High-speed level-flight ten-rotor unmanned aerial vehicle

Abstract

The invention discloses a high-speed level flight ten-rotor unmanned aerial vehicle. The high-speed level flight ten-rotor unmanned aerial vehicle comprises a flight control device, a fuselage frame, a plurality of rotor assemblies on the two sides of the fuselage frame and a tail thrust assembly. The motor bases of the rotor assemblies on the two sides have a certain inclination angle, and can drive the propellers to generate thrust in the vertical direction and the lateral direction when the propellers work. A tail thrust motor of the tail thrust assembly drives a tail thrust propeller to generate thrust. Through the design of the rotor wing assembly and the tail thrust assembly, rapid flight can be achieved, and forward flight of the fuselage under the horizontal state is kept; meanwhile, the unmanned aerial vehicle adopts a modular design, multiple unmanned aerial vehicles can be combined, and the carrying capacity is improved. In the control aspect, pitching, rolling, yawing, up-and-down movement and front-and-back movement of the unmanned aerial vehicle are controlled through different motor differential speeds based on a longitudinal eight-rotor structure, and height position and attitude control of the unmanned aerial vehicle can be achieved in combination with the PID control principle. Compared with a traditional unmanned aerial vehicle, the flight performance and the carrying capacity of the unmanned aerial vehicle are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle (UAV) aerodynamics, and relates to a high-speed level-flying ten-rotor UAV. Background Art

[0002] With the rapid development of drone technology, it has been widely used in aerial photography, logistics and transportation, emergency rescue, and military fields. Advanced drones are mainly divided into fixed-wing, rotary-wing, and vertical fixed-wing types.

[0003] Fixed-wing aircraft have higher aerodynamic efficiency, so they have stronger load capacity, faster speed and longer endurance, but fixed-wing aircraft require sufficient space and venue for takeoff and landing, which limits their deployment capabilities.

[0004] Compared with fixed-wing drones, the biggest advantage of multi-rotor drones is that they can take off and land vertically and are not restricted by site and space. The traditional structural layout of multi-rotor drones is that the propellers are placed horizontally relative to the frame, and the multiple axes rotate horizontally. The aerodynamic lift-to-drag ratio is small and the aerodynamic efficiency is low, which determines that their load capacity and endurance are insufficient, and the navigation speed is limited. Under the traditional multi-rotor control logic, it is impossible to achieve translation in the horizontal plane while keeping the body level.

[0005] Vertical take-off fixed-wing aircraft possess both of these characteristics, but their complex mechanical structure presents reliability issues, increasing safety risks. Their power systems often fail to operate fully, and the resulting extra weight reduces their range and payload capacity.

[0006] In general, existing rotor UAVs have insufficient load capacity and endurance, limited flight speed, and cannot maintain horizontal movement. Therefore, those skilled in the art provide a modular high-speed multi-rotor load-bearing UAV to solve the problems raised in the above background technology. Summary of the Invention

[0007] To address these challenges, the present invention proposes a high-speed, level-flying ten-rotor drone. By employing a tail thruster motor and thrust motors with inward and outward inclination angles, the multi-rotor drone's flight speed is simultaneously increased, enabling horizontal translation while maintaining a level aircraft, while also increasing payload. Furthermore, the drone possesses modular assembly capabilities, enabling the transport of heavier and larger objects by combining multiple units.

[0008] The high-speed level-flying ten-rotor UAV of the present invention comprises a fuselage, a rotor assembly and a tail thrust assembly.

[0009] The fuselage is a frame structure composed of two longitudinal side rods connected with four transverse connecting rods arranged from front to back.

[0010] There are eight rotor assemblies. Four of them are evenly spaced, mounted on one longitudinal sidebar, from front to back, as the first to fourth rotor assemblies. Four rotor assemblies are mounted on the other longitudinal sidebar, corresponding to the positions of the first to fourth rotor assemblies. The rotors of the eight rotor assemblies are inverted, and during installation, a certain lateral angle must be maintained between the rotor assembly axis and the longitudinal sidebar.

[0011] The axes of the first, fourth, fifth, and eighth rotor assemblies are tilted outward from the fuselage frame. The axes of the second, third, sixth, and seventh rotor assemblies are tilted inward from the fuselage frame. When the rotor motors drive the propellers to rotate and generate thrust, the eight rotor assemblies can simultaneously provide vertical thrust and a lateral component.

[0012] The tail thrust assembly is installed at the ends of the longitudinal side rods on both sides; the tail thrust propeller is driven by the tail thrust motor to generate thrust.

[0013] The rotor motors of the first rotor assembly, the third rotor assembly, the sixth rotor assembly and the eighth rotor assembly rotate in opposite directions at the same speed as the rotor motors of the second rotor assembly, the fourth rotor assembly, the fifth rotor assembly and the seventh rotor assembly, generating downward thrust; the two tail thrust assemblies rotate in opposite directions at the same speed, generating backward thrust.

[0014] The rotation speeds of the first rotor assembly, the second rotor assembly, the fifth rotor assembly, and the sixth rotor assembly increase by the same amount, while the rotation speeds of the third rotor assembly, the fourth rotor assembly, the seventh rotor assembly, and the eighth rotor assembly decrease by the same amount accordingly to complete the upward movement of the drone; otherwise, the downward movement of the drone is completed.

[0015] The rotation speeds of the four rotor assemblies on the left longitudinal side stick are decreased by the same amount, while the rotation speeds of the four rotor assemblies on the right longitudinal side stick are increased by the same amount, thereby completing the left roll of the drone; conversely, the right roll of the drone is completed.

[0016] The first rotor assembly, the third rotor assembly, the sixth rotor assembly, and the eighth rotor assembly increase their rotational speeds by the same amount, while the second rotor assembly, the fourth rotor assembly, the fifth rotor assembly, and the seventh rotor assembly decrease their rotational speeds by the same amount, thereby completing the UAV's yaw to the left; otherwise, the UAV's yaw to the right is completed.

[0017] All of the above rotor components increase or decrease the same rotation speed to achieve the rise and fall of the drone.

[0018] The two tail thrust assemblies mentioned above change the same rotation speed to achieve the forward and backward translation of the UAV.

[0019] The high-speed level-flying ten-rotor drone of the above structure can be arranged in multiple pieces side by side and connected to the fixing parts through extension rods to form a combined drone.

[0020] The advantages of the present invention are:

[0021] 1. The high-speed level-flying ten-rotor drone of the present invention has a design of the rotor assembly such that each motor generates a thrust component in the lateral direction while generating a downward thrust, thereby improving the flight stability of the drone.

[0022] 2. The high-speed level-flying ten-rotor drone of the present invention achieves decoupling of the forward flight of the drone from other movements through the design of the tail thrust assembly, thereby achieving a higher flight speed. Furthermore, the drone does not need to tilt the fuselage as in a common multi-rotor to obtain the thrust component for the forward flight of the aircraft, thereby enabling the aircraft to achieve forward flight while maintaining a horizontal fuselage.

[0023] 3. The high-speed level-flying ten-rotor UAV of the present invention can achieve rapid flight of the UAV and flight within the horizontal plane of the aircraft while maintaining a level fuselage.

[0024] 4. The high-speed, level-flying ten-rotor drone of the present invention has a modular design and quick-release connectors installed on the side of the fuselage, which enables the combination of two or more drones, thereby improving the carrying capacity of the drone and enabling it to transport heavier or larger cargo.

[0025] 5. Compared with existing drone designs, the high-speed, level-flying ten-rotor drone of the present invention can achieve rapid flight, maintain a flight attitude while translating in the horizontal plane, and be modularly assembled according to mission requirements to transport cargo of greater weight or volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the ten-rotor UAV of the present invention;

[0027] Figure 2 This is a Y-axis schematic diagram of the vertical take-off and landing process of the ten-rotor UAV of the present invention;

[0028] Figure 3 This is an X-axis schematic diagram of the vertical take-off and landing process of the ten-rotor UAV of the present invention;

[0029] Figure 4 This is a schematic diagram of the Z-axis top view of the cruising process of the ten-rotor UAV of the present invention;

[0030] Figure 5 This is a schematic structural diagram of a dual-unit combination of ten-rotor UAVs according to the present invention;

[0031] Figure 6 Schematic diagram of the fixing structure and connection method of the ten-rotor UAV dual-machine combination of the present invention.

[0032] In the picture:

[0033] 1-Fuselage frame 101-Longitudinal side rod 102-Transverse link 2-Flight control device 3-Battery 4-Tail thrust assembly 501-First rotor assembly 502-First rotor assembly 503-First rotor assembly 504-First rotor assembly 505-First rotor assembly 506-First rotor assembly 507-First rotor assembly 508-First rotor assembly 6-Rod connector 601-Clamp A 602-Clamp B 7-Rotor motor base 701-Motor platform 702-Clamp C 8-Tail thrust motor base 9-Extension rod 10-Fixer DETAILED DESCRIPTION

[0034] The present invention will be described in further detail below with reference to the accompanying drawings.

[0035] The high-speed level-flying ten-rotor UAV of the present invention comprises a fuselage frame 1, a flight control device 2, a battery 3, a tail thrust assembly 4 and a rotor assembly, as shown in FIG. Figure 1 shown.

[0036] The fuselage frame 1 is a horizontally arranged rectangular frame consisting of two longitudinal side bars 101 and four transverse connecting rods 102, all of which are carbon tubes. The two longitudinal side bars 101 are 2000 mm long and arranged symmetrically and parallel to each other, with four transverse connecting rods 102 arranged perpendicularly between them. Each of the four transverse connecting rods 102 is 800 mm long. From front to back, they are the first, second, third, and fourth transverse connecting rods 102, respectively. Their distances from the front ends of the two longitudinal side bars 101 are 300 mm, 808 mm, 924 mm, and 1432 mm, respectively. The four transverse connecting rods 102 are connected to the two longitudinal side bars 101 at both ends via rod connectors 4, forming the entire fuselage frame 1.

[0037] like Figure 2 As shown, the rod connector 6 is composed of two sets of clamps, each set of two clamps, and the overall structure is a rectangular plate with a through hole in the middle. Two clamps A601 are installed at the ends of the transverse connecting rod 102, and two clamps B602 are installed on the longitudinal side rod 101. The spacing between the clamps on the transverse connecting rod 102 and the longitudinal side rod 101 is the same. This allows the screw holes on both sides of the two clamps A601 on the transverse connecting rod 102 to be aligned with the screw holes on both sides of the two clamps B602 on the longitudinal side rod 101. Then, by passing bolts through the aligned through holes and tightening them with nuts, the transverse connecting rod 102 and the clamps on the longitudinal side rod 101 can be fixed simultaneously. At the same time, the clamps tightly clamp the transverse connecting rod 102 and the longitudinal side rod 101, thus achieving fixation between the transverse connecting rod 102 and the longitudinal side rod 101.

[0038] There are 8 rotor assemblies, each consisting of a rotor motor and a rotor propeller coaxially fixed on the output shaft of the rotor motor; the motor adopts a 4116 motor and is matched with a 15*5 propeller. Among them, 4 rotor assemblies are installed on one side of the longitudinal side rod 101 through the rotor motor base 7, as shown in FIG. Figure 2 As shown, there are first rotor assembly 501 mounted at the front end of longitudinal sidebar 101, second rotor assembly 502 mounted in the middle of a section of longitudinal sidebar 101 between the first and second transverse links 102, third rotor assembly 503 mounted in the middle of a section of longitudinal sidebar 101 between the third and fourth transverse links, and fourth link assembly 504 mounted at the rear of longitudinal sidebar 101. The mounting position of fourth rotor assembly 504 is symmetrical with that of third rotor assembly 503 relative to the fourth transverse link. Four other rotor assemblies are mounted on the other longitudinal sidebar 101: fifth rotor assembly 505, sixth rotor assembly 506, seventh rotor assembly 507, and eighth rotor assembly 508, corresponding to the positions of the first to fourth rotor assemblies.

[0039] like Figure 3 As shown, the rotor motor base 7 includes a motor platform 701 and two clamps C702. The motor platform 701 is arranged parallel to the longitudinal side rod 101, and the propeller motor is installed thereon, and the axis of the propeller motor is perpendicular to the motor platform 701. At the same time, through holes are opened on opposite sides of the motor platform 701, which are respectively aligned with the screw holes on both sides of the two clamps C702 sleeved on the longitudinal side rod 101. Then, bolts are passed through the aligned through holes and screw holes and tightened with nuts, so that the motor platform 701 and the clamps C702 are fixed, and the clamps C702 and the longitudinal side rod 101 are clamped and fixed, thereby achieving the fixation between the rotor assembly and the longitudinal side rod 101.

[0040] The rotors of the above eight rotor assemblies are inverted (rotors facing downwards), and when being installed, a certain lateral angle must be formed between the axis of the rotor assembly and the longitudinal side rod 101, such as Figure 4 As shown. The axes of the first rotor assembly 501, fourth rotor assembly 504, fifth rotor assembly 505, and eighth rotor assembly 508 are tilted outward from the fuselage frame 1, and the motor platform 701 on which they are located forms an angle α with the horizontal plane. The axes of the second rotor assembly 502, third rotor assembly 503, sixth rotor assembly 506, and seventh rotor assembly 507 are tilted inward from the fuselage frame 1, and the motor platform 701 on which they are located forms an angle α with the horizontal plane. To maintain motor efficiency and increase the directional stability of the drone, the angle α is designed to be 5°. As a result, when the rotor motors drive the propellers to rotate and generate thrust, the eight rotor assemblies can provide vertical thrust while also generating a lateral component.

[0041] There are two tail thruster assemblies 4, each consisting of a tail thruster motor and a tail thruster propeller coaxially mounted on the motor's output shaft. The two tail thruster assemblies 4 are coaxially mounted to the ends of the longitudinal side rods 101 on either side via tail thruster motor mounts 8. The tail thruster propellers are driven by the tail thruster motors to generate thrust.

[0042] The flight control device 2 and the battery 3 are arranged in the central equipment area, which is located in the middle of the entire drone, specifically the area surrounded by the second and third connecting rods and the two longitudinal side rods 101. The batteries are installed on the left and right sides of the area through battery brackets, and are used to power the flight control device and each motor. The flight control device is installed in the middle of the area through a flight control bracket, including equipment such as a flight control system and a GPS antenna, through which the flight of the drone is controlled. The above-mentioned battery bracket and flight control bracket both include a support platform and a clamp for connection. Among them, the support platform is used to support the equipment and is clamped and fixed to the transverse connecting rod and / or longitudinal side rod at its location through the clamp.

[0043] The ten-rotor drone of the present invention capable of high-altitude level flight is specifically controlled as follows:

[0044] Downward thrust is generated by controlling the eight rotor assemblies to rotate at a constant speed, with the rotor motors of the first, third, sixth, and eighth rotor assemblies 501, 503, 506, and 508 rotating clockwise and the rotor motors of the second, fourth, fifth, and seventh rotor assemblies 502, 504, 505, and 507 rotating counterclockwise. Rearward thrust is generated by controlling the two tail thrust assemblies to rotate at a constant speed, with the tail thrust assembly 4 on the left side of the fuselage frame 1 rotating clockwise and the tail thrust assembly 4 on the right side rotating counterclockwise.

[0045] To control the drone's pitch, a pitch torque is generated by differential speed control between the four front rotor assemblies and the four rear rotor groups. This is achieved by increasing the speeds of the first, second, fifth, and sixth rotor assemblies 501, 502, 505, and 506 by the same amount, while simultaneously decreasing the speeds of the third, fourth, seventh, and eighth rotor assemblies 503, 504, 507, and 508 vertical motors by the same amount. This results in the drone's upward movement (corresponding to the "up" in pitch); conversely, this results in the drone's downward movement (corresponding to the "down" in pitch).

[0046] The drone's roll is controlled through differential speed control between the rotor assemblies on the longitudinal sidebars 101 on either side of the fuselage. The four rotor assemblies on the left longitudinal sidebar 101 of the fuselage frame 1 are controlled to decrease their speed by the same amount, while the four rotor assemblies on the right longitudinal sidebar 101 are controlled to increase their speed by the same amount. This creates a thrust differential, which generates a leftward torque on the drone, thus achieving a leftward roll. Conversely, a thrust differential creates a rightward torque on the drone, thus achieving a rightward roll.

[0047] To control the drone's yaw, torque is generated by the differential speed between the forward propeller motor (a clockwise rotor motor) and the reverse propeller motor (a counterclockwise rotor motor). The first, third, sixth, and eighth rotor assemblies 501, 503, 506, and 508 are controlled to increase their speeds by the same amount, while the second, fourth, fifth, and seventh rotor assemblies 502, 504, 505, and 507 are controlled to decrease their speeds by the same amount, causing the drone to yaw to the left. Conversely, the drone yaws to the right.

[0048] In terms of controlling the up and down movement of the drone, all the rotor components increase or decrease the same speed to make the fuselage move up and down;

[0049] In terms of controlling the forward and backward movement of the UAV, the two tail thrust assemblies 4 are used to change the same rotation speed so that the fuselage moves forward and backward.

[0050] Through the above control methods, the UAV can meet the mission requirements in terms of pitch attitude, roll attitude, yaw attitude, ascent and descent, forward flight and backward flight.

[0051] The above-mentioned ten-rotor UAV can also be modularly assembled to meet different mission requirements. The specific methods are as follows:

[0052] Two or three ten-rotor drones are arranged side by side and connected in pairs through extension rods 9 and fixing members 10 to form a combination, so that the drone has a greater carrying capacity, such as Figure 5 As shown, when connecting, two adjacent decarotor drones are arranged symmetrically, and two coaxial transverse connecting rods 102 are respectively plugged into the ends of the extension rod (carbon tube) 9, and then connected and fixed by fixing members 10. In this way, the combination of the two decarotor drones is completed by the docking and fixing between the symmetrical transverse connecting rods 102.

[0053] like Figure 6 As shown, the fixing member 9 is a tubular structure, which is sleeved on the transverse connecting rod 102. At the same time, corresponding through holes are evenly spaced on the transverse connecting rod 102, the fixing member 10 and the extension rod 9 inserted into the transverse connecting rod. By passing the bolts through the corresponding through holes and then fixing them with nuts, the three can be fixed to ensure that there is no relative movement between the three, thereby achieving rapid assembly.

[0054] After the combination, the top area is expanded to transport cargo of greater weight or volume. In terms of control of the combined drone, communication between the flight control systems of the two drones can be established, with one drone acting as the lead aircraft, responsible for flight control of the combined drone. By synchronously controlling each drone using the aforementioned method, the combined drone can meet mission requirements in terms of pitch, roll, yaw, lift, forward flight, and backward flight. For example, controlling the differential speed between the two front rows of rotors and the two rear rows of rotors enables pitch motion control of the combined drone; controlling the roll motion of the combined drone is achieved through differential speed control between the four rotors on the far left and the four rotors on the far right of the fuselage.

[0055] In summary, the high-altitude, level-flying ten-rotor drone of the present invention, through the design of its rotor assembly and tail thruster assembly, is capable of rapid flight, maintaining forward flight while maintaining a horizontal fuselage. Furthermore, its modular design allows for multiple units to be combined, increasing its carrying capacity. Regarding control, based on a tandem eight-rotor configuration, the drone's pitch, roll, yaw, vertical, and forward / backward motion are controlled by differential speeds of different motors. In conjunction with PID control principles, the drone's altitude, position, and attitude are controlled. Compared to traditional drones, the present invention significantly improves flight performance and carrying capacity.

Claims

1. A high-speed level-flying ten-rotor UAV, characterized by: Including fuselage, rotor assembly and tail thrust assembly; The fuselage is a frame structure consisting of two longitudinal side rods connected to four transverse connecting rods arranged from front to back; There are eight rotor assemblies; among them, four rotor assemblies are installed at equal intervals on the longitudinal side rod on one side, and from front to back they are the first to fourth rotor assemblies; four rotor assemblies are installed on the longitudinal side rod on the other side, and they are the fifth to eighth rotor assemblies whose positions correspond to the positions of the first to fourth rotor assemblies; the rotors of the eight rotor assemblies are inverted, and when installing, a certain lateral angle must be formed between the axis of the rotor assembly and the longitudinal side rod; among them, the axes of the first rotor assembly, the fourth rotor assembly, the fifth rotor assembly and the eighth rotor assembly are inclined toward the outside of the fuselage frame; the axes of the second rotor assembly, the third rotor assembly, the sixth rotor assembly and the seventh rotor assembly are inclined toward the inside of the fuselage frame; when the propeller is driven to rotate by the rotor motor to generate thrust, the eight rotor assemblies can generate a lateral component while providing thrust in the vertical direction; The tail thrust assembly is installed at the ends of the longitudinal side rods on both sides; the tail thrust propeller is driven by the tail thrust motor to generate thrust; The rotor motors of the first, third, sixth, and eighth rotor assemblies rotate at the same speed and in the opposite direction to the rotor motors of the second, fourth, fifth, and seventh rotor assemblies, generating downward thrust; the two tail thrust assemblies rotate at the same speed and in the opposite direction to generate rearward thrust; The rotation speeds of the first, second, fifth, and sixth rotor assemblies are increased by the same amount, while the rotation speeds of the third, fourth, seventh, and eighth rotor assemblies are correspondingly decreased by the same amount, thereby completing the upward movement of the drone; conversely, the downward movement of the drone is completed; The rotation speeds of the four rotor assemblies on the left longitudinal side stick are decreased by the same amount, while the rotation speeds of the four rotor assemblies on the right longitudinal side stick are increased by the same amount, thereby completing the UAV rolling to the left; conversely, the UAV rolling to the right is completed; The first rotor assembly, the third rotor assembly, the sixth rotor assembly, and the eighth rotor assembly increase their rotational speeds by the same amount, while the second rotor assembly, the fourth rotor assembly, the fifth rotor assembly, and the seventh rotor assembly decrease their rotational speeds by the same amount, thereby completing the UAV's yaw to the left; conversely, the UAV's yaw to the right is completed; All of the above rotor components increase or decrease the same rotation speed to achieve the rise and fall of the UAV; The two tail thrust assemblies mentioned above change the same rotation speed to achieve the forward and backward translation of the UAV.

2. The high-speed level-flying ten-rotor drone according to claim 1, characterized in that: The longitudinal side rods and transverse connecting rods are all carbon tubes; the two longitudinal side rods are 2000mm long; the four transverse connecting rods are 800mm long, and the distances from the front ends of the two longitudinal side rods are 300mm, 808mm, 924mm, and 1432mm respectively.

3. The high-speed level-flying ten-rotor drone according to claim 1, characterized in that: The battery and flight control are installed between the two middle horizontal connecting rods; the batteries are arranged on the left and right, and the flight control is located in the middle.

4. The high-speed level-flying ten-rotor UAV according to claim 1, characterized in that: The two ends of the transverse connecting rod are connected to the two longitudinal side rods through a rod connector; the rod connector is composed of two groups of clamps, each group of clamps consists of two, and the overall structure is a rectangular plate with a through hole in the middle; two clamps A are installed on the ends of the transverse connecting rod, and two clamps B are installed on the longitudinal side rod; the screw holes on both sides of the two clamps A on the transverse connecting rod can be aligned with the screw holes on both sides of the two clamps B on the longitudinal side rod respectively, and the bolts are passed through the aligned through holes and then tightened with nuts, while fixing the transverse connecting rod and the clamps on the longitudinal side rods, and the transverse connecting rod and the longitudinal side rods are tightly fixed by the clamps.

5. The high-speed level-flying ten-rotor UAV according to claim 1, characterized in that: The rotor assembly is installed on the longitudinal side rod through the rotor motor base; the rotor motor base includes a motor platform and two clamps; the propeller motor is installed on the motor platform; holes are opened on opposite sides of the motor platform, which are aligned with the screw holes on both sides of the two clamps on the longitudinal side rods; bolts are passed through the aligned through holes and screw holes and then tightened with nuts to fix the motor platform and the clamps, and the clamps and the longitudinal side rods are tightly fixed.

6. The high-speed level-flying ten-rotor UAV according to claim 1, characterized in that: A combined drone is formed by connecting n fuselages side by side, where n = 2 or 3. Adjacent fuselages are symmetrical left and right, and two coaxial transverse connecting rods are respectively plugged into the two ends of the extension rod and then fixed by fixing parts.

7. The high-speed level-flying ten-rotor UAV according to claim 6, characterized in that: The fixing piece is a cylindrical structure, which is sleeved on the transverse connecting rod; at the same time, corresponding through holes are evenly spaced on the transverse connecting rod, the fixing piece and the extension rod inserted into the transverse connecting rod. Bolts are passed through the corresponding through holes and then fixed with nuts to achieve fixation between the three.

8. The high-speed level-flying ten-rotor UAV according to claim 6, characterized in that: In terms of combined drone control, communication between two drones is established, with one drone acting as the lead aircraft, responsible for the flight control of the combined drones.

9. The high-speed level-flying ten-rotor UAV according to claim 6, characterized in that: The flight control methods are: The rotor motors of the first, third, sixth, and eighth rotor assemblies on each fuselage rotate at the same speed and in the opposite direction to the rotor motors of the second, fourth, fifth, and seventh rotor assemblies, generating downward thrust; the two tail thrust assemblies rotate at the same speed and in the opposite direction to generate backward thrust; The pitch motion control of the combined UAV is achieved through differential speed control between the front two rows of rotor assemblies and the rear two rows of rotor assemblies; The roll motion control of the combined UAV is achieved through differential speed control between the four rotor assemblies on the far left and the four rotor assemblies on the far right; Yaw motion is achieved by differential speed control between counter-rotating rotor assemblies; The lifting motion is achieved by increasing or decreasing the rotation speed of all rotor components by the same amount; Forward and backward translation is achieved by changing the rotation speed of all tail thrust components to the same value.

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