Unmanned aerial vehicle system with symmetrical cross wing layout and control method

Abstract

The invention provides an unmanned aerial vehicle system with symmetrical crossed wings and a control method, and relates to the field of unmanned aerial vehicles. Comprising a fuselage structure, a power module and a flight control module, and the fuselage structure comprises a cylindrical fuselage and four wings which are arranged on the peripheral side of the cylindrical surface of the fuselage and are symmetrically and crosswise distributed; the four wings are distributed in an X-shaped crossing manner or a cross-shaped crossing manner; the power module comprises a motor and a propeller, the motor is arranged at a wingtip of the wing, an output shaft of the motor is in the same direction as the axial direction of the fuselage and faces the tail of the fuselage, and the propeller is connected to the output shaft of the motor; the flight control module is arranged in the fuselage and used for controlling the output rotating speed of the four motors. The four-rotor FPV unmanned aerial vehicle has the advantages of a four-rotor FPV and a fixed-wing unmanned aerial vehicle, lift force can be generated through wings, cruising and sprint can be achieved in a fixed-wing mode, pitching, yawing and rolling postures of the unmanned aerial vehicle can be controlled by changing the rotating speed of a motor, a control plane does not need to be designed for the unmanned aerial vehicle to control the postures, the structure is simplified, and cost is low.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a UAV system with a symmetrical cross-wing layout and a control method thereof. Background Art

[0002] Drones are primarily categorized as rotary-wing and fixed-wing based on how they generate lift. Traditional fixed-wing drones rely primarily on their wings for lift generation, resulting in low flight resistance and long flight times. However, they are unable to perform vertical takeoff and landing (VTOL) and rely on a single, unchanging design. During flight, fixed-wing drones cannot drop below a minimum cruising speed, nor can they operate in hover mode, limiting their ability to conduct detailed reconnaissance of sensitive areas. Traditional fixed-wing drones require servos to control the control surfaces for attitude control, resulting in a complex structure and increased manufacturing costs.

[0003] Traditional four-rotor FPV drones mainly rely on the rotation of rotors to generate lift, can achieve vertical take-off and landing, and are relatively flexible to control; however, since they have no wings, the fuselage has a large frontal area and low aerodynamic efficiency, resulting in large resistance during high-speed forward flight, which limits their upper speed limit and makes them easy to be shot down during the terminal penetration phase; at the same time, due to the large resistance and high energy consumption during high-speed forward flight, the flight time is short, which affects their effectiveness. Summary of the Invention

[0004] The purpose of the present invention is to provide a drone system and control method with a symmetrical cross-wing layout, which combines the advantages of a four-rotor FPV and a fixed-wing drone, can achieve vertical take-off and landing and hovering flight, and can also cruise and sprint in a fixed-wing form. By changing the motor speed, the up and down, left and right control forces of the whole machine and the change of the rolling torque can be achieved in both flight modes, thereby realizing the control of the pitch, yaw and roll attitude of the drone. There is no need to design rudders for the drone to control the attitude, making the drone structure simpler and the production cost lower.

[0005] The embodiment of the present invention is achieved as follows:

[0006] The present application provides an unmanned aerial vehicle system with a symmetrical cross-wing layout, comprising a fuselage structure, a power module, and a flight control module. The fuselage structure comprises a cylindrical fuselage and four wings arranged around the cylindrical surface of the fuselage and symmetrically cross-distributed. The four wings are arranged in an X-shaped cross-distribution or a cross-shaped cross-distribution.

[0007] The power module includes a motor and a propeller, wherein the motor is arranged at the wingtip of the wing and the output shaft thereof is arranged in the same direction as the fuselage axis and toward the tail of the fuselage, and the propeller is connected to the output shaft of the motor;

[0008] The flight control module is arranged inside the fuselage, and is used to control the output speeds of the four motors.

[0009] Furthermore, based on the aforementioned solution, the power module also includes four electronic speed regulators, which are respectively embedded in the mounting holes opened on the opposite side walls of the fuselage and are respectively connected one-to-one with the motors of the four wings; and the electronic speed regulators are electrically connected to the flight control module.

[0010] Furthermore, based on the above solution, it also includes a visual recognition and tracking module, a communication module, a navigation module and an energy module;

[0011] The visual recognition and tracking module includes a camera and an information processing unit. The cameras are provided in pairs, one at the front and one at the rear of the fuselage. The information processing unit is provided inside the fuselage and is used to process the image and video information transmitted from the camera, identify sensitive targets, and generate corresponding drone control instructions.

[0012] The communication module includes an airborne transceiver unit, an antenna, and a ground transceiver unit. The airborne transceiver unit is installed inside the fuselage and connected to the information processing unit. Two antennas are provided, one each installed inside the two lower wings. The ground transceiver unit is installed inside a ground handheld display and control terminal.

[0013] The navigation module includes an IMU sensor and a GPS antenna. The IMU sensor is integrated into the flight control module. Two GPS antennas are provided, one on the top surface of the fuselage and the other on the upper inclined surface of the fuselage head.

[0014] The energy module is arranged inside the fuselage and is electrically connected to the motor, the electronic speed regulator and the flight control system.

[0015] Furthermore, based on the aforementioned solution, a reinforcement plate is provided on one side of the wing close to the tail of the fuselage along the extension direction of the wing; the reinforcement plate is connected to the wing, and one end of the reinforcement plate is fixedly connected to the fuselage outer shell, and the other end of the reinforcement plate extends to the motor and is connected to the motor outer shell.

[0016] Furthermore, based on the aforementioned solution, the wing has an upwardly inclined installation angle of attack relative to the axial direction of the fuselage.

[0017] Furthermore, based on the above solution, exhaust ports communicating with the interior of the fuselage are respectively provided on both sides of the rear portion of the fuselage.

[0018] Furthermore, based on the above-mentioned solution, the wingtip of the wing is connected to a cylindrical motor fairing, the end of the motor fairing facing the head of the fuselage is conical, and the end of the motor fairing facing the tail of the fuselage is connected to the motor.

[0019] Furthermore, based on the above solution, a control method for a UAV system based on the symmetrical cross-wing layout includes quadrotor flight mode control and fixed-wing flight mode control; specifically, the following steps are included:

[0020] The flight control module controls the output speeds of the four motors according to a pre-set control program or received control instructions to achieve flight control; wherein the four motors are combined in pairs to form two motor groups under different control programs or control instructions;

[0021] In the quadrotor flight mode, vertical lift is achieved by synchronously increasing and decreasing the speed of the four motors, and heading, pitch and roll control is achieved by adjusting the speed difference of different motor groups;

[0022] In the fixed-wing flight mode, acceleration and deceleration are achieved by synchronously increasing and decreasing the speed of the four motors, roll, pitch and heading control are achieved by adjusting the speed difference of different motor groups, and climb or descent is achieved by adjusting the wing angle of attack through pitch control.

[0023] Furthermore, based on the above solution, in the quadrotor flight mode, the heading, pitch and roll control is achieved by adjusting the speed difference of different motor groups, including:

[0024] During heading control, the two motors that cross each other are combined into one motor group. The heading direction is changed by adjusting the speed of the two cross motor groups in reverse.

[0025] During pitch control, the two horizontally opposite motors are combined into one motor group; the pitch direction is changed by adjusting the speed of the two upper and lower motor groups in reverse.

[0026] During roll control, the two motors facing each other are combined into one motor group; the roll direction is changed by adjusting the speed of the two left and right motor groups in reverse.

[0027] Furthermore, based on the above solution, in the fixed-wing flight mode, roll, pitch and heading control are achieved by adjusting the speed difference of different motor groups, and the wing angle of attack is adjusted by pitch control to achieve climbing or descending, including:

[0028] During roll control, the two cross-opposing motors are combined into one motor group. The roll direction is changed by adjusting the speed of the two cross-motor groups in opposite directions.

[0029] During pitch control, two horizontally opposed motors are combined into one motor group. By adjusting the speed of the two upper and lower motor groups in opposite directions, the pitch direction and pitch angle of attack are changed to achieve climbing or descending.

[0030] During heading control, the two motors facing each other are combined into one motor group; the speed of the two left and right motor groups is adjusted by direction to change the heading direction.

[0031] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0032] The invention provides a method for realizing vertical take-off and landing and hovering flight similar to that of a quadcopter, by setting the wings to generate lift during cruising flight, greatly increasing the aerodynamic efficiency of the whole machine during cruising, and making the drone more convenient to use. The drone's flight time is extended. During the final penetration phase, it can sprint as a fixed-wing drone, significantly reducing aerodynamic drag and significantly increasing flight speed, shortening the time to reach the target and increasing the drone's penetration success rate. The flight control module controls the output speed of the four motors. By varying the motor speed, the drone's vertical and horizontal control forces can be differentially adjusted, as well as the roll torque, thereby controlling the drone's pitch, yaw, and roll attitude. This eliminates the need for custom rudders to control the drone's attitude, resulting in a simpler structure and lower manufacturing costs. The drone also utilizes pure electric power, with direct motor control of flight attitude, enabling high-speed penetration capabilities. It combines the advantages of both a quadcopter FPV and a fixed-wing drone, with visual recognition and automatic tracking capabilities, making it particularly suitable for striking sensitive targets on the battlefield. Its low manufacturing cost makes it suitable for large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is an axonometric view of a UAV with a symmetrical cross-wing layout according to an embodiment of the present invention;

[0035] Figure 2 This is a side view of a drone according to an embodiment of the present invention;

[0036] Figure 3 This is a front view of a drone according to an embodiment of the present invention;

[0037] Figure 4 This is a bottom view of the drone according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the multi-rotor flight mode control of a UAV according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the fixed-wing flight control of a UAV according to an embodiment of the present invention.

[0040] Icons: 1- fuselage, 11- fuselage head, 12- fuselage tail, 13- arc groove, 14- tie hole, 15- exhaust port, 16- fuselage rear cover, 2- wing, 21- installation angle of attack, 3- motor, 4- propeller, 5- electronic speed controller, 6- reinforcement plate, 7- motor fairing, 8- GPS antenna, 9- camera. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below in conjunction with the drawings in the embodiments of the present application.

[0042] Please refer to Figures 1-6 , which shows the overall structural diagram of the UAV system with a symmetrical cross-wing layout,

[0043] This embodiment provides a UAV system with a symmetrical cross-wing layout, including a fuselage 1 structure, a power module, and a flight control module. The fuselage 1 structure includes a cylindrical fuselage 1 and four wings 2 arranged around the cylindrical surface of the fuselage 1 and symmetrically cross-distributed. The four wings 2 are arranged in an X-shaped cross-distribution or a cross-shaped cross-distribution. The two ends of the fuselage 1 are respectively a fuselage head 11 and a fuselage tail 12.

[0044] The power module includes a motor 3 and a propeller 4. The motor 3 is arranged at the wingtip of the wing 2 and its output shaft is arranged in the same direction as the fuselage 1 and toward the tail 12 of the fuselage. The propeller 4 is connected to the output shaft of the motor 3.

[0045] The flight control module is arranged inside the fuselage 1 , and is used to control the output speeds of the four motors 3 .

[0046] Next, a UAV system with a symmetrical cross-wing layout according to this exemplary embodiment will be further described.

[0047] In some embodiments, the fuselage 1 is cylindrical in structure, and may be a rectangular parallelepiped or cylindrical shape. When it is a rectangular parallelepiped, the head, tail, and edges of the fuselage 1 are streamlined. When it is a cylindrical shape, the head and tail of the fuselage 1 are streamlined to reduce flight resistance. The two ends of the fuselage 1 are respectively a fuselage head 11 and a fuselage tail 12. Four wings 2 are distributed around the cylindrical surface of the fuselage 1 in an X-shaped or cross-shaped arrangement, that is, the wings 2 can be X-shaped wings or cross-shaped wings. Specifically, the two ends of the fuselage 1 in the longitudinal direction are respectively the nose and tail. The wings 2 are located around the middle of the fuselage 1. The dihedral and anhedral angles of the wings 2 are determined based on aerodynamic simulation.

[0048] The power module includes a motor 3 and a propeller 4. The motor 3 is mounted at the wingtip of the wing 2, with its output shaft oriented in the same direction as the fuselage 1 and toward the tail 12. The propeller 4 is connected to the output shaft of the motor 3. The motors 3 are installed so that intersecting motors 3 rotate in the same direction, while adjacent motors 3 rotate in opposite directions. The flight control module is located within the fuselage 1 and is used to control the output speed of the four motors 3. The flight control system controls the output speed of the four motors 3 according to a pre-programmed control program, or receives control commands from a ground control terminal or from an information processing system, thereby achieving flight control of the drone.

[0049] The drone utilizes an X-wing or cross-wing configuration, generating lift with wing 2 during cruise flight. This significantly increases the drone's aerodynamic efficiency during cruise, extending the drone's flight time with the same battery capacity. During the final penetration phase, the drone sprints as a fixed-wing drone, significantly reducing aerodynamic drag and significantly increasing flight speed, shortening target arrival time and increasing the drone's penetration success rate. Four motors 3 and four propellers 4 are deployed at the tips of wing 2, enabling the drone to achieve vertical takeoff and landing capabilities similar to a quadcopter, greatly enhancing its ease of use. During fixed-wing flight, varying the speed of motor 3 can differentially control the vertical and horizontal control forces, as well as the roll torque, thereby controlling the drone's pitch, yaw, and roll attitude. This eliminates the need for custom rudders to control the drone's attitude, simplifying the drone's structure and reducing manufacturing costs.

[0050] As a preferred embodiment, the power module further includes four electronic speed regulators 5, which are embedded in mounting holes defined on opposite side walls of the fuselage 1 and are connected one-to-one with the motors 3 of the four wings 2. The electronic speed regulators 5 are electrically connected to the flight control module. The electronic speed regulators 5 are connected to the flight control system and the motors 3, receiving control commands from the flight control system, converting them into motor 3 speed control instructions, and transmitting them to the motors 3, thereby controlling the speed adjustment of the motors 3. The electronic speed regulators 5 are embedded in the side walls of the fuselage 1, directly exposed to external cool air. This allows them to quickly dissipate heat generated during operation, ensuring stability under high-power output and avoiding control delays or failures caused by high temperatures.

[0051] As a preferred embodiment, the drone system also includes a visual recognition and tracking module, a communication module, a navigation module, and an energy module. The visual recognition and tracking module includes two cameras 9 and an information processing unit. One camera 9 is mounted on the front of the fuselage 11, primarily capturing images when the drone is operating in fixed-wing mode; the other is mounted on the rear of the fuselage 12, primarily capturing images when the drone is operating in multi-rotor mode. The information processing unit, located within the fuselage 1, processes the image and video information transmitted from the cameras 9, identifies sensitive targets, and generates corresponding drone control commands.

[0052] The communication module includes an airborne transceiver unit, an antenna and a ground transceiver unit. The airborne transceiver module is installed inside the fuselage 1 and connected to the information processing unit; there are two antennas, which are respectively arranged inside the two lower wings 2. The built-in antenna is conducive to reducing flight resistance; the ground transceiver unit is installed inside the ground handheld display and control terminal to realize information interaction between the aircraft and the ground.

[0053] The navigation module includes an IMU sensor and a GPS antenna 8, with the IMU sensor integrated into the flight control module. Two GPS antennas 8 are provided, one on the top surface of the fuselage 1 and one on the upper slope of the nose 11. The navigation system utilizes an IMU + GPS + vision system. The GPS antenna 8 on the top surface of the fuselage 1 primarily operates when the drone is in fixed-wing flight mode, while the GPS on the upper slope of the nose 11 primarily operates when the drone is in multi-rotor flight mode. Visual navigation signals are primarily derived from analysis and calculations by the visual recognition and tracking module. These signals work in conjunction with the IMU sensor and GPS antenna 8 to achieve navigation and positioning, primarily during the drone's target strike phase. They accurately identify and strike targets, enabling multi-mode navigation.

[0054] The energy module is located within the fuselage 1 and is electrically connected to the motor 3, electronic speed controller 5, and flight control system to provide power. Specifically, the energy module is composed of a high-density lithium battery and is connected to the motor 3 via wires passing through the interior of the wing 2. It is installed inside the fuselage 1.

[0055] As a preferred embodiment, the wing 2 is provided with a reinforcing plate 6 on the side close to the tail 12 of the fuselage 1 along the extension direction of the wing 2; the reinforcing plate 6 is connected with the wing 2, and one end of the reinforcing plate 6 is fixedly connected to the outer shell of the fuselage 1, and the other end of the reinforcing plate 6 extends to the motor 3 and is connected with the outer shell of the motor 3. The reinforcing plate 6 is a carbon fiber reinforcing plate 6, which can significantly improve the bending strength of the wing 2, especially when flying at high speed or the motor 3 is working at high speed, the wing 2 can resist deformation caused by air flow impact and reaction force of the propeller 4, and the structural stability of the wing 2 is ensured. The root of the reinforcing plate 6 is fixedly connected to the fuselage 1, that is, the reinforcing plate 6 is fixedly connected to the outer shell of the fuselage 1, so that the stress of the wing 2 is transmitted to the main body of the fuselage 1, the local load is dispersed, and the service life of the whole machine is prolonged. The part of the reinforcing plate 6 extending to the wing tip can be used as a mounting seat of the motor 3, supporting the motor 3, making the connection between the motor 3 and the wing 2 more firm, avoiding displacement of the motor 3 or imbalance of the propeller 4 caused by vibration, and improving the reliability of the power system.

[0056] As a preferred embodiment, the wing 2 has an upwardly inclined installation angle of attack 21 relative to the axis of the fuselage 1. As shown in the figure, the installation axes of the upper and lower wings 2 are inclined upward relative to the axis of the fuselage 1, so that the unmanned aerial vehicle is designed to cruise at a certain speed and weight, and flies in a level flight attitude (i.e. the axis of the fuselage 1 is close to horizontal), so that the wing 2 is just at its optimal aerodynamic angle of attack, and the fuselage 1 remains in a nearly horizontal state when the unmanned aerial vehicle cruises at a certain speed in the fixed-wing flight mode, and the aerodynamic resistance is minimized. The streamlined head and tail of the fuselage 1 cooperate with the horizontal fuselage 1 to reduce air disturbance and improve cruising efficiency and endurance. Figure 2

[0057] As a preferred embodiment, the rear part of the fuselage 1 is provided with exhaust ports 15 on both sides, which are in communication with the inside of the fuselage 1, so as to facilitate the air flow entering from the head part to pass through the inside of the fuselage 1 to take away the heat generated by the electronic hardware system in the inside of the fuselage 1. The rear part of the fuselage 1 is provided with a rear cover 16, and the inside of the fuselage 1 is provided with a battery and equipment.

[0058] As a preferred embodiment, the wing tip of the wing 2 is connected with a cylindrical motor fairing 7, one end of the motor fairing 7 is tapered towards the head 11 of the fuselage, and the other end of the motor fairing 7 is connected with the motor 3. The tapered head design reduces the air resistance of the motor 3 and the propeller 4 when flying at high speed, especially in the fixed-wing mode, reduces the aerodynamic interference of the whole machine, and improves the flight speed and energy consumption efficiency; the cylindrical structure matches the streamlined design of the wing 2 and the fuselage 1, ensuring the consistency of the aerodynamic shape of the whole machine, and further optimizing the flight stability.

[0059] ​As a preferred embodiment, the bottom of the fuselage 1 is symmetrically provided with tie holes 14 for installing tie ties, and the bottom of the fuselage 1 is formed into an inwardly concave arc-shaped groove 13. The tie holes 14 are used to install tie ties, and the bottom of the fuselage 1 has a circular groove, which is convenient for securing the payload to be transported together with the tie.

[0060] The present application also provides a method for controlling a UAV system based on the aforementioned symmetrical cross-wing layout, including quadrotor flight mode control and fixed-wing flight mode control; specifically, the method comprises the following steps:

[0061] The flight control module controls the output speed of the four motors 3 according to a pre-set control program or received control instructions to achieve flight control; wherein, the four motors 3 are combined in pairs to form two motor groups 3 under different control programs or control instructions;

[0062] In quadrotor flight mode, vertical lift is achieved by synchronously increasing or decreasing the speed of the four motors 3, and heading, pitch and roll control is achieved by adjusting the speed difference of different motor groups;

[0063] In fixed-wing flight mode, acceleration and deceleration are achieved by synchronously increasing or decreasing the speed of the four motors 3, roll, pitch and heading control is achieved by adjusting the speed difference between different motor groups, and climb or descent is achieved by adjusting the angle of attack of wing 2 through pitch control.

[0064] These two modes combine the vertical takeoff and landing (VTOL) and hovering capabilities of a quadrotor with the high-speed cruising and penetration capabilities of a fixed-wing aircraft, adapting to diverse scenarios such as takeoff and landing in confined spaces and long-range, high-speed strikes. Attitude control is achieved through the speed differential between three motors, replacing traditional rudder control. This reduces mechanical transmission structure and the risk of failure, while also providing faster control response. The unified control logic for both modes is implemented in the flight control module, simplifying system integration and reducing software development costs. The consistent control command transmission path improves operational reliability.

[0065] As a preferred embodiment, in the above-mentioned quadrotor flight mode, heading, pitch, and roll control are achieved by adjusting the speed difference between different motor groups, including: during heading control, two cross-opposing motors are combined into one motor group; the heading direction is changed by adjusting the speed of the two cross-opposing motor groups in opposite directions. During pitch control, two horizontally opposing motors are combined into one motor group; the pitch direction is changed by adjusting the speed of the two upper and lower motor groups in opposite directions. During roll control, two upper and lower opposing motors are combined into one motor group; the roll direction is changed by adjusting the speed of the two left and right motor groups in opposite directions.

[0066] Specifically, if Figure 5 In quadrotor flight (hover or low-speed flight) mode, the four basic control strategies of lift, heading, pitch, and roll are as follows:

[0067] Vertical ascent or descent: The speed of motors 1 to 4 increases or decreases synchronously.

[0068] Heading control: Increasing the speed of motors 1 and 3 and reducing the speed of motors 2 and 4 can change the heading in one direction; conversely, reducing the speed of motors 1 and 3 and increasing the speed of motors 2 and 4 can change the heading in the opposite direction.

[0069] Pitch control: Motors 1 and 2 increase their speed synchronously, while motors 3 and 4 decrease their speed synchronously, enabling head-down operation; motors 1 and 2 decrease their speed synchronously, while motors 3 and 4 increase their speed synchronously, enabling head-up operation.

[0070] Roll control: Motors 1 and 4 increase their speeds synchronously, while motors 2 and 3 decrease their speeds synchronously, which can achieve rolling to the right; Motors 1 and 4 decrease their speeds synchronously, while motors 2 and 3 increase their speeds synchronously, which can achieve rolling to the right.

[0071] Other controls can be achieved by superimposing the above four operations. All operations are achieved by sending motor control commands through the flight control system.

[0072] As a preferred embodiment, in the above-mentioned fixed-wing flight mode, roll, pitch, and heading control are achieved by adjusting the speed difference between different motor groups, and climbing or descending is achieved by adjusting the angle of attack of wing 2 through pitch control, including: during roll control, the two cross-opposing motors are combined into one motor group; the roll direction is changed by adjusting the speed of the two cross-opposing motor groups in reverse. During pitch control, the two horizontally opposing motors are combined into one motor group; the pitch direction and pitch angle of attack are changed by adjusting the speed of the two upper and lower motor groups in reverse to achieve climbing or descending. During heading control, the two upper and lower opposing motors are combined into one motor group; the heading direction is changed by adjusting the speed of the two left and right motor groups in the same direction.

[0073] Specifically, if Figure 6 In fixed-wing flight (high-speed flight) mode, the four basic control strategies for acceleration / deceleration, heading, pitch, and roll are as follows:

[0074] Acceleration and deceleration: The speed of motors 1 to 4 increases or decreases synchronously.

[0075] Roll control: Motors 1 and 3 increase their speed synchronously, while motors 2 and 4 decrease their speed synchronously, to achieve roll in one direction. Conversely, motors 1 and 3 decrease their speed synchronously, while motors 2 and 4 increase their speed synchronously, to achieve roll in the opposite direction.

[0076] Pitch control: the first and second motors increase the speed synchronously, and the third and fourth motors decrease the speed synchronously, so as to realize the low head operation; the first and second motors decrease the speed synchronously, and the third and fourth motors increase the speed synchronously, so as to realize the high head operation.

[0077] Heading control: the first and fourth motors increase the speed synchronously, and the second and third motors decrease the speed synchronously, so as to realize the yaw in one direction; the first and fourth motors decrease the speed synchronously, and the second and third motors increase the speed synchronously, so as to realize the yaw in the opposite direction.

[0078] Climbing or descending: the wing 2 attack angle is increased through the pitch control, the unmanned aerial vehicle lift is increased, and the climbing is realized; the wing 2 attack angle is decreased through the pitch control, the unmanned aerial vehicle lift is decreased, and the descending is realized.

[0079] Other controls can be realized by superimposing the above five operations, and all operations are realized by sending the motor 3 control instructions through the flight control system.

[0080] The embodiment of the application has the following beneficial effects: compared with the traditional four-rotor FPV unmanned aerial vehicle, the unmanned aerial vehicle of the application has small forward flight resistance, and the maximum flight speed is greatly improved, which is beneficial to improve the success rate of battlefield attack. Since the unmanned aerial vehicle of the application mostly flies in the fixed wing mode, the forward flight resistance is small, the aerodynamic efficiency is high, the flight time is longer under the same battery capacity, which is beneficial to improve the reconnaissance efficiency and increase the attack range. The unmanned aerial vehicle has the advantages of four-rotor and fixed wing, and is suitable for diversified scene requirements; the structure is simplified without rudder, the cost and fault risk are reduced; at the same time, the multi-module cooperation (vision, navigation, communication) improves the target attack and operation accuracy, and the innovative control method ensures the high responsiveness and stability in two modes.

[0081] In addition, unless specifically stated or limited otherwise, in the embodiments of the present application, if the terms "mount", "connect" appear, it should be understood as a broad meaning, for example, "connect" can be detachable connection, can also be non-detachable connection; can be direct connection, can also be indirect connection through intermediate medium. If the terms "upper", "lower", "left", "right", "inner", "outer", "side" and other orientation terms appear, only refer to the direction of the drawing or the orientation of the product when it is used, only for the purpose of clearly describing the present application, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as a limitation on the present application. The terms "first", "second" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance; "a plurality of" means at least two. In the embodiments of the present application, the relative positional relationship limitations mentioned, such as parallel, perpendicular, aligned and the like, are relative to the current process level, and are not strictly limited, and a small amount of deviation is allowed, such as approximately parallel, approximately perpendicular, approximately aligned and the like. For example, A is parallel to B, which means that A and B are parallel or approximately parallel, and the included angle between A and B can be between 0 degrees and 10 degrees.

[0082] The above is only some embodiments and implementations of the present application, and the protection scope of the present application is not limited thereto. In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other, and any combination of features in different embodiments is also within the protection scope of the present application. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A UAV system with a symmetrical cross-wing layout, characterized in that: The aircraft comprises a fuselage structure, a power module, and a flight control module. The fuselage structure comprises a cylindrical fuselage and four wings arranged around the cylindrical surface of the fuselage and symmetrically cross-distributed. The four wings are arranged in an X-shaped cross-distribution or a cross-shaped cross-distribution. The two ends of the fuselage are the fuselage head and the fuselage tail, respectively. The power module includes a motor and a propeller, wherein the motor is arranged at the wingtip of the wing and the output shaft thereof is arranged in the same direction as the fuselage axis and toward the tail of the fuselage, and the propeller is connected to the output shaft of the motor; The flight control module is arranged inside the fuselage, and is used to control the output speeds of the four motors.

2. The UAV system with a symmetrical cross-wing layout according to claim 1, characterized in that: The power module also includes four electronic speed regulators, which are respectively embedded in the mounting holes opened on the opposite side walls of the fuselage and are respectively connected to the motors of the four wings in a one-to-one correspondence; and the electronic speed regulators are electrically connected to the flight control module.

3. The UAV system with a symmetrical cross-wing layout according to claim 2, characterized in that: It also includes a visual recognition and tracking module, a communication module, a navigation module, and an energy module; The visual recognition and tracking module includes a camera and an information processing unit. The cameras are provided in pairs, one at the front and one at the rear of the fuselage. The information processing unit is provided inside the fuselage and is used to process the image and video information transmitted from the camera, identify sensitive targets, and generate corresponding drone control instructions. The communication module includes an airborne transceiver unit, an antenna, and a ground transceiver unit. The airborne transceiver unit is installed inside the fuselage and connected to the information processing unit. Two antennas are provided, one each installed inside the two lower wings. The ground transceiver unit is installed inside a ground handheld display and control terminal. The navigation module includes an IMU sensor and a GPS antenna. The IMU sensor is integrated into the flight control module. Two GPS antennas are provided, one on the top surface of the fuselage and the other on the upper inclined surface of the fuselage head. The energy module is arranged inside the fuselage and is electrically connected to the motor, the electronic speed regulator and the flight control system.

4. The UAV system with a symmetrical cross-wing layout according to claim 1, characterized in that: A reinforcing plate is provided on one side of the wing close to the tail of the fuselage along the extension direction of the wing; the reinforcing plate is connected to the wing, and one end of the reinforcing plate is fixedly connected to the fuselage shell, and the other end of the reinforcing plate extends to the motor and is connected to the motor shell.

5. The UAV system with symmetrical cross-wing layout according to claim 1, characterized in that: The wing has an upwardly inclined installation angle of attack relative to the axial direction of the fuselage.

6. The UAV system with a symmetrical cross-wing layout according to claim 1, characterized in that: Exhaust ports communicating with the interior of the fuselage are respectively provided on both sides of the rear portion of the fuselage.

7. The UAV system with a symmetrical cross-wing layout according to claim 1, characterized in that: The wing tip of the wing is connected with a cylindrical motor fairing, the end of the motor fairing facing the head of the fuselage is tapered, and the end of the motor fairing facing the tail of the fuselage is connected to the motor.

8. A control method for an unmanned aerial vehicle system with a symmetrical cross-wing layout according to any one of claims 1 to 7, characterized in that: Including quadrotor flight mode control and fixed-wing flight mode control; specifically including the following steps: The flight control module controls the output speeds of the four motors according to a pre-set control program or received control instructions to achieve flight control; wherein the four motors are combined in pairs to form two motor groups under different control programs or control instructions; In the quadrotor flight mode, vertical lift is achieved by synchronously increasing and decreasing the speed of the four motors, and heading, pitch and roll control is achieved by adjusting the speed difference of different motor groups; In the fixed-wing flight mode, acceleration and deceleration are achieved by synchronously increasing and decreasing the speed of the four motors, roll, pitch and heading control are achieved by adjusting the speed difference of different motor groups, and climb or descent is achieved by adjusting the wing angle of attack through pitch control.

9. The control method according to claim 8, characterized in that: In the quadrotor flight mode, heading, pitch, and roll control are achieved by adjusting the speed difference of different motor groups, including: During heading control, the two motors that cross each other are combined into one motor group. The heading direction is changed by adjusting the speed of the two cross motor groups in reverse. During pitch control, the two horizontally opposite motors are combined into one motor group; the pitch direction is changed by adjusting the speed of the two upper and lower motor groups in reverse. During roll control, the two motors facing each other are combined into one motor group; the roll direction is changed by adjusting the speed of the two left and right motor groups in reverse.

10. The control method according to claim 8, characterized in that: In the fixed-wing flight mode, roll, pitch, and heading control are achieved by adjusting the speed difference of different motor groups, and the wing angle of attack is adjusted by pitch control to achieve climb or descent, including: During roll control, the two cross-opposing motors are combined into one motor group. The roll direction is changed by adjusting the speed of the two cross-motor groups in opposite directions. During pitch control, two horizontally opposed motors are combined into one motor group. By adjusting the speed of the two upper and lower motor groups in opposite directions, the pitch direction and pitch angle of attack are changed to achieve climbing or descending. During heading control, the two motors facing each other are combined into one motor group; the speed of the two left and right motor groups is adjusted by direction to change the heading direction.

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