CN116394686A - A ground-air amphibious UAV for Mars sampling and exploration - Google Patents

Abstract

The invention provides a land-air amphibious unmanned aerial vehicle for Mars sampling and detection. A sampling device and a center of gravity adjustment device are built in the machine, and a high-definition camera is installed on the outer edge of the front. A solar panel is installed above the fuselage to provide additional power output for the drone. The wheeled structure can not only prevent overturning in unexpected situations, but also use the wheels to drive on places where the ground surface is relatively gentle. The rotor allows the drone to pass through rough and complex terrain, increasing the overall speed of travel. The special lotus sampling device integrates sampling and storage. While saving the load of the drone, it also avoids the influence of the torque generated by rotating the traditional sampling drill on the stationary body. The fuselage of the drone adopts a honeycomb structure, thereby reducing wind resistance, improving travel efficiency, and reducing the chance of tipping over.

Description

A ground-air amphibious UAV for Mars sampling and exploration

technical field

The invention relates to a ground-air amphibious unmanned aerial vehicle oriented to Mars sampling and detection.

Background technique

Land-air amphibious sampling UAV refers to a UAV that can fly in the air and drive on land. It organically combines the advantages of ordinary UAV flight and land vehicle driving. In the field of UAV research, this type of amphibious UAV has a wide range of research fields, especially in the field of Mars exploration, which has great potential. The key to land-air amphibious sampling UAV technology is to be able to switch between the two modes of air flight and ground driving. Currently existing Mars UAVs lack the protection of the rotor and the realization of the sampling function. Due to the low density of the atmosphere above Mars and the high wind speed, it is easy to cause the difficulty of flying and sampling the detection drone and the damage of the rotor when it falls to the ground. Therefore, if common rotor drones are used alone to realize Mars surveys, the propulsion efficiency will be slow and accidents will easily occur. In addition, most of the sampling devices today are drilling-type sampling, which will cause the drone to be unstable due to the torque generated by the drill bit and the soil during sampling.

Contents of the invention

Purpose of the invention: The technical problem to be solved by the present invention is to provide a ground-air amphibious unmanned aerial vehicle for Mars sampling and detection, which can take into account both air flight and surface driving, and has high work efficiency, good stability, and The switching between the two motion modes is stable. In addition, it can also collect soil on the surface of Mars to realize the multi-purpose performance of the drone.

The drone of the present invention includes a fuselage, a photovoltaic system, a drive system, and a control system;

A honeycomb structure is arranged at the front and back of the fuselage, and a rotor motor is arranged in the intermediate shaft inside the fuselage; a connecting shaft is also arranged inside the fuselage;

The photovoltaic system includes a solar panel and a battery; the solar panel is arranged above the fuselage and electrically connected to the battery to charge the battery; the battery is installed in the connecting shaft in the fuselage;

The drive system includes a coaxial dual-rotor arranged in the middle part of the drone fuselage and traveling wheels arranged on both sides of the drone fuselage;

The rotor motors are respectively connected to the coaxial dual rotors and the battery, and the battery provides power to drive the coaxial dual rotors to rotate;

The control system includes two center-of-gravity adjustment devices respectively built into two sides of the fuselage and operating synchronously, and the center-of-gravity adjustment devices are used to control the balance and attitude of the drone during flight.

The coaxial dual rotors are driven by rotor motors, and the balance during flight is controlled by the inclination of the blades and the center of gravity adjustment device. control.

The center of gravity adjusting device includes a fixed rod, a pulley, a spur rack, a spur gear, a stepping motor, a control device and a counterweight;

Wherein, there are chutes on both sides of the counterweight, wherein a straight rack is arranged in the chute on one side; a pulley is installed in the chute on the other side, and the fixed rod passes through the middle of the pulley, and the pulley can be mounted on the fixed rod. free rotation on

The spur gear is fixed on the output shaft of the stepper motor, and the spur gear is installed on one side of the chute provided with the spur rack, and cooperates with the spur rack in the chute;

The control device is installed above the stepping motor, powered by the battery through wires, and controls the operating power of the stepping motor.

The spur gear meshes with the tooth pattern on the surface of the spur gear, and the spur gear rotates to move the balance weight back and forth.

Further, the drone of the present invention also includes an image system, the image system includes a high-definition camera arranged in front of the drone, and the high-definition camera can shoot and record the environmental information in front of the drone, which can be used to transmit Going back to the pictures taken for scientific research, you can also use graphic recognition technology to detect obstacles ahead when the drone is moving, and provide information for the automatic driving control system of the drone. The automatic driving control system can control the drone based on this information The driving direction and speed of the vehicle can avoid dangerous terrain when driving autonomously.

The control system also includes a sampling device and a controller with a built-in force washer sensor;

The sampling device includes a lotus-shaped gripper, a fixed chassis, a push block, a driven rod, a fixed shaft, and a pull rod;

The lotus-shaped gripper is connected with the fixed chassis through the driven rod, and connected with the pushing block through the pulling rod;

The fixed shaft connects the controller, the push block and the fixed chassis from top to bottom;

The fuselage is provided with retention holes for installing lotus-shaped grippers.

When the lotus-shaped gripper touches the surface of Mars, the force washer sensor in the controller converts the small force change received into an electrical signal to the controller, and the controller controls the lotus-shaped gripper to shrink at the sampling point, so that the push block drives The pull rod controls the lotus-shaped gripper to slide up and down on the fixed shaft. When sliding down, the pull rod drives the lotus-shaped gripper to open; then, the control system controls the push block to slide upwards, so that the lotus-shaped gripper shrinks and closes, and the lotus-shaped gripper The lotus petal-shaped structure makes the four petals closed to complete sealing and self-locking, so that soil samples on the surface of Mars can be obtained efficiently and concisely.

The lotus petal-shaped structure of the lotus-shaped gripper makes the four petals closed to complete the sealing and self-locking, so that the fully closed lotus-shaped gripper forms a sealed sample storage space.

The storage battery supplies power to the traveling wheels, the rotor motor, the high-definition camera, the sampling device, the sensor, the controller and the center of gravity adjustment device through wires.

When the UAV is in flight mode, the coaxial dual-rotors are driven to rotate, and the UAV moves forward along the chute synchronously through the counterweights in the two center-of-gravity adjustment devices located on both sides of the fuselage and operating synchronously. Move the UAV to lower its head, so as to cooperate with the coaxial dual-rotor to make the UAV move forward horizontally; Dual rotors make the UAV move backward horizontally;

When the UAV is in the ground driving mode, the control device will detect the inclination state of the fuselage in real time through the internal gyroscope. Move backward to move the UAV's center of gravity backward, so that the UAV can tilt back to the horizontal position; The center of gravity of the man-machine moves forward, so that the UAV can tilt forward and return to the horizontal position. Through the above-mentioned real-time detection and adjustment, it can ensure that the UAV can maintain a balanced state during driving on the undulating surface.

The lotus-shaped sampling device of the present invention avoids the rotation of the body in a static state due to the torque generated by rotating the traditional sampling drill bit, and avoids the failure of the sampling task. After the sampling is completed, the "petal-shaped" sampling device is closed and self-sealing A sample storage container is formed, thereby reducing the mass of an additional device for storing samples.

When the UAV is flying over Mars, if the wind speed encountered is high, it can be landed on the ground through the control system. At this time, the ground driving mode is used to reduce the accident rate. In addition, since the rotor is built into the fuselage, the damage rate of the rotor is reduced. Even if the UAV is blown to the ground by strong winds or the UAV suddenly crashes due to a software failure, the rotor of the UAV can still be kept intact under the protection of the fuselage, and the design of the wheels on both sides prevents accidents. The possibility of man-machine overturning. Through the built-in center of gravity adjustment device and the traveling wheels on both sides, the UAV can use the land traveling mode in general flat terrain to save power consumption.

The Mars land-air amphibious UAV designed by the present invention can not only generate lift through the coaxial dual rotors in the middle of the body, fly on the surface of Mars, but also travel on the ground of Mars through the wheels on both sides of the body. Under normal circumstances, for longer battery life and greater load capacity, the UAV will use the land travel mode; when the wind speed is low, the mission destination is close or the terrain is rough, it will use the flight mode to advance. The design that the traveling wheels are located on both sides of the fuselage of the UAV makes it possible for the rotor of the UAV to be on the ground even when the UAV is blown to the ground by a strong wind or a sudden software failure of the UAV causes the crash. It remains intact under the protection of the body, and the design of the wheels on both sides prevents the possibility of the drone falling over.

The lotus-shaped sampling device designed in the present invention, through the control system, when the gripper touches the surface of Mars again, the sensor converts the received tiny force into an electrical signal and transmits it to the controller, and the controller controls the sampling device to shrink at the sampling point The gripper is self-sealing and becomes a sample container, so that soil samples on the surface of Mars can be obtained.

Compared with the prior art, the present invention has the following beneficial effects:

The land-air amphibious unmanned aerial vehicle oriented to Mars sampling and detection described in the present invention can satisfy the dual motion state of flying in the air and driving on the ground. When the wind speed is low, the mission destination is close or the terrain is rough, the UAV can ignore the rocks on the ground when flying in the air mode, and the movement efficiency is higher, so that it can reach the destination quickly and complete the mission efficiently. When the wind speed is high, the mission destination is far away, or the terrain is flat, using the surface driving mode can save power while reducing the incidence of rotor damage caused by being blown over by the wind in the air, thereby improving the mission completion rate .

A ground-air amphibious unmanned aerial vehicle oriented to Mars sampling detection according to the present invention can perform sampling function without adopting the traditional way of drilling into the ground for sampling, thereby avoiding the torque generated by rotating the traditional sampling drill bit to make it stand still The state of the fuselage turns, avoiding the failure of the sampling task. And the design of the integrated sampling device that integrates sampling and sample storage makes it unnecessary for the UAV to carry an additional sample storage device, saving the load of the UAV.

A ground-air amphibious unmanned aerial vehicle oriented to Mars sampling and detection described in the present invention can realize stable and free switching between air flight and surface driving, and the simplicity of sampling, and realizes the effect of one machine with multiple functions, broadening the Uses for Mars drones.

Description of drawings

The advantages of the above and/or other aspects of the present invention will become clearer as the present invention will be further described in detail in conjunction with the accompanying drawings and specific embodiments.

Figure 1 is the overall outline of the land-air amphibious UAV.

Figure 2 is the center of gravity adjustment device.

Figure 3 is a lotus-shaped sampling device.

Figure 4 is a diagram of the internal device of the fuselage.

Figure 5a is the overall front view of the land-air amphibious UAV.

Figure 5b is an overall side view of the land-air amphibious UAV.

Figure 5c is an overall top view of the land-air amphibious UAV.

Detailed ways

As shown in Fig. 1, Fig. 4, Fig. 5a, Fig. 5b, and Fig. 5c, the present invention provides a ground-air amphibious unmanned aerial vehicle for Mars sampling detection, and the unmanned aerial vehicle includes a fuselage 101, a photovoltaic system, Drive system, control system.

Wherein, the fuselage 101 is provided with a honeycomb structure 103 at the front and back, the intermediate shaft 106 inside the fuselage 101 is provided with a rotor motor 401, and the inside of the fuselage 101 is also provided with a connecting shaft 109;

The photovoltaic system includes a solar panel 108 and a storage battery 402; the solar panel 108 is arranged above the fuselage 101 and is electrically connected to the storage battery 402 to charge the storage battery 402; the storage battery 402 is installed on the connecting shaft in the fuselage 101 109 in;

The drive system includes a coaxial dual-rotor 107 arranged in the middle of the UAV fuselage 101 and a traveling wheel 102 arranged on both sides of the UAV fuselage 101;

The rotor motor 401 is respectively connected to the coaxial dual rotor 107 and the battery 402, and the battery 402 provides electric power to drive the coaxial dual rotor 107 to rotate;

The control system includes two center-of-gravity adjustment devices built in both sides of the fuselage 101 and operating synchronously. The center-of-gravity adjustment devices are used to control the balance and attitude of the drone during flight.

The coaxial dual rotors 107 are driven by the rotor motor 401, and the balance during flight is controlled by the inclination of the blades and the center of gravity adjustment device in the fuselage 101. The balance in the process is controlled by two synchronously operating center of gravity adjustment devices inside the fuselage 101 .

The center of gravity adjusting device includes a fixed rod 201 , a pulley 202 , a spur rack 204 , a spur gear 205 , a stepping motor 206 , a control device 207 and a counterweight 208 .

Wherein, the two sides of the counterweight 208 are provided with chute 203, wherein a straight rack 204 is arranged in the chute on one side; a pulley 202 is installed in the chute on the other side, and the fixed rod 201 passes through the middle of the pulley 202, And the pulley 202 can rotate freely on the fixed rod 201;

Described spur gear 205 is fixed on the output shaft of stepper motor 206, and spur gear 205 is installed on the chute side that is provided with spur rack 204, and cooperates with the spur rack 204 in the chute;

The control device 207 is installed above the stepping motor 206 and powered by the battery 402 through wires to control the operating power of the stepping motor 206 .

The spur gear 205 meshes with the tooth grooves on the surface of the spur rack 204, and the rotation of the spur gear 205 makes the counterweight 208 move forward and backward.

Described unmanned aerial vehicle also comprises image system, and described image system comprises the high-definition camera 105 that is arranged on the front of unmanned aerial vehicle, and described high-definition camera can shoot and record the environmental information in front of unmanned aerial vehicle, both can be used for sending back the picture taken For scientific research, it is also possible to detect obstacles ahead through graphic recognition technology when the UAV is moving, and provide information for the UAV's automatic driving control system. The automatic driving control system can control the UAV's driving direction and Speed, avoiding dangerous terrain while driving autonomously.

The control system also includes a sampling device and a controller 301 with a built-in force washer sensor;

The sampling device includes a lotus-shaped gripper 302, a fixed chassis 303, a push block 304, a driven rod 305, a fixed shaft 306, and a pull rod 307;

The lotus-shaped gripper 302 is connected with the fixed chassis 303 through the driven rod 305, and connected with the pushing block 304 through the pulling rod 307;

The fixed shaft 306 connects the controller 301, the push block 304 and the fixed chassis 303 from top to bottom;

The fuselage 101 is provided with a retention hole 104 for installing the lotus-shaped gripper 302 .

When the lotus-shaped gripper 302 touches the surface of Mars, the force washer sensor in the controller 301 converts the tiny force change received into an electrical signal to the controller, and the controller controls the lotus-shaped gripper 302 to shrink at the sampling point, so that The push block 304 drives the pull rod 307 to control the lotus-shaped gripper 302 to slide up and down on the fixed shaft 306. When sliding down, the pull rod 307 drives the lotus-shaped gripper 302 to open; The gripper 302 shrinks and closes, and the lotus petal-shaped structure of the lotus-shaped gripper 302 enables the four "petals" to complete sealing and self-locking after closing, so that soil samples on the surface of Mars can be obtained efficiently and concisely.

This application is based on the above-mentioned land-air amphibious UAV oriented towards Mars sampling and exploration, and can also provide a method for adjusting its flight balance. When the UAV is in flight mode, the coaxial dual-rotor 107 is driven to rotate, and the UAV passes through the counterweights 208 in the two center-of-gravity adjustment devices located on both sides of the fuselage 101 and operate synchronously along the chute. 203 moves forward to make the UAV lower its head, so as to cooperate with the coaxial dual rotor 107 to make the UAV move forward horizontally; , so as to cooperate with the coaxial dual-rotor 107 to make the drone move horizontally backward; when the drone is in the ground driving mode, the control device 207 will detect the tilt state of the fuselage in real time through the internal gyroscope, when the drone When leaning forward, the counterweights 208 in the two center-of-gravity adjustment devices move backward synchronously along the chute 203, so that the center of gravity of the UAV moves backward, so that the UAV tilts back to a horizontal position; when the UAV tilts backward , the counterweight 208 in the two center-of-gravity adjustment devices moves forward synchronously along the chute 203, so that the center of gravity of the UAV moves forward, so that the UAV tilts forward and returns to the horizontal position. Through the above-mentioned real-time detection and adjustment, it is ensured that no The man-machine can maintain a balanced state during driving on undulating surfaces.

Example 1

As shown in Figure 1, this embodiment is a ground-air amphibious unmanned aerial vehicle for Mars sampling and exploration, and the unmanned aerial vehicle includes a fuselage 101, an image system, a photovoltaic system, a drive system, a control system and a sampling system;

The specific structure is shown in Figure 1 to Figure 4. In Fig. 1, 101 is the fuselage of the drone, 102 is the traveling wheel, 103 is the honeycomb hole, 104 is the retention hole of the "lotus-shaped" gripper, 105 is the high-definition camera, 106 is the intermediate shaft, and 107 is the coaxial Double rotor, 108 is a solar panel, and 109 is a connecting shaft.

Among Fig. 2, 201 is fixed bar, 202 is pulley, 203 is chute, 204 is spur rack, 205 is spur gear, 206 is stepping motor, 207 is control device, 208 is counterweight.

In Fig. 3, 301 is a controller with a built-in force washer sensor, 302 is a "lotus-shaped" gripper, 303 is a fixed chassis, 304 is a push block, 305 is a driven rod, 306 is a fixed shaft, and 307 is a pull rod.

In FIG. 4 , 401 is a rotor motor, and 402 is a storage battery.

As shown in FIGS. 1 and 4 , the fuselage 101 has a honeycomb structure 103 at the front and rear, traveling wheels 102 are arranged on both sides, a solar panel 108 is installed above the fuselage 101 , and a rotor motor 401 is contained in the intermediate shaft of the fuselage 101 . The rotor motor 401 can provide a maximum speed of 3000rpm for the coaxial dual rotors 107, and when the flight can be guaranteed (the linear speed of the wing tip is less than the speed of sound on the surface of Mars), the coaxial dual rotors 107 can rotate as fast as possible, providing more Much lift.

The image system includes a high-definition camera 105 on the front outer edge of the fuselage 101 . The high-definition camera 105 is a color imaging camera and a black and white imaging camera for navigation.

The photovoltaic system includes a solar panel 108 and a storage battery 402, and the solar panel 108 is electrically connected to the storage battery 402;

Wherein, the storage battery 402 is installed in the three connecting shafts 109 of the fuselage 101, and the wheel motors at the central axis of the wheels on both sides, the rotor motor 401, the high-definition camera 105, the sampling device, the sensor and the controller 301 and the center of gravity are adjusted by wires. The device is powered. The battery 402 is three cylindrical lithium batteries. The solar cell panel 108 is a flexible solar cell panel, made of gallium arsenide material, the weight is only 50% of the traditional solar cell, and the photoelectric conversion efficiency is more than 30%, which has a higher conversion rate than the traditional solar cell panel. Efficiency, better radiation resistance and lighter weight.

The drive system includes coaxial dual rotors 107 and traveling wheels 102 . The coaxial dual-rotor 107 is made of carbon fiber foam core material, and the blades are commonly used in modern designs such as variable airfoil, large negative torsion, and large sharpening. The required thickness, and has greater rigidity and better bending strength.

The control system includes a center-of-gravity adjustment device built into the fuselage 101 for controlling the balance and attitude of the drone during flight.

As shown in Figure 2, the center of gravity adjusting device includes a fixed rod 201, a pulley 202, a chute 203, a spur rack 204, a spur gear 205, a stepping motor 206, a control device 207, and a counterweight 208; wherein, the Both sides of counterweight 208 are provided with chute 203, and 204 spur racks are arranged in the 203 chute on the other side; Described pulley is installed on chute 203 toothless side, moves freely in chute 203 and reduces friction, The spur gear 205 is fixed on the stepper motor 206 output shaft, is installed on the toothed side and cooperates with the spur rack 204 in the chute 203; the output end of the stepper motor 206 is connected with the spur gear 205, the The spur gear 205 is meshed with the tooth pattern on the surface of the chute 203, and the rotation of the spur gear 205 makes the counterweight 208 move forward and backward. The stepper motor 206 adopts PhytronVSS two-phase hybrid stepper motor, which has better reliability, durability, vacuum suitability and minimum outgassing rate, and is also optimized for smooth operation, gentle on mechanical devices, and Precise positioning without feedback transmitters and complex electronics.

As shown in FIG. 3 , the “lotus-shaped” gripper 302 is connected to the fixed chassis 303 through a driven rod 305 , and connected to the push block 304 through a pulling rod 307 . The fixed shaft 306 connects the sensor and the controller 301 , the pushing block 304 and the fixed chassis 303 from top to bottom.

When the lotus-shaped gripper 302 touches the surface of Mars, the force will deform the annular elastic body in the strain-based force washer (such as KMRplus of HBM Company) in the controller 301, causing strain, which can be converted by the strain gauge for the change in resistance. The strain gauges form a Wheatstone bridge, which, when a voltage is applied, produces a measurable voltage proportional to the applied force. Thus, the change of the tiny force received is converted into a change of voltage, and the data is sent to the STM32 microcontroller in the controller for analysis. The controller controls the lotus-shaped gripper 302 to shrink at the sampling point, so that the push block 304 drives the pull rod 307 controls the lotus-shaped gripper 302 to slide up and down on the fixed shaft 306. When sliding down, the pulling rod 307 drives the lotus-shaped gripper 302 to open; then, the control system controls the push block 304 to slide upwards, so that the lotus-shaped gripper 302 shrinks so that it can Obtain a sample of Martian surface soil. The inside of the fully closed lotus-shaped gripper 302 is a space for storing samples, thereby avoiding the weight of adding an additional device for storing samples to the fuselage. In addition, the damage to the drill bit due to the rotation of the UAV during the sampling process due to the torque generated by the drilling mode using traditional sampling is avoided.

As a preferred embodiment of the present application, the UAV adopts a double-combined layout of coaxial dual rotors 107 and traveling wheels 102 .

The design that the traveling wheels 102 are located on both sides of the UAV fuselage 101 makes it possible for the rotors of the UAV to move even when the UAV is blown to the ground by a strong wind or a sudden software failure of the UAV causes the crash. It remains intact under the protection of the body, and the design of the wheels on both sides prevents the possibility of the drone falling over.

This application adopts the design of a ground-air amphibious UAV for Mars sampling and detection, which can take into account both air flight and surface driving, high work efficiency, good stability, high safety, and stable switching between two motion modes. In addition, it can Collect the soil on the surface of Mars to realize the multi-purpose performance of the drone.

The present invention provides a ground-air amphibious unmanned aerial vehicle for Mars sampling detection. There are many methods and approaches for realizing the technical solution. The above description is only a preferred embodiment of the present invention. Those of ordinary skill may make some improvements and modifications without departing from the principle of the present invention, and these improvements and modifications shall also be regarded as the protection scope of the present invention. All components that are not specified in this embodiment can be realized by existing technologies.

Claims (10)

1. The amphibious unmanned aerial vehicle for spark sampling detection is characterized by comprising a machine body (101), a photovoltaic system, a driving system and a control system;

the front and back of the machine body (101) are provided with honeycomb structures (103), and a rotor motor (401) is arranged in an intermediate shaft (106) in the machine body (101); a connecting shaft (109) is also arranged in the machine body (101);

the photovoltaic system comprises a solar panel (108) and a storage battery (402); the solar panel (108) is arranged above the machine body (101) and is electrically connected with the storage battery (402) to charge the storage battery (402); the storage battery (402) is arranged in a connecting shaft (109) in the machine body (101);

the driving system comprises coaxial double rotors (107) arranged at the middle through part of the unmanned aerial vehicle body (101) and travelling wheels (102) arranged at two sides of the unmanned aerial vehicle body (101);

the rotor motor (401) is respectively connected with the coaxial double rotor wings (107) and the storage battery (402), and the storage battery (402) provides power to drive the coaxial double rotor wings (107) to rotate;

the control system comprises two gravity center adjusting devices which are respectively arranged at two sides of the machine body (101) and synchronously run, and the gravity center adjusting devices are used for controlling the balance of the unmanned aerial vehicle and the gesture during flight.

2. An amphibious unmanned aerial vehicle for spark-orientated sampling detection according to claim 1, wherein the coaxial twin rotors (107) are driven by rotor motors (401), the balance during flight is controlled by means of pitch and centre of gravity adjustment means of the blades, the travelling wheels (102) are driven by wheel motors at the centre of the wheels, and the balance during travelling is controlled by means of centre of gravity adjustment means.

3. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 2, wherein the gravity center adjusting device comprises a fixed rod (201), a pulley (202), a straight rack (204), a spur gear (205), a stepping motor (206), a control device (207) and a balancing weight (208);

the two sides of the balancing weight (208) are provided with sliding grooves (203), and a straight rack (204) is arranged in one side of the sliding grooves; a pulley (202) is arranged in the sliding groove at the other side, the fixed rod (201) passes through the middle of the pulley (202), and the pulley (202) can freely rotate on the fixed rod (201);

the spur gear (205) is fixed on the output shaft of the stepping motor (206), and the spur gear (205) is arranged on one side of a chute provided with a straight rack (204) and is matched with the straight rack (204) in the chute;

the control device (207) is arranged above the stepping motor (206), and is powered by the storage battery (402) through a wire to control the running power of the stepping motor (206).

4. A spark sampling detection oriented amphibious unmanned aerial vehicle according to claim 3, wherein the spur gear (205) is meshed with the surface insection of the straight rack (204), and the spur gear (205) rotates to enable the balancing weight (208) to move forwards and backwards.

5. The unmanned aerial vehicle for spark-oriented sampling detection of claim 4, further comprising an imaging system comprising a high-definition camera (105) disposed in front of the unmanned aerial vehicle.

6. An aeronautical unmanned aerial vehicle for spark-oriented sampling detection according to claim 5, wherein the control system further comprises a controller (301) with a sampling device and a built-in force washer sensor;

the sampling device comprises a lotus-shaped grab clip (302), a fixed chassis (303), a pushing block (304), a driven rod (305), a fixed shaft (306) and a pulling rod (307);

the lotus-shaped grab clip (302) is connected with the fixed chassis (303) through the driven rod (305) and is connected with the pushing block (304) through the pulling rod (307);

the fixed shaft (306) is connected with the controller (301), the pushing block (304) and the fixed chassis (303) from top to bottom;

the machine body (101) is provided with a reserved hole (104) for installing the lotus-shaped grabbing clamp (302).

7. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 6, wherein when the lotus-shaped grabbing clamp (302) touches the spark ground surface, a force gasket sensor in the controller (301) converts the tiny force change received by the force gasket sensor into an electric signal to the controller (301), the controller (301) controls the lotus-shaped grabbing clamp (302) to shrink at a sampling point, so that the pushing block (304) drives the pulling rod (307) to control the lotus-shaped grabbing clamp (302) to slide up and down on the fixed shaft (306), and when the lotus-shaped grabbing clamp (307) slides downwards, the pulling rod (307) drives the lotus-shaped grabbing clamp (302) to open; then, the control system controls the pushing block (304) to slide upwards, so that the lotus-shaped grabbing clamp (302) is contracted and closed, and the lotus petal-shaped structure of the lotus-shaped grabbing clamp (302) enables 4 petals to be closed and then seal and self-lock, so that a Mars surface soil sample can be obtained efficiently and simply.

8. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 7, wherein the lotus petal-shaped structure of the lotus-shaped grabbing clip (302) enables 4 petals to be closed to complete sealing self-locking, and the fully closed lotus-shaped grabbing clip (302) forms a sealed sample storage space.

9. The unmanned aerial vehicle for spark sampling detection according to claim 8, wherein the storage battery (402) supplies power to the travelling wheel (102), the rotor motor (401), the high-definition camera (105), the sampling device, the sensor and controller (301) and the gravity center adjusting device through wires.

10. An amphibious unmanned aerial vehicle for spark sampling detection according to claim 9, wherein when the unmanned aerial vehicle is in a flight mode, the unmanned aerial vehicle drives the coaxial double rotor wings (107) to rotate, and the unmanned aerial vehicle synchronously moves forward along the sliding groove (203) through the balancing weights (208) in the two gravity center adjusting devices which are respectively positioned at two sides and synchronously operate in the fuselage (101), so that the unmanned aerial vehicle is low, and the unmanned aerial vehicle moves forward horizontally in cooperation with the coaxial double rotor wings (107); when the balancing weights (208) of the two gravity center adjusting devices synchronously move backwards along the sliding groove (203), the unmanned aerial vehicle is lifted, so that the unmanned aerial vehicle moves backwards horizontally by matching with the coaxial double rotor wings (107);

when the unmanned aerial vehicle is in a ground running mode, the control device (207) detects the inclination state of the unmanned aerial vehicle in real time through an internal gyroscope, and when the unmanned aerial vehicle is forwards inclined, the balancing weights (208) in the two gravity center adjusting devices synchronously move backwards along the sliding groove (203), so that the gravity center of the unmanned aerial vehicle moves backwards, and the unmanned aerial vehicle is backwards inclined to a horizontal position; when unmanned aerial vehicle leans backward, balancing weight (208) among two focus adjusting device move forward along spout (203) in step, make unmanned aerial vehicle focus antedisplacement to make unmanned aerial vehicle incline back horizontal position forward, through foretell real-time detection and adjustment, guarantee that unmanned aerial vehicle can keep balanced state in the surface travel of fluctuation.

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