The invention discloses a quad-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions, relates to the field of quad-rotor unmanned aerial vehicles, and canadapt to various complex terrains. The quad-rotor unmanned aerial vehicle has walking capacity. The unmanned aerial vehicle comprises a mounting platform, a control box, a rotor wing and a support arm. Rotor wing mounting arms are fixedly connected to the four corners of the rotor wing mounting platform, and motors are arranged at the other ends of the rotor wing mounting arms to be connected with and drive the rotor wings. The rotor wing mounting platform, the control box and an undercarriage installation platform are sequentially connected in the vertical direction, six supporting legs aresymmetrically installed on the two sides of the undercarriage installation platform, each supporting leg is provided with three joints, and motors are arranged at the joints and driven by the motors.A distance sensor and an angle sensor are arranged on an undercarriage, the control box is connected with and controls the rotor wings and the supporting arms, and the technical threshold of landing operation is lowered through the design of the intelligent autonomous landing control system. And meanwhile, through the six-foot bionic design, the adaptive capacity and the walking capacity of the unmanned aerial vehicle to landing on complex terrains are improved, and the application prospect of the unmanned aerial vehicle is broadened.

    本发明公开了一种具备地形自适应起降和行走功能的四旋翼无人机,涉及四旋翼无人机领域,能够适应各类复杂地形,且具备行走能力。本发明包括:安装平台、控制盒、旋翼、支臂。旋翼安装平台的四个角处固连旋翼安装臂,旋翼安装臂的另一端设置电机连接并驱动旋翼。旋翼安装平台、控制盒、起落架安装平台沿竖直方向依次连接,起落架安装平台两侧对称安装六个支腿,支腿具有三段三关节,关节处设置电机并由所述电机驱动。起落架上设置距离传感器和角度传感器,控制盒连接并控制旋翼、支臂,并通过智能自主降落控制系统的设计,降低了降落操作的技术门槛。同时通过六足仿生设计,提高了无人机对复杂地形着陆的适应能力与行走能力,拓宽无人机应用前景。


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    Titel :

    Quad-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions


    Weitere Titelangaben:

    一种具备地形自适应起降和行走功能的四旋翼无人机


    Beteiligte:
    WEI XIAOHUI (Autor:in) / KONG DEXU (Autor:in) / PENG YIMING (Autor:in) / SUN HAO (Autor:in) / YIN QIAOZHI (Autor:in)

    Erscheinungsdatum :

    2020-12-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge



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