maneuverability of traveling on the ground is not reduced because the flight portion of the frontal projection area is much larger than the ground traveling portion. The fuselage main body 1 is flat. The fuselage main part 1 is regular square appearance, and the four corners radius, the platykurtic effectively reduces the resistance. The machine body main body 1 comprises a lower machine body and an upper machine body; the accommodating space 5 is arranged on the lower machine body; when the lower machine body is matched with the upper machine body, the accommodating space 5 is sealed up and down; when the lower body and the upper body are disassembled, the top of the accommodating space 5 is opened. The machine body main body 1 can be detached and divided into a lower machine body and an upper machine body, so that the accommodating space 5 can be conveniently opened, and a driving device is installed. The main working mode of the air-ground amphibious unmanned aerial vehicle is an air flight mode, different task requirements are met through great maneuverability, and the land traveling mode is started only when the flight is difficult. For example, the flight space is narrow, the flight site has many obstacles, and the weather is rainy or snowy. The traveling part is contained in the flying mode, and the airflow field is not influenced. When the vehicle runs in a running mode, the crawler frame is turned downwards, namely the flying part is lifted, the propeller is protected, the collision of objects on the ground is avoided, and if the ground has a water pit, key parts such as a battery and the like in the flying part can be protected.
Example four:
on the basis of the first embodiment, the second embodiment or the third embodiment, the system further comprises a height detector, a controller, a finger control end and a receiving end; the height detector, the accommodating mechanism and the receiving end are respectively and electrically connected with the controller; the finger control end is wirelessly connected with the receiving end; the height detector is used for measuring the height information of the machine body main body 1 relative to the ground and transmitting the height information to the controller; and the controller controls the storage mechanism to work according to the height information. According to the structure, when the height detector detects that the height information of the machine body 1 relative to the ground is lower than a certain height during landing, the controller controls the containing mechanism to be in a ground running mode, namely the containing mechanism is used for driving the running mechanism to act, the running mechanism keeps an extended state or the containing mechanism is used for driving the folding machine bodies on two sides to turn over relative to the machine body 1, the outer edges of the folding machine bodies face the ground and are ready to be supported on the ground at any time; when the aircraft takes off, when the height detector detects that the height information of the aircraft body 1 relative to the ground is higher than a certain height, the controller controls the containing mechanism to be in a flight mode, namely the containing mechanism is used for driving the running mechanism to act, the running mechanism keeps a containing state or the containing mechanism is used for driving the folding aircraft bodies on two sides to turn over relative to the aircraft body 1, and the folding aircraft bodies and the aircraft body 1 form a complete flight part to fly quickly.
Example five:
on the basis of the fourth embodiment, the flight control method of the air-ground amphibious unmanned aerial vehicle adopts the air-ground amphibious unmanned aerial vehicle, and the flight control method specifically comprises the following steps: the height detector transmits the height information to the controller; the controller compares the height information with a set height; during taking off, if the height information is not lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the containing mechanism to enable the running mechanism to be changed into a containing state from an extending state; when the automobile descends, if the height information is lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the storage mechanism to enable the running mechanism to be changed from the storage state to the extension state.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the scope of the present invention.
Claims (7)
1. Air-ground amphibious unmanned aerial vehicle, its characterized in that: comprises a main body (1); the machine body main body (1) is provided with a storage mechanism; running mechanisms are arranged on the machine body main body (1) in pairs; the storage mechanism is used for driving the running mechanism to act so as to extend or store the running mechanism; the running mechanism comprises a containing arm (2) and a running frame (3); the storage arm (2) is connected with the traveling frame (3); the storage mechanism is used for driving the storage arm (2) to act so as to store the traveling frame (3) to two sides of the machine body main body (1); grooves (4) are formed in the two sides of the machine body main body (1); the storage mechanism is used for driving the storage arm (2) to act so as to store the traveling frame (3) into the corresponding groove (4); the shape of the traveling frame (3) is a sled shape with two ends bent in the same direction; the groove (4) is in a shape of a concave sled with two ends bent in the same direction and is used for accommodating a sled-shaped traveling frame (3) with two ends bent in the same direction; the machine body main body (1) is in a regular square shape, and four corners of the machine body main body are rounded and flat; the two ends of the groove (4) which are bent in the same direction are positioned at the rounding positions of the four corners of the machine body main body (1); when the traveling frame (3) is stored at two sides of the machine body main body (1), the projection outline of the machine body main body (1) is kept unchanged; the containing mechanism comprises driving devices corresponding to the number of the running mechanisms; accommodating spaces (5) are arranged on two sides of the machine body main body (1); a driving device is placed in the accommodating space (5); the driving device is used for driving the containing arm (2) of the corresponding running mechanism to be contained in the containing space (5) or pushed out of the containing space (5); the drive means comprises a mobile block (6); the storage arm (2) comprises two folding single arms (7) keeping a gap; one end of each of the two folding single arms (7) is hinged on the movable block (6), and the other end is fixed on the traveling frame (3); a strip-shaped hole (8) is formed in the folding single arm (7); a fixed shaft (9) penetrates through the strip-shaped holes (8) of the two folding single arms (7) together; the fixed shaft (9) is fixed on two side walls of the accommodating space (5); the storage mechanism is a folding mechanism; the moving block (6) is used for driving the containing arm (2) to turn over, so that the containing arm (2) can be changed between a containing state and an extending state; the driving device also comprises a motor (10) and a flexible screw rod; the motor (10) is used for driving the flexible screw rod to rotate; the flexible screw is connected with a threaded hole formed in the moving block (6) through threads.
2. An air-ground amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the running mechanism comprises a folding machine body part; the folding fuselage part is hinged with the fuselage main body (1); the containing mechanism is used for driving the folding machine body part to change an included angle relative to the machine body main body (1).
3. An air-ground amphibious unmanned aerial vehicle according to claim 2, wherein: the running gear further comprises a crawler belt or wheels arranged on the outer side of the folding fuselage portion.
4. An air-ground amphibious unmanned aerial vehicle according to claim 1, wherein: the outer end of the accommodating space (5) is provided with a limiting opening (14); the limiting opening (14) is used for limiting the overturning of the containing arm (2).
5. An air-ground amphibious unmanned aerial vehicle according to any one of claims 1-4, wherein: at least three ducts (15) are arranged on the machine body (1); a rotor wing (16) is arranged in the duct (15).
6. An air-ground amphibious unmanned aerial vehicle according to claim 1, wherein: the device also comprises a height detector, a controller, a finger control end and a receiving end; the height detector, the accommodating mechanism and the receiving end are respectively and electrically connected with the controller; the finger control end is wirelessly connected with the receiving end; the height detector is used for measuring height information of the machine body main body (1) relative to the ground and transmitting the height information to the controller; and the controller controls the storage mechanism to work according to the height information.
7. A flight control method of an air-ground amphibious unmanned aerial vehicle is characterized by comprising the following steps: the air-ground amphibious unmanned aerial vehicle as claimed in claim 6 is adopted, and the flight control method specifically comprises the following steps: the height detector transmits the height information to the controller; the controller compares the height information with a set height; during takeoff, if the height information is not lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the storage mechanism to enable the running mechanism to be changed from the extending state to the storage state; when the automobile descends, if the height information is lower than the set height, the instruction control end sends a deformation instruction to the receiving end, and the controller controls the storage mechanism to enable the running mechanism to be changed from the storage state to the extension state.
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| CN101693437A (en) * | 2009-10-23 | 2010-04-14 | 吉林大学 | Air-ground amphibious intelligent vehicle |
| CA2840316C (en) * | 2011-06-30 | 2020-03-10 | Kyle DICK | A vessel |
| CN206171067U (en) * | 2016-07-28 | 2017-05-17 | 上海工程技术大学 | Empty dual -purpose aircraft in following novel land |
| CN106347049B (en) * | 2016-12-01 | 2018-09-11 | 吉林大学 | A kind of electric vehicle wheel position conversion device and land and air double-used electric vehicle |
| CN107856486B (en) * | 2017-10-17 | 2020-07-17 | 青岛中邦防务智能装备有限公司 | Variant amphibious unmanned ship and control method thereof |
| CN209616813U (en) * | 2018-12-18 | 2019-11-12 | 北京理工大学 | Hovercar |
| CN212685141U (en) * | 2020-05-06 | 2021-03-12 | 酷黑科技（北京）有限公司 | Dual-purpose duct formula unmanned aerial vehicle of land and air |
| CN111976984B (en) * | 2020-09-04 | 2022-03-29 | 浙江大学台州研究院 | Multifunctional unmanned aerial vehicle |
| CN112078298A (en) * | 2020-10-13 | 2020-12-15 | 河北工业大学 | Rotary wheel type water, land and air multi-purpose mobile aircraft |
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