A tube-launched rotor loitering munition and its operating method

Abstract

This invention provides a tube-launched rotor-wing loitering munition and its operating method, comprising a first-stage propulsion device, a deceleration parachute, a second-stage propulsion device, a multi-rotor UAV, a warhead, and a seeker. The beneficial effects of this invention are: The first-stage propulsion device provides initial velocity during launch, enabling rapid deployment. During flight, the first-stage propulsion device can be automatically jettisoned via a mechanism, reducing the weight of the loitering munition and increasing its operational time. The invention also includes a second-stage propulsion device, which further increases the flight speed of the loitering munition, extending its range and compensating for its insufficient operational distance, ensuring the munition quickly reaches a preset altitude and position. For launch-type rotor-wing loitering munitions, by rationally designing the main body structure and the arm extension and retraction structure, the retraction size is significantly reduced, meeting overload requirements and enabling tube-launching of the rotor-wing loitering munition.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a tube-launched rotary-wing loitering munition and its operating method. Background Technology

[0002] With the rapid development of unmanned aerial vehicles (UAVs), they have been widely used in aerospace, surveying and mapping, and especially in military and police fields. With the development of control and guidance technologies, UAV loitering munitions have gained widespread application due to their unique advantages. Currently, the mainstream loitering munitions are fixed-wing, which are widely used for large-scale reconnaissance due to their high cruising speed and long loiter time. However, their turning radius limitation makes them unsuitable for reverse-slope reconnaissance. Loitering munitions based on rotary-wing UAVs combine the advantages of rotary-wing UAVs, allowing for rapid deployment and hovering. Currently, most are still under development, but their loitering distance and area are limited by launch methods and size, lacking long-term reconnaissance capabilities. Summary of the Invention

[0003] In view of this, the present invention aims to provide a tube-launched rotor loitering munition and its operating method to solve at least one of the problems existing in the prior art.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] A tube-launched rotary-wing loitering munition includes a first-stage propulsion device, a drag chute, a second-stage propulsion device, a multi-rotor drone, a warhead, and a seeker. The second-stage propulsion device is mounted at the tail of the multi-rotor drone, the drag chute is mounted at the tail of the second-stage propulsion device, the first-stage propulsion device is mounted at the tail of the drag chute, the warhead is mounted at the front of the multi-rotor drone, and the seeker is mounted at the front of the warhead.

[0006] Furthermore, the multi-rotor UAV includes a battery compartment, arm assemblies, a main body, arm locking mechanisms, and a flight control system. A secondary propulsion device is installed at the tail of the battery compartment, and the main body is installed at the front of the battery compartment. Multiple arm assemblies are installed inside the main body, and each arm assembly is connected to an arm locking mechanism on one side. The arm locking mechanisms are installed inside the main body. The flight control system is installed in the middle of the main body, and the warhead is installed at the front of the main body.

[0007] Furthermore, the first-stage propulsion device includes a combustion chamber, a nozzle, an igniter, a propulsion device base, a spring, and L-shaped plates. The deceleration chute is provided with multiple strip grooves. The combustion chamber is installed at the tail of the nozzle, and the igniter is installed inside the combustion chamber. The propulsion device base is installed at the front of the nozzle. A spring is installed in the middle of the front part of the propulsion device base. Multiple L-shaped plates are evenly installed circumferentially at the front part of the propulsion device base. The L-shaped plates are used in conjunction with the strip grooves.

[0008] Furthermore, the second-stage propulsion device includes a second-stage propulsion chamber and its internal combustion chamber shell, composite nozzle, propellant, and second-stage igniter. The tail of the second-stage propulsion chamber is connected to a drag chute, and the front of the second-stage propulsion chamber is connected to a battery compartment. The combustion chamber shell is installed inside the second-stage propulsion chamber, and the propellant is installed inside the combustion chamber shell. The second-stage igniter is nested in the front of the combustion chamber shell, and the composite nozzle is installed at the tail of the combustion chamber shell.

[0009] Furthermore, the main body of the airframe includes an airframe body, a missile cover, an arm shaft, an outer retaining ring, an inner retaining ring, and a fixing ring. A battery compartment is installed at the tail of the airframe body, a warhead is installed at the front of the airframe body, and a flight control system is installed in the middle of the airframe body. Two missile covers are symmetrically installed around the airframe body via fixing rings. Multiple arm shafts are installed at both ends of the airframe body. An inner retaining ring is installed at the bottom of each arm shaft, and an outer retaining ring is installed in the middle of each arm shaft. An arm assembly is sleeved on the outside of each arm shaft, and the arm assembly is connected to the outer retaining ring. Multiple arm locking mechanisms are also installed at both ends of the airframe body, and each arm locking mechanism is connected to an arm assembly.

[0010] Furthermore, the arm assembly includes a wing, a torsion spring, a motor, a rotor hub, and a propeller. One end of the wing has a through hole, and the wing is mounted to the arm shaft of the main body through the through hole. A torsion spring is provided between the through hole and the arm shaft. The other end of the wing is equipped with a motor, and the output shaft of the motor is installed in the middle of the rotor hub. A propeller is installed on each side of the rotor hub.

[0011] Furthermore, the arm locking mechanism includes a pin mounting component, a limiting pin, and a compression spring. The main body of the aircraft is provided with multiple mounting holes. The pin mounting component is installed on the main body of the aircraft and is located on one side of the mounting hole. The pin mounting component is provided with a round hole, and the compression spring is placed in the round hole. The limiting pin is provided with a stepped boss. The limiting pin passes through the inner diameter of the compression spring and the mounting hole in sequence and is slidably disposed in the guide groove of the wing.

[0012] Furthermore, a method for operating a tube-launched rotor loitering munition includes the following steps:

[0013] S1. Carry the rotor loitering munition to the combat area, power it on through the launch tube, and the rotor loitering munition begins self-testing.

[0014] S2. After the self-test is completed, determine whether the communication is normal and whether the satellite has successfully positioned itself;

[0015] S3. After communication is normal and satellite positioning is successful, load the flight route information or target location information according to the combat mission. After the information is loaded, download the loaded information and confirm that the loaded information is successfully loaded.

[0016] S4. Based on the self-test status, determine whether the launch status is met. If the launch status is not met, replace with the next loitering munition.

[0017] S5. Once ready for launch, ground personnel ignite the first-stage propulsion system at a set elevation angle, and the loitering munition departs at a set speed.

[0018] S6. The loitering munition flight control system monitors the launch overload g1 in real time. When the launch overload g1 < g0, the flight control system starts timing and begins attitude calculation.

[0019] S7. When the flight speed drops to a certain threshold, the spring will push out the first-stage propulsion device to achieve automatic jettison.

[0020] S8. When the flight control timer reaches t1, the second-stage propulsion device is ignited, and the loitering munition's flight speed is further increased under the action of the second-stage propulsion device.

[0021] S9. When the flight control timer reaches t2, the drag chute will automatically open. Under the action of the drag chute, the loitering munition will begin to decelerate significantly. The flight control will monitor the flight speed v1 in real time. When the flight speed v1 < v0, the drag chute will be automatically jettisoned.

[0022] S10. After the deceleration parachute is deployed, the automatic control arm assembly pops out and monitors the pitch angle θ1 and roll angle ψ1 of the loitering munition in real time. When the pitch angle θ1 < θ0 and the roll angle ψ1 < ψ0, the flight control motor unlocks and automatically stabilizes the flight attitude.

[0023] S11. Based on the loaded track information or target location information, automatically plan a flight path, fly along the flight path to hover over the target area, and begin reconnaissance of the combat area.

[0024] S12. The seeker has an automatic target identification function. After the ground combat personnel manually determine the target based on the returned image information, the seeker begins to automatically lock onto and track the target.

[0025] S13. Once the ground combat personnel have identified the target, an attack command is issued. The loitering munition, guided by the image, automatically controls its attitude and dives to attack the target.

[0026] Compared with existing technologies, the tube-launched rotor loitering munition and its operating method described in this invention have the following advantages:

[0027] (1) The present invention describes a tube-launched rotor loitering munition and its working method. The rotor loitering munition is equipped with a first-stage propulsion device. During the launch phase, it obtains initial velocity through the first-stage propulsion device, which enables rapid deployment. During flight, the first-stage propulsion device can be automatically jettisoned through a mechanism, reducing the weight of the loitering munition and increasing its combat time. The rotor loitering munition is equipped with a second-stage propulsion device, which can further increase the flight speed of the loitering munition, extend its range, make up for the insufficient combat range of the rotor loitering munition, and ensure that the loitering munition quickly reaches the preset altitude and preset position. For the launch-type rotor loitering munition, by reasonably designing the main body structure and the arm extension and retraction structure, the storage size is greatly reduced, the overload requirements are met, and the tube-launch of the rotor loitering munition can be realized.

[0028] (2) The rotor loitering munition launched by the tube and its working method described in this invention adopts a staggered layout structure design for the arms, which greatly reduces the storage space of the rotor loitering munition and meets the requirements of tube launch; the arms have the functions of rapid opening and locking. The arms can be rapidly opened by the opening mechanism and locked by the locking mechanism, ensuring that the arms can be locked under the action of anti-torque; during the attack phase, the attitude and position of the loitering munition are automatically controlled by the image-guided flight control to achieve automatic dive attack on the target, with a high degree of intelligence. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the overall structure as described in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the first-stage propulsion device according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the two-stage propulsion device according to an embodiment of the present invention;

[0033] Figure 4 This is a cross-sectional schematic diagram of the two-stage propulsion device according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram showing the connection of the arm assembly and arm locking mechanism according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram showing the connection of the arm assembly and arm locking mechanism in the equiaxial direction according to an embodiment of the present invention;

[0036] Figure 7This is a schematic diagram of the main body of the machine as described in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the arm locking mechanism described in an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the working method described in an embodiment of the present invention.

[0039] Figure 10 This is a schematic diagram of the flight path of the working method described in the embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. First-stage propulsion system; 11. Combustion chamber; 12. Nozzle; 13. Propulsion system base; 14. Spring; 15. L-shaped plate; 2. Deceleration parachute; 21. Strip groove; 3. Second-stage propulsion system; 31. Second-stage propulsion compartment; 32. Combustion chamber shell; 33. Composite nozzle; 34. Propellant; 35. Second-stage ignition device; 4. Battery compartment; 5. Arm assembly; 51. Wing; 52. Torsion spring; 53. Motor; 54. Propeller hub; 55. Propeller; 6. Main fuselage; 61. Main fuselage body; 62. Missile cover; 63. Arm shaft; 64. Outer retaining ring; 65. Inner retaining ring; 66. Fixing ring; 7. Warhead; 8. Arm locking mechanism; 81. Pin mounting component; 82. Limiting pin; 83. Compression spring; 9. Seeker; 10. Flight control system. Detailed Implementation

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] like Figures 1 to 10 As shown, a tube-launched rotary loitering munition is described. The loitering munition system consists of a primary propulsion device 1, a deceleration parachute 2, a secondary propulsion device 3, a multi-rotor unmanned aerial vehicle, a warhead 7, and a seeker 9.

[0047] The first-stage propulsion device 1 mainly consists of a combustion chamber 11, a nozzle 12, an igniter, a propulsion device base 13, a spring 14, and an L-shaped plate 15. During launch, it can provide first-stage propulsion power to ensure that the loitering munition is launched at a certain speed. After propulsion, the first-stage propulsion device 1 is launched by the spring 14, which can achieve rapid deployment.

[0048] In a preferred embodiment of the present invention, the L-shaped plate 15 cannot rotate within the launch tube due to the constraint of the launch tube diameter. The deceleration parachute 2 is provided with multiple slots 21 to restrict the position of the L-shaped plate 15. During launch, the first-stage propulsion device 1 provides a large thrust, generating a certain overload along the launch axis. When the thrust decreases to a certain threshold, the spring 14 pushes out the first-stage propulsion device 1, causing the L-shaped plate 15 to rotate outwards and disengage from the slots of the deceleration parachute 2, thus realizing the release of the first-stage propulsion device 1.

[0049] In a preferred embodiment of the present invention, after the secondary propulsion device 3 propels the loitering munition, the speed of the loitering munition increases significantly. At this time, it is not conducive to the deployment of the arm assembly 5. The deceleration parachute 2 can reduce the flight speed of the loitering munition. After decelerating to a certain speed, the deceleration parachute 2 is deployed.

[0050] In a preferred embodiment of the present invention, the secondary propulsion device 3 mainly consists of a secondary propulsion chamber 31, a combustion chamber shell 32, a composite nozzle 33, a propellant 34, and a secondary igniter 35. One end is fixed to the battery compartment 4, and the other end is connected to the deceleration parachute 2. Its main function is to increase the flight speed of the loitering munition, extend the range of the rotor loitering munition, make up for the shortcoming of insufficient combat range of the rotor loitering munition, and ensure that the loitering munition can quickly reach the preset altitude and preset position.

[0051] In a preferred embodiment of the present invention, the multi-rotor drone is composed of a main body 6, an arm assembly 5, an arm locking mechanism 8, a battery compartment 4, a flight controller 10, etc. The flight controller 10 is the flight control system of the multi-rotor drone, which is the prior art. This application does not limit the number of axes of the multi-rotor.

[0052] In a preferred embodiment of the present invention, the main body 6 comprises a main body 61, a missile cover 62, an arm shaft 63, an outer retaining ring 64, an inner retaining ring 65, and a fixing ring 66. A square groove is provided in the middle area of ​​the main body 61 for mounting the flight control system; it serves as a carrier for airborne equipment and mission payloads. Multiple bearing holes are provided on the main body 61 for mounting the arm shaft 63, the outer retaining ring 64, and the inner retaining ring 65, ensuring unobstructed rotation of the arm assembly 5. Multiple mounting holes are provided on the main body 61 for mounting the arm locking mechanism, and a fixing ring 66 is installed on the main body 61 to fix the missile cover.

[0053] In a preferred embodiment of the present invention, the arm assembly 5 is composed of a wing 51, a torsion spring 52, a hub 54 and a propeller 55. One end of the arm assembly 5 is fixed to the arm shaft 63 of the main body 6, and the other end can be equipped with a motor 53. The end of the wing 51 is provided with a torsion spring 52. Under the action of the torsion force of the torsion spring 52, the arm assembly 5 can be quickly opened.

[0054] In a preferred embodiment of the present invention, the arm assembly 5 adopts a staggered layout design. Limited by factors such as the loitering munition caliber, weight, and motor 53 size, the structural design and layout of the wing 51 and the main body 61 ensure that the arm assembly 5 is staggered within the cylinder during storage, and that the drive motors 53 are evenly distributed on a parallel plane during deployment. A guide groove is provided on the side of the wing 51 end to limit the position of the limiting pin 82. A circular hole is provided at the end of the wing 51, through which the arm shaft 63 is mounted. A torsion spring 52 is provided between the circular hole and the arm shaft 63, allowing the arm assembly 5 to spring open quickly under the torque of the torsion spring 52. The motors 53 are controlled by an electronic speed controller (ESC) for starting, stopping, and rotation speed. The number of motors 53 depends on the number of shafts of the multi-rotor UAV.

[0055] In a preferred embodiment of the present invention, the arm locking mechanism 8 mainly consists of a pin mounting component 81, a limiting pin 82, and a compression spring 83, which are fixed on the body 61. The pin mounting component 81 is provided with a round hole, and the compression spring 83 can be placed in the round hole. The limiting pin 82 is provided with a stepped boss, and the limiting pin 82 passes through the inner diameter of the compression spring 83. The compression spring 83 is compressed by the stepped boss. The pin mounting component 81 is provided with two fixing holes. After compressing the compression spring 83, the entire assembly is installed on the body 61. When the arm assembly 5 is deployed, the limiting pin 82 slides on the guide groove of the wing 51. The end of the guide groove of the wing 51 is provided with a limiting hole. The limiting pin 82 cooperates with the limiting hole to lock the arm assembly 5.

[0056] In a preferred embodiment of the present invention, the battery compartment 4 is distributed at the rear end of the body 61 and fixed on the body 61.

[0057] In a preferred embodiment of the present invention, the warhead 7 and the seeker 9 are existing technologies, consisting of a conventional servo stabilization platform, an image processing module, sensors, etc. The type of servo stabilization platform and the type of sensors are not limited, and the platform can identify multiple types of targets and achieve stable target tracking. The servo stabilization platform mainly consists of a conventional servo stabilization platform structure, drive components, angle sensors, inertial measurement units, etc., and its main function is image stabilization. The main function of the image processing module is to identify and stably track targets. The sensor's function is to detect targets.

[0058] In a preferred embodiment of the present invention, the flight control system 10 controls the loitering munition to adjust its attitude and altitude to align with the target based on the attitude information and the target miss distance information transmitted back by the seeker 9, and then dives to attack the target at a certain angle.

[0059] A method for operating a tube-launched rotor-type loitering munition, the control process of which is as follows:

[0060] S1. Carry the rotor loitering munition to the combat area, power it on through the launch tube, and the rotor loitering munition begins self-testing.

[0061] S2. After the self-test is completed, determine whether the communication is normal and whether the satellite has successfully positioned itself;

[0062] S3. After communication is normal and satellite positioning is successful, load the flight route information or target location information according to the combat mission. After the information is loaded, download the loaded information and confirm that the loaded information is successfully loaded.

[0063] S4. Based on the self-test status, determine whether the launch status is met. If the launch status is not met, replace with the next loitering munition.

[0064] S5. Once the launch status is met, ground combat personnel ignite the first-stage propulsion device 1 at a certain elevation angle, and the loitering munition departs at a certain speed.

[0065] S6. The loitering munition flight control system monitors the launch overload g1 in real time. When the launch overload g1 < g0, the flight control system starts timing and begins attitude calculation.

[0066] S7. When the flight speed drops to a certain threshold, the spring 14 will push out the first-stage propulsion device 1 to achieve automatic jettison.

[0067] S8. When the flight control timer reaches t1, the second-stage propulsion device 3 is ignited, and the loitering munition's flight speed is further increased under the action of the second-stage propulsion device 3.

[0068] S9. When the flight control timer reaches t2, the deceleration parachute 2 is automatically deployed. Under the action of the deceleration parachute 2, the loitering munition begins to decelerate significantly. The flight control monitors the flight speed v1 in real time. When the flight speed v1 < v0, the deceleration parachute 2 is automatically jettisoned.

[0069] S10. After the deceleration parachute 2 is deployed, the automatic control arm assembly 5 pops out and monitors the pitch angle θ1 and roll angle ψ1 of the loitering munition in real time. When the pitch angle θ1 < θ0 and the roll angle ψ1 < ψ0, the flight control automatic control motor 53 is unlocked and the flight attitude is automatically stabilized.

[0070] S11. Based on the loaded track information or target location information, automatically plan a flight path, fly along the flight path to hover over the target area, and begin reconnaissance of the combat area.

[0071] S12, the seeker 9 has an automatic target identification function. After the ground combat personnel manually determine the target based on the returned image information, the seeker 9 begins to automatically lock onto and track the target.

[0072] S13. Once the ground combat personnel have identified the target, an attack command is issued. The loitering munition, guided by the image, automatically controls its attitude and dives to attack the target.

[0073] Advantages of this invention:

[0074] 1. The rotary-wing loitering munition is equipped with a first-stage propulsion device. During the launch phase, it obtains initial velocity through the first-stage propulsion device, enabling rapid deployment. During flight, the first-stage propulsion device can be automatically jettisoned through a mechanism, reducing the weight of the loitering munition and increasing its operational time.

[0075] 2. The rotor loitering munition is equipped with a two-stage propulsion system, which can further increase the flight speed of the loitering munition, extend its range, make up for the shortcoming of insufficient combat range of the rotor loitering munition, and ensure that the loitering munition can quickly reach the preset altitude and preset position.

[0076] 3. For launch-type rotor loitering munitions, by rationally designing the main body structure and the arm opening and retraction structure, the storage size can be greatly reduced, the overload requirements can be met, and the tube-type launch of rotor loitering munitions can be realized.

[0077] 4. The arms adopt a staggered layout design, which greatly reduces the storage space of the rotor loitering munition and meets the requirements of tube-type launch.

[0078] 5. The boom has quick-opening and locking functions. The boom can be quickly opened through the opening mechanism and locked through the locking mechanism, ensuring that the boom can be locked under the action of counter torque.

[0079] 6. During the attack phase, the loitering munition's attitude and position are automatically controlled via image-guided flight control, enabling it to automatically dive and attack targets, demonstrating a high degree of intelligence.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tube-launched rotor loitering munition, characterized in that: It includes a primary propulsion device (1), a drag chute (2), a secondary propulsion device (3), a multi-rotor drone, a warhead (7), and a seeker head (9). The secondary propulsion device (3) is installed at the tail of the multi-rotor drone. The drag chute (2) is installed at the tail of the secondary propulsion device (3). The primary propulsion device (1) is installed at the tail of the drag chute (2). The warhead (7) is installed at the front of the multi-rotor drone. The seeker head (9) is installed at the front of the warhead (7). The first-stage propulsion device (1) is used for automatic deployment. The first-stage propulsion device (1) includes a spring (14), an L-shaped plate (15), and a propulsion device base (13). The spring (14) is installed in the middle of the front part of the propulsion device base (13). Multiple L-shaped plates (15) are evenly installed in the circumferential direction at the front part of the propulsion device base (13). Multiple strip grooves (21) are provided on the deceleration parachute (2). The L-shaped plate (15) is used in conjunction with the strip groove (21) to restrict the position of the L-shaped plate (15). When the flight speed drops to a certain threshold, the spring (14) is triggered and the first-stage propulsion device (1) is pushed out. The L-shaped plate (15) rotates outward and comes out of the strip groove of the deceleration parachute (2), thereby realizing the deployment of the first-stage propulsion device (1). The secondary propulsion device (3) is used to increase the flight speed of the loitering munition and extend its range to reach the preset altitude and preset position. The multi-rotor drone includes a main body (6) for housing the arm assembly (5) which is staggered inside the main body (6). The main body (6) allows the arm assembly (5) to rotate without resistance through the arm shaft (63). The main body (61) has multiple mounting holes for mounting the arm locking mechanism (8). The arm assembly (5) includes a wing (51), a torsion spring (52), and a motor (53). One end of the wing (51) has a through hole, and one end of the wing (51) is installed to the arm shaft (63) of the main body (6) through the through hole. A torsion spring (52) is provided between the through hole and the arm shaft (63). The other end of the wing (51) is equipped with a motor (53). The arm locking mechanism (8) includes a limit pin (82). The arm assembly (5) is opened by the torsion spring (52). When deployed, the drive motors (53) are all distributed on a parallel plane. The start, stop and speed of the arm assembly (5) are controlled by an electronic speed controller. A guide groove is provided on the side of the end of the wing (51). A limit hole is provided at the end of the guide groove. The limit pin (82) slides on the guide groove of the wing (51) and locks the arm assembly (5) after cooperating with the limit hole. The arm assembly adopts a staggered layout design, which minimizes the storage space of the rotor loitering munition and meets the requirements of tube-type launch. The arm assembly has rapid opening and locking functions. The opening mechanism enables the arm assembly to open rapidly, and the locking mechanism enables the arm assembly to lock under the action of anti-torque. During the attack phase, the loitering munition's attitude and position are automatically controlled by image-guided flight control to achieve automatic dive attack on the target.

2. The tube-launched rotor loitering munition according to claim 1, characterized in that: The multi-rotor UAV includes a battery compartment (4), arm assemblies (5), a main body (6), arm locking mechanisms (8), and a flight controller (10). A secondary propulsion device (3) is installed at the tail of the battery compartment (4). The main body (6) is installed at the front of the battery compartment (4). Multiple arm assemblies (5) are installed inside the main body (6). Each arm assembly (5) is connected to an arm locking mechanism (8) on one side. The arm locking mechanism (8) is installed inside the main body (6). The flight controller (10) is installed in the middle of the main body (6). The warhead (7) is installed at the front of the main body (6).

3. The tube-launched rotor loitering munition according to claim 1, characterized in that: The first-stage propulsion device (1) further includes a combustion chamber (11), a nozzle (12) and an igniter. The combustion chamber (11) is installed at the tail of the nozzle (12), and the igniter is installed inside the combustion chamber (11). The propulsion device base (13) is installed at the front of the nozzle (12).

4. A tube-launched rotor loitering munition according to claim 2, characterized in that: The secondary propulsion device (3) includes a secondary propulsion chamber (31) and its internal combustion chamber shell (32), composite nozzle (33), propellant (34) and secondary igniter (35). The tail of the secondary propulsion chamber (31) is connected to a deceleration parachute (2), and the front of the secondary propulsion chamber (31) is connected to a battery compartment (4). The combustion chamber shell (32) is installed inside the secondary propulsion chamber (31), and the propellant (34) is installed inside the combustion chamber shell (32). The secondary igniter (35) is nested in the front of the combustion chamber shell (32), and the composite nozzle (33) is installed at the tail of the combustion chamber shell (32).

5. A tube-launched rotor loitering munition according to claim 2, characterized in that: The main body (6) also includes a main body (61), missile covers (62), an outer retaining ring (64), an inner retaining ring (65), and a fixing ring (66). A battery compartment (4) is installed at the tail of the main body (61), a warhead (7) is installed at the front of the main body (61), and a flight control system (10) is installed in the middle of the main body (61). Two missile covers (62) are symmetrically installed around the main body (61) via fixing rings (66). Multiple arm shafts (63) are installed at each end. An inner retaining ring (65) is installed at the bottom of each arm shaft (63). An outer retaining ring (64) is installed in the middle of each arm shaft (63). An arm assembly (5) is sleeved on the outside of each arm shaft (63). The arm assembly (5) is connected to the outer retaining ring (64). Multiple arm locking mechanisms (8) are also installed at both ends of the body (61). One arm locking mechanism (8) is connected to one arm assembly (5).

6. A tube-launched rotor loitering munition according to claim 5, characterized in that: The arm assembly (5) also includes a hub (54) and a propeller (55). The output shaft of the motor (53) is installed in the middle of the hub (54), and a propeller (55) is installed on each side of the hub (54).

7. A tube-launched rotor loitering munition according to claim 6, characterized in that: The arm locking mechanism (8) also includes a pin mounting component (81) and a compression spring (83). The body body (61) is provided with multiple mounting holes. The pin mounting component (81) is installed on the body body (61) and is located on one side of the mounting hole. The pin mounting component (81) is provided with a round hole. The compression spring (83) is placed in the round hole. The limiting pin (82) is provided with a stepped boss. The limiting pin (82) passes through the inner diameter of the compression spring (83) and the mounting hole in sequence and is slidably disposed in the guide groove of the wing (51).

8. A method for operating a tube-launched rotor-borne loitering munition, applied to the tube-launched rotor-borne loitering munition as described in any one of claims 2, 4-7, characterized in that: Includes the following steps: S1. Carry the rotor loitering munition to the combat area, power it on through the launch tube, and the rotor loitering munition begins self-testing. S2. After the self-test is completed, determine whether the communication is normal and whether the satellite has successfully positioned itself; S3. After communication is normal and satellite positioning is successful, load the flight route information or target location information according to the combat mission. After the information is loaded, download the loaded information and confirm that the loaded information is successfully loaded. S4. Based on the self-test status, determine whether the launch status is met. If the launch status is not met, replace with the next loitering munition. S5. Once the launch state is ready, ground combat personnel ignite the first-stage propulsion device (1) at a set elevation angle, and the loitering munition exits the tube at a set speed. S6, Loitering munition flight control (10) real-time monitoring of launch overload Launch overload At that time, the flight controller (10) starts timing and begins attitude calculation; S7. When the flight speed drops to a certain threshold, the spring (14) will push out the first-stage propulsion device (1) to achieve automatic jettison. S8, Flight Controller (10) timing reached At that time, the second-stage propulsion device (3) is ignited, and the loitering munition's flight speed is further increased under the action of the second-stage propulsion device (3); S9, Flight Controller (10) timing reaches At that time, the deceleration parachute (2) is automatically deployed. Under the action of the deceleration parachute (2), the loitering munition begins to decelerate significantly, and the flight control (10) monitors the flight speed in real time. When the flight speed At that time, the deceleration chute is automatically deployed (2); S10. After the deceleration parachute (2) is deployed, the automatic control arm assembly (5) opens and monitors the pitch angle of the loitering munition in real time. and roll angle When the pitch angle Roll angle At this time, the flight controller (10) automatically controls the motor (53) to unlock and automatically stabilize the flight attitude; S11. Based on the loaded track information or target location information, automatically plan a flight path, fly along the flight path to hover over the target area, and begin reconnaissance of the combat area. S12. The seeker (9) has the function of automatic target identification. After the ground combat personnel manually determine the target based on the returned image information, the seeker (9) begins to automatically lock and track the target. S13. Once the ground combat personnel have identified the target, an attack command is issued. The loitering munition, guided by the image, automatically controls its attitude and dives to attack the target.

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