The invention discloses a combined air-ground amphibious unmanned aerial vehicle which is composed of two four-rotor unmanned aerial vehicles with similar structures and comprises an upper unmanned aerial vehicle body, a lower unmanned aerial vehicle body, a butt joint structure and a universal wheel movement mechanism. A visual sensor is installed at the bottom of the upper unmanned aerial vehicle, and the Apriltag two-dimensional code at the top of the lower unmanned aerial vehicle is recognized to achieve positioning and navigation in the docking process. The butt joint structure is of a rod-cone type, and connection of the two unmanned aerial vehicles is achieved through mutual attraction of a power-losing electromagnet located in a conical guide groove of the upper unmanned aerial vehicle and an iron sheet located on a guide rod of the lower unmanned aerial vehicle. The combined amphibious unmanned aerial vehicle can realize amphibious movement in land and airspace, not only can cross complex terrains and obstacles through flight, but also can reduce energy consumption and prolong endurance mileage through ground movement. In addition, the two unmanned aerial vehicles forming the assembly can independently execute tasks, and the task execution range of the unmanned aerial vehicles is further expanded.

    本发明公开了一种组合式陆空两栖无人机,由两架结构相似的四旋翼无人机组成,包括上无人机,下无人机、对接结构以及万向轮运动机构。在上无人机底部安装有视觉传感器,识别下无人机顶部的Apriltag二维码来实现对接过程中的定位与导航。对接结构采用杆‑锥式,通过位于上方无人机锥形导向槽内的失电型电磁铁和下方无人机导向杆上的铁片相互吸引实现两无人机的连接。该组合式两栖无人机能够实现陆域和空域的两栖运动,既能通过飞行越过复杂地形和障碍,也能通过地面运动来降低能耗,延长续航里程。除此之外,组成组合体的两架无人机均可以独立执行任务,进一步扩大了其执行任务的范围。


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    Title :

    Combined air-ground amphibious unmanned aerial vehicle


    Additional title:

    一种组合式陆空两栖无人机


    Contributors:
    DONG YANGYANG (author) / XIA ZEQUN (author) / ZHANG TONGLE (author) / ZHANG RANHAO (author) / ZHANG ZIJIAN (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B64U



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