A multi-rotor unmanned aerial vehicle platform deployment and retraction control method

Abstract

This invention relates to a multi-rotor unmanned aerial vehicle (UAV) platform deployment and retraction control method, belonging to the field of UAV technology, and solves the problems of low automation in folding and insufficient storage space in multi-rotor UAVs. The multi-rotor UAV platform deployment and retraction control method of this invention includes the steps of power preparation for the multi-rotor UAV platform system, synchronously deploying the arm components of the multi-rotor UAV platform, synchronously deploying the propellers of the multi-rotor UAV platform, and controlling the retraction and storage of the multi-rotor UAV platform after landing. This invention achieves three-dimensional deployment and retraction of a multi-rotor UAV platform with servo-controlled arm folding and unpowered propeller deployment and retraction, minimizing the storage space required for the UAV, and saving energy and achieving a high degree of automation during the deployment and retraction process.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method for controlling the deployment and retraction of a multi-rotor UAV platform. Background Technology

[0002] In recent years, drones have been widely used in various industries to complete tasks such as environmental monitoring, security surveillance, cargo handling, search and rescue, and emergency response. Drones often need to automatically complete a series of takeoffs, cruises, and landings in various mission scenarios. Among these, stable and safe flight, reliable landing, and effective storage and retrieval are all crucial aspects.

[0003] Among various types of drones, multi-rotor drones have more issues to consider in terms of structural design, landing safety, and proper storage, because the arms and propellers of multi-rotor drones themselves occupy a large space, the air disturbance during flight is large, the landing damping affects the positional accuracy, and the storage space is large.

[0004] In the existing technology, in order to reduce the overall storage space of multi-rotor drones, the arms of multi-rotor drones are designed to be folded manually, usually in the up and down direction. This often interferes with the folding of the propellers and cannot fully save storage space for the drone. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a multi-rotor unmanned aerial vehicle (UAV) platform deployment and retraction control method to solve the technical problems of low automation in folding and insufficient space saving after folding in the prior art.

[0006] This invention is achieved through the following technical solution:

[0007] A method for deploying and retracting a multi-rotor unmanned aerial vehicle (UAV) platform includes the following steps:

[0008] S1. Prepare the power supply for the multi-rotor unmanned aerial vehicle platform system;

[0009] S2. Synchronously deploy the arm components of the multi-rotor UAV platform;

[0010] S3. Synchronously deploy the propellers of the multi-rotor UAV platform:

[0011] S4. Control the folding and storage of the multi-rotor drone platform after landing.

[0012] Furthermore, S1 includes:

[0013] S11, charging of multi-rotor drone platform system;

[0014] S12. The ground control station sends a power-on command to the flight control center:

[0015] S13, the flight control center controls the battery pack to power on.

[0016] Furthermore, the S11 multi-rotor drone platform system includes a battery assembly; the battery assembly is charged via a charging power socket connection.

[0017] Furthermore, S2 includes:

[0018] S21, The servo motor receives the arm component deployment signal from the ground control station;

[0019] S22, the servo motor drives the arm components to deploy synchronously.

[0020] Furthermore, S21 includes thresholds for two extreme positions of the servo motor, one for retraction and one for extension.

[0021] Furthermore, S22 includes the steps of the servo output shaft driving the servo output rod to rotate relative to the fuselage body, the servo output rod driving the folding linkage to rotate, and the folding linkage driving the arm folding connector to rotate.

[0022] Furthermore, S3 includes:

[0023] S31. The ground control station sends a signal to start the rotary power source and deploy the propeller;

[0024] S32, The rotating power source drives the propeller deployment and retraction components to rotate, thereby driving the two propellers to deploy synchronously through centrifugal force.

[0025] Furthermore, S32 includes an electronic speed controller controlled by a flight control center, which drives a rotary power source to rotate, which in turn drives multiple pairs of propellers to rotate, and the propellers deploy simultaneously under centrifugal force.

[0026] Furthermore, S4 includes:

[0027] S41. The ground control station sends a signal to retract the propeller components;

[0028] S42, The ground control station sends a signal to retract the boom components;

[0029] S43, the ground control station monitors and controls the charging of the multi-rotor unmanned aerial vehicle platform system.

[0030] Furthermore, S41 includes: controlling the electronic speed governor to stop working, and the propeller reaching the retracted state through its own weight and the reaction force of the propeller swing torsion spring; S42 includes rotating the servo motor from the extreme point of the deployed position to the extreme point of the retracted position, thereby driving the retracting arm component to retract.

[0031] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0032] 1. The multi-rotor UAV platform deployment and retraction control method of the present invention can realize the function of simultaneous rotation and folding of four arms; based on this, through specific size design, the multi-rotor UAV platform deployment and retraction control method of the present invention can be applied to the folding of six-rotor, eight-rotor, or even more UAV arms, with wide applicability.

[0033] 2. The multi-rotor UAV platform deployment and retraction control method of the present invention can realize the horizontal rotation and folding of the arm components in the same direction as the fuselage components, avoiding spatial interference caused by the vertical deployment and retraction of the propeller components, realizing the deployment and retraction of the three-dimensional space of the multi-rotor UAV platform, and effectively improving the utilization rate of storage space; the multi-rotor UAV platform deployment and retraction control method of the present invention can also realize the rotation and folding of the arm components in any direction relative to the fuselage components.

[0034] 3. The multi-rotor UAV platform deployment and retraction control method of the present invention achieves automatic folding through a four-bar linkage mechanism composed of servo motors located inside the arm and fuselage. It has a simple structure and executes quickly.

[0035] 4. The multi-rotor UAV platform deployment and recovery control method of the present invention uses servo motors for both locking and unlocking, which is reliable and stable.

[0036] 5. The multi-rotor UAV platform deployment and retraction control method of the present invention can realize the installation of the propeller and the propeller deployment and retraction components at any angle; when the propeller is installed downward, the propeller 31 stops rotating and the propeller can be automatically retracted without power by gravity; when the rotating power source rotates, the propeller automatically unfolds by centrifugal force, saving energy.

[0037] 6. The multi-rotor drone platform deployment and folding control method of the present invention can realize that the deployment and folding of the two propellers are always synchronized, which is beneficial to maintaining the stability of the overall structure of the retractable multi-rotor drone during deployment and folding.

[0038] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0039] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0040] Figure 1 This is a block diagram of the multi-rotor unmanned aerial vehicle platform deployment and recovery control method of the present invention;

[0041] Figure 2 This is a schematic diagram of the control system structure of the multi-rotor unmanned aerial vehicle platform of the present invention;

[0042] Figure 3 This is a schematic diagram of the fuselage component structure involved in the present invention. Figure 1 ;

[0043] Figure 4 This is a schematic diagram of the fuselage component structure involved in the present invention. Figure 2 ;

[0044] Figure 5 This is a schematic diagram of the arm component structure involved in the present invention;

[0045] Figure 6 This is a schematic diagram of the overall structure of the propeller component involved in this invention;

[0046] Figure 7 for Figure 6 Sectional view along line AA;

[0047] Figure 8 This is a schematic diagram of the landing gear component structure involved in the present invention;

[0048] Figure 9 This is a schematic diagram of the landing gear connecting seat structure involved in the present invention;

[0049] Figure 10 This is a schematic diagram of the vertical rod connecting seat structure involved in the present invention;

[0050] Figure 11 This is a schematic diagram of the landing pole connecting seat structure involved in the present invention;

[0051] Figure 12 This is a schematic diagram showing the connection relationship between the fuselage body and the folding arm component involved in this invention;

[0052] Figure 13 This is a schematic diagram of the structure of the folding arm component involved in this invention in its unfolded state;

[0053] Figure 14 This is a schematic diagram of the folding arm component of the present invention in its retracted state. Figure 1 ;

[0054] Figure 15 This is a schematic diagram of the folding arm component of the present invention in its retracted state. Figure 2 ;

[0055] Figure 16 This is a schematic diagram of the propeller deployment and retraction component of the present invention in its deployed state;

[0056] Figure 17 This is a schematic diagram of the propeller retraction component of the present invention during the retraction process;

[0057] Figure 18 This is a schematic diagram of the propeller deployment and retraction component involved in the present invention;

[0058] Figure 19 This is a schematic diagram of the propeller power mounting disk structure involved in the present invention;

[0059] Figure 20 This is a schematic diagram of the boom clamp structure involved in this invention;

[0060] Figure 21 This is a schematic diagram of the flight state structure of the multi-rotor unmanned aerial vehicle platform of the present invention.

[0061] Figure label:

[0062] 1. Fuselage components; 11. Fuselage body; 111. Arm connecting part; 112. Power socket connecting part; 113. Landing gear connecting part; 114. Fuselage heat dissipation part; 115. Mounting platform on the upper edge of the fuselage; 12. Canopy; 13. Canopy locking assembly; 14. Canopy locking support ring; 2. Arm components; 21. First connecting part of the arm; 211. Arm heat dissipation part; 22. Arm connecting arm; 221. Arm antenna connecting part; 23. Second connecting part of the arm; 3. Propeller components; 31. 32. Propeller; 33. Rotary power source; 34. Electronic speed controller; 35. Propeller power mounting plate; 36. Mounting recess on mounting plate; 37. Mounting post on mounting plate; 48. Landing gear assembly; 41. Landing gear connecting seat; 411. Inner hole of connecting seat; 412. Connecting hole on connecting seat; 413. Connecting hole on connecting seat; 42. Landing gear vertical rod; 43. Landing rod; 431. Landing rod connecting seat; 4311. Four-way sleeve; 4312. Four-way connecting screw; 432. Landing rod plug; 44. Vertical rod connecting seat; 4411. Upper sleeve of vertical rod connecting seat; 4412. Lower sleeve of vertical rod connecting seat; 4421. Reinforcing sleeve of vertical rod connecting seat; 4422. Stiffening rib; 443. Vertical rod connecting screw; 45. Through screw of connecting seat; 5. Arm folding component; 51. Folding connector of fuselage; 52. Folding connector of arm; 53. Link-arm rotating hinge; 54. Connecting hinge; 55. Folding link; 56. Servo; 57. Servo output rod; 58. Servo mounting bracket; 59. 6. Servo disc rotating hinge; 6. Propeller retraction and extension assembly; 61. Connecting rod pin; 62. Propeller flapping torsion spring; 63. Propeller hub seat; 64. Propeller hub head; 65. Propeller connecting rod; 66. Propeller positioning post; 67. Propeller flapping pin; 68. Propeller positioning post sleeve; 7. Arm clamp; 71. Arm clamp mounting part; 72. Arm clamp fastening part; 721. Arm clamp clamping part; 100. Flight control center; 200. Ground control station; 300. Battery assembly; 400. Wireless link. Detailed Implementation

[0063] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0064] The following is combined with Figures 1-21 The technical solution of the present invention will be described in more detail below.

[0065] Example 1

[0066] A method for deployment and recovery control of a multi-rotor unmanned aerial vehicle (UAV) platform.

[0067] The multi-rotor unmanned aerial vehicle (UAV) platform deployment and retraction control method in this embodiment 1 involves the control process of controlling the multi-rotor UAV platform to start from the storage state and enter the flight state, and to return from the flight state to the storage state.

[0068] The multi-rotor unmanned aerial vehicle (UAV) platform system includes a multi-rotor UAV platform, a ground control station 100, a flight control center 200, a battery pack 300, and a wireless link 400. The flight control center 200 and battery pack 300 are located within the fuselage 11 of the multi-rotor UAV platform. The wireless link 400 is used for transmitting control data between the flight control center 200 and the ground control station 100. The fuselage 11 also houses avionics equipment supporting the flight of the multi-rotor UAV platform.

[0069] The wireless link 400 is a wireless link with a module and antenna structure at both ends. Specifically, the two ends of the wireless link 400 are a ground data link end and an airborne data link end. The ground data link end is located at the ground control station 100 and sends control information to the airborne data link end. The airborne data link end is located inside the fuselage 11 of the multi-rotor UAV platform and is connected to the flight control center 200. The airborne data link end sends flight status monitoring information of the multi-rotor UAV platform to the ground data link end.

[0070] The flight control center 200 can receive control signals from the ground control station 100 to control the avionics, battery pack 300, arm folding components 5, and propeller retraction and extension components of the multi-rotor UAV platform. Furthermore, the flight control center 200 can also receive control signals from the ground control station 100 to control the landing and storage processes of the multi-rotor UAV platform.

[0071] like Figure 1 As shown, the specific steps of the multi-rotor UAV platform deployment and recovery control method in Embodiment 1 are as follows:

[0072] S1. Prepare the power supply for the multi-rotor UAV platform system:

[0073] S11, Multi-rotor UAV platform system charging:

[0074] The multi-rotor drone platform is stored in a storage box on the ground facility. During storage, the battery pack 300 of the multi-rotor drone platform is charged via the power socket connection 112; the ground control station 100 can monitor the charging process of the battery pack 300 and automatically turn off the switch of the power socket connection 112 after the battery pack 300 is fully charged.

[0075] S12, Ground control station 100 sends a power-on command to flight control center 200:

[0076] When the battery pack 300 finishes charging and the multi-rotor UAV platform needs to take off, the ground control station 100 sends a command to the flight control center 200 via the wireless link 400 to enter flight mode and power on the battery pack 300.

[0077] Specifically, the ground end of the data link on the ground control station 100 transmits control signals, and the airborne end of the data link receives the control signals and transmits them to the flight control center 200 inside the fuselage 11.

[0078] S13, Flight Control Center 200 controls the power-on of Battery Component 300.

[0079] S2. The arm component 2 of the control multi-rotor UAV platform deploys synchronously:

[0080] S21, servo motor 56 receives the arm component 2 deployment signal from ground control station 100:

[0081] In the stowed state, the four arm components 2 of this embodiment 1 surround the body component 1 and are securely positioned by the arm clamps 7.

[0082] Once the ground control station 100 receives a feedback signal that the battery assembly 300 has been powered on, it sends a signal to the airborne end of the data link via the ground end of the data link to indicate that the arm component 2 has deployed.

[0083] The flight control center 200 receives a signal from the airborne arm component 2 of the data link to extend, and then controls the servo motor 56 to start moving.

[0084] Among them, the servo motor 56 has a preset position threshold, and the two endpoint positions correspond to the two extreme positions of the arm component 2 retracting and unfolding relative to the fuselage component 1, respectively.

[0085] After the servo motor 56 is activated, it rotates from the retracted position to the extended position.

[0086] S22 and servo motor 56 drive arm component 2 to deploy synchronously:

[0087] When the servo motor 56 rotates, the output shaft of the servo motor 56 drives the servo motor output rod 57 (second link) to rotate relative to the fuselage body 11 (first link), thereby activating the fourth link to begin displacement. Specifically, through the continuous movement of the servo motor output rod 57 → folding link 55 → arm folding connector 52 (fourth link), the arm component 2, which is the fourth link, deflects relative to the fuselage component 1, which is the first link, until the servo motor 56 rotates to the limit point of the unfolded position, realizing the unfolding of the arm component 2 relative to the fuselage component 1, that is, the arm component 2 rotates from the tangential direction surrounding the fuselage body 11 to the radial direction of the fuselage body 11.

[0088] In this embodiment 1, the flight control center 200 simultaneously controls the four servos 56 of the four arm folding components 5, so that the four arm components 2, which are evenly distributed around the fuselage body 11, rotate synchronously to the open position, thus ensuring the structural stability of the multi-rotor UAV platform.

[0089] S3, the propellers 31 of the control multi-rotor UAV platform deploy synchronously:

[0090] S31, Ground control station 100 sends a signal to start the rotary power source 32 and deploy the propeller 31:

[0091] When the servo motor 56 rotates to the unfolded position, the corresponding arm folding component 5 drives the arm component 2 to unfold into place. At this time, the flight control center 200 sends a signal to the ground control station 100 via the wireless link 400 indicating that the arm component 2 has been unfolded into place. The ground control station 100 then sends a signal to initiate the unfolding of the propeller component 3.

[0092] S32, the rotary power source 32 drives the propeller deployment and retraction component 6 to rotate, which in turn drives the two propellers 31 to deploy synchronously through centrifugal force:

[0093] The flight control center 200 receives a signal to initiate the deployment of the propeller assembly 3 via the wireless link 400. The flight control center 200 then controls the electronic speed controller 33 to drive the brushless motor of the rotary power source 32 to rotate at the rated speed. The two propellers 31 begin to rotate under the drive of the output shaft of the rotary power source 32. Under the action of centrifugal force, the rotating propellers 31 simultaneously retract from their fully retracted state (e.g., Figure 2 (as shown), gradually open (as shown) Figure 17 ) until fully unfolded (e.g. Figure 21 and Figure 16 As shown, the propellers 31 of the multi-rotor drone platform unfold, enabling the multi-rotor drone platform to gain lift for flight.

[0094] During this process, the flight control center 200 synchronously controls the electronic speed controllers 33 of the four propeller components 3, so that the four pairs of propellers 31 of the multi-rotor UAV platform open synchronously. This is beneficial to maintaining the overall structural stability of the multi-rotor UAV platform during the propeller 31 opening process and the smoothness of the takeoff process.

[0095] S4. Control the multi-rotor drone platform to retract and enter the storage state after landing:

[0096] S41, Ground control station 100 sends a signal to retract propeller component 3:

[0097] After the multi-rotor UAV platform completes its flight mission and lands on the landing platform, the flight control center 200 sends a landing signal to the ground control station 100 via wireless link 400. The ground control station 100 then sends a signal to the flight control center 200 via wireless link 400 to retract the propeller components 3.

[0098] After receiving the signal from the retractable propeller component 3 via the wireless link 400, the flight control center 200 controls the electronic speed controller 33 to stop working, the brushless motor of the rotating power source 32 loses power and stops rotating, and the propeller 31 loses the power to rotate. Under the action of the propeller 31's own weight and the reaction force of the propeller flapping torsion spring 62, each pair of propellers 31 quickly and synchronously stops rotating, droops, and stands upright around the fuselage body 11, achieving the retractable state.

[0099] S42, Ground control station 100 sends a signal to retract arm component 2:

[0100] The signal for the electronic speed controller 33 to stop is transmitted from the flight control center 200 to the ground control station 100. The ground control station 100 then transmits the signal for the retractable arm component 2 to the flight control center 200 via the wireless link 400.

[0101] According to the signal from the ground control station 100 to retract the arm component 2, the flight control center 200 executes the opposite action of S212. That is, the flight control center 200 controls the servo motor 56 to rotate from the extreme point of the deployed position to the extreme point of the retracted position, so as to complete the retraction of the arm component 2 relative to the fuselage component 1. In other words, the arm component 2 rotates from the radial direction of the fuselage body 11 to the tangential direction of covering the fuselage body 11, and retracts to cover the periphery of the fuselage body 11.

[0102] S43, Ground Control Station 100 controls and monitors the charging of the multi-rotor UAV platform system:

[0103] After the ground control station 100 controls the multi-rotor drone platform to land and be stored, the multi-rotor drone platform is charged in the storage facility through the power socket connection part 112. The ground control station 100 monitors the charging process of the multi-rotor drone platform system and automatically turns off the switch of the power socket connection part 112 after the battery pack 300 is fully charged.

[0104] The multi-rotor UAV platform deployment and retraction control method of this embodiment 1 can be used for the deployment and retraction process of quadcopter, hexacopter, and even octcopter arms.

[0105] The multi-rotor UAV platform deployment and retraction control method in Embodiment 1 enables the arm components 2 to adopt a uniform orientation and rotate and fold horizontally toward the fuselage component 1, avoiding spatial interference caused by the vertical deployment and retraction of the propeller component 3. This achieves the deployment and retraction of the multi-rotor UAV platform in three-dimensional space and effectively improves the utilization rate of storage space.

[0106] The multi-rotor UAV platform deployment and retraction control method of this embodiment 1 can control the four-bar linkage composed of servo motors 56 inside the fuselage body 11 to achieve automatic folding, and can achieve stable and reliable arm locking and unlocking.

[0107] The multi-rotor UAV platform deployment and retraction control method of this embodiment 1 can control the propeller to deploy by centrifugal force and retract by its own weight, thus saving energy while achieving the function.

[0108] Example 2

[0109] A multi-rotor unmanned aerial vehicle (UAV) platform.

[0110] The multi-rotor UAV platform in this embodiment 2 is the main component for implementing the multi-rotor UAV platform deployment and recovery control method in embodiment 1.

[0111] The following is combined with Figures 2-21 The technical solution of the multi-rotor unmanned aerial vehicle platform in Example 2 is introduced as follows:

[0112] This embodiment 2 is a multi-rotor UAV platform with four arm components 2 and a landing gear component 4 having an "X"-shaped landing stick 43. Furthermore, when the multi-rotor UAV platform is landing or hovering, the landing stick 43 is positioned downwards, and the top of the fuselage component 1 is positioned upwards.

[0113] like Figure 21 and Figure 2 As shown, the multi-rotor UAV platform deployment and retraction control method of this embodiment 2 includes fuselage component 1, arm component 2, propeller component 3, landing gear component 4, arm folding component 5, and propeller retraction and extension component 6.

[0114] The second end of the arm component 2 is hinged to the side of the body component 1 via the arm folding component 5; multiple arm components 2 are evenly distributed in the horizontal plane to surround or unfold the side of the body component 1.

[0115] The propeller component 3 is movably connected to the first end of the arm component 2 via the propeller retraction component 6. The propeller component 3 retracts or extends relative to the fuselage component 1 in the vertical plane.

[0116] The landing gear component 4 is connected to the lower end face of the fuselage component 1.

[0117] When the multi-rotor UAV platform completes its flight mission and needs to land and retract for storage, the arm components 2, driven by the servo motor 56, rotate in the same direction on the same horizontal plane, surrounding the fuselage component 1 and securely positioned by the arm clamps 7; simultaneously, the propeller components 3 connected to the first end of each arm component 2 automatically fall and retract under their own weight after losing power. Figure 21 The flight usage status shown is converted to Figure 2 The image shows the folded and stored state.

[0118] Each specific structure is described below:

[0119] like Figure 3 As shown, the fuselage component 1 of this embodiment 2 includes a fuselage body 11, a cover 12, a cover locking assembly 13, and a cover locking support ring 14.

[0120] Specifically, the fuselage body 11 is a shell with an opening at the top, and an upper edge structure is provided at the opening of the shell; the upper edge structure of the fuselage body 11 is specifically a ring platform, and four upper edge mounting platforms 115 are evenly distributed on the ring platform (e.g., Figure 12 As shown), the four mounting platforms 115 along the upper edge of the fuselage body increase the contact surface area to secure the hood locking assembly 13. These platforms can increase the local structural strength of the fuselage body 11 and reduce the effect of locking force on the fuselage body 11.

[0121] The hood locking support ring 14 is a circular structure and is set on the upper edge structure of the fuselage body 11.

[0122] The cover 12 is fastened onto the cover locking support ring 14, completely covering the upper opening of the fuselage body 11. The cover locking assembly 13 passes through the cover 12, the cover locking support ring 14 and the fuselage body 11 in sequence, locking the cover 12 onto the fuselage body 11.

[0123] The hood locking assembly 13 includes a locking lever and a self-locking structure. The locking lever can be stably locked or unlocked by horizontal rotation, thereby locking or unlocking the hood 12 relative to the body 11.

[0124] The open-shell structure of the fuselage body 11 can help reduce the flight air damping of the multi-rotor UAV platform deployment and retraction control method of the present invention, and enhance the flight aerodynamics of the multi-rotor UAV platform deployment and retraction control method of the present invention.

[0125] like Figure 3 and Figure 4 As shown, the fuselage body 11 includes an arm connecting part 111, a power socket connecting part 112, a landing gear connecting part 113, and a fuselage heat dissipation part 114.

[0126] Specifically, four arm connecting parts 111 are evenly distributed around the upper circumference of the fuselage body 11, used to connect the arm folding parts 5 to hinge the arm parts 2. The four arm connecting parts 111 are located on mutually perpendicular diameter lines of the fuselage body 11 and are convex cylindrical structures.

[0127] like Figure 3 and Figure 4 As shown, the lower end of the fuselage body 11 is provided with four circumferentially distributed landing gear connection parts 113, specifically located on the bottom end face of the fuselage body 11 and protruding outward from the side periphery of the fuselage body 11, located on the diameter lines perpendicular to each other on the fuselage body 11.

[0128] Preferably, the four arm connecting parts 111 and the four landing gear connecting parts 113 are correspondingly arranged at the midpoint of two mutually perpendicular axes. This arrangement allows the center of mass of the dispersed arm components 2 during the flight and landing of the multi-rotor UAV platform to directly act on the landing stick 43 through the fuselage body 11 and the landing gear vertical rod 42 of the landing gear component 4, thus stabilizing the landing process and the final stowage state.

[0129] Preferably, the landing gear strut 42 is made of Kevlar fiber. Kevlar fiber has electromagnetic wave penetration properties, which allows the internal space of the landing gear strut 42 to accommodate avionics equipment or communication antennas for the payload, and allows for the efficient use of equipment space for cable routing.

[0130] like Figure 4 As shown, the main body 11 is also provided with a power socket connection part 112, which is located on the bottom end face of the main body 11 and is a boss structure that protrudes outward to the side of the main body 11.

[0131] The fuselage 11 has a power supply inside. When the multi-rotor UAV platform deployment and retraction control method of the present invention finishes its flight mission and is stored, it can be charged in the stored state through the power socket connection part 112.

[0132] In addition, the fuselage 11 also houses the flight control center 200, battery pack 300, and avionics equipment. These devices all generate heat, causing abnormal temperatures inside the fuselage 11.

[0133] like Figure 2 and Figure 4 As shown, preferably, heat dissipation sections 114 are provided on the side periphery of the main body 11 near the power socket connection portion 112 and on the opposite side in the diameter direction. The heat dissipation sections 114 are grouped honeycomb-shaped hollow structures. The paired heat dissipation sections 114 can form a smooth heat dissipation structure inside the main body 11.

[0134] like Figure 5 As shown, the arm component 2 of Embodiment 2 of this city includes an integrally formed first connecting part 21, a connecting arm 22 and a second connecting part 23 arranged sequentially.

[0135] Specifically, the arm component 2 is an internally through shell structure, and the first connecting part 21 of the arm is a bowl-shaped structure used to install the propeller component 3.

[0136] The second connecting part 23 of the arm has a cylindrical cross-section, and the connecting arm 22 is a variable cross-section irregular shell structure. The second connecting part 23 and the connecting arm 22 are smoothly connected; the arm component 2 is internally connected. The variable cross-section irregular structure of the connecting arm 22 can effectively increase the structural strength of the thin-shell arm component 2, which is beneficial to reducing the aerodynamic damping of the multi-rotor UAV platform.

[0137] The second connecting part 23 of the arm with a cylindrical cross-section is used to connect the arm folding component 5, the arm connecting arm 22 is used for various cables to pass through, and the first connecting part 21 of the arm is used to connect the propeller component 3.

[0138] Preferably, an arm antenna connector 221 is provided on the arm connecting arm 22 for connecting a GPS positioning antenna to ensure that the bottom control base station receives the position signal from the multi-rotor UAV platform's deployment and retraction control method. Preferably, the arm antenna connector 221 is located on the upper part of the arm connecting arm 22 in flight mode.

[0139] Preferably, the housing of the first connecting part 21 of the arm is provided with a plurality of arm heat dissipation parts 211 to dissipate heat from the propeller component 3 and other avionics equipment installed on the first connecting part 21 of the arm.

[0140] like Figure 6 and Figure 7 As shown, the propeller component 3 in this embodiment 2 includes a propeller 31, a rotary power source 32, an electronic speed controller 33, and a propeller power mounting plate 34.

[0141] This embodiment 2 includes two propellers 31 that are positioned horizontally at 180° in flight mode and suspended parallel to each other in vertical direction in retracted mode. The propeller power mounting plate 34 is installed at the bowl-shaped opening of the first connecting part 21 of the arm.

[0142] like Figure 17 As shown, the propeller power mounting plate 34 is a disc-shaped structure with a hollow structure, which can effectively reduce weight.

[0143] like Figure 19 As shown, preferably, the upper part of the propeller power mounting plate 34 is provided with a mounting hole 341 with a local ball-and-socket structure. By covering the mounting surface of the lower end of the rotating power source 32 with the mounting hole 341, the rotating power source 32 can be stably installed, so that the rotating propeller 31 does not generate concentrated stress on the thin-shell arm component 2 during rotation.

[0144] Preferably, the propeller power mounting disk 34 has a mounting disk reinforcing rib in the middle of its disk-shaped structure, and the mounting disk reinforcing rib has multiple mounting structures, including the mounting disk lower mounting column 342, for connecting avionics equipment, including the electronic speed governor 33.

[0145] In this preferred embodiment, the rotary power source 32 is a brushless motor, and the mounting recess 341 on the mounting plate is designed to match the structure of the brushless motor.

[0146] The electronic speed controller 33 receives instructions from the flight control center 200, driving the brushless motor of the rotary power source 32 to rotate at the rated speed. The propeller 31, driven by the output shaft of the rotary power source 32, begins to rotate and, under the action of centrifugal force, moves from a fully retracted position (e.g., ...). Figure 2 (as shown), gradually open (as shown) Figure 17 ) until fully unfolded (e.g. Figure 21 and Figure 16 The state shown enables the multi-rotor UAV platform's deployment and retraction control method to obtain flight lift.

[0147] The propeller retraction and deployment component 6 is mounted on the output shaft of the rotary power source 32, and the electronic speed controller 33 is mounted inside the bowl-shaped structure of the first connecting part 21 of the arm; the rotary power source 32 is mounted at the opening of the bowl-shaped structure of the first connecting part 21 of the arm. Two propellers 31 are connected to both sides of the propeller retraction and deployment component 6.

[0148] like Figure 2 As shown, when the rotating power source 32 is not outputting power, the two propellers 31 are suspended in parallel in the vertical direction by their own weight.

[0149] like Figure 21 As shown, when the rotating power source 32 is in power output mode, the two propellers 31 are rapidly deployed by centrifugal force through the propeller deployment and retraction component 6 and begin to rotate.

[0150] like Figure 8 As shown, the landing gear component 4 in this embodiment 2 is used as the main structure to support the multi-rotor UAV platform deployment and retraction control method during landing and storage.

[0151] Specifically, landing gear component 4 includes landing gear connecting seat 41, landing gear vertical rod 42, landing rod 43, and vertical rod connecting seat 44. This embodiment 2 includes a landing gear with four landing rods 43 vertically connected to form an "X" shape.

[0152] like Figure 8 As shown, specifically, the landing gear connecting seat 41 is a sleeve structure, provided with a connecting seat inner hole 411 for limiting the connection of the landing gear vertical rod 42, and the upper end face of the connecting seat inner hole 411 limits the upper end face of the landing gear vertical rod 42. The upper connecting surface of the landing gear connecting seat 41 is provided with a connecting seat upper connecting hole 412, and the lower connecting surface of the landing gear connecting seat 41 is provided with a connecting seat lower connecting hole 413.

[0153] In the installed state, the landing gear connecting seat 41 is located inside the fuselage body 11, and is specifically connected to the inner end face of the landing gear connecting part 113 through the connecting hole 413 below the connecting seat.

[0154] like Figure 8 and Figure 9 As shown, the landing gear vertical rod 42 is inserted into the landing gear connecting part 113 through the hollow structure of the landing gear connecting part 113, and then installed into the inner hole 411 of the connecting seat. The landing gear connecting seat body and the landing gear vertical rod 42 are connected by the connecting seat through screw 45.

[0155] Preferably, the connecting surfaces on the four landing gear connecting seats 41 form a mounting surface inside the fuselage body 11, and can be positioned and connected to the flight control center or avionics equipment through the connecting holes 412 on the connecting seats.

[0156] The upper end of the landing gear vertical rod 42 is connected to the fuselage body 11 via the landing gear connecting seat 41, and the lower end of the landing gear vertical rod 42 is connected to the landing stick 43 via the vertical rod connecting seat 44.

[0157] like Figure 10 As shown, the vertical rod connecting seat 44 includes a vertical rod connecting seat sleeve and a vertical rod connecting seat reinforcement. The vertical rod connecting seat sleeve includes an integrally formed upper vertical rod connecting seat sleeve 4411 and a lower vertical rod connecting seat sleeve 4412. The lower end of the landing gear vertical rod 42 is sleeved on the outside of the upper vertical rod connecting seat sleeve 4411. A vertical rod connecting screw 443 passes through the landing gear vertical rod 42 and the upper vertical rod connecting seat sleeve 4411, securing the landing gear vertical rod 42 and the vertical rod connecting seat sleeve together. The lower surface of the lower vertical rod connecting seat sleeve 4412 is designed as an inner cylinder and is connected to the lower landing rod 43 by welding or other fixing methods.

[0158] like Figure 11As shown in the preferred embodiment 2, a vertical rod connecting seat reinforcement is provided inside the steel pipe of the landing rod 43 at the connection between the lower sleeve 4412 of the vertical rod connecting seat and the landing rod 43. The vertical rod connecting seat reinforcement includes a vertical rod connecting seat reinforcement sleeve 4421 and a reinforcement rib 4422. The vertical rod connecting seat reinforcement sleeve 4421 is a section of steel pipe, fixedly sleeved inside the steel pipe of the landing rod 43, and the reinforcement rib 4422 is a support block, supporting the vertical rod connecting seat reinforcement sleeve 4421 radially. This design can effectively strengthen the support strength of the landing rod 43 on the landing gear vertical rod 42, thereby effectively increasing the effective payload of the multi-rotor UAV platform deployment and recovery control method of the present invention.

[0159] like Figure 8 As shown, this embodiment 2 includes a landing gear consisting of four landing bars 43 vertically connected to form an "X" shape.

[0160] The four landing poles 43 are connected into a whole by the landing pole connector 431 located in the center.

[0161] like Figure 13 As shown, the landing rod connecting seat 431 is a four-way sleeve 4311 integrally formed by welding four straight steel pipes together with upper and lower reinforcing plates. The four landing rods 43 are inserted into the four-way sleeve 4311 from four mutually opposing directions and secured to the four-way sleeve 4311 with four-way connecting screws 4312. This structure maintains the structural strength of the four-way sleeve 4311 and the integration of the "X-shaped" landing gear structure, ensuring stable landing support for the multi-rotor UAV platform deployment and retraction control method in Embodiment 2.

[0162] like Figure 20 As shown, the multi-rotor unmanned aerial vehicle platform deployment and retraction control method of the present invention also includes an arm clamp 7.

[0163] Specifically, the boom clamp 7 includes a boom clamp mounting part 71 and a boom clamp securing part 72, which are set at an angle.

[0164] The outer side of the boom clamp mounting part 71 is provided with an inner arc-shaped surface, which is used to shape and match the outer surface of the boom connecting part 111, so as to facilitate the fixing of the boom clamp 7 to the boom connecting part 111.

[0165] The arm clamp fastening part 72 is provided with a slot structure, which makes it easy for the arm component 2, which is hinged to the adjacent arm connection part 111, to be retracted to the side of the body component 1, so that the end of the arm connecting arm 22 near the first arm connection part 21 can be just locked into the slot structure of the arm clamp fastening part 72.

[0166] Preferably, the arm clamp 7 is made of engineering plastic with elastic properties. On the one hand, it ensures that the arm clamp 7 has a certain structural strength to ensure stable clamping of the arm component 2. On the other hand, it ensures that the arm clamp 7 has good processing characteristics and can be processed into complex shapes of the arm connecting part 111 and the arm connecting arm 22. In addition, due to its elasticity, it is easy for the arm connecting arm 22 to be inserted or removed.

[0167] like Figure 20 As shown, in a further preferred embodiment, the two ends of the slot structure of the boom clamp securing part 72 are provided with boom clamp clamping parts 721. The boom clamp clamping part 721 specifically consists of two opposing protrusions, the distance between which is slightly less than the maximum physical size of the boom connecting arm 22 into which it is clamped, so that the opening can be closed after clamping, making it difficult for the boom connecting arm 22 to come out.

[0168] Example 3

[0169] A folding device for the arm of a multi-rotor drone.

[0170] The multi-rotor UAV arm folding device in Embodiment 3 is the arm folding component 5 that performs synchronous extension and retraction of the arm component 2 of the multi-rotor UAV platform in Embodiment 1. It is used to hinge the arm component 2 to the fuselage component 1, and to realize the extension and retraction of the arm component 2 around the fuselage component 1 through a four-bar linkage structure.

[0171] like Figure 12 , Figure 13 and Figure 14 As shown, the arm folding component 5 (multi-rotor UAV arm folding device) includes a fuselage folding connector 51, an arm folding connector 52, a folding link 55, a servo output rod 57, a servo 56, and a servo mounting bracket 58.

[0172] like Figure 12 As shown, the servo motor 56 is connected to the first end of the servo motor mounting bracket 58 and is fixedly installed in the inner cavity of the fuselage body 11 through the servo motor mounting bracket 58; the second end of the servo motor mounting bracket 58 is connected to the first end of the fuselage folding connector 51.

[0173] like Figure 13 and Figure 14 As shown, both the fuselage folding connector 51 and the arm folding connector 52 are hollow cylindrical structures, so that they can be matched and connected to the arm connecting part 111 and the second arm connecting part 23, which have the same shape, respectively.

[0174] Preferably, the cylinders of the fuselage folding connector 51 and the arm folding connector 52 are provided with busbar reinforcing ribs; the busbar reinforcing ribs are provided with multiple evenly distributed reinforcing bosses for connecting fasteners, so as to support the external thin-walled structure with a small contact area, and while ensuring connection reliability, minimize contact with the external thin shell, and not transmit the external force to the external arm connecting part 111 and the second arm connecting part 23.

[0175] Preferably, the cylindrical interior of the fuselage folding connector 51 and the arm folding connector 52 is provided with chordal reinforcing ribs to enhance the rigidity of the fuselage folding connector 51 and the arm folding connector 52 themselves, or to connect the rotary hinge.

[0176] The fuselage folding connector 51 and the arm folding connector 52 are hinged together by a connector rotation hinge 54. The fuselage folding connector 51 and the arm folding connector 52 rotate around the connector rotation hinge 54, thereby realizing the rotation of the arm component 2 relative to the fuselage component 1.

[0177] like Figure 3 and Figure 12 As shown, the fuselage folding connector 51 is inserted into the arm connecting part 111 and connected by screws. Preferably, the connection of the arm clamp 7 to the fuselage folding connector 51 and the arm connecting part 111 is performed simultaneously.

[0178] Servo motor 56, servo motor mounting bracket 58 and fuselage folding connector 51 are connected to fuselage body 11, and together with fuselage body 11, they form the first link in the four-bar linkage of the multi-rotor UAV arm folding device (i.e., arm folding component 5).

[0179] like Figure 15 As shown, the arm folding connector 52 is inserted into the second arm connecting part 23. The arm folding connector 52 is fixed to the second arm connecting part 23 by fasteners at the reinforcing boss on the busbar reinforcing rib, forming the fourth link in the four-bar linkage of the multi-rotor UAV arm folding device (that is, the arm folding component 5).

[0180] The second link in the four-bar linkage of the multi-rotor UAV arm folding device is a servo output rod 57. The servo output rod 57 is hinged to the first link via the output shaft of the servo 56. The position threshold of the servo 56 is preset in advance, and the two end positions correspond to the two extreme positions of the arm component 2 relative to the fuselage component 1 when it is unfolded and retracted.

[0181] The third link in the four-bar linkage of the multi-rotor UAV arm folding device is the folding link 55. The first end of the folding link 55 is hinged to the servo output rod 57 via the servo disk rotation hinge 59, and the second end of the folding link 55 is hinged to the fourth link in the four-bar linkage of the multi-rotor UAV arm folding device via the link-arm rotation hinge 53.

[0182] When the flight control center 200 sends a folding or unfolding command to the servo 56, the servo 56 rotates, and the output shaft of the servo 56 drives the servo output rod 57 (second link) to rotate relative to the fuselage body 11 (first link), thereby activating the fourth link to begin displacement. Through the continuous movement of the servo output rod 57 → folding link 55 → arm folding connector 52 (fourth link), the arm component 2, which is the fourth link, deflects relative to the fuselage component 1, which is the first link, thus realizing the unfolding and retraction of the arm component 2 relative to the fuselage component 1.

[0183] In addition to enabling the arm component 2 to rotate and fold horizontally toward the fuselage body 11 as in Embodiment 3, the multi-rotor UAV arm folding device of the present invention can also enable the arm component 2 to rotate and fold vertically toward the fuselage body 11 or any other angular direction. This can be achieved simply by changing the installation angle between the multi-rotor UAV arm folding device and the arm component 2.

[0184] Example 4

[0185] A propeller deployment and recovery device for a multi-rotor unmanned aerial vehicle.

[0186] The propeller retraction and extension device of the multi-rotor UAV in Embodiment 4 is the propeller retraction and extension component 6 that performs synchronous retraction and extension of the propeller component 3 of the multi-rotor UAV platform in Embodiment 1. It is used to hinge the propeller component 3 to the first connecting part 21 of the arm component 2, so as to realize the function of the propeller 31 stopping and retracting in the vertical direction when the multi-rotor UAV is grounded and the propeller 31 flattening and rotating in the horizontal direction when the multi-rotor UAV is flying.

[0187] like Figure 16 , Figure 17 and Figure 18 As shown, the propeller retraction component 6 (multi-rotor UAV propeller retraction device) includes a hub seat 63, a hub head 64, a propeller connecting rod 65, a propeller positioning sleeve 68, and a propeller positioning post 66.

[0188] Figure 18 As shown, the central hole of the propeller hub 63 is used for the output shaft of the rotary power source 32, and the propeller hub 63 is connected to the rotary power source 32 through the peripheral mounting holes. A propeller hub head 64 is hinged to each side of the propeller hub 63 via a propeller flapping pin 67.

[0189] The hub head 64 is a housing with an opening on the side. The hub head 64 is provided with a propeller mounting hole and a first hinge seat for the propeller connecting rod. The propeller mounting hole is used to fix the propeller 31, and the first hinge seat for the propeller connecting rod is used to hinge the first end of the propeller connecting rod 65 through the connecting rod pin 61.

[0190] like Figure 18As shown, preferably, the propeller hub head 64 is located inside the propeller hub seat 63 and is hinged by the propeller flapping pin 67. A propeller flapping torsion spring 62 is provided in the middle of the propeller flapping pin 67, and the two ends of the propeller flapping torsion spring 62 are limited and connected to the propeller hub seat 63 and the propeller hub head 64. In the unpowered state, the propeller flapping torsion spring 62 and the gravity of the propeller 31 work together to drive the propeller hub heads 64 on both sides to rotate vertically and be set perpendicular to the propeller hub seat 63. That is, it drives the two propellers 31 connected to the propeller hub head 64 to stand parallel and vertically to the side of the fuselage component 1, realizing the unpowered retraction of the propellers 31.

[0191] like Figure 16 , Figure 17 and Figure 18 As shown, the propeller positioning post 66 is fixedly connected inside the output shaft of the rotary power source 32, and the propeller positioning sleeve 68 is slidably connected to the propeller positioning post 66.

[0192] Specifically, the propeller positioning sleeve 68 includes a central shaft hole for the propeller positioning sleeve and a pair of hinge holes on the side of the propeller positioning sleeve.

[0193] The central shaft hole of the propeller positioning sleeve is fitted onto the propeller positioning post 66, and the propeller positioning sleeve 68 can slide up and down along the propeller positioning post 66.

[0194] The propeller positioning sleeve 68 is actually a propeller connecting rod connecting seat, which is used to hinge one propeller connecting rod 65 at each end, so as to drive the second end of the propeller connecting rod 65 to move up and down along the propeller positioning post 66 together, so as to achieve the purpose of driving the two propellers 31 to retract and extend synchronously.

[0195] Specifically, the propeller positioning sleeve hinge hole of the propeller positioning sleeve 68 is used to hinge the second end of the propeller connecting rod 65. The second end of the propeller connecting rod 65 can be hinged at the propeller positioning sleeve hinge hole using the connecting rod pin 61, so that the hinge structure at both ends of the propeller connecting rod 65 is consistent.

[0196] In the absence of power, the propeller 31 of this embodiment 4, under the action of its own weight and the propeller swing torsion spring 62, stands vertically on the propeller hub seat 63 following the hub head 64, and stands sideways on the side of the fuselage component 1, thus realizing the unpowered retraction of the propeller 31.

[0197] Upon receiving instructions from the flight control center 200, the electronic speed controller 33 of the motor initiates a rotation of the brushless motor of the rotary power source 32 at its rated speed. The output shaft of the rotary power source 32 drives the propeller positioning sleeve 68 to rotate. The propeller positioning sleeve 68, through the propeller connecting rod 65, drives the propeller 31 to begin rotating. As the rotational speed of the propeller 31 increases, centrifugal force overcomes the force of the propeller flapping torsion spring 62, and the propeller 31 begins to rotate from... Figure 2 The state of being gathered together gradually transitions towards a flattened state (e.g.) Figure 16As shown), until fully unfolded (as shown). Figure 21 and Figure 17 The state shown enables the multi-rotor UAV platform's deployment and retraction control method to obtain flight lift.

[0198] The automatic propeller deployment and retraction device of this embodiment 4 can realize the folding of a propeller with two blades. The unfolding of the propeller 31 is achieved by the centrifugal force generated by the rotation of the propeller shaft, and the retraction is achieved by the weight of the propeller 31 and the reaction force of the propeller swing torsion spring 62, thus saving energy.

[0199] The automatic propeller deployment and folding device of this embodiment 4 can ensure that the deployment and folding of the two propellers are always synchronized, which is beneficial to maintaining the stability of the overall structure of the retractable multi-rotor drone during flight and storage.

[0200] The automatic propeller deployment and retraction device for the UAV in this embodiment 4 enables the propeller 31 and the entire power unit, including the rotating shaft, to be installed at any angle. Preferably, the propeller 31 is installed facing downwards, so that when the propeller 31 stops rotating, it can automatically fold by gravity, and when the rotating power source 32 rotates, the propeller 31 automatically unfolds.

[0201] The automatic propeller deployment and retraction device for UAVs in Embodiment 4 can be applied to motor drive systems or to any type of mechanical drive, making it widely applicable.

[0202] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Furthermore, any equipment equipped with this device to expand its application field and produce combined technical effects falls within the scope of protection of this invention.

Claims

1. A method for deploying and retracting a multi-rotor unmanned aerial vehicle (UAV) platform, characterized in that, Includes the following steps: S1. Prepare the power supply for the multi-rotor unmanned aerial vehicle platform system; S2. The arm components (2) of the control multi-rotor UAV platform are deployed synchronously: S21, the servo motor (56) receives the arm component (2) deployment signal from the ground control station (100); S22, The servo motor (56) drives the arm component (2) to unfold synchronously: The arm component (2) is an internally through shell structure. The arm folding component (5) drives the arm component (2) to unfold into place. The arm folding component (5) is a four-bar linkage composed of the servo motor (56) located inside the arm component (2) and the fuselage component (1). The arm folding component (5) includes the fuselage folding connector (51), the arm folding connector (52), the folding link (55), the servo motor output rod (57), and the servo motor (56). The fuselage folding connector (51) and the arm folding link (52) are connected to the fuselage folding connector (53). The connecting body (52) is a hollow cylindrical structure with hinges. The servo motor (56) rotates, and the output shaft of the servo motor (56) drives the servo motor output rod (57) to rotate relative to the fuselage body (11). The servo motor output rod (57) drives the folding link (55) to rotate, and the folding link (55) drives the arm folding connector (52) to rotate. Through the continuous movement of the servo motor output rod (57), the folding link (55), and the arm folding connector (52), the arm component (2) rotates from the tangential direction surrounding the fuselage body (11) to the radial direction of the fuselage body (11). S3, control the propellers (31) of the multi-rotor UAV platform to deploy synchronously: S31, the ground control station (100) sends a signal to start the rotary power source (32) and deploy the propeller (31); S32, the rotating power source (32) drives the propeller retraction and extension component (6) to rotate, and then drives the two propellers (31) to unfold synchronously through centrifugal force. Under the action of centrifugal force, the rotating propellers (31) simultaneously move from being fully retracted to gradually opening until they are fully extended. S4. Controlling the folding and storage of the multi-rotor drone platform after landing: S41, The ground control station (100) sends a signal to retract the propeller component (3): the rotary power source (32) stops rotating, and the propeller (31) retracts without power under its own weight and the action of the propeller swing torsion spring (62); S42, The ground control station (100) sends a signal to retract the boom component (2): The boom component (2) rotates in the same direction in the same horizontal plane under the drive of the servo motor (56), covering the periphery of the fuselage component (1), and is fixedly limited by the clamp (7).

2. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 1, characterized in that, S1 includes: S11, charging of multi-rotor drone platform system; S12, Ground control station (100) sends a power-on command to flight control center (200): S13, the flight control center (200) controls the battery pack (300) to power on.

3. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 2, characterized in that, The S11 multi-rotor unmanned aerial vehicle platform system includes a battery assembly (300); the battery assembly (300) is charged via a charging power socket connection (112).

4. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 3, characterized in that, S21 includes thresholds for two extreme positions of the servo (56) when it is pre-set to retract and extend.

5. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 4, characterized in that, S32 also includes an electronic speed controller (33) controlled by a flight control center (200), which drives a rotary power source (32) to rotate, which in turn drives multiple pairs of propellers (31) to rotate, and the propellers (31) to deploy simultaneously under centrifugal force.

6. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 5, characterized in that, S4 also includes: S43, Ground control station (100) monitors and controls the charging of the multi-rotor unmanned aerial vehicle platform system.

7. The multi-rotor unmanned aerial vehicle platform deployment and recovery control method according to claim 6, characterized in that, S41 also includes: controlling the electronic speed controller (33) to stop working, and the propeller (31) to reach the retracted state by its own weight and the reaction force of the propeller swing torsion spring (62); S42 also includes rotating the servo motor (56) from the extreme point of the unfolded position to the extreme point of the retracted position, thereby driving the retracted arm component (2) to retract.

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