Vertical take-off and landing composite wing unmanned aerial vehicle based on flying wing layout

Abstract

The invention relates to the technical field of small unmanned aerial vehicles, and discloses a vertical take-off and landing composite wing unmanned aerial vehicle based on flying wing layout, the vertical take-off and landing composite wing unmanned aerial vehicle comprises a fuselage, wings are fixedly connected to the exteriors of the two sides of the fuselage, vertical tails are fixedly connected to the exteriors of the wings, and mounting columns are fixedly connected to the interiors of one sides of the wings; the exterior of the mounting column is provided with double reverse propellers, the exterior of the fuselage is provided with an optical take-off and landing auxiliary module, the interiors of the wings are rotatably connected with lifting ailerons, the upper surfaces of the lifting ailerons are fixedly connected with mounting blocks I, and the exteriors of the mounting blocks I are rotatably connected with telescopic rods; and a second mounting block is rotationally connected to the outer portion of the telescopic rod, the bottom end of the second mounting block is mounted on the upper surface of the wing, and a supporting mechanism is mounted at the foot point. The lifting ailerons with the increased area are arranged on the rear edges of the wings, so that the unmanned aerial vehicle can quickly and stably complete vertical and horizontal attitude conversion in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of small unmanned aerial vehicle (UAV) technology, specifically to a vertical take-off and landing compound wing UAV based on a flying wing layout. Background Art

[0002] With the rapid development of drone technology, small drones have been widely used in surveying, inspection, emergency rescue and other fields. According to aerodynamic layout, small drones are mainly divided into two categories: fixed-wing and multi-rotor. Fixed-wing drones have advantages such as high speed, long range and high efficiency, but have high requirements for take-off and landing sites. Multi-rotor drones can take off and land vertically and hover, and are maneuverable, but have the disadvantages of slow speed, short flight time and low efficiency.

[0003] Currently, there are three main technical approaches to achieving both vertical takeoff and landing and high-speed cruise in drones: tilt-rotor or ducted rotors, which change the thrust direction by rotating the entire rotor or duct to achieve vertical and horizontal flight; compound rotors, which add a multi-rotor system to a fixed-wing platform, with the two power systems operating independently; and tail-seat drones, which have a vertically placed fuselage and takeoff and landing with the tail touching the ground, using the same power system to achieve mode switching through attitude flipping. Among these, tail-seat drones have attracted much attention because they do not require an additional tilting mechanism and have a light structural weight. However, their flying wing layout has a short pitch control surface arm and limited control surface area during attitude switching from vertical to horizontal, resulting in insufficient pitch torque during mode switching. This leads to severe attitude fluctuations during the transition process and presents technical defects such as poor stability.

[0004] However, in the process of realizing the technical solution of this application, the inventors of this application discovered that the above-mentioned tail-seat flying wing layout has at least the following technical problems: In the mode transition phase between vertical take-off and landing and horizontal cruise, traditional flying wing tail-seat UAVs have insufficient pitch control torque due to the small area and short lever arm of the elevator or aileron, resulting in slow and unstable attitude transition, making it difficult to complete a rapid transition in a narrow space. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a vertical take-off and landing compound wing UAV based on a flying wing layout. This solves the problem that traditional flying wing tail-seat UAVs have insufficient pitch control torque during the mode transition between vertical take-off and landing and horizontal cruise due to the small area and short lever arm of the elevator or aileron, making it difficult to complete the transition in a confined space.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a vertical take-off and landing compound wing UAV based on a flying wing layout, comprising a fuselage, wings fixedly connected to both sides of the fuselage, upper and lower vertical tails fixedly connected to the outer sides of the wings, a mounting post fixedly connected to the inner side of one side of the wing, a dual counter-rotating propeller mounted on the outer side of the mounting post, an optical take-off and landing auxiliary module mounted on the outer side of the fuselage, an elevator aileron rotatably connected to the inner side of the wing, a mounting block one fixedly connected to the upper surface of the elevator aileron, a telescopic rod rotatably connected to the outer side of the mounting block one, a mounting block two rotatably connected to the outer side of the telescopic rod, the bottom end of the mounting block two mounted on the upper surface of the wing, and a support mechanism mounted at the foot points of the upper and lower vertical tails.

[0007] By adopting the above technical solution, an elevon with an enlarged area is set on the trailing edge of the wing, and it can generate a larger pitch moment by being driven by a telescopic rod. At the same time, the twin counter-rotating propellers symmetrically arranged on the leading edge can provide vector thrust during the mode transition phase, and can also generate additional pitch in coordination with the elevon through differential control. The composite control surface formed by the two effectively amplifies the pitch control lever arm and moment, so that the UAV can quickly and smoothly complete the vertical and horizontal attitude transitions in a confined space, solving the technical problem of slow transition caused by the small control surface area and short lever arm of traditional tail-seat flying wings.

[0008] Preferably, the support mechanism includes a rubber ring, which is externally fixedly connected to the foot points of the upper and lower tails.

[0009] Preferably, the support mechanism further includes a fixed column, the fixed column is externally fixedly connected to the foot points of the upper and lower tails, the inner top wall of the fixed column is provided with a spring, the bottom end of the spring is provided with a connecting pad, and the outer side of the connecting pad is slidably connected to the inside of the fixed column.

[0010] Preferably, the support mechanism further includes a second spring, one end of which is disposed inside the upper and lower tails, and the other end of which is provided with a contact plate, the outside of which is slidably connected to the inside of the upper and lower tails.

[0011] Preferably, the twin counter-rotating propellers rotate in opposite directions to counteract torque and achieve yaw adjustment through differential control during vertical takeoff and landing.

[0012] Preferably, the control surface area of ​​the elevator aileron is larger than the aileron area of ​​a conventional fixed-wing UAV of the same size.

[0013] Preferably, the twin counter-rotating propellers are symmetrically arranged on both sides of the fuselage at the middle position of the leading edge of the wings, providing upward thrust during vertical takeoff and landing and forward propulsion during level flight.

[0014] Preferably, the ellipse generates torque through rotation, which, in conjunction with the differential rotation of the two counter-rotating propellers, enables the UAV to control pitch and yaw, as well as switch between vertical and horizontal flight modes.

[0015] Preferably, the optical take-off and landing assistance module is a small rear-view optical imaging device connected to the airborne flight control equipment. It can collect optical image information in real time and perform recognition processing. Combined with the UAV's own attitude data, it can achieve a line-of-sight vertical take-off and landing assistance function based on precise attitude measurement and positioning.

[0016] Preferably, the upper and lower vertical tails are endplate structures that are fixedly connected to the wings, and the four foot points of the vertical tails contact the ground when the UAV is parked, forming a stable support.

[0017] This invention provides a vertical takeoff and landing compound wing unmanned aerial vehicle (UAV) based on a flying wing configuration. It has the following advantages: 1. This invention enables UAVs to quickly and smoothly complete vertical and horizontal attitude transitions even in confined spaces by setting an elliptical aileron with an increased area on the trailing edge of the wing.

[0018] 2. While ensuring high aerodynamic efficiency, this invention enables the UAV to take off and land quickly and vertically. It can be efficiently recovered and reused in confined spaces such as vehicles, ships, and containers, as well as in complex terrain environments, greatly expanding the application scenarios of UAVs.

[0019] 3. The UAV in this invention has the characteristics of convenient take-off and landing and high mobility, which enables it to accurately meet the needs of fields such as surveying and mapping, emergency rescue, line inspection and border control, and achieve rapid deployment and application.

[0020] 4. This invention effectively reduces the radar cross-section and noise characteristics of the platform by using a tailless flying wing design, thereby improving the aerial stealth of the UAV and enhancing its applicability to special scenarios. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of a partial structure of the upper and lower vertical tails of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 This is a partial structural diagram of the fixing column of the present invention; Figure 5 This is a schematic diagram of a partial structure of the spring of the present invention; Figure 6 This is a partial structural diagram of the contact plate of the present invention; Figure 7 This is a flight flowchart of the vertical take-off and landing compound wing UAV of the present invention.

[0022] The components are as follows: 1. Fuselage; 2. Wing; 3. Upper and lower vertical tails; 4. Mounting column; 5. Twin counter-rotating propellers; 6. Optical take-off and landing auxiliary module; 7. Elevator; 8. Mounting block one; 9. Telescopic rod; 10. Mounting block two; 11. Rubber ring; 12. Fixing column; 13. Spring one; 14. Connecting pad; 15. Spring two; 16. Contact plate. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1 Please see the appendix Figure 1 - Appendix Figure 3 This invention provides a vertical take-off and landing compound wing UAV based on a flying wing layout, including a fuselage 1. Wings 2 are fixedly connected to both sides of the fuselage 1. Upper and lower vertical tails 3 are fixedly connected to the outside of the wings 2. A mounting post 4 is fixedly connected to the inside of one side of the wings 2. A dual counter-rotating propeller 5 is mounted on the outside of the mounting post 4. An optical take-off and landing auxiliary module 6 is mounted on the outside of the fuselage 1. An elevator 7 is rotatably connected to the inside of the wings 2. A mounting block 1 8 is fixedly connected to the upper surface of the elevator 7. A telescopic rod 9 is rotatably connected to the outside of the mounting block 1 8. A mounting block 2 10 is rotatably connected to the outside of the telescopic rod 9. The bottom end of the mounting block 2 10 is mounted on the upper surface of the wings 2. A support mechanism is installed at the foot of the upper and lower vertical tails 3.

[0025] Specifically, after the drone starts, the two counter-rotating propellers 5, which are symmetrically arranged at the middle position of the leading edge of the wing 2, will drive the drone to take off vertically. The propellers rotate in opposite directions, which can cancel out the torque generated by each other. During the vertical take-off and landing phase, yaw adjustment can also be achieved through differential control, which solves the problem of the drone being unstable due to excessive torque from a single propeller.

[0026] The elevon 7 on the trailing edge of wing 2 rotates via a telescopic rod 9 connected to mounting block 1 8. The other end of the telescopic rod 9 is fixed to wing 2 via mounting block 2 10, allowing the elevon 7 to rotate flexibly. Its control surface area is larger than that of the elevon 7 in a traditional fixed-wing UAV of the same size, generating a greater torque during rotation. Combined with the differential rotation of the twin counter-rotating propellers 5, it enables pitch and yaw control of the UAV. When switching between vertical and level flight modes, the rotation of the elevon 7 generates a downward torque, pushing the UAV to a horizontal position and completing the mode transition. This solves the problem of difficult mode switching in traditional flying-wing UAVs and ensures a stable and reliable transition process.

[0027] During takeoff and landing, the optical takeoff and landing assistance module 6 on the outside of the fuselage 1 serves as a small rear-view optical imaging device. The optical takeoff and landing assistance module 6 is connected to the airborne flight control equipment and can collect optical image information in real time and combine it with the UAV's own attitude data for recognition and processing. This enables precise attitude measurement and positioning assistance for vertical takeoff and landing beyond visual range, ensuring that the UAV can take off and land accurately even in confined spaces, and solving the problem of inaccurate takeoff and landing positioning in complex environments.

[0028] Finally, during landing, the drone first switches from level flight mode to vertical rotor mode. Relying on the positioning of the optical take-off and landing assistance module 6 and the buffer protection of the support mechanism, it achieves a smooth landing and recovery. The entire process does not require a runway and is suitable for complex terrain and confined spaces, thus expanding the application scenarios of drones.

[0029] Please see the appendix Figure 2 The support mechanism includes a rubber ring 11, which is externally fixed to the foot points of the upper and lower vertical tails 3.

[0030] Specifically, the rubber ring 11 is made of a highly elastic and wear-resistant material and fits tightly around the foot points of the upper and lower vertical tails 3, forming a support structure that is in direct contact with the ground. When the UAV takes off or lands and touches the ground, the rubber ring 11 will undergo elastic deformation due to the force, absorbing the impact energy through its own compression, reducing the vibration and impact on the fuselage 1 and its components, avoiding structural damage caused by hard contact, and solving the problem that traditional metal supports are prone to deformation or wear due to impact.

[0031] Please see the appendix Figure 1 - Appendix Figure 3 The twin counter-rotating propellers 5 rotate in opposite directions to counteract torque and achieve yaw adjustment through differential control during vertical take-off and landing; the elliptical ailerons 7 have a control surface area larger than the aileron area of ​​a traditional fixed-wing UAV of the same size.

[0032] Specifically, the dual counter-rotating propellers 5 are arranged coaxially or in parallel opposite directions, with the two sets of propeller blades rotating in opposite directions. When they operate simultaneously, the counter-torques generated by each propeller are equal in magnitude and opposite in direction, which can cancel each other out and prevent the torque generated by the single propeller rotating in one direction from causing the fuselage 1 to spin. The control surface area of ​​the elliptical aileron 7 is 30% larger than that of traditional fixed-wing UAVs of the same size. The larger control surface can generate stronger aerodynamics at the same deflection angle, thereby improving the control torque.

[0033] During the transition from vertical to horizontal flight, a large deflection of the control surfaces can quickly generate a nose-down moment, propelling the UAV smoothly from a vertical attitude to a horizontal flight state. During the level flight phase, pitch control can be achieved through small-angle deflection. At the same time, the large-area control surfaces can still maintain sufficient control force at low speeds, solving the problem of reduced control efficiency of traditional small-area control surfaces under low Reynolds number conditions, and ensuring that the UAV has stable control performance throughout the entire flight envelope.

[0034] Please see the appendix Figure 1 - Appendix Figure 3 The twin counter-rotating propellers 5 are symmetrically arranged on both sides of the fuselage 1 at the middle position of the leading edge of the wings 2. They provide upward thrust during vertical take-off and landing and forward propulsion during level flight. The elevons 7 generate torque by rotating, which, together with the differential rotation of the twin counter-rotating propellers 5, enables the UAV to control pitch and yaw and switch between vertical and level flight modes.

[0035] Specifically, the twin counter-rotating propellers 5 are symmetrically installed on the leading edges of the wings 2 on both sides of the fuselage 1, with the fuselage 1 as the central axis. This makes the thrust distribution more balanced and avoids excessive force on one side, which could cause the fuselage 1 to tilt.

[0036] The elevons 7 rotate via the extension and retraction of the telescopic rod 9. The telescopic rod 9 can be manually adjusted in length or driven by a mini electric push rod. When rotating, it interacts with the airflow to generate a corresponding torque. When the two elevons 7 deflect upward, a pitching torque is generated, and when they deflect downward, a pitching torque is generated, thus achieving pitch control. In yaw adjustment, the asymmetrical deflection of the elevons 7 can assist the differential rotation of the twin counter-rotating propellers 5. During the switching between vertical and level flight modes, the elevons 7 first generate torque by rotating to adjust the attitude of the fuselage 1, so that the UAV gradually transitions from a vertical state to a horizontal state. At the same time, the twin counter-rotating propellers 5 synchronously adjust the thrust direction and speed. The two work together to avoid drastic attitude fluctuations during mode switching.

[0037] Please see the appendix Figure 1The optical take-off and landing assistance module 6 is a small rear-view optical imaging device that is connected to the airborne flight control equipment. It can collect optical image information in real time and perform recognition and processing. Combined with the UAV's own attitude data, it can achieve the function of vertical take-off and landing assistance beyond line of sight based on precise attitude measurement and positioning. The upper and lower vertical tails 3 are endplate structures that are fixedly connected to the wings 2. The four foot points of the vertical tails are in contact with the ground when the UAV is parked, forming a stable support.

[0038] Specifically, the optical take-off and landing assistance module 6, as a small rear-view optical imaging device, is installed on the outside of the fuselage 1. It does not take up too much space or add extra burden. During the take-off and landing of the drone, it can continuously capture optical image information of the rear and the ground, quickly identify ground landmarks, obstacles and terrain features, and solve the problem that traditional drones are prone to positioning deviation and attitude loss during take-off and landing in the absence of GPS signal or in complex visual environments. Even in narrow spaces or areas with many obstacles, it can ensure that the drone accurately judges the take-off and landing position and avoids the risk of collision.

[0039] When the drone is parked, all four foot points make contact with the ground simultaneously, distributing the weight of the drone body 1 evenly to each support point. This prevents excessive force on a single point from causing the drone body 1 to tilt or be damaged, further improving the overall stability of the drone during take-off, landing and parking.

[0040] Working principle: First, the UAV relies on the twin counter-rotating propellers 5 symmetrically arranged at the middle position of the leading edge of the wings 2 on both sides of the fuselage 1 to provide upward thrust and achieve vertical take-off. Second, the elliptical ailerons 7 on the trailing edge of the wings 2 rotate through the extension and retraction of the telescopic rod 9 to generate pitching torque.

[0041] When switching between vertical and horizontal flight modes is required, the elliptic 7 rotates to generate a downward torque, pushing the drone to adjust to a horizontal position and completing the mode conversion. This solves the problem of difficult mode switching for traditional flying wing drones and ensures the stability and reliability of the conversion process.

[0042] Once in level flight, the twin counter-rotating propellers 5 provide forward propulsion. The UAV adopts the flight control method of a traditional fixed-wing UAV, and by integrating the fuselage 1 and wing 2 into a flying wing layout, it reduces interference drag and friction drag.

[0043] During takeoff and landing, the external optical takeoff and landing assistance module 6 of the fuselage 1, acting as a small rear-view optical imaging device, is connected to the onboard flight control equipment. It collects optical image information in real time and combines it with the UAV's own attitude data for identification and processing, achieving precise attitude measurement and positioning assistance for vertical takeoff and landing beyond visual range, ensuring accurate takeoff and landing even in confined spaces. At the same time, the upper and lower vertical tails 3, as endplate structures, have support mechanisms at their four foot points that contact the ground when the UAV is parked and landing, providing stable support and playing a shock-absorbing role, solving the stability and cushioning problems during takeoff and landing.

[0044] Finally, during landing, the drone first switches from level flight mode to vertical rotor mode. Relying on the positioning of the optical take-off and landing assistance module 6 and the buffer protection of the support mechanism, it achieves a smooth landing and recovery. The entire process does not require a runway and is suitable for complex terrain and confined spaces, thus expanding the application scenarios of drones.

[0045] Example 2 Please see the appendix Figure 4 and attached Figure 5 The support mechanism also includes a fixed column 12, which is externally fixedly connected to the foot points of the upper and lower tails 3. A spring 13 is provided on the inner top wall of the fixed column 12, and a connecting pad 14 is provided at the bottom end of the spring 13. The connecting pad 14 is externally slidably connected to the inside of the fixed column 12.

[0046] Specifically, when the drone lands vertically, the connecting pad 14 first contacts the ground and is subjected to impact force. This impact force is transmitted upward through the connecting pad 14 and compresses the spring 13. During the compression process, the spring 13 converts kinetic energy into elastic potential energy, absorbs and attenuates the peak impact. Subsequently, the spring slowly rebounds to avoid rigid impact. The fixing post 12 guides the connecting pad 14 to prevent lateral slippage. The fixing post 12 is a cylindrical hollow sleeve, with its top fixed to the foot point of the upper and lower tails 3. The upper end of the spring 13 abuts against the inner top wall of the fixing post 12, and its lower end is rigidly connected to the connecting pad 14.

[0047] Implementation Three Please see the appendix Figure 6 The support mechanism also includes a second spring 15, one end of which is located inside the upper and lower vertical tails 3, and the other end of the upper and lower vertical tails 3 is provided with a contact plate 16, the outside of which is slidably connected to the inside of the upper and lower vertical tails 3.

[0048] Specifically, when the drone lands, the contact plate 16 first contacts the ground and is compressed, transmitting the impact force to the second spring 15 through the boss. Since the second spring 15 is hidden inside the upper and lower tails 3, it prevents foreign objects from entering. One end of the second spring 15 is fixed inside the upper and lower tails 3, and the other end is connected to the contact plate 16. The contact plate 16 is used to increase the contact range with the ground.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A vertical take-off and landing compound wing unmanned aerial vehicle based on a flying wing layout, comprising a fuselage (1), characterized in that, Both sides of the fuselage (1) are fixedly connected to wings (2). The wings (2) are fixedly connected to upper and lower vertical tails (3). One side of the wings (2) is fixedly connected to a mounting column (4). The mounting column (4) is mounted with a twin counter-rotating propeller (5). The fuselage (1) is mounted with an optical take-off and landing auxiliary module (6). The wings (2) are rotatably connected to an elevator aileron (7). The upper surface of the elevator aileron (7) is fixedly connected to a mounting block one (8). The mounting block one (8) is rotatably connected to a telescopic rod (9). The telescopic rod (9) is rotatably connected to a mounting block two (10). The bottom end of the mounting block two (10) is mounted on the upper surface of the wings (2). The upper and lower vertical tails (3) are mounted with a support mechanism.

2. The vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The support mechanism includes a rubber ring (11), which is externally fixedly connected to the foot points of the upper and lower tails (3).

3. The vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The support mechanism also includes a fixed column (12), which is externally fixedly connected to the foot of the upper and lower tails (3). A spring (13) is provided on the inner top wall of the fixed column (12), and a connecting pad (14) is provided at the bottom end of the spring (13). The connecting pad (14) is externally slidably connected to the inside of the fixed column (12).

4. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The support mechanism also includes a second spring (15), one end of which is located inside the upper and lower tails (3), and the other end of which is provided with a contact plate (16), the outside of which is slidably connected to the inside of the upper and lower tails (3).

5. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The twin counter-rotating propellers (5) rotate in opposite directions to counteract torque and achieve yaw adjustment through differential control during vertical take-off and landing.

6. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The control surface area of ​​the elevator (7) is larger than that of the aileron area of ​​a conventional fixed-wing UAV of the same size.

7. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The dual counter-rotating propellers (5) are symmetrically arranged on the sides of the fuselage (1) and the leading edge of the wings (2) at the middle position. They provide upward thrust during vertical take-off and landing and forward power during level flight.

8. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The elliptical aileron (7) generates torque by rotation, which, in conjunction with the differential rotation of the two counter-rotating propellers (5), enables the UAV to control pitch and yaw, as well as switch between vertical and horizontal flight modes.

9. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The optical take-off and landing assistance module (6) is a small rear-view optical imaging device connected to the airborne flight control equipment. It can collect optical image information in real time and perform recognition processing. Combined with the UAV's own attitude data, it can achieve the function of vertical take-off and landing assistance based on precise attitude measurement and positioning.

10. A vertical takeoff and landing compound wing UAV based on a flying wing layout according to claim 1, characterized in that, The upper and lower vertical tails (3) are end plate structures that are fixedly connected to the wings (2). The four foot points of the vertical tails contact the ground when the UAV is parked, forming a stable support.

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