Vertical take-off and landing composite layout unmanned aerial vehicle and method

Abstract

The vertical take-off and landing composite layout unmanned aerial vehicle comprises a fuselage and wings symmetrically arranged on the two sides of the fuselage, longitudinal rods symmetrical about the fuselage are arranged below the two wings, a front rotor wing and a rear rotor wing are installed at the front end and the rear end of each longitudinal rod correspondingly, and the tails of the two longitudinal rods are fixedly connected with a trapezoidal empennage; solar panels are integrated on the surfaces of the wings and the empennage; through cooperative control of the front rotor wing and the rear rotor wing, in combination with the propulsive force of the tail propeller and the optimized design of the tail wing of the trapezoidal structure, beneficial pneumatic coupling lift force is generated in the cruising and vertical take-off and landing processes, and due to the design, conversion between a vertical take-off and landing mode and a fixed wing cruising mode can be achieved without an additional variant mechanism; therefore, the flight efficiency is obviously improved. In addition, solar panels are laid on the surfaces of the empennage and the wings, solar radiation can be received to the maximum degree in the flight process, and the endurance time of the unmanned aerial vehicle is effectively prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a vertical takeoff and landing compound layout unmanned aerial vehicle and method. Background Art

[0002] Unmanned aerial vehicles (UAVs) are widely used in military and civilian fields due to their advantages such as small size, low cost, flexible movement, easy use, and strong battlefield survivability.

[0003] However, vertical takeoff and landing (VTOL) UAVs still have significant deficiencies in terms of long endurance and multi-scenario adaptability. Traditional VTOL UAVs are mostly powered by pure batteries, suffering from short endurance and relying on frequent charging. Although existing rotor / fixed-wing compound layout UAVs can balance vertical takeoff and landing with horizontal flight efficiency, they require a tilting mechanism to dynamically adjust the direction of the rotor or power device between vertical takeoff and landing and fixed-wing modes. Through devices such as servos and gear sets, the rotor is tilted from the vertical direction to the horizontal direction. This process involves a complex mechanical transmission system, which is complex in structure, has a high failure rate, and does not effectively utilize renewable energy. Therefore, there is an urgent need for a new UAV architecture that integrates vertical takeoff and landing capabilities with efficient utilization of solar energy to break through the shackles of the existing technology on application scenarios.

[0004] In view of this, the inventor of the present invention specifically designed a vertical takeoff and landing compound layout UAV and method, and this case was thus born. Summary of the Invention

[0005] To solve the above problems, the technical solution of the present invention is as follows:

[0006] It includes a fuselage, a tail wing, and wings symmetrically arranged on both sides of the fuselage. The wings are fixedly connected to the fuselage. Longitudinal rods symmetric about the fuselage are fixedly installed below the two wings. The longitudinal rods are arranged along the length direction of the fuselage. A front rotor and a rear rotor are respectively installed at both ends of the longitudinal rods. The tails of the two longitudinal rods are fixedly connected to the tail wing. The tail wing includes two equal-length inclined wings and a horizontal wing. The two equal-length inclined wings and the horizontal wing form a trapezoidal structure. The two ends of the horizontal wing are fixedly connected to the tops of the two inclined wings. A tail propeller is provided at the tail of the fuselage. Solar panels are integrated on the surfaces of the wings, inclined wings, and horizontal wing; the wings, longitudinal rods, front rotors, rear rotors, tail wing, and tail propeller on both sides of the fuselage are symmetrically distributed about the longitudinal axis of the fuselage.

[0007] Preferably, the tail wing includes two equal-length inclined wings and a horizontal wing. The horizontal wing is horizontally arranged and located above the longitudinal rod. The two ends of the horizontal wing are respectively connected to one end of the inclined wing. A connecting pin is fixedly connected to the other end of the inclined wing. The connecting pin is hinged to the longitudinal rod.

[0008] Preferably, the length of the horizontal wing is less than the horizontal distance between the two longitudinal rods, and the included angle between the inclined wing and the horizontal is 35° to 45°.

[0009] Preferably, the wing is integrally formed with the fuselage, and the installation angle between the wing and the fuselage is 4° to 6°.

[0010] Preferably, a deflectable aileron is provided at the trailing edge of the wing, and the deflection trajectory of the aileron has no interference area with the solar panel.

[0011] Preferably, the longitudinal rod includes a longitudinal tube and a connecting sleeve plate. A connecting hole is opened at the end of the longitudinal tube close to the tail wing. The longitudinal tube is bolted to the wing through the connecting sleeve plate. The connecting pin is pin-connected to the longitudinal rod through the connecting hole. The length of the longitudinal rod ≥ 1 / 2 of the length of the wing, and the axes of the front rotor and the rear rotor are vertically downward.

[0012] Preferably, a support frame is provided at the bottom of the fuselage. There are two groups of support frames and they are symmetrically arranged at the bottom of the fuselage. The support frame includes a bracket and a connecting frame. The connecting frame is fixedly connected to both ends of the bracket. The connecting frame is bolted to the bottom of the fuselage. The height of the bracket is 1.1 to 1.3 times the height of the fuselage.

[0013] Preferably, both the front rotor and the rear rotor include a rotor propeller and a rotor motor. The rotor motor is electrically connected to the battery.

[0014] Preferably, the interior of the fuselage is hollow and houses an electronic control system, a motor, and a battery for controlling the flight and mode conversion of the drone. The battery is arranged at the geometric center of the fuselage. The motor and the electronic control system are symmetrically distributed on both sides of the fuselage. The electronic control system is electrically connected to the battery and the motor.

[0015] The present invention also discloses a vertical takeoff and landing method for a vertical takeoff and landing compound layout drone. The steps of this method include:

[0016] S1. Vertical takeoff stage: The front rotor and the rear rotor are independently powered by the battery, and the tail propeller stops rotating; the front rotor and the rear rotor are controlled by the electronic control system to rotate for takeoff. When the flight height reaches a preset value, the transition stage logic is triggered;

[0017] S2. Transition stage: Power switching is performed. The total power of the front rotor and the rear rotor linearly decreases to zero, and the tail propeller is directly powered by the solar panel and gradually increases to the rated speed;

[0018] S3. Cruise stage: When the drone is cruising, the total output power of the solar panel preferentially supplies the load of the tail propeller. If the solar input power is less than the set power, the low-power standby mode of the front rotor and the rear rotor is triggered, and the tail propeller switches to battery power supply;

[0019] S4. During the vertical landing phase, the tail propeller stops rotating, and the front rotor and the rear rotor start to operate for controlled descent landing. After touchdown, the motor is triggered to cut off power after a delay of 0.5 to 0.8 seconds, and the front rotor and the rear rotor are fixed.

[0020] The technical solution provided by the present invention has the following beneficial effects:

[0021] 1. Through the coordinated control of the front rotor and the rear rotor, combined with the propulsive force of the tail propeller and the optimized design of the trapezoidal tail fin, the present invention generates beneficial aerodynamic coupling lift during cruise and vertical takeoff and landing. This design reduces mechanical complexity and enables the conversion between vertical takeoff and landing and fixed-wing cruise modes without additional variant mechanisms, thus significantly improving flight efficiency. In addition, solar panels are laid on the surface of the tail fin and the wing, which can maximize the reception of solar radiation during flight and provide auxiliary power for the tail propeller, effectively extending the endurance time of the UAV.

[0022] 2. By setting the wing installation angle at 4° - 6°, the present invention balances aerodynamic efficiency and flight stability, optimizes the lift-drag ratio during cruise, and enhances the longitudinal static stability of the aircraft. Description of the Drawings

[0023] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0024] Among them:

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 is a left view of the overall structure of the present invention;

[0027] Figure 3 is a schematic diagram of the structure of the tail fin in the present invention;

[0028] Figure 4 is a schematic diagram of the structure of the longitudinal rod in the present invention;

[0029] Figure 5 is a schematic diagram of the structure of the support frame in the present invention;

[0030] Figure 6 is a schematic diagram of the structure of the front rotor and the rear rotor in the present invention;

[0031] Figure 7 is a flowchart of the UAV flight mode switching in the present invention.

[0032] Label Description:

[0033] 1. Airframe; 11. Tail propeller; 2. Wings; 3. Ailerons; 4. Longitudinal rod; 41. Longitudinal tube; 42. Connecting sleeve plate; 43. Connecting hole; 5. Front rotor; 6. Rear rotor; 61. Rotor propeller; 62. Rotor motor; 7. Tail fin; 71. Inclined fin; 72. Horizontal fin; 73. Connecting pin; 8. Support frame; 81. Bracket; 82. Connecting frame; 9. Solar panel. Detailed implementation manners

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] Please refer to Figures 1 to 7 , which is a vertical take-off and landing compound layout unmanned aerial vehicle as the best embodiment of the present invention, including an airframe 1, a tail fin 7 and wings 2 symmetrically arranged on both sides of the airframe 1. The wings 2 are fixedly connected to the airframe 1. Longitudinal rods 4 symmetric about the airframe 1 are fixedly installed below the two wings 2. The longitudinal rods 4 are arranged along the length direction of the airframe 1. A front rotor 5 and a rear rotor 6 are respectively installed at both ends of the longitudinal rods 4. The tails of the two longitudinal rods 4 are fixedly connected to the tail fin 7. The tail fin 7 includes two equal-length inclined fins 71 and a horizontal fin 72. The two equal-length inclined fins 71 and the horizontal fin 72 form a trapezoidal structure. The two ends of the horizontal fin 72 are fixedly connected to the tops of the two inclined fins 71. A tail propeller 11 is provided at the tail of the airframe 1. Solar panels 9 are integrated on the surfaces of the wings 2, inclined fins 71 and horizontal fin 72; the wings 2, longitudinal rods 4, front rotors 5, rear rotors 6, tail fin 7 and tail propeller 11 on both sides of the airframe 1 are all symmetrically distributed about the longitudinal axis of the airframe 1. The airframe 1 and the wings 2 are integrally made of lightweight composite materials. The inside of the airframe 1 is hollow, reducing the overall weight of the unmanned aerial vehicle and improving the flight efficiency. Through the coordinated control of the front rotor 5 and the rear rotor 6, combined with the propulsive force of the tail propeller 11, efficient conversion between vertical take-off and landing and fixed-wing cruise modes can be achieved without an additional variable mechanism, reducing mechanical complexity and solving the problem of structural redundancy of traditional tilt-rotor unmanned aerial vehicles. The front rotor 5 and the rear rotor 6 can adapt to various flight states such as hovering, transition and cruising by dynamically adjusting the speed ratio of the front rotor 5 and the rear rotor 6. The control logic is flexible. At the same time, the tail fin 7 adopts a trapezoidal structure, which can generate beneficial aerodynamic coupling lift during cruising, improving the flight efficiency. And solar panels 9 are laid on the surfaces of the tail fin 7 and the wings 2, which can maximize the reception of solar radiation during flight, provide auxiliary power for the tail propeller 11 and extend the endurance time.

[0036] Specifically, please refer to Figures 1 to 7, the horizontal wing 72 is horizontally arranged and located above the longitudinal rod 4. Both ends of the horizontal wing 72 are respectively connected to one end of the inclined wing 71. The other end of the inclined wing 71 is fixedly connected with a connecting pin 73. The front and rear beams of the horizontal wing 72 and the front and rear beams of the inclined wing 71 are connected through a metal joint. At the same time, the cover plate skin at the butt joint of the horizontal wing 72 and the inclined wing 71 is strengthened to enhance the connection. The connecting pin 73 is hinged to the longitudinal rod 4.

[0037] Specifically, please refer to Figures 1 to 7 , the length of the horizontal wing 72 is less than the horizontal distance between the two longitudinal rods 4. The included angle between the inclined wing 71 and the horizontal is 35° - 45°. In this embodiment, the included angle between the inclined part of the vertical tail 7 and the horizontal is 40°, which can increase the effective area of the vertical tail 7, improve the directional stability of the aircraft, and make the aircraft less vulnerable to crosswinds during flight. The inclination angle generates a lift component for the tail plate during cruising, reduces energy loss, and improves aerodynamic efficiency. At the same time, it can improve the directional stability of the UAV during flight in cooperation with the trapezoidal plane shape. At the same time, the trapezoidal vertical tail 7 can increase the area and provide a larger laying area for the solar panel 9.

[0038] Specifically, please refer to Figures 1 to 5 , the wing 2 and the fuselage 1 are integrally formed. The installation angle between the wing 2 and the fuselage 1 is 4° - 6°. In this embodiment, the installation angle between the wing 2 and the fuselage 1 is 5°. The integral formation of the wing 2 and the fuselage 1 can eliminate the gap of the traditional connection method, reduce the frictional resistance, and at the same time improve the bearing capacity of the fuselage 1. At the same time, it can balance the aerodynamic efficiency and flight stability. This angle range makes the wing 2 naturally form an appropriate positive angle of attack during the cruising stage, which can generate sufficient lift at a lower airspeed. At the same time, this installation angle optimizes the lift-to-drag ratio during cruising, reduces the induced drag by about 15% - 20%, and can extend the endurance time by 10% - 25% in cooperation with the aspect ratio design. At the structural level, the installation angle of 4° - 6° can effectively disperse the aerodynamic load, reduce the risk of wing root stress concentration during high-angle-of-attack maneuvers, and suppress the wing tip stall tendency at low speeds. In addition, this angle matches well with the conventional horizontal tail trimming moment, enhances the longitudinal static stability of the aircraft, can reduce the pitch oscillation amplitude by more than 30% when encountering gust disturbances, and can achieve more accurate attitude holding in cooperation with the flight control system, which is especially suitable for tasks with strict requirements for track stability such as mapping and inspection.

[0039] Specifically, please refer to Figures 1 to 5, the trailing edge of the wing 2 is provided with a deflectable aileron 3, and the deflection trajectory of the aileron 3 has no interference area with the solar panel 9. The aileron 3 is a movable control surface located outside the trailing edge of the wing 2. Its main function is to control the rolling motion of the UAV through differential deflection. When one side of the aileron 3 deflects downward, the lift of that side of the wing 2 increases, and when the other side of the aileron 3 deflects upward, the lift decreases. The lift difference between the two sides forms a rolling moment, causing the UAV to tilt towards the side with less lift. This action is not only used to adjust the flight attitude but also to counteract airflow disturbances and maintain the balance of the airframe during flight. The precise control of the aileron 3 is crucial for the maneuverability, stability, and mission execution ability of the UAV. Especially in complex flight maneuvers or autonomous flight modes, its response speed and efficiency directly affect flight safety and control accuracy.

[0040] Specifically, please refer to Figures 1 to 5 , the longitudinal rod 4 includes a longitudinal tube 41 and a connecting sleeve plate 42. A connecting hole 43 is opened at the end of the longitudinal tube 41 close to the tail wing 7. The longitudinal tube 41 is bolted to the wing 2 through the connecting sleeve plate 42. The connecting pin 73 is pin-connected to the longitudinal rod 4 through the connecting hole 43. The length of the longitudinal rod 4 ≥ 1 / 2 of the length of the wing 2. The axes of the front rotor 5 and the rear rotor 6 are vertically downward, and the downwash velocity generated by the rotors during vertical takeoff and landing can reach 10 - 15 m / s. When the length of the longitudinal rod 4 ≥ 0.5 times the wingspan, the horizontal distance between the rotor rotation plane and the leading edge of the fixed wing is sufficient to reduce the dynamic pressure disturbance of the downwash on the fixed wing surface to less than 5%, avoiding lift loss caused by airflow separation during the cruise phase.

[0041] Specifically, please refer to Figure 1 and Figure 5 , a support frame 8 is provided at the bottom of the fuselage 1. There are two groups of support frames 8 and they are symmetrically arranged at the bottom of the fuselage 1. The support frame 8 includes a bracket 81 and a connecting frame 82. The connecting frame 82 is fixedly connected to both ends of the bracket 81. The connecting frame 82 is bolted to the bottom of the fuselage 1. The height of the bracket 81 is 1.1 - 1.3 times the height of the fuselage 1. The primary function of the height of the bracket 81 is to ensure that key components such as the bottom of the fuselage 1, the propellers, the wing 2, or the sensors do not come into contact with the ground when the UAV lands or is parked on the ground. The redundant height of 1.1 - 1.3 times provides sufficient "safety margin" to avoid collisions even on uneven ground or during a soft landing, and can form a stable support angle, improving stability when the UAV takes off and lands. At the same time, strain gauge sensors are attached to the bottom of the bracket 81. Strain gauge sensors are attached to the bottom of the bracket 81, which can detect pressure changes when the UAV lands. When the detected pressure change is greater than the preset value, it triggers the motor to delay power-off to prevent the UAV from bouncing and taking off again.

[0042] Specifically, please refer to Figures 1 to 5The front rotor 5 and the rear rotor 6 both include a rotor propeller 61 and a rotor motor 62, which is electrically connected to a battery. The front rotor 5 and the rear rotor 6 include a rotor propeller 61 and a rotor motor 62, which is driven by a battery. The front rotor 5 and the rear rotor 6 are powered by independent batteries, and the rotor motor 62 is a brushless motor. The front rotor 5 and the rear rotor 6 adopt a dual-power layout, and are equipped with a high-energy-density battery drive system to improve flight performance.

[0043] For details, please refer to Figures 1 to 3 The interior of the fuselage 1 is hollow and contains an electronic control system, a motor and a battery for controlling the flight and mode conversion of the UAV. The battery is arranged at the geometric center of the fuselage 1 to ensure that the pitch / roll axis inertia moment is minimized and the energy consumption of flight attitude adjustment is reduced. The motor and the electronic control system are symmetrically distributed on both sides of the fuselage 1. The electronic control system is electrically connected to the battery and the motor. The battery, as the heaviest component, is arranged near the geometric center of the fuselage 1 to avoid unilateral moment imbalance. The electronic control system controls the battery power supply of the rotor motor 62 and the motor drive of the solar panel 9 to realize intelligent switching of flight modes. The solar panel 9 is connected to the battery power supply of the rotor motor 62 and the motor drive of the solar panel 9 to realize intelligent switching of flight modes. It is connected to the internal power bus of the fuselage 1 through embedded wires. The wires are pre-buried along the wing 2 or tail 7 frame to avoid exposure to external airflow, reduce wind resistance and wear risks, and the electronic control system can accurately control the flight attitude of the drone, monitor the flight status in real time through sensors, and quickly adjust the speed of the motor to achieve stable hovering and precise flight trajectory. During the flight mode conversion process, the electronic control system can quickly and smoothly switch the control logic to ensure that the drone's conversion between different modes such as vertical take-off and landing and horizontal flight is more stable, avoiding oscillation or instability.

[0044] See also Figures 1 to 7 As shown, the second aspect of the embodiment of the present application also provides a vertical take-off and landing method for a vertical take-off and landing composite layout UAV, specifically, comprising the following steps:

[0045] S1, vertical take-off stage: the front rotor 5 and the rear rotor 6 are independently powered by batteries, the rotor motor 62 is a set of four brushless motors, and the front rotor 5 and the rear rotor 6 are controlled by the electronic control system to rotate and take off. The flight controller of the fuselage 1 collects barometer and rangefinder data in real time. When the flight altitude reaches a preset value, the transition stage logic is triggered;

[0046] S2, transition stage: power switching is performed, the rotor power is first reduced, and a ramp-type power reduction strategy is adopted. The total power of the front rotor 5 and the rear rotor 6 is reduced by 10% to 15% every 2 to 5 seconds. In this embodiment, the total power of the front rotor 5 and the rear rotor 6 is reduced by 10% every 2 seconds. At the same time, the PID controller is used to dynamically adjust the blade speed of the front rotor 5 and the rear rotor 6 to avoid attitude instability caused by a sudden change in lift. At the same time, when the light reaches a preset value, the solar panel 9 drives the tail propeller 11 to rotate until the preset speed is reached. During this period, the flight control is achieved by integrating IMU data and airspeed meter feedback;

[0047] S3, cruising stage: on sunny days, the total output power of the solar panel 9 is first supplied to the load of the tail propeller 11, and the rest is recharged to the battery through the charging chip; on rainy days or at night, the emergency mode is activated. If the solar input power is less than 100W and lasts for 15 to 25 seconds, in this embodiment, when the solar input power lasts for 20 seconds, the tail propeller 11 is switched to battery power supply, and the front rotor 5 and the rear rotor 6 are lowered to standby state.

[0048] S4, in the vertical landing stage, the tail propeller 11 is turned off, the front rotor 5 and the rear rotor 6 are started, and the landing rate is achieved through the Kalman filter algorithm in combination with the HC~SR04 ultrasonic sensor and the BMP280 barometer data, and a slow descent controlled landing is performed. After touching the ground, when the strain gauge sensor detects that the pressure change of the support frame 8 is greater than 1.3 times the weight of the drone, the motor is triggered to delay power off for 0.5 seconds, and the mechanical locking device is activated to fix the front rotor 5 and the rear rotor 6.

[0049] In summary, the present invention generates beneficial aerodynamic coupling lift during cruising and vertical take-off and landing through the coordinated control of the front rotor 5 and the rear rotor 6, combined with the propulsion of the tail propeller 11 and the optimized design of the trapezoidal tail 7. This design reduces the mechanical complexity and can achieve the conversion between vertical take-off and landing and fixed-wing cruise mode without the need for additional variant mechanisms, thereby significantly improving flight efficiency. In addition, solar panels 3 are laid on the surface of the tail 7 and the wing 2, which can maximize the reception of solar radiation during flight, provide auxiliary power for the tail propeller 11, and effectively extend the flight time of the drone.

[0050] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A vertical takeoff and landing compound layout unmanned aerial vehicle, characterized in that, It includes a fuselage (1), a tail wing (7), and wings (2) symmetrically arranged on both sides of the fuselage (1). The wings (2) are fixedly connected to the fuselage (1). Longitudinal rods (4) symmetrical about the fuselage (1) are fixedly installed below the two wings (2). The longitudinal rods (4) are arranged along the length direction of the fuselage (1). A front rotor (5) and a rear rotor (6) are respectively installed at both ends of the longitudinal rods (4). The tails of the two longitudinal rods (4) are fixedly connected to the tail wing (7). The tail wing (7) includes two equal-length inclined wings (71) and a horizontal wing (72). The two equal-length inclined wings (71) and the horizontal wing (72) form a trapezoidal structure. The two ends of the horizontal wing (72) are fixedly connected to the tops of the two inclined wings (71). A tail propeller (11) is provided at the tail of the fuselage (1). Solar panels (9) are integrated on the surfaces of the wings (2), inclined wings (71), and horizontal wing (72). The wings (2), longitudinal rods (4), front rotors (5), rear rotors (6), tail wing (7), and tail propeller (11) on both sides of the fuselage (1) are all symmetrically distributed about the longitudinal axis of the fuselage (1).

2. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, characterized in that The horizontal wing (72) is horizontally arranged and located above the longitudinal rod (4). The two ends of the horizontal wing (72) are respectively connected to one end of the inclined wing (71). A connecting pin (73) is fixedly connected to the other end of the inclined wing (71). The connecting pin (73) is hinged to the longitudinal rod (4).

3. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 2, characterized in that The length of the horizontal wing (72) is less than the horizontal distance between the two longitudinal rods (4). The included angle between the inclined wing (71) and the horizontal is 35° - 45°.

4. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, wherein, The wing (2) is integrally formed with the fuselage (1). The installation angle between the wing (2) and the fuselage (1) is 4° - 6°.

5. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 2, wherein, The longitudinal rod (4) includes a longitudinal tube (41) and a connecting sleeve plate (42). A connecting hole (43) is opened at the end of the longitudinal tube (41) close to the tail wing (7). The longitudinal tube (41) is bolted to the wing (2) through the connecting sleeve plate (42). The connecting pin (73) is pin-connected to the longitudinal rod (4) through the connecting hole (43). The length of the longitudinal rod (4) ≥ 1 / 2 of the length of the wing (2). The axes of the front rotor (5) and the rear rotor (6) are vertically downward.

6. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, wherein, A deflectable aileron (3) is provided at the trailing edge of the wing (2). The deflection trajectory of the aileron (3) has no interference area with the solar panel (9).

7. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, characterized in that, Two support frames (8) are provided at the bottom of the fuselage (1) and are symmetrically arranged at the bottom of the fuselage (1). The support frame (8) includes a support (81) and a connecting frame (82). The connecting frame (82) is fixedly connected to both ends of the support (81). The connecting frame (82) is bolted to the bottom of the fuselage (1). The height of the support (81) is 1.1 - 1.3 times the height of the fuselage (1).

8. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, wherein, Both the front rotor (5) and the rear rotor (6) include a rotor propeller (61) and a rotor motor (62). The rotor motor (62) is electrically connected to the battery.

9. The vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 1, characterized in that, The interior of the fuselage (1) is hollow and houses an electronic control system, motors, and a battery for controlling the flight and mode conversion of the drone. The battery is arranged at the geometric center of the fuselage (1), and the motors and the electronic control system are symmetrically distributed on both sides of the fuselage (1). The electronic control system is electrically connected to the battery and the motors.

10. The vertical takeoff and landing method of a vertical takeoff and landing compound layout unmanned aerial vehicle according to claim 9, characterized in that, It includes the following steps: S1. Vertical take-off stage: The front rotor (5) and the rear rotor (6) are independently powered by the battery, and the tail propeller (11) stops rotating. The front rotor (5) and the rear rotor (6) are controlled by the electronic control system to rotate for take-off. When the flight altitude reaches a preset value, the transition stage logic is triggered. S2. Transition stage: Power switching is performed. The total power of the front rotor (5) and the rear rotor (6) linearly decreases to zero, and the tail propeller (11) is directly powered by the solar panel (9) and gradually increases to the rated speed. S3. Cruise stage: When the drone is cruising, the total output power of the solar panel (9) preferentially supplies the load of the tail propeller (11). If the solar input power is less than the set power, the low-power standby mode of the front rotor (5) and the rear rotor (6) is triggered, and the tail propeller (11) switches to battery power. S4. Vertical landing stage: The tail propeller (11) stops rotating, and the front rotor (5) and the rear rotor (6) are started for controlled descent landing. After touchdown, the motors are triggered to cut off power after a delay of 0.5 seconds to 0.8 seconds, and the front rotor (5) and the rear rotor (6) are fixed.

Images