Variable-form vertical take-off and landing unmanned aerial vehicle platform and flight method

Abstract

The invention discloses a variable-form vertical take-off and landing unmanned aerial vehicle platform and a flight method.The variable-form vertical take-off and landing unmanned aerial vehicle platform can be in a multi-rotor-wing flight state and a fixed-wing flight state and comprises a vehicle body, a flying wing structure, a deformation mechanism, a rotor wing structure, a vertical fin structure, a holder system and a control system; the flying wing structure comprises a left flying wing structure and a right flying wing structure which can be unfolded and closed along the horizontal plane; the deformation mechanism drives the left flying wing structure and the right flying wing structure to be switched between an unfolded state and a closed state; the rotor wing structure provides flight power; and the control system realizes switching control between a multi-rotor flight state and a fixed-wing flight state and flight control. The unmanned aerial vehicle can be in a multi-rotor-wing flight state and a fixed-wing flight state, can meet the requirements of vertical take-off and landing and long-distance and long-time operation at the same time, can hover at any time, and has good environmental adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) data collection, and in particular to a variable-form vertical take-off and landing UAV (UAV) platform and a flight method. Background Art

[0002] A multi-rotor drone is an unmanned aerial vehicle that relies on multiple rotors to generate lift and control force to achieve vertical take-off and landing, hovering and multi-directional flight. It changes the lift distribution by adjusting the rotation speed of different rotors, thereby achieving attitude control and position movement.

[0003] Multi-rotor drones have the advantage of not being restricted by site and being able to take off and land vertically anytime and anywhere. They have been fully utilized in various fields, greatly liberating productivity and improving work efficiency and quality.

[0004] Due to the wide range of application scenarios of multi-rotor drones, especially in special fields such as agriculture, forestry, and power inspection, the take-off and landing environments are diverse. The aircraft needs to meet the requirements of vertical take-off and landing, long-distance and long-term operation, and need to be able to hover at any time. Existing multi-rotor drones cannot meet the above requirements.

[0005] In view of this, it is necessary to provide a new technical solution to solve the above problems. Summary of the Invention

[0006] In order to solve the above technical problems, the present application provides a variable-form vertical take-off and landing UAV platform that can be in multi-rotor flight state and fixed-wing flight state. It can simultaneously meet the requirements of vertical take-off and landing, long-distance and long-term operations, and can hover at any time, with good environmental adaptability.

[0007] A variable-morphology vertical take-off and landing UAV platform, capable of being in a multi-rotor flight state and a fixed-wing flight state, comprising: body; A flying wing structure; the flying wing structure is hinged to the body in the horizontal direction, and includes a left flying wing structure that can be expanded and closed along the horizontal plane and a right flying wing structure that can be expanded and closed along the horizontal plane; the left flying wing structure and the right flying wing structure are symmetrically arranged on both sides of the body; Deformation mechanism; the deformation mechanism is configured to drive the left wing structure and the right wing structure to switch between an expanded state and a closed state; Rotor structure; the rotor structure is fixedly connected to the flying wing structure and is configured to provide flight power for the variable-form vertical take-off and landing UAV platform; a vertical tail structure; the vertical tail structure is slidably connected to the fuselage and can be in a retracted state or an extended state relative to the fuselage; the vertical tail structure includes a horizontal tail, which is parallel to the flying wing structure when in fixed-wing flight and is symmetrically arranged along the centerline of the fuselage; The pan-tilt system is arranged at the lower part of the machine body and is fixedly connected to the machine body; Control system; the control system is configured to realize switching control of the variable-morphology vertical take-off and landing UAV platform between a multi-rotor flight state and a fixed-wing flight state and to realize flight control of the variable-morphology vertical take-off and landing UAV platform; When the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, the left flying wing structure and the right flying wing structure are both in a "V"-shaped expanded state; the vertical tail structure is in a retracted state, and the horizontal tail is located within the orthographic projection plane of the fuselage; When the variable-morphology vertical take-off and landing UAV platform is in a fixed-wing flight state, the left flying wing structure and the right flying wing structure are both in a closed state, and the left flying wing structure and the right flying wing structure are symmetrically arranged on the left and right sides of the flight direction; the vertical tail structure is in an extended state, and the horizontal tail is higher than the upper surface of the fuselage.

[0008] Preferably, the left wing structure includes a first left wing and a second left wing that can be expanded and closed along a horizontal plane; the right wing structure includes a first right wing and a second right wing that can be expanded and closed along a horizontal plane; When the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, the first left flying wing and the second left flying wing are in a "V"-shaped unfolded state, the first right flying wing and the second right flying wing are in a "V"-shaped unfolded state, and the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing form a scissors-type structure; the first left flying wing and the second right flying wing are symmetrically arranged on both sides of the fuselage, and the second left flying wing and the first right flying wing are symmetrically arranged on both sides of the fuselage.

[0009] Preferably, the rotor structure consists of four parts, which are respectively fixedly connected to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing.

[0010] Preferably, each of the rotor structures includes a rotor body, a rotor drive motor and a rotor angle adjustment motor; the four rotor angle adjustment motors are respectively fixedly connected relative to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing; the rotor drive motor is fixedly connected relative to the rotating part of the rotor angle adjustment motor; the rotor body is fixedly connected to the rotating part of the rotor drive motor; the rotor angle adjustment motor is configured to drive the rotor drive motor and the rotor body to rotate in a vertical plane to achieve thrust direction adjustment.

[0011] Preferably, the first left flying wing includes a first left flying wing fixing portion, a first left flying wing moving portion and a first left flying wing telescopic mechanism; the first left flying wing moving portion is slidably connected to the first left flying wing fixing portion and can move toward a side close to the second left flying wing; The first left wing fixed portion has a first left wing accommodating chamber inside; the first left wing movable portion is disposed in the first left wing accommodating chamber and is slidably connected to the first left wing fixed portion; the first left wing retractable mechanism is disposed in the first left wing accommodating chamber and drives the first left wing movable portion to slide relative to the first left wing fixed portion; The first right wing includes a first right wing fixed portion, a first right wing movable portion, and a first right wing retractable mechanism; the first right wing movable portion is slidably connected to the first right wing fixed portion and can move toward a side close to the second right wing; The first right wing fixing part has a first right wing accommodating cavity inside; the first right wing movable part is arranged in the first right wing accommodating cavity and is slidably connected to the first right wing fixing part; the first right wing telescopic mechanism is arranged in the first right wing accommodating cavity, driving the first right wing movable part to slide relative to the first right wing fixing part.

[0012] Preferably, the deformation mechanism consists of four pieces, each of which includes a deformation stepping motor frame, a deformation stepping motor and a screw pin; the rotating part of the deformation stepping motor is fixed with a threaded rod concentrically arranged with the motor shaft; one end of the deformation stepping motor frame is hinged to the body, and the deformation stepping motor is fixedly connected to the other end of the deformation stepping motor frame; the screw pin is threadedly connected to the threaded rod; the four screw pins are respectively hinged to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing.

[0013] Preferably, the vertical tail structure includes two sliding vertical tails for fixing the horizontal tail; the two sliding vertical tails are arranged in parallel; the two sliding vertical tails are respectively arranged on the two outer side surfaces of the body and are slidably connected; A tail slide is provided on the outer side of the fuselage; a slider adapted to the tail slide is provided on the sliding vertical tail on the side close to the fuselage, and the slider is slidingly connected to the tail slide; a plurality of tooth grooves are provided on the sliding vertical tail on the side away from the fuselage, and the plurality of tooth grooves are located on a straight line parallel to the tail slide; a tail telescopic motor is fixedly connected to the fuselage, and a thumbwheel connected to the tooth groove transmission is fixed on the rotating shaft of the tail telescopic motor.

[0014] Preferably, the horizontal tail is a telescopic structure, including a tail fixed part and two tail movable parts arranged in a collinear manner, and the tail fixed part and the tail movable part are arranged in a collinear manner; the tail fixed part has a tail cavity for accommodating the two tail movable parts, and the tail movable part is slidably arranged in the tail cavity; the tail movable part can be at least partially extended or retracted into the tail cavity under the drive of the tail telescopic mechanism.

[0015] Preferably, the pan / tilt system is fixedly connected to the body, and includes a pan / tilt first bracket, a shock-absorbing rubber block, a pan / tilt second bracket, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting seat, and two sets of X-axis position adjustment mechanisms, two sets of Y-axis position adjustment mechanisms, and four sets of Z-axis position adjustment mechanisms; Two groups of the Z-direction position adjustment mechanisms are respectively connected to the two groups of the X-direction position adjustment mechanisms and move synchronously with the X-direction position adjustment mechanisms; the other two groups of the Z-direction position adjustment mechanisms are respectively connected to the two groups of the Y-direction position adjustment mechanisms and move synchronously with the Y-direction position adjustment mechanisms; The vertical angle adjustment mechanism is connected to the Z-direction position adjustment mechanism and rises and falls synchronously with the Z-direction position adjustment mechanism; The lateral angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates along with the vertical angle adjustment mechanism in a plane parallel to the Z axis; The lateral angle adjustment mechanism can rotate on its own, and the instrument mounting seat is connected to the lateral angle adjustment mechanism and rotates with the lateral angle adjustment mechanism in a plane perpendicular to the Z axis; the lateral angle adjustment mechanism includes an instrument mounting seat for mounting a sensor.

[0016] According to another aspect of the present application, a method for flying a variable-morphology vertical take-off and landing UAV platform is provided, wherein the method comprises: Before vertical takeoff, the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, with the left and right flying wing structures both in a "V" shape. The rotor structure is powered on and takes off into the air relying on the lift it provides; After taking off, the variable-morphology vertical take-off and landing UAV platform maintains a multi-rotor flight state or switches to a fixed-wing flight state and performs the corresponding flight mission; Before vertical landing, the variable-morphology vertical take-off and landing UAV platform continues to maintain a multi-rotor flight state or switches to a multi-rotor flight state, relying on the lift provided by the rotor structure to gradually descend to the target landing location.

[0017] Compared with the prior art, this application has at least the following beneficial effects: 1. The present invention can be in a multi-rotor flight state and a fixed-wing flight state, can simultaneously meet the requirements of vertical take-off and landing, long-distance and long-term operation, and can realize hovering at any time, and has good environmental adaptability.

[0018] 2. The flying wing structure and vertical tail structure of the present invention are retractable, which can reduce the resistance of the platform and improve the stability of the platform when flying in a multi-rotor state. By transforming into a fixed-wing state, the flight time of the platform can be increased.

[0019] 3. The pan-tilt system of the present invention can be hung on a variety of acquisition devices and can be flexibly matched according to needs. It can carry up to four acquisition devices at the same time.

[0020] 4. The pan-tilt system of the present invention can adjust the center of gravity of the pan-tilt according to the weight of the acquisition device, thereby improving the stability of the platform. At the same time, the pan-tilt can serve as a support for the platform through deformation, thereby reducing the number of overall structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings: Figure 1 This is a schematic structural diagram of the variable-morphology vertical take-off and landing UAV platform in fixed-wing flight mode of the present invention; Figure 2 for Figure 1 A partial enlarged view of position A in the middle; Figure 3 This is a structural schematic diagram of the multi-rotor flight state of the variable-morphology vertical take-off and landing UAV platform of the present invention; Figure 4 This is a schematic diagram of the connection structure between the fuselage and the vertical tail structure of the present invention; Figure 5 This is a schematic diagram of the connection structure between the first left flying wing and the rotor structure of the present invention; Figure 6 This is a schematic diagram of the connection structure between the first right flying wing and the rotor structure of the present invention; Figure 7This is a schematic structural diagram of the first left wing telescopic mechanism of the present invention; Figure 8 A schematic structural diagram of the pan / tilt system of the present invention from a first viewing angle; Figure 9 A schematic structural diagram of the second viewing angle of the pan / tilt system of the present invention.

[0022] The above drawings include the following reference numerals: 1. Airframe; 2. Left flying wing structure; 3. Right flying wing structure; 4. Vertical tail structure; 5. Rotor structure; 6. Gimbal system; 7. Transformation mechanism; 101. Frame; 102. Wing mounting bracket; 103. Transformation mechanism mounting bracket; 104. Tail slideway; 105. Tail extension and retraction motor; 106. Dial; 107. Positioning receiver; 201, first left flying wing; 202, second left flying wing; 203, first left flying wing fixed portion; 204, first left flying wing movable portion; 205, first left flying wing hinge axis; 206, first left wing telescopic mechanism; 207, first telescopic rod; 208, first oil pump; 209, oil tank; 210, second oil pump; 211, second telescopic rod; 301, first right flying wing; 302, second right flying wing; 303, first right flying wing fixed portion; 304, first right flying wing movable portion; 305, first right flying wing hinge axis; 401, horizontal tail; 402, tail fixed part; 403, first tail moving part; 404, second tail moving part; 405, sliding vertical tail; 406, tooth groove; 501, rotor body; 502, rotor drive motor; 503, rotor drive motor bracket; 504, rotor angle adjustment motor; 601, pan / tilt bracket (1); 602, shock-absorbing rubber block; 603, pan / tilt bracket (2); 604, X-axis position adjustment rod; 605, X-axis position adjustment motor; 606, X-axis position adjustment gear; 607, Y-axis position adjustment rod; 608, Y-axis position adjustment motor; 609, Y-axis position adjustment gear; 610, Z-axis position adjustment rod; 611, Z-axis position adjustment motor; 612, Z-axis position adjustment gear. 613. Vertical motor fixing base; 614. Vertical angle adjustment motor; 615. Vertical angle adjustment bracket; 616. Horizontal angle adjustment motor; 617. Instrument mounting base; 701. Deformed stepper motor frame; 702. Deformed stepper motor; 703. Threaded rod; 704. Screw pin. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application. Example 1

[0024] like Figure 1-9 As shown, a variable-form vertical take-off and landing UAV platform can be in a multi-rotor flight state and a fixed-wing flight state, including: an aircraft body 1, a flying wing structure, a deformation mechanism 7, a rotor structure 5, a vertical tail structure 4, a gimbal system 6 and a control system.

[0025] The wing structure is hinged to the fuselage 1 in the horizontal direction, and includes a left wing structure 2 that can be expanded and closed along the horizontal plane and a right wing structure 3 that can be expanded and closed along the horizontal plane. The left wing structure 2 and the right wing structure 3 are symmetrically arranged on the left and right sides of the fuselage 1.

[0026] The deformation mechanism 7 is configured to drive the left wing structure 2 and the right wing structure 3 to switch between an expanded state and a closed state.

[0027] The rotor structure 5 is fixedly connected to the flying wing structure and configured to form a variable-shape vertical take-off and landing UAV platform to provide flight power.

[0028] The vertical tail structure 4 is slidably connected to the fuselage 1 and can be in a retracted or extended state relative to the fuselage 1. The vertical tail structure 4 includes a horizontal tail 401, which is parallel to the flying wing structure in fixed-wing flight and is symmetrically arranged along the centerline of the fuselage 1.

[0029] The pan / tilt system 6 is disposed at the lower portion of the machine body 1 and is fixedly connected to the machine body 1 .

[0030] The control system is configured to realize switching control of the variable-morphology vertical take-off and landing UAV platform between a multi-rotor flight state and a fixed-wing flight state and to realize flight control of the variable-morphology vertical take-off and landing UAV platform.

[0031] When the variable-morphology vertical take-off and landing UAV platform is in multi-rotor flight mode, the left wing structure 2 and the right wing structure 3 are both in a "V"-shaped deployed state. At this time, the vertical tail structure 4 is in a retracted state, and the horizontal tail 401 is located within the orthographic projection plane of the body 1.

[0032] When the variable-morphology vertical take-off and landing UAV platform is in a fixed-wing flight state, the left wing structure 2 and the right wing structure 3 are both in a closed state, and the left wing structure 2 and the right wing structure 3 are symmetrically arranged on the left and right sides of the flight direction. At this time, the vertical tail structure 4 is in an extended state, and the horizontal tail 401 is higher than the upper surface of the body 1.

[0033] The left wing structure 2 includes a first left wing 201 and a second left wing 202 that can be expanded and closed along a horizontal plane, and the right wing structure 3 includes a first right wing 301 and a second right wing 302 that can be expanded and closed along a horizontal plane.

[0034] When the variable-morphology vertical take-off and landing UAV platform is in multi-rotor flight, the first left wing 201 and the second left wing 202 are deployed in a "V" shape, and the first right wing 301 and the second right wing 302 are deployed in a "V" shape. At this time, the first left wing 201, the second left wing 202, the first right wing 301, and the second right wing 302 form a scissor-like structure. The first left wing 201 and the second right wing 302 are symmetrically arranged on either side of the body 1, and the second left wing 202 and the first right wing 301 are symmetrically arranged on either side of the body 1. This symmetrical arrangement effectively maintains the balance of the variable-morphology vertical take-off and landing UAV platform.

[0035] The rotor structure 5 consists of four parts, which are fixedly connected to the first left flying wing 201 , the second left flying wing 202 , the first right flying wing 301 and the second right flying wing 302 respectively.

[0036] Each rotor structure 5 includes a rotor body 501, a rotor drive motor 502, and a rotor angle adjustment motor 504. The four rotor angle adjustment motors 504 are fixedly connected to the first left wing 201, the second left wing 202, the first right wing 301, and the second right wing 302, respectively. The rotor drive motor 502 is fixedly connected to the rotating portion of the rotor angle adjustment motor 504 via a rotor drive motor bracket 503, and the rotor body 501 is fixedly connected to the rotating portion of the rotor drive motor 502. The rotor angle adjustment motor 504 is configured to drive the rotor drive motor 502 and the rotor body 501 to rotate in a vertical plane to achieve thrust direction adjustment, ensuring that the variable-morphology vertical take-off and landing UAV platform has sufficient power in both multi-rotor and fixed-wing flight modes.

[0037] The body 1 comprises a frame 101, with wing mounts 102 and deformation mechanism mounts 103 provided on the outer walls of the frame 1. These mounts 102 and 103 are protruding structures on the body 1, used to secure the wing structure and deformation mechanism 7, respectively. There are two sets of wing mounts 102, one at the front and one at the rear of the body 1, and two sets of deformation mechanism mounts 103, each at the front and two at the rear of the body 1. Both the wing mounts 102 and 103 are provided with hinge holes.

[0038] In addition, the body 1 further includes a positioning receiver 107 fixedly connected to the frame body 101. The positioning receiver 107 is screwedly mounted at the middle position above the body 1. The positioning receiver 107 can rotate to assist in fixing the battery.

[0039] Furthermore, the first left wing 201 includes a first left wing fixing portion 203, a first left wing moving portion 204 and a first left wing telescopic mechanism 206. The first left wing moving portion 204 is slidably connected relative to the first left wing fixing portion 203 and can move toward the side close to the second left wing 202 under the drive of the first left wing telescopic mechanism 206.

[0040] Specifically, the first left wing fixing portion 203 is hingedly connected to the wing fixing base 102 via a first left wing hinge shaft 205. The first left wing fixing portion 203 defines a first left wing accommodating chamber. The first left wing movable portion 204 is disposed within the first left wing accommodating chamber and slidably connected to the first left wing fixing portion 203. A first left wing retracting mechanism 206 is disposed within the first left wing accommodating chamber and is configured to drive the first left wing movable portion 204 to slide relative to the first left wing fixing portion 203, thereby achieving widthwise retraction of the first left wing 201.

[0041] In this embodiment, the first left wing retractable mechanism 206 includes a first telescopic rod 207, a second telescopic rod 211, a first oil pump 208, an oil tank 209, and a second oil pump 210 that supply oil to the first and second telescopic rods 207, 211. The first and second telescopic rods 207, 211 are parallel to each other and are both arranged along the sliding direction of the first left wing movable portion 204. The first oil pump 208 pumps hydraulic oil into the first telescopic rod 207, and the second oil pump 210 pumps hydraulic oil into the second telescopic rod 211. One end of the first telescopic rod 207 is fixedly connected or hinged to the first left wing fixed portion 203, and the other end is fixedly connected or hinged to the first left wing movable portion 204. Similarly, one end of the first telescopic rod 207 is fixedly connected or hinged to the first left wing fixed portion 203, and the other end is fixedly connected or hinged to the first left wing movable portion 204. By relying on the telescopic effect of the first telescopic rod 207 and the second telescopic rod 211 , the first left wing moving part 204 can be effectively driven to slide relative to the first left wing fixing part 203 .

[0042] It should be noted that this solution does not limit the structure of the first left wing telescopic mechanism 206. Any mechanism that can perform autonomous telescopic extension can be applied to this solution to promote the telescopic extension of the first left wing moving part 204 relative to the first left wing fixed part 203, such as: an electric push rod or a crank-connecting rod mechanism driven by a motor.

[0043] The first right wing 301 includes a first right wing fixing part 303, a first right wing moving part 304 and a first right wing telescopic mechanism; the first right wing moving part 304 is slidingly connected relative to the first right wing fixing part 303, and can move toward the side close to the second right wing 302 under the drive of the first right wing telescopic mechanism.

[0044] Specifically, the first right wing fixing portion 303 is hingedly connected to the wing fixing base 102 via a first right wing hinge shaft 305. The first right wing fixing portion 303 defines a first right wing accommodating cavity. The first right wing movable portion 304 is disposed within the cavity and slidably connected to the first right wing fixing portion 303. A first right wing retracting mechanism is disposed within the cavity and is configured to drive the first right wing movable portion 304 to slide relative to the first right wing fixing portion 303, thereby achieving widthwise retraction and extension of the first right wing 301.

[0045] The structure and working principle of the first right wing telescopic mechanism are the same as those of the first left wing telescopic mechanism 206, and will not be described in detail here.

[0046] In addition, the second left wing 202 and the second right wing 302 are also hinged to the body 1 through the wing fixing base 102. At the same time, they can rotate horizontally relative to the body 1 under the drive of the deformation mechanism 7 to realize the expansion and contraction of the left wing structure 2 and the right wing structure 3, thereby realizing a variable-form vertical take-off and landing UAV platform capable of both multi-rotor flight and fixed-wing flight.

[0047] There are four deformation mechanisms 7 , which are used to drive the first left wing 201 , the second left wing 202 , the first right wing 301 and the second right wing 302 to rotate horizontally relative to the body 1 .

[0048] Specifically, each deformation mechanism 7 includes a deformation stepping motor frame 701, a deformation stepping motor 702, and a screw pin 704. A threaded rod 703, concentrically arranged with the motor's rotating shaft, is fixed to the rotating portion of the deformation stepping motor 702. One end of the deformation stepping motor frame 701 is hinged to the body 1 via the deformation mechanism fixing base 103, while the deformation stepping motor 702 is fixedly connected to the other end of the deformation stepping motor frame 701. The screw pin 704 is threadedly connected to the threaded rod 703, allowing it to move back and forth relative to the threaded rod 703 when the threaded rod 703 rotates. The four screw pins are respectively hinged to the first left wing 201, the second left wing 202, the first right wing 301, and the second right wing 302. Driven by the deformable stepping motor 702, the screw pin 704 moves forward and backward relative to the threaded rod 703, thereby adjusting the rotation angle of the first left wing 201, the second left wing 202, the first right wing 301 and the second right wing 302 relative to the body 1 in the horizontal direction.

[0049] It should be noted that during the expansion and closing of the left wing structure 2 and the right wing structure 3 along the horizontal plane, the first left wing moving part 204 and the first right wing moving part 304 can slide relative to the first left wing fixed part 203 and the first right wing fixed part 303 respectively, thereby realizing the extension and retraction of the first left wing 201 and the first right wing 301 in the width direction.

[0050] In the multi-rotor flight state, the first left wing moving part 204 is at least partially retracted into the first left wing fixed part 203, and the first right wing moving part 304 is at least partially retracted into the first right wing fixed part 303, effectively reducing the flight resistance during flight.

[0051] In fixed-wing flight, the first left wing movable portion 204 at least partially extends out of the first left wing fixed portion 203, and the first right wing movable portion 304 at least partially extends out of the first right wing fixed portion 303. At this point, the second left wing 202, the first left wing fixed portion 203, and the first left wing movable portion 204 form a closed left wing structure 2, while the second right wing 302, the first right wing fixed portion 303, and the first right wing movable portion 304 form a closed right wing structure 3. The closed left and right wing structures 2 and 3 can provide lift to achieve level flight of the variable-morphology vertical take-off and landing UAV platform.

[0052] The vertical tail structure 4 includes two sliding vertical tails 405 for fixing the horizontal tail 401. The two sliding vertical tails 405 are arranged in parallel and are respectively arranged on two outer side surfaces of the body 1 and are slidably connected.

[0053] Specifically, the outer side of the fuselage 1 is provided with a tail slide 104. A slider adapted to the tail slide 104 is provided on the sliding vertical tail 405 on the side closer to the fuselage 1. The slider is positioned within the tail slide 104 and slidably connected thereto. The sliding vertical tail 405 on the side farther from the fuselage 1 is provided with a plurality of tooth grooves 406, which are located along a line parallel to the tail slide 104. A tail retracting motor 105 is fixedly connected to the fuselage 1, and a dial wheel 106 is fixedly mounted on the rotating shaft of the tail retracting motor 105, which is in driving connection with the tooth grooves 406.

[0054] Furthermore, the horizontal tail 401 is a telescopic structure, comprising a colinearly arranged tail fixed portion 402, a first tail movable portion 403, and a second tail movable portion 404. The tail fixed portion 402 defines a tail cavity within which the first and second tail movable portions 403, 404 are accommodated. The first and second tail movable portions 403, 404 are slidably connected to the tail cavity and are located on the left and right sides of the tail fixed portion 402, respectively. Driven by the tail retracting mechanism, the tail movable portion can at least partially extend or retract within the tail cavity, effectively reducing flight resistance during flight.

[0055] The pan-tilt system 6 is fixedly connected to the body 1, and includes a pan-tilt first bracket 601, a shock-absorbing rubber block 602, a pan-tilt second bracket 603, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting seat 617, and two groups of X-axis position adjustment mechanisms, two groups of Y-axis position adjustment mechanisms, and four groups of Z-axis position adjustment mechanisms.

[0056] The two sets of Z-direction position adjustment mechanisms are respectively connected to the two sets of X-direction position adjustment mechanisms and move synchronously with the X-direction position adjustment mechanisms; the other two sets of Z-direction position adjustment mechanisms are respectively connected to the two sets of Y-direction position adjustment mechanisms and move synchronously with the Y-direction position adjustment mechanisms.

[0057] The vertical angle adjustment mechanism is connected to the Z-direction position adjustment mechanism and rises and falls synchronously with the Z-direction position adjustment mechanism.

[0058] The lateral angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates along with the vertical angle adjustment mechanism in a plane parallel to the Z axis.

[0059] The lateral angle adjustment mechanism can rotate on its own. The instrument mounting seat 617 is connected to the lateral angle adjustment mechanism and rotates along with the lateral angle adjustment mechanism in a plane perpendicular to the Z axis. The lateral angle adjustment mechanism includes an instrument mounting seat for mounting a sensor.

[0060] Specifically, the pan-tilt system 6 includes a pan-tilt first bracket 601, a shock-absorbing rubber block 602, a pan-tilt second bracket 603, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, two groups of X-axis position adjustment mechanisms, two groups of Y-axis position adjustment mechanisms, and four groups of Z-axis position adjustment mechanisms.

[0061] The first support 601 of the gimbal is fixedly connected to the body 1; the shock-absorbing rubber block 602 is fixedly arranged between the first support 601 of the gimbal and the second support 603 of the gimbal, with its upper end fixedly connected to the first support 601 of the gimbal and its lower end fixedly connected to the second support 603 of the gimbal; The X-axis position adjustment mechanism includes an X-axis position adjustment rod 604, an X-axis position adjustment motor 605, an X-axis position adjustment gear 606, and an X-axis motor fixing seat; the X-axis position adjustment rod 604 is provided with bar teeth that can mesh with the X-axis position adjustment gear 606; the X-axis position adjustment gear 606 is fixedly connected to the rotating shaft of the X-axis position adjustment motor 605 and meshes with the bar teeth on the X-axis position adjustment rod 604; The Y-axis position adjustment mechanism includes a Y-axis position adjustment rod 607, a Y-axis position adjustment motor 608, a Y-axis position adjustment gear 609, and a Y-axis motor fixing seat; the Y-axis position adjustment rod 607 is provided with bar teeth that can mesh with the Y-axis position adjustment gear 609; the Y-axis position adjustment gear 609 is fixedly connected to the rotating shaft of the Y-axis position adjustment motor 608 and meshes with the bar teeth on the Y-axis position adjustment rod 607; Z-axis position adjustment mechanism: Z-axis position adjustment rod 610, Z-axis position adjustment motor 611, Z-axis position adjustment gear 612, and Z-axis motor fixing seat; Z-axis position adjustment rod 610 is provided with bar teeth that can mesh with Z-axis position adjustment gear 612; Z-axis position adjustment gear 612 is fixedly connected to the rotating shaft of Z-axis position adjustment motor 611 and meshes with the bar teeth on Z-axis position adjustment rod 610; The X-axis position adjustment rod 604 and the Y-axis position adjustment rod 607 are fixedly connected to the bottom surface of the second pan / tilt head bracket 603, and the X-axis position adjustment rod 604 and the Y-axis position adjustment rod 607 are arranged perpendicular to each other; four sets of Z-axis position adjustment rods 610 are fixedly connected to the X-axis motor fixing base and the Y-axis motor fixing base, respectively, and move synchronously with the X-axis position adjustment motor 605 and the Y-axis position adjustment motor 608; The vertical angle adjustment mechanism includes a vertical motor mounting base 613, a vertical angle adjustment motor 614, and a vertical angle adjustment bracket 615. The vertical motor mounting base 613 is fixedly connected to the Z-axis motor mounting base and moves synchronously with the Z-axis motor mounting base. The vertical angle adjustment motor 614 is fixedly connected to the vertical motor mounting base 613. The vertical angle adjustment bracket 615 is fixedly connected to the rotating shaft of the vertical angle adjustment motor 614 and rotates within the plane of the Z axis under the drive of the vertical angle adjustment motor 614. The lateral angle adjustment mechanism includes a lateral angle adjustment motor 616 and an instrument mounting base 617; the lateral angle adjustment motor 616 is fixedly connected to the vertical angle adjustment bracket 615 and moves synchronously with the vertical angle adjustment bracket 615; the instrument mounting base 617 is fixedly connected to the rotating shaft of the lateral angle adjustment motor 616 and rotates in a plane perpendicular to the Z axis under the drive of the lateral angle adjustment motor 616.

[0062] The pan-tilt system 6 utilizes two sets of X-axis position adjustment mechanisms, two sets of Y-axis position adjustment mechanisms, and four sets of Z-axis position adjustment mechanisms to simultaneously adjust the position in the X, Y, and Z directions. Furthermore, the vertical and horizontal angle adjustment mechanisms, acting in the vertical and horizontal planes, respectively, enable multi-position and multi-angle adjustment of the instrument mount 617. This allows the pan-tilt system's center of gravity to be adjusted based on the weight of the acquisition device, improving platform stability. Furthermore, the pan-tilt system can deform to serve as a platform support, reducing the number of components required. Example 2

[0063] Based on the same inventive concept, this embodiment provides a flight method for a variable-morphology vertical take-off and landing UAV platform, which utilizes the variable-morphology vertical take-off and landing UAV platform in Example 1 to perform flight, including: Before vertical take-off, the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, with the left flying wing structure 2 and the right flying wing structure 3 both in a "V"-shaped unfolded state.

[0064] The rotor structure 5 is powered on and takes off by relying on the lift it provides.

[0065] After taking off, the variable-morphology vertical take-off and landing UAV platform maintains a multi-rotor flight state or switches to a fixed-wing flight state and performs corresponding flight missions.

[0066] Before vertical landing, the variable-morphology vertical take-off and landing UAV platform continues to maintain the multi-rotor flight state or switches to the multi-rotor flight state, and gradually descends to the target landing location by relying on the lift provided by the rotor structure 5.

[0067] Specifically, the variable-morphability vertical take-off and landing UAV platform maintains the same shape before vertical takeoff and landing. Before vertical takeoff and landing, the deformation mechanism 7 drives the first left wing 201 and the second left wing 202, as well as the first right wing 301 and the second right wing 302, to separate. The first left wing's retractable mechanism drives the first left wing's movable portion 204 to at least partially retract into the first left wing's fixed portion 203, while the first right wing's retractable mechanism drives the first right wing's movable portion 304 to at least partially retract into the first right wing's fixed portion 303. The rotor angle adjustment motor 504 drives the rotor drive motor 502 and the rotor body 501 to rotate, causing the rotor bodies 501 corresponding to the first and second left wings 201 and 202 to face the ground, while the rotor bodies 501 corresponding to the first and second right wings 301 and 302 to face the sky. At this point, the first left wing 201, the second left wing 202, the first right wing 301, and the second right wing 302 form a scissor-like structure.

[0068] The dial 106 retracts the vertical tail structure 4 toward the fuselage 1. Driven by the tail retracting mechanism, the first tail movable portion 403 and the second tail movable portion 404 are at least partially retracted into the tail fixed portion 402. The rotor structure 5 provides flight power for the variable-morphability vertical take-off and landing UAV, and the variable-morphability vertical take-off and landing UAV takes off.

[0069] After the variable-morphology vertical take-off and landing UAV platform leaves the ground, the instrument mounting seat 617 is driven toward the ground through the position adjustment function of the X-direction position adjustment mechanism, the Y-direction position adjustment mechanism, and the Z-direction position adjustment mechanism in the gimbal system 6, as well as the angle adjustment function of the vertical angle adjustment mechanism and the lateral angle adjustment mechanism, and the variable-morphology vertical take-off and landing UAV platform enters the data collection state in a multi-rotor flight state.

[0070] At this time, the variable-morphology vertical take-off and landing UAV platform can maintain a multi-rotor flight state for vertical take-off, flight, and vertical landing.

[0071] In addition, after the variable-morphology vertical take-off and landing UAV platform is launched, the first left wing 201 and the second left wing 202 are brought together to form a closed left wing structure 2. The first right wing 301 and the second right wing 302 are brought together to form a closed right wing structure 3. The tail retractable motor 105, which is fixed with a dial 106, drives the vertical tail structure 4 to an extended state relative to the body 1. The tail retractable mechanism drives the first tail moving part 403 and the second tail moving part 404 to at least partially extend the tail fixed part 402. The rotor structure 5 provides flight power for the variable-morphology vertical take-off and landing UAV, and the variable-morphology vertical take-off and landing UAV platform enters the data collection state in a fixed-wing flight state.

[0072] Before the variable-morphology vertical take-off and landing UAV platform lands, the fixed-wing flight state is switched to the multi-rotor flight state in the reverse order, and the variable-morphology vertical take-off and landing UAV platform lands.

[0073] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0075] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0076] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A variable-shape vertical take-off and landing UAV platform, characterized in that: The variable-morphology vertical take-off and landing UAV platform is capable of being in a multi-rotor flight state and a fixed-wing flight state, including: body; A flying wing structure; the flying wing structure is hinged to the body in the horizontal direction, and includes a left flying wing structure that can be expanded and closed along the horizontal plane and a right flying wing structure that can be expanded and closed along the horizontal plane; the left flying wing structure and the right flying wing structure are symmetrically arranged on both sides of the body; Deformation mechanism; the deformation mechanism is configured to drive the left wing structure and the right wing structure to switch between an expanded state and a closed state; Rotor structure; the rotor structure is fixedly connected to the flying wing structure and is configured to provide flight power for the variable-form vertical take-off and landing UAV platform; a vertical tail structure; the vertical tail structure is slidably connected to the fuselage and can be in a retracted state or an extended state relative to the fuselage; the vertical tail structure includes a horizontal tail, which is parallel to the flying wing structure when in fixed-wing flight and is symmetrically arranged along the centerline of the fuselage; The pan-tilt system is arranged at the lower part of the machine body and is fixedly connected to the machine body; Control system; the control system is configured to realize switching control of the variable-morphology vertical take-off and landing UAV platform between a multi-rotor flight state and a fixed-wing flight state and to realize flight control of the variable-morphology vertical take-off and landing UAV platform; When the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, the left flying wing structure and the right flying wing structure are both in a "V"-shaped expanded state; the vertical tail structure is in a retracted state, and the horizontal tail is located within the orthographic projection plane of the body; When the variable-morphology vertical take-off and landing UAV platform is in a fixed-wing flight state, the left flying wing structure and the right flying wing structure are both in a closed state, and the left flying wing structure and the right flying wing structure are symmetrically arranged on the left and right sides of the flight direction; the vertical tail structure is in an extended state, and the horizontal tail is higher than the upper surface of the fuselage.

2. The variable-morphology vertical take-off and landing UAV platform according to claim 1, characterized in that: The left wing structure includes a first left wing and a second left wing that can be expanded and closed along a horizontal plane; the right wing structure includes a first right wing and a second right wing that can be expanded and closed along a horizontal plane; When the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, the first left flying wing and the second left flying wing are in a "V"-shaped unfolded state, the first right flying wing and the second right flying wing are in a "V"-shaped unfolded state, and the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing form a scissors-type structure; the first left flying wing and the second right flying wing are symmetrically arranged on both sides of the fuselage, and the second left flying wing and the first right flying wing are symmetrically arranged on both sides of the fuselage.

3. The variable-morphology vertical take-off and landing UAV platform according to claim 2, characterized in that: The rotor structure consists of four parts, which are respectively fixedly connected to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing.

4. The variable-morphology vertical take-off and landing UAV platform according to claim 3, characterized in that: Each of the rotor structures includes a rotor body, a rotor drive motor and a rotor angle adjustment motor; the four rotor angle adjustment motors are respectively fixedly connected relative to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing; the rotor drive motor is fixedly connected relative to the rotating part of the rotor angle adjustment motor; the rotor body is fixedly connected to the rotating part of the rotor drive motor; the rotor angle adjustment motor is configured to drive the rotor drive motor and the rotor body to rotate in a vertical plane to achieve thrust direction adjustment.

5. The variable-morphology vertical take-off and landing UAV platform according to any one of claims 2 to 4, characterized in that: The first left wing includes a first left wing fixed portion, a first left wing movable portion, and a first left wing retractable mechanism; the first left wing movable portion is slidably connected to the first left wing fixed portion and can move toward a side close to the second left wing; The first left wing fixed portion has a first left wing accommodating chamber inside; the first left wing movable portion is disposed in the first left wing accommodating chamber and is slidably connected to the first left wing fixed portion; the first left wing retractable mechanism is disposed in the first left wing accommodating chamber and drives the first left wing movable portion to slide relative to the first left wing fixed portion; The first right flying wing includes a first right flying wing fixing portion, a first right flying wing moving portion and a first right flying wing telescopic mechanism; The first right wing movable portion is slidably connected to the first right wing fixed portion and is capable of moving toward a side close to the second right wing; The first right wing fixing part has a first right wing accommodating cavity inside; the first right wing movable part is arranged in the first right wing accommodating cavity and is slidably connected to the first right wing fixing part; the first right wing telescopic mechanism is arranged in the first right wing accommodating cavity, driving the first right wing movable part to slide relative to the first right wing fixing part.

6. The variable-morphology vertical take-off and landing UAV platform according to claim 2, characterized in that: The deformation mechanism consists of four parts, each of which includes a deformation stepping motor frame, a deformation stepping motor and a screw pin; the rotating part of the deformation stepping motor is fixed with a threaded rod concentrically arranged with the motor shaft; one end of the deformation stepping motor frame is hinged to the body, and the deformation stepping motor is fixedly connected to the other end of the deformation stepping motor frame; the screw pin is threadedly connected to the threaded rod; the four screw pins are respectively hinged to the first left flying wing, the second left flying wing, the first right flying wing and the second right flying wing.

7. The variable-morphology vertical take-off and landing UAV platform according to claim 1, characterized in that: The vertical tail structure includes two sliding vertical tails for fixing the horizontal tail; the two sliding vertical tails are arranged in parallel; the two sliding vertical tails are respectively arranged on the two outer sides of the body and are slidably connected; A tail slide is provided on the outer side of the fuselage; a slider adapted to the tail slide is provided on the sliding vertical tail on the side close to the fuselage, and the slider is slidingly connected to the tail slide; a plurality of tooth grooves are provided on the sliding vertical tail on the side away from the fuselage, and the plurality of tooth grooves are located on a straight line parallel to the tail slide; a tail telescopic motor is fixedly connected to the fuselage, and a thumbwheel connected to the tooth groove transmission is fixed on the rotating shaft of the tail telescopic motor.

8. The variable-morphology vertical take-off and landing UAV platform according to claim 7, characterized in that: The horizontal tail is a telescopic structure, including a tail fixed part and two tail movable parts arranged in a collinear manner, and the tail fixed part and the tail movable part are arranged in a collinear manner; a tail cavity is provided inside the tail fixed part to accommodate the two tail movable parts, and the tail movable part is slidably arranged in the tail cavity; the tail movable part can be at least partially extended or retracted into the tail cavity under the drive of the tail telescopic mechanism.

9. The variable-shape vertical take-off and landing UAV platform according to claim 1, characterized in that: The pan / tilt system is fixedly connected to the body, and includes a pan / tilt first bracket, a shock-absorbing rubber block, a pan / tilt second bracket, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting seat, and two sets of X-axis position adjustment mechanisms, two sets of Y-axis position adjustment mechanisms, and four sets of Z-axis position adjustment mechanisms; Two groups of the Z-direction position adjustment mechanisms are respectively connected to the two groups of the X-direction position adjustment mechanisms and move synchronously with the X-direction position adjustment mechanisms; the other two groups of the Z-direction position adjustment mechanisms are respectively connected to the two groups of the Y-direction position adjustment mechanisms and move synchronously with the Y-direction position adjustment mechanisms; The vertical angle adjustment mechanism is connected to the Z-direction position adjustment mechanism and rises and falls synchronously with the Z-direction position adjustment mechanism; The lateral angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates along with the vertical angle adjustment mechanism in a plane parallel to the Z axis; The lateral angle adjustment mechanism can rotate on its own, and the instrument mounting seat is connected to the lateral angle adjustment mechanism and rotates with the lateral angle adjustment mechanism in a plane perpendicular to the Z axis; the lateral angle adjustment mechanism includes an instrument mounting seat for mounting a sensor.

10. A method for flying a variable-morphology vertical take-off and landing UAV platform, characterized in that: Flying using the variable-morphology vertical take-off and landing UAV platform according to any one of claims 1 to 9, comprising: Before vertical takeoff, the variable-morphology vertical take-off and landing UAV platform is in a multi-rotor flight state, with both the left and right flying wing structures in a "V" shape. The rotor structure is powered on and takes off into the air relying on the lift it provides; After taking off, the variable-morphology vertical take-off and landing UAV platform maintains a multi-rotor flight state or switches to a fixed-wing flight state and performs the corresponding flight mission; Before vertical landing, the variable-morphology vertical take-off and landing UAV platform continues to maintain a multi-rotor flight state or switches to a multi-rotor flight state, relying on the lift provided by the rotor structure to gradually descend to the target landing location.

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