A multi-flight-mode foldable micro solar unmanned aerial vehicle

Abstract

The present application relates to a kind of multi-flight mode foldable micro solar unmanned aerial vehicle, adopt vectorial double-rotor wing fly wing layout, wherein, flexible solar panel is arranged on the upper surface of fuselage and wing;The side surface of wing and the side surface of fuselage can be rotatably connected, and wing is unfolded or folded around fuselage by the second steering gear driving.Multiple flight modes include hovering mode, low-speed companion flight mode, high-speed level flight mode, habitat charging mode, take-off mode and landing mode, different flight modes or combination of different flight modes can be selected according to different task requirements;A kind of micro solar unmanned aerial vehicle of multiple flight mode provided by the present application can complete energy supply during flight, can land habitat charging, complete search and rescue task in cycle, without too much battery, can increase load capacity.Based on this, flight control intelligent management control system can complete autonomous decision, including flight state change, whole machine appearance maintenance, autonomous landing decision, autonomous charging decision and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a multi-flight-mode foldable micro solar unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of modern science and technology, the development of microelectronic technology also promotes the development of micro unmanned aerial vehicles. Micro unmanned aerial vehicles have been greatly developed in application and have been widely used in daily life, industrial measurement and certain military applications. However, with the expansion of application fields, the limitations of traditional micro unmanned aerial vehicles gradually appear. The traditional micro unmanned aerial vehicle needs to continuously overcome gravity work during flight, is powered by a single battery, has no energy supply after takeoff, and the power consumption is rapid, which limits the range of the unmanned aerial vehicle. How to effectively improve the range of the unmanned aerial vehicle becomes the key to expanding the unmanned aerial vehicle.

[0003] The solar energy unmanned aerial vehicle is an unmanned aerial vehicle using solar radiation energy as power. It converts solar energy into electric energy through a solar cell and drives a propeller to rotate to generate flight power. For example, Chinese patent CN115009516A proposes a tilt-rotor solar unmanned aerial vehicle, which has vertical takeoff and landing and solar charging capabilities, but its size is large, which affects the progress of personnel when carrying conveniently, and the tilt configuration causes the rear propeller to become a waste weight during level flight, reducing the effective payload and possibly affecting the flight time. Chinese patent CN113788143A proposes a tail seat type solar unmanned aerial vehicle, which can realize the function of vertical takeoff and landing, and reduces the waste weight, but cannot efficiently control the attitude in the full flight mode, so it has poor wind resistance and is prone to overturning after being disturbed during landing, losing the possibility of recovery. In summary, the existing solar unmanned aerial vehicle has the following shortcomings: (1) It depends on the airport runway for takeoff and landing, and the use is limited; (2) It is difficult to self-rescue and restore the recovery ability after the takeoff and landing is disturbed; (3) The layout with vertical takeoff and landing function often has waste weight.

[0004] With the increasing demand for the use of micro unmanned aerial vehicles, for example, in emergency rescue of earthquake, flood, and forest fire, it is necessary to penetrate the terrain for load detection. The situation inside the city or mountain area is complex, the location of the rescued people is variable, and the disaster situation is complex and difficult to determine the specific search and rescue location. Moreover, most of these complex flight conditions belong to low Reynolds number environment, and the endurance and effective payload are in conflict due to the limitation of the self-load and size, making it difficult to achieve efficient and long-time cruising and narrow survival domain. Therefore, designing a micro portable solar unmanned aerial vehicle using photovoltaic energy to extend the flight time, while having high maneuverability and high environmental adaptability, and reducing the dependence on takeoff and landing conditions, will be expected to play a unique role in emergency rescue, environmental detection, and relay networking. SUMMARY

[0005] Technical problems to be solved:

[0006] In order to solve the problem of short flight range and single application scene of the micro unmanned aerial vehicle, and to achieve diversified task target requirements and wide scene adaptability, the application provides a micro solar unmanned aerial vehicle with multiple flight modes, which can complete energy supply during flight, can land and charge, can complete search and rescue tasks in a cycle, and can increase load capacity without carrying too many batteries. Based on the implementation of multiple flight modes, the unmanned aerial vehicle of the application can complete autonomous decision-making through an intelligent management control system in the flight control, including flight state alternation, whole machine shape maintenance, autonomous landing decision-making, autonomous charging decision-making, etc.

[0007] The technical scheme adopted is as follows:

[0008] A micro solar unmanned aerial vehicle with multiple flight modes adopts a vector dual-rotor wing layout, comprising a foldable wing, a fuselage located in the middle of the wing on the left and right sides, a first rudder providing driving power vector, a second rudder driving the foldable wing to unfold or fold, a camera module, a foam fuselage, an electronic speed controller, a flight control hardware, a flexible solar panel, a rechargeable battery, a positioning module, a communication module, an energy management control system, a propeller, and a motor driving the propeller to rotate; wherein the energy management control system comprises a maximum power tracking module and a battery charging and discharging management module, the airborne equipment comprising the flight control hardware, the rechargeable battery, the electronic speed controller, the positioning module, and the communication module is arranged in the inner cavity of the fuselage, the first rudder is fixed to the leading edge of the fuselage, the motor is connected to the rudder disc of the first rudder through a rotating mechanism, and the propeller is fixedly connected with the motor rotor; the flexible solar panel is arranged on the upper surfaces of the fuselage and the wing; one side surface of the wing and one side surface of the fuselage are rotatably connected, and the wing is driven by the second rudder to unfold or fold around the fuselage.

[0009] Further, the fuselage adopts a low Reynolds number thick airfoil, and the shape adopts a reverse Zimmermann configuration; the wing adopts a low Reynolds number high lift-drag airfoil, and the unfolded wing shape selects a backward swept bionic type.

[0010] Further, the rechargeable battery is arranged in the front longitudinal column of the inner cavity of the fuselage, the flight control hardware is arranged behind the rechargeable battery, the electronic speed controller is arranged on both sides of the flight control hardware, and all wires are embedded in the inner cavity of the fuselage.

[0011] Further, the shape of the flexible solar panel is selected based on the shape of the upper surfaces of the fuselage and the wing, the laying proportion of the fuselage is more than 80%, the laying proportion of the wing is more than 90%, and the whole machine attachment proportion is more than 84%.

[0012] Further, the wing and the fuselage are connected by a hinge and a second steering engine, the hinge provides the rotatable connection between the wing and the fuselage, and the second steering engine is used to fold and unfold the wing automatically, the hinge is installed at the middle section of the wing profile and the fuselage side, the second steering engine is arranged near the front edge of the fuselage and is built-in on one side of the fuselage, and the steering engine arm of the second steering engine is built-in on one side of the wing.

[0013] Further, multiple maximum power tracking devices are arranged in the inner cavity of the fuselage, one maximum power tracking device is shared by the two flexible solar panels on the left and right wings of the fuselage, and one maximum power tracking device is used for the flexible solar panel of the fuselage.

[0014] Further, the multiple flight modes include hovering mode, low-speed accompanying flight mode, high-speed level flight mode, perching charging mode, take-off mode and landing mode.

[0015] The multiple flight mode implementation method of the multiple flight mode foldable micro solar unmanned aerial vehicle is specifically as follows: different flight modes or combinations of different flight modes can be selected according to different task requirements;

[0016] In the hovering mode, the multi-rotor flight form is adopted, and the wings on both sides are unfolded or folded according to the environmental interference and the sunlight condition;

[0017] In the low-speed accompanying flight mode, low-speed accompanying flight can be performed according to the set task requirements, the multi-rotor flight form is adopted, and the wings are in the folded state to reduce wind disturbance;

[0018] In the high-speed level flight mode, the fixed-wing flight form is adopted, and the wings on both sides are unfolded or folded according to the current environmental interference and the flight speed;

[0019] In the perching charging mode, the fuselage is flatly attached to the ground, the wings are unfolded, and the flight control is in a low-power mode to realize energy supplement;

[0020] In the take-off mode, the first servo motor is deflected to make the plane of the propeller parallel to the fuselage, the fuselage is lifted by the pulling force of the propeller, and then the hovering mode is changed to realize take-off;

[0021] In the landing mode, the propeller speed is slowly reduced, the rear edge of the fuselage touches the ground first, and then the propeller speed is gradually reduced until it stops, the lower surface of the fuselage is gradually attached to the ground to realize landing.

[0022] Further, in the high-speed level flight mode, if the environmental interference is large or the flight speed exceeds the normal cruising speed by a large margin, the wings are folded; if the environment is stable and the flight speed is close to the cruising speed, the wings on both sides are unfolded, at this time, the lift-drag ratio is maximum, the power consumption is small, and the solar panel works completely to achieve the maximum energy supplement state, which is the best cruising state.

[0023] Further, in the landing mode, if disturbed during landing, causing the machine body to face the solar panel side to the ground when landing, the overturning self-help function in the flight control hardware is activated, and the take-off and landing mode process is executed again, so that the machine body is turned over and restored to the habitat charging mode.

[0024] The present application has the following beneficial effects compared with the prior art:

[0025] 1. The binary vector power mechanism arranged on the left and right sides of the machine body is used to realize the control of the unmanned aerial vehicle, the traditional rudder surface is cancelled, the aerodynamic efficiency is improved, and the low-speed and vertical state can still be effectively controlled; the vector power can complete take-off and landing and recovery in all terrains, complete habitat charging, and self-recovery after disturbance overturning.

[0026] 2. On the micro unmanned aerial vehicle, the energy conversion of solar energy is realized, and the flight time is prolonged. The foldable wings are used, the volume is small when stored, and it is convenient to carry. At the same time, due to the wings that can be unfolded or folded, different flight environments can be adapted.

[0027] 3. Intelligent management decision can complete autonomous decision and control of the unmanned aerial vehicle according to task requirements and environmental state, greatly improving the application domain and survival domain of the unmanned aerial vehicle. It can enter specific places to perform specific tasks by using the body type advantage, can cross complex sections, and can also perform tasks across regions for a long time. For the load assembly, the modular design used in the present application can replace the functional load according to the task requirements, and one machine can be used for multiple purposes. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0029] Figure 1 It is a schematic diagram of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application;

[0030] Figure 2 It is a left view of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application;

[0031] Figure 3 It is a front view of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application;

[0032] Figure 4 It is a half-unfolded schematic diagram of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application;

[0033] Figure 5 The lift-drag coefficient curve diagram of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application;

[0034] Figure 6 The lift-drag ratio curve diagram of the multi-flight-mode foldable micro solar unmanned aerial vehicle of the present application.

[0035] 1-brushless DC motor, 2-first servo motor, 3-flexible solar panel, 4-propeller, 5-second servo motor, 6-fuselage, 7-wing, 8-fuselage trailing edge cutting DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] As shown in Figures 1-3 , the present embodiment is a multi-flight-mode foldable micro solar unmanned aerial vehicle, which adopts a vector control double-rotor wing layout without ailerons, including a fuselage 6, a foldable wing 7, a brushless DC motor 1 for providing rotary driving force for a propeller, a first servo motor 2 as a first rudder to provide driving vector power, a second servo motor 5 as a second rudder to realize unfolding or folding of the wing, as shown in Figure 3 , a rechargeable battery, a flight control hardware, a flexible solar panel 3, an electronic speed controller, a GNSS positioning module, a data communication module, a propeller 4 and an energy management control system; the energy management control system includes a maximum power tracking module and a battery charge and discharge management module.

[0038] Among them, the fuselage 6 adopts a low Reynolds number thick airfoil, the shape adopts a reverse Zimmerman configuration, the root chord length is 168mm, the aspect ratio is 1.3; the wing 7 adopts a low Reynolds number high lift-drag airfoil, the unfolded wing shape selects a backward swept bionic type, the chord length of the wing is 100mm, the root tip ratio is 1.4, there is no installation angle, the wing is not twisted, and the connection between the wing and the fuselage is straight and cut, as shown in Figure 2As shown, the wing sweepback can be continuously changed between 14.04° and 90°, the fuselage area is 340 cm², and the single-side wing area is 105 cm². The onboard equipment including flight control hardware, rechargeable battery, electronic speed controller, positioning module, and communication module is placed in the inner cavity of the fuselage 6, and the hollow inner cavity of the fuselage can be provided with different task modules according to needs; the rear edge of the fuselage is cut to maintain structural strength and reduce the rear edge flutter deformation induced by aerodynamic elasticity. Considering the different limiting conditions of the fuselage 6 and the wing 7, the selected wing airfoil, the smooth transition of the fuselage part and the wing part to maintain the aerodynamic shape, and the influence of propeller slipstream, the interference drag is reduced during the transition stage. The wing 7 can effectively improve the lift-drag ratio of the whole machine during cruising in the unfolded state, reduce the flight power consumption, increase the irradiated projection area of the flexible solar cell panel 3, effectively improve the charging efficiency of the solar cell panel 3, increase the energy supply, and prolong the cruising time. The inner cavity of the fuselage 6 is located at the position of 75% of the fuselage from the front edge to the rear, and the center of gravity is adjusted before the aerodynamic center to ensure the static stability of the whole machine; the wing 7 root rear edge forward sweep and the rear edge cutting of the reverse Zimmerman configuration fuselage 6 maintain continuity and smooth transition to reduce the strength of the rear edge separation vortex, and the wing 7 front edge rear sweep and the fuselage front edge also maintain continuity and smooth connection to reduce the generation of the front edge separation vortex at the connection.

[0039] The rechargeable battery is placed in the front part of the inner cavity of the fuselage, and the flight control hardware is arranged behind the rechargeable battery. The electronic speed controller is placed on both sides of the flight control hardware, all wires are embedded in the inner cavity of the fuselage, the first servo motor providing driving vector power is fixed to the front edge of the fuselage. The direct current brushless motor is connected to the rudder disc of the first servo motor as a rudder through a rotating mechanism, and the propeller is fixedly connected with the rotor of the direct current brushless motor. The vector driving is realized through the first servo motor, the direct current brushless motor, and the propeller;

[0040] As shown in Figure 2 and 4 The wing and the fuselage are connected by a hinge and a second servo motor, the hinge provides strength support, and the second servo motor is used to complete the autonomous folding and unfolding of the wing. The hinge is installed at the middle position of the wing side section and the fuselage side surface, and the second servo motor is arranged close to the front edge of the fuselage and is built-in on one side of the fuselage. The motor arm of the second servo motor is built-in on one side of the wing.

[0041] The flexible solar cell panels are arranged on the upper surface of the fuselage and the upper surface of the wing respectively. The shape of the flexible solar cell panel is selected based on the shape of the upper surface of the fuselage and the wing. The laying proportion of the flexible solar cell panel on the fuselage is more than 80%, the laying proportion of the flexible solar cell panel on the wing is more than 90%, and the total attaching proportion of the flexible solar cell panel on the whole machine is more than 84%. The maximum power tracking device MPPT is built-in in the inner cavity of the fuselage. One MPPT is selected for the flexible solar cell panels on both sides of the wing, and one MPPT is used for the flexible solar cell panel on the fuselage.

[0042] The unmanned aerial vehicle of the embodiment is a vector power dual-rotor fixed-wing unmanned aerial vehicle, which can complete vertical take-off and landing on various terrains without using a landing gear device; vector power is directly controlled, and aerodynamic control surfaces are cancelled to maintain the smoothness of the fuselage; the motor arm length is 55 mm, the motor uses a direct current brushless motor with a rotor diameter of 14 mm, a magnetic pole height of 4 mm, and a KV value of 2900, and the matched propeller is a 125 propeller, the right propeller turns in the positive direction along the body axis direction of the machine body coordinate system, and the left propeller turns in the opposite direction, the maximum static tension of a single propeller is about 140 g, and the total weight of the whole machine does not exceed 200 g, and the lift-drag ratio of the wing in the unfolded state is greater than 7, as shown in FIG. Figure 6 The normal cruising flight can be completed at 0 m / s to 16 m / s, the free conversion between the hovering mode and other flight modes can be completed according to the task target and the task environment, and the intelligent management decision function in the flight control can autonomously select the multi-flight mode flight according to the environmental conditions and the state of the self, wherein the multi-flight mode includes the hovering mode, the low-speed accompanying flight mode, the high-speed flat flight mode, the perching charging mode, the take-off mode and the landing mode. According to different task needs, different flight modes are selected and switched to realize the multi-flight mode control method, which is specifically as follows:

[0043] 1. In the hovering mode, a multi-rotor flight form is adopted, and the wings on both sides are autonomously decided to be unfolded or folded according to the environmental disturbance conditions, such as wind and sunlight.

[0044] 2. In the low-speed accompanying flight mode, low-speed accompanying flight can be performed according to the set task needs, at this time, the multi-rotor flight form is still adopted, the wings are in the folded state, and the wind disturbance is reduced.

[0045] 3. In the high-speed flat flight mode, a fixed-wing flight form is adopted, according to the current environment and flight speed, if the environmental disturbance is large or the flight speed exceeds the normal cruising speed by more, the wings are folded; if the environment is stable and the flight speed is close to the cruising speed, the wings on both sides are unfolded, at this time, the lift-drag ratio is maximum, the power consumption is small, and the solar panel works completely to achieve the maximum energy supplement state, at this time, it is the best cruising state.

[0046] 4. In the perching charging mode, the fuselage is flatly attached to the ground, the wings are unfolded, and the flight control enters a low-power mode to realize energy supplement.

[0047] 5. In the take-off mode, the first servo motor deflects to make the propeller plane parallel to the fuselage, the fuselage is lifted by the tension of the propeller, the hovering mode is changed, and then take-off is realized.

[0048] 6. In the landing mode, the propeller speed is slowly reduced, the rear edge of the fuselage touches the ground first, and then the propeller speed is gradually reduced until it stops, the lower surface of the fuselage is gradually attached to the ground to realize landing.

[0049] If the landing process is disturbed, and the side with solar panels faces the ground when landing, the roll-over self-help function in the flight control is activated, and the process of take-off and landing is executed again to flip the aircraft and restore it to the resting and charging mode.

[0050] The micro unmanned aerial vehicle disclosed in the embodiment adopts vector power, can improve its maneuvering performance, solves the take-off and landing restrictions, adapts to the application scenarios of the unmanned aerial vehicle, has higher cruising speed and flight efficiency compared with a rotor unmanned aerial vehicle, has smaller directional size, solves the take-off and landing and low-speed hovering problems compared with a common fixed-wing unmanned aerial vehicle, reduces the waste weight of the body structure compared with a hybrid unmanned aerial vehicle, and can balance the flight performance and stability by folding or unfolding the wings compared with a common tail seat unmanned aerial vehicle.

[0051] Obviously, the above embodiments are only examples for clearly illustrating the present application, and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. All the embodiments do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A multi-flight-mode foldable micro solar-powered drone, characterized in that, The vector dual-rotor wing layout is adopted, including foldable wings, a fuselage located in the middle of the wings on the left and right sides, a first steering wheel for providing driving power vector, a second steering wheel for driving the foldable wings to be unfolded or folded, a camera module, a foam fuselage, an electronic speed controller, a flight control hardware, a flexible solar panel, a rechargeable battery, a positioning module, a communication module, an energy management control system, a propeller, and a motor for driving the propeller to rotate; wherein the energy management control system includes a maximum power tracking module and a battery charging and discharging management module, the airborne equipment including the flight control hardware, the rechargeable battery, the electronic speed controller, the positioning module, and the communication module is arranged in the inner cavity of the fuselage, the first steering wheel is fixed to the front edge of the fuselage, the motor is connected to the steering wheel of the first steering wheel through a rotating mechanism, and the propeller is fixedly connected with the motor rotor; the flexible solar panel is arranged on the upper surfaces of the fuselage and the wings; one side surface of the wing and one side surface of the fuselage are rotatably connected, the wing is driven by the second steering wheel to be unfolded or folded around the fuselage; and the total weight of the whole machine is not more than 200g. The shape of the flexible solar panel is selected based on the shape of the upper surfaces of the fuselage and the wings, the laying proportion of the fuselage is more than 80%, the laying proportion of the wings is more than 90%, and the total attaching proportion of the whole machine is more than 84%. The maximum power tracking module is provided in multiple and arranged in the inner cavity of the fuselage, two flexible solar panels of the wings on the left and right sides of the fuselage share one maximum power tracking module, and the flexible solar panel of the fuselage uses one maximum power tracking module independently.

2. A multi-flight-mode foldable micro solar-powered drone according to claim 1, wherein, The fuselage adopts a low Reynolds number thick airfoil, and the shape adopts an inverse Zimmermann configuration; the wing adopts a low Reynolds number high lift-drag airfoil, and the unfolded wing shape selects a backward-swept bionic type.

3. A multi-flight-mode foldable micro solar-powered drone according to claim 2, wherein, The rechargeable battery is arranged in the front part of the longitudinal column in the inner cavity of the fuselage, the flight control hardware is arranged behind the rechargeable battery, the electronic speed controller is arranged on both sides of the flight control hardware, and all wires are embedded in the inner cavity of the fuselage.

4. The multi-flight-mode foldable micro solar-powered unmanned aerial vehicle according to claim 1, wherein, The wing and the fuselage are connected by a hinge and a second steering wheel, the hinge provides rotatable connection between the wing and the fuselage, and the second steering wheel is used to complete autonomous folding and unfolding of the wing, the hinge is installed at the middle position of the side section of the wing and the side surface of the fuselage, the second steering wheel is arranged close to the front edge of the fuselage and is arranged in the side of the fuselage, and the steering wheel arm of the second steering wheel is arranged in the side of the wing.

5. The multi-flight-mode foldable micro solar-powered unmanned aerial vehicle according to claim 1, wherein, The multiple flight modes include hovering mode, low-speed accompanying flight mode, high-speed level flight mode, perching charging mode, take-off mode, and landing mode.

6. A multi-flight mode implementation method of the multi-flight mode foldable micro solar unmanned aerial vehicle according to claim 5: characterized in that, Different flight modes or combinations of different flight modes can be selected according to different task requirements. In the hovering mode, a multi-rotor flight form is adopted, and the wings on the left and right sides are unfolded or folded according to environmental interference and sunlight conditions. In the low-speed accompanying flight mode, low-speed accompanying flight can be performed according to the set task requirements, a multi-rotor flight form is adopted, and the wings are in a folded state to reduce wind disturbance. In the high-speed level flight mode, a fixed-wing flight form is adopted, and the wings on the left and right sides are unfolded or folded according to the current environmental interference and flight speed. In habitat charging mode, the body is flat attached to the ground, the wings are unfolded, and the flight control enters low-power mode to realize energy supplement; In take-off mode, the first servo motor deflection makes the propeller plane parallel to the fuselage, and the fuselage is lifted by the pulling force of the propeller, first changing into hovering mode, and then realizing take-off; In landing mode, the propeller speed is slowly reduced, the rear edge of the fuselage touches the ground first, and then the propeller speed is gradually reduced until it stops, the lower surface of the fuselage gradually adheres to the ground, and landing is realized.

7. The multi-flight-modes implementation method of claim 6, wherein, In high-speed cruising mode, if the environmental disturbance is large or the flight speed exceeds the normal cruising speed by a lot, the wings are folded; if the environment is stable and the flight speed is close to the cruising speed, the wings on both sides are unfolded, the lift-drag ratio is maximum at this time, the power consumption is small, and the solar panel works completely to achieve the maximum energy supplement state, which is the best cruising state.

8. The multi-flight-modes implementation method of claim 7, wherein, In landing mode, if the landing process is disturbed, the side of the fuselage with the solar panel faces the ground when landing, the overturning self-rescue function in the flight control hardware is activated, the take-off and landing mode process is executed again, the fuselage is turned over, and the habitat charging mode is restored.

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