A variable-mode vertical take-off and landing unmanned aerial vehicle platform and its flight method

Abstract

This invention discloses a variable-mode VTOL (vertical takeoff and landing) unmanned aerial vehicle (UAV) platform and its flight method. The platform can operate in both multi-rotor and fixed-wing flight modes, and includes: a fuselage, a flying wing structure, a morphing mechanism, a rotor structure, a vertical tail structure, a gimbal system, and a control system. The flying wing structure comprises a left flying wing and a right flying wing structure capable of deploying and closing along a horizontal plane. The morphing mechanism drives the left and right flying wing structures to switch between deployed and closed states. The rotor structure provides flight propulsion. The control system enables switching between multi-rotor and fixed-wing flight modes and provides overall flight control. This invention can operate in both multi-rotor and fixed-wing flight modes, simultaneously meeting the requirements of vertical takeoff and landing, long-distance and long-duration operations, and enabling hovering at any time, exhibiting good environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) data acquisition technology, and in particular to a variable-form vertical take-off and landing (VTOL) UAV platform and its flight method. Background Technology

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

[0003] Multi-rotor drones have the advantages of being unrestricted by location 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] Because multi-rotor drones have a wide range of applications, especially in special fields such as agriculture, forestry, and power line inspection where take-off and landing environments are diverse, the aircraft needs to meet the requirements of vertical take-off and landing, long-distance and long-duration operation, and the ability to hover at any time. Existing multi-rotor drones cannot meet these requirements.

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

[0006] To address the aforementioned technical issues, this application provides a variable-mode vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) platform capable of operating in both multi-rotor and fixed-wing flight modes. It can simultaneously meet the requirements of vertical take-off and landing, long-distance and long-duration operations, and can also hover at any time, exhibiting good environmental adaptability.

[0007] A variable-mode vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) platform, capable of operating in both multi-rotor and fixed-wing flight modes, includes:

[0008] Organism;

[0009] A flying wing structure; the flying wing structure is hinged to the fuselage in the horizontal direction, including a left flying wing structure that can be deployed and closed along the horizontal plane and a right flying wing structure that can be deployed 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 fuselage;

[0010] A morphing mechanism; the morphing mechanism is configured to drive the left flying wing structure and the right flying wing structure to switch between an deployed state and a closed state;

[0011] Rotor structure; the rotor structure is fixedly connected to the flying wing structure and configured to provide flight power for the variable-form vertical take-off and landing unmanned aerial vehicle platform;

[0012] Vertical tail structure; the vertical tail structure is slidably connected to the fuselage and can be in a retracted or extended state relative to the fuselage; the vertical tail structure includes a horizontal tail fin, which is parallel to the flying wing structure when in fixed-wing flight state and is symmetrically arranged along the centerline of the fuselage.

[0013] A gimbal system; the gimbal system is located at the lower part of the body and is fixedly connected to the body.

[0014] Control system; the control system is configured to switch the variable-mode vertical take-off and landing unmanned aerial vehicle platform between multi-rotor flight mode and fixed-wing flight mode, and to realize the flight control of the variable-mode vertical take-off and landing unmanned aerial vehicle platform;

[0015] When the variable-mode vertical takeoff and landing UAV platform is in multi-rotor flight mode, both the left and right flying wing structures are in a "V"-shaped deployment state; the vertical tail structure is in a retracted state, and the horizontal tail is located within the frontal projection plane of the fuselage.

[0016] When the variable-mode vertical take-off and landing UAV platform is in fixed-wing flight mode, both the left and right flying wing structures are in a closed state, and the left and right flying wing structures 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 fin is higher than the upper surface of the fuselage.

[0017] Preferably, the left flying wing structure includes a first left flying wing and a second left flying wing capable of deploying and closing along a horizontal plane; the right flying wing structure includes a first right flying wing and a second right flying wing capable of deploying and closing along a horizontal plane.

[0018] When the variable-mode vertical take-off and landing unmanned aerial vehicle platform is in multi-rotor flight mode, the first left flying wing and the second left flying wing are deployed in a "V" shape, and the first right flying wing and the second right flying wing are deployed in a "V" shape. The first left flying wing, the second left flying wing, the first right flying wing, and the second right flying wing form a scissor structure. The first left flying wing and the second right flying wing are symmetrically arranged on both sides of the body.

[0019] Preferably, the rotor structure consists of four parts, which are fixedly connected to the first left wing, the second left wing, the first right wing, and the second right wing, respectively.

[0020] Preferably, each rotor structure includes a rotor body, a rotor drive motor, and a rotor angle adjustment motor; the four rotor angle adjustment motors are fixedly connected to the first left wing, the second left wing, the first right wing, and the second right wing, respectively; the rotor drive motor is fixedly connected 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.

[0021] Preferably, the first left wing includes a first left wing fixing part, a first left wing moving part, and a first left wing telescopic mechanism; the first left wing moving part is slidably connected relative to the first left wing fixing part and can move towards the side closer to the second left wing;

[0022] The first left wing fixing part has a first left wing receiving cavity inside; the first left wing moving part is disposed in the first left wing receiving cavity and is slidably connected to the first left wing fixing part; the first left wing telescopic mechanism is disposed in the first left wing receiving cavity and drives the first left wing moving part to slide relative to the first left wing fixing part.

[0023] The first right flying wing includes a first right flying wing fixed part, a first right flying wing movable part, and a first right flying wing telescopic mechanism; the first right flying wing movable part is slidably connected relative to the first right flying wing fixed part and can move towards the side closer to the second right flying wing;

[0024] The first right wing fixing part has a first right wing receiving cavity inside; the first right wing moving part is disposed in the first right wing receiving cavity and is slidably connected to the first right wing fixing part; the first right wing telescopic mechanism is disposed in the first right wing receiving cavity and drives the first right wing moving part to slide relative to the first right wing fixing part.

[0025] Preferably, the deformation mechanism comprises four parts, each including a deformation stepper motor frame, a deformation stepper motor, and a screw pin; the rotating part of the deformation stepper motor is fixedly provided with a threaded rod concentrically arranged with the motor shaft; one end of the deformation stepper motor frame is hinged to the body, and the deformation stepper motor is fixedly connected to the other end of the deformation stepper motor frame; the screw pin is threadedly connected to the threaded rod; the four screw pins are respectively hinged to the first left wing, the second left wing, the first right wing, and the second right wing.

[0026] Preferably, the vertical tail structure includes two sliding vertical tails for fixing the horizontal tail fin; the two sliding vertical tails are arranged in parallel; the two sliding vertical tails are respectively disposed on two outer sides of the fuselage and slidably connected.

[0027] The outer side of the fuselage is provided with a tail fin slide rail; a slider adapted to the tail fin slide rail is provided on the sliding vertical tail on the side closer to the fuselage, and the slider is slidably connected to the tail fin slide rail; a plurality of toothed grooves are provided on the sliding vertical tail on the side away from the fuselage, and the plurality of toothed grooves are located on a straight line parallel to the tail fin slide rail; the tail fin telescopic motor is fixedly connected to the fuselage, and a dial wheel that is drivenly connected to the toothed grooves is fixed on the rotating shaft of the tail fin telescopic motor.

[0028] Preferably, the horizontal tail fin is a telescopic structure, including a tail fin fixing part and two tail fin moving parts arranged collinearly, the tail fin fixing part and the tail fin moving parts being arranged collinearly; the tail fin fixing part has a tail fin cavity inside to accommodate the two tail fin moving parts, and the tail fin moving parts are slidably disposed in the tail fin cavity; the tail fin moving parts can extend or retract into the tail fin cavity at least partially under the drive of the tail fin telescopic mechanism.

[0029] Preferably, the gimbal system is fixedly connected to the body and includes a gimbal first bracket, a shock-absorbing rubber block, a gimbal second bracket, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting base, 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.

[0030] The two sets of Z-axis position adjustment mechanisms are respectively connected to the two sets of X-axis position adjustment mechanisms and move synchronously with the X-axis position adjustment mechanisms; the other two sets of Z-axis position adjustment mechanisms are respectively connected to the two sets of Y-axis position adjustment mechanisms and move synchronously with the Y-axis position adjustment mechanisms.

[0031] The vertical angle adjustment mechanism is connected to the Z-axis position adjustment mechanism and rises and falls synchronously with the Z-axis position adjustment mechanism.

[0032] The lateral angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates with the vertical angle adjustment mechanism in a plane parallel to the Z-axis.

[0033] The lateral angle adjustment mechanism is capable of rotation, and the instrument mounting base 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 base for mounting sensors.

[0034] According to another aspect of this application, a flight method for a variable-mode vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) platform is also provided, comprising:

[0035] Before vertical takeoff, the variable-mode vertical takeoff and landing UAV platform is in multi-rotor flight mode, with both the left and right flying wing structures in a "V" shaped unfolded state.

[0036] The rotor structure is powered, and it takes off and ascends by relying on the lift it provides.

[0037] After takeoff, the variable-mode vertical takeoff and landing UAV platform maintains multi-rotor flight mode or switches to fixed-wing flight mode and performs corresponding flight missions.

[0038] Before vertical landing, the variable-mode vertical take-off and landing UAV platform continues to maintain multi-rotor flight mode or switches to multi-rotor flight mode, relying on the lift provided by the rotor structure to gradually descend to the target landing site.

[0039] Compared with the prior art, this application has at least the following beneficial effects:

[0040] 1. This invention can operate in both multi-rotor and fixed-wing flight modes, simultaneously meeting the requirements for vertical take-off and landing, long-distance and long-duration operations, and can also hover at any time, exhibiting good environmental adaptability.

[0041] 2. The flying wing structure and vertical tail structure of the present invention are telescopic, which can reduce the platform's drag and improve its stability when flying in multi-rotor mode. By transforming into a fixed wing mode, the platform's endurance can be increased.

[0042] 3. The gimbal system of the present invention can be mounted on a variety of acquisition devices and can be flexibly combined according to needs. Up to four acquisition devices can be mounted at the same time.

[0043] 4. The gimbal system of the present invention can adjust the center of gravity of the gimbal according to the weight of the acquisition device, thereby improving the stability of the platform. At the same time, the gimbal can act as a support for the platform by deformation, reducing the overall structure. Attached Figure Description

[0044] The following sections will describe some specific embodiments of the invention in a detailed manner by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0045] Figure 1 This is a structural schematic diagram of the fixed-wing flight state of the variable-form vertical take-off and landing unmanned aerial vehicle platform of the present invention;

[0046] Figure 2 for Figure 1 A magnified view of a portion of position A in the middle;

[0047] Figure 3This is a structural schematic diagram of the multi-rotor flight state of the variable-mode vertical take-off and landing unmanned aerial vehicle platform of the present invention;

[0048] Figure 4 This is a schematic diagram of the connection structure between the body and the vertical tail structure of the present invention;

[0049] 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;

[0050] 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;

[0051] Figure 7 This is a schematic diagram of the structure of the first left-wing telescopic mechanism of the present invention;

[0052] Figure 8 A schematic diagram of the gimbal system of the present invention from a first-view perspective;

[0053] Figure 9 A schematic diagram of the second-view structure of the gimbal system of the present invention.

[0054] The above figures include the following reference numerals:

[0055] 1. Airframe; 2. Left wing structure; 3. Right wing structure; 4. Vertical tail structure; 5. Rotor structure; 6. Gimbal system; 7. Transformation mechanism;

[0056] 101. Frame body; 102. Wing mounting base; 103. Deformation mechanism mounting base; 104. Tail fin slide rail; 105. Tail fin telescopic motor; 106. Dial wheel; 107. Positioning receiver;

[0057] 201. First left wing; 202. Second left wing; 203. Fixed part of the first left wing; 204. Moving part of the first left wing; 205. Hinge of the first left wing;

[0058] 206. First left wing telescopic mechanism; 207. First telescopic boom; 208. First oil pump; 209. Oil tank; 210. Second oil pump; 211. Second telescopic boom;

[0059] 301. First right flying wing; 302. Second right flying wing; 303. Fixed part of the first right flying wing; 304. Moving part of the first right flying wing; 305. Hinge shaft of the first right flying wing;

[0060] 401. Horizontal tail fin; 402. Tail fin fixed part; 403. First tail fin movable part; 404. Second tail fin movable part; 405. Sliding vertical tail; 406. Tooth groove;

[0061] 501. Rotor body; 502. Rotor drive motor; 503. Rotor drive motor bracket; 504. Rotor angle adjustment motor;

[0062] 601. First gimbal support; 602. Shock-absorbing rubber block; 603. Second gimbal support; 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;

[0063] 613. Vertical motor mounting bracket; 614. Vertical angle adjustment motor; 615. Vertical angle adjustment bracket; 616. Horizontal angle adjustment motor; 617. Instrument mounting base;

[0064] 701. Modular stepper motor frame; 702. Modular stepper motor; 703. Threaded rod; 704. Threaded pin. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Example 1

[0066] like Figure 1-9 As shown, a variable-mode vertical take-off and landing unmanned aerial vehicle (UAV) platform is capable of operating in both multi-rotor and fixed-wing flight modes. It includes: a fuselage 1, a flying wing structure, a transforming mechanism 7, a rotor structure 5, a vertical tail structure 4, a gimbal system 6, and a control system.

[0067] The flying wing structure is hinged to the fuselage 1 in the horizontal direction, including a left flying wing structure 2 that can be deployed and closed along the horizontal plane and a right flying wing structure 3 that can be deployed and closed along the horizontal plane. The left flying wing structure 2 and the right flying wing structure 3 are symmetrically arranged on the left and right sides of the fuselage 1.

[0068] The deformation mechanism 7 is configured to drive the left flying wing structure 2 and the right flying wing structure 3 to switch between the deployed state and the closed state.

[0069] The rotor structure 5 is fixedly connected to the flying wing structure, and is configured to provide flight power for a variable-form vertical take-off and landing unmanned aerial vehicle platform.

[0070] 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 mode and symmetrically arranged along the centerline of the fuselage 1.

[0071] The gimbal system 6 is located at the lower part of the body 1 and is fixedly connected to the body 1.

[0072] The control system is configured to enable the variable-mode vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) platform to switch between multi-rotor and fixed-wing flight modes, as well as to achieve flight control of the VTOL UAV platform.

[0073] When the variable-mode vertical takeoff and landing unmanned aerial vehicle platform is in multi-rotor flight mode, both the left flying wing structure 2 and the right flying wing structure 3 are in a "V"-shaped deployment state. At this time, the vertical tail structure 4 is in a retracted state, and the horizontal tail fin 401 is located within the frontal projection plane of the fuselage 1.

[0074] When the variable-mode vertical take-off and landing UAV platform is in fixed-wing flight mode, the left flying wing structure 2 and the right flying wing structure 3 are both in closed state. The left flying wing structure 2 and the right flying 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 fuselage 1.

[0075] The left flying wing structure 2 includes a first left flying wing 201 and a second left flying wing 202 that can be deployed and closed along a horizontal plane, and the right flying wing structure 3 includes a first right flying wing 301 and a second right flying wing 302 that can be deployed and closed along a horizontal plane.

[0076] When the variable-form vertical takeoff and landing (VTOL) UAV platform is in multi-rotor flight mode, the first left wing 201 and the second left wing 202 are deployed in a "V" shape, as are the first right wing 301 and the second right wing 302. 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 positioned on both sides of the fuselage 1, and the second left wing 202 and the first right wing 301 are symmetrically positioned on both sides of the fuselage 1. This symmetrical arrangement effectively maintains the balance of the variable-form VTOL UAV platform.

[0077] 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.

[0078] Each rotor structure 5 includes a rotor body 501, a rotor drive motor 502, and a rotor angle adjustment motor 504. 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 part 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 part of the rotor drive motor 502. The rotor angle adjustment motors 504 are configured to drive the rotor drive motor 502 and the rotor body 501 to rotate in the vertical plane, thereby adjusting the thrust direction and ensuring sufficient power for the variable-mode vertical take-off and landing UAV platform in both multi-rotor and fixed-wing flight modes.

[0079] The fuselage 1 includes a frame body 101. A wing mounting base 102 and a transformation mechanism mounting base 103 are provided on the outer wall of the frame body 1. Both the wing mounting base 102 and the transformation mechanism mounting base 103 are protruding structures on the fuselage 1, used to fix the wing structure and the transformation mechanism 7, respectively. There are two sets of wing mounting bases 102 at the front and two sets at the rear of the fuselage 1, and two sets of transformation mechanism mounting bases 103 at the front and two sets at the rear of the fuselage 1. Both the wing mounting base 102 and the transformation mechanism mounting base 103 are provided with hinge holes.

[0080] In addition, the housing 1 also includes a positioning receiver 107 fixedly connected to the frame 101. The positioning receiver 107 is threadedly mounted at the upper center of the housing 1. The positioning receiver 107 is rotatable to assist in securing the battery.

[0081] Furthermore, the first left wing 201 includes a first left wing fixing part 203, a first left wing moving part 204 and a first left wing telescopic mechanism 206. The first left wing moving part 204 is slidably connected to the first left wing fixing part 203 and can move towards the side closer to the second left wing 202 under the drive of the first left wing telescopic mechanism 206.

[0082] Specifically, the first left wing fixing part 203 is hinged to the wing fixing seat 102 via the first left wing hinge shaft 205. The first left wing fixing part 203 has a first left wing receiving cavity inside; the first left wing moving part 204 is disposed in the first left wing receiving cavity and is slidably connected to the first left wing fixing part 203. The first left wing telescopic mechanism 206 is disposed in the first left wing receiving cavity and is used to drive the first left wing moving part 204 to slide relative to the first left wing fixing part 203, so as to realize the telescopic movement of the first left wing 201 in the width direction.

[0083] In this embodiment, the first left wing telescopic mechanism 206 includes a first telescopic rod 207, a second telescopic rod 211, and a first oil pump 208, an oil tank 209, and a second oil pump 210 that supply hydraulic fluid to the first telescopic rod 207 and the second telescopic rod 211. The first telescopic rod 207 and the second telescopic rod 211 are parallel to each other and are both arranged along the sliding direction of the first left wing moving part 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 to or hinged to the first left wing fixing part 203, and the other end is fixedly connected to or hinged to the first left wing moving part 204. Similarly, one end of the first telescopic rod 207 is fixedly connected to or hinged to the first left wing fixing part 203, and the other end is fixedly connected to or hinged to the first left wing moving part 204. By relying on the telescopic action of the first telescopic rod 207 and the second telescopic rod 211, the first left flying wing moving part 204 can be effectively driven to slide relative to the first left flying wing fixed part 203.

[0084] It should be noted that this solution does not limit the structure of the first left wing telescopic mechanism 206. Any mechanism capable of autonomous telescopic movement can be applied to this solution to drive the first left wing moving part 204 to telescopically move 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.

[0085] 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 slidably connected to the first right wing fixing part 303 and can move towards the side closer to the second right wing 302 under the drive of the first right wing telescopic mechanism.

[0086] Specifically, the first right wing fixing part 303 is hinged to the wing fixing seat 102 via the first right wing hinge shaft 305. The first right wing fixing part 303 has a first right wing receiving cavity inside, and the first right wing moving part 304 is disposed within the first right wing receiving cavity and slidably connected to the first right wing fixing part 303. A first right wing telescopic mechanism is disposed within the first right wing receiving cavity and is used to drive the first right wing moving part 304 to slide relative to the first right wing fixing part 303, thereby realizing the telescopic movement of the first right wing 301 in the width direction.

[0087] The structure and working principle of the first right flying wing telescopic mechanism are the same as those of the first left flying wing telescopic mechanism 206, and will not be described again here.

[0088] In addition, the second left flying wing 202 and the second right flying wing 302 are also hinged to the fuselage 1 via the flying wing mounting base 102. At the same time, they can rotate horizontally relative to the fuselage 1 under the drive of the deformation mechanism 7, realizing the deployment and closure of the left flying wing structure 2 and the right flying wing structure 3, thereby realizing a variable-mode vertical take-off and landing unmanned aerial vehicle platform that can be in multi-rotor flight mode and fixed-wing flight mode.

[0089] There are four transformation 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 in the horizontal direction relative to the body 1.

[0090] Specifically, each deformable mechanism 7 includes a deformable stepper motor frame 701, a deformable stepper motor 702, and a threaded pin 704. The rotating part of the deformable stepper motor 702 is fixedly provided with a threaded rod 703 concentrically arranged with the motor shaft. One end of the deformable stepper motor frame 701 is hinged to the body 1 via a deformable mechanism fixing seat 103, and the deformable stepper motor 702 is fixedly connected to the other end of the deformable stepper motor frame 701. The threaded pin 704 is threadedly connected to the threaded rod 703, allowing the threaded pin 704 to move back and forth relative to the threaded rod 703 when the threaded rod 703 rotates. The four threaded 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 stepper motor 702, the screw pin 704 moves back and forth 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 in the horizontal direction relative to the body 1.

[0091] It should be noted that during the unfolding 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.

[0092] In multi-rotor flight mode, the first left flying wing moving part 204 is at least partially retracted into the first left flying wing fixed part 203, and the first right flying wing moving part 304 is at least partially retracted into the first right flying wing fixed part 303, effectively reducing flight drag during flight.

[0093] In fixed-wing flight mode, the first left flying wing movable part 204 extends at least partially from the first left flying wing fixed part 203, and the first right flying wing movable part 304 extends at least partially from the first right flying wing fixed part 303. At this time, the second left flying wing 202, the first left flying wing fixed part 203, and the first left flying wing movable part 204 are joined together to form a closed left flying wing structure 2, and the second right flying wing 302, the first right flying wing fixed part 303, and the first right flying wing movable part 304 are joined together to form a closed right flying wing structure 3. The closed left flying wing structure 2 and the right flying wing structure 3 can provide lift to achieve level flight of the variable-form vertical take-off and landing unmanned aerial vehicle platform.

[0094] 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 slidably connected to the two outer sides of the fuselage 1.

[0095] Specifically, a tail fin slide rail 104 is provided on the outer side of the fuselage 1. A slider adapted to the tail fin slide rail 104 is provided on the sliding vertical tail 405 on the side closer to the fuselage 1. The slider is placed in the tail fin slide rail 104 and slidably connected to the tail fin slide rail 104. A plurality of toothed grooves 406 are provided on the sliding vertical tail 405 on the side away from the fuselage 1. The toothed grooves 406 are located on a straight line parallel to the tail fin slide rail 104. The tail fin telescopic motor 105 is fixedly connected to the fuselage 1, and a dial 106 that is drivenly connected to the toothed grooves 406 is fixed on the rotating shaft of the tail fin telescopic motor 105.

[0096] Furthermore, the horizontal stabilizer 401 is a telescopic structure, including a collinearly arranged stabilizer fixed part 402, a first stabilizer movable part 403, and a second stabilizer movable part 404. The stabilizer fixed part 402 has a stabilizer cavity that accommodates the first stabilizer movable part 403 and the second stabilizer movable part 404. The first stabilizer movable part 403 and the second stabilizer movable part 404 are slidably connected to the stabilizer cavity and are located on the left and right sides of the stabilizer fixed part 402, respectively. The stabilizer movable part can extend or retract into the stabilizer cavity at least partially under the drive of the stabilizer telescopic mechanism, effectively reducing flight drag.

[0097] The gimbal system 6 is fixedly connected to the body 1 and includes a gimbal first bracket 601, a shock-absorbing rubber block 602, a gimbal second bracket 603, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting base 617, 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.

[0098] Two sets of Z-axis position adjustment mechanisms are connected to two sets of X-axis position adjustment mechanisms respectively, and move synchronously with the X-axis position adjustment mechanisms; the other two sets of Z-axis position adjustment mechanisms are connected to two sets of Y-axis position adjustment mechanisms respectively, and move synchronously with the Y-axis position adjustment mechanisms.

[0099] The vertical angle adjustment mechanism is connected to the Z-axis position adjustment mechanism and rises and falls synchronously with the Z-axis position adjustment mechanism.

[0100] The horizontal angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates with the vertical angle adjustment mechanism in a plane parallel to the Z-axis.

[0101] The lateral angle adjustment mechanism is capable of rotation. The instrument mounting base 617 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 base for mounting sensors.

[0102] Specifically, the gimbal system 6 includes a gimbal first support 601, a shock-absorbing rubber block 602, a gimbal second support 603, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, 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.

[0103] The first gimbal bracket 601 is fixedly connected to the body 1; the shock-absorbing rubber block 602 is fixedly installed between the first gimbal bracket 601 and the second gimbal bracket 603, with its upper end fixedly connected to the first gimbal bracket 601 and its lower end fixedly connected to the second gimbal bracket 603.

[0104] 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 mounting base; the X-axis position adjustment rod 604 is provided with a strip tooth 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 strip tooth on the X-axis position adjustment rod 604;

[0105] 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 mounting base; the Y-axis position adjustment rod 607 is provided with a strip tooth 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 strip tooth on the Y-axis position adjustment rod 607;

[0106] The Z-axis position adjustment mechanism includes a Z-axis position adjustment rod 610, a Z-axis position adjustment motor 611, a Z-axis position adjustment gear 612, and a Z-axis motor mounting base. The Z-axis position adjustment rod 610 is provided with a strip tooth that can mesh with the Z-axis position adjustment gear 612. The Z-axis position adjustment gear 612 is fixedly connected to the rotating shaft of the Z-axis position adjustment motor 611 and meshes with the strip tooth on the Z-axis position adjustment rod 610.

[0107] The X-axis position adjustment rod 604 and the Y-axis position adjustment rod 607 are both fixedly connected to the bottom surface of the second gimbal bracket 603, and the X-axis position adjustment rod 604 and the Y-axis position adjustment rod 607 are set perpendicular to each other; the four sets of Z-axis position adjustment rods 610 are fixedly connected to the X-axis motor mounting base and the Y-axis motor mounting base respectively, and move synchronously with the X-axis position adjustment motor 605 and the Y-axis position adjustment motor 608 respectively.

[0108] The vertical angle adjustment mechanism includes a vertical motor mounting base 613, a vertical angle adjusting motor 614, and a vertical angle adjusting 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 adjusting motor 614 is fixedly connected to the vertical motor mounting base 613. The vertical angle adjusting bracket 615 is fixedly connected to the rotating shaft of the vertical angle adjusting motor 614 and rotates in the plane of the Z-axis under the drive of the vertical angle adjusting motor 614.

[0109] 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 rotation 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.

[0110] The gimbal system 6, relying on 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, can simultaneously adjust its position in the X, Y, and Z directions. Simultaneously, through the vertical and horizontal angle adjustment mechanisms on the vertical and horizontal planes respectively, the instrument mounting base 617 can be adjusted to multiple positions and angles. This allows for adjustment of the gimbal's center of gravity according to the weight of the data acquisition device, improving platform stability. Furthermore, the gimbal can deform to serve as a platform support, reducing the overall structural complexity. Example 2

[0111] Based on the same inventive concept, this embodiment provides a flight method for a variable-mode vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) platform, utilizing the variable-mode VTOL UAV platform in Embodiment 1 for flight, including:

[0112] Before vertical takeoff, the variable-mode vertical takeoff and landing UAV platform is in multi-rotor flight mode, with both the left flying wing structure 2 and the right flying wing structure 3 in a "V"-shaped deployment state.

[0113] The rotor structure 5 is powered on, and takes off using the lift it provides.

[0114] After takeoff, the variable-mode vertical takeoff and landing UAV platform maintains multi-rotor flight mode or switches to fixed-wing flight mode and performs corresponding flight missions.

[0115] Before vertical landing, the variable-mode vertical take-off and landing UAV platform continues to maintain multi-rotor flight mode or switches to multi-rotor flight mode, and gradually descends to the target landing site by relying on the lift provided by the rotor structure 5.

[0116] Specifically, the variable-form vertical takeoff and landing (VTOL) UAV platform has the same shape before vertical takeoff and before vertical landing. Before vertical takeoff and before vertical landing, the deformation mechanism 7 drives the separation between the first left wing 201 and the second left wing 202, and between the first right wing 301 and the second right wing 302. The first left wing telescopic mechanism drives the first left wing moving part 204 to retract at least partially into the first left wing fixed part 203, and the first right wing telescopic mechanism drives the first right wing moving part 304 to retract at least partially into the first right wing fixed part 303. The rotor angle adjustment motor 504 drives the rotor drive motor 502 and the rotor body 501 to rotate, so that the rotor bodies 501 corresponding to the first left wing 201 and the second left wing 202 face the ground, and the rotor bodies 501 corresponding to the first right wing 301 and the second right wing 302 face the sky. 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 structure.

[0117] The dial 106 retracts the vertical tail structure 4 towards the fuselage 1. Driven by the tail fin telescopic mechanism, the first tail fin moving part 403 and the second tail fin moving part 404 are at least partially retracted into the tail fin fixed part 402. The rotor structure 5 provides flight power for the variable-mode vertical take-off and landing UAV, enabling the UAV to take off.

[0118] After the variable-mode vertical take-off and landing UAV platform leaves the ground, the position adjustment mechanism of the X-axis position adjustment mechanism, the Y-axis position adjustment mechanism and the Z-axis position adjustment mechanism in the gimbal system 6, as well as the angle adjustment mechanism of the vertical angle adjustment mechanism and the horizontal angle adjustment mechanism, drive the instrument mounting base 617 toward the ground, and the variable-mode vertical take-off and landing UAV platform enters the data acquisition state in multi-rotor flight mode.

[0119] At this point, the variable-mode vertical takeoff and landing (VTOL) UAV platform can maintain a multi-rotor flight state for vertical takeoff, flight, and vertical landing.

[0120] Furthermore, after takeoff, the variable-form vertical takeoff and landing (VTOL) UAV platform brings together the first left wing 201 and the second left wing 202 to form a closed left wing structure 2, and the first right wing 301 and the second right wing 302 bring together to form a closed right wing structure 3. The tail wing telescopic motor 105, with a fixed dial 106, drives the vertical tail structure 4 to extend relative to the fuselage 1. The tail wing telescopic mechanism drives the first tail wing moving part 403 and the second tail wing moving part 404 to extend at least partially beyond the tail wing fixed part 402. The rotor structure 5 provides flight power to the variable-form VTOL UAV, and the platform enters data acquisition mode in fixed-wing flight mode.

[0121] Before the variable-mode vertical take-off and landing (VTOL) UAV platform lands, it switches from fixed-wing flight mode to multi-rotor flight mode in reverse order, and then lands.

[0122] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0123] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0124] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0125] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A variable-form vertical takeoff and landing unmanned aerial vehicle platform, characterized in that, The variable-mode vertical takeoff and landing unmanned aerial vehicle platform can operate in both multi-rotor and fixed-wing flight modes, including: Organism; A flying wing structure; the flying wing structure is hinged to the fuselage in the horizontal direction, including a left flying wing structure that can be deployed and closed along the horizontal plane and a right flying wing structure that can be deployed 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 fuselage; A morphing mechanism; the morphing mechanism is configured to drive the left flying wing structure and the right flying wing structure to switch between an deployed state and a closed state; Rotor structure; the rotor structure is fixedly connected to the flying wing structure and configured to provide flight power for the variable-form vertical take-off and landing unmanned aerial vehicle platform; Vertical tail structure; the vertical tail structure is slidably connected to the fuselage and can be in a retracted or extended state relative to the fuselage; the vertical tail structure includes a horizontal tail fin, which is parallel to the flying wing structure when in fixed-wing flight state and is symmetrically arranged along the centerline of the fuselage. A gimbal system; the gimbal system is located at the lower part of the body and is fixedly connected to the body. Control system; the control system is configured to switch the variable-mode vertical take-off and landing unmanned aerial vehicle platform between multi-rotor flight mode and fixed-wing flight mode, and to realize the flight control of the variable-mode vertical take-off and landing unmanned aerial vehicle platform; When the variable-mode vertical takeoff and landing UAV platform is in multi-rotor flight mode, both the left and right flying wing structures are in a "V"-shaped deployment state; the vertical tail structure is in a retracted state, and the horizontal tail is located within the frontal projection plane of the fuselage. When the variable-mode vertical take-off and landing UAV platform is in fixed-wing flight mode, both the left and right flying wing structures are in a closed state, and the left and right flying wing structures 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 fin is higher than the upper surface of the fuselage. The left flying wing structure includes a first left flying wing and a second left flying wing capable of deploying and closing along a horizontal plane; the right flying wing structure includes a first right flying wing and a second right flying wing capable of deploying and closing along a horizontal plane. When the variable-mode vertical takeoff and landing unmanned aerial vehicle platform is in multi-rotor flight mode, the first left wing and the second left wing are deployed in a "V" shape, and the first right wing and the second right wing are deployed in a "V" shape. The first left wing, the second left wing, the first right wing, and the second right wing form a scissor structure. The first left wing and the second right wing are symmetrically arranged on both sides of the body. The first left wing includes a first left wing fixed part, a first left wing movable part, and a first left wing telescopic mechanism; the first left wing movable part is slidably connected relative to the first left wing fixed part and can move towards the side closer to the second left wing; The first left wing fixing part has a first left wing receiving cavity inside; the first left wing moving part is disposed in the first left wing receiving cavity and is slidably connected to the first left wing fixing part; the first left wing telescopic mechanism is disposed in the first left wing receiving cavity and drives the first left wing moving part to slide relative to the first left wing fixing part. The first right flying wing includes a first right flying wing fixed part, a first right flying wing movable part, and a first right flying wing telescopic mechanism; the first right flying wing movable part is slidably connected relative to the first right flying wing fixed part and can move towards the side closer to the second right flying wing; The first right wing fixing part has a first right wing receiving cavity inside; the first right wing moving part is disposed in the first right wing receiving cavity and is slidably connected to the first right wing fixing part; the first right wing telescopic mechanism is disposed in the first right wing receiving cavity and drives the first right wing moving part to slide relative to the first right wing fixing part. The deformation mechanism comprises four components, each including a deformation stepper motor frame, a deformation stepper motor, and a screw pin. The rotating part of the deformation stepper motor is fixedly provided with a threaded rod concentrically arranged with the motor shaft. One end of the deformation stepper motor frame is hinged to the machine body, and the deformation stepper motor is fixedly connected to the other end of the deformation stepper motor frame. The screw pin is threadedly connected to the threaded rod. The four screw pins are respectively hinged to the first left wing, the second left wing, the first right wing, and the second right wing. The vertical tail structure includes two sliding vertical tails for fixing the horizontal tail fin; the two sliding vertical tails are arranged in parallel; the two sliding vertical tails are respectively disposed on two outer sides of the fuselage and slidably connected. The outer side of the fuselage is provided with a tail fin slide rail; a slider adapted to the tail fin slide rail is provided on the sliding vertical tail on the side closer to the fuselage, and the slider is slidably connected to the tail fin slide rail; a plurality of toothed grooves are provided on the sliding vertical tail on the side away from the fuselage, and the plurality of toothed grooves are located on a straight line parallel to the tail fin slide rail; a tail fin telescopic motor is fixedly connected to the fuselage, and a dial wheel that is drivenly connected to the toothed grooves is fixed on the rotating shaft of the tail fin telescopic motor; The horizontal tail fin is a telescopic structure, including a tail fin fixing part and two tail fin moving parts arranged collinearly. The tail fin fixing part and the tail fin moving parts are arranged collinearly. The tail fin fixing part has a tail fin cavity to accommodate the two tail fin moving parts. The tail fin moving parts are slidably disposed in the tail fin cavity. The tail fin moving parts can extend or retract into the tail fin cavity at least partially under the drive of the tail fin telescopic mechanism. The gimbal system is fixedly connected to the body and includes a gimbal first bracket, a shock-absorbing rubber block, a gimbal second bracket, a vertical angle adjustment mechanism, a horizontal angle adjustment mechanism, an instrument mounting base, 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. The two sets of Z-axis position adjustment mechanisms are respectively connected to the two sets of X-axis position adjustment mechanisms and move synchronously with the X-axis position adjustment mechanisms; the other two sets of Z-axis position adjustment mechanisms are respectively connected to the two sets of Y-axis position adjustment mechanisms and move synchronously with the Y-axis position adjustment mechanisms. The vertical angle adjustment mechanism is connected to the Z-axis position adjustment mechanism and rises and falls synchronously with the Z-axis position adjustment mechanism. The lateral angle adjustment mechanism is connected to the vertical angle adjustment mechanism and rotates with the vertical angle adjustment mechanism in a plane parallel to the Z-axis. The lateral angle adjustment mechanism is capable of rotation, and the instrument mounting base 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 base for mounting sensors.

2. The variable-form vertical takeoff and landing unmanned aerial vehicle platform as described in claim 1, characterized in that, The rotor structure consists of four parts, which are fixedly connected to the first left wing, the second left wing, the first right wing, and the second right wing, respectively.

3. The variable-form vertical takeoff and landing unmanned aerial vehicle platform as described in claim 2, characterized in that, Each rotor structure includes a rotor body, a rotor drive motor, and a rotor angle adjustment motor; four rotor angle adjustment motors are fixedly connected to the first left wing, the second left wing, the first right wing, and the second right wing, respectively; the rotor drive motor is fixedly connected 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.

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