An on-vehicle drone configuration and its design method

Abstract

The present invention discloses a novel vehicle-mounted unmanned aircraft configuration and its design method. The fuselage of the unmanned aircraft is provided with a main propeller for providing lift and a tail pusher propeller for providing forward flight power; and the propeller disk plane of the main propeller maintains a parallel relationship with the horizontal plane, and the propeller disk plane of the tail pusher propeller maintains a perpendicular relationship with the forward direction of the unmanned aircraft, so that the unmanned aircraft has the ability to fly horizontally, can take off and land stably on a moving vehicle, and is suitable for carrying an airborne camera device fixedly connected to the unmanned aircraft.

Description

Technical Field

[0001] The present invention relates to the field of the structure and design of unmanned aerial vehicles, and particularly to a vehicle-mounted unmanned aerial vehicle configuration and its design method. Background Art

[0002] With the increasingly wide application of unmanned aerial vehicles in daily life and various tasks, vehicle-mounted unmanned aerial vehicles are the current research focus. To enable an unmanned aerial vehicle to take off and land on a moving vehicle, the unmanned aerial vehicle needs to have the ability to fly horizontally. At the same time, the commonly used airborne camera of a vehicle-mounted unmanned aerial vehicle is fixedly connected to the unmanned aerial vehicle. To reduce the vibration amplitude of the airborne camera, the unmanned aerial vehicle also needs to have the ability to fly horizontally. However, in the flight process of traditional unmanned aerial vehicles and helicopters, they all fly forward with their heads down. Therefore, in the actual operation process, it is very difficult for traditional unmanned aerial vehicles and helicopters to land on a moving vehicle.

[0003] For the above reasons, the inventor of the present invention proposes a vehicle-mounted unmanned aerial vehicle configuration and its design method. By introducing a tail propeller, the unmanned aerial vehicle is enabled to have the ability to fly horizontally, and further enables the unmanned aerial vehicle to have the ability to take off and land on a moving vehicle and reduce the vibration amplitude of the airborne camera. Summary of the Invention

[0004] In order to overcome the above problems, the inventor of the present invention has conducted intensive research and designed a vehicle-mounted unmanned aerial vehicle configuration and its design method. A main propeller for providing lift and a tail propeller for providing forward flight power are arranged on the fuselage of the unmanned aerial vehicle. Moreover, the propeller disk plane of the main propeller is kept parallel to the horizontal plane, and the propeller disk plane of the tail propeller is kept perpendicular to the forward direction of the unmanned aerial vehicle, so that the multi-rotor unmanned aerial vehicle has the ability to fly horizontally, and the overall size has no significant change, retaining the characteristic of small size of the traditional multi-rotor unmanned aerial vehicle, thereby completing the present invention.

[0005] Specifically, the purpose of the present invention is to provide a vehicle-mounted unmanned aerial vehicle, which includes:

[0006] A fuselage 1 and an arm 2 arranged on the fuselage 1, and a main propeller 4 is arranged on each arm 2; the main propeller 4 provides lift for the multi-rotor unmanned aerial vehicle;

[0007] A tail propeller support 7 is further arranged on the fuselage 1, and a tail propeller 6 is arranged on the tail propeller support 7; the tail propeller 6 provides power for the multi-rotor unmanned aerial vehicle to fly forward.

[0008] Wherein, during the flight process of the multi-rotor unmanned aerial vehicle, the propeller disk plane of the main propeller 4 is kept parallel to the horizontal plane;

[0009] During the flight process of the multi-rotor unmanned aerial vehicle, the propeller disk plane of the tail propeller 6 is kept perpendicular to the forward direction of the unmanned aerial vehicle.

[0010] Among them, a main propeller motor 3 is arranged on each arm 2, and the main propeller 4 on the arm 2 is driven to rotate by the main propeller motor 3;

[0011] A tail thrust propeller motor 5 is arranged on the tail thrust propeller support 7, and the tail thrust propeller 6 is driven to rotate by the tail thrust propeller motor 5;

[0012] Preferably, a battery 8 for supplying power to the main propeller motor 3 and the tail thrust propeller motor 5 is arranged inside the fuselage 1;

[0013] Preferably, avionics equipment 9 is arranged below the front end of the fuselage 1;

[0014] Preferably, a landing gear 10 is arranged at the bottom of the fuselage 1.

[0015] This application also provides a design method for a vehicle-mounted unmanned aerial vehicle, and the method includes the following steps:

[0016] Step 1: Without considering the tail thrust propeller, determine the main propeller size, main propeller motor parameters and battery parameters according to the expected parameters;

[0017] Step 2: Conduct aerodynamic simulation on the main propeller to obtain the thrust, drag, torque and rotational speed of the main propeller under the limitation of the expected endurance speed and takeoff weight, and obtain the main propeller power;

[0018] Step 3: Conduct aerodynamic simulation on the expected fuselage to obtain the fuselage drag and lift;

[0019] Step 4: Determine the tail thrust propeller size according to the main propeller drag and the fuselage drag; the tail thrust propeller size includes the tail thrust propeller diameter, pitch and force efficiency;

[0020] Step 5: Determine the overall propeller layout according to the maximum size limit of the whole machine.

[0021] The overall propeller layout includes the main propeller spacing, the height difference between the front and rear main propellers, and the position of the tail thrust propeller.

[0022] Among them, in the step 1, the expected parameters include the takeoff weight, the fuselage size, the flight radius, the endurance time, the endurance speed and the maximum output power;

[0023] The main propeller size includes the diameter, pitch and force efficiency of the main propeller;

[0024] The main propeller motor parameters include the motor power and the KV value;

[0025] The battery parameters include the battery output voltage and the battery power;

[0026] Among them, in the step 2, the aerodynamic simulation includes connecting the main propeller to the main propeller motor and fixing it in the simulation interface, placing the main propeller disk plane vertically, and making it form a 0° angle with the oncoming flow;

[0027] The main rotor thrust, drag, and torque are obtained through force and moment simulations; the main rotor speed is obtained through speed simulations.

[0028] Preferably, the power and force efficiency of the main rotor during forward flight are obtained through the following formula (III):

[0029]

[0030] where P p,v represents the main rotor power during forward flight; Q p,v represents the main rotor torque during forward flight; ω v represents the main rotor speed during forward flight; η p,v represents the main rotor force efficiency during forward flight; T p,v represents the main rotor thrust during forward flight.

[0031] where, in the step 3, the aerodynamic simulation includes horizontally fixing the fuselage within the simulation interface, aligning the fuselage axis with the simulation interface axis, with the fuselage angle of attack being 0° and the pitch angle being 0°; the lift and drag of the fuselage are obtained through force and moment simulations.

[0032] where, in the step 4, the required tail rotor thrust and force efficiency during the forward flight of the UAV are obtained through the following formula (IV);

[0033]

[0034] where η p2 represents the tail rotor force efficiency during forward flight; T p2 represents the tail rotor thrust during forward flight; GTOW represents the takeoff mass; E b represents the battery power; t represents the endurance time; η p,v represents the main rotor power during forward flight; f represents the total resistance of the UAV during forward flight;

[0035] The total resistance f of the UAV during forward flight is obtained through the following formula (V):

[0036] f = nf p + f b (V)

[0037] where f p represents the resistance of a single main rotor during forward flight, f b represents the fuselage resistance during forward flight; n represents the number of main rotors.

[0038] In the step 4, the required pitch and diameter of the tail rotor during the forward flight of the UAV are obtained through the following sub-steps;

[0039] Sub-step 1, the diameter size of the tail rotor is preliminarily determined through the following formula (VI):

[0040] dp2 = 0.3 to 0.6d p1 (Six)

[0041] Wherein, d p2 represents the diameter of the tail propeller, and d p1 represents the diameter of the main propeller;

[0042] Sub-step 2, retrieve the propeller information that meets the preliminary limitation requirements, including the diameter and pitch;

[0043] Sub-step 3, conduct aerodynamic simulation on the propellers in Sub-step 2 to obtain the thrust F of each propeller during forward flight b2 ,

[0044] On the basis of satisfying the following formula (Seven), select the propeller with the smallest diameter as the diameter of the tail propeller; and select the smallest pitch at this diameter as the pitch of the tail propeller;

[0045] F b2 ≥ f(Seven).

[0046] Wherein, in the said Step 5, arrange the positions of the main propeller and the tail propeller according to the maximum size requirements of the unmanned aerial vehicle;

[0047] Preferably, there is a height difference of h fr between the front propeller and the rear propeller; its size is obtained by solving the following formula (Eight):

[0048] h fr = D pm (Eight)

[0049] Wherein, D pm is the distance from the upper surface of the propeller to the lower surface of the motor;

[0050] Preferably, the tail propeller is installed above and behind the center of mass of the unmanned aerial vehicle, specifically d p2 distance behind the center of mass and h p2 distance above the center of mass;

[0051] Wherein, the distance d p2 takes the maximum value that can meet the maximum size requirements;

[0052] The distance h p2 , is obtained by the following formula (Nine):

[0053]

[0054] Wherein, represents the pitching moment generated by each main propeller.

[0055] The beneficial effects of the present invention include:

[0056] According to the on-vehicle drone and its design method provided by the present invention, the forward flight power of the drone is directly provided by the tail propeller, and the main propellers are only responsible for providing lift. The results of the aerodynamic simulation test and flight test show that the on-vehicle drone has the ability of horizontal flight; in addition, the drone can effectively reduce the vibration frequency of the on-board camera fixedly connected to the drone, and the overall size of the whole machine does not change significantly, retaining the characteristic of small size of the traditional multi-rotor drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 FIG. shows a schematic diagram of the overall structure of an on-vehicle drone according to a preferred embodiment of the present invention;

[0058] Figure 2 FIG. shows a logic diagram of the design method of the on-vehicle drone according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] The present invention will be further described in detail below with reference to the drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become more clear and definite.

[0060] The special term "exemplary" here means "serving as an example, an embodiment or illustrative". Any embodiment described as "exemplary" here does not have to be construed as superior or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0061] An on-vehicle drone provided according to the present invention is characterized in that the drone includes:

[0062] A fuselage 1 and arms 2 provided on the fuselage 1, and main propellers 4 are provided on each arm 2; lift is provided for the multi-rotor drone through the main propellers 4;

[0063] A tail propeller support 7 is further provided on the fuselage 1, and a tail propeller 6 is provided on the tail propeller support 7; forward flight power is provided for the multi-rotor drone through the tail propeller 6.

[0064] Preferably, during the flight of the multi-rotor drone, the propeller disk plane of the main propeller 4 maintains a parallel relationship with the horizontal plane; thereby causing the main propeller 4 to generate a vertically downward air flow to provide lift for the drone. During the flight of the multi-rotor drone, the propeller disk plane of the tail propeller 6 maintains a perpendicular relationship with the forward direction of the drone, thereby causing the tail propeller 6 to generate a backward air flow to provide lift for the drone. In the present application, the front refers to the flight and forward direction of the drone, and this direction is parallel to the horizontal plane, and the rear is opposite to the front.

[0065] In a preferred embodiment, a main propeller motor 3 is provided on each arm 2, and the main propeller 4 on the arm 2 is driven to rotate by the main propeller motor 3;

[0066] A tail propeller motor 5 is provided on the tail propeller support 7, and the tail propeller 6 is driven to rotate by the tail propeller motor 5;

[0067] Preferably, a battery 8 for supplying power to the main propeller motor 3 and the tail propeller motor 5 is provided inside the fuselage 1;

[0068] Preferably, avionics equipment 9 is provided below the front end of the fuselage 1. The avionics equipment is a control component of the multi-rotor UAV and enables the multi-rotor UAV to have functions such as communication, shooting, and infrared irradiation;

[0069] Preferably, a landing gear 10 is provided at the bottom of the fuselage 1 to play a supporting role when the UAV lands or is stored.

[0070] This application also provides a design method for the vehicle-mounted UAV described above. The method includes the following steps:

[0071] Step 1: Without considering the tail propeller, determine the main propeller size, main propeller motor parameters, and battery parameters according to the expected parameters;

[0072] Among them, in the step 1, the expected parameters include takeoff weight, fuselage size, flight radius, endurance time, endurance speed, and maximum output power;

[0073] The main propeller size includes the diameter, pitch, and force efficiency of the main propeller;

[0074] The main propeller motor parameters include motor power and KV value;

[0075] The battery parameters include battery output voltage and battery capacity.

[0076] Preferably, in step 1, the main propeller force efficiency, battery capacity, and motor power are determined by the following formula (1) in combination with the test data provided by the motor and battery manufacturers:

[0077]

[0078] Among them, T p1 represents the single-propeller pull of the main propeller; GTOW represents the takeoff mass; n represents the number of main propellers; δ m1 represents the conversion efficiency of the main propeller motor, which is a parameter known at the time of motor factory production; η p1 represents the main propeller force efficiency; E b represents the battery capacity; Q p1 represents the main propeller torque; ω p1represents the main rotor speed, and both the main rotor torque and the main rotor speed are obtained from the test data provided when the motor leaves the factory; P m1 represents the motor power.

[0079] The main rotor diameter is obtained by the following formula (II):

[0080] R = (1.04r p1 ~1.21r p1 ) / sin[180° / n] (II)

[0081] wherein, R represents the drone wheelbase, which is determined by the designer according to needs, and r p1 represents the main rotor radius.

[0082] Step 2: Conduct aerodynamic simulation on the main rotor to obtain the pull, drag, torque, and speed of the main rotor under the limitation of the expected endurance speed and takeoff weight, and obtain the main rotor power;

[0083] Among them, in the said Step 2, the aerodynamic simulation includes connecting the main rotor to the main rotor motor and fixing it in the simulation interface, placing the main rotor disk plane vertically, and making it at a 0° angle with the oncoming flow;

[0084] Obtain the main rotor pull, drag, and torque through force and moment simulation; obtain the main rotor speed through speed simulation;

[0085] Preferably, the power and force efficiency of the main rotor during forward flight are obtained by the following formula (III):

[0086]

[0087] wherein, P p,v represents the main rotor power during forward flight; Q p,v represents the main rotor torque during forward flight; ω v represents the main rotor speed during forward flight; η p,v represents the main rotor force efficiency during forward flight; T p,v represents the main rotor pull during forward flight.

[0088] In this application, due to the change in the oncoming flow velocity, the above parameters during forward flight, i.e., the parameters in formula (III), are not equal in value to the parameters in formula (I), and the main rotor force efficiency during forward flight is greater than the main rotor force efficiency in formula (I), and the main rotor power during forward flight is less than the main rotor power in formula (I).

[0089] The aerodynamic simulation described in this application refers to a computer aerodynamic simulation method in which a three-dimensional model of an aircraft or other object is placed in a simulation interface to study the gas flow and its interaction with the model in order to understand the aerodynamic characteristics of the actual aircraft or other object. The computer aerodynamic simulation refers to a computer simulation technology that simulates and controls the air flow through a computer, simulates the gas flow around an aircraft or an entity, and can measure the effect of the air flow on the entity and observe physical phenomena.

[0090] Step 3: Conduct aerodynamic simulation on the expected fuselage to obtain the fuselage drag and lift;

[0091] In the said Step 3, the aerodynamic simulation includes horizontally fixing the fuselage in the simulation interface, with the fuselage axis coinciding with the simulation interface axis, the angle of attack of the fuselage being 0°, and the pitch angle being 0°; obtaining the fuselage lift and drag through force and moment simulation.

[0092] Step 4: Determine the size of the tail thrust propeller according to the main propeller drag and the fuselage drag; the size of the tail thrust propeller includes the diameter, pitch, and force efficiency of the tail thrust propeller;

[0093] In the said Step 4, the required tail thrust propeller pull and force efficiency during the forward flight of the UAV are obtained through the following formula (IV);

[0094]

[0095] where, η p2 represents the force efficiency of the tail thrust propeller during forward flight; T p2 represents the pull of the tail thrust propeller during forward flight; GTOW represents the takeoff mass; E b represents the battery power; t represents the endurance time; η p,v represents the main propeller power during forward flight; f represents the total drag of the UAV during forward flight;

[0096] The total drag f of the UAV during forward flight is obtained through the following formula (V):

[0097] f = nf p + f b (V)

[0098] where, f p represents the drag of a single main propeller during forward flight, f b represents the fuselage drag during forward flight; n represents the number of main propellers.

[0099] In the said Step 4, the required pitch and diameter of the tail thrust propeller during the forward flight of the UAV are obtained through the following sub-steps;

[0100] Sub-step 1, preliminarily limit the diameter size of the tail thrust propeller through the following formula (VI):

[0101] d p2= 0.3 to 0.6d p1 (Six)

[0102] wherein, d p2 represents the diameter of the tail pusher propeller, and d p1 represents the diameter of the main propeller;

[0103] Sub-step 2: Retrieve the propeller information that meets the preliminary limitation requirements, including the diameter and pitch; in this sub-step, an existing propeller that meets the requirements can be selected and its dimension information can be retrieved.

[0104] Sub-step 3: Conduct aerodynamic simulation on the propellers in Sub-step 2 to obtain the thrust F b2 ,

[0105] On the basis of satisfying the following formula (Seven), to reduce the size of the UAV, select the propeller with the smallest diameter as the tail pusher straight propeller; and to improve the efficiency of the UAV, select the smallest pitch under this diameter as the tail pusher pitch;

[0106] F b2 ≥ f(Seven).

[0107] Step 5: Determine the overall machine blade layout according to the maximum size limit of the whole machine.

[0108] The overall machine blade layout includes the main propeller spacing, the height difference between the front and rear main propellers, and the position of the tail pusher propeller.

[0109] In the said Step 5, arrange the positions of the main propeller and the tail pusher propeller according to the maximum size requirement of the UAV;

[0110] Preferably, there is a height difference of h fr between the front propeller and the rear propeller; its size is obtained through the following formula (Eight):

[0111] h fr = D pm (Eight)

[0112] wherein, D pm represents the distance from the upper surface of the propeller to the lower surface of the motor.

[0113] In the present application, the front propeller refers to the main propeller 4 arranged near the front. Correspondingly, the rear propeller refers to the main propeller 4 arranged near the rear. In the present application, setting a height difference of h fr between the front propeller and the rear propeller can reduce the size of the UAV and avoid the interference of the airflow between the propellers.

[0114] Preferably, the tail pusher propeller is installed above and behind the center of mass of the UAV, specifically at a distance of d p2 behind and a distance of h p2 above. Among them, on the basis of meeting the maximum size requirement, the distance d of the tail pusher propeller from the center of pressurep2 The larger the better, so the distance d p2 takes the maximum value that can meet the maximum size requirement.

[0115] The distance h p2 , is obtained by the following formula (IX):

[0116]

[0117] where is the pitching moment generated by each main propeller, and its magnitude is measured through aerodynamic simulation.

[0118] In this application, by setting the tail propeller at this position, it can generate a nose-down moment, which cancels out the nose-up moment that causes the UAV to lift its head during forward flight due to the different rotational speeds of the front and rear propellers, that is, the nose-up moment and the nose-down moment are equal in magnitude.

[0119] Example 1:

[0120] Design a vehicle-mounted UAV, whose expected parameters include a take-off weight of 16 kg, a maximum wheelbase of 1200 mm, a flight endurance of 50 min, and a cruising speed of 15 m / s; design the number of arms to be 4, the number of main propellers to be 4 in total, and the number of tail propellers to be 1.

[0121] Step 1, ignoring the tail propeller, obtain the main propeller force efficiency, battery power, and motor power through the following formula (I);

[0122]

[0123] where T p1 represents the single-propeller thrust of the main propeller, the lowest value of which is 3.75 kg, and the actual value is 4 kg; GTOW represents the take-off mass, the lowest value of which is 15 kg, and the actual value is 16 kg; n represents the number of main propellers, with a value of 4;

[0124] E b represents the battery power. The battery voltage is 44.4 V, the capacitance is 60 Ah, and its power is 44.4×60 = 5328 Wh;

[0125] δ m1 represents the conversion efficiency of the main propeller motor, with a value of 0.7; η p1 represents the main propeller force efficiency, with a value of 9.65 g / W; Q p1 represents the main propeller torque, with a value of 1.2 N*m; ω p1 represents the main propeller rotational speed, with a value of 2275 RPM; P m1 represents the motor power, with a value of 200 W.

[0126] Obtain the main propeller diameter through the following formula (II);

[0127] R = (1.04r p1 ~1.21r p1 ) / sin[180° / n] (Two)

[0128] Among them, the maximum wheelbase R takes the value of 1200 mm, so the diameter of the main propeller is 762 mm;

[0129] Step 2: Conduct aerodynamic simulation on the main propeller to obtain the thrust, drag, torque and rotational speed of the main propeller under the limitation of the expected endurance speed and takeoff weight, and obtain the power of the main propeller;

[0130] In the aerodynamic simulation, connect the main propeller to the main propeller motor and fix it in the simulation interface. The plane of the main propeller disk is placed vertically and forms an angle of 0° with the oncoming flow; obtain the thrust, drag and torque of the main propeller through force and moment simulation; obtain the rotational speed of the main propeller through rotational speed simulation.

[0131] Obtain the power and force efficiency of the main propeller during forward flight through the following formula (Three):

[0132]

[0133] Among them, the endurance speed requirement is 15 m / s, set the simulation oncoming flow speed to 15 m / s, when measuring the thrust of the main propeller to be 4 kg during forward flight, the drag of the main propeller is 3 N, the force efficiency η of the main propeller during forward flight p,v is 18 g / w, and the power P of the main propeller during forward flight p,v is 686 W.

[0134] Step 4: According to the drag of the main propeller and the drag of the fuselage, obtain the required thrust and force efficiency of the tail push propeller during forward flight of the UAV through formula (Four);

[0135]

[0136] Among them, the total drag f of the UAV during forward flight is obtained through the following formula (Five):

[0137] f = nf p + f b (Five)

[0138] Among them, the drag of a single main propeller during forward flight is 6 N, the drag of 4 main propellers is 24 N, the drag f of the fuselage during forward flight b is 8 N, the total drag f of the UAV during forward flight is 32 N, that is, the thrust of the tail push propeller during forward flight is 32 N;

[0139] Determine the diameter of the tail push propeller according to the installation position and maximum size requirements of the tail push propeller, and specifically obtain it through the following formula (Six):

[0140] d p2 ≤ R - 2r p1 (Six)

[0141] Among them, the maximum wheelbase requirement is 1200 mm, and the main rotor radius is 381 mm. Therefore, the diameter d of the pusher propeller is selected p2 to be 355.6 mm.

[0142] Step 5: Conduct aerodynamic simulation on the selected pusher propeller. Place the propeller disk of the pusher propeller perpendicular to the oncoming flow direction, and measure that when flying forward at 15 m / s and the pulling force is 32 N, the force efficiency of the pusher propeller is 3.5 g / W.

[0143] With the main rotor size and battery model unchanged, the endurance time of the vehicle-mounted UAV is calculated to be 50 min through Equation (4).

[0144] By the same method, measure the endurance time of the UAV when flying forward at 20 m / s to be 40 min.

[0145] Step 6: Determine the overall rotor layout according to the maximum size limit of the whole machine. The height difference between the front and rear rotors is 140 mm;

[0146] The horizontal distance from the installation position of the pusher propeller to the center of mass is 500 mm, and the vertical distance is 280 mm.

[0147] Produce a prototype of the vehicle-mounted UAV according to the above design scheme. The measured maximum takeoff weight is 18 kg. When the takeoff weight is 16 kg, the UAV can continuously fly for 50 min at a forward flight speed of 15 m / s; the maximum forward flight speed of the UAV can reach 25 m / s and can fly for 20 min. Through experimental verification, the UAV can take off and land normally on a moving vehicle with a speed of 0 - 15 m / s.

[0148] The present invention has been described above in combination with preferred embodiments. However, these embodiments are only exemplary and only serve an illustrative role. On this basis, various substitutions and improvements can be made to the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A design method for an in-vehicle drone, characterized in that, The drone includes: A fuselage (1) and arms (2) arranged on the fuselage (1), each arm (2) being provided with a main propeller (4); the main propeller (4) provides lift for the multi-rotor unmanned aerial vehicle; A tail propeller support (7) is also provided on the fuselage (1), and a tail propeller (6) is provided on the tail propeller support (7); the tail propeller (6) provides power for the multi-rotor UAV to fly forward. The method comprises the following steps: Step 1: Ignoring the tail thruster, determine the main propeller size, main propeller motor parameters, and battery parameters based on the expected parameters. Step 2: Performing aerodynamic simulation on the main propeller to obtain the thrust, drag, torque, and rotational speed of the main propeller under the expected cruising speed and takeoff weight, and to obtain the main propeller power; Step 3: Perform aerodynamic simulation on the expected fuselage to obtain the fuselage drag and lift; Step 4: Determine the size of the tail thruster according to the main propeller resistance and the fuselage resistance; the tail thruster size includes the tail thruster diameter, pitch and power efficiency; Step 5: Determine the propeller layout based on the maximum size of the entire machine. The overall blade layout includes the main blade spacing, the height difference between the front and rear main blades, and the position of the tail thruster. In step 4, the tail thruster force and force efficiency required for the UAV to fly forward are obtained by the following formula (4); Among them, η p2 Indicates the tail thruster force efficiency during forward flight; T p2 Indicates the thrust of the tail propeller during forward flight; GTOW indicates takeoff weight; E b Indicates battery power; t indicates battery life; η p,v Indicates the main propeller power during forward flight; f indicates the total resistance of the drone during forward flight; The total drag f of the UAV during forward flight is obtained by the following formula (5): f=nf p +f b (five) Among them, f p represents the resistance of a single main rotor during forward flight, and f b represents the fuselage resistance during forward flight; n represents the number of main rotors.

2. The design method of the in-vehicle drone according to claim 1, characterized in that, During the flight of the multi-rotor UAV, the propeller disc plane of the main propeller (4) remains parallel to the horizontal plane; During the flight of the multi-rotor UAV, the disc plane of the tail propeller (6) maintains a perpendicular relationship with the forward direction of the UAV.

3. The design method of the vehicle-mounted UAV according to claim 1, characterized in that: A main propeller motor (3) is provided on each machine arm (2), and the main propeller (4) on the machine arm (2) is driven to rotate by the main propeller motor (3); A tail thruster motor (5) is provided on the tail thruster support (7), and the tail thruster motor (5) drives the tail thruster (6) to rotate.

4. The design method of a vehicle-mounted drone according to claim 3, characterized in that: A battery (8) for supplying power to the main propeller motor (3) and the tail propeller motor (5) is provided inside the fuselage (1); An avionics device (9) is provided below the front end of the fuselage (1); A landing gear (10) is provided at the bottom of the fuselage (1).

5. The design method of the vehicle-mounted UAV according to claim 1, characterized in that: In step 1, the expected parameters include takeoff weight, fuselage size, flight radius, endurance time, endurance speed and maximum output power; The main propeller dimensions include the diameter, pitch and power efficiency of the main propeller; The main propeller motor parameters include motor power and KV value; The battery parameters include battery output voltage and battery capacity.

6. The design method of the vehicle-mounted UAV according to claim 1, characterized in that: In step 2, the aerodynamic simulation includes connecting the main propeller to the main propeller motor and fixing them in a simulation interface, with the main propeller disc plane placed vertically and forming an angle of 0° with the incoming flow; The main propeller thrust, resistance and torque are obtained through force and moment simulation; the main propeller speed is obtained through speed simulation.

7. The design method of the vehicle-mounted UAV according to claim 6, characterized in that: In the said step 2, the power and force efficiency of the main rotor during forward flight are obtained by the following formula (III): Among them, P p,v represents the main rotor power during forward flight; Q p,v represents the main rotor torque during forward flight; ω v represents the main rotor speed during forward flight; η p,v represents the main rotor force efficiency during forward flight; T p,v represents the main rotor pull during forward flight.

8. The design method of the vehicle-mounted unmanned aerial vehicle according to claim 1, characterized in that In the said step 3, the aerodynamic simulation includes horizontally fixing the fuselage within the simulation interface, with the fuselage axis coinciding with the simulation interface axis, the angle of attack of the fuselage being 0°, and the pitch angle being 0°; the lift and drag of the fuselage are obtained through force and moment simulations.

9. The design method of the vehicle-mounted unmanned aerial vehicle according to claim 1, characterized in that In the said step 4, the pitch and diameter of the tail rotor required for the forward flight of the unmanned aerial vehicle are obtained through the following sub-steps; Sub-step 1, preliminarily defining the diameter size of the tail rotor by the following formula (VI): d p2 = 0.3 to 0.6d p1 (VI) Among them, d p2 Indicates the diameter of the tail thruster, d p1 Indicates the main propeller diameter; Sub-step 2, retrieving the propeller information that meets the preliminary definition requirements, including the diameter and pitch; Sub-step 3: Conduct aerodynamic simulation on the propellers in Sub-step 2 to obtain the thrust F of each propeller during forward flight b2 , On the basis of satisfying the following formula (VII), select the propeller with the smallest diameter as the tail rotor diameter; and select the smallest pitch at this diameter as the tail rotor pitch; F b2 ≥ f(seven).

10. The design method of the vehicle-mounted unmanned aerial vehicle according to claim 1, characterized in that In the said step 5, the positions of the main rotor and the tail rotor are arranged according to the maximum size requirements of the unmanned aerial vehicle; There is h between the front and rear paddles fr The height difference is obtained by the following formula (VIII): h fr =D pm (eight) Among them, D pm is the distance from the upper surface of the propeller to the lower surface of the motor.

11. The design method of the vehicle-mounted unmanned aerial vehicle according to claim 10, characterized in that In step 5, the tail propeller is installed above and behind the center of mass of the UAV, specifically d behind the center of mass. p2 Distance, distance above the center of mass h p2 ; wherein, the distance d p2 takes the maximum value that can meet the maximum size requirement; The distance h p2 , is obtained by the following formula (IX): Among them, represents the pitching moment generated by each main blade.

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