A kite-like robot with controllable sail and flying method thereof

Abstract

The present invention provides a kite-like robot with a controllable sail surface and a flight method thereof, belonging to the technical field of accompanying flying drones. The kite-like robot consists of three parts: a frame, a sail surface, and electronic components. The frame is formed by connecting carbon fiber rods and connectors. The frame surface is bonded to the sail surface. The sail surface includes a mainsail and a secondary sail. The electronic components are composed of a servo, a single-chip microcomputer, a battery, and a payload pod. The flying method is: performing a cruise mission through a target mobile platform, and releasing the kite-like robot during the cruise mission to complete the accompanying flight of the kite-like robot as a vehicle. The present invention solves the problem that existing multi-rotor drones are expensive and difficult to popularize, and have a short battery life due to battery constraints. It has the advantages of low cost, no need for a power device, and high control accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of accompanying flying unmanned aerial vehicles, and in particular to a kite-like robot with a controllable sail surface and a flying method thereof. Background Art

[0002] At present, many automobile companies have announced that their new generation of off-road vehicles, SUVs and other products will be equipped with drone systems to achieve functions such as automatic flight companionship, automatic path planning, road width shortage warning, orthophoto mapping, and steep ground line detection.

[0003] However, existing multi-rotor drones are often expensive, making them difficult to popularize. Furthermore, due to battery limitations, their flight time is often less than 40 minutes. Therefore, the present invention provides a low-cost, nearly unlimited-range kite-like robot designed for accompanying vehicles, enabling functions such as detecting road conditions for off-road vehicles and providing early warning of sea conditions for ships. Summary of the Invention

[0004] The technical problem solved by the present invention is that existing multi-rotor drones are expensive and difficult to popularize, and at the same time have a short flight time due to battery limitations.

[0005] To solve the above problems, the technical solutions of the present invention are as follows:

[0006] A kite-like robot with a controllable sail, consisting of a frame, a sail, and electronic components.

[0007] The frame is made of carbon fiber rods and connectors. The surface of the frame is bonded to the sail surface. The sail surface includes a main sail for providing lift to ensure that the kite-like robot stays in the air and a secondary sail for controlling the posture of the kite-like robot. The electronic components are composed of a servo, a single-chip microcomputer, a battery and a payload pod. The single-chip microcomputer is equipped with a signal receiver, and the battery is electrically connected to the single-chip microcomputer.

[0008] The carbon fiber pole includes: a main pole for hanging the pull ring and the load pod, a first connecting rod for fixing the mainsail fixed above the main pole through a connecting piece, symmetrically distributed sub-frames consisting of three first support rods fixed on the left and right sides of the main pole through connecting pieces, longitudinal second support rods fixed in both sub-frames, and second connecting rods fixedly connected to the symmetrical far ends of the sub-frames on the left and right sides of the main pole.

[0009] The mainsail includes two rectangular sub-mainsail surfaces of the same shape and size, which are symmetrically fixed on both sides of the main pole through a longitudinal first connecting rod and a second supporting rod and two transverse first supporting rods. The two sub-mainsail surfaces are respectively provided with two rectangular sub-subsail frames of the same shape and size away from the end of the main pole, and the sub-subsail surfaces are fixed on the sub-subsail frames. A third connecting rod is provided at the central axis of the sub-subsail frame, and both ends of the third connecting rod extend out of the sub-subsail frame, one end of which is rotatably connected to the bearing, and the bearing is fixedly connected to the sub-frame through a connecting piece, and the other end is rotatably connected to the output end of the servo, and the servo is used to control the rotation of the sub-subsail surface, and the servo is fixedly connected to the sub-frame through a connecting piece, and the servo is electrically connected to the single-chip microcomputer.

[0010] Note: The servo circuit is connected to the microcontroller through external wiring, which is routed along the mainsail frame to avoid damaging the aerodynamic shape of the structure.

[0011] Furthermore, the two sub-sail frames are at an angle of 150 degrees.

[0012] Note: A 150° dihedral angle can improve the static stability of the structure and allow it to return to its equilibrium position after being disturbed.

[0013] Furthermore, the kite-like robot is fastened with a tether connected to the target mobile platform via a pull ring.

[0014] Description: The kite-like robot achieves a low-cost and nearly unlimited endurance effect through a tether, so it can be used to accompany vehicles in flight, and realize functions such as off-road vehicle road condition detection and ship sea condition warning.

[0015] Furthermore, the single chip microcomputer and the battery are fixed in the payload pod.

[0016] Description: The microcontroller and battery are fixed to the payload pod at the rear of the kite-like robot by means of a rolling belt to adjust the center of mass position.

[0017] Furthermore, both the mainsail and the jib sail adopt a frame skin structure.

[0018] Description: The mainsail and jib are made of nylon parabolic cloth, fixed to the inner side of the frame by epoxy resin.

[0019] Preferably, the target speed of the kite-like robot in the cruising state is v=20m / s, corresponding to the lift L=17.6N, the corresponding drag D=5.8N, the whole machine gravity G=9.8N, the tether tension F=9.72N, the tether elevation angle α=60°, and the azimuth angle β=180°.

[0020] Description: Under the above conditions, the present invention can provide a low-cost and nearly unlimited endurance kite-like robot, which can be used for accompanying vehicles in flight.

[0021] The present invention also provides a flying method for a kite-like robot with a controllable sail surface, based on the above-mentioned kite-like robot with a controllable sail surface, comprising the following steps:

[0022] S1, connecting the kite-like robot to the target mobile platform through a tether;

[0023] S2: The target mobile platform starts the cruise mission and accelerates the cruise speed to v = 20 m / s. During the subsequent cruise process, the cruise speed of the target mobile platform is maintained within 20 ± 5 m / s.

[0024] S3. When the target mobile platform reaches a speed of 20 m / s, adjust the initial posture of the kite-like robot so that the kite-like robot maintains a body pitch angle of 50° and the sideslip angle and roll angle are both zero, and the secondary sail remains closed. Then release the kite-like robot, that is, extend the kite-like robot out of the target mobile platform;

[0025] S4: After the kite-like robot's posture stabilizes, gradually release the tether, with each release length of 1 meter and a release step of 10 seconds. Continue to release the tether until the kite-like robot's posture stabilizes, until the rope length reaches the target length of 10 meters.

[0026] S5. Control the deflection of the secondary sail according to the requirements of the cruise mission, and use the changes in aerodynamic force and torque generated by the deflection of the secondary sail to drive the kite-like robot to move left and right and / or forward and backward, thereby achieving force balance at the new position;

[0027] S6. After the target mobile platform cruising mission is completed, wait until the kite-like robot's posture is stable and gradually retract the tether. Each retraction length is 2m and the retraction step length is 5s. Wait until the robot's posture is stable before continuing to retract it until it is retracted into the mobile platform.

[0028] Note: The above flight method can control the kite-like robot with two degrees of freedom.

[0029] Preferably, driving the kite-like robot to perform left and right movements includes the following:

[0030] Left and right movement is divided into left movement and right movement.

[0031] When the kite-like robot needs to move to the left, the ground signal transmitter sends a control signal to the signal receiver on the single-chip microcomputer. The behavior of the kite-like robot is described from the back to the front. The single-chip microcomputer controls the sub-sails on both sides of the main pole through the servo to deflect clockwise synchronously, so that the sails are subjected to a component force to the left, which reduces the lift force on the kite-like robot, increases the resistance, increases the tether direction angle, and reduces the elevation angle, thereby driving the kite-like robot to move to the left.

[0032] When the kite-like robot needs to move to the right, the ground signal transmitter control signal is sent to the signal receiver on the single-chip microcomputer, and the behavior of the kite-like robot is described from the back to the front. The single-chip microcomputer controls the sub-sails on both sides of the main pole through the servo to deflect counterclockwise synchronously, so that the sails are subjected to a component force to the right, so that the lift of the kite-like robot is reduced, the resistance is increased, the tether direction angle is reduced, and the elevation angle is reduced, thereby driving the kite-like robot to move to the right. When the sails are fully closed, the lift of the sails reaches the maximum value, the lateral force is zero, the tether direction angle is 180°, and no left or right deflection occurs.

[0033] Description: By using the servo to change the angle between the jib and the frame, the stress state of the jib is changed. By utilizing the mechanical balance achieved by the kite-like robot at different positions under different aerodynamic forces and torques, the robot can move forward, backward, and sideways relative to the target vehicle. This makes its operation simple and efficient. At the same time, it is not affected by factors such as flight time and flight speed. It has low cost and has a potential market.

[0034] Further preferably, driving the kite-like robot to move forward and backward includes the following steps:

[0035] Forward and backward motion includes forward motion and backward motion.

[0036] When the kite-like robot needs to move forward, the ground signal transmitter sends a control signal to the signal receiver on the single-chip microcomputer. The behavior of the kite-like robot is described from the back to the front. The single-chip microcomputer controls the counterclockwise deflection of the sub-sail on the left side of the main pole and the clockwise deflection of the sub-sail on the right side of the main pole through the servo, so that the lift force on the sail surface increases, the resistance decreases, and the tether elevation angle increases, thereby driving the kite-like robot to move forward. When the sail surface is fully closed, the sail surface lift reaches a maximum value of 28.24N, and the tether elevation angle reaches a maximum value of 72°.

[0037] When the kite-like robot needs to move backward, the ground signal transmitter control signal is sent to the signal receiver on the single-chip microcomputer, and the behavior of the kite-like robot is described from the back to the front. The single-chip microcomputer controls the clockwise deflection of the sub-sail on the left side of the main pole and the counterclockwise deflection of the sub-sail on the right side of the main pole through the servo, so that the lift force on the sail surface is reduced, the resistance is increased, and the tether elevation angle is reduced, thereby driving the kite-like robot to move backward. When the sail surface is fully opened, the sail surface lift reaches the minimum value of 18.56N, and the tether elevation angle reaches the minimum value of 62°.

[0038] Description: When the kite-like robot needs to move forward and backward, the control signal is sent to the single-chip microcomputer, which controls the rotation of the servo, causing the two side sails to deflect in opposite directions, changing the angle of attack of the sail surface, and making the lift and resistance of the sails change synchronously, causing the elevation angle of the tether pulling the robot to change, thus realizing the forward and backward movement of the kite-like robot.

[0039] The beneficial effects of the present invention are:

[0040] (1) Low cost: The kite-like robot sail and frame provided by the present invention do not require high-performance materials, high-end motor drive, and precise flight control system;

[0041] (2) No need for a power device: Based on the principle of kites, the present invention uses the aerodynamic force exerted on the sail surface to provide lift. The kite-like robot only needs to be connected to the target mobile platform through a tether. The robot can be lifted off with the help of the airflow generated by the target mobile platform, thus solving the problems of high energy consumption and short endurance of other existing aircraft.

[0042] (3) High control accuracy: The present invention controls the movement of the entire structure through four sub-sail surfaces installed on the frame. Due to the redundant design of the control, high control accuracy can be achieved through the rotation and mutual cooperation of multiple sail surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the overall structure of a kite-like robot with a controllable sail surface according to Example 1;

[0044] Figure 2 This is a schematic diagram of the framework structure in Example 1;

[0045] Figure 3 This is a schematic diagram of the mainsail structure in Example 1;

[0046] Figure 4 This is a schematic diagram of the secondary sail structure in Example 1;

[0047] Figure 5 This is a schematic diagram of the principle of the rotation mechanism of the secondary sail in Example 1;

[0048] Figure 6 is a schematic structural diagram of the pull ring in Example 1;

[0049] Figure 7 is a schematic structural diagram of the payload pod in Example 1;

[0050] Figure 8 Schematic diagram of the kite-like robot in working state in Example 2;

[0051] Figure 9 This is a flow chart of a flying method of a kite-like robot with a controllable sail surface according to Example 2;

[0052] Among them, 1-frame, 101-main pole, 1021-first support pole, 1022-second support pole, 1031-first connecting rod, 1032-second connecting rod, 1033-third connecting rod, 104-connecting piece, 2-mainsail, 201-sub-mainsail sail surface, 3-flying sail, 301-sub-flying sail frame, 302-sub-flying sail surface, 4-bearing, 5-servo, 6-pull ring, 7-payload pod, 701-single chip microcomputer, 702-battery, 8-target mobile platform, 9-tether. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0054] The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a," "an," "the," and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0055] It should be understood that although the terms "first," "second," "third," etc. may be used to describe "...," these "..." should not be limited to these terms. These terms are merely used to distinguish "...." For example, "first..." could also be referred to as "second...", and similarly, "second..." could also be referred to as "first..." without departing from the scope of the present invention. Example

[0056] This embodiment is a kite-like robot with a controllable sail surface. Figure 1 As shown, it consists of three parts: frame, sail surface and electronic components.

[0057] like Figure 2As shown, the frame 1 is made of carbon fiber rods connected to connectors 104. The surface of the frame 1 is bonded to the sail surface, which includes a mainsail 2 for providing lift to keep the kite-like robot aloft and a jib 3 for controlling the kite-like robot's posture. The electronic components include a servo 5, a single-chip microcontroller 701, a battery 702, and a payload pod 7. The single-chip microcontroller 701 is an Arduino Uno control board equipped with a signal receiver. The battery 702 is electrically connected to the single-chip microcontroller 701. Modules such as optical cameras, infrared cameras, and ultrasonic rangefinders can also be installed to enhance road condition detection and hazard warning capabilities. Both the mainsail 2 and jib 3 utilize a frame-skin structure.

[0058] The carbon fiber pole includes: a main pole 101 for hanging the pull ring 6 and the load pod 7, a first connecting rod 1031 for fixing the mainsail 2 is fixed above the main pole 101 through a connecting piece 104, and symmetrically distributed sub-frames consisting of three first support rods 1021 are fixed on the left and right sides of the main pole 101 through connecting pieces 104 respectively, and longitudinal second support rods 1022 are fixed in the two sub-frames, and the symmetrical far ends of the sub-frames on the left and right sides of the main pole 101 are fixedly connected with second connecting rods 1032.

[0059] In this embodiment, the outer diameter of the main rod 101 is 8mm and the inner diameter is 6mm. The carbon fiber rods and the other parts are connected by connectors 104, which are embedded 20mm at the connection points and epoxy resin is applied at the interface.

[0060] The main sail 2 comprises two rectangular sub-main sail surfaces 201 of the same shape and size. Figure 3 As shown, the two sub-mainsail sails 201 are symmetrically fixed on both sides of the main pole 101 through the longitudinal first connecting rod 1031 and the second supporting rod 1022 and the two transverse first supporting rods 1021. The two sub-mainsail sails 201 are respectively provided with two rectangular sub-sail frames 301 of the same shape and size at the ends away from the main pole 101. Figure 4 、 Figure 5 As shown, a sub-sail sail surface 302 is fixed on the sub-sail frame 301, and a third connecting rod 1033 is provided at the central axis position of the sub-sail frame 301. Both ends of the third connecting rod 1033 extend out of the sub-sail frame 301, one end of which is rotatably connected to the bearing 4, and the bearing 4 is fixedly connected to the sub-frame through a connecting piece 104, and the other end is rotatably connected to the output end of the servo 5. The servo 5 is used to control the rotation of the sub-sail sail surface 302, and the servo 5 is fixedly connected to the sub-frame through the connecting piece 104. The servo 5 is electrically connected to the single-chip microcomputer 701.

[0061] In this embodiment, the two sub-mainsails are constructed of 250mm x 300mm nylon parabolic fabric, and the four sub-subsails are constructed of 70mm x 290mm nylon parabolic fabric. The sub-mainsails 201 and sub-subsails 302 are secured to the inner side of the frame using epoxy resin. The mainsail 2 provides sufficient lift to keep the kite-like robot aloft. When the target mobile platform 8 propels the kite-like robot via the tether 9, the mainsail 2 moves at a predetermined angle relative to the air. The vertical component of the aerodynamic force acting on the mainsail 2 provides lift for the kite-like robot.

[0062] The outer diameters of the first connecting rod 1031, the second connecting rod 1032, and the third connecting rod 1033 are all 4 mm and the inner diameter is 3 mm. The sub-sail frame 301 is 400 mm long and 300 mm wide. The second support rod 1022 is located 150 mm away from the outermost side of the sub-sail frame 301 to reinforce the structure and bond the mainsail.

[0063] like Figure 7 As shown, the single chip microcomputer 701 and the battery 702 are fixed in the payload pod 7 .

[0064] like Figure 6 、 Figure 8 As shown, the kite-like robot is connected to the target mobile platform 8 by a tether 9 via a pull ring 6. The target speed of the kite-like robot in the cruising state is v = 20 m / s, which corresponds to a lift force L = 17.6 N, a drag force D = 5.8 N, a total weight G = 9.8 N, a tension in the tether 9 of F = 9.72 N, an elevation angle α = 60°, and an azimuth angle β = 180°. Example

[0065] This embodiment is a flying method of a kite-like robot with a controllable sail surface, based on a kite-like robot with a controllable sail surface in Example 1. Figure 9 As shown, the following steps are included:

[0066] S1. Connect the kite-like robot to the target mobile platform 8 via the tether 9.

[0067] S2. The target mobile platform 8 starts a cruising mission and accelerates the cruising speed to v=20 m / s. During the subsequent cruising process, the cruising speed of the target mobile platform 8 is maintained within 20±5 m / s.

[0068] S3. When the speed of the target mobile platform 8 reaches 20 m / s, adjust the initial posture of the kite-like robot so that the kite-like robot body pitch angle remains at 50° and the sideslip angle and roll angle are both zero. The secondary sail 3 remains closed. Then release the kite-like robot, that is, extend the kite-like robot out of the target mobile platform 8. Its state is as follows: Figure 8 shown.

[0069] S4. After the kite-like robot is stable, gradually release the tether 9, with each release length of 1m and a release step of 10s. Continue to release the tether 9 after the kite-like robot is stable until the rope length reaches the target length of 10m.

[0070] S5. Control the deflection of the secondary sail 3 according to the requirements of the cruise mission, and use the changes in aerodynamic force and torque generated by the deflection of the secondary sail 3 to drive the kite-like robot to move left and right and / or forward and backward, forming a force balance at the new position.

[0071] In this embodiment, driving the kite-like robot to perform left and right movements includes the following:

[0072] Left and right movement is divided into left movement and right movement.

[0073] When the kite-like robot needs to move to the left, the ground signal transmitter sends a control signal to the signal receiver on the single-chip microcomputer 701. The behavior of the kite-like robot is described from the back to the front. The single-chip microcomputer 701 controls the sub-sails 302 on both sides of the main pole 101 through the servo 5 to deflect clockwise synchronously, so that the sails are subjected to a component force to the left, which reduces the lift force on the kite-like robot, increases the resistance, increases the direction angle of the tether 9, and reduces the elevation angle, thereby driving the kite-like robot to move to the left.

[0074] When the kite-like robot needs to move to the right, the ground signal transmitter control signal is sent to the signal receiver on the single-chip computer 701, and the behavior of the kite-like robot is described from the back to the front. The single-chip computer 701 controls the sub-sails 302 on both sides of the main pole 101 through the servo 5 to deflect counterclockwise synchronously, so that the sail surface is subjected to a component force to the right, which reduces the lift of the kite-like robot, increases the resistance, reduces the direction angle of the tether 9, and reduces the elevation angle, thereby driving the kite-like robot to move to the right. When the sail surface is fully closed, the lift of the sail surface reaches its maximum value, the lateral force it receives is zero, the direction angle of the tether 9 is 180°, and no left or right deflection occurs.

[0075] In this embodiment, driving the kite-like robot to move forward and backward includes the following steps:

[0076] Forward and backward motion includes forward motion and backward motion.

[0077] When the kite-like robot needs to move forward, the ground signal transmitter sends a control signal to the signal receiver on the single-chip computer 701. The behavior of the kite-like robot is described from the back to the front. The single-chip computer 701 controls the sub-sail surface 302 on the left side of the main pole 101 to deflect counterclockwise through the servo 5, and controls the sub-sail surface 302 on the right side of the main pole 101 to deflect clockwise, so that the lift force on the sail surface increases, the resistance decreases, and the elevation angle of the tether 9 increases, thereby driving the kite-like robot to move forward. When the sail surface is fully closed, the lift force on the sail surface reaches a maximum value of 28.24N, and the elevation angle of the tether 9 reaches a maximum value of 72°.

[0078] When the kite-like robot needs to move backward, the ground signal transmitter control signal is sent to the signal receiver on the single-chip computer 701, and the behavior of the kite-like robot is described from the back to the front. The single-chip computer 701 controls the clockwise deflection of the sub-sail 302 on the left side of the main pole 101 and the counterclockwise deflection of the sub-sail 302 on the right side of the main pole 101 through the servo 5, so that the lift force on the sail surface is reduced, the resistance is increased, and the elevation angle of the tether 9 is reduced, thereby driving the kite-like robot to move backward. When the sail surface is fully opened, the lift force on the sail surface reaches the minimum value of 18.56N, and the elevation angle of the tether 9 reaches the minimum value of 62°.

[0079] S6. After the target mobile platform 8 completes its cruising mission, the tether 9 is gradually retracted after the kite-like robot stabilizes. Each retraction is 2 meters long and the retraction step is 5 seconds. The tether 9 can be retracted only after the robot stabilizes until it is retracted into the mobile platform.

Claims

1. A kite-like robot with a controllable sail, consisting of a frame (1), a sail and electronic components, characterized in that: The frame (1) is formed by connecting carbon fiber rods and connectors (104). The surface of the frame (1) is bonded to the sail surface. The sail surface includes a main sail (2) for providing lift to ensure that the kite-like robot stays in the air and a secondary sail (3) for controlling the posture of the kite-like robot. The electronic components are composed of a steering gear (5), a single-chip microcomputer (701), a battery (702) and a payload pod (7). The single-chip microcomputer (701) is equipped with a signal receiver. The battery (702) is electrically connected to the single-chip microcomputer (701). The carbon fiber rod comprises: a main rod (101) for suspending a pull ring (6) and the load pod (7); a first connecting rod (1031) for fixing the main sail (2) is fixed above the main rod (101) via the connecting member (104); symmetrically distributed sub-frames consisting of three first support rods (1021) are fixed on the left and right sides of the main rod (101) via the connecting member (104); longitudinal second support rods (1022) are fixed in each of the two sub-frames; and second connecting rods (1032) are fixedly connected to the symmetrical distal ends of the sub-frames on the left and right sides of the main rod (101). The mainsail (2) comprises two rectangular sub-mainsail sail surfaces (201) of the same shape and size. The two sub-mainsail sail surfaces (201) are symmetrically fixed on both sides of the main pole (101) through the longitudinal first connecting rod (1031) and the second supporting rod (1022) and two transverse first supporting rods (1021). The two sub-mainsail sail surfaces (201) are respectively provided with two rectangular sub-subsail frames (301) of the same shape and size at the ends away from the main pole (101). The sub-subsail sail surfaces (302) are fixed on the sub-subsail frames (301). A third connecting rod (1033) is provided at the central axis of the sub-sail frame (301), both ends of the third connecting rod (1033) extending out of the sub-sail frame (301), one end of which is rotatably connected to the bearing (4), the bearing (4) being fixedly connected to the sub-frame via a connecting piece (104), and the other end of which is rotatably connected to the output end of the steering gear (5), the steering gear (5) being used to control the rotation of the sub-sail sail surface (302), the steering gear (5) being fixedly connected to the sub-frame via a connecting piece (104), and the steering gear (5) being electrically connected to the single-chip microcomputer (701).

2. A kite-like robot with a controllable sail surface as claimed in claim 1, characterized in that: The two sub-sail frames (301) are at an angle of 150°.

3. A kite-like robot with a controllable sail surface as claimed in claim 1, characterized in that: The kite-like robot is fastened with a tether (9) connected to a target mobile platform (8) via the pull ring (6).

4. A kite-like robot with a controllable sail surface as claimed in claim 1, characterized in that: The single chip microcomputer (701) and the battery (702) are fixed in the payload pod (7).

5. The kite-like robot with a controllable sail surface as claimed in claim 1, characterized in that: The main sail (2) and the auxiliary sail (3) both adopt a frame skin structure.

6. The kite-like robot with a controllable sail surface as claimed in claim 1, characterized in that: The target speed of the kite-like robot in the cruising state is v=20 m / s, corresponding to a lift force L=17.6 N, corresponding to a drag force D=5.8 N, a total weight G=9.8 N, a tether (9) tension F=9.72 N, an elevation angle α=60°, and an azimuth angle β=180°.

7. A flying method for a kite-like robot with a controllable sail, based on the kite-like robot with a controllable sail according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, connecting the kite-like robot to the target mobile platform (8) via a tether (9); S2, the target mobile platform (8) starts the cruising mission and accelerates the cruising speed to v = 20 m / s, and in the subsequent cruising process, the cruising speed of the target mobile platform (8) is maintained within 20 ± 5 m / s; S3. When the speed of the target mobile platform (8) reaches 20 m / s, the initial posture of the kite-like robot is adjusted so that the elevation angle of the kite-like robot body is maintained at 50° and the sideslip angle and roll angle are both zero, the secondary sail (3) is kept in a closed state, and then the kite-like robot is released, that is, the kite-like robot is extended out of the target mobile platform (8); S4, after the kite-like robot's posture is stable, gradually release the tether (9), each release length is 1m and the release step length is 10s. After the kite-like robot's posture is stable, continue to release until the rope length reaches the target length of 10m; S5. Control the deflection of the auxiliary sail (3) according to the requirements of the cruise mission, and use the changes in aerodynamic force and torque generated by the deflection of the auxiliary sail (3) to drive the kite-like robot to move left and right and / or forward and backward, so as to form a force balance at the new position; S6. After the cruising mission of the target mobile platform (8) is completed, the tether (9) is gradually retracted after the kite-like robot's posture is stabilized. The length of each retraction is 2m and the retraction step is 5s. The retraction can continue only after the robot's posture is stabilized until it is retracted into the mobile platform.

8. The flying method of a kite-like robot with a controllable sail surface as claimed in claim 7, characterized in that: Driving the kite-like robot to move left and right includes the following: Left and right movement is divided into left movement and right movement. When the kite-like robot needs to move to the left, the ground signal transmitter control signal is sent to the signal receiver on the single-chip computer (701), and the behavior of the kite-like robot is described from the back to the front. The single-chip computer (701) controls the sub-sails (302) on both sides of the main pole (101) through the servo (5) to deflect clockwise synchronously, so that the sails are subjected to a component force to the left, so that the lift force on the kite-like robot is reduced, the resistance is increased, the direction angle of the tether (9) is increased, and the elevation angle is reduced, thereby driving the kite-like robot to move to the left. When the kite-like robot needs to move to the right, the ground signal transmitter control signal is sent to the signal receiver on the single-chip computer (701), and the behavior of the kite-like robot is described from the perspective of back to front. The single-chip computer (701) controls the sub-sails (302) on both sides of the main pole (101) through the servo (5) to deflect counterclockwise synchronously, so that the sails are subjected to a component force to the right, so that the lift force on the kite-like robot is reduced, the resistance is increased, the direction angle of the tether (9) is reduced, and the elevation angle is reduced, thereby driving the kite-like robot to move to the right. When the sails are completely closed, the lift force on the sails reaches a maximum value, the lateral force is zero, the direction angle of the tether (9) is 180 degrees, and no left-right deflection occurs.

9. The flying method of a kite-like robot with a controllable sail surface as claimed in claim 7, characterized in that: Driving the kite-like robot to move forward and backward includes the following: Forward and backward motion includes forward motion and backward motion. When the kite-like robot needs to move forward, after the ground signal transmitter control signal is sent to the signal receiver on the single-chip computer (701), the behavior of the kite-like robot is described from the back to the front. The single-chip computer (701) controls the sub-sail surface (302) on the left side of the main pole (101) to deflect counterclockwise through the servo (5), and controls the sub-sail surface (302) on the right side of the main pole (101) to deflect clockwise, so that the lift force on the sail surface increases, the resistance decreases, and the elevation angle of the tether (9) increases, thereby driving the kite-like robot to move forward. When the sail surface is completely closed, the lift force on the sail surface reaches a maximum value of 28.24N, and the elevation angle of the tether (9) reaches a maximum value of 72°.

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