A vertical take-off and landing unmanned aerial vehicle and its system

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a vertical takeoff and landing (VTOL) UAV and its system. The system includes a connecting shaft mounted on the end of a stabilizer wing. A first protective ring is rotatably connected to the connecting shaft. Two sets of mounting cylinders are fixedly mounted on the first protective ring. Two sets of second protective rings are fixedly connected to the mounting cylinders. Movable protective rings are mounted on both sides of each second protective ring. A shrinkable fabric connects the movable protective rings to the second protective rings. Torsion shafts are connected to both ends of the movable protective rings. Each mounting cylinder has a mounting cavity containing a locking plate. Limiting plates are integrally formed at both ends of the locking plate. The locking plate has at least one locking position and one clearance position. When the locking plate is in the locking position, the limiting plate limits the limiting pin. When the locking plate is in the clearance position, the limiting plate releases the limiting pin, and the movement of the movable protective rings towards the first protective ring is unrestricted. This provides all-around protection for the UAV during a fall, and also prevents it from getting caught on treetops, facilitating recovery.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a vertical take-off and landing (VTOL) UAV and its system. Background Technology

[0002] At present, drone technology has developed to a certain level, and its application in various fields is relatively mature. In agriculture, drones are mainly used for plant protection spraying, while in forestry, they are primarily used for forest fire monitoring and spraying. However, drone malfunctions during flight can cause them to fall from high altitudes, sometimes resulting in complete destruction. Chinese patent application number CN202210279441.4 discloses a foldable drone with a propeller protection mechanism. This mechanism uses elastic straps and protective airbags around the propeller to protect the drone from potential collisions.

[0003] However, the applicant has found at least the following problems with the prior art:

[0004] When a drone crashes after encountering a malfunction while performing a mission over a forest, the dense vegetation in the forest can penetrate the elastic straps and collide with the drone, simultaneously trapping it on the top of a tree, making it inconvenient for operators to retrieve. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a vertical take-off and landing unmanned aerial vehicle (UAV) and its system to solve the problem that it is inconvenient for operators to retrieve a UAV that crashes in a forest after a malfunction.

[0006] To achieve the above objectives, the present invention provides a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV), comprising a fuselage, a control module installed within the fuselage, the control module being electrically connected to a remote control terminal, multiple sets of spiral brackets mounted on the fuselage, each spiral bracket mounting a propeller, and at least two sets of stabilizer wings mounted on the side of the fuselage. A connecting shaft is mounted at the end of each stabilizer wing, and the connecting shaft is rotatably connected to a first protective ring. Two sets of mounting cylinders are fixedly mounted on the first protective ring, the two sets of mounting cylinders being positioned along the same diameter of the first protective ring. Two sets of second protective rings are fixedly connected to the mounting cylinders, and movable protective rings are mounted on both sides of each of the second protective rings. A receiving device connects the movable protective rings to the second protective rings. The movable protective ring is connected to torsion shafts at both ends. An installation cavity is provided in the mounting cylinder. The end of the torsion shaft is rotatably connected to the inner wall of the installation cavity. A torsion spring is fitted on the torsion shaft, causing the movable protective ring to tend to rotate towards the first protective ring. An installation post is connected to the torsion shaft, and a limit pin is installed on the side of the installation post. A retaining plate is also provided in the installation cavity. Limiting plates are integrally formed at both ends of the retaining plate. The retaining plate has at least one locking position and one clearance position. When the retaining plate is in the locking position, the limit plate limits the limit pin. When the retaining plate is in the clearance position, the limit plate releases the limit pin, and the tendency of the movable protective ring to move towards the first protective ring is not inhibited.

[0007] In operation, the propeller provides the drone with flight power, while the stabilizer fine-tunes the drone's flight attitude and provides assistance. During normal flight, when the locking plate is in the locked position, the limiting plate limits the limiting pin, inhibiting the movement of the moving protective ring towards the first protective ring. The first protective ring, in conjunction with the second protective ring, protects the drone's body, preventing direct collisions with objects. When the drone is in an abnormal flight state, the drone control module sends a signal to the locking plate, which moves to an avoidance position. The limiting plate releases its restriction on the limiting pin, and under the force of the torsion spring, the torsion shaft rotates, causing the moving protective ring to rotate towards the first protective ring. Simultaneously, the shrink cloth is pulled open, completely encasing the drone. The overall opening of the shrink cloth increases wind resistance during the drone's fall, reducing its descent speed and mitigating impact. When the drone falls onto a tree, the first protective ring, the second protective ring, the moving protective ring, and the shrink cloth form a spherical shape, making it less likely to get caught on the tree and facilitating drone retrieval.

[0008] Optionally, multiple sets of support ribs are also installed between the movable protective ring and the second protective ring. The two ends of the multiple sets of support ribs can be rotatably installed in the mounting cylinder, and the support ribs are fixedly connected to the shrink cloth.

[0009] Optionally, the card plate is fixedly connected to an electric telescopic rod, which is fixedly installed on the inner wall of the mounting cavity. The electric telescopic rod is electrically connected to the control module. When the control module detects an abnormal flight of the UAV, it controls the electric telescopic rod to shorten, causing the card plate to move from the locked position to the avoidance position.

[0010] Optionally, an electric telescopic rod is fixedly connected between the card plate and the inner wall of the mounting cavity, and the electric telescopic rod causes the card plate to tend to move from the locked position to the avoidance position.

[0011] Optionally, the mounting cylinder further includes an ejection chamber containing an ejection tube. The ejection tube's opening faces away from the machine body. An ejection spring is installed inside the ejection tube, connected to a push plate. The push plate abuts against a gravity ball. When the ejection spring is compressed, the push plate tends to eject the gravity ball. A pull line is connected to the gravity ball. A through hole is provided on the side wall of the ejection tube, through which the pull line extends into the ejection chamber. A rotatable take-up roller is installed in the ejection chamber, and the pull line is wound around the take-up roller. On the take-up roller, a limit unit is connected to the take-up roller, and a tension gauge is fixedly connected to the end of the pull wire. A push switch is installed at the end of the mounting column. During the rotation of the moving protective ring from the second protective ring to the first protective ring, the two sets of opposing push switches are triggered by mutual compression. The push switches are electrically connected to the limit unit. The control module records the drone's flight altitude in real time and calculates the drone's fall time t based on the flight altitude. The limit unit is electrically connected to a delay unit, which is set with a delay time T. Therefore, T = t + t 设 , where t 设 To set a value and eliminate the impact of collision time during the drone's descent, after the switch is pressed to trigger, the delay unit starts timing. After the delay time T, the limit unit releases the limit on the take-up roller, and the tension gauge detects the tension of the wire and determines the drone's position.

[0012] When the drone's flight status is abnormal, the movable protective rings on both sides of the second protective ring rotate from the second protective ring to the first protective ring. At the same time, the torsion shaft rotates, driving the push switch to rotate. The two sets of push switches rotate and contact, and the delay unit starts timing. When the timing reaches the delay time T, the limit unit releases the limit on the take-up roller. Under the elastic force of the ejection spring, the push plate ejects the gravity ball from the ejection tube. At this time, the gravity balls in both sets of mounting tubes are ejected. The two sets of tension gauges detect the tension data of the pull wires they are connected to, and determine the drone's position status based on the tension data. It can determine whether the drone is caught on a tree or has fallen to the ground. In dense jungle environments, it can help staff narrow down the search area, searching only on the ground or treetops, thus improving the retrieval speed.

[0013] Optionally, the two sets of force gauges respectively detect the tension data F1 and F2 of the connected tension lines. The force gauges are electrically connected to a comparison unit, which has a standard gravity M, which is the gravity of the gravity ball. If at least one of F1≥M and F2≥M is true, the drone is determined to be suspended. It is further determined whether only one of F1≥M and F2≥M is true. If so, the suspension height is determined to be lower than the length of the tension line. Otherwise, the suspension height of the drone is not determined. If neither F1≥M nor F2≥M is true, the drone is determined to have crashed. The judgment unit sends the judgment result to the control module, and the control module sends the drone's GPS location and the judgment result to the remote control terminal.

[0014] Optionally, the limiting unit includes mounting shafts installed at both ends of the take-up roller, a mounting seat is installed inside the ejection cavity, the mounting shaft is installed on the mounting seat, a limiting seat is connected to one end of the mounting shaft, a limiting hole is opened on the end face of the limiting seat, a telescopic limiting rod is installed on the inner wall of the ejection cavity, and a limiting post is provided at the end of the telescopic limiting rod that is adapted to the limiting hole. The limiting post is inserted into the limiting hole to limit the rotation of the take-up roller.

[0015] Optionally, the end of the mounting shaft away from the limiting seat extends to the outside of the ejection cavity, and a handle is fixedly connected to the end of the mounting shaft located outside the ejection cavity.

[0016] A vertical takeoff and landing unmanned aerial vehicle (UAV) system, comprising:

[0017] Flight propulsion module, used to provide flight propulsion;

[0018] The control module is used to control the overall flight of the UAV, including a flight parameter unit and a fault detection unit. The flight parameter unit records and measures the UAV's flight data, including flight altitude and flight speed data. The fault detection unit is used to detect whether the UAV is in a fault state.

[0019] The protective module is used to protect the drone's fuselage;

[0020] The remote control terminal is used to establish a signal connection with the control module, send commands to the control unit, and control the flight power module to change the flight state of the UAV.

[0021] When the fault detection unit determines that the drone is in a faulty state, it sends a signal to the protection module. The protection module switches from flight collision avoidance state to fall collision avoidance state. In flight collision avoidance state, the protection module establishes a collision avoidance ring around the drone; in fall collision avoidance state, the protection module establishes a sealed protective sphere around the drone.

[0022] Optionally, the protection module further includes:

[0023] Launching unit: Used to launch gravity balls from two directions of the drone;

[0024] Limiting unit: Normally open, used to limit the operation of the ejection unit;

[0025] Calculation unit: Captures drone flight data in real time and calculates the drone's crash time t based on the drone flight data;

[0026] Delay unit: Used to delay the start of the limit unit, wherein the delay unit stores a set value t. 设 Delayed start time T = t + t 设 When the timer reaches T, a signal is sent to the limit unit;

[0027] Tension detection unit: used to detect the final stable and constant tension values ​​F1 and F2 generated by the gravity ball after it is launched;

[0028] Comparison Unit: Stores a standard value M, which is the gravity of the gravity ball. It compares F1 and F2 with M to determine whether the drone is suspended in the air or crashes to the ground, and sends the determination result to the control module. If at least one of F1≥M and F2≥M is true, the drone is determined to be suspended in the air. If neither F1≥M nor F2≥M is true, the drone is determined to be crashing to the ground.

[0029] The control module also includes a positioning unit, which is used to locate the position of the drone, receive the judgment result sent by the comparison unit, and send the drone position and the judgment result to the remote control unit;

[0030] The remote control unit receives and displays the drone's location and the determination result.

[0031] The beneficial effects of this invention are as follows: During normal flight, when the locking plate is in the locked position, the limiting plate limits the limiting pin, inhibiting the movement of the moving protective ring towards the first protective ring. The first protective ring, in conjunction with the second protective ring, protects the drone body, preventing direct collision between the drone body and objects. When the drone is in an abnormal flight state, the drone control module sends a signal to the locking plate, which moves to the avoidance position. The limiting plate releases the limiting pin, and under the elastic force of the torsion spring, the torsion shaft rotates, causing the moving protective ring to rotate towards the first protective ring. At the same time, the shrink cloth is pulled open, completely encasing the drone body. Due to the overall opening of the shrink cloth, the wind resistance of the drone's fall is increased, reducing the drone's fall speed and mitigating the impact. When the drone falls onto a tree, the first protective ring, the second protective ring, the moving protective ring, and the shrink cloth form a spherical shape, making it less likely to get caught on the tree and facilitating drone retrieval by operators. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0034] Figure 2 This is a top view schematic diagram of a vertical take-off and landing unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0035] Figure 3 This is a top view of a partial cross-section of a vertical take-off and landing unmanned aerial vehicle (UAV) in operation according to an embodiment of the present invention;

[0036] Figure 4 This is a top view schematic diagram of the working state of a vertical take-off and landing unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0037] Figure 5 This is a partial cross-sectional schematic diagram of the mounting cylinder of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;

[0038] Figure 6 This is a partial cross-sectional schematic diagram of the mounting cylinder in the working state of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;

[0039] Figure 7 This is an external schematic diagram of the mounting cylinder of a vertical take-off and landing unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0040] Figure 8 This is a cross-sectional schematic diagram of the ejection cavity of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;

[0041] Figure 9 This is a side cross-sectional view of the mounting cylinder of a vertical take-off and landing unmanned aerial vehicle (UAV) according to an embodiment of the present invention.

[0042] The diagram is marked as follows:

[0043] 101. Airframe; 102. Propeller support; 103. Propeller; 104. Stabilizer; 105. Connecting shaft; 201. First protective ring; 202. Second protective ring; 203. Moving protective ring; 204. Support rib; 205. Shrink fabric; 206. Torsion shaft; 207. Torsion spring; 301. Mounting cylinder; 302. Mounting cavity; 303. Bushing; 304. Push-button switch; 305. Limit pin; 306. 307. Clearance hole; 308. Clamping plate; 309. Limiting plate; 310. Ejection chamber; 311. Ejection tube; 312. Push plate; 313. Gravity ball; 314. Through hole; 315. Mounting base; 316. Mounting shaft; 317. Take-up roller; 318. Tension gauge; 319. Pull line; 320. Limiting seat; 321. Telescopic limiting rod; 322. Handle; 323. Retraction spring; 324. Electric telescopic rod; 325. Ejection spring. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0045] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] like Figures 1 to 6As shown in the figure, a specific embodiment of the present invention provides a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), including a body 101. A control module is installed inside the body 101, and the control module is electrically connected to a remote control terminal. Multiple sets of spiral brackets 102 are installed on the body 101, and propellers 103 are respectively installed on the spiral brackets 102. At least two sets of balance wings 104 for adjusting the balance of the UAV are also installed on the side of the body 101. A connecting shaft 105 is installed at the end of the balance wing 104, and a first protective ring 20 is rotatably connected to the connecting shaft 105. 1. Two sets of mounting cylinders 301 are fixedly installed on the first protective ring 201. The two sets of mounting cylinders 301 are located on the same diameter of the first protective ring 201. Two sets of second protective rings 202 are fixedly connected to the mounting cylinders 301, and the two sets of second protective rings 202 form a complete ring. Movable protective rings 203 are respectively installed on both sides of the second protective ring 202. Shrinkable cloth 205 is connected between the movable protective rings 203 and the second protective rings 202. Torque shafts 2 are connected to both ends of the movable protective rings 203. 06. The mounting cylinder 301 has a mounting cavity 302, in which a bushing 303 is fixedly mounted. A torque shaft 206 is adapted to be mounted in the bushing 303. The end of the torque shaft 206 passes through the bushing 303 and is rotatably connected to the inner wall of the mounting cavity 302. A torque spring 207 is sleeved on the torque shaft 206. The torque spring 207 causes the movable protective ring 203 to have a tendency to rotate towards the first protective ring 201. A mounting post is connected to the torque shaft 206. A limit pin 305 is installed on the side of the mounting post. The mounting cavity 301... The 02 also includes a locking plate 307, with limit plates 308 integrally formed at both ends. The locking plate 307 has at least one locking position and one clearance position. When the locking plate 307 is in the locking position, the limit plate 308 limits the limit pin 305, suppressing the tendency of the moving protective ring 203 to move towards the first protective ring 201. When the locking plate 307 is in the clearance position, the limit plate 308 releases the limit on the limit pin 305, and the tendency of the moving protective ring 203 to move towards the first protective ring 201 is not suppressed.In use, the propeller 103 provides flight power for the drone, and the stabilizer 104 fine-tunes the drone's flight attitude and provides assistance for flight. During normal flight, when the locking plate 307 is in the locked position, the limiting plate 308 limits the limiting pin 305, suppressing the tendency of the moving protective ring 203 to move towards the first protective ring 201. The first protective ring 201, in conjunction with the second protective ring 202, protects the drone's fuselage, preventing direct collisions with objects. When the drone is in an abnormal flight state, the drone control module sends a signal to the locking plate 307, causing the locking plate 307 to move to an avoidance position, and the limiting plate 308... 08. Release the limit pin 305. Under the elastic force of the torsion spring 207, the torsion shaft 206 rotates, causing the movable protective ring 203 to rotate toward the first protective ring 201. At the same time, the shrink cloth 205 is pulled open, so that the body 101 is completely wrapped by the shrink cloth 205. Due to the overall opening of the shrink cloth 205, the wind resistance of the drone's fall is increased, the fall speed of the drone is reduced, and the collision is mitigated. When the drone falls onto a tree, the first protective ring 201, the second protective ring 202, the movable protective ring 203, and the shrink cloth 205 form a spherical shape, making it less likely to get caught on the tree, which facilitates the operator to retrieve the drone.

[0047] In some optional specific embodiments, such as Figure 3 and Figure 4 As shown, multiple sets of support ribs 204 are installed between the movable protective ring 203 and the second protective ring 202. The two ends of the multiple sets of support ribs 204 are rotatably mounted in the mounting cylinder 301, and the support ribs 204 are fixedly connected to the shrink fabric 205. In use, as the movable protective ring 203 rotates to open the shrink fabric 205, the multiple sets of support ribs 204 open accordingly, thereby providing support for the shrink fabric 205.

[0048] In some optional specific embodiments, such as Figure 9 As shown, the card plate 307 is fixedly connected to an electric telescopic rod 323, which is fixedly installed on the inner wall of the mounting cavity 302. The electric telescopic rod 323 is electrically connected to the control module. When the control module detects an abnormal flight of the UAV, it controls the electric telescopic rod 323 to shorten, so that the card plate 307 moves from the locked position to the avoidance position.

[0049] In some optional specific embodiments, such as Figure 9 As shown, a return spring 322 is fixedly connected between the locking plate 307 and the inner wall of the mounting cavity 302. The return spring 322 causes the locking plate 307 to tend to move from the locked position to the avoidance position. When the drone encounters a power failure, the elastic force of the return spring 322 causes the locking plate 307 to move from the locked position to the avoidance position, ensuring the rotation trigger of the moving protective ring 203.

[0050] In some optional specific embodiments, such as Figures 5 to 9 As shown, the mounting cylinder 301 also includes an ejection chamber 309, in which an ejection cylinder 310 is installed. The opening of the ejection cylinder 310 faces away from the body 101. An ejection spring 324 is installed inside the ejection cylinder 310. The ejection spring 324 is connected to a push plate 311, which abuts against a gravity ball 312. When the ejection spring 324 is compressed, the push plate 311 tends to eject the gravity ball 312. The gravity ball 312 is connected to a pull wire 318. A through hole 313 is provided on the side wall of the ejection cylinder 310, and the pull wire 318 extends from the through hole 313 into the ejection chamber 309. An ejection cylinder 309 is installed with an ejection spring 324. The system is equipped with a rotatable take-up roller 316, with a pull line 318 wound around it. The take-up roller 316 is connected to a limit unit. A tension gauge 317 is fixedly connected to the end of the pull line 318. A push switch 304 is installed at the end of the mounting column. During the rotation of the moving protective ring 203 from the second protective ring 202 to the first protective ring 201, the two opposing push switches 304 are triggered by mutual compression. The push switches 304 are electrically connected to the limit unit. The control module records the UAV's flight altitude in real time and calculates the UAV's fall time t based on the flight altitude. The limit unit is electrically connected to a delay unit, which is set with a delay time T. Therefore, T = t + t 设 , where t 设 To set a value and eliminate the impact of collision time during the drone's descent, after the switch 304 is pressed and triggered, the delay unit starts timing. After the delay time T, the limit unit releases the limit on the take-up roller 316, and the tension gauge 317 detects the tension of the pull line 318 and determines the position status of the drone. During operation, when the drone's flight status is abnormal, the movable protective rings 203 on both sides of the second protective ring 202 rotate from the second protective ring 202 towards the first protective ring 201. At the same time, the torsion shaft 206 rotates, driving the push switch 304 to rotate. The two sets of push switches 304 rotate and contact, and the delay unit starts timing. When the timing reaches the delay time T, the limit unit releases the limit on the take-up roller 316. Under the elastic force of the ejection spring 324, the push plate 311 ejects the gravity ball 312 from the ejection tube 310. At this time, the gravity balls 312 in both sets of mounting tubes 301 are ejected. The two sets of tension gauges 317 detect the tension data of the pull wires 318 connected to them, and judge the position status of the drone based on the tension data. It can determine whether the drone is hanging on a tree or has fallen to the ground. In dense jungle environments, it can help staff narrow down the search area, searching only on the ground or treetops, thus improving the retrieval speed.

[0051] In some optional specific embodiments, such as Figures 5 to 9As shown, the two sets of force gauges 317 respectively detect the tension data F1 and F2 of the pull wire 318 connected to them. The force gauges 317 are electrically connected to a comparison unit, which has a standard gravity M, which is the gravity of the gravity ball 312. If at least one of F1≥M and F2≥M is true, the drone is determined to be suspended. It is further determined whether only one of F1≥M and F2≥M is true. If so, the suspension height is determined to be lower than the length of the pull wire 318; otherwise, the suspension height of the drone is not determined. If neither F1≥M nor F2≥M is true, the drone is determined to have crashed. The judgment unit sends the judgment result to the control module, and the control module sends the drone's GPS location and the judgment result to the remote control terminal. Based on the information received by the remote control terminal, the staff can more accurately grasp the drone's position. Traditional positioning can only locate the drone's coordinates on the horizontal plane. Based on the judgment result, the vertical position of the drone can be roughly obtained, which facilitates the staff to retrieve the drone in dense jungle environments.

[0052] In some optional specific embodiments, such as Figures 5 to 9 As shown, the limiting unit includes mounting shafts 315 installed at both ends of the take-up roller 316. A mounting base 314 is installed inside the ejection cavity 309. The mounting shafts 315 are mounted on the mounting base 314. One end of the mounting shaft 315 is connected to a limiting seat 319. A limiting hole is formed on the end face of the limiting seat 319. A telescopic limiting rod 320 is installed on the inner wall of the ejection cavity 309. The end of the telescopic limiting rod 320 is provided with a limiting post that matches the limiting hole. The limiting post is inserted into the limiting hole to restrict the rotation of the take-up roller 316. In use, when the limiting unit limits the take-up roller 316, the limiting post is inserted into the limiting hole to restrict the rotation of the take-up roller 316. When the restriction on the take-up roller 316 is released, the telescopic limiting rod 320 shortens, causing the limiting post to be pulled out of the limiting hole.

[0053] In some optional embodiments, the end of the mounting shaft 315 away from the limiting seat 319 extends to the outside of the ejection cavity 309, and a handle 321 is fixedly connected to the end of the mounting shaft 315 located outside the ejection cavity 309. After the drone is recovered, the gravity ball 312 is retrieved by rotating the handle 321.

[0054] In some optional embodiments, a clearance hole 306 is provided on the side wall of the 303 to avoid the limiting pin 305.

[0055] The working principle of this invention is as follows: During use, the propeller 103 provides flight power for the drone, and the stabilizer 104 fine-tunes the drone's flight attitude and provides assistance for flight. In normal flight, when the locking plate 307 is in the locked position, the limiting plate 308 limits the limiting pin 305, inhibiting the tendency of the moving protective ring 203 to move towards the first protective ring 201. The first protective ring 201, in conjunction with the second protective ring 202, protects the drone's fuselage, preventing the drone's fuselage from directly colliding with objects. When the drone is in an abnormal flight state, the drone control module sends a signal to the locking plate 307, and the locking plate 307 moves to an avoidance position. The limiting plate 308 releases the limiting pin 305. Under the elastic force of the torsion spring 207, the torsion shaft 206 rotates, causing the movable protective ring 203 to rotate toward the first protective ring 201. At the same time, the shrink cloth 205 is pulled open, so that the body 101 is completely wrapped by the shrink cloth 205. Due to the overall opening of the shrink cloth 205, the wind resistance of the drone's fall is increased, the fall speed of the drone is reduced, and the collision is mitigated. When the drone falls onto a tree, the first protective ring 201, the second protective ring 202, the movable protective ring 203, and the shrink cloth 205 form a spherical shape, making it less likely to get caught on the tree, which facilitates the operator to retrieve the drone.

[0056] When the drone's flight status is abnormal, the movable protective rings 203 on both sides of the second protective ring 202 rotate from the second protective ring 202 towards the first protective ring 201. At the same time, the torsion shaft 206 rotates, driving the push switch 304 to rotate. The two sets of push switches 304 rotate and contact, and the delay unit starts timing. When the timing reaches the delay time T, the limit unit releases the limit on the take-up roller 316. Under the elastic force of the ejection spring 324, the push plate 311 ejects the gravity ball 312 from the ejection tube 310. At this time, the gravity balls 312 in both sets of mounting tubes 301 are ejected. The two sets of tension gauges 317 detect the tension data of the pull wires 318 connected to them, and judge the position status of the drone based on the tension data. It can determine whether the drone is hanging on a tree or has fallen to the ground. In dense jungle environments, it can help staff narrow the search area, searching only on the ground or treetops, and improve the retrieval speed.

[0057] This specification also provides a vertical take-off and landing unmanned aerial vehicle (UAV) system, including:

[0058] Flight propulsion module, used to provide flight propulsion;

[0059] The control module is used to control the overall flight of the UAV, including a flight parameter unit and a fault detection unit. The flight parameter unit records and measures the UAV's flight data, including flight altitude and flight speed data. The fault detection unit is used to detect whether the UAV is in a fault state.

[0060] The protective module is used to protect the drone's fuselage;

[0061] The remote control terminal is used to establish a signal connection with the control module, send commands to the control unit, and control the flight power module to change the flight state of the UAV.

[0062] When the fault detection unit determines that the drone is in a faulty state, it sends a signal to the protection module. The protection module switches from flight collision avoidance state to fall collision avoidance state. In flight collision avoidance state, the protection module establishes a collision avoidance ring around the drone; in fall collision avoidance state, the protection module establishes a sealed protective sphere around the drone.

[0063] In some optional embodiments, the protection module further includes:

[0064] Launching unit: Used to launch gravity balls from two directions of the drone;

[0065] Limiting unit: Normally open, used to limit the operation of the ejection unit;

[0066] Calculation unit: Captures drone flight data in real time and calculates the drone's crash time t based on the drone flight data;

[0067] Delay unit: Used to delay the start of the limit unit, wherein the delay unit stores a set value t. 设 Delayed start time T = t + t 设 When the timer reaches T, a signal is sent to the limit unit;

[0068] Tension detection unit: used to detect the final stable and constant tension values ​​F1 and F2 generated by the gravity ball after it is launched;

[0069] Comparison Unit: Stores a standard value M, which is the gravity of the gravity ball. It compares F1 and F2 with M to determine whether the drone is suspended in the air or crashes to the ground, and sends the determination result to the control module. Specifically, if at least one of F1≥M and F2≥M is true, the drone is determined to be suspended in the air; if neither F1≥M nor F2≥M is true, the drone is determined to have crashed to the ground.

[0070] The control module also includes a positioning unit, which is used to locate the position of the drone, receive the judgment result sent by the comparison unit, and send the drone position and the judgment result to the remote control unit;

[0071] The remote control unit receives and displays the drone's location and the determination result.

[0072] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in the details for the sake of brevity.

[0073] This invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV), comprising a fuselage (101), a control module installed inside the fuselage (101), the control module being electrically connected to a remote control terminal, multiple sets of spiral support brackets (102) mounted on the fuselage (101), propellers (103) respectively mounted on the spiral support brackets (102), and at least two sets of stabilizer wings (104) mounted on the side of the fuselage (101), characterized in that, A connecting shaft (105) is installed at the end of the balance wing (104). The connecting shaft (105) is rotatably connected to a first protective ring (201). Two sets of mounting cylinders (301) are fixedly installed on the first protective ring (201). The two sets of mounting cylinders (301) are located on the same diameter of the first protective ring (201). Two sets of second protective rings (202) are fixedly connected to the mounting cylinders (301). Movable protective rings (203) are installed on both sides of the second protective rings (202). The movable protective rings (203) have a direction towards the first protective ring (201). 1) The rotation trend is that a shrinkable cloth (205) is connected between the moving protective ring (203) and the second protective ring (202). The mounting cylinder (301) is provided with a mounting cavity (302). The mounting cavity (302) is also provided with a limiting component. The limiting component has at least one locking position and one clearance position. When the limiting component is in the locking position, the rotation trend of the moving protective ring (203) is suppressed. When the limiting component is in the clearance position, the movement trend of the moving protective ring (203) towards the first protective ring (201) is not suppressed, and the shrinkable cloth opens. The movable protective ring (203) is connected to a torsion shaft (206) at both ends. The end of the torsion shaft (206) is rotatably connected to the inner wall of the mounting cavity (302). A torsion spring (207) is sleeved on the torsion shaft (206). The torsion spring (207) causes the movable protective ring (203) to have a tendency to rotate toward the first protective ring (201). A mounting post is connected to the torsion shaft (206). A limit pin (305) is installed on the side of the mounting post. The limit component includes a clamping plate (307) installed in the mounting cavity (302). Limiting plates (308) are integrally formed at both ends of the clamping plate (307). The limit plates (308) restrict the movement of the limit pin (305). The mounting cylinder (301) is further provided with an ejection chamber (309), in which an ejection tube (310) is installed. The opening of the ejection tube (310) faces away from the body (101). An ejection spring (324) is installed inside the ejection tube (310). The ejection spring (324) is connected to a push plate (311). The push plate (311) abuts against a gravity ball (312). When the ejection spring (324) is compressed, the push plate (311) tends to eject the gravity ball (312). The gravity ball (312) is connected to a pull wire (318). A through hole (313) is opened on the side wall of the ejection tube (310). The pull wire (318) extends from the through hole (313) into the ejection chamber (309). A rotatable take-up roller (316) is installed in the ejection chamber (309). The pull line (318) is wound around the take-up roller (316). The take-up roller (316) is connected to a limit unit. A tension gauge (317) is fixedly connected to the end of the pull line (318). A push switch (304) is installed at the end of the mounting column. During the rotation of the moving protective ring (203) from the second protective ring (202) to the first protective ring (201), the two sets of opposing push switches (304) are triggered by mutual compression. The push switch (304) is electrically connected to the limit unit. The control module records the UAV's flight altitude in real time and calculates the UAV's fall time t based on the flight altitude. The limit unit is electrically connected to a delay unit. The delay unit is set with a delay time T, then T = t + ,in To set a value and eliminate the impact of collision time during the fall of the drone, after the switch (304) is pressed and triggered, the delay unit starts timing. After the delay time T, the limit unit releases the limit on the take-up roller (316), and the tension gauge (317) detects the tension of the pull line (318) and determines the position status of the drone.

2. The vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The card plate (307) is fixedly connected to an electric telescopic rod (323), which is fixedly installed on the inner wall of the mounting cavity (302). The electric telescopic rod (323) is electrically connected to the control module. When the control module detects an abnormal flight of the UAV, it controls the electric telescopic rod (323) to shorten, so that the card plate (307) moves from the locked position to the avoidance position.

3. A vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that, A retraction spring (322) is fixedly connected between the clamping plate (307) and the inner wall of the mounting cavity (302). The retraction spring (322) causes the clamping plate (307) to tend to move from the locked position to the avoidance position.

4. A vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The two sets of force gauges (317) respectively detect the tension data of the tension wires (318) they are connected to. , The force gauge (317) is electrically connected to a comparison unit, which contains a standard gravity M, which is the gravity of the gravity ball (312). If ≥M and If at least one of ≥M is true, the drone is determined to be suspended in the air, and further determination is made. ≥M and ≥M is determined if only one of the conditions is met. If so, the hovering height is determined to be lower than the length of the pull line (318). Otherwise, the hovering height of the drone is not determined. ≥M or If ≥M is not true, the drone is determined to have crashed. The judgment unit sends the judgment result to the control module, and the control module sends the drone's GPS location and the judgment result to the remote control terminal.

5. A vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The limiting unit includes mounting shafts (315) installed at both ends of the take-up roller (316). A mounting seat (314) is installed inside the ejection cavity (309). The mounting shaft (315) is installed on the mounting seat (314). One end of the mounting shaft (315) is connected to a limiting seat (319). A limiting hole is opened on the end face of the limiting seat (319). A telescopic limiting rod (320) is installed on the inner wall of the ejection cavity (309). The end of the telescopic limiting rod (320) is provided with a limiting post that matches the limiting hole. The limiting post is inserted into the limiting hole to restrict the rotation of the take-up roller (316).

6. A vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 5, characterized in that, The end of the mounting shaft (315) away from the limiting seat (319) extends to the outside of the ejection cavity (309), and a handle (321) is fixedly connected to the end of the mounting shaft (315) located outside the ejection cavity (309).

7. A vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) system, comprising the VTOL UAV as described in any one of claims 1-6, characterized in that, include: Flight propulsion module, used to provide flight propulsion; The control module is used to control the overall flight of the UAV, including a flight parameter unit and a fault detection unit. The flight parameter unit records and measures the UAV's flight data, including flight altitude and flight speed data. The fault detection unit is used to detect whether the UAV is in a fault state. The protective module is used to protect the drone's fuselage; The remote control terminal is used to establish a signal connection with the control module, send commands to the control unit, and control the flight power module to change the flight state of the UAV. When the fault detection unit determines that the drone is in a faulty state, it sends a signal to the protection module. The protection module switches from flight collision avoidance state to fall collision avoidance state. In flight collision avoidance state, the protection module establishes a collision avoidance ring around the drone; in fall collision avoidance state, the protection module establishes a sealed protective sphere around the drone.

8. A vertical takeoff and landing unmanned aerial vehicle system according to claim 7, characterized in that, The protection module also includes: Launching unit: Used to launch gravity balls from two directions of the drone; Limiting unit: Normally open, used to limit the operation of the ejection unit; Calculation unit: Captures drone flight data in real time and calculates the drone's crash time t based on the drone flight data; Delay unit: Used to delay the start of the limit unit, wherein the delay unit stores a set value. Delayed start time T = t + When the timer reaches T, a signal is sent to the limit unit; Tensile force detection unit: Used to detect the final stable tensile force generated by the gravity ball after it is launched. and ; Comparison unit: Stores a standard value M, where M is the gravity of the gravimetric sphere. Compared with M, determine whether the drone's landing point is suspended in the air or crashes to the ground, and send the determination result to the control module; where, if ≥M or If any one of the conditions ≥ M is met, then the drone is determined to be hovering. ≥M or If none of the conditions ≥ M are met, then the drone is determined to have crashed. The control module also includes a positioning unit, which is used to locate the position of the drone, receive the judgment result sent by the comparison unit, and send the drone position and the judgment result to the remote control unit; The remote control unit receives and displays the drone's location and the determination result.

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