A high-lift stability augmentation device, a UAV with the device and a control method thereof

Abstract

The application discloses a lift-increasing and stability-increasing device, a UAV with the device and a control method of the UAV, and belongs to the technical field of unmanned aerial vehicles, and comprises a fixed plate, a power driving assembly, a transmission assembly and a four-bar linkage assembly which are arranged on the upper surface of the fixed plate; a motor propeller assembly is arranged on the four-bar linkage assembly; the power driving assembly is used for driving the transmission assembly to rotate, thereby driving the four-bar linkage assembly to move, so that the motor propeller assembly connected with the four-bar linkage assembly is unfolded or shrunk. The lift-increasing and stability-increasing device has wide applicability and strong transplantability, can be applied to different types of multi-rotor unmanned aerial vehicles, can greatly improve the lift reserve of the unmanned aerial vehicle, compared with a traditional lift-increasing and stability-increasing device, has remarkable effect during horizontal flight, has great lift-increasing effect on vertical flight, and can enhance the wind resistance and stability, and the effect is more obvious for a ducted unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a lift-enhancing and stabilizing device, a UAV equipped with the device, and a control method thereof. Background Technology

[0002] Multirotor drones have gained widespread attention due to their broad application scenarios, and several teams have begun exploring various types of drones, such as open-rotor multirotors and ducted multirotors. Compared to open-rotor multirotors, ducted multirotors offer more appealing advantages. The duct not only provides greater lift reserve but also protects the propeller, allowing them to fly in smaller environments without worrying about propeller collisions. However, ducted multirotor drones also have a significant drawback: their stability is slightly lower than that of open-rotor systems in windy outdoor environments. To address this deficiency, lift-enhancing and stabilization devices are typically incorporated into multirotor drones to further improve their stability.

[0003] Most existing lift-enhancing and stabilizing devices employ wing-shaped lift modules attached to the center of a multi-rotor UAV to increase lift during flight. For example, Chinese patent CN107066636A discloses a lift-enhancing and stabilizing device for multi-rotor UAVs. This device generates additional lift on the UAV during flight, similar to the lift generated by the wings of a fixed-wing UAV. However, its lift-enhancing and stabilizing effect is not significant, especially for ducted amphibious UAVs. This solution only increases lift during horizontal maneuvers, providing a wing-like effect, but it does not provide additional lift during vertical maneuvers. Furthermore, for ducted amphibious UAVs, this solution does not improve wind resistance. Therefore, this lift-enhancing and stabilizing device has significant limitations. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a lift-enhancing and stabilizing device, a drone equipped with the device, and a control method thereof, aiming to solve the problems that existing lift-enhancing and stabilizing devices have poor lift enhancement effects and cannot increase the wind resistance of multi-rotor drones during stable hovering or vertical takeoff and landing. To achieve the above objectives, this invention provides the following technical solution:

[0005] A lifting and stabilizing device includes a fixed plate and a power drive assembly, a transmission assembly, and a four-bar linkage assembly disposed on the upper surface of the fixed plate; the four-bar linkage assembly is provided with a motor propeller assembly; the power drive assembly is used to drive the transmission assembly to rotate, thereby driving the four-bar linkage assembly to move, so that the motor propeller assembly connected to the four-bar linkage assembly can be deployed or retracted.

[0006] Furthermore, the four-bar linkage assembly includes two four-bar groups, which are symmetrically arranged on the left and right sides of the fixed plate, respectively; each four-bar group includes two four-bars arranged symmetrically front to back; the motor propeller assembly includes four motor propellers, each motor propeller corresponding to one of the four-bars; the power drive assembly is used to drive the transmission assembly to rotate, thereby driving two adjacent four-bars to rotate synchronously in opposite directions, causing the motor propellers connected to the four-bars to expand or contract.

[0007] Furthermore, the power drive assembly includes a drive motor and a gear fixedly connected to the output shaft of the drive motor; the drive motor is fixedly connected to the fixed plate; the gear drives the transmission assembly to rotate synchronously via a synchronous gear belt.

[0008] Furthermore, the transmission assembly includes gears two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, and thirteen; gears two, four, six, seven, eight, nine, twelve, and thirteen are rotatably connected to the top of the fixed plate via rotating shafts; gear two is connected to gear one via a synchronous gear belt; gear three is coaxially arranged with gear two, and one side of gear three meshes with gear four; gear five is coaxially arranged with gear four, and gear five drives gears six, seven, eight, and nine to rotate synchronously via synchronous gear belt two; gear eleven is coaxially arranged with gear seven, and one side of gear eleven meshes with gear thirteen; gear ten is coaxially arranged with gear nine, and one side of gear ten meshes with gear twelve; the four four-link linkages are respectively connected to the rotating shafts where gears six, eight, twelve, and thirteen are located, and rotate synchronously with gears six, eight, twelve, and thirteen.

[0009] Furthermore, the four-bar linkage includes a first bar, a second bar, a third bar, and a fourth bar; the first ends of the four first bars are rotatably connected to the fixed plate via columns; the first ends of the four second bars are respectively connected to the rotating shafts of gears six, eight, twelve, and thirteen; the ends of the first and second bars are movably connected to the two ends of the third bar; the first end of the fourth bar is fixedly connected to the end of the third bar, and the end of the fourth bar is connected to a motor propeller.

[0010] Furthermore, it also includes a connecting plate; the connecting plate is connected to the fixing plate by a plurality of support columns; the lower ends of the plurality of support columns are fixedly connected to the fixing plate, and the upper ends of the plurality of support columns are connected to the connecting plate by screws.

[0011] Furthermore, in the retracted state, neither the left nor right sides of the fixed plate, connecting plate, power drive assembly, transmission assembly, and four-bar linkage assembly exceed the boundary of the drone's width.

[0012] A drone includes a body, and the lift-enhancing and stabilizing device described above is provided on the top of the body.

[0013] Furthermore, the body is a quadcopter drone; when the motor-propeller assembly connected to the four-bar linkage is fully deployed, it forms a double X structure or a double cross structure with the four propellers of the quadcopter drone; when the motor-propeller assembly connected to the four-bar linkage is fully retracted, it forms a coaxial dual-propeller structure with the four propellers of the quadcopter drone.

[0014] A method for controlling a drone, comprising the following steps:

[0015] When the drone is flying, it first acquires the environmental parameters of the drone's current location and determines whether it is suitable for the lift and stability enhancement device to deploy based on the acquired environmental parameters; then, according to the determination result, it controls the lift and stability enhancement device to switch between retraction and deployment modes.

[0016] When the drone is operating in the lift and stability enhancement device deployment mode, the motor propeller assembly is deployed through the power drive component. The drone's own four propellers only provide flight lift, while the lift and stability enhancement device not only provides flight lift but also participates in attitude adjustment control.

[0017] When the drone is operating in the lift-enhancing and stabilization device retracted mode, the motor and propeller assembly is retracted through the power drive component, thereby increasing lift using the lift-enhancing and stabilization device.

[0018] The beneficial effects of this invention are:

[0019] 1. The lift-enhancing and stability-enhancing device provided by this invention has wide applicability and strong portability. It can be applied to different types of multi-rotor UAVs and can significantly improve the lift reserve of UAVs. Compared with traditional lift-enhancing and stability-enhancing devices, this invention not only has a significant effect in horizontal flight, but also has a great lift-enhancing effect in vertical flight, and can enhance its wind resistance and stability. The effect is more obvious for ducted UAVs.

[0020] 2. The lift-enhancing and stabilizing device provided by the present invention has the characteristic of being deformable, and can change its working mode according to different environmental requirements. It has the functions of unfolding and retracting. When flying in an open outdoor environment, in order to ensure sufficient power and consider the stability under wind disturbance, the lift-enhancing and stabilizing device can be used in unfolded form. When the UAV needs to fly indoors or needs to pass through narrow areas, the lift-enhancing and stabilizing device can be used in retracted form. It also has the ability to be quickly assembled and disassembled.

[0021] 3. The lifting and stabilizing device provided by the present invention has different control strategies and can switch to different control modes according to different morphological modes, thereby achieving the purpose of optimal control and reducing energy consumption and errors in the control process to a certain extent.

[0022] 4. Compared with traditional lift-enhancing and stabilizing devices, the present invention makes full use of the deformation characteristics of the device, enabling the device to offset the lift loss caused by its own weight. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the control framework of the lifting and stabilizing device provided by the present invention;

[0024] Figure 2 This is a schematic diagram of the lifting and stabilizing device provided by the present invention in its deployed state;

[0025] Figure 3 This is a schematic diagram of the contracted state of the lifting and stabilizing device provided by the present invention;

[0026] Figure 4 This is a schematic diagram of the planar structure of the lifting and stabilizing device provided by the present invention;

[0027] Figure 5 This is an isometric structural diagram of the lifting and stabilizing device provided by the present invention;

[0028] Figure 6 This is a schematic diagram of the working principle of the transmission component provided by the present invention;

[0029] Figure 7 This is a schematic diagram of the four-bar linkage provided by the present invention rotating clockwise into a retracted state;

[0030] Figure 8 This is a schematic diagram of the four-bar linkage provided by the present invention rotating counterclockwise into a retracted state;

[0031] Figure 9 This is a lift comparison diagram provided by the present invention;

[0032] Figure 10 This is a comparison chart of X coefficients provided by the present invention;

[0033] Figure 11This is a comparison diagram of pitch angle response under disturbance conditions provided by the present invention;

[0034] In the attached diagram: 1-Gear 1, 2-Gear 2, 3-Gear 3, 4-Gear 4, 5-Gear 5, 6-Gear 6, 7-Gear 7, 8-Gear 8, 9-Gear 9, 10-Gear 10, 11-Gear 11, 12-Gear 12, 13-Gear 13, 14-Synchronous Gear Belt 1, 15-Synchronous Gear Belt 2, 20-Fixed Plate, 30-Four-Link Link, 31-First Link, 32-Second Link, 33-Third Link, 34-Fourth Link, 40-Motor Propeller, 50-Support Column. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0036] Example 1:

[0037] See attached Figure 1-11 The lift-enhancing and stability-enhancing device provided by this invention includes a fixed plate 20, a power drive assembly, a transmission assembly, a four-bar linkage assembly, and a motor propeller assembly. The power drive assembly provides output power to drive the transmission assembly to rotate, thereby driving the four-bar linkage assembly to move, causing the motor propeller assembly connected to the four-bar linkage assembly to extend or retract. The motor propeller assembly can be an open-type motor propeller, thereby providing lift for multi-rotor UAVs, especially quadcopter UAVs, and enhancing the overall stability of the UAV.

[0038] Specifically, the lift and stability enhancement device can be quickly installed and removed on the drone equipment that requires lift and stability enhancement through the fixing plate 20. For example, connecting bolts can be set on the fixing plate 20 for quick installation and removal.

[0039] Specifically, the power drive assembly includes a drive motor and gear 1. The drive motor is fixedly connected to the mounting plate 20 via an adapter. The output shaft of the drive motor is fixedly connected to gear 1 and connected to the transmission assembly via a synchronous gear belt 14. The transmission assembly can adopt gear meshing or gear and synchronous gear belt transmission. The four-bar assembly can include four four-bars 30, and the motor propeller assembly includes four motor propellers 40. Each motor propeller 40 corresponds to one of the four-bars 30. The drive motor drives the transmission assembly to rotate via gear 1 and synchronous gear belt 14, thereby causing the four motor propellers 40 connected to the transmission assembly to extend or retract.

[0040] Specifically, transmission components such as Figure 6As shown, when the output torque of the drive motor is transmitted to gear 2 of the transmission assembly through gear 1 and synchronous gear belt 14, gear 3, coaxial with gear 2, will drive gear 4 to rotate through gear meshing. Gear 5, coaxial with gear 4, will drive gears 6, 7, 8, and 9 to rotate through synchronous gear belt 215. Figure 5 As shown, the four four-link linkages 30 are labeled a, b, c, and d, respectively. Gears 6 and 8 are coaxial with one end of each four-link linkage 30. When gears 6 and 8 rotate, they drive one end of the coaxial four-link linkages a and c to rotate, thus driving the four-link linkages 30 to rotate. To make four-link linkages b and d rotate in opposite directions, gear meshing is used. Specifically, gears 11 and 10, which are coaxial with gears 7 and 9, respectively mesh with gears 13 and 12 on one side, driving the connected four-link linkages b and d to rotate in the opposite direction to that of four-link linkages a and c, while ensuring that four-link linkages a, b, c, and d rotate synchronously.

[0041] Specifically, the four-bar linkage 30 retractable mechanism can be divided into two types. Figure 7 The four-bar linkage 30, which rotates clockwise to retract, such as four-bar linkages a and c, has one end connected to the column on the fixed plate 20 and can rotate around the column, and the other end coaxial with gears 6 and 8 of the transmission assembly. Figure 8 The four-bar linkage 30 that rotates counterclockwise to retract, such as four-bar linkages 30 numbered b and d, has one end connected to a column on the fixed plate 20 and can rotate around the column. The other end is coaxial with gear 12 12 and gear 13 13 of the transmission assembly to achieve counterclockwise rotation at the same frequency. This ensures that when the drive motor is driven, all four-bar linkages 30 can expand and retract simultaneously.

[0042] Specifically, it also includes a connecting plate, which can be connected by screws and connected to the fixed plate 20 through three support columns 50. The main function of the connecting plate is to protect the drive assembly and the transmission assembly.

[0043] Preferably, when the lift and stability enhancement device is in the retracted state, the left and right sides of the fixed plate 20, connecting plate, power drive assembly, transmission assembly and four-bar linkage assembly do not exceed the width boundary of the UAV, so that when the UAV flies indoors or needs to pass through narrow areas, its external dimensions are kept as small as possible.

[0044] The deployment process of the lift and stability enhancement device is as follows:

[0045] When the stability of a drone needs to be considered in light of external disturbances, especially wind, a lift-enhancing and stability-enhancing device can be quickly installed on the drone. When the drone enters a relatively open environment, its sensors detect the current environment and react quickly to determine whether the environment is suitable for the deployment of the lift-enhancing and stability-enhancing device. Once deployment is confirmed, the drone's control center immediately issues a deployment command. Upon receiving the drive signal, the drive motor rotates clockwise, which in turn causes gear 2 of the transmission component to rotate clockwise. Gear 3, coaxial with gear 2, causes gear 4, which meshes with it, to rotate counterclockwise. This, in turn, causes gear 5, coaxial with gear 4, to rotate counterclockwise. Through synchronous gear belt 215, gear 6, which meshes with gear 5, rotates counterclockwise. Gears 7, 8, and 9 all rotate counterclockwise, causing links a and c (4-link 30) to rotate counterclockwise, while links b and d (4-link 30) rotate clockwise as described above. This causes the four motor propellers 40 of the lift-enhancing and stabilizing device to deploy synchronously. Once deployed to the target angle, they stop rotating. At this point, the motor propellers 40 of the lift-enhancing and stabilizing device are on the extension line of the line connecting the UAV's own propellers to the center of the fuselage, thus forming a double X or double X structure with the UAV. Depending on the UAV's custom heading and tail direction, the quadcopter UAV can be divided into a cross mode and an X mode. In a cross mode, the heading and tail direction points towards one propeller; in an X mode, the heading and tail direction points towards the middle of the two propellers. When the lift-enhancing and stabilizing device forms a double X or double X structure with the UAV, its lift-enhancing effect can be maximized. Because the downwash airflow of the lift-enhancing and stabilizing device has a relatively small impact on the drone's propeller, it can increase both lift and stability. This is especially true for ducted drones, which are inherently unstable. The open-blade structure of the lift-enhancing and stabilizing device can significantly improve the wind resistance and stability of the entire aircraft.

[0046] The contraction process of the lifting and stabilizing device is as follows:

[0047] When a drone is flying indoors or needs to pass through confined areas, if the sensor system on the drone detects that the current or upcoming environment is unsuitable for deploying the lift and stability enhancement device, the control center issues a command to retract the device. In the same way, when the drive motor rotates counterclockwise, the four-bar linkage rotates simultaneously through the transmission assembly to retract the motor propeller assembly. The retraction stops when it reaches a predetermined point. At this point, the lift and stability enhancement device and the drone form a configuration similar to a coaxial dual propeller. This not only minimizes the overall size of the drone but also minimizes the impact of the increased weight caused by adding the lift and stability enhancement device.

[0048] Example 2:

[0049] See attached Figure 1-11 Based on Embodiment 1, the present invention also provides a drone, including a fuselage, with a lift-enhancing and stabilizing device as described above disposed on the top of the fuselage. The lift-enhancing and stabilizing device can be quickly installed on the drone using connecting bolts. Preferably, the fuselage is a quadcopter drone, including four propellers, which can be symmetrically distributed in a cross shape. When the motor-propeller assembly connected to the four-bar linkage on the lift-enhancing and stabilizing device is fully deployed, the four motor-propellers and the four propellers of the quadcopter drone itself form a double X structure or a double cross structure. When the motor-propeller assembly connected to the four-bar linkage on the lift-enhancing and stabilizing device is fully retracted, the four motor-propellers and the four propellers of the quadcopter drone itself form a structure similar to a coaxial dual-propeller structure, that is, the four motor-propellers correspond one-to-one with the four propellers of the quadcopter drone, and the axes of the corresponding motor-propellers and the axes of the quadcopter drone's propellers are on the same straight line.

[0050] Example 3:

[0051] See attached Figure 1-11 Based on Embodiment 2, this invention also proposes a drone control method that can switch modes accordingly for indoor or confined environments and outdoor or open environments. The control method mainly includes the following process: first, determining whether the current environment of the drone is suitable for deploying the lift-enhancing and stabilization device; based on the determination result, controlling the retraction or deployment of the lift-enhancing and stabilization device. The overall control framework is as follows: Figure 1 As shown. When the drone is in an outdoor environment, the lift-enhancing and stabilizing device deploys, forming a double-X configuration with the quadcopter drone, especially a ducted rotor drone. In this configuration, the drone provides lift, while the lift-enhancing and stabilizing device simultaneously provides lift and participates in attitude control. Compared to a configuration where both components participate in attitude control, this method is simpler and more practical. It not only increases the drone's lift reserve but also significantly improves its wind resistance and stability. In an indoor environment, the lift-enhancing and stabilizing device can be folded and retracted as needed. In this case, the four motor propellers 40 of the folded device and the drone's four propellers form a coaxial dual-propeller configuration. This allows for a smaller overall size of the drone while increasing its lift reserve and reducing the impact of increased weight due to the added lift-enhancing and stabilizing device.

[0052] Figure 9 and Figure 10 The diagram shows the aerodynamic performance of a single power unit for UAVs with and without lift-enhancing and stability-enhancing devices. Figure 9 For the lift comparison chart, from Figure 9 As can be seen, the system with the added lift-enhancing and stability-enhancing device has greater lift, while Figure 10The X-factor of the two was compared. The X-factor is one of the main factors for measuring propeller performance. The higher the quality factor, the higher the efficiency of the propeller under this condition. The results of the comparison show that the power system has higher efficiency after adding the lift and stability enhancement device.

[0053] Figure 11 The graph shows a comparison of the pitch angle response of the original UAV under disturbance conditions after the lift-stabilization and augmentation device is installed. Specifically, it compares the pitch angle changes of the original UAV with and without the lift-stabilization and augmentation device. The dark blue curve represents the pitch angle response after adding the device, the orange curve represents the pitch angle response without the device, and the light blue line is the desired reference line. The disturbance here is approximated by adding white noise to the desired input of the UAV. Using the same parameters, it can be seen that with the lift-stabilization and augmentation device, the UAV returns to its equilibrium position faster and in less time after receiving a disturbance, while also exhibiting less fluctuation at the equilibrium position. This demonstrates that the lift-stabilization and augmentation device has better performance in resisting external disturbances.

[0054] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A lifting and stabilizing device, characterized in that: It includes a fixed plate (20) and a power drive assembly, a transmission assembly and a four-bar assembly disposed on the upper surface of the fixed plate (20); the four-bar assembly is provided with a motor propeller assembly; the power drive assembly is used to drive the transmission assembly to rotate, thereby driving the four-bar assembly to move, so that the motor propeller assembly connected to the four-bar assembly can be extended or retracted. The four-bar linkage assembly includes two four-bar groups, which are symmetrically arranged on the left and right sides of the fixed plate (20); each four-bar group includes two four-bars (30) arranged symmetrically front to back; the motor propeller assembly includes four motor propellers (40), which correspond one-to-one with each of the four-bars (30); the power drive assembly is used to drive the transmission assembly to rotate, thereby driving two adjacent four-bars (30) to rotate synchronously in opposite directions, so that the motor propellers (40) connected to the four-bars (30) can expand or contract; The power drive assembly includes a drive motor and a gear (1) fixedly connected to the output shaft of the drive motor; the drive motor is fixedly connected to the fixed plate (20); the gear (1) drives the transmission assembly to rotate synchronously through a synchronous gear belt (14); The transmission assembly includes gear 2 (2), gear 3 (3), gear 4 (4), gear 5 (5), gear 6 (6), gear 7 (7), gear 8 (8), gear 9 (9), gear 10 (10), gear 11 (11), gear 12 (12), and gear 13 (13); gear 2 (2), gear 4 (4), gear 6 (6), gear 7 (7), gear 8 (8), gear 9 (9), gear 12 (12), and gear 13 (13) are rotatably connected to the top of the fixed plate (20) via rotating shafts; gear 2 (2) is connected to gear 1 (1) via synchronous gear belt 1 (14); gear 3 (3) is coaxially arranged with gear 2 (2), and one side of gear 3 (3) meshes with gear 4 (4); Gear 5 (5) is coaxially arranged with gear 4 (4). Gear 5 (5) drives gear 6 (6), gear 7 (7), gear 8 (8) and gear 9 (9) to rotate synchronously through synchronous gear belt 2 (15). Gear 11 (11) is coaxially arranged with gear 7 (7). One side of gear 11 (11) meshes with gear 13 (13). Gear 10 (10) is coaxially arranged with gear 9 (9). One side of gear 10 (10) meshes with gear 12 (12). The four four-link rods (30) are respectively connected to the shafts where gear 6 (6), gear 8 (8), gear 12 (12) and gear 13 (13) are located, and rotate synchronously with gear 6 (6), gear 8 (8), gear 12 (12) and gear 13 (13). The four-bar linkage (30) includes a first rod (31), a second rod (32), a third rod (33), and a fourth rod (34); the first ends of the four first rods (31) are rotatably connected to the fixed plate (20) via columns; the first ends of the four second rods (32) are connected to the shafts of gears six (6), eight (8), twelve (12), and thirteen (13); the ends of the first rods (31) and the second rods (32) are movably connected to the two ends of the third rod (33); the first end of the fourth rod (34) is fixedly connected to the end of the third rod (33), and the end of the fourth rod (34) is connected to a motor propeller (40).

2. The lifting and stabilizing device according to claim 1, characterized in that: It also includes a connecting plate; the connecting plate is connected to the fixing plate (20) by a plurality of support columns (50); the lower ends of the plurality of support columns (50) are fixedly connected to the fixing plate (20), and the upper ends of the plurality of support columns (50) are connected to the connecting plate by screws.

3. The lifting and stabilizing device according to claim 2, characterized in that: In the retracted state, neither the left nor right sides of the fixed plate (20), connecting plate, power drive assembly, transmission assembly, and four-bar linkage assembly exceed the boundary of the UAV width.

4. An unmanned aerial vehicle (UAV), characterized in that: The device includes a body, and the upper part of the body is provided with a lifting and stabilizing device as described in any one of claims 1-3.

5. The unmanned aerial vehicle according to claim 4, characterized in that: The body is a quadcopter drone; when the motor-propeller assembly connected to the four-bar linkage is fully deployed, it forms a double X structure or a double cross structure with the four propellers of the quadcopter drone; when the motor-propeller assembly connected to the four-bar linkage is fully retracted, it forms a coaxial dual-propeller structure with the four propellers of the quadcopter drone.

6. A method for controlling a drone, used to control a drone as described in claim 5, characterized in that, The control process includes: When the drone is flying, it first acquires the environmental parameters of the drone's current location and determines whether it is suitable for the lift and stability enhancement device to deploy based on the acquired environmental parameters; then, according to the determination result, it controls the lift and stability enhancement device to switch between retraction and deployment modes. When the drone is operating in the lift and stability enhancement device deployment mode, the motor propeller assembly is deployed through the power drive component. The drone's own four propellers only provide flight lift, while the lift and stability enhancement device not only provides flight lift but also participates in attitude adjustment control. When the drone is operating in the lift-enhancing and stabilization device retracted mode, the motor and propeller assembly is retracted through the power drive component, thereby increasing lift using the lift-enhancing and stabilization device.

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