CN111546843A - Air-ground dual-purpose vehicle - Google Patents

Abstract

The invention discloses an air-ground dual-purpose vehicle, belonging to the field of flying automobiles, and comprising: the vehicle body is provided with a rotor duct system; the wheels comprise at least 2 and are rotatably connected to the vehicle body; the number of the wheel driving modules is at least 2, and the wheel driving modules are arranged in one-to-one correspondence with the wheels; wherein the wheel drive module is disposed within the wheel; or the wheel driving module is arranged in the vehicle body and positioned on the inner side of the corresponding wheel. The land and air dual-purpose vehicle uses a distributed driving system such as a wheel-side motor or a wheel cereal motor to replace a traditional automobile driving system, so that the internal space of an automobile is saved, and a rotor duct system needed by the land and air dual-purpose vehicle is convenient to arrange.

Description

Air-ground dual-purpose vehicle

Technical Field

The invention belongs to the field of aerocars, and particularly relates to an air-ground dual-purpose vehicle.

Background

The aerocar is a vehicle which can fly in the air and can run on the ground, and is a combination of an airplane and an automobile.

The inventor of the embodiment of the present application finds that at least the following problems exist in the prior art in the process of implementing the technical scheme of the present application: the prior related aerocar generally comprises a set of engine for ground running and another set of power output system for air flight. The engine forms a centralized driving system which drives 3 or 4 wheels of the aerocar to rotate through a traditional transmission system. However, the transmission device of the centralized driving system occupies a large amount of internal space in the flying vehicle, and the arrangement of the flying vehicle system on the flying vehicle is influenced, so that the implementation of the specific flying vehicle is influenced.

Disclosure of Invention

In order to solve the above problems in the prior art, embodiments of the present application provide an air-ground vehicle that uses a distributed drive system such as a wheel-side motor or a wheel-side motor to replace a conventional automobile drive system, thereby saving the interior space of an automobile and facilitating the arrangement of a rotor duct system that needs to be used by the air-ground vehicle.

In order to achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

in a first aspect, embodiments of the present application provide an air-ground vehicle, comprising:

the vehicle body is provided with a rotor duct system;

the wheels comprise at least 2 and are rotatably connected to the vehicle body; and

the number of the wheel driving modules is at least 2, and the wheel driving modules and the wheels are arranged in a one-to-one correspondence manner;

wherein the wheel drive module is disposed within the wheel; or

The wheel driving module is arranged in the vehicle body and is positioned on the inner side of the corresponding wheel.

Optionally, the vehicle body is provided with at least one axle, and the two wheels are respectively connected to two ends of the axle;

the wheel driving modules are wheel-side motors, and the two wheel-side motors are correspondingly arranged at two ends of the axle and are in transmission connection with the corresponding wheels so as to drive the corresponding wheels to rotate.

Optionally, the wheel driving module is a cereal motor, and the cereal motor is arranged in a cereal of a corresponding wheel and is in transmission connection with the corresponding wheel.

Optionally, the wheels include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; the vehicle body comprises 4 accommodating cavities, wherein a first accommodating cavity is arranged in the front of the vehicle body and positioned at the rear side of the left front wheel, a second accommodating cavity is arranged in the front of the vehicle body and positioned at the rear side of the right front wheel, a third accommodating cavity is arranged at the rear of the vehicle body and positioned above the left rear wheel, and the third accommodating cavity is arranged at the rear of the vehicle body and positioned above the right rear wheel;

the rotor duct system includes 4, each rotor duct system all with the automobile body movably connects, just the rotor duct system is constructed to be can be in be located the position of traveling in the holding chamber and stretch out the flight position who holds the chamber moves between.

Optionally, the aircraft further comprises telescopic structures which are arranged in one-to-one correspondence with the rotor duct systems, and the telescopic structures are connected to the vehicle body and correspondingly arranged in the accommodating cavity so as to drive the rotor duct systems to move between a traveling position and a flying position;

wherein the rotor duct system is pivotally connected to the telescopic structure.

Optionally, the rotor duct system comprises:

the stator is hinged to the telescopic structure and provided with air channels penetrating through two axial ends of the stator;

the air duct is provided with an air inlet, an air outlet and a plurality of rotating rings, wherein the air inlet is communicated with the air duct; and

a plurality of rotors, each of a plurality of rotors all fixed set up in the inboard of swivel ring.

Optionally, the rotating ring comprises an upper rotating ring and a lower rotating ring which are coaxially arranged; and

the rotors comprise an upper rotor set and a lower rotor set which are coaxially arranged;

the upper rotor wing group is arranged on the upper rotating ring, and the rotor wing of the upper rotor wing group follows the circle of the upper rotating ring

The lower rotor wing group is arranged on a lower rotating ring, and the rotor wings of the lower rotor wing group are uniformly arranged on the inner side of the lower rotating ring at intervals along the circumferential direction of the lower rotating ring;

wherein the rotation direction of the upper rotating ring is opposite to the rotation direction of the lower rotating ring.

Optionally, the top opening portion of the air chute and/or the bottom opening portion of the air chute is configured as a flare.

Optionally, the vehicle body further includes a wing panel, and the wing panel includes:

a middle wing panel fixedly connected to a top portion of the vehicle body;

the left folding wing is hinged to the left end of the middle wing plate; and

and the right folding wing is hinged to the right end of the middle wing plate.

Optionally, the system further comprises a control system, wherein the control system comprises:

the state monitoring module is used for monitoring obstacles around the vehicle body in real time;

a wireless communication module; and

and the state monitoring module and the wireless communication module are in communication connection with the central control module.

Compared with the prior art, the embodiment of the application has the following effects:

1) the land-air dual-purpose vehicle provided by the invention not only saves the internal space by adopting a distributed driving system, such as a wheel-side motor or a wheel cereal motor, but also simplifies the mechanical structure by adopting electric driving and increases the control flexibility.

2) The land-air dual-purpose vehicle provided by the invention can realize vertical take-off and landing through the rotor duct system, and can be switched to a flight mode at any time without a special runway or space. Meanwhile, the vehicle body is provided with a containing cavity for containing a rotor duct system, and the appearance and the space of the vehicle body are consistent with those of a common vehicle when the vehicle runs on the land, so that the vehicle is compatible with the existing road and parking facilities, and meets the requirements of the existing traffic laws and regulations.

3) The land-air dual-purpose vehicle provided by the invention adopts the shaftless ducted system for propulsion, and the shaftless ducted system has the advantages of low noise and high thrust compared with a propeller.

4) The land-air dual-purpose vehicle provided by the invention adopts a multi-stage shaftless duct system, the rotating directions of fan blades of each stage are opposite, the cutting air torques are balanced mutually, an additional torque balancing device is not needed, the structure is simplified, and the weight is reduced.

5) The land-air dual-purpose vehicle provided by the invention adopts the wheel-side motor or the wheel-hub motor to drive in the automobile mode, and mechanical structures such as a gearbox, a speed reducer, a transmission device and the like of a common automobile are cancelled, so that the internal structure of the whole vehicle body is simpler, and the weight is lighter.

Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is an overall schematic view of one embodiment of the present invention;

FIG. 2 is a schematic view of an shaftless ducted system according to an embodiment of the present invention;

FIG. 3 is a schematic inclination angle diagram of an shaftless ducted system according to an embodiment of the present invention;

FIG. 4 is a schematic view of a wheel-side motor arrangement of one embodiment of the present invention;

FIG. 5 is a schematic view of a wing structure of one embodiment of the present invention;

FIG. 6 is a schematic view of the attachment of the intermediate wing panel to the vehicle body in accordance with one embodiment of the present invention;

FIG. 7 is a control system schematic of one embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, "a plurality" represents at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Various technical solutions exist in the prior art for aeronautical and amphibious vehicles, but the prior art still adopts a traditional centralized driving system, i.e. one engine is in transmission connection with 4 wheels through a transmission shaft structure, such as TF-X terrafuga of a giley car, and the aeronautical car is a set of hybrid power system, and the system is composed of one engine with a maximum power of 305 horsepower and two motors with a maximum total power of 608 horsepower. Or the hovercar is still driven by the traditional centralized driving system when running on the ground, namely, a large number of transmission shafts or driving chains are required to be arranged in the hovercar body, so that the inner space of the hovercar is greatly occupied, the hovercar is difficult to arrange the flight driving system under the condition of meeting the weight and space limitations, and various technical schemes of the hovercar are difficult to be implemented on the ground.

Therefore, the embodiment provides an air-ground vehicle, and a distributed driving system is adopted in a land driving part of the vehicle, so that the internal space of a vehicle body is saved, the weight of the vehicle body is reduced, and the flying driving system of the air-ground vehicle is convenient to arrange.

The inventive concept of the present application is further illustrated below with reference to some specific embodiments.

An air-ground vehicle comprising: a vehicle body 1, wheels 2 and wheel drive modules.

Wherein, the vehicle body 1 is used for installing wheels 2 and wheel driving modules and is provided with a rotor duct system. For example, the vehicle body 1 comprises a passenger compartment in the middle of the vehicle body 1, which passenger compartment may be closed by glass.

The vehicle body 1 can be provided with 4 wheels 2 according to the conventional vehicle layout, and can also be provided with a 3-wheel vehicle structure formed by one front two rear or two front three rear layouts. Even though the wheel 2 may be arranged in tandem in the form of a motorcycle, the present disclosure is not limited thereto. And the wheel 2 is rotatably connected to the vehicle body 1.

Still install wheel drive module on automobile body 1, wheel drive module includes 2 at least, wheel drive module with 2 one-to-one settings of wheel. Wherein the wheel drive module is arranged in the wheel 2; or the wheel driving module is arranged in the vehicle body 1 and positioned on the inner side of the corresponding wheel 2.

The dual-purpose vehicle of land and air that this embodiment provided uses distributed driving system installation wheel drive module promptly, be about to wheel drive module sets up in wheel 2 or near wheel 2 to cancel the engine in the current hovercar and extend to the transmission shaft system near each wheel 2 from the engine compartment, thereby reserve a large amount of automobile body inner space for rotor duct system, be convenient for arrange a plurality of rotor duct systems on automobile body 1, thereby provide more abundant power for automobile body 1, do benefit to dual-purpose vehicle of land and air and fly on the sky. Meanwhile, a large amount of space arrangement rotor wing duct systems are reserved in the vehicle body 1, so that the appearance of the hovercar is closer to the normal automobile shape when the hovercar runs on the land, and the land-air dual-purpose vehicle can run on the road normally when the external dimension of the land-air dual-purpose vehicle in the land meets the requirements of traffic laws and regulations.

Specifically, in some embodiments, the wheel drive module employs a wheel-side motor configuration. The vehicle body 1 has at least one axle, and two wheels are respectively connected to two ends of each axle. The wheel driving module is a wheel-side motor 6, and the wheel-side motor 6 is correspondingly arranged at two ends of the axle and is in transmission connection with the corresponding wheel 2 so as to drive the corresponding wheel 2 to rotate.

For example, referring to fig. 4, the front and rear portions of the frame of the vehicle body 1 have a front axle or a rear axle, respectively, extending in the width direction of the vehicle body 1. When the two front wheels are steering wheels, the two front wheels 2 are connected to the two ends of the front axle through steering shafts, and the rear wheels are installed at the two ends of the rear axle through driving shafts. Two wheel-side motors are mounted on the driving shaft and are in transmission connection with the corresponding wheels 2 through wheel-side reducers.

In other embodiments, the wheel drive module is a cereal motor (not shown) that is disposed in a cereal room on the corresponding wheel 2 and is drivingly connected to the corresponding wheel 2.

For example, an inner rotor of the cereal motor is attached to the frame of the vehicle body 1 via a steering shaft, and an outer rotor of the cereal motor is mounted on a rim of the wheel 2 while being held relatively fixed so that the cereal motor rotates to drive the wheel 2 to rotate.

Compared with the centralized drive adopted by the existing hovercar, the wheel-side motor configuration and the wheel cereal motor configuration have the advantages that the wheel drive module is arranged on the axle near the wheel 2, or the wheel drive module is arranged in the wheel 2, even the wheel 2 and the outer rotor of the wheel cereal motor are integrally installed, so that a large amount of space is reserved on the automobile body 1. And wheel limit motor and wheel motor are the motor, use battery powered to make rotor duct system and wheel 2 drive module can share one set of electric power system, make this land and air dual-purpose vehicle's integrated level higher, and alleviateed automobile body 1 weight, and it is not this kind of prior art arranges a large amount of inner spaces of the wasting of two sets of not general driving systems in automobile body 1, and increased automobile body 1 weight.

Specifically, in order to avoid rotor duct system to influence vehicle's normal driving, seted up on automobile body 1 and held chamber 5, hold chamber 5 and be used for holding rotor duct system in automobile body 1 when ground is traveling to avoid rotor duct system to influence automobile body 1 and normally travel.

Referring to fig. 1, in some embodiments, the wheels 2 include a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel; and automobile body 1 includes 4 and holds chamber 5, wherein, first hold the chamber set up in 1 front portion of automobile body is located the rear side of left front wheel, the second hold the chamber set up in 1 front portion of automobile body is located the rear side of right front wheel, the third hold the chamber set up in 1 rear portion of automobile body is located the top of left rear wheel, the third hold the chamber set up in 1 rear portion of automobile body is located the top of right rear wheel.

Alternatively, 3 accommodating cavities 5 may be provided on the vehicle body 1, and the two rear accommodating cavities 5 may be respectively provided above or near the two rear wheels 2, similar to the foregoing embodiments, and the specific positions of the accommodating cavities 5 are not limited in this embodiment. The preceding chamber that holds can set up in the axis department of the front face of automobile body 1 to make 3 rotor duct systems be triangular distribution, make when this vehicle flies, 3 rotor duct systems can stably keep 1 gesture of automobile body and stably fly.

Or the containing cavities on the vehicle body 1 can also keep a two-front-back layout mode, and the containing cavities 5 on the back can be arranged at the central axis of the tail part of the vehicle body 1, so that the 3 rotor duct systems 3 are distributed in a triangular mode, and when the vehicle flies, the 3 rotor duct systems 3 can stably keep the posture of the vehicle body 1 to fly stably.

Correspondingly, when the number of the accommodating cavities is 4, the number of the rotor duct systems 3 is 4, each rotor duct system 3 is movably connected with the vehicle body 1, and the rotor duct systems 3 are constructed to be movable between a driving position located in the accommodating cavities 5 and a flying position extending out of the accommodating cavities 5.

That is, the rotor duct system 3 is a movable structure, and when the vehicle travels on land, the rotor duct system 3 is retracted into the housing chamber 5, so that the exterior of the vehicle body 1 can conform to the regulations of the traffic laws and regulations, and the vehicle can travel on the road. In flight attitude, the rotor duct system 3 extends out of the accommodation cavity 5 and remains fixed relative to the vehicle body 1, thereby facilitating the rotor duct system 3 to provide greater lift.

Optionally, the body 1 may also be provided with a receiving chamber door, which closes the receiving chamber 5. The containing cavity door can be hinged to the vehicle body 1, the door opening system formed by at least one electric push rod or hydraulic cylinder or a plurality of electric push rod hydraulic cylinders pushes the containing cabin door to be unfolded so that the rotor duct system can reach a flight position, or the containing cavity door is pushed to be closed to seal the containing cavity 5, so that the vehicle body 1 keeps complete appearance when running on the land.

In some embodiments, a telescopic structure 3-c is further included, said telescopic structure 3-c being connected to said body 1 and being disposed in correspondence of housing cavity 5 to drive said rotor duct system 3 between a travelling position and a flight position. Wherein the rotor ducted system 3 is pivotally connected to the telescopic structure 3-c.

The telescopic structure 3-c is used to push the rotor duct system out of the containment bin. Thereby facilitating the transition of the air-ground vehicle between the travel position and the flight position.

For example, referring to fig. 2, the telescopic structure 3-c may be an electric push rod or hydraulic cylinder arranged substantially horizontally in the width direction of the vehicle body 1 or other equivalent technology. And one end of the telescopic structure 3-c is fixed on the inner wall of the accommodating cavity 5 by a screwing component or other equivalent means.

The telescopic structure 3-c may be, for example, an X-shaped mobile support fixed to the inner wall of the housing 5. The rotor duct system 3 is pushed out of or retracted into the accommodation chamber 5 by the expansion or contraction of the X-shaped movable bracket.

It will be readily understood that the telescopic structure 3-c is a technique known to those skilled in the art, and the telescopic structure 3-c is not the gist of the present disclosure, which is not limited thereto.

In some embodiments, the rotor ducted system 3 is a shaftless ducted system. The shaftless duct system omits a rotor rotation shaft on the basis of the traditional duct, connects the rotor with a rotating ring in an air duct, has no obstruction of grain, weakens the interference degree of a flow field during flying, and increases the effective diameter of the rotor, thereby improving the pneumatic efficiency of the flying of the land-air dual-purpose vehicle.

Specifically, the rotor duct system includes: a stator 3-a, at least one rotating ring 3-b and a plurality of rotors.

The stator 3-a is hinged to the telescopic structure 3-c, and the stator 3-a is provided with an air duct penetrating through two axial ends of the stator. The rotating ring 3-b is rotatably sleeved in the air duct. The rotating rings 3-b are sequentially arranged along the axial direction of the air duct. Each of the plurality of rotary wings is fixedly disposed inside the corresponding rotary ring 3-b.

The rotating ring 3-b may be hollow cylindrical or annular.

With reference to figures 2 and 3, the stator 3-a is hinged to said telescopic structure 3-c for adjusting the tilt angle a of the rotor duct system 3 during flight. For example, in the flying state, the stators 3-a symmetrically positioned at the left and right sides are symmetrical with a certain outward or inward inclination angle, thereby improving the flying attitude stability. The rotation of the stator 3-a with respect to the telescopic structure 3-c can be achieved by means of a servomotor or a hydraulic rod or other equivalent structure. For example, one end of the hydraulic rod is connected to the telescopic structure 3-c and the other end is connected to the outer sidewall of the stator 3-a, so that the angle of the stator 3-a and the telescopic structure 3-c is adjusted by the expansion and contraction of the hydraulic rod. And the telescopic structure 3-c can also be rotatably connected to the vehicle body 1 with the axis of rotation of the telescopic structure 3-a perpendicular to the axis of rotation of the stator 3-a, so that the stator 3-a can swing up or down, as well as forward or backward, relative to the telescopic structure 3-c. Since the attitude adjustment structure of the shaftless rotor duct system of the aerocar is known in the art, the detailed description thereof is omitted.

Wherein, the rotation accessible of rotor sets up the engine on automobile body 1 and transmits the moment of torsion for the swivel becket thereby drive the rotor and rotate. Or an armature and a controller may also be mounted on the stator 3-a, the armature and the controller being electrically connected. Permanent magnets are uniformly arranged on the rotating ring 3-b at intervals along the circumferential direction of the rotating ring 3-b, and the permanent magnets are controlled by a controller to form an alternate magnetic field to push the rotating ring to rotate when the controller is electrified. Compared with the traditional rotor wing, the noise of the shaftless duct pushed by the permanent magnet is lower.

Referring to fig. 2, in some embodiments, the rotating ring 3-b includes coaxially disposed upper and lower rotating rings, and the plurality of rotors includes coaxially disposed upper and lower rotor sets. The upper rotor wing group is arranged on the upper rotating ring, namely on the upper part of the air duct, and the rotor wings of the upper rotor wing group are arranged on the inner side of the upper rotating ring at even intervals along the circumferential direction of the upper rotating ring. Lower rotor group set up in on the lower rotating ring, be located the lower part in wind channel promptly, the rotor of lower rotor group is followed the even interval in circumferencial direction of lower rotating ring set up in the inboard of lower rotating ring.

The rotating direction of the upper rotating ring is opposite to that of the lower rotating ring, namely the rotating direction of the upper rotor wing set is opposite to that of the lower rotor wing set.

In the embodiment, the upper rotor wing group and the lower rotor wing group rotate in opposite directions, so that the reaction force of the single shaftless rotor wing group in one-way rotation can be offset to achieve torque self-balance, and under the action of two phases, jet type wind flow along the axial direction of the air duct can be provided, and the lift force or the thrust force of the vehicle can be further improved.

In some embodiments, referring to fig. 2, both the top and bottom open portions of the wind tunnel are configured to be flared, or either the top or bottom open portion of the wind tunnel is configured to be flared, thereby facilitating more airflow through the wind tunnel and thereby increasing the lift of the shaftless rotor ducted system.

In some embodiments, a wing plate 4 is further provided on the vehicle body 1 for improving the flight capability of the air-ground dual-purpose vehicle.

The wing plate 4 includes: a middle wing panel 401, a left folding wing 402 and a right folding wing 403.

The middle wing plate 401 is fixedly connected to the top of the vehicle body 1; the left folding wing 402 is hinged at the left end of the middle wing plate 401; the right folding wing 403 is hinged to the right end of the middle wing plate 401.

The intermediate panel 401 may be arranged horizontally in the width direction of the vehicle body 1, and there may be a gap between the intermediate panel 401 and the top wall of the vehicle body 1. At this time, the top of the middle wing plate 401 is a convex arc surface, and the bottom of the middle wing plate 401 is a flat surface, thereby further improving the lift force provided by the middle wing plate 401.

In some embodiments, referring to fig. 6, the mid wing 401 may be fixedly attached to the top of the vehicle body 1 by a plurality of rudder panels arranged vertically and parallel to each other, the rudder panels being arranged along the length of the vehicle body 1.

The left folding wing 402 and the right folding wing 403 are hinged to the middle wing plate 401 by hinges. The hinge axis may be in a horizontal plane or may be inclined.

Preferably, the axis of articulation is located on a horizontal plane and extends along the axis of the length of the body 1.

Also, the left folding wing 402 and the right folding wing 403 each have a folded position and a flying position.

In the flight position, both left folding wing 402 and right folding wing 403 remain relatively fixed with respect to middle wing panel 401. For example, the left folding wing 402, the right folding wing 403, and the middle wing panel 401 may be maintained on the same horizontal straight line. Alternatively, for example, referring to fig. 6, the left folding wing 402 and the middle wing plate 401 are mounted at an acute angle, for example, a mounting angle of ± 2 °, and the right folding wing 403 and the middle wing plate 401 are mounted at an acute angle, which may also be a mounting angle of ± 2 °.

For example, in the folded position, the left folding wing 402 and the right folding wing 403 may be folded upward over the middle wing panel 401 such that the left folding wing 402 and the right folding wing 403 are aligned with each other.

Alternatively, for example, in the folded position, the left and right folding wings may be folded down on both sides of the vehicle body 1, the wing panel 4 being constructed to have an Jiong-shaped configuration.

The folding action of the left folding wing 402 and the right folding wing 403 may be achieved by a folding mechanism. For example, when the left folding wing 402 and the right folding wing 403 are folded downward, the folding structure is a hydraulic device with a hydraulic rod, the base of which is fixed to the middle wing plate 401, and one end of the hydraulic rod is connected to the base and the other end is connected to the left folding wing 402 or the right folding wing 403. The folding of the left folding wing 402 or the right folding wing 403 is controlled by the extension and contraction of the hydraulic rod. The particular folding mechanism is well known to those skilled in the art and will not be described in detail herein.

Referring to fig. 7, in some embodiments, the vehicle further includes a control system including a state monitoring module for monitoring obstacles around the vehicle body 1 in real time. Thereby avoiding the vehicle from impacting the building during flight and also being used for planning the flight route.

And the wireless communication module is used for providing functions of position and height confirmation, speed monitoring, wireless communication and the like. The wireless communication system can exchange data with other vehicles and control centers, and flight safety is guaranteed.

The state monitoring module and the wireless communication module are in communication connection with the central control module. The central control module is used to aggregate and control the aforementioned modules with wheel drive modules, such as controllers for wheel motors or cereal motors, and a rotor ducted system 3. The central control module can also be used for realizing human-computer interaction.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims (10)

1. An air-ground vehicle, comprising:

the vehicle body is provided with a rotor duct system;

the wheels comprise at least 2 and are rotatably connected to the vehicle body; and

the number of the wheel driving modules is at least 2, and the wheel driving modules and the wheels are arranged in a one-to-one correspondence manner;

wherein the wheel drive module is disposed within the wheel; or

The wheel driving module is arranged in the vehicle body and is positioned on the inner side of the corresponding wheel.

2. An air-ground vehicle according to claim 1, wherein the vehicle body has at least one axle, and two wheels are respectively connected to both ends of the axle;

the wheel driving modules are wheel-side motors, and the two wheel-side motors are correspondingly arranged at two ends of the axle and are in transmission connection with the corresponding wheels so as to drive the corresponding wheels to rotate.

3. The air-ground vehicle according to claim 1, wherein the wheel drive modules are cereal motors that are disposed in cereal rooms on corresponding wheels and are drivingly connected to the corresponding wheels.

4. An air-ground vehicle according to claim 1, wherein the wheels comprise a front left wheel, a front right wheel, a rear left wheel and a rear right wheel; the vehicle body comprises 4 accommodating cavities, wherein a first accommodating cavity is arranged in the front of the vehicle body and positioned at the rear side of the left front wheel, a second accommodating cavity is arranged in the front of the vehicle body and positioned at the rear side of the right front wheel, a third accommodating cavity is arranged at the rear of the vehicle body and positioned above the left rear wheel, and the third accommodating cavity is arranged at the rear of the vehicle body and positioned above the right rear wheel;

the rotor duct system includes 4, each rotor duct system all with the automobile body movably connects, just the rotor duct system is constructed to be can be in be located the position of traveling in the holding chamber and stretch out the flight position who holds the chamber moves between.

5. The air-ground vehicle according to claim 4, further comprising a telescopic structure disposed in one-to-one correspondence with the rotor duct system, the telescopic structure being connected to the vehicle body and disposed in the accommodation chamber to drive the rotor duct system to move between a driving position and a flying position;

wherein the rotor duct system is pivotally connected to the telescopic structure.

6. An air-ground vehicle according to claim 5, wherein the rotor duct system comprises:

the stator is hinged to the telescopic structure and provided with air channels penetrating through two axial ends of the stator;

the air duct is provided with an air inlet, an air outlet and a plurality of rotating rings, wherein the air inlet is communicated with the air duct; and

a plurality of rotors, each of a plurality of rotors all fixed set up in the inboard of swivel ring.

7. An air-ground vehicle according to claim 6, wherein the swivel ring comprises coaxially arranged upper and lower swivel rings; and

the rotors comprise an upper rotor set and a lower rotor set which are coaxially arranged;

the upper rotor wing group is arranged on the upper rotating ring, and the rotor wings of the upper rotor wing group are uniformly arranged on the inner side of the upper rotating ring at intervals along the circumferential direction of the upper rotating ring;

the lower rotor wing group is arranged on a lower rotating ring, and the rotor wings of the lower rotor wing group are uniformly arranged on the inner side of the lower rotating ring at intervals along the circumferential direction of the lower rotating ring;

wherein the rotation direction of the upper rotating ring is opposite to the rotation direction of the lower rotating ring.

8. The air-ground vehicle according to claim 6, wherein the top opening portion of the air duct and/or the bottom opening portion of the air duct is configured to be flared.

9. An air-ground vehicle according to claim 1, wherein the body further comprises a fender, and the fender comprises:

a middle wing panel fixedly connected to a top portion of the vehicle body;

the left folding wing is hinged to the left end of the middle wing plate; and

and the right folding wing is hinged to the right end of the middle wing plate.

10. The vehicle according to claim 1, further comprising a control system, the control system comprising:

the state monitoring module is used for monitoring obstacles around the vehicle body in real time;

a wireless communication module; and

and the state monitoring module and the wireless communication module are in communication connection with the central control module.

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