A multi-motor combined motion control unmanned aerial vehicle blade orientation device and method

Abstract

The application provides a multi-motor combined motion control unmanned aerial vehicle blade orientation device and method, the multi-motor combined mode operation is flexible, and corresponding multi-motor combined motion control strategies can be selected according to different unmanned aerial vehicle blade layout structures.The application is suitable for various types of rotary-wing unmanned aerial vehicles, realizes that the same unmanned aerial vehicle parking cabin is compatible with multiple types of rotary-wing unmanned aerial vehicles, and reduces the manufacturing cost of the special parking cabin of the multi-rotor unmanned aerial vehicle.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicles (UAVs), and in particular relates to a UAV propeller orientation device and method for multi-motor combined motion control. Background Technology

[0002] With the advent of the era of artificial intelligence and big data, an increasing number of unmanned rotary-wing drones are being deployed in geographically complex locations such as high-voltage power line inspection points, forest fire monitoring points, and highway patrol points. These drones are used for remote-controlled operations such as power line inspection, forest fire prevention, and highway traffic control. However, due to the different structural types of rotary-wing drones (e.g., quadcopters, hexacoprotors, octacoprotors, dodecacoprotors), their payload capacities vary. This leads to some models being suitable only for reconnaissance and inspection tasks, while others are used for firefighting, traffic control, and laser obstacle removal. Furthermore, unmanned operations involve complex and unpredictable situations and unknown factors. A single type of rotary-wing drone cannot meet the diverse needs of remote, unmanned operations; therefore, the collaborative operation of multiple types of drones has become a current trend in the development of unmanned equipment.

[0003] The primary function of current unmanned aerial vehicle (UAV) systems is to plan and control the flight path of UAVs, and to autonomously store, maintain, and service them after they have completed their tasks. However, due to the diverse structural designs of rotorcraft UAVs, commercially available unmanned aerial vehicle (UAV) systems are all customized products, with each type of UAV bay only compatible with one type of rotorcraft UAV. With the development of diversified needs, when UAV types need to be upgraded, the corresponding UAV bays can no longer meet the requirements for storing and maintaining the new types of UAVs, leading to the obsolescence of older unmanned aerial vehicle (UAV) systems and wasting resources. To achieve collaborative operation of multiple types of UAVs, multiple types of UAV bays need to be customized, resulting in excessively high costs and negating the economic benefits of widespread application.

[0004] To minimize the cost of fully autonomous collaborative operation of multiple types of UAVs, a key issue is enabling the storage and powering of various types of rotorcraft UAVs within a single UAV parking bay. To meet the requirement of controlling the directional storage of propellers for multiple types of rotorcraft UAVs within the same parking bay, this invention designs a rotorcraft UAV propeller orientation device and method based on multi-motor combined motion control. This control method can perform directional storage of propellers for multiple types of UAVs, including quadcopters and hexacopter UAVs, within the parking bay, achieving compatibility of multiple types of rotorcraft UAVs within a single parking bay and significantly reducing the cost of unmanned deployment of multiple types of UAVs. Invention patent CN111746781A discloses an automatic propeller retraction device and method for unmanned aerial vehicles (UAVs), and invention patent CN215752981U discloses a feathering device and an unmanned automated airport. These methods describe UAV propeller retraction methods performed at the UAV docking bay, but only for specific types of UAVs and specific propeller positions. When the UAV type changes, the current propeller retraction method becomes ineffective, failing to achieve compatibility between multiple types of rotary-wing UAVs within the same UAV docking bay. This results in high application and promotion costs for the collaborative operation of multiple types of unmanned equipment. Invention patent CN209921598U discloses a UAV propeller steering locking device, propeller, and locking method. This describes a complex onboard electromagnetic engagement locking device for propeller directional locking control, increasing the weight of the UAV, reducing flight efficiency, and complicating the stability of the power system.

[0005] In summary, the existing technology has the following drawbacks:

[0006] (1) The existing propeller orientation method at the UAV docking bay is only effective for customized UAVs to retract propellers at a designated location. When the UAV type is changed, the existing propeller retraction control method cannot effectively retract propellers of other types of UAVs. The existing propeller retraction method has poor versatility and cannot achieve retraction control of multiple types of rotary-wing UAVs compatible with the same UAV docking bay. When promoted in the field of unattended multi-model collaborative operation, the production cost is high due to the different types of UAV docking bays.

[0007] (2) Existing propeller orientation methods for UAVs require the addition of an electromagnetic attraction and locking device to the UAV's fuselage. Compared with similar UAVs, this complicates the structure of the UAV's power system, reduces the stability of the UAV's flight control, increases the weight of the UAV, reduces the UAV's flight time, and decreases the UAV's flight efficiency. Summary of the Invention

[0008] In view of this, the present invention aims to propose a multi-motor combined motion control device and method for UAV propeller orientation, which can be applied to UAV parking bays to achieve compatibility of multiple types of rotary-wing UAVs in the same UAV parking bay.

[0009] To achieve the above objectives, the present invention provides a UAV propeller orientation device for multi-motor combined motion control, comprising:

[0010] A multi-motor combined motion control UAV propeller orientation device includes an X-axis motor, an X-axis gear transmission assembly, an X-axis push plate, a Y-axis motor, a Y-axis gear transmission assembly, a Y-axis push plate, a Z-axis motor, a Z-axis gear transmission assembly, and a Z-axis lever;

[0011] The X-axis gear transmission assembly is connected to the X-axis push plate at both ends, and the X-axis motor drives the X-axis push plate to move in the specified direction through the X-axis gear transmission assembly.

[0012] The Y-axis motor drives the Y-axis push plate to move in a specified direction through the Y-axis gear transmission assembly;

[0013] The Z-axis motor drives the Z-axis lever to move in the specified direction through the Z-axis gear transmission assembly;

[0014] The space formed between the X-axis pusher plate and the Y-axis pusher plate is used for storing drones.

[0015] Furthermore, there are two X-axis push plates, namely the first X-axis push plate and the second X-axis push plate;

[0016] There are two Y-axis push plates, namely the first Y-axis push plate and the second Y-axis push plate;

[0017] There are two Y-axis motors, namely the first Y-axis motor and the second Y-axis motor, which are respectively mounted on the first X-axis push plate and the second X-axis push plate;

[0018] There are two Y-axis gear transmission components, namely the first Y-axis gear transmission component and the second Y-axis gear transmission component;

[0019] The first Y-axis motor drives the first Y-axis push plate to move through the first Y-axis gear transmission assembly;

[0020] The second Y-axis motor drives the second Y-axis push plate to move through the second Y-axis gear transmission assembly;

[0021] There are two Z-axis motors, namely the first Z-axis motor and the second Z-axis motor;

[0022] There are two Z-axis gear transmission components, namely the first Z-axis gear transmission component and the second Z-axis gear transmission component.

[0023] There are two Z-axis levers: a first Z-axis lever and a second Z-axis lever.

[0024] Furthermore, it also includes an X-axis motor control module, a Y-axis motor control module, and a Z-axis motor control module;

[0025] The X-axis motor control module is used to control the X-axis motor;

[0026] The Y-axis motor control module is used to control the Y-axis motor;

[0027] The Z-axis motor control module is used to control the Z-axis motor;

[0028] The UAV propeller orientation and storage control system is used in conjunction with the UAV parking bay.

[0029] Furthermore, this solution discloses a UAV propeller orientation method using multi-motor combined motion control, employing a UAV propeller orientation device with multi-motor combined motion control. The UAV propeller orientation method includes:

[0030] Step S1. Automatic matching of rotorcraft blade orientation mode;

[0031] Step S2. Orientation procedure for rotary-wing UAV;

[0032] Step S3. Orientation and storage of rotor blades for the rotary-wing UAV.

[0033] Furthermore, step S1 includes:

[0034] Step S1.1 The UAV landing bay autonomously identifies the type of the currently landing rotary-wing UAV based on the information data exchanged with the rotary-wing UAV;

[0035] Step S1.2: Invoke the blade orientation and retraction control strategy that matches the type of the rotorcraft UAV to achieve automatic matching of the UAV blade orientation mode.

[0036] Furthermore, step S2 includes:

[0037] Step S2.1 Land the rotary-wing UAV in the landing area inside the UAV parking bay;

[0038] Step S2.2 Control the rotation of the Z-axis motor through the Z-axis motor control module to drive the Z-axis lever to the storage position parallel to the XOY plane;

[0039] Step S2.3 Control the X-axis motor and Y-axis motor to rotate through the X-axis motor control module and Y-axis motor control module respectively; drive the X-axis push plate and Y-axis push plate to perform orienting movement, and orient the rotor drone to the center position of the unmanned landing cabin landing area.

[0040] Furthermore, step S3 includes:

[0041] Step S3.1 Control the Z-axis motor to rotate, driving the Z-axis lever to a vertical position perpendicular to the XOY plane; and / or

[0042] Step S3.2 Control the rotation of the X-axis motor to drive the Z-axis lever to move linearly in the X-axis direction; and / or

[0043] Step S3.3 Control the rotation of the Y-axis motor to drive the Z-axis lever to move linearly in the Y-axis direction; and / or

[0044] Step S3.4 uses the combined motion control of the X-axis motor and the Y-axis motor to drive the Z-axis lever to move on the XOY horizontal plane, retracting the blades to a direction parallel to the X-axis or parallel to the Y-axis.

[0045] Furthermore, the step S3.4 of driving the Z-axis lever to move on the XOY horizontal plane includes:

[0046] When the Z-axis lever moves in the Y-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the Y-axis.

[0047] When the Z-axis lever moves in the X-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the X-axis.

[0048] When the drone has a special structure, simply controlling the Z-axis lever to move in the X-axis direction cannot completely retract the propellers to a direction parallel to the X-axis. In this case, the Z-axis motor control module drives the Z-axis lever to rotate, which moves the drone propellers to retract them to a direction parallel to the X-axis.

[0049] Furthermore, after step S3, a drone storage step S4 is also included, which includes:

[0050] Step S4.1 Control the Z-axis lever to move to the storage position parallel to the XOY plane;

[0051] Step S4.2: Lower the drone into the drone parking bay.

[0052] Furthermore, step S4 also includes:

[0053] Step S4.3 Close the door of the UAV parking bay;

[0054] Step S4.4 The UAV parking bay autonomously powers and / or maintains the rotorcraft UAV according to its status.

[0055] Compared with existing technologies, the UAV propeller orientation device and method for multi-motor combined motion control described in this invention have the following advantages:

[0056] (1) Based on the blade structure of different types of rotorcraft UAVs, different motion control strategies can be adopted for the three-axis multi-motor to achieve positive positioning and blade orientation and retraction control for different types of rotorcraft UAVs. This blade orientation and retraction control method is highly versatile and applicable to all types of rotorcraft UAVs.

[0057] (2) It can automatically identify the type of rotorcraft drone in the same drone parking cabin and realize the retraction control of the propellers, realize the minimum matching of the external dimensions of the drone parking cabin to the drone, and reduce the cost of collaborative deployment of unmanned equipment for multiple types of drones.

[0058] (3) No additional blade orientation device is needed on the fuselage of the rotor drone, which simplifies the structure of the drone's power system, reduces the weight of the drone, increases flight time, and improves the flight efficiency and stability of the drone. Attached Figure Description

[0059] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0060] Figure 1 This is a flowchart illustrating the automatic identification and matching of different types of UAVs for propeller orientation and storage control in an embodiment of the present invention.

[0061] Figure 2 This is a flowchart illustrating the directional storage process of the quadcopter blades according to an embodiment of the present invention;

[0062] Figure 3 This is a flowchart illustrating the directional storage process of the six-rotor propeller blades according to an embodiment of the present invention;

[0063] Figure 4 This is a schematic diagram of the multi-motor UAV propeller directional storage device according to an embodiment of the present invention;

[0064] Figure 5 This is a schematic diagram of the quadcopter drone described in an embodiment of the present invention.

[0065] Figure 6 This is a schematic diagram of the six-rotor UAV as described in an embodiment of the present invention.

[0066] Figure 7 This is a schematic diagram of the X-axis orientation of the propeller blades of the quadcopter UAV described in an embodiment of the present invention;

[0067] Figure 8This is a schematic diagram of the Y-axis orientation of the propeller blades of the six-rotor UAV described in an embodiment of the present invention;

[0068] Figure 9 This is the drone propeller orientation and storage control system described in the embodiments of the present invention.

[0069] Explanation of reference numerals in the attached figures:

[0070] 101-X-axis motor; 102-X-axis gear transmission assembly; 103-First X-axis push plate; 104-Second X-axis push plate;

[0071] 201 - First Y-axis motor; 204 - Second Y-axis motor; 202 - First Y-axis gear transmission assembly; 205 - Second Y-axis gear transmission assembly; 203 - First Y-axis push plate; 206 - Second Y-axis push plate;

[0072] 301 - First Z-axis motor; 304 - Second Z-axis motor; 302 - First Z-axis gear transmission assembly; 305 - Second Z-axis gear transmission assembly; 303 - First Z-axis lever; 306 - Second Z-axis lever;

[0073] 401 - First blade of the quadcopter drone; 402 - Second blade of the quadcopter drone; 403 - Third blade of the quadcopter drone; 404 - Fourth blade of the quadcopter drone;

[0074] 501 - The first blade of the hexacopter drone; 502 - The second blade of the hexacopter drone; 503 - The third blade of the hexacopter drone; 504 - The fourth blade of the hexacopter drone; 505 - The fifth blade of the hexacopter drone; 506 - The sixth blade of the hexacopter drone. Detailed Implementation

[0075] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0076] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. However, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0077] Example 1

[0078] A multi-motor combined motion control unmanned aerial vehicle (UAV) propeller orientation device, such as Figure 4As shown, the device includes an X-axis motor 101, an X-axis gear transmission assembly 102, an X-axis push plate, a Y-axis motor, a Y-axis gear transmission assembly, a Y-axis push plate, a Z-axis motor, a Z-axis gear transmission assembly, and a Z-axis lever.

[0079] The X-axis motor 101 drives the X-axis push plate to move through the X-axis gear transmission assembly 102;

[0080] The Y-axis motor drives the Y-axis push plate to move through the Y-axis gear transmission assembly;

[0081] The Z-axis motor drives the Z-axis lever to move through the Z-axis gear transmission assembly.

[0082] in,

[0083] There are two X-axis push plates, namely the first X-axis push plate 103 and the second X-axis push plate 104.

[0084] There are two Y-axis push plates, namely the first Y-axis push plate 203 and the second Y-axis push plate 206.

[0085] There are two Y-axis motors, namely the first Y-axis motor 201 and the second Y-axis motor 204. The first Y-axis motor 201 and the second Y-axis motor 204 are respectively mounted on the first X-axis push plate 103 and the second X-axis push plate 104.

[0086] There are two Y-axis gear transmission assemblies, namely the first Y-axis gear transmission assembly 202 and the second Y-axis gear transmission assembly 205;

[0087] The first Y-axis motor 201 drives the first Y-axis push plate 203 to move through the first Y-axis gear transmission assembly 202;

[0088] The second Y-axis motor 204 drives the second Y-axis push plate 206 to move through the second Y-axis gear transmission assembly 205;

[0089] There are two Z-axis motors, namely the first Z-axis motor 301 and the second Z-axis motor 304;

[0090] There are two Z-axis gear transmission assemblies, namely the first Z-axis gear transmission assembly 302 and the second Z-axis gear transmission assembly 305.

[0091] There are two Z-axis levers: a first Z-axis lever 303 and a second Z-axis lever 306.

[0092] Example 2

[0093] A drone propeller orientation and storage control system, such as Figure 9As shown, the multi-motor combined motion control system for UAV propeller orientation and retraction includes an X-axis motor control module, a Y-axis motor control module, and a Z-axis motor control module. The UAV propeller orientation and retraction control system is used in conjunction with the UAV landing bay.

[0094] Example 3

[0095] A method for UAV propeller orientation using multi-motor combined motion control, the method comprising employing a UAV propeller orientation and retraction control system, the method comprising:

[0096] Step S1. Automatic matching of UAV propeller orientation mode:

[0097] Figure 1 This is a flowchart illustrating the automatic identification and matching of different types of UAVs for propeller orientation and retraction control in an embodiment of the present invention. The UAV landing bay autonomously identifies the type of the currently landing rotary-wing UAV based on information data exchanged with the UAV; and invokes a propeller orientation and retraction control strategy matching the type of the rotary-wing UAV to achieve automatic matching of the UAV propeller orientation mode.

[0098] Step S2. UAV Orientation Procedure:

[0099] Figure 5 This is a schematic diagram of a quadcopter drone in its upright position. Figure 6 This is a schematic diagram of the six-rotor UAV in its correct orientation. The UAV is landed in the landing area within the UAV parking bay. The Z-axis motor is rotated using the Z-axis motor control module, driving the Z-axis lever to a position parallel to the XOY plane. The X-axis motor 101 and Y-axis motor are rotated using the XY-axis motor control module, driving the X-axis and Y-axis push plates to perform an orientation movement, positioning the UAV at the center of the landing area within the UAV parking bay.

[0100] Step S3. Orientation and storage of drone propellers:

[0101] S3.1 controls the Z-axis motor to rotate, driving the Z-axis lever to a vertical position perpendicular to the XOY plane; and / or

[0102] S3.2 controls the rotational movement of the X-axis motor 101, driving the Z-axis lever to move linearly in the X-axis direction; and / or

[0103] S3.3 controls the rotational movement of the Y-axis motor, driving the Z-axis lever to move linearly in the Y-axis direction; and / or

[0104] S3.4 uses the combined motion control of the X-axis motor 101 and the Y-axis motor to drive the Z-axis lever to move on the XOY horizontal plane, retracting the blades to a direction parallel to the X-axis or parallel to the Y-axis.

[0105] Specifically, the movement of the Z-axis lever on the XOY horizontal plane includes:

[0106] When the Z-axis lever moves in the Y-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the Y-axis.

[0107] When the Z-axis lever moves in the X-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the X-axis.

[0108] When the drone has a special structure, simply controlling the Z-axis lever to move in the X-axis direction is not enough to completely orient and retract the propellers to a direction parallel to the X-axis. In this case, the Z-axis motor control module can drive the Z-axis lever to rotate, thereby moving the drone propellers to orient and retract them to a direction parallel to the X-axis.

[0109] The rotational motion of the Z-axis motor enables the rotational control of the lever from the retracted position to the vertical position; the rotational motion of the X-axis motor enables the orientation and retraction control of the X-axis push plate; the combined motion of the X and Z-axis motors enables the linear motion control of the Z-axis lever in the X-axis direction; the rotational motion of the Y-axis motor enables the orientation and retraction control of the Y-axis push plate; the combined motion of the Y and Z-axis motors enables the linear motion control of the Z-axis lever in the Y-axis direction; and the combined motion of the X, Y, and Z-axis motors enables the movement control of the Z-axis lever at any position in the XOY plane.

[0110] More specifically, Figure 2 Flowchart for directional storage of quadcopter blades. Figure 7 This is a schematic diagram showing the X-axis orientation of a quadcopter rotor blade. The process for saving quadcopter rotor blade orientation information is as follows:

[0111] Step 1: The rotation of the XY axis motor drives the Z axis lever to move to the first paddle position;

[0112] Step 2: Then, the Z-axis lever is rotated to the vertical position by the Z-axis motor to perform directional storage control of the first pair of propellers 401 and 403 of the quadcopter drone.

[0113] Step 3: Then, through the combined motion control of the XY axis motors, the Z axis lever is driven to move to the second paddle position;

[0114] Step 4: Then, the Z-axis lever is rotated to the retracted position by the Z-axis motor to perform directional retraction control of the second pair of propellers 402 and 404 of the quadcopter drone;

[0115] Figure 3 Flowchart for the directional storage of six-rotor propeller blades. Figure 8This is a schematic diagram of the Y-axis orientation of a hexacopter drone's propellers. The process for saving the hexacopter drone propeller orientation information is as follows:

[0116] Steps 1 to 4: The directional retraction control method for the first pair of blades 501, 504 and the second pair of blades 503, 506 of the hexacopter is the same as the directional retraction control method for the first pair of blades 401, 403 and the second pair of blades 402, 404 of the quadcopter.

[0117] Step 5: By rotating the X-axis motor, move the Z-axis lever along the X-axis to the retractable position of the X-axis push plate. Then, control the rotation of the Y-axis motor to drive the Z-axis lever along the Y-axis to the third propeller position, and retract the third pair of propellers 502 and 505 of the six-rotor UAV in an oriented manner.

[0118] Step S4. Drone storage steps, including:

[0119] Step S4.1 Control the Z-axis lever to move to the storage position parallel to the XOY plane;

[0120] Step S4.2: Lower the drone into the drone parking bay.

[0121] Step S4.3 Close the door of the UAV parking bay;

[0122] Step S4.4 The UAV parking bay autonomously powers and / or maintains the rotorcraft UAV according to its status.

[0123] Specifically, for quadcopter or hexacopter drones, after completing the drone's orientation and propeller orientation and retraction process, the rotation of the XY axis motors drives the XY axis push plate to the retraction position and the Z axis lever to the Y axis push plate retraction position. Then, the Z axis motor drives the Z axis lever to rotate to the retraction position, and the drone is then lowered into the drone's docking bay for maintenance.

[0124] The above are merely embodiments of the present invention and do not limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A multi-motor combined motion control unmanned aerial vehicle (UAV) propeller orientation device, characterized in that: It includes an X-axis motor (101), an X-axis gear transmission assembly (102), an X-axis push plate, a Y-axis motor, a Y-axis gear transmission assembly, a Y-axis push plate, a Z-axis motor, a Z-axis gear transmission assembly, and a Z-axis lever; The X-axis gear transmission assembly (102) is connected to the X-axis push plate at both ends, and the X-axis motor (101) drives the X-axis push plate to move in the specified direction through the X-axis gear transmission assembly (102); The Y-axis motor drives the Y-axis push plate to move in a specified direction through the Y-axis gear transmission assembly; The Z-axis motor drives the Z-axis lever to move in the specified direction through the Z-axis gear transmission assembly; The space between the X-axis push plate and the Y-axis push plate forms a parking space for the drone; It also includes an X-axis motor control module, a Y-axis motor control module, and a Z-axis motor control module; The X-axis motor control module is used to control the X-axis motor; The Y-axis motor control module is used to control the Y-axis motor; The Z-axis motor control module is used to control the Z-axis motor; The drone propeller orientation and storage control system is used in conjunction with the drone's landing bay; A method for UAV propeller orientation using multi-motor combined motion control, employing the aforementioned multi-motor combined motion control UAV propeller orientation device, wherein the UAV propeller orientation method includes: Step S1. Automatic matching of rotorcraft blade orientation mode; Step S2. Orientation procedure for rotary-wing UAV; Step S3. Orientation and storage of rotor blades for the rotary-wing UAV; Step S1 includes: Step S1.1 The UAV landing bay autonomously identifies the type of the currently landing rotary-wing UAV based on the information data exchanged with the rotary-wing UAV; Step S1.2: Invoke the blade orientation and retraction control strategy that matches the type of the rotorcraft UAV to achieve automatic matching of the UAV blade orientation mode; Step S2 includes: Step S2.1 Land the rotary-wing UAV in the landing area inside the UAV parking bay; Step S2.2 Control the rotation of the Z-axis motor through the Z-axis motor control module to drive the Z-axis lever to the storage position parallel to the XOY plane; Step S2.3 Control the X-axis motor (101) and Y-axis motor to rotate through the X-axis motor control module and Y-axis motor control module respectively; drive the X-axis push plate and Y-axis push plate to perform orienting movement, and orient the rotor drone to the center position of the unmanned landing cabin landing area; Step S3 includes: Step S3.1 Control the Z-axis motor to rotate, driving the Z-axis lever to a vertical position perpendicular to the XOY plane; and / or Step S3.2 Control the rotation of the X-axis motor (101) to drive the Z-axis lever to move linearly in the X-axis direction; and / or Step S3.3 Control the rotation of the Y-axis motor to drive the Z-axis lever to move linearly in the Y-axis direction; and / or Step S3.4 By combining the motion control of the X-axis motor (101) and the Y-axis motor, the Z-axis lever is driven to move on the XOY horizontal plane to retract the blades to a direction parallel to the X-axis or parallel to the Y-axis.

2. The UAV propeller orientation device for multi-motor combined motion control according to claim 1, characterized in that: There are two X-axis push plates, namely the first X-axis push plate (103) and the second X-axis push plate (104). There are two Y-axis push plates, namely the first Y-axis push plate (203) and the second Y-axis push plate (206). There are two Y-axis motors, namely a first Y-axis motor (201) and a second Y-axis motor (204). The first Y-axis motor (201) and the second Y-axis motor (204) are respectively mounted on the first X-axis push plate (103) and the second X-axis push plate (104). There are two Y-axis gear transmission assemblies, namely the first Y-axis gear transmission assembly (202) and the second Y-axis gear transmission assembly (205). The first Y-axis motor (201) drives the first Y-axis push plate (203) to move through the first Y-axis gear transmission assembly (202); The second Y-axis motor (204) drives the second Y-axis push plate (206) to move through the second Y-axis gear transmission assembly (205); There are two Z-axis motors, namely the first Z-axis motor (301) and the second Z-axis motor (304). There are two Z-axis gear transmission assemblies, namely the first Z-axis gear transmission assembly (302) and the second Z-axis gear transmission assembly (305). There are two Z-axis levers: a first Z-axis lever (303) and a second Z-axis lever (306).

3. The UAV propeller orientation device for multi-motor combined motion control according to claim 1, characterized in that, The movement of the Z-axis lever on the XOY horizontal plane described in S3.4 includes: When the Z-axis lever moves in the Y-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the Y-axis. When the Z-axis lever moves in the X-axis direction, the Z-axis lever contacts the drone propeller blades, causing the propeller blades to rotate and retract to a direction parallel to the X-axis. When the drone has a special structure, simply controlling the Z-axis lever to move in the X-axis direction cannot completely retract the propellers to a direction parallel to the X-axis. In this case, the Z-axis motor control module can drive the Z-axis lever to rotate, thereby moving the drone propellers to retract them to a direction parallel to the X-axis.

4. The UAV propeller orientation device for multi-motor combined motion control according to claim 1, characterized in that, After step S3, the process further includes step S4, which involves storing the drone. Step S4 includes: Step S4.1 Control the Z-axis lever to move to the storage position parallel to the XOY plane; Step S4.2: Lower the drone into the drone parking bay.

5. The UAV propeller orientation device for multi-motor combined motion control according to claim 1, characterized in that, Step S4 further includes: Step S4.3 Close the door of the UAV parking bay; Step S4.4 The UAV parking bay autonomously powers and / or maintains the rotorcraft UAV according to its status.

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