Unmanned aerial vehicle and control method thereof

Abstract

The invention discloses an unmanned aerial vehicle and a control method thereof.The unmanned aerial vehicle comprises a fuselage, a front wing and a rear wing are arranged on the fuselage, the end, away from the fuselage, of the front wing is obliquely arranged forwards, and the forward inclination angle ranges from 16 degrees to 89 degrees; the front wings are rotationally connected with the fuselage and can rotate from 0 degree to 92 degrees; the front wing is connected with a first power assembly, the first power assembly is driven by the front wing to have a first position state and a second position state, in the first position state, the first power assembly provides forward pulling flight power, and in the second position state, the first power assembly provides rising power; a second power assembly is arranged on the rear wing and is used for providing rising power; through the forward inclined design and the rotatable structure of the front wings and the reasonable configuration of various power assemblies, organic combination of vertical take-off and landing and efficient horizontal flight of the unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an unmanned aerial vehicle (UAV) and a control method thereof. Background Art

[0002] With the rapid development of drone technology, it has been widely used in many fields such as aerial photography and mapping, material delivery, and environmental monitoring. However, there are still many problems that need to be solved in the practical application of existing drones. On the one hand, although traditional fixed-wing drones have high speeds and long ranges in horizontal flight, the lack of vertical take-off and landing capabilities makes them have high requirements for take-off and landing sites, and it is difficult to take off and land smoothly in complex terrain or areas with limited space; although rotary-wing drones can achieve vertical take-off and landing and hover, their aerodynamic efficiency is low in horizontal flight, and there are problems such as short battery life and high power consumption, which cannot meet the needs of long-distance and long-term operations. On the other hand, in terms of power system configuration, existing UAV power components often have single functions and are difficult to achieve efficient power output in different flight phases. For example, the power units of most UAVs cannot be reasonably switched and work together during vertical takeoff and landing and horizontal flight, resulting in serious power waste during the entire flight process, which not only increases operating costs but also limits the performance of the UAV.

[0003] Therefore, developing an unmanned aerial vehicle and its control method that can effectively solve the contradiction between vertical take-off and landing and horizontal flight performance, optimize power configuration, improve power utilization efficiency, and adapt to a variety of complex operating environments has become an important issue that needs to be urgently solved in the current unmanned aerial vehicle field. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV and a linkage method, aiming to improve the problems of traditional UAVs such as limited vertical take-off and landing, low power utilization efficiency, and insufficient flight performance, so as to achieve efficient and stable operation of UAVs in different flight phases and meet diversified operational needs.

[0005] The present invention is achieved in that: According to a first aspect of the present invention, the present invention provides a drone, comprising a fuselage, a front wing and a rear wing being arranged on the fuselage, the front wing being arranged to be tilted forward at one end away from the fuselage, and the forward tilt angle being 16 degrees to 89 degrees; the front wing being rotationally connected to the fuselage, and being able to rotate from a horizontal 0 degree to an upright 92 degrees; the front wing being connected to a first power assembly, the first power assembly having a first position state and a second position state under the drive of the front wing, in the first position state, the first power assembly provides forward pulling flight power, and in the second position state, the first power assembly provides lifting power; a second power assembly is arranged on the rear wing, and the second power assembly is used to provide lifting power.

[0006] Further, a third power component is provided at the front end of the fuselage, and the third power component is used to provide the forward pulling flight power.

[0007] Further, a fourth power component is provided at the rear end of the fuselage, and the fourth power component is used to provide the forward pushing flight power.

[0008] Further, the first power component, the second power component, the third power component and the fourth power component all include a driving engine and a propeller. The driving engines of the first power component, the third power component and the fourth power component are internal combustion engines, and the driving engine of the second power component is a motor.

[0009] Further, when the first power component is in the first position state, the propeller of the first power component is a vertical propeller, which provides the forward pulling and pushing flight power when rotating; when the first power component is in the second position state, the propeller of the first power component is a horizontal propeller, which provides the ascending power when rotating.

[0010] Further, the propeller of the second power component is a horizontal propeller, and the propellers of the third power component and the fourth power component are vertical propellers.

[0011] Further, a landing support structure is provided on the fuselage, and the landing support structure is a support frame structure or a wheel structure.

[0012] Further, a flight control system is provided in the fuselage. The flight control system includes a main control module, an inertial measurement module, a sensor module, a positioning module and a communication module. The sensor module, the positioning module, the communication module and each power component are electrically connected to the main control module.

[0013] Further, the main control module includes an MCU chip, the inertial measurement module includes an accelerometer, a gyroscope and a magnetometer, the sensor module includes a height sensor, the positioning module includes a Beidou positioning chip, the communication module includes a short-range communication module and a long-range communication module. The short-range communication module includes a Bluetooth module and a WiFi module, and the long-range communication module is one or more of a data radio, a 4G communication module, a 5G communication module, and a satellite communication module; the flight control system further includes a laser locator, and the laser locator includes a far and near laser transmitter-receiver; the flight control system further includes a laser locator, and the laser locator includes a far and near laser transmitter-receiver.

[0014] According to the second aspect of the present invention, the present invention provides a control method for an unmanned aerial vehicle, which is used for the above-mentioned unmanned aerial vehicle, and includes the following steps: S100. The flight control system controls the first power component to be in the second position state, and starts the first power component and the second power component. The first power component and the second power component drive the drone to vertically ascend. S200. The flight control system real-time detects the altitude of the drone. When the drone ascends to the set altitude, it converts the first power component from the second position state to the first position state. S300. Start the first power component, the third power component, and the fourth power component, and turn off the second power component. The drone flies at high speed.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the forward inclination design and rotatable structure of the front wing, combined with the reasonable configuration of multiple power components, the present invention realizes the organic combination of vertical takeoff and landing and efficient horizontal flight of the drone. The forward inclination angle design of the front wing effectively reduces the air resistance during horizontal flight and saves power consumption. The rotatable front wing cooperates with the first power component, enabling the drone to flexibly switch the power mode during the vertical takeoff and landing and horizontal flight stages, improving the flight efficiency and adaptability.

[0016] 2. The diverse power components of the present invention work together in different flight stages, giving full play to their respective advantages and further enhancing the overall performance of the drone.

[0017] 3. The flight control system of the present invention integrates multiple advanced modules, which can accurately control the flight attitude, altitude, and power output of the drone, ensuring the stable and reliable operation of the drone and meeting the diverse requirements in complex operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional structural schematic diagram of the drone provided by the present invention when the first power component is in the first position state; Figure 2 is a top view of the drone provided by the present invention when the first power component is in the first position state; Figure 3 is a three-dimensional structural schematic diagram of the drone provided by the present invention when the first power component is in the second position state; Figure 4 is a top view of the drone provided by the present invention when the first power component is in the second position state; Figure 5 is an electrical control structure block diagram of the drone provided by the present invention.

[0019] In the figures: 1. fuselage; 2. front wing; 3. first power component; 4. second power component; 5. third power component; 6. fourth power component; 7. landing support structure; 8. rear wing. Detailed implementation mode

[0020] In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0021] The following will be further described in conjunction with the accompanying drawings and specific embodiments: Embodiment 1 This embodiment provides a drone, as Figure 1 and Figure 2 shown, including a fuselage 1. On both sides in front of the fuselage 1, two front wings 2 are symmetrically arranged, and at the same time, two rear wings 8 are symmetrically arranged. The front wings 2 are located in front of the rear wings 8. One end of the front wing 2 away from the fuselage 1 is inclined forward, and the forward inclination angle is 16 degrees - 89 degrees. When the drone is flying horizontally, this kind of front wing 2 with a forward inclination angle can change the way air flows through the wing surface, optimize the pressure difference between the upper and lower surfaces of the wing, increase the lift coefficient, and at the same time reduce air resistance. It can achieve the effect of saving 26% - 30% of the power during horizontal flight, thus effectively improving the energy utilization efficiency of the drone and increasing the endurance and flight performance of the drone.

[0022] As Figure 1 and Figure 3 shown, the front wing 2 is rotationally connected to the fuselage 1. A rotation drive mechanism is arranged in the fuselage 1, including a drive motor, a gearbox and a locking mechanism. The drive motor can drive the front wing 2 to rotate vertically by 0 degrees - 92 degrees through the gearbox, and the locking mechanism can use a brake lock to lock the front wing 2 when needed to achieve the position locking of the front wing 2. A first power assembly 3 is installed on the front wing 2. The first power assembly 3 includes a drive engine and a propeller. Its drive engine uses an internal combustion engine, and the propeller is installed on the output rotating shaft of the internal combustion engine. The front wing 2 can rotate, so that the first power assembly 3 has a first position state and a second position state under the drive of the front wing 2. In the first position state, as Figure 1 and Figure 2 shown, the propeller of the first power assembly 3 is a vertical propeller at this time, providing the forward pulling flight power. In the second position state, as Figure 3 and Figure 4As shown, the propeller of the first power assembly 3 is a horizontal propeller at this time, providing upward power. A second power assembly 4 is provided on the rear wing 8. The second power assembly 4 includes a driving engine and a propeller. Its driving engine uses a high-torque, energy-efficient motor. The propeller of the second power assembly 4 is a horizontal propeller, providing upward power.

[0023] As Figures 1-4 shown, a third power assembly 5 is provided at the front end of the fuselage 1, and a fourth power assembly 6 is provided at the rear end of the fuselage 1. The third power assembly 5 and the fourth power assembly 6 also both include a driving engine and a propeller. The driving engines of the third power assembly 5 and the fourth power assembly 6 are both internal combustion engines. The propellers of the third power assembly 5 and the fourth power assembly 6 are both vertical propellers. The third power assembly 5 is used to provide forward pulling flight power, and the fourth power assembly 6 is used to provide forward pushing flight power. In addition, a landing support structure 7 is provided on the fuselage 1. The landing support structure 7 is a support frame structure or a wheel structure.

[0024] As Figure 5 shown, a flight control system is provided in the fuselage 1. The flight control system includes a main control module, an inertial measurement module, a sensor module, a positioning module, and a communication module. The sensor module, the positioning module, the communication module, and each power assembly are all electrically connected to the main control module. The main control module includes an MCU chip, which is the core of the flight control system. It is responsible for processing data from each module, performing complex calculations and logical judgments, generating control instructions according to preset algorithms and control strategies, and controlling the start, stop, rotation speed, etc. of each power assembly to precisely control parameters such as the flight attitude, altitude, and speed of the drone. The inertial measurement module includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer is used to measure the acceleration of the drone in three axes. The gyroscope is used to measure the angular velocity of the drone. The magnetometer is used to measure the geomagnetic field intensity, so as to provide attitude information for the drone and enable it to perceive its own motion state and direction. The sensor module includes an altitude sensor. The altitude sensor can use a barometric pressure sensor, a millimeter-wave radar sensor, etc. The altitude sensor is used to feedback the altitude of the drone to the MCU chip. The positioning module includes a Beidou positioning chip, which is used to receive satellite signals and provide precise position, speed, and time information of the drone. The communication module includes a near-ground communication module and a long-distance communication module. The near-ground communication module includes a Bluetooth module and a WiFi module. Through the near-ground communication module, it is convenient to remotely control the drone at close range. The long-distance communication module is one or more of a data radio, a 4G communication module, a 5G communication module, and a satellite communication module. The costs, power consumptions, etc. of these long-distance communication modules are different, and they are selected and configured according to actual needs.

[0025] In some exemplary embodiments, the flight control system further includes a laser locator. The laser locator includes a far and near laser transmitter-receiver. By setting the laser locator, the following effects are achieved: First, precise position measurement can be performed: By emitting and receiving laser signals, the laser locator can precisely measure the distance between the drone and objects in the surrounding environment. Whether it is a laser transmitter-receiver for short distances or long distances, it can play a role in different scenarios.

[0026] Secondly, terrain perception and obstacle avoidance can be carried out: The laser locator can obtain real-time information about the surrounding terrain and draw a terrain contour. When the drone is flying over complex terrains such as mountains and canyons, it can sense terrain changes in advance, automatically adjust the flight altitude and path to maintain a safe flight attitude, and avoid collisions with the ground or obstacles. At the same time, for suddenly appearing obstacles such as buildings and trees, the laser locator can quickly detect them and send signals to the flight control system in a timely manner, enabling the drone to make evasive maneuvers to ensure flight safety.

[0027] Furthermore, it can assist in navigation and precise landing: During the navigation of the drone, the laser locator can be combined with other positioning systems (such as the Beidou positioning system) to provide more precise position information. Especially when satellite signals are weak or interfered, the role of the laser locator becomes more prominent. During the landing phase, the laser locator can precisely measure the distance and relative position between the drone and the landing platform, helping the drone achieve precise landing and improving the success rate and safety of landing.

[0028] In some exemplary embodiments, the drone provided by the present invention also has an AI intelligent control and driving system, including visual sensors (cameras, lidars), an environment perception module, a high-performance computing platform (such as the NVIDIA Jetson series), and a software algorithm module. This AI intelligent control and driving system is for self-developed aviation vision and air flow dynamic induction balance, and can perform AI intelligent control and driving of the drone, realizing functions such as autonomous environment perception, intelligent decision-making and planning, and adaptive control in complex scenarios.

[0029] Embodiment 2 This embodiment provides a control method for a drone, which is used for the flight control of the drone provided in Embodiment 1, and includes the following steps: S100. The flight control system controls the first power component 3 to be in the second position state, and starts the first power component 3 and the second power component 4. The first power component 3 and the second power component 4 jointly pull the drone to drive the drone to vertically ascend.

[0030] S200. The flight control system real-time detects the altitude of the drone. When the drone ascends to the set altitude, it converts the first power component 3 from the second position state to the first position state.

[0031] Start the first power component 3, the third power component 5 and the fourth power component 6, and turn off the motor of the second power component 4. At this time, the first power component 3, the third power component 5 and the fourth power component 6 all provide forward power, enabling the UAV to fly at high speed. After the motor of the second power component 4 is turned off, the propeller of the second power component 4 automatically converts into a lift rotor blade, generating a certain amount of lift, thus saving the area of the rear wing 8 and reducing power consumption.

[0032] In summary, through the forward inclination design and rotatable structure of the front wing 2, combined with the reasonable configuration of multiple power components, the present invention realizes the organic combination of vertical takeoff and landing and efficient horizontal flight of the UAV. The forward inclination angle design of the front wing 2 effectively reduces the air resistance during horizontal flight and saves power consumption. The rotatable front wing 2 cooperates with the first power component 3, enabling the UAV to flexibly switch the power mode during the vertical takeoff and landing and horizontal flight stages, improving the flight efficiency and adaptability. At the same time, the diverse power components work together during different flight stages, giving full play to their respective advantages and further enhancing the overall performance of the UAV. In addition, the flight control system integrates multiple advanced modules, capable of precisely controlling the flight attitude, altitude and power output of the UAV, ensuring the stable and reliable operation of the UAV and meeting the diverse requirements in complex operating environments.

[0033] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle, comprising a fuselage, wherein the fuselage is provided with a front wing and a rear wing, wherein: The front wing is tilted forward at one end away from the fuselage, and the forward tilt angle is 16 degrees to 89 degrees; the front wing is rotatably connected to the fuselage, and can be rotated from a horizontal 0 degree to an upright 92 degrees; the front wing is connected to a first power assembly, and the first power assembly has a first position state and a second position state under the drive of the front wing. In the first position state, the first power assembly provides forward pulling flight power, and in the second position state, the first power assembly provides lifting power; a second power assembly is arranged on the rear wing, and the second power assembly is used to provide lifting power.

2. The drone according to claim 1, characterized in that: A third power assembly is disposed at the front end of the fuselage, and the third power assembly is used to provide forward pulling flight power.

3. The drone according to claim 2, characterized in that: A fourth power assembly is disposed at the rear end of the fuselage, and the fourth power assembly is used to provide forward thrust flight power.

4. The drone according to claim 3, characterized in that: The first power assembly, the second power assembly, the third power assembly and the fourth power assembly (including a driving engine and a propeller, the driving engines of the first power assembly, the third power assembly and the fourth power assembly are internal combustion engines, and the driving engine of the second power assembly is an electric motor.

5. The drone according to claim 4, characterized in that: When the first power assembly is in a first position state, the propeller of the first power assembly is a vertical propeller, which provides forward push-pull flight power when rotating; when the first power assembly is in a second position state, the propeller of the first power assembly is a horizontal propeller, which provides lifting power when rotating.

6. The drone according to claim 4, characterized in that: The propeller of the second power assembly is a horizontal propeller, and the propellers of the third power assembly and the fourth power assembly are vertical propellers.

7. The drone according to claim 2, characterized in that: A ground support structure is arranged on the fuselage, and the ground support structure is a support frame structure or a wheel structure.

8. A drone according to any one of claims 2 to 7, characterized in that: A flight control system is arranged in the fuselage, and the flight control system includes a main control module, an inertial measurement module, a sensor module, a positioning module and a communication module. The sensor module, the positioning module, the communication module and each power component are electrically connected to the main control module.

9. The drone according to claim 8, characterized in that: The main control module includes an MCU chip, the inertial measurement module includes an accelerometer, a gyroscope and a magnetometer, the sensor module includes an altitude sensor, the positioning module includes a Beidou positioning chip, the communication module includes a near-earth communication module and a long-distance communication module, the near-earth communication module includes a Bluetooth module and a WiFi module, and the long-distance communication module is one or more of a digital radio, a 4G communication module, a 5G communication module, and a satellite communication module; the flight control system also includes a laser locator, and the laser locator includes long-range and short-range laser transmitters and receivers.

10. A method for controlling a drone, used for the drone of claim 8, characterized in that: The steps include: S100, the flight control system controls the first power assembly to be in the second position state, and starts the first power assembly and the second power assembly, so that the first power assembly and the second power assembly drive the UAV to rise vertically; S200, the flight control system detects the altitude of the UAV in real time, and when the UAV rises to a set altitude, the first power assembly is converted from the second position state to the first position state; S300, starting the first power assembly, the third power assembly and the fourth power assembly, shutting down the second power assembly, and the UAV flies at high speed.

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