Cross-domain attitude adaptive double-linkage variable multi-wing unmanned aerial vehicle and control method

Abstract

The invention discloses a cross-domain attitude self-adaptive double-linkage variable multi-section wing unmanned aerial vehicle and a control method, the unmanned aerial vehicle comprises a fuselage, wings, a nose, a telescopic driving device and a tail, and the wings comprise an upper rotary folding wing located above the fuselage and a lower rotary folding wing located below the fuselage; the upper rotary folding wing and the lower rotary folding wing are rotationally mounted on the fuselage and are of telescopic structures, and the telescopic driving device is used for controlling the wings to stretch out and draw back; the interior of the tail body is hollow, the side, away from the fuselage, of the tail body is of an open structure, and monitoring equipment used for monitoring the flight state and a control circuit board are arranged in the nose. The rotatable and foldable wings are arranged, cross-medium flight of the unmanned aerial vehicle is achieved, the states of the wings are adjusted according to different media, and it is ensured that the unmanned aerial vehicle has good flight performance in the different media; autonomous flight control is achieved through the control circuit board, and manual control is not needed.

Description

Technical Field

[0001] The present invention relates to the technical field of cross-media UAV equipment, and in particular to a cross-domain attitude adaptive dual-linked variable multi-segment wing UAV and a control method. Background Art

[0002] With the development of science and technology, the navigation capability of UAVs with only a single medium can no longer meet the needs of complex applications. Research on cross-medium aircraft in the innovative intersection of marine engineering and aviation has attracted widespread attention from the marine engineering and aviation industries. Cross-medium aircraft take into account the ability to move underwater and in the air, and can alternately navigate according to conditions and freely cross the water-air interface. It has significant particularities in navigation attitude conversion, medium body mass matching, UAV fuselage shape, wing layout design, overall structural design, and UAV power system and control.

[0003] Due to the difference in density between water and air, the resistance of an aircraft in water is much greater than that in the air, and there are high requirements for the structural strength and shape of the aircraft during the cross-medium stage of entering and exiting the water, so its configuration design needs to have good aerodynamic and hydrodynamic characteristics, as well as good water entry and exit performance. At the same time, the structural design of the UAV needs to consider the matching of buoyancy and lift. The design of a cross-medium UAV fluid dynamic layout scheme that takes into account aerodynamic and hydrodynamic performance and water entry and exit performance is the primary task required for research and development. At present, how to achieve a compromise in the performance of cross-medium aircraft in water and air, ensure that it has good performance in both media, and how to achieve autonomous control of cross-medium flight are still difficulties that need to be overcome. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a cross-domain attitude adaptive dual-linked variable multi-segment wing UAV and a control method.

[0005] Technical solution: To solve the above problems, the present invention adopts a cross-domain attitude adaptive dual-linked variable multi-segment wing UAV, comprising a fuselage, wings, a nose, and a tail, characterized in that it also comprises a telescopic drive device; the wings comprise an upper rotating folding wing located above the fuselage and a lower rotating folding wing located below the fuselage, the upper rotating folding wing and the lower rotating folding wing are rotatably mounted on the fuselage, a rotating drive device is provided in the fuselage, and the rotating drive device is used to control the rotation of the wings; the upper rotating folding wing and the lower rotating folding wing are telescopic structures, comprising multi-layer folding wings connected in a sliding manner, and the telescopic drive device is used to control the extension and retraction of the wings; the tail comprises a tail body and a tail engine, the interior of the tail body is hollow and the side away from the fuselage is an open structure;

[0006] The aircraft head is provided with a rangefinder, a speedometer, an inertial navigation attitude sensor, a solution conductivity tester, and a control circuit board; two symmetrical solution conductivity tester measurement ports are opened on the aircraft head shell, the solution conductivity tester is installed in the solution conductivity tester measurement ports and the two solution conductivity testers are connected in series; the control circuit board is used to receive and process data from the rangefinder, the speedometer, the inertial navigation attitude sensor, and the solution conductivity tester, and control the rotation and extension of the wing according to the data.

[0007] Furthermore, the fuselage also includes a main shaft rod, a support platform, reinforcing ribs, and a fuselage shell. The nose, tail, support platform, and reinforcing ribs are all installed on the main shaft rod. The rotating drive device is installed on the support platform, and the reinforcing ribs are used to support the fuselage shell.

[0008] Furthermore, a rotating disk support platform is provided on each of the upper and lower sides of the fuselage, and the rotating disk support platform is installed on the reinforcing ribs; a rotating wing base bearing and a rotating wing base installed on the bearing are provided on the lower end surface of the upper rotating folding wing and the upper end surface of the lower rotating folding wing, the rotating wing base bearing is installed in the rotating disk support platform, and the rotating drive device is connected to the rotating wing base.

[0009] Furthermore, a circle of gears is provided under the rotating wing base, and the rotating driving device is a transverse gear stepping motor, which drives the gears to move to drive the wing to rotate.

[0010] Furthermore, the upper rotating folding wing and the lower rotating folding wing each include a first-stage folding wing, a second-stage folding wing, and a third-stage folding wing. The first-stage folding wing is located in the middle, two second-stage folding wings are slidably connected to both ends of the first-stage folding wing, the third-stage folding wing is slidably connected to one end of the second-stage folding wing away from the first-stage folding wing, and ailerons are installed on the third-stage folding wing.

[0011] Furthermore, the telescopic drive device includes a lateral push rod stepper motor, a hydraulic storage tank, and a telescopic hydraulic rod. The lateral push rod stepper motor and the hydraulic storage tank are installed on the support platform, the telescopic hydraulic rod is installed in the wing, and the telescopic hydraulic rod is connected to the hydraulic storage tank through a conduit.

[0012] Furthermore, the telescopic hydraulic rod includes a primary hydraulic rod, a secondary hydraulic rod, and a tertiary hydraulic rod. The primary hydraulic rod is fixed inside the wing, and the end of the tertiary hydraulic rod is fixedly connected to the outer edge of the tertiary folding wing.

[0013] Furthermore, a first supporting platform and a second supporting platform for enhancing the supporting strength of the machine head are provided in the machine head, and an inertial navigation attitude sensor, a solution conductivity tester, and a control circuit board are installed on the first supporting platform.

[0014] The present invention also provides a control method for the cross-domain attitude adaptive dual-link variable multi-segment wing UAV. When the solution conductivity tester is in a non-conducting state, the inertial navigation attitude sensor detects that the fuselage reaches the water entry angle, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than a preset water entry time, the control circuit board determines that the UAV enters the water entry stage and controls the upper rotating folding wing and the lower rotating folding wing to rotate until the axis is parallel to the axis of the fuselage, and controls the wings to retract;

[0015] When the solution conductivity tester is in the non-conducting state, the inertial navigation attitude sensor detects that the fuselage has reached the water exit angle, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than the preset water exit time, and the flight speed v is greater than the water exit speed, the control circuit board determines that the UAV has entered the water exit stage and controls the upper rotating folding wing and the lower rotating folding wing to rotate until the axis is perpendicular to the axis of the fuselage, and controls the wing extension;

[0016] When the solution conductivity tester is in the on state and the inertial navigation attitude sensor detects that the fuselage has reached the diving angle, the control circuit board determines that the UAV has entered the diving stage and controls the upper rotating folding wing to rotate until the axis is perpendicular to the axis of the fuselage, and the lower rotating folding wing to rotate until the axis is parallel to the axis of the fuselage, and controls the two wings to retract.

[0017] Furthermore, the water entry angle is that the fuselage is in the water entry posture and the angle between the fuselage axis and the water surface is less than 30°, and the preset water entry time is 10s; the water exit angle is that the fuselage is in the water exit posture and the angle between the fuselage axis and the water surface is greater than 45°, the preset water exit time is 2s, and the water exit speed is 10m / s; the submerged angle is that the angle between the fuselage axis and the water surface is less than 45°.

[0018] Beneficial effects: Compared with the prior art, the significant advantages of the present invention are: (1) a rotatable and foldable wing is provided to enable the UAV to fly across media, the wing state is adjusted according to different media, the wing is rotated and folded in the submerged state to reduce the lateral area, and the underwater submerged resistance is effectively reduced. The upper rotating foldable wing is combined with the through hollow tail as a horizontal rudder to ensure the balance of the submerged attitude, and in the water exit and water entry stages, the retracted wing can reduce the impact of the water-air interface on the wing, ensuring that the UAV has good flight performance in different media; and autonomous control flight is achieved through the control circuit board without manual control; (2) two upper and lower rotating foldable wings are provided, so that the wing has a larger stall angle of attack, which can effectively The high angle of attack out of water is overcome, and because the speed of the UAV is low when it transitions from the high-resistance water medium to the air, the double wings have a larger effective lift area, which makes the UAV have greater lift at low speeds than a monoplane; (3) A telescopic linkage hydraulic device is used, and the carbon fiber-coated aluminum metal telescopic rod is used as the wing beam, combined with the rib girders and wing panels to ensure the strength of the wing. Compared with wooden beams, it has a greater load-bearing effect and a lighter weight than all-metal beams, so that the wing structure can support a larger UAV structure; (4) The through-hole structure of the tail ensures that the buoyancy of the UAV body is not affected by the tail of the UAV during the diving stage. After emerging from the water, the liquid inside the wing flows out through the through opening, reducing the mass of the tail wing without affecting the function of the tail wing during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the cross-domain attitude adaptive dual-linked variable multi-segment wing UAV of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the UAV fuselage of the present invention;

[0021] Figure 3 This is a schematic diagram of the internal structure of the wing of the UAV of the present invention;

[0022] Figure 4 This is a schematic structural diagram of the telescopic drive device for a UAV of the present invention;

[0023] Figure 5 It is a cross-sectional schematic diagram of the telescopic driving device of the unmanned aerial vehicle of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the UAV nose of the present invention;

[0025] Figure 7 This is a schematic diagram of the tail structure of the UAV of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the UAV of the present invention at the water entry stage;

[0027] Fig. 9It is a schematic diagram of the structure of the UAV of the present invention during the diving stage. DETAILED DESCRIPTION

[0028] like Figure 1 As shown, a cross-domain attitude adaptive dual-link variable multi-segment wing UAV in this embodiment includes a fuselage 1, wings 2, a nose 3, a telescopic drive device 4 and a tail 5. Figure 2 As shown, the fuselage 1 includes a main shaft rod 1-1, a support platform 1-2, a reinforcing rib 1-3, and a fuselage shell, and the support platform 1-2 and the reinforcing rib 1-3 are all installed on the main shaft rod 1-1. A rotating drive device 1-6 is installed on the support platform 1-2. The reinforcing rib 1-3 includes an omnidirectional fuselage reinforcing rib 1-3-1, an oblique fuselage reinforcing rib 1-3-2, and a vertical fuselage reinforcing rib 1-3-3, which support and reinforce the fuselage shell from the oblique and vertical directions to improve the strength of the fuselage. A rotating disk support platform 1-4 is provided on each of the upper and lower sides of the fuselage 1, and the rotating disk support platform 1-4 is installed on the reinforcing rib 1-3. A certain space is left between the reinforcing rib 1-3 and the support platform 1-2, which can be used as a reserved load compartment 1-5. The fuselage shell and the main shaft rod 1-1 are both made of aluminum alloy.

[0029] like Figure 3 As shown, the wing 2 includes an upper rotating folding wing 2-1-1 located above the fuselage 1 and a lower rotating folding wing 2-1-2 located below the fuselage 1, and the upper rotating folding wing 2-1-1 and the lower rotating folding wing 2-1-2 are rotatably mounted on the fuselage 1. Specifically, a rotating wing base bearing 2-3 located in the middle of the wing and a rotating wing base 2-2 mounted on the bearing are provided on the lower end surface of the upper rotating folding wing 2-1-1 and the upper end surface of the lower rotating folding wing 2-1-2. The rotating wing base bearing 2-3 is installed in the rotating disk support platform 1-4, and the rotating drive device 1-6 is connected to the rotating wing base 2-2. A circle of gears is provided below the rotating wing base 2-2, and the rotating drive device 1-6 is a transverse gear stepping motor, which drives the gear movement through the transverse gear stepping motor to drive the wing to rotate.

[0030] The upper rotating folding wing 2-1-1 and the lower rotating folding wing 2-1-2 are retractable structures, including a first-stage folding wing 2-4-1, a second-stage folding wing 2-4-2, and a third-stage folding wing 2-4-3. The first-stage folding wing 2-4-1 is located in the middle, two second-stage folding wings 2-4-2 are slidably connected to both ends of the first-stage folding wing 2-4-1, and the third-stage folding wing 2-4-3 is slidably connected to one end of the second-stage folding wing 2-4-2 away from the first-stage folding wing 2-4-1. Ailerons are installed on the third-stage folding wing 2-4-3. The third-stage folding wing 2-4-3 is integrally formed of engineering foam.

[0031] like Figure 4 and Figure 5As shown, the telescopic drive device 4 includes a lateral push rod stepper motor 4-1, a hydraulic storage tank 4-2, and a telescopic hydraulic rod 4-4. The lateral push rod stepper motor 4-1 and the hydraulic storage tank 4-2 are installed on the support platform 1-2. The telescopic hydraulic rod 4-4 is installed in the wing. The telescopic hydraulic rod 4-4 is connected to the hydraulic storage tank 4-2 through a conduit 4-3. The telescopic hydraulic rod 4-4 includes a primary hydraulic rod 4-4-1, a secondary hydraulic rod 4-4-2, and a tertiary hydraulic rod 4-4-3. The primary hydraulic rod 4-4-1 is fixed in the wing, and the end of the tertiary hydraulic rod 4-4-3 is fixedly connected to the outer edge of the tertiary folding wing 2-4-3. The hydraulic rod is made of carbon fiber clad aluminum metal. The lateral push rod stepper motor 4-1 pushes the liquid inside the compressed hydraulic storage tank 4-2 into the conduit 4-3, and the conduit 4-3 transports the liquid into the telescopic hydraulic rod 4-4, controlling the first-level hydraulic rod 4-4-1, the second-level hydraulic rod 4-4-2 and the third-level hydraulic rod 4-4-3 to shrink and fold layer by layer, and the telescopic hydraulic rod 4-4 stretches and retracts to drive the rotating folding wing 2 to fold and unfold. On the one hand, the hydraulic rod is used to drive the wing to retract, and on the other hand, the carbon fiber-clad aluminum metal telescopic hydraulic rod is used as the wing beam, combined with the wing rib stringers and the wing panels to ensure the strength of the wing. Compared with wooden beams, it has a greater load-bearing effect and is lighter than all-metal beams, so that the wing structure can support a larger UAV structure.

[0032] like Figure 6 As shown, the nose 3 includes a nose shell 3-2 and a first support platform 3-1, a second support platform 3-6, and a nose sleeve support 3-4 installed in the nose shell 3-2. The main shaft rod 1-1 is fixedly installed in the nose sleeve support 3-4 to connect the nose to the fuselage. A radar rangefinder 3-7-1 is provided at the front end of the nose shell 3-2 to measure the distance between the fuselage and the water surface. A speed meter 3-7-2 is also provided on the nose, and this embodiment uses a pitot tube for speed measurement. A six-axis inertial navigation attitude sensor 3-7-3, a solution conductivity tester 3-7-4, and a control circuit board 3-7-5 are also installed on the first support platform 3-1. Below the second support platform 3-6 is a battery compartment 3-5. The first support platform 3-1 and the second support platform 3-6 also serve as support structures for the nose shell to strengthen the strength of the nose.

[0033] There are two symmetrical solution conductivity tester measuring ports 3-3 on the nose shell. One end of the solution conductivity tester 3-7-4 is installed in the solution conductivity tester measuring port 3-3 and the two solution conductivity testers 3-7-4 are connected in series. The working state of the drone is confirmed by measuring the conductivity. Specifically, if the two solution conductivity testers 3-7-4 are fully conductive, the drone is judged to be in an underwater diving state; if the two solution conductivity testers 3-7-4 are not conductive, the drone is judged to be in a flying or out-of-water state; if the two solution conductivity testers 3-7-4 are conductive on one side, it is an error caused by water accumulation in the empty compartment, and it is regarded as a flying or out-of-water state.

[0034] The control circuit board 3-7-5 is used to receive and process data from the rangefinder 3-7-1, the speed meter 3-7-2, the six-axis inertial navigation attitude sensor 3-7-3, and the solution conductivity tester 3-7-4, and control the rotation and extension of the wing according to the data.

[0035] like Figure 7 As shown, the tail 5 includes a tail body 5-1, a tail engine 5-2 and a tail installation limit rod 5-3, the tail installation limit rod 5-3 is connected to the main shaft rod 1-1, the tail body 5-1 and the tail engine 5-2 are installed on the tail installation limit rod 5-3, and the tail body 5-1 is hollow inside and the side away from the fuselage is an open structure. By connecting the watershed and the hollow structure inside the tail, the weight of the tail of the drone in the submerged and flying stages in the water is balanced, and there are no bubbles inside the tail wing after the penetration in the water, so that the tail of the drone does not affect the buoyancy of the drone body, and the liquid inside the wing flows out through the through opening after leaving the water, which does not affect the function of the tail wing during flight.

[0036] The control method of the cross-domain attitude adaptive dual-link variable multi-segment wing UAV of the present invention is as follows:

[0037] When the solution conductivity tester 3-7-4 is in the non-conducting state, the six-axis inertial navigation attitude sensor 3-7-3 detects that the fuselage is in the water-entering attitude and the angle between the fuselage axis and the water surface is less than 30°, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than 10s, the control circuit board 3-7-5 determines that the UAV has entered the water-entering stage and controls the upper rotating folding wing 2-1-1 and the lower rotating folding wing 2-1-2 to rotate until the axis is parallel to the fuselage axis, and controls the wing to retract, such as Figure 8 As shown;

[0038] When the solution conductivity tester 3-7-4 is in the non-conducting state, the six-axis inertial navigation attitude sensor 3-7-3 detects that the fuselage is in the water-out attitude and the angle between the fuselage axis and the water surface is greater than 45°, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than 2s, and the flight speed v is greater than 10m / s, the control circuit board 3-7-5 determines that the UAV has entered the water-out stage and controls the upper rotating folding wing 2-1-1 and the lower rotating folding wing 2-1-2 to rotate until the axis is perpendicular to the fuselage axis, and controls the wing extension, such as Figure 1 As shown;

[0039] When the solution conductivity tester 3-7-4 is in the on state, and the six-axis inertial navigation attitude sensor 3-7-3 detects that the angle between the fuselage axis and the water surface is less than 45°, the control circuit board 3-7-5 determines that the UAV has entered the diving stage and controls the upper rotating folding wing 2-1-1 to rotate until the axis is perpendicular to the fuselage axis, and the lower rotating folding wing 2-1-2 to rotate until the axis is parallel to the fuselage axis, and controls the two wings to retract, such as Fig. 9 shown.

[0040] In addition to the above three states, the remaining states are judged as dry flight states, and the upper rotating folding wing 2-1-1 and the lower rotating folding wing 2-1-2 are controlled to rotate until the axis is perpendicular to the fuselage axis, and the two wings are controlled to unfold, such as Figure 1 shown.

[0041] The present invention is provided with rotatable and foldable wings to realize the cross-medium flight of the UAV, adjust the wing state according to different media, rotate and fold the wings in the submerged state to reduce the lateral area, effectively reduce the underwater submerged resistance, and the upper rotating and folding wings are combined with the through hollow tail as a horizontal rudder to ensure the balance of the submerged posture, and in the water exit and water entry stages, the contraction of the wings can reduce the impact of the water-air interface crossing on the wings, ensuring that the UAV has good flight performance in different media; autonomous control flight is achieved through the control circuit board without manual control; upper and lower rotating and folding wings are provided so that the wings have a larger stall angle of attack, which can effectively overcome the large angle of attack when exiting the water, and by Since the speed of the UAV is low when it transitions from high-resistance water medium to air, the double wings have a larger effective lift area, which makes the UAV have greater lift at low speed than a monoplane; a telescopic linkage hydraulic device is adopted, and a carbon fiber-clad aluminum metal telescopic rod is used as the wing beam, combined with the wing rib girders and wing panels to ensure the wing strength. Compared with wooden beams, it has a greater load-bearing effect and a lighter weight than all-metal beams, so that the wing structure can support a larger UAV structure; the through-hole structure of the tail does not affect the buoyancy of the main body of the UAV during the diving stage of the UAV tail. After emerging from the water, the liquid inside the wing flows out through the through opening, reducing the mass of the tail wing without affecting the function of the tail wing during flight.

Claims

1. A cross-domain attitude adaptive dual-link variable multi-segment wing UAV, comprising a fuselage (1), wings (2), a nose (3), and a tail (5), characterized in that: It also includes a telescopic drive device (4); the wing (2) includes an upper rotating folding wing (2-1-1) located above the fuselage (1) and a lower rotating folding wing (2-1-2) located below the fuselage (1); the upper rotating folding wing (2-1-1) and the lower rotating folding wing (2-1-2) are rotatably mounted on the fuselage (1); a rotating drive device (1-6) is provided inside the fuselage (1); the rotating drive device (1-6) is used to control the rotation of the wing; the upper rotating folding wing (2-1-1) and the lower rotating folding wing (2-1-2) are telescopic structures, including multiple layers of folding wings that are slidably connected; the telescopic drive device (4) is used to control the telescopic movement of the wing; the tail (5) includes a tail body (5-1) and a tail engine (5-2); the tail body (5-1) is hollow inside and the side away from the fuselage is an open structure; The nose (3) is provided with a rangefinder (3-7-1), a speedometer (3-7-2), an inertial navigation attitude sensor (3-7-3), a solution conductivity tester (3-7-4), and a control circuit board (3-7-5); two symmetrical solution conductivity tester measurement ports (3-3) are opened on the shell of the nose (3); the solution conductivity tester (3-7-4) is installed in the solution conductivity tester measurement port (3-3), and the two solution conductivity testers (3-7-4) are connected in series; the control circuit board (3-7-5) is used to receive and process data from the rangefinder (3-7-1), the speedometer (3-7-2), the inertial navigation attitude sensor (3-7-3), and the solution conductivity tester (3-7-4), and control the rotation and extension of the wing according to the data.

2. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 1, characterized in that: The fuselage (1) further comprises a main shaft (1-1), a support platform (1-2), reinforcing ribs (1-3), and a fuselage shell; the nose (3), the tail (5), the support platform (1-2), and the reinforcing ribs (1-3) are all mounted on the main shaft (1-1); the rotation drive device (1-6) is mounted on the support platform (1-2); and the reinforcing ribs (1-3) are used to support the fuselage shell.

3. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 2, characterized in that: A rotating disk support platform (1-4) is provided on each of the upper and lower sides of the fuselage (1), and the rotating disk support platform (1-4) is installed on the reinforcing rib (1-3); a rotating wing base bearing (2-3) and a rotating wing base (2-2) installed on the bearing are provided on the lower end surface of the upper rotating folding wing (2-1-1) and the upper end surface of the lower rotating folding wing (2-1-2); the rotating wing base bearing (2-3) is installed in the rotating disk support platform (1-4), and the rotating driving device (1-6) is connected to the rotating wing base (2-2).

4. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 3, characterized in that: A circle of gears is provided below the rotating wing base (2-2), and the rotating driving device (1-6) is a transverse gear stepping motor, which drives the gears to move to drive the wing to rotate.

5. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 4, characterized in that: The upper rotating folding wing (2-1-1) and the lower rotating folding wing (2-1-2) both comprise a primary folding wing (2-4-1), a secondary folding wing (2-4-2) and a tertiary folding wing (2-4-3); the primary folding wing (2-4-1) is located in the middle; two secondary folding wings (2-4-2) are slidably connected to two ends of the primary folding wing (2-4-1); the tertiary folding wing (2-4-3) is slidably connected to one end of the secondary folding wing (2-4-2) away from the primary folding wing (2-4-1); and an aileron is installed on the tertiary folding wing (2-4-3).

6. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 5, characterized in that: The telescopic drive device (4) comprises a transverse push rod stepping motor (4-1), a hydraulic storage tank (4-2), and a telescopic hydraulic rod (4-4); the transverse push rod stepping motor (4-1) and the hydraulic storage tank (4-2) are installed on a support platform (1-2); the telescopic hydraulic rod (4-4) is installed in a wing; and the telescopic hydraulic rod (4-4) and the hydraulic storage tank (4-2) are connected via a conduit (4-3).

7. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 6, characterized in that: The telescopic hydraulic rod (4-4) comprises a primary hydraulic rod (4-4-1), a secondary hydraulic rod (4-4-2) and a tertiary hydraulic rod (4-4-3); the primary hydraulic rod (4-4-1) is fixed inside the wing, and the end of the tertiary hydraulic rod (4-4-3) is fixedly connected to the outer edge of the tertiary folding wing (2-4-3).

8. The cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to claim 1, characterized in that: The machine head (3) is also provided with a first support platform (3-1) and a second support platform (3-6) for enhancing the support strength of the machine head; an inertial navigation attitude sensor (3-7-3), a solution conductivity tester (3-7-4), and a control circuit board (3-7-5) are installed on the first support platform (3-1).

9. A control method for a cross-domain attitude adaptive dual-linked variable multi-segment wing UAV according to any one of claims 1 to 8, characterized in that: When the solution conductivity tester (3-7-4) is in a non-conducting state, the inertial navigation attitude sensor (3-7-3) detects that the fuselage has reached the water entry angle, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than the preset water entry time, the control circuit board (3-7-5) determines that the UAV has entered the water entry stage and controls the upper rotating folding wing (2-1-1) and the lower rotating folding wing (2-1-2) to rotate until the axis is parallel to the axis of the fuselage, and controls the wings to retract; When the solution conductivity tester (3-7-4) is in a non-conducting state, the inertial navigation attitude sensor (3-7-3) detects that the fuselage has reached the water-out angle, and the ratio of the distance l between the fuselage and the water surface to the flight speed v is less than the preset water-out time, and the flight speed v is greater than the water-out speed, the control circuit board (3-7-5) determines that the UAV has entered the water-out stage and controls the upper rotating folding wing (2-1-1) and the lower rotating folding wing (2-1-2) to rotate until the axis is perpendicular to the axis of the fuselage, and controls the wing to extend; When the solution conductivity tester (3-7-4) is in the on state and the inertial navigation attitude sensor (3-7-3) detects that the fuselage has reached the diving angle, the control circuit board (3-7-5) determines that the UAV has entered the diving stage and controls the upper rotating folding wing (2-1-1) to rotate until the axis is perpendicular to the fuselage axis, and the lower rotating folding wing (2-1-2) to rotate until the axis is parallel to the fuselage axis, and controls the two wings to retract.

10. The control method according to claim 9, characterized in that: The water entry angle is when the fuselage is in the water entry posture and the angle between the fuselage axis and the water surface is less than 30°, and the preset water entry time is 10s; the water exit angle The fuselage is in the water-out posture and the angle between the fuselage axis and the water surface is greater than 45°. The preset water-out time is 2s. The water exit speed is 10m / s; the diving angle is that the angle between the fuselage axis and the water surface is less than 45°.

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