Double-wing coaxial reverse propeller engine ocean surface sonar dragging unmanned aerial vehicle

Abstract

The invention discloses a double-wing coaxial reverse propeller engine ocean surface sonar dragging unmanned aerial vehicle based on an injection molding / or 3D printing process as a main part. The unmanned aerial vehicle comprises a box body group, a main wing group, an auxiliary wing group, an empennage group, a camera and the like, wherein the main wing group comprises a main embedded two-engine drive; through an injection molding / 3D printing process, the problems of tedious production process, high manufacturing cost and the like are solved; through attitude conversion during cruising flight, namely buoyancy / lift force generated by wings including empennages in a cruising flight mode, energy saving during cruising is achieved like aircraft flight. The unmanned aerial vehicle is shaped like a box body in a static state, lifts off like a helicopter during takeoff, and flies like the aircraft with buoyancy / lift during cruising flight. In short, through the injection molding / or 3D printing process, the production cost is reduced; the air holding capacity and the cruising ability of cruising flight are brought through the conversion of the flight attitude when the main wings are unfolded; therefore, the method is suitable for a sonar system ocean surface implantation mode and a sonar dragging mode.

Description

Technical Field

[0001] The invention relates to the field of injection molding / or 3D printing manufacturing technology, and in particular to a double-wing coaxial counter-propeller engine ocean surface sonar towing UAV. Background Art

[0002] With the continuous advancement of my country's modern new technological innovation, qualitative changes have been achieved in all aspects, especially in the ocean. For offshore, from a military perspective, it is necessary to improve the configuration of the sonar system, such as the sonar system towing method, to listen to and monitor the frequent illegal entry of the diving devices of hostile countries (such as the Virginia nuclear submarine), which will surely produce great military and political effects; at the same time, in offshore fisheries, the sonar sphere can also be towed to determine the exact location of the fish school in order to form a purse seine operation.

[0003] In this way, using drones to complete underwater detection by gridding or towing the ocean surface, as well as sonar towing purse seine operations, will definitely be a good choice; after all, it is more convenient and faster to use operating platforms such as ships and fishing boats, use the vertical launch method of the aircraft, and then use the ocean surface implantation and towing method, that is, after taking off with a platform like a helicopter, and then converting it into a platform with wingspan - that is, flying like an airplane, the efficiency can be doubled by relying on the buoyancy and / or lift clamping generated by the wind, and the flight distance and air holding are guaranteed; not only that, with the help of Beidou navigation and wireless communication, the ocean surface implantation of the sonar system, including the timely adjustment of the deviation of the position of the ocean current, and the towing of the sonar, can be realized to complete the underwater submersible detection, including the detection of fish gathering points; in short, it is completely possible to develop the battery and photovoltaic cell driven drones with variable driving states that we need to meet the ocean sonar system gridding sea surface implantation, ocean surface towing and sonar towing purse seine operations. Summary of the invention

[0004] In view of the above, the purpose of the present invention is to provide a "double-wing coaxial counter-propeller engine ocean surface sonar towing drone", through the flight attitude conversion of the drone, that is, with the double wings unfolded, that is, the main and auxiliary wings projected area is expanded to obtain air buoyancy / or lift in the forward direction, to achieve the time-effective cruise capability. Further, the flight attitude conversion electromechanical reality is based on the injection molding / 3D printing process to meet the characteristics of innovation and optimization, that is, the device has a certain structural strength, performance and appearance, and the purpose of lightweight is achieved to the maximum extent. Further, the injection molding / or 3D printing process is used for one-time molding, which significantly reduces its production process and processing difficulty, and the production cost is controlled. Further, in order to reduce the headwind resistance, the box is organically integrated with the attitude conversion mechanism and the motor, so that the drone body structure is compact. Further, the main and ailerons are unfolded, and the wing projected area is expanded (including the tail), that is, after the flight attitude conversion is realized, the efficiency is higher and it is simple and reliable. Further, there is a photovoltaic battery group on the main wing for charging the lithium battery, especially when it is implanted in the ocean surface static. Furthermore, it also solves the physical indicators of reliability, stability, installation and maintenance very well.

[0005] To achieve the above object, the present invention provides a dual-wing, dual-engine ocean surface sonar towing drone, which is characterized by comprising:

[0006] The box group, as a basic part, is used to embed the flight attitude conversion motor to achieve the flight attitude conversion after liftoff. It also includes the scaling operation of the sonar sphere to achieve the sea surface implantation and water surface dragging of the sphere on the sea surface.

[0007] The main and auxiliary wing groups are hinged to the hinge seats on the vertical plates on both sides of the box body, and are used for the conversion of flight attitude, including the expansion of the projection area when the main and auxiliary wing groups are unfolded, like the wings of an airplane, to achieve windward buoyancy / or lift enhancement; the main wing is covered with a photovoltaic battery group for charging and energy storage of lithium batteries;

[0008] The tail assembly is hinged to the rear crossbar hinge seat on the box body and is used for stabilizing and adjusting the flight attitude. Like the tail of an airplane, it completes level and turning control, including the expansion of the projected area, which is conducive to improving buoyancy and / or lift.

[0009] The coaxial counter-propeller engine embedded in the near-middle part of the crossbeam is used to complete the attitude transition from vertical takeoff to cruising flight.

[0010] Preferably, the flight attitude conversion drone is characterized in that the box group includes:

[0011] There are four flange cuts in the two side vertical plates of the box body, and the upper and lower main and auxiliary wing attitude control motors are inserted into the end holes to be embedded, which are used to synchronously and / or asynchronously drive the main and auxiliary wings to change between horizontal and vertical, so as to realize the transformation from takeoff to flight attitude; and there is a built-in tail attitude control motor embedded in the rear horizontal bar, which is used to drive each white tail to change between super horizontal and vertical, so as to realize the height and azimuth adjustment in the air position when changing from takeoff to flight attitude, including the adjustment of the center of mass during vertical takeoff.

[0012] Preferably, the flight attitude conversion drone is characterized in that the box group includes:

[0013] There is a central motor in the box group, which is used for hoisting the drum sonar sphere to complete the sea surface implantation of the ocean sonar system grid and underwater reconnaissance by sonar dragging, as well as to complete underwater fish detection to form a purse seine operation.

[0014] Preferably, the flight attitude conversion UAV is characterized in that the box group also includes: there are sealed cavities in front and behind the box group, which are used to effectively load the circuit system including lithium batteries, flight control drive circuits, attitude sensing circuits including altitude and azimuth, and Beidou navigation signal receiving circuits; at the same time, the sealed cavity is also used for the floating effect of the box.

[0015] Preferably, the flight attitude conversion UAV is characterized in that the main wing and tail wing group include: a photovoltaic battery group is attached to the main wing and tail wing group for supplementing and charging the lithium battery.

[0016] The present invention provides a biplane coaxial counter-propeller engine ocean surface sonar towing UAV, which is lightweight by optimizing various components of the device, including modular design, especially by injection molding / or 3D printing of the main parts. Furthermore, the attitude change motor of the UAV is embedded in the box, which fully demonstrates the characteristics of simple structure, reduced process difficulty and manufacturing cost, and easy inspection and maintenance. Obviously, the UAV has low cost, guaranteed structural strength, simple process, easy implementation, and can be mass-produced. Most importantly, it has good adaptability and practicality, which is convenient for promoting the popularization and application of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0018] Figure 1 This is a schematic diagram of equipment for a UAV cruising during flight attitude conversion according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of equipment for vertical takeoff of a UAV with flight attitude conversion according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic cross-sectional structural diagram of a flight attitude conversion UAV box assembly according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the sonar ball hoisting mechanism of the UAV for flight attitude conversion according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the main and auxiliary wings of a UAV for flight attitude conversion according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the tail wing equipment of the UAV for flight attitude conversion according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of a coaxial counter-propeller engine equipment according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of equipment for a second embodiment of the present invention, in which a flight attitude conversion UAV is used during cruising;

[0026] Fig. 9 This is a schematic diagram of equipment for taking off of a UAV with flight attitude conversion according to the second embodiment of the present invention;

[0027] Fig.10 This is a schematic diagram of equipment for a third embodiment of the present invention, in which a flight attitude conversion UAV is used during cruising;

[0028] Fig.11 This is a schematic diagram of equipment for taking off of a UAV with flight attitude conversion according to the third embodiment of the present invention.

[0029] Fig.12 This is a schematic diagram of equipment for a fourth embodiment of the present invention, in which a flight attitude conversion UAV is used during cruising;

[0030] Fig.13 This is a schematic diagram of equipment for taking off of a UAV with flight attitude conversion according to the fourth embodiment of the present invention. Specific implementation plan

[0031] Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by the same or similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are drawn to scale as much as possible, for example, based on the width and height dimensions of the box. In addition, some well-known parts may not be shown in the drawings.

[0032] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. Many specific details of the present invention, such as the structure, materials, dimensions, processing technology and techniques of the components are described below to provide a clearer understanding of the present invention. However, as those skilled in the art will appreciate, the present invention may be implemented without following these specific details.

[0033] The specific implementation of the present invention is further described in detail below in conjunction with the drawings and embodiments.

[0034] Figure 1 The equipment schematic diagram of the flight attitude conversion UAV during cruising according to the embodiment of the present invention; the UAV in the figure includes: a box group 1, a main wing group 2, an auxiliary wing group 3, a tail group 4, an attitude control motor 5 (including the main wing group, the auxiliary wing group, and the tail group), a sonar ball winch group 6 (including a reel, a reel motor, and a sonar ball), two engine groups 7, and a video head 8 (not shown in the figure, see Figure 2 ).

[0035] The box body 1 is made by injection molding / or 3D printing technology, as the main part, and is placed in the center; when viewed from the front, the four corners of the vertical plates on both sides of the box body group form longitudinal barrel-shaped column dividing flanges, which are used to form a hinge seat structure to realize the hinge connection of the main and auxiliary wings 2 and 3, so as to complete the expansion transformation during flight - that is, to achieve low-power flight like an airplane; when viewed from the front, the vertical plates on both sides of the "U" shape of the box body group form four-corner longitudinal barrel-shaped column dividing flanges on the upper and lower sides, so as to complete the expansion transformation during flight - that is, to achieve low-power flight like an airplane; wherein, the main and auxiliary wings 2 and 3 made by injection molding / or 3D printing are inserted into the front flange holes of the two sides with glue. The deceleration control motor 5 with the long axis and plane of the auxiliary wing attitude (the attitude control motor is generally referred to as 5 in the figure) is used to complete the linkage and support of the main and auxiliary wings (including the platform connection in the flange holes of the main and auxiliary wings) to realize the attitude control of the main and auxiliary wings from drooping during takeoff to unfolding during flight; in the upper horizontal bar on the back, there is also a transverse barrel-shaped column dividing the flange to form a hinge seat structure for the tail machine 4 to articulate to complete the real-time adjustment of the level and steering after the attitude conversion; and in the flange holes on both sides of the rear end, the deceleration control motor 5 with the long axis and plane of the tail attitude (the attitude control motor is generally referred to as 5 in the figure) is glued and inserted into the tail (including the connection of the square axis surface in the flange hole of the tail, see Figure 5) linkage to achieve attitude control from the drooping of the tail during takeoff to the unfolding during flight; it can be seen that the addition of the tail expands the projected area, that is, in the presence of a wind duct, it is also of great help to the buoyancy and / or lift of the UAV during low-speed flight; there are buoyancy boxes on the front and rear sides of the box body, with space inside for floating on the ocean surface; at the same time, the internal space of the buoyancy box also includes the installation of a circuit system, including the integration of lithium batteries, flight control circuits, attitude sensing circuits including altitude and direction, 5G or Beidou positioning circuits, camera control and other circuits, thereby forming a lower plane-shaped seal; there is a hoisting mechanism of the sonar sphere between the two buoyancy boxes, which is used to lower it at the point to form an underwater floating state; photovoltaic cells are attached to the planes on the main wings and the tail wing for charging the lithium batteries of electrical equipment such as communication and ocean surface positioning.

[0036] The box group structure provided by the above embodiment of the present invention, as a basic component, is formed in one step by injection molding or 3D printing process, the process is simple, and the structural strength is guaranteed; at the same time, the attitude control motor is glued and embedded in the flange hole to form an integrated structure, which also makes the structure simple and reliable.

[0037] Figure 2 This is a schematic diagram of the equipment for vertical takeoff of a UAV with flight attitude conversion according to an embodiment of the present invention; in a vertical takeoff attitude, it is composed of: a box 1, a main wing group 2, an auxiliary wing group 3, a tail group 4, an attitude conversion motor 5 (attitude control motors are collectively referred to as 5), a sonar ball hoisting mechanism 6, a dual engine group 7, and a video camera 8. As can be seen from the figure, before takeoff, the main and auxiliary wings, and the tail are all in a drooping and compacted posture, and the body shape is like a box, which reduces the projected area and facilitates reducing the resistance and energy consumption of vertical takeoff. Figure 1 When the main and auxiliary wings 2 and 3 are unfolded, the projected area of ​​the two wings is enlarged (including the tail group 4), which is convenient for forming a larger windward buoyancy / lift, greatly reducing the engine drive energy consumption, and ensuring long-distance flight capability and longer air-holding capability.

[0038] Figure 3 The schematic diagram of the cross-sectional structure of the flight attitude conversion unmanned aerial vehicle box group of the embodiment of the present invention; as shown in the figure, the box group can be divided into two parts, the upper and lower parts, which are completed by injection molding / or 3D printing; in the upper part, the vertical plates on both sides of the box group form four-corner longitudinal barreled column dividing flanges, which are used to form a hinge seat structure to realize the hinging of the main and auxiliary wings, so as to complete the expansion transformation from take-off to cruising flight, that is, to generate buoyancy / or lift in the case of headwind - that is, to form a low-power flight like an airplane; wherein, in the frontal flange hole, the main and auxiliary wing state conversion long axis is inserted with glue and a plane reduction motor 5 (the attitude control motor is generally referred to as 5) and a greased bushing is inserted between the flanges to form a support, which is used to form the main and auxiliary wings (including the plane connection in the flange holes of the main and auxiliary wings, see Figure 5) linkage to achieve attitude control from the drooping of the main and auxiliary wings during takeoff to the unfolding during flight. On the upper back, there is a transverse barrel-shaped column dividing the flange to form a hinge seat structure, which is used to form the hinge of the tail group to complete the timely adjustment of the level and steering after the state attitude conversion; among them, the rubber-coated tail attitude long axis is equipped with a plane control motor 5 (all state control motors are collectively referred to as 5), and a greased sleeve is inserted into the flange hole of the box body to complete the linkage of the tail (including the plane connection in the tail flange hole), which is practical for the attitude control from the drooping of the tail during takeoff to the upward pitch during flight; at the same time, the addition of the tail expands the projection surface In the presence of wind ducts, it is also a great help to the buoyancy and / or lift of the UAV during cruising flight; lithium batteries and control circuits are installed in the front and rear sealed cavities of the box body; and between the two sealed cavity buoys are the sonar ball launching and hoisting mechanism 62 and the sonar ball 61 that are rolled up; the front part is a square hole insertion, and the rear part has a connecting plug insertion including a center motor insertion to form an adhesive center stepper motor to work and realize the synchronous operation of the hoisting barrel; a video head is installed on the lower front sealed cavity plate for video transmission to achieve accurate positioning.

[0039] The box group structure provided by the above embodiment of the present invention, as a basic component, is formed in one step by injection molding or 3D printing process, the process is simple, and the structural strength is guaranteed; at the same time, the attitude control motor is glued and embedded in the flange hole to form an integrated structure, which also makes the structure simple and reliable.

[0040] Figure 4 This is a schematic diagram of the structure of the sonar ball hoisting mechanism of the UAV for flight attitude conversion according to the embodiment of the present invention; it is composed of a central stepping motor 61, a reel 62, a sonar ball 63 and a head 64; when the center position is glued and inserted, the central stepping motor is fixed due to the existence of the square joint; that is, the stepping motor housing, i.e. the reel, works synchronously to complete the hoisting work. Among them, the function of the head is to complete the normal installation of the stepping motor.

[0041] Figure 5 This is a schematic diagram of the main and auxiliary wings of the UAV for flight attitude conversion according to an embodiment of the present invention; Figure 1 and 2The main and auxiliary wings are placed on both sides of the box group, corresponding to each other, and are made by injection molding / or 3D printing technology. The two upper and lower pieces have split flanges on the end faces, which are used to form a hinge body structure and are hinged with the hinge seat in the box to form a posture change during cruising. A square shaft surface is reserved in the hole on the flange for inserting the long-axis wing attitude control motor 5 with a reducer to form a connection; and a greased sleeve is placed in the alternate flange holes of the hinge seat on the box to provide lubricating support for the long axis, that is, to complete the synchronous rotation. There is a reserved arc notch between the flanges to facilitate unobstructed fixed-axis rotation with the hinge seat in the box. The main and auxiliary wings are thin-sheet-like cantilever beams designed to reduce the wind resistance caused by the cross section; there is a corner structure at the lower end of the two pieces, which is like an aircraft tail wing, which can play a role in stabilizing the flow, which is beneficial to wind resistance and stable flight during flight cruising; photovoltaic cells are attached on the surface to charge the lithium battery to maintain sufficient supply to the electrical system.

[0042] The main and auxiliary wings provided by the above embodiment of the present invention are hinge-type rotating parts, which are completed by injection molding / or 3D printing process, with one-step molding, simple process and convenient implementation. The expanded projection area of ​​the main and auxiliary wings when deployed is the fundamental guarantee for the formation of lift / or buoyancy during cruising.

[0043] Figure 6 The schematic diagram of the tail structure of the UAV for flight attitude conversion according to the embodiment of the present invention; as shown in the figure, the tail 4 is the right and left side part, which is placed at the top corner of the upper rear side of the box group and is made by injection molding / or 3D printing process. There is a flange on the upper part, which is used for hinge connection with the hinge seat of the box body to form a posture change during cruising. A square hole is reserved in the hole on the flange for inserting the long axis 5 of the tail attitude control motor (all state control motors are collectively referred to as 5) to form a connection; and a greased sleeve is placed in the alternate flange hole of the hinge seat on the box body to form a rectangular axis for necessary support to complete the synchronous rotation of the tail. There is a reserved arc notch between the flanges for unobstructed free rotation when cooperating with the link seat in the box body. There is an arc edge at the bottom, which is used to form an overflow effect when cruising to solve the vortex caused by the lower section. There are vertical corner surfaces on both sides, which are used to be like the tail of an aircraft in the cruising posture, playing a good role in stabilizing flow and resisting wind; there are photovoltaic cells attached on the rear surface for charging the lithium battery.

[0044] The tail wing assembly provided by the above embodiment of the present invention, as a hinged rotating part, is completed by injection molding / or 3D printing process, which is formed in one step, simple in process and convenient to implement. It is the basis for forming the level and height adjustment, and further expands the projected area when unfolded, which further strengthens the lift / or buoyancy during cruising.

[0045] Figure 7This is a schematic diagram of the assembly of the flight attitude conversion UAV engine group of the embodiment of the present invention; from the figure, the engine group is composed of a driving motor 61, a connecting plate 62, a coaxial reverse propeller conversion gearbox and a motor 63, and upper and lower blades 64 and 65. The through hole is glued and inserted into the middle hole of the horizontal bar with the engine attitude control motor center to form a fixed position; the connecting plate is connected to the driving motor, and when the engine attitude control motor rotates, the coaxial reverse propeller conversion gearbox, the motor and the blades are linked, that is, the drive is formed.

[0046] According to the engine group provided by the flight attitude conversion drone in the above embodiment of the present invention, when taking off and hovering, the coaxial reverse motion of the single engine blades will not cause the box rotation; for the motor, a single engine should be implemented with a high-efficiency motor such as a brushless motor; and the engine attitude control motor involves price factors, and it is suitable to be implemented with a low-priced motor such as a stepping motor.

[0047] Figure 8 This is a schematic diagram of the equipment for the second embodiment of the present invention when the flight attitude conversion drone is cruising; Figure 1 , two engines are led out from the two ends of the extension of the middle horizontal bar, that is, two engines drive; others, Figure 1 The description is basically the same and will not be explained here.

[0048] Fig. 9 This is a schematic diagram of the equipment for taking off of a UAV with flight attitude conversion according to the second embodiment of the present invention; Figure 2 , from a single coaxial contra-propeller engine to two engines; others, with Figure 2 The description is basically the same and will not be explained here.

[0049] Fig.10 This is a schematic diagram of the equipment for the UAV during the cruising of the flight attitude conversion according to the third embodiment of the present invention; Figure 1 , there is a partial cut in the middle of the upper front horizontal bar to complete the introduction of the front engine; two engines are introduced at both ends of the upper rear horizontal bar, a total of three engines drive; the rest, Figure 1 The description is basically the same and will not be explained here.

[0050] Fig.11 This is a schematic diagram of the equipment for taking off of a UAV with flight attitude conversion according to the third embodiment of the present invention; Figure 2 , there is a partial cut in the middle of the upper front horizontal bar to complete the introduction of the front engine; two engines are introduced at both ends of the upper rear horizontal bar, a total of three engines drive; the rest, Figure 2 The description is basically the same and will not be explained here.

[0051] Fig.12 This is a schematic diagram of the equipment for the fourth embodiment of the present invention when the flight attitude conversion drone is cruising; Figure 1, two engines are introduced on both sides of the upper front horizontal bar; two engines are introduced on both ends of the upper rear horizontal bar, a total of four engines drive; the rest, Figure 1 The description is basically the same and will not be explained here.

[0052] Fig.13 This is a schematic diagram of the equipment for taking off of a UAV with flight attitude conversion according to the fourth embodiment of the present invention; Figure 2 , two engines are introduced on both sides of the upper front horizontal bar; two engines are introduced on both ends of the upper rear horizontal bar, a total of four engines drive; the rest, Figure 2 The description is basically the same and will not be explained here.

[0053] In summary, the embodiment of the present invention is a double-wing coaxial reverse propeller engine ocean surface sonar towing UAV, which has obvious structural compactness characteristics during takeoff and double-wing expansion characteristics during flight posture, so that the energy consumption from takeoff to cruising flight is greatly reduced; especially the cruising capability is greatly enhanced. The main parts are prepared by injection molding / or 3D printing process, and are well optimized, including lightweight structure, which makes the structure concise, brings convenience to the overall manufacturing, and also makes the cost well controlled.

[0054] The attitude control motor embedded in the box brings a good organic coordination to the control of the engine, main wing, auxiliary wing and tail wing, and the volume is reduced; at the same time, the separate control of the engine, main auxiliary wing and tail wing can strengthen the good control of the flight attitude. In short, the dual-engine dual-wing injection molding / or 3D printing component flight attitude conversion Datian quality assurance drone is drawn by actual size, which can be refined to guide production; it also plays a role in further promoting the popularization and application of drone technology.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A double-wing coaxial anti-paddle engine ocean surface sonar mesh UAV, characterized in that: include: The box assembly, as a basic part, is used to embed the flight attitude conversion motor to achieve flight attitude conversion after liftoff. It also includes the scaling operation of the sonar sphere to achieve the implantation and dragging of the sphere on the ocean surface. The main and auxiliary wing groups are hinged to the hinge seats on the vertical plates on both sides of the box body, and are used for the conversion of flight attitude, including the expansion of the projected area when the main and auxiliary wing groups are unfolded, like the wings of an airplane, to achieve windward buoyancy / or lift enhancement; the main wing is covered with a photovoltaic battery group for lithium battery energy storage; The tail assembly is hinged to the rear crossbar hinge seat on the box body and is used for stabilizing and adjusting the flight attitude. Like the tail of an airplane, it completes level and turning control, including the expansion of the projected area, which is conducive to improving buoyancy and / or lift. The two engines embedded in the main wings complete the natural attitude transition from vertical takeoff to cruising flight under the action of gravity.

2. The flight attitude conversion UAV according to claim 1, characterized in that: The box group includes: There are four flange cuts in the two side vertical plates of the box body, and the upper and lower main and auxiliary wing attitude control motors are inserted into the end holes to be embedded, which are used to synchronously and / or asynchronously drive the main and auxiliary wings to change between horizontal and vertical, so as to realize the transformation from takeoff to flight attitude; and there is a built-in tail attitude control motor embedded in the rear horizontal bar, which is used to drive each white tail to change between super horizontal and vertical, so as to realize the height and azimuth adjustment in the air position when changing from takeoff to flight attitude, including the adjustment of the center of mass during vertical takeoff.

3. The flight attitude conversion UAV according to claim 2, characterized in that: The box group includes: There is a central motor in the box group, which is used for hoisting the drum sonar sphere to meet the needs of embedding the ocean sonar system grid on the sea surface and sonar towing the purse seine operation.

4. The flight attitude conversion UAV according to claim 2, characterized in that: The box group includes: There are sealed cavities in front and behind the box group, which are used to effectively install the circuit system including lithium batteries, flight control drive circuits, attitude sensing circuits including altitude and azimuth, and Beidou navigation signal receiving circuits; at the same time, the sealed cavity is also used for the floating effect of the box.

5. The flight attitude conversion UAV according to claim 2, characterized in that: The box group includes: The main wing and the tail wing are attached with photovoltaic battery groups for supplementary charging of lithium batteries.

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