An optimization method for an unmanned aerial vehicle cabin door opening and closing mechanism

Abstract

The application discloses an optimization method of an unmanned aerial vehicle cabin door folding and unfolding mechanism, and comprises the following steps: S1, simplifying assumptions are made on the unmanned aerial vehicle cabin door folding and unfolding mechanism, and the type of the cabin door folding and unfolding mechanism is confirmed; S2, the connection pair category of the unmanned aerial vehicle cabin door folding and unfolding mechanism is confirmed, and point coordinate required for constructing the cabin door folding and unfolding mechanism is acquired; S3, according to the cabin door folding and unfolding mechanism simplifying assumptions and the point coordinate, a parameterized model of the cabin door folding and unfolding mechanism is constructed; S4, gravity load is applied to the center of gravity of all components; cabin door aerodynamic resistance load is applied to the center of the cabin door curved surface, and each load is set to be effective; S5, according to the minimum length of each component of the cabin door folding and unfolding mechanism, the cabin door folding and unfolding angle limit and the point coordinate space limit of the cabin door folding and unfolding mechanism, relevant constraint functions are constructed; S6, the target function is confirmed according to the load of the connection part which is easy to deform or fail in the cabin door folding and unfolding structure; and S7, the target function is optimized, and the overall arrangement of the cabin door folding and unfolding mechanism is determined.

Description

Technical Field

[0001] This invention relates to the field of aviation technology, and specifically to an optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism. Background Technology

[0002] Due to their lightweight, fuel efficiency, short redeployment time, and ease of maintenance, drones are increasingly in demand across various fields both domestically and internationally. The customized spatial layout of different drones means that their door deployment and retraction mechanisms also need to be tailored to their specific spatial configurations.

[0003] The door retraction mechanism of a drone is usually installed in the limited space of the drone's cabin, which also contains other components such as landing gear and retraction actuators, thus severely restricting the space layout. The spatial layout of the door retraction mechanism not only needs to consider that it will not interfere with other components such as landing gear and retraction actuators in the cabin during the retraction process, but also needs to ensure that the retraction load meets the design requirements throughout the entire retraction process, and also needs to meet the preload force requirements when the door is retracted to a certain extent. This is a major challenge in the design and layout of the door retraction mechanism.

[0004] Conventional hatch retraction mechanisms often employ 3D digital models to establish associated motions, prioritizing non-interference requirements, and then repeatedly adjusting them to ensure the retraction process and loads are within acceptable ranges. This design method is time-consuming and labor-intensive, and cannot consider all constraints in a unified manner. Sometimes, after the design is completed, it may fail to meet one of the key constraints or design requirements. In such cases, the design needs to be iterated repeatedly. When one or more design requirements change, the spatial layout design iteration requires adjusting the digital model to confirm whether the design requirements are met, which is not conducive to rapid updates of the spatial layout. Summary of the Invention

[0005] To address the technical problem of time-consuming spatial layout design of unmanned aerial vehicle (UAV) cabin door retraction mechanisms in existing technologies, this invention proposes an optimized method for UAV cabin door retraction mechanisms.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism specifically includes the following steps:

[0008] S1: Make simplified assumptions about the UAV door retraction mechanism and confirm the type of door retraction mechanism;

[0009] S2: Confirm the connection sub-category of the UAV door retraction mechanism and obtain the coordinates of the points required to construct the door retraction mechanism;

[0010] S3: Construct a parametric model of the hatch retraction mechanism based on the simplified assumptions and point coordinates.

[0011] S4: Apply gravity load to the center of gravity of all components; apply aerodynamic drag load to the center of the hatch surface and set each load to take effect;

[0012] S5: Construct relevant constraint functions based on the minimum length of each component of the hatch retraction mechanism, the hatch retraction angle limit, and the spatial constraints of the hatch retraction mechanism's point coordinates;

[0013] S6: Determine the objective function based on the load requirements of easily deformable or failed connections in the hatch retraction structure;

[0014] S7: Optimize the objective function using existing analysis software to determine the overall layout of the hatch retraction mechanism.

[0015] Preferably, in S1, the following simplified assumptions are made regarding the unmanned aerial vehicle (UAV) door retraction mechanism:

[0016] Assumption 1: The shapes of all components in the drone door retraction mechanism are represented by point and line models, ignoring fit and clearance;

[0017] Assumption 2: The coordinates of all connection points of all components in the unmanned aerial vehicle (UAV) door retraction mechanism are taken as the center point of the connection area;

[0018] Assumption 3: The load applied to the unmanned aerial vehicle (UAV) door retraction mechanism is a concentrated force;

[0019] Assumption 4: The landing gear retraction and extension states associated with the drone's cabin door retraction mechanism have been determined;

[0020] Assumption 5: The aerodynamic drag of the hatch has been determined.

[0021] Preferably, in S1, the types of door retraction mechanisms include landing gear follow-up type and autonomous motion type.

[0022] Preferably, S2 includes:

[0023] S2-1: Establish a Cartesian coordinate system for the UAV door opening and closing mechanism: the positive X-axis is from the tail to the nose of the UAV, the positive Y-axis is perpendicular to the X-axis and located on the same horizontal plane, and the positive Z-axis is the upward direction;

[0024] S2-2: After assembling the hatch retraction mechanism into the Cartesian coordinate system, classify the connecting pairs of the hatch retraction mechanism, and determine the required number of points based on the category and the overlap of points.

[0025] Preferably, in S2-2, the required number of points is as follows: 1 point for ball joint, 2 points for revolute joint, 2 points for sliding joint, 1 point for applying a single load, 1 point for the center of mass of a single component, 2 points for constructing a single cylindrical component, 2 points for constructing a single tie rod component, 3 points for constructing a single triangular prism component, and 2 points for constructing a single rectangular component.

[0026] Preferably, S3 includes:

[0027] S3-1: Form the point coordinate matrix X based on the point coordinates:

[0028]

[0029] In formula (1), x1 represents the x-axis coordinate of the first point; y1 represents the y-axis coordinate of the first point; z1 represents the z-axis coordinate of the first point; x n The x-coordinate of the nth point; y n The z-coordinate represents the y-axis coordinate of the nth point; n This represents the z-axis coordinate of the nth point;

[0030] S3-2: Parameterize the original point coordinate matrix and determine the design variable DVi, i = 1, 2, ..., 15;

[0031] S3-3: Establish a parametric model based on design variables: Use the design variables of the points to draw regular shapes, and use the points of the connecting pairs to establish connecting pairs between various components, thereby performing parametric modeling of the hatch opening and closing mechanism.

[0032] Preferably, S3-2 includes:

[0033] S3-2-1: Identify the associated points, then parameterize them to determine the design variable DVi, i = 1, 2, ..., 15;

[0034] S3-2-2: Setting the effective value range for design variables:

[0035] DVi+30≥DVi≥DVi-30, i=1,2,...,15 (2)

[0036] In formula (2), DVi represents the i-th design variable.

[0037] Preferably, S5 includes:

[0038] S5-1: Construct the length constraint functions for each component in the hatch retraction mechanism:

[0039]

[0040] In formula (3), g1(X) represents the length constraint function of each component of the hatch retraction mechanism; n represents the number of components, L i (X) represents the length of the i-th component; L i,min This represents the minimum length of the i-th component;

[0041] S5-2: Construct the angle constraint function for the hatch retraction mechanism:

[0042] g2(X)=θ(X)-θ max ≤0 (4)

[0043] In formula (4), g29X) represents the angle constraint function of the hatch retraction mechanism; θ(X) represents the hatch rotation angle; θ max Indicates the maximum rotation angle of the hatch;

[0044] S5-3: Constructing the spatial constraint function for the hatch retraction mechanism:

[0045]

[0046] In formula (5), g3(X) represents the spatial constraint function of the hatch retraction mechanism; m represents the number of contact forces; CONTACT(X) i This represents the i-th contact force.

[0047] Preferably, in S5-2, the maximum rotation angle θ of the hatch max It must not exceed 100°, i.e., θ max -100≤0.

[0048] Preferably, in step S6, the objective function is:

[0049]

[0050] In formula (6), F 1,x (X), F 1,y (X), F 1,z (X) represent the x-axis component, y-axis component, and z-axis component of the force on the connection pair between the landing gear and the door retraction mechanism, respectively.

[0051] In summary, by adopting the above technical solution, the present invention has at least the following beneficial effects compared with the prior art:

[0052] This invention saves time and computational costs in the initial layout design of the hatch retraction mechanism, ensures rapid iteration of the hatch retraction mechanism layout, and simplifies the load analysis and motion state analysis of the hatch retraction mechanism. Attached image description:

[0053] Figure 1This is a schematic diagram illustrating an optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism according to an exemplary embodiment of the present invention.

[0054] Figure 2 This is a schematic diagram of a parametric model of a hatch retraction mechanism according to an exemplary embodiment of the present invention. Detailed Implementation

[0055] The present invention will be further described in detail below with reference to embodiments and specific implementation methods. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0056] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] like Figure 1 As shown, the present invention provides an optimized method for the opening and closing mechanism of an unmanned aerial vehicle (UAV) door, specifically including the following steps:

[0058] S1: Make simplified assumptions about the unmanned aerial vehicle (UAV) door retraction mechanism and identify the type of door retraction mechanism, including landing gear follow-up type and autonomous motion type.

[0059] In this embodiment, the following simplified assumptions are made regarding the unmanned aerial vehicle (UAV) door retraction mechanism:

[0060] Assumption 1: The shapes of all components in the drone door retraction mechanism are represented by point and line models, ignoring irrelevant parameters such as fit and clearance;

[0061] Assumption 2: The coordinates of all connection points of all components in the unmanned aerial vehicle (UAV) door retraction mechanism are taken as the center point of the connection area;

[0062] Assumption 3: The load applied to the unmanned aerial vehicle (UAV) door retraction mechanism is a concentrated force;

[0063] Assumption 4: The landing gear retraction and extension states associated with the drone's cabin door retraction mechanism have been determined;

[0064] Assumption 5: The aerodynamic drag of the hatch has been determined.

[0065] In this embodiment, different optimization strategies are determined based on the type of door retraction mechanism. Autonomous motion type refers to a door retraction mechanism that is not connected to the landing gear; the landing gear retraction and extension and the door retraction and extension are completed by two separate drive mechanisms. Landing gear follow-up type refers to a door retraction and extension mechanism that is connected to the landing gear and must move in coordination with the retraction or extension of the landing gear; the door retraction and extension state is constrained by the landing gear state.

[0066] Therefore, the landing gear follow-up type only requires one drive function to simultaneously realize the retraction and extension of the landing gear and the cabin door. The autonomous motion type cabin door retraction and extension mechanism, because it does not move simultaneously with the landing gear retraction and extension, generally means that the landing gear is in a fully retracted state throughout the entire process of the cabin door retracting and extending, and the landing gear only begins to extend after the cabin door is fully extended. Therefore, the autonomous motion type requires two drive functions to realize the retraction and extension movements of the landing gear and the cabin door respectively, and the landing gear can only begin to extend after the cabin door is fully extended.

[0067] S2: Confirm the connection sub-category of the UAV door retraction mechanism, and obtain the point coordinates required for the construction of the door retraction mechanism, the relevant performance limitations of the door retraction mechanism, and the operating conditions (including load and working status).

[0068] In this embodiment, a Cartesian coordinate system is established for the UAV door retraction mechanism: the positive X-axis is from the tail to the nose of the UAV, the positive Y-axis is perpendicular to the X-axis and located on the same horizontal plane, and the positive Z-axis is the upward direction.

[0069] In this embodiment, after assembling the hatch retraction mechanism into the correct Cartesian coordinate system, the connecting pairs of the hatch retraction mechanism are classified. The required number of points is confirmed by the category and the overlap of points (reusable points, thereby reducing the number of points to be set): 1 point is required for a ball joint, 2 points are required for a revolute joint, and 2 points are required for a sliding joint. In addition, other points required besides the connecting pair points include 1 point required for applying a single load, 1 point required for the center of mass of a single component, 2 points required for constructing a single cylindrical component, 2 points required for constructing a single tie rod component, 3 points required for constructing a single triangular prism component, and 2 points required for constructing a single rectangular component, etc.

[0070] S3: Based on the simplified assumptions and point coordinates of the hatch retraction mechanism, construct a parametric model of the hatch retraction mechanism.

[0071] In this embodiment, a parameterized model of the hatch retraction mechanism is constructed based on the simplified assumptions of the hatch retraction mechanism in S1 and the point coordinates of the hatch retraction mechanism in S2 (which can be determined from assumption 2), and can be automatically updated according to the adjustment of the point coordinates.

[0072] S3-1: In this embodiment, the variable parameters in the point coordinates are set as design variables to form the point coordinate matrix X, as shown in Table 1.

[0073]

[0074] In formula (1), x1 represents the x-axis coordinate of the first point; y1 represents the y-axis coordinate of the first point; z1 represents the z-axis coordinate of the first point; x n The x-coordinate of the nth point; y n The z-coordinate represents the y-axis coordinate of the nth point; n This represents the z-axis coordinate of the nth point.

[0075] Table 1. Point Coordinates

[0076]

[0077]

[0078] S3-2: Parameterize the original point coordinate matrix to determine the design variables.

[0079] S3-2-1: Identify the related points, then parameterize them to determine the design variables.

[0080] In this embodiment, the associated points include those with symmetrical, coplanar, or collinear relationships. These points need to be identified in advance before parameterization to simplify the number of parameters.

[0081] In this embodiment, the coordinates of the points in Table 1 are parameterized to obtain the design variable DVi, i = 1, 2, ..., 15, as shown in Table 2.

[0082] Table 2. Determination of Design Variables

[0083]

[0084]

[0085] S3-2-2: Set the effective value range for design variables.

[0086] Based on the landing gear system structure and rapid updates and iterations, the effective value range of design variables is set as follows: the point coordinates must ensure that the landing gear system can maintain a certain amount of clearance space in the cabin space throughout the entire movement process. The landing gear system is simplified by drawing regular shapes such as cuboids, triangular prisms, and cylinders using the set points.

[0087] In this embodiment, Table 2 can be used to set the range of design variables.

[0088] DVi+30≥DVi≥DVi-30, i=1,2,...,15 (2)

[0089] In formula (2), DVi represents the i-th design variable.

[0090] S3-3: Establish a parametric model based on the design variables.

[0091] Using the design variables of the set points, regular shapes such as cuboids, triangular prisms, and cylinders are drawn to perform parametric modeling of the landing gear system. For example, a tie rod can be represented by a cylinder. Connection pairs are established between various components using the points of the connection pairs. Figure 2 As shown, 1 represents the landing gear, 2, 3, 4, and 5 represent the first, second, third, and fourth links of the door mechanism, and 6 represents the door.

[0092] S4: Apply gravity loads to the center of gravity of all components (landing gear, first link, second link, third link, fourth link, hatch, etc.); apply hatch aerodynamic drag loads to the center of the hatch surface and set the effective status of each load.

[0093] Among them, the gravity load is always in effect, and the aerodynamic drag load of the hatch includes the upward load F. y , heading load F x and lateral load F z , respectively set as functions related to the angle θ(X) of the hatch rotation.

[0094] S5: Construct relevant constraint functions based on the minimum length of each component of the hatch retraction mechanism, the hatch retraction angle limit, and the spatial constraints of the hatch retraction mechanism's point coordinates.

[0095] In this embodiment, the minimum length of each component of the door retraction mechanism, the angle limit of the door retraction structure, and the spatial limit of the point coordinates of the door retraction mechanism are transformed into constraint functions g1(X), g2(X), and g3(X) to limit the effective values ​​of the design variables. The minimum length limit of each component of the door retraction mechanism depends on the design requirements of the door retraction mechanism, the angle limit of the door retraction structure depends on the landing gear layout requirements, and the spatial limit of the point coordinates depends on the spatial limit of the cabin space of the UAV door retraction mechanism.

[0096] S5-1: Construct the length constraint function for each component in the hatch retraction mechanism: Each component is subject to a minimum length limit due to structural characteristics, i.e.:

[0097]

[0098] In formula (3), g1(X) represents the length constraint function of each component of the hatch retraction mechanism; n represents the number of components, L i (X) represents the length of the i-th component; L i,min This represents the minimum length of the i-th component.

[0099] For example, the minimum length limit for each link:

[0100] The distance between points 3 and 4 is greater than 20mm:

[0101] 20-DISTANCE(POINT3,POINT4)≤0;

[0102] The distance between points 4 and 5 is greater than 13mm:

[0103] 13-DISTANCE(POINT4,POINT5)≤0;

[0104] The distance between points 3 and 4 is greater than 20mm:

[0105] 20-DISTANCE(POINT3,POINT4)≤0;

[0106] The distance between points 4 and 6 is greater than 90mm:

[0107] 90-DISTANCE(POINT4,POINT6)≤0;

[0108] The distance between points 6 and 7 is greater than 13mm:

[0109] 13-DISTANCE(POINT6,POINT7)≤0;

[0110] The distance between points 7 and 8 is greater than 20mm:

[0111] 20-DISTANCE(POINT7,POINT8)≤0.

[0112] S5-2: Constructing the angle constraint function for the hatch retraction mechanism: When the hatch is lowered to its maximum angle, it needs to maintain a certain clearance distance from the fuselage skin. For ease of calculation, the clearance distance constraint is transformed into a constraint on the maximum rotation angle of the hatch, i.e.:

[0113] g2(X)=θ(X)-θ max ≤0 (4)

[0114] In formula (4), g2(X) represents the angle constraint function of the hatch retraction mechanism; θ(X) represents the hatch rotation angle; θ max This indicates the maximum rotation angle of the hatch.

[0115] In this embodiment, the maximum rotation angle of the hatch must not exceed 100°.

[0116] θ max -100≤0.

[0117] S5-3: Constructing the spatial constraint function for the hatch retraction mechanism: The arrangement of the hatch retraction mechanism is constrained by the spatial constraints, and it must not interfere with the spatial constraints and must maintain a certain clearance distance throughout the entire retraction process. Therefore, a transformation of the spatial constraints is performed: the spatial constraints are reduced so that the reduced spatial constraints maintain clearance distance from the original spatial constraints at all points, and contact is established between the reduced spatial constraints and the various components of the hatch retraction mechanism; in addition, since the hatch retraction mechanism has many moving parts, contact constraints need to be established between the moving parts and between the moving parts and the landing gear; therefore, the final constraint function is:

[0118]

[0119] In formula (5), g3(X) represents the spatial constraint function of the hatch retraction mechanism; m represents the number of contact forces; CONTACT(X) i This represents the i-th contact force.

[0120] S6: Determine the relevant objective function based on the loads at easily deformable or failed connections in the hatch retraction structure.

[0121] In this embodiment, the connection with the greatest load is the connection between the landing gear and the door retraction mechanism. Therefore, the load F1 of the connection between the landing gear and the door retraction mechanism is taken as the objective function:

[0122]

[0123] In formula (6), Q represents the objective function; F 1,x (X), F 1,y (X), F 1,z (X) represent the x-axis component, y-axis component, and z-axis component of the force on the connection pair between the landing gear and the door retraction mechanism, respectively.

[0124] S7: Optimize the objective function using existing analysis software (ADAMS / ANSYS MOTION / LMS VIRTUAL LAB / NASTRAN / ABAQUS), that is, optimize the points required to construct the hatch retraction mechanism, and finally optimize the overall layout of the hatch retraction mechanism.

[0125] In this embodiment, the constructed parameterized model was also simulated, and the results are shown in Table 3:

[0126] Table 3. Point Matrix Update Table

[0127]

[0128]

[0129] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. An optimized method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism, characterized in that, Specifically, the following steps are included: S1: Make simplified assumptions about the UAV door retraction mechanism and confirm the type of door retraction mechanism; S2: Confirm the connection sub-category of the UAV door retraction mechanism and obtain the coordinates of the points required to construct the door retraction mechanism; S3: Construct a parametric model of the hatch retraction mechanism based on the simplified assumptions and point coordinates. S4: Apply gravity load to the center of gravity of all components; apply aerodynamic drag load to the center of the hatch surface and set each load to take effect; S5: Construct relevant constraint functions based on the minimum length of each component of the hatch retraction mechanism, the hatch retraction angle limit, and the spatial constraints of the hatch retraction mechanism's point coordinates; S6: Determine the objective function based on the load requirements of easily deformable or failed connections in the hatch retraction structure; S7: Optimize the objective function using existing analysis software to determine the overall layout of the hatch retraction mechanism.

2. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, In S1, the following simplified assumptions are made regarding the unmanned aerial vehicle (UAV) door retraction mechanism: Assumption 1: The shapes of all components in the drone door retraction mechanism are represented by point and line models, ignoring fit and clearance; Assumption 2: The coordinates of all connection points of all components in the unmanned aerial vehicle (UAV) door retraction mechanism are taken as the center point of the connection area; Assumption 3: The load applied to the unmanned aerial vehicle (UAV) door retraction mechanism is a concentrated force; Assumption 4: The retraction and extension states of the landing gear associated with the drone's door retraction mechanism are already determined; and, Assumption 5: The aerodynamic drag of the hatch has been determined.

3. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, In S1, the types of door retraction mechanisms include landing gear follow-up type and autonomous motion type.

4. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, S2 includes: S2-1: Establish a Cartesian coordinate system for the UAV door opening and closing mechanism: the positive X-axis is from the tail to the nose of the UAV, the positive Y-axis is perpendicular to the X-axis and located on the same horizontal plane, and the positive Z-axis is the upward direction; S2-2: After assembling the hatch retraction mechanism into the Cartesian coordinate system, classify the connecting pairs of the hatch retraction mechanism, and determine the required number of points based on the category and the overlap of points.

5. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 4, characterized in that, In S2-2, the required number of points is as follows: 1 point for ball joint, 2 points for revolute joint, 2 points for prismatic joint, 1 point for single load application, 1 point for the center of mass of a single component, 2 points for constructing a single cylindrical component, 2 points for constructing a single tie rod component, 3 points for constructing a single triangular prism component, and 2 points for constructing a single rectangular component.

6. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, S3 includes: S3-1: Form the point coordinate matrix X based on the point coordinates: In formula (1), Represents the x-axis coordinate of the first point; This represents the y-axis coordinate of the first point; This represents the z-axis coordinate of the first point; Represents the x-axis coordinate of the nth point; This represents the y-coordinate of the nth point; This represents the z-axis coordinate of the nth point; S3-2: Parameterize the original point coordinate matrix and determine the design variable DVi, i=1,2,...,15; S3-3: Establish a parametric model based on design variables: Use the design variables of the points to draw regular shapes, and use the points of the connecting pairs to establish connecting pairs between various components, thereby performing parametric modeling of the hatch opening and closing mechanism.

7. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 6, characterized in that, S3-2 includes: S3-2-1: Identify the associated points, then parameterize them to determine the design variable DVi, i=1,2,...,15; S3-2-2: Setting the effective value range for design variables: In formula (2), This represents the i-th design variable.

8. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, S5 includes: S5-1: Construct the length constraint functions for each component in the hatch retraction mechanism: In formula (3), This represents the length constraint function for each component of the hatch retraction mechanism; n represents the number of components. This represents the length of the i-th component; This represents the minimum length of the i-th component; S5-2: Construct the angle constraint function for the hatch retraction mechanism: In formula (4), This represents the constraint function for limiting the angle of the hatch retraction mechanism; Indicates the angle of rotation of the hatch; Indicates the maximum rotation angle of the hatch; S5-3: Constructing the spatial constraint function for the hatch retraction mechanism: In formula (5), This represents the spatial constraint function for the hatch retraction mechanism; m represents the number of contact forces. This represents the i-th contact force.

9. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 8, characterized in that, In S5-2, the maximum rotation angle of the hatch The angle must not exceed 100°.

10. The optimization method for an unmanned aerial vehicle (UAV) cabin door retraction mechanism as described in claim 1, characterized in that, In S6, the objective function is: In formula (6), , , These represent the x-axis component, y-axis component, and z-axis component of the force on the connection pair between the landing gear and the door retraction mechanism, respectively.

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