Hybrid unmanned aerial vehicle, control system and use method

Abstract

The invention discloses a hybrid unmanned aerial vehicle, a control system and a use method. The hybrid unmanned aerial vehicle comprises a main body mechanism 1-1. The main body mechanism 1-1 is in mirror symmetry about a horizontal straight line, the extending direction of the straight line is defined as the front-back direction, and the direction horizontally perpendicular to the front-back direction is defined as the left-right direction. Flying mechanisms 1-2 are connected to the left side and the right side of the main body mechanism 1-1; the bottom of the main body mechanism 1-1 is connected with a ground mechanism 1-4 capable of running on the ground through a connecting mechanism 1-3; according to the control system of the hybrid unmanned aerial vehicle, a main control and flight control operable air mode, a ground mode, a landing transition mode and a take-off transition mode are adopted, the folding rods are automatically controlled to be unfolded and folded during take-off and landing of the unmanned aerial vehicle through a program, the control system better adapts to various complex and narrow environments, the trafficability and safety of the unmanned aerial vehicle are improved, and the control system is suitable for large-scale popularization and application. And the risk of rollover of the unmanned aerial vehicle due to sudden power change during landing and take-off is effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of land-air hybrid unmanned equipment, and particularly relates to a hybrid unmanned aerial vehicle and a control system and use method thereof. BACKGROUND

[0002] In recent years, aircrafts represented by multi-rotor unmanned aerial vehicles have been widely used in various fields, but the core pain point of serious lack of endurance greatly restricts their application in long-distance and large-range tasks. Therefore, land-air hybrid unmanned aerial vehicles, which combine the high mobility of unmanned aerial vehicles and the long endurance of ground vehicles, have emerged as the times require and become a research hotspot in the field.

[0003] Specifically, in CN 114671019, a hybrid unmanned aerial vehicle proposed by a team of Hangzhou University of Electronic Science and Technology, the core lies in a unique composite driving mechanism that integrates flight, ground walking and mode switching functions; in CN 119550756, a variable structure amphibious multi-modal robot proposed by a team of Nanjing University of Science and Technology, the core lies in using a deformable leg-foot structure to deeply integrate a quad-rotor aircraft and a four-legged crawling robot, creating a multi-modal robot that can fly, crawl, adsorb and deform in the air; in CN 119749902, a land-air amphibious robot proposed by a team of Suzhou University, the core lies in using a ground moving module that can actively adjust the position to dynamically adjust the center of mass of the entire system, thereby maintaining stability in various flight attitudes; in CN 115534602, a land-air dual-purpose wheeled robot proposed by a team of Harbin Institute of Technology (Shenzhen), the core lies in using the same set of motors to drive different components (rotors or wheels) in different modes through a conversion device; in CN 119160426, a deformable land-air amphibious robot proposed by a team of Zhejiang University Hu Zhou Research Institute, the core lies in changing the direction of the propeller thrust through the deformation of the body itself, thereby ingeniously using the same set of flight rotor system to achieve ground movement.

[0004] However, the existing solutions all have certain design defects and fail to provide an ideal solution that is efficient, reliable and smooth, for example, some solutions (such as CN 114671019 and CN 119550756) use redundant or overly complex structures, resulting in low flight efficiency, some solutions (such as CN 119749902 and CN 115534602) have defects in the power scheme and are questionable in reliability, and once there is an error in one power scheme, it will affect the other power scheme, some solutions (such as CN 119160426) lack a smooth and reliable mode switching control method, resulting in an extremely unstable transition process. Therefore, developing a solution that meets the requirements of lightweight mechanism, high reliability of system and smooth and safe mode switching is a technical problem that needs to be broken through in the field. SUMMARY

[0005] In order to solve the above problems, the application provides a hybrid unmanned aerial vehicle, a control system and a use method thereof. The application combines the transverse double-rotor and the active omnidirectional single-wheel to give the unmanned aerial vehicle the ability to fly over obstacles such as chasms and steps, and through the foldable wings and the control system capable of flexibly switching the ground mode and the flight mode, the passability and safety of the unmanned aerial vehicle in various terrains are improved.

[0006] In the first aspect, the application provides a hybrid unmanned aerial vehicle, comprising a main body mechanism 1-1; the main body mechanism 1-1 is mirror-symmetrical about a horizontal straight line, the extension direction of the straight line is defined as the front-rear direction, and the horizontal direction is perpendicular to the front-rear direction; the left and right sides of the main body mechanism 1-1 are connected with flight mechanisms 1-2; the bottom of the main body mechanism 1-1 is connected with a ground mechanism 1-4 capable of running on the ground through a connecting mechanism 1-3;

[0007] The main body mechanism 1-1 comprises a body top plate 1-1-1 and a body bottom plate 1-1-2 below the body top plate 1-1-1; a body first screw column 1-1-7 is connected between the body top plate 1-1-1 and the body bottom plate 1-1-2; a main control unit plate 1-1-3 is arranged above the body top plate 1-1-1, and the main control unit plate 1-1-3 is connected with the body top plate 1-1-1 through a body second screw column 1-1-8; a positioning sensor bracket 1-1-4 is arranged at the rear end of the body top plate 1-1-1;

[0008] A folding servo 1-1-5 is arranged on the left side and the right side of the interlayer between the body top plate 1-1-1 and the body bottom plate 1-1-2 respectively, and the folding servo 1-1-5 is connected with a folding rod 1-1-6 through a front-rear direction output rocker arm pivot respectively; the folding servo 1-1-5 can rotate the folding rod 1-1-6 by taking the output rocker arm pivot as the rotation axis; a folding screw hole 1-1-10 is arranged on the folding rod 1-1-6;

[0009] The flight mechanism 1-2 comprises a swashplate steering engine 1-2-1, and the side of the two swashplate steering engines 1-2-1 close to each other is defined as the inner side, and the side away from each other is defined as the outer side; the inner side of the swashplate steering engine 1-2-1 is fixedly connected to the folding rod 1-1-6 through the folding screw hole 1-1-10; the outer side of the swashplate steering engine 1-2-1 is connected to the swashplate rod 1-2-2 through the left-right direction connecting shaft; the swashplate steering engine 1-2-1 can rotate the swashplate rod 1-2-2 as the rotating shaft; the top of the outer end of the swashplate rod 1-2-2 is connected to the brushless motor 1-2-3 through the motor bolt 1-2-5, and the motor bolt 1-2-5 is distributed in a four-corner symmetrical manner at the outer end of the swashplate rod 1-2-2; the top of the brushless motor 1-2-3 is connected to the propeller 1-2-4 through the vertical rotating shaft; the propeller 1-2-4 of the left flight mechanism 1-2 is a positive propeller, and the propeller 1-2-4 of the right flight mechanism 1-2 is a negative propeller.

[0010] The connecting mechanism 1-3 comprises a connecting top plate 1-3-1; the connecting top plate 1-3-1 is provided with a connecting screw hole 1-3-4, and the connecting top plate 1-3-1 is connected to the machine body bottom plate 1-1-2 through the bolt arranged in the connecting screw hole 1-3-4; the bottom of the connecting top plate 1-3-1 is connected to the connecting bottom plate 1-3-2 through a plurality of connecting columns 1-3-3.

[0011] The ground mechanism 1-4 comprises a ground top plate 1-4-1, and the top of the ground top plate 1-4-1 is fixedly connected to the connecting bottom plate 1-3-2; the bottom of the ground top plate 1-4-1 is connected to the speed reducer motor 1-4-2, and the speed reducer motor 1-4-2 is provided with an encoder; the left and right sides of the bottom of the speed reducer motor 1-4-2 are respectively connected to vertical speed reducer mechanisms 1-4-3, and the two speed reducer mechanisms 1-4-3 are connected to a left-right direction wheel shaft; the wheel shaft is provided with an inner hub 1-4-5, and the inner hub 1-4-5 is provided with an outer hub 1-4-4; the speed reducer motor 1-4-2 can drive the wheel shaft to rotate, thereby driving the inner hub 1-4-5 to rotate.

[0012] More specifically, the folding steering engine 1-1-5 rotates the folding rod 1-1-6 at an angle range of 0° to 90°.

[0013] More specifically, the swashplate steering engine 1-2-1 rotates the swashplate rod 1-2-2 at an angle range of -45° to 45°.

[0014] More specifically, the speed reducer mechanism 1-4-3 adopts five-stage speed reduction, and the speed reduction ratio is 1:20.

[0015] More specifically, the inner hub 1-4-5 is provided with a plurality of trapezoidal holes embedded with the outer hub 1-4-4, and the central angles formed by the adjacent trapezoidal holes and the center of the inner hub 1-4-5 are 45°.

[0016] In a second aspect, the application provides a control system for the hybrid unmanned aerial vehicle described above, comprising a sensor unit, a communication link unit 2-3, a flight control unit 2-2, a main control unit 2-1 and an actuator unit; wherein the main control unit 2-1 comprises a main control circuit board module 2-1-1, and the main control unit board 2-1-1 is installed on the top of the main control circuit board 1-1-3; the flight control unit 2-2 comprises a flight control circuit board 2-2-1;

[0017] The communication link 2-3 comprises a data transmission module 2-3-1 and a remote control receiver 2-3-2; wherein the data transmission module 2-3-1 communicates data with a remote ground station; the remote control receiver 2-3-2 receives real-time remote control signals from an operator;

[0018] The sensor unit comprises an attitude sensing sensor group 2-4-1 and a positioning sensing sensor group 2-4-2; the attitude sensing sensor group 2-4-1 is directly connected to the flight control circuit board 2-2-1, comprising an IMU1 module 2-4-1-1, an IMU2 module 2-4-1-2, a magnetometer module 2-4-1-3 and a barometer module 2-4-1-4; the positioning sensing sensor group 2-4-2 comprises a GPS module 2-4-2-1 and an optical flow module 2-4-2-2, and is installed on the positioning sensor support 1-1-4 in the main body mechanism 1-1;

[0019] The actuator comprises a flight actuator group 2-5-1, a ground actuator group 2-5-2 and a mode execution converter group 2-5-3; wherein the flight actuator group 2-5-1 comprises a swash plate servo 1-2-1, a brushless motor 1-2-3 and an electronic governor module 2-5-1-1; the ground actuator 2-5-2 comprises a ground drive controller 2-5-2-1 and a reduction motor 1-4-2, and the ground drive controller 2-5-2-1 is installed at the bottom of the main control unit board 1-1-3; the mode execution converter group 2-5-3 comprises a folding servo 1-1-5;

[0020] The IMU1 2-4-1-1, the IMU2 2-4-1-2, the magnetometer 2-4-1-3, the barometer 2-4-1-4, the flight control circuit board 2-2-1 and the electronic governor 2-5-1-1 together constitute a flight tower 2-6, and the flight tower 2-6 is installed at the bottom of the body top plate 1-1-1;

[0021] The flight control unit 2-2 receives attitude data of the attitude sensing sensor group 2-4-1, positioning data of the positioning sensing sensor group 2-4-2 and instruction signals of the communication link 2-3; the flight control unit 2-2 inputs the DShot signal into the brushless motor 1-2-3 through the electronic governor 2-5-1-1, controls the rotating speed of the propeller 1-2-4 through the brushless motor 1-2-3; the flight control unit 2-2 transmits the PWM signal to the swash plate steering engine 1-2-1, controls the rotating angle of the swash plate steering engine 2-5-3, and then changes the tilting direction of the propeller 1-2-4 to generate the pitching moment and rolling moment; the flight control unit 2-2 transmits the folding signal to the folding steering engine 1-1-5, and then controls the folding of the folding rod 1-1-6.

[0022] The main control unit 2-1 receives the instruction signals of the communication link 2-3, and the main control unit 2-1 and the flight control unit 2-2 can exchange signals; the main control unit 2-1 transmits the motor output signal to the ground driving controller 2-5-2-1, and the ground driving controller 2-5-2-1 converts the motor output into a corresponding PWM signal and drives the reduction motor 1-4-2 to rotate.

[0023] In a third aspect, the application provides a method for using the control system, and the steps of the method include:

[0024] S1. Running the air mode

[0025] S1.1 The main control unit 2-1 receives the flight mode control instruction transmitted by the communication link 2-3, and sends the flight mode control instruction to the flight control unit 2-2;

[0026] S1.2 The flight control unit 2-2 obtains the actual position from the GPS module 2-4-2-1, sets the target position, and calculates the expected speed according to the error between the target position and the actual position;

[0027] S1.3 The flight control unit 2-2 obtains the actual speed from the IMU1 module 2-4-1-1 and the IMU module 2-4-1-2, and calculates the expected acceleration according to the difference between the expected speed and the actual speed;

[0028] S1.4 The flight control unit 2-2 obtains the actual attitude angular rate from the gyroscope part of the IMU1 module 2-4-1-1 and the IMU module 2-4-1-2, calculates the angular rate error between the expected attitude angular rate contained in the flight mode control instruction and the actual attitude angular rate, and calculates the expected total thrust according to the angular rate error;

[0029] S1.5 The flight control unit 2-2 converts the expected total thrust into DShot signals and PWM signals through the built-in hybrid controller program; the flight control unit 2-2 inputs the DShot signals into the brushless motor 1-2-3 through the electronic governor 2-5-1-1 to control the rotation speed of the propeller 1-2-4; the flight control unit 2-2 inputs the PWM signals into the swashplate servo 1-2-1 to control the rotation angle of the swashplate servo 2-5-3, thereby changing the inclination direction of the propeller 1-2-4 to generate pitch moment and roll moment;

[0030] S2. Ground mode

[0031] S2.1 The main control unit 2-1 receives the ground mode control instructions transmitted by the communication link 2-3 and sends the ground mode control instructions to the flight control unit 2-2;

[0032] S2.2 The IMU module 2-4-1-1 and the IMU module 2-4-1-2 continuously transmit the real-time angle of the body pitch axis to the main control unit 2-1 through the flight control unit 2-2, and the main control unit 2-1 compares the expected angle of the body pitch axis with the real-time angle of the body pitch axis to calculate the corrected motor output;

[0033] S2.3 The main control unit 2-1 receives the real-time speed of the encoder on the reduction motor 1-4-2, and calculates the speed control motor output according to the speed error between the expected speed and the real-time speed;

[0034] S2.4 The main control unit 2-1 algebraically superimposes the corrected motor output and the speed control motor output to obtain the total motor output;

[0035] S2.5 The main control unit 2-1 transmits the total motor output to the ground drive controller 2-5-2-1 of the ground actuator 2-5-2; the ground drive controller 2-5-2-1 converts the total motor output into corresponding PWM signals and drives the reduction motor 1-4-2 to rotate the inner hub 1-4-5;

[0036] S3. Landing transition mode

[0037] S3.1 The main control unit 2-1 receives the landing instructions transmitted by the communication link 2-3;

[0038] S3.2 Initialize a dynamically allocated parameter λ 落 , whose value changes smoothly from 0 to 1; define the control weight of the brushless motor 1-2-3 as (1-λ 落 ) and the control weight of the reduction motor 1-4-2 as λ 落 ;

[0039] S3.3 The main control unit 2-1 transmits the landing instruction to the flight control unit 2-2, so that the hybrid unmanned aerial vehicle vertically descends at a constant speed; repeat S1.2-S1.4, and take the obtained expected total thrust as the virtual flight total thrust; repeat S2.2-S2.4, and take the obtained total motor output as the virtual deceleration motor output; when λ 落 changes, the output of the flight control unit 2-2 to the flight actuator 2-5-1 and the output of the main control unit to the ground actuator 2-5-2 are determined by the following weighted formula:

[0040]

[0041] wherein, T air represents the total thrust output by the flight control unit 2-2 to the flight actuator 2-5-1, F air represents the virtual flight total thrust, T land represents the output of the main control unit 2-1 to the ground actuator 2-5-2, F land represents the virtual deceleration motor output;

[0042] S3.4 When the height data transmitted by the positioning and sensing sensor group 2-4-2 to the flight control unit 2-2 reaches a threshold value at the landing moment, the flight control unit 2-2 transmits the height data to the main control unit 2-1, the main control unit 2-1 determines that the height data reaches the threshold value and sends a folding signal to the folding rudder 1-1-5 in the mode conversion actuator 2-5-3, and the folding rudder 1-1-5 folds the unfolded folding rod 1-1-6 to a position close to the fuselage;

[0043] S4. Take-off transition mode S4.1 After the main control unit 2-1 receives the take-off instruction transmitted by the communication link 2-3, it transmits the take-off instruction to the flight control unit 2-2, and the flight control unit 2-2 controls the folding rudder 1-1-5 to unfold the folding rod 1-1-6 to a preset flight working position;

[0044] S4.2 Initialize a dynamic allocation parameter λ 升 ;

[0045] S4.3 The main control unit 2-1 sends a start instruction to the flight control unit 2-2, and the flight control unit 2-2 controls the brushless motor 1-2-3 to start rotating at a preset idle speed, and activates λ 升 , so that its value increases smoothly and continuously from 0 to 1; repeat S1.2-S1.4, and take the obtained expected total thrust as the virtual flight total thrust; repeat S2.2-S2.4, and take the obtained total motor output as the virtual deceleration motor output; when λ 升 changes, the output of the flight control unit 2-2 to the flight actuator 2-5-1 and the output of the main control unit to the ground actuator 2-5-2 are determined by the following weighted formula:

[0046]

[0047] wherein, wherein, T air represents the total thrust output by the flight control unit 2-2 to the flight actuator 2-5-1, F ai r represents the virtual flight total thrust, T land represents the output quantity of the main control unit 2-1 to the ground actuator 2-5-2, F land represents the virtual deceleration motor output quantity;

[0048] S4.4 When λ 升 When the weight corresponding to the brushless motor 1-2-3 thrust is greater than the gravity of the hybrid unmanned aerial vehicle, the hybrid unmanned aerial vehicle is lifted stably and vertically off the ground. Since the increase in power is continuous and smooth, the sudden change in power is avoided, thereby effectively preventing the rollover at the moment of take-off.

[0049] The present application has the following beneficial effects:

[0050] 1. The hybrid unmanned aerial vehicle creatively combines the aerial maneuverability of the cross-row double-rotor with the ground flexibility of the active omnidirectional single-wheel. This design not only gives the unmanned aerial vehicle the ability to fly over obstacles such as chasms and steps, but also enables it to fold the arms after landing, so as to enter and efficiently pass through complex and narrow environments (such as indoor corridors, forest trails, and under pipe bridges) that traditional unmanned aerial vehicles cannot enter or fly with high risk. Compared with the existing "aircraft + four-wheel chassis" or "aircraft + multi-legged robot" mechanism, the mechanism of the present application is lighter, significantly reducing the dead weight in flight mode, thereby optimizing the aerodynamic efficiency and flight time. At the same time, the design of folding arms greatly reduces the physical profile in ground mode, reduces wind resistance, and improves its passability and safety;

[0051] 2. The control system of the hybrid unmanned aerial vehicle adopts a layered heterogeneous electronic hardware architecture of a main control unit board + flight control unit board. The flight attitude control task with extremely high real-time requirement is processed by the dedicated flight control unit board (MCU), and the complex and non-real-time intelligent tasks such as path planning, mode decision, and visual recognition are processed by the high-performance main control unit board (SoC). At the same time, the flight actuator and the ground actuator are clearly separated in the hardware control link. Compared with the existing unified control scheme, the control system of the present application can effectively prevent any failure of the non-critical ground moving system from being upgraded to catastrophic damage to the flight control system;

[0052] 3、 The use method of the hybrid unmanned aerial vehicle partially proposes a control method containing three modes of air, ground and transition, especially the introduction of the "transition mode", which realizes smooth and safe mode switching, and the whole switching process can be automatically completed under the guidance of the control algorithm, which not only reduces the skill requirements of the pilot, but also lays a solid foundation for realizing cross-scene and complex fully autonomous tasks. Compared with the existing control method without transition mode, the control method of the present application solves the rebound and jitter problem of the hybrid unmanned aerial vehicle during landing and the risk of rollover of the hybrid unmanned aerial vehicle due to power mutation. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is the overall structure diagram of the hybrid unmanned aerial vehicle of the present application.

[0054] Figure 2 is the structure diagram of the main body mechanism of the hybrid unmanned aerial vehicle of the present application.

[0055] Figure 3 is the sandwich structure diagram of the mechanism top plate and the mechanism bottom plate of the present application.

[0056] Figure 4 is the structure diagram of the flight mechanism of the present application.

[0057] Figure 5 is the structure diagram of the connecting mechanism of the present application.

[0058] Figure 6 is the structure diagram of the ground mechanism of the present application.

[0059] Figure 7 is the signal transmission relationship diagram of the control system of the present application.

[0060] Figure 8 is the overall flowchart of the use method of the present application.

[0061] Figure 9 is the air mode flowchart of the present application.

[0062] Figure 10 is the ground mode flowchart of the present application.

[0063] Figure 11 is the landing transition mode flowchart of the present application.

[0064] Figure 12 is the take-off transition mode flowchart of the present application. DETAILED DESCRIPTION

[0065] The specific embodiments of the embodiments of the present application are described in detail below in conjunction with the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application.

[0066] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are merely intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0067] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0068] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0070] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0071] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0072] Embodiment 1

[0073] As Figure 1 shown, the hybrid unmanned aerial vehicle of the present application comprises a main body mechanism 1-1; the main body mechanism 1-1 is mirror symmetric about a horizontal straight line, the extension direction of the straight line is defined as the front-back direction, and the horizontal direction is perpendicular to the front-back direction; flight mechanisms 1-2 are connected to the left and right sides of the main body mechanism 1-1; a ground mechanism 1-4 capable of traveling on the ground is connected to the bottom of the main body mechanism 1-1 through a connecting mechanism 1-3;

[0074] According to Figure 2 , the main body mechanism 1-1 comprises a body top plate 1-1-1 and a body bottom plate 1-1-2 below the body top plate 1-1-1; a body first stud 1-1-7 is connected between the body top plate 1-1-1 and the body bottom plate 1-1-2; a main control unit plate 1-1-3 is provided above the body top plate 1-1-1, and the main control unit plate 1-1-3 is connected with the body top plate 1-1-1 through a body second stud 1-1-8; a positioning sensor bracket 1-1-4 is provided at the rear end of the body top plate 1-1-1;

[0075] According to Figure 3 , the left and right sides of the interlayer between the body top plate 1-1-1 and the body bottom plate 1-1-2 are respectively provided with a folding servo 1-1-5, and the folding servo 1-1-5 is respectively connected with a folding rod 1-1-6 through a front-back direction output rocker arm pivot; the folding servo 1-1-5 can rotate the folding rod 1-1-6 with the output rocker arm pivot as the rotation axis; a folding screw hole 1-1-10 is provided on the folding rod 1-1-6;

[0076] According to Figure 4, the flight mechanism 1-2 includes swashplate steering engine 1-2-1, defining two swashplate steering engine 1-2-1 close to each other side as the inner side, away from each other side as the outer side; swashplate steering engine 1-2-1 inner side through the folding screw hole 1-1-10 fixed connection folding rod 1-1-6; swashplate steering engine 1-2-1 outer side through the left and right direction of the connecting shaft connecting swashplate rod 1-2-2; swashplate steering engine 1-2-1 can be connected shaft as the rotation axis rotating swashplate rod 1-2-2; the top of the outer end of swashplate rod 1-2-2 is connected to brushless motor 1-2-3 through motor bolt 1-2-5, motor bolt 1-2-5 is distributed in four corners on the outer end of swashplate rod 1-2-2; the top of brushless motor 1-2-3 is connected with propeller 1-2-4 through vertical rotating shaft; the propeller 1-2-4 of the left flight mechanism 1-2 is positive, and the propeller 1-2-4 of the right flight mechanism 1-2 is negative;

[0077] According to Figure 5 The connecting mechanism 1-3 includes a connecting top plate 1-3-1; the connecting top plate 1-3-1 is provided with a connecting screw hole 1-3-4, and the connecting top plate 1-3-1 is connected with the machine body bottom plate 1-1-2 through a bolt arranged in the connecting screw hole 1-3-4; the bottom of the connecting top plate 1-3-1 is connected with a connecting bottom plate 1-3-2 through a plurality of connecting columns 1-3-3.

[0078] According to Figure 6 The ground mechanism 1-4 includes a ground top plate 1-4-1, and the top of the ground top plate 1-4-1 is fixedly connected with the connecting bottom plate 1-3-2; the bottom of the ground top plate 1-4-1 is connected with a speed reducer motor 1-4-2, and the speed reducer motor 1-4-2 is internally provided with an encoder; the left and right sides of the bottom of the speed reducer motor 1-4-2 are respectively connected with vertical speed reducer mechanisms 1-4-3, and the two speed reducer mechanisms 1-4-3 are connected with a left and right direction wheel shaft; the wheel shaft is provided with an inner hub 1-4-5, and the inner hub 1-4-5 is provided with an outer hub 1-4-4; the speed reducer motor 1-4-2 can drive the wheel shaft to rotate, and then drive the inner hub 1-4-5 to rotate.

[0079] In some embodiments, the folding steering engine 1-1-5 rotates the folding rod 1-1-6 at an angle range of 0° to 90°.

[0080] In some embodiments, the swashplate steering engine 1-2-1 rotates the swashplate rod 1-2-2 at an angle range of -45° to 45°.

[0081] More specifically, the speed reducer mechanism 1-4-3 adopts five-stage speed reduction, and the speed reduction ratio is 1:20.

[0082] In some embodiments, the inner hub 1-4-5 is provided with a plurality of trapezoidal holes embedded with the outer hub 1-4-4, and the central angles formed by adjacent trapezoidal holes and the center of the inner hub 1-4-5 are 45°.

[0083] Example 2

[0084] The control system used by the hybrid drone of Example 1 is as follows: Figure 7 As shown, it includes a sensor unit, a communication link unit 2-3, a flight control unit 2-2, a main control unit 2-1 and an actuator unit; wherein the main control unit 2-1 includes a main control circuit board module 2-1-1, and the main control unit board 2-1-1 is installed on the top of the main control circuit board 1-1-3; the flight control unit 2-2 includes a flight control circuit board 2-2-1;

[0085] The communication link 2-3 includes a data transmission module 2-3-1 and a remote control receiver 2-3-2; wherein the data transmission module 2-3-1 performs data communication with the remote ground station; the remote control receiver 2-3-2 receives the operator's real-time remote control signal;

[0086] The sensor unit includes an attitude sensing sensor group 2-4-1 and a positioning sensing sensor group 2-4-2; the attitude sensing sensor group 2-4-1 is directly connected to the flight control circuit board 2-2-1, and includes an IMU1 module 2-4-1-1, an IMU2 module 2-4-1-2, a magnetometer module 2-4-1-3, and a barometer module 2-4-1-4; the positioning sensing sensor group 2-4-2 includes a GPS module 2-4-2-1 and an optical flow module 2-4-2-2, and is installed in the positioning sensor bracket 1-1-4 in the main body 1-1;

[0087] The actuator includes a flight actuator group 2-5-1, a ground actuator group 2-5-2, and a mode execution converter group 2-5-3. The flight actuator group 2-5-1 includes a swash plate servo 1-2-1, a brushless motor 1-2-3, and an electronic speed control module 2-5-1-1. The ground actuator 2-5-2 includes a ground drive controller 2-5-2-1 and a reduction motor 1-4-2. The ground drive controller 2-5-2-1 is installed at the bottom of the main control unit board 1-1-3. The mode execution converter group 2-5-3 includes a folding servo 1-1-5.

[0088] IMU1 2-4-1-1, IMU2 2-4-1-2, magnetometer 2-4-1-3, barometer 2-4-1-4, flight control circuit board 2-2-1, and ESC 2-5-1-1 together form the flight tower 2-6, which is installed at the bottom of the top plate 1-1-1 of the fuselage.

[0089] The flight control unit 2-2 receives attitude data of the attitude sensing sensor group 2-4-1, positioning data of the positioning sensing sensor group 2-4-2 and instruction signals of the communication link 2-3; the flight control unit 2-2 inputs the DShot signal into the brushless motor 1-2-3 through the electronic governor 2-5-1-1 to control the rotating speed of the propeller 1-2-4 through the brushless motor 1-2-3; the flight control unit 2-2 transmits the PWM signal to the swashplate steering engine 1-2-1 to control the rotating angle of the swashplate steering engine 2-5-3, thereby changing the tilting direction of the propeller 1-2-4 to generate the pitch moment and the roll moment; the flight control unit 2-2 transmits the folding signal to the folding steering engine 1-1-5 to control the folding of the folding rod 1-1-6.

[0090] The main control unit 2-1 receives the instruction signals of the communication link 2-3, and the main control unit 2-1 and the flight control unit 2-2 can exchange signals; the main control unit 2-1 transmits the motor output signal to the ground driving controller 2-5-2-1, and the ground driving controller 2-5-2-1 converts the motor output into a corresponding PWM signal and drives the reduction motor 1-4-2 to rotate.

[0091] Embodiment 3

[0092] According to Figure 8 The method for using the control system of the hybrid unmanned aerial vehicle of embodiment 1 includes an air mode, a ground mode, a landing transition mode and a take-off transition mode, and the steps include:

[0093] S1. running the air mode

[0094] S1.1 according to Figure 9 The main control unit 2-1 receives the flight mode control instruction transmitted by the communication link 2-3 and sends the flight mode control instruction to the flight control unit 2-2;

[0095] S1.2 the flight control unit 2-2 obtains the actual position from the GPS module 2-4-2-1 and sets the target position, and calculates the expected speed according to the error between the target position and the actual position;

[0096] S1.3 the flight control unit 2-2 obtains the actual speed from the IMU1 module 2-4-1-1 and the IMU module 2-4-1-2, and calculates the expected acceleration according to the difference between the expected speed and the actual speed;

[0097] S1.4 the flight control unit 2-2 obtains the actual attitude angular rate from the gyroscope part of the IMU1 module 2-4-1-1 and the IMU module 2-4-1-2, calculates the angular rate error between the expected attitude angular rate contained in the flight mode control instruction and the actual attitude angular rate, and calculates the expected total thrust according to the angular rate error;

[0098] S1.5 The flight control unit 2-2 converts the expected total thrust into DShot signals and PWM signals through the built-in hybrid controller program; the flight control unit 2-2 inputs the DShot signals into the brushless motor 1-2-3 through the electronic governor 2-5-1-1 to control the rotation speed of the propeller 1-2-4; the flight control unit 2-2 inputs the PWM signals into the swashplate servo 1-2-1 to control the rotation angle of the swashplate servo 2-5-3, thereby changing the inclination direction of the propeller 1-2-4 to generate pitch moment and roll moment;

[0099] S2. Ground mode

[0100] S2.1 According to Figure 10 , the main control unit 2-1 receives the ground mode control instructions transmitted by the communication link 2-3 and sends the ground mode control instructions to the flight control unit 2-2;

[0101] S2.2 The IMU module 2-4-1-1 and the IMU module 2-4-1-2 continuously transmit the real-time angle of the body pitch axis to the main control unit 2-1 through the flight control unit 2-2, and the main control unit 2-1 compares the expected angle of the body pitch axis with the real-time angle of the body pitch axis to calculate the corrected motor output;

[0102] S2.3 The main control unit 2-1 receives the real-time speed of the encoder on the speed reducer motor 1-4-2, and calculates the speed control motor output according to the speed error between the expected speed and the real-time speed;

[0103] S2.4 The main control unit 2-1 algebraically superimposes the corrected motor output and the speed control motor output to obtain the total motor output;

[0104] S2.5 The main control unit 2-1 transmits the total motor output to the ground drive controller 2-5-2-1 of the ground actuator 2-5-2; the ground drive controller 2-5-2-1 converts the total motor output into corresponding PWM signals and drives the speed reducer motor 1-4-2 to rotate the inner hub 1-4-5;

[0105] S3. Landing transition mode

[0106] S3.1 According to Figure 11 , the main control unit 2-1 receives the landing instructions transmitted by the communication link 2-3;

[0107] S3.2 Initialize a dynamically allocated parameter λ 落 , whose value changes smoothly from 0 to 1; define the control weight of the brushless motor 1-2-3 as (1-λ 落 ) and the control weight of the speed reducer motor 1-4-2 as λ 落 ;

[0108] S3.3 The master control unit 2-1 transmits the landing instruction to the flight control unit 2-2, so that the hybrid unmanned aerial vehicle vertically descends at a constant speed; repeat S1.2-S1.4, and take the obtained expected total thrust as the virtual flight total thrust; repeat S2.2-S2.4, and take the obtained total motor output as the virtual deceleration motor output; when λ 落 changes, the output of the flight actuator 2-5-1 by the flight control unit 2-2 and the output of the ground actuator 2-5-2 by the master control unit are determined by the following weighted formula:

[0109]

[0110] wherein, T air represents the total thrust output by the flight control unit 2-2 to the flight actuator 2-5-1, F air represents the virtual flight total thrust, T land represents the output of the master control unit 2-1 to the ground actuator 2-5-2, F land represents the virtual deceleration motor output;

[0111] S3.4 When the height data transmitted by the positioning and sensing sensor group 2-4-2 to the flight control unit 2-2 reaches a threshold value at the landing moment, the flight control unit 2-2 transmits the height data to the master control unit 2-1, the master control unit 2-1 determines that the height data reaches the threshold value and sends a folding signal to the folding rudder 1-1-5 in the mode conversion actuator 2-5-3, and the folding rudder 1-1-5 folds the unfolded folding rod 1-1-6 to the position close to the fuselage;

[0112] S4. Take-off transition mode

[0113] S4.1 According to Figure 12 , after the master control unit 2-1 receives the take-off instruction transmitted by the communication link 2-3, the master control unit 2-1 transmits the take-off instruction to the flight control unit 2-2, and the flight control unit 2-2 controls the folding rudder 1-1-5 to unfold the folding rod 1-1-6 to the preset flight working position;

[0114] S4.2 Initialize a dynamic allocation parameter λ 升 ;

[0115] S4.3 The master control unit 2-1 sends a start instruction to the flight control unit 2-2, and the flight control unit 2-2 controls the brushless motor 1-2-3 to start rotating at a preset idle speed, and activates λ 升 , so that the value of λ 升When the change, the output of the flight control unit 2-2 to the flight actuator 2-5-1 and the output of the master control unit to the ground actuator 2-5-2 are determined by the following weighted formula:

[0116]

[0117] Wherein, wherein, T air The total thrust of the flight control unit 2-2 to the flight actuator 2-5-1 output, F air The virtual flight total thrust, T land The output of the master control unit 2-1 to the ground actuator 2-5-2, F land The virtual deceleration motor output;

[0118] S4.4 When lambda 升 When the weight corresponding to the brushless motor 1-2-3 thrust is greater than the gravity of the hybrid unmanned aerial vehicle, the hybrid unmanned aerial vehicle is lifted stably and vertically off the ground. Since the increase in power is continuous and smooth, sudden changes in power are avoided, thereby effectively preventing the lateral turning of the body at the moment of take-off.

[0119] The above of the present application is only part of the preferred embodiments of the present application, it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A hybrid drone, characterized by: The invention comprises a main body mechanism (1-1); the main body mechanism (1-1) is mirror-symmetrical about a horizontal straight line, and the extension direction of the straight line is defined as the front-back direction, and the horizontal direction perpendicular to the front-back direction is defined as the left-right direction; the left and right sides of the main body mechanism (1-1) are connected to the flying mechanism (1-2); the bottom of the main body mechanism (1-1) is connected to the ground mechanism (1-4) capable of traveling on the ground through the connecting mechanism (1-3); The main body structure (1-1) comprises a body top plate (1-1-1) and a body bottom plate (1-1-2) below the body top plate (1-1-1); a first body stud (1-1-7) is connected between the body top plate (1-1-1) and the body bottom plate (1-1-2); a main control unit board (1-1-3) is provided above the body top plate (1-1-1), and the main control unit board (1-1-3) is connected to the body top plate (1-1-1) via a second body stud (1-1-8); a positioning sensor bracket (1-1-4) is provided at the rear end of the body top plate (1-1-1); A folding servo (1-1-5) is provided on the left and right sides of the interlayer between the body top plate (1-1-1) and the body bottom plate (1-1-2), respectively. The folding servo (1-1-5) is connected to the folding rod (1-1-6) via a front-to-back output rocker pivot. The folding servo (1-1-5) can use the output rocker pivot as a rotation axis to rotate the folding rod (1-1-6). The folding rod (1-1-6) is provided with a folding screw hole (1-1-10). The flight mechanism (1-2) includes a swash plate servo (1-2-1), wherein the sides of the two swash plate servos (1-2-1) that are close to each other are defined as inner sides, and the sides that are away from each other are defined as outer sides; the inner sides of the swash plate servos (1-2-1) are fixedly connected to a folding rod (1-1-6) via a folding screw hole (1-1-10); the outer sides of the swash plate servos (1-2-1) are connected to a swash plate rod (1-2-2) via a left-right connecting shaft; the swash plate servos (1-2-1) can use the connecting shaft as a rotating shaft to rotate the swash plate rod (1-2-2). 2); the top of the outer end of the swash plate rod (1-2-2) is connected to the brushless motor (1-2-3) through the motor bolt (1-2-5), and the motor bolts (1-2-5) are symmetrically distributed in the four corners of the outer end of the swash plate rod (1-2-2); the top of the brushless motor (1-2-3) is connected to the propeller (1-2-4) through a vertical rotating shaft; the propeller (1-2-4) of the left flight mechanism (1-2) is a forward propeller, and the propeller (1-2-4) of the right flight mechanism (1-2) is a reverse propeller; The connecting mechanism (1-3) comprises a connecting top plate (1-3-1); the connecting top plate (1-3-1) is provided with a connecting screw hole (1-3-4); the connecting top plate (1-3-1) is connected to the machine body bottom plate (1-1-2) via bolts passing through the connecting screw hole (1-3-4); the bottom of the connecting top plate (1-3-1) is connected to the connecting bottom plate (1-3-2) via a plurality of connecting columns (1-3-3); The ground mechanism (1-4) comprises a ground top plate (1-4-1), the top of the ground top plate (1-4-1) is fixedly connected to the connecting bottom plate (1-3-2); the bottom of the ground top plate (1-4-1) is connected to a reduction motor (1-4-2), and the reduction motor (1-4-2) has an encoder built in; the left and right sides of the bottom of the reduction motor (1-4-2) are respectively connected to vertical reduction mechanisms (1-4-3), and a left and right wheel axle is connected between the two reduction mechanisms (1-4-3); an inner wheel hub (1-4-5) is passed through the wheel axle, and an outer wheel hub (1-4-4) is provided on the outer shell of the inner wheel hub (1-4-5); the reduction motor (1-4-2) can drive the wheel axle to rotate, thereby driving the inner wheel hub (1-4-5) to rotate.

2. The hybrid UAV according to claim 1, characterized in that: The folding servo (1-1-5) can rotate the folding lever (1-1-6) in the range of 0° to 90°.

3. The hybrid UAV according to claim 1, characterized in that: The swash plate servo (1-2-1) rotates the swash plate rod (1-2-2) in the range of -45° to 45°.

4. The hybrid UAV according to claim 1, characterized in that: The reduction mechanism (1-4-3) adopts five-stage reduction with a reduction ratio of 1:

20.

5. The hybrid UAV according to claim 1, characterized in that: The inner hub (1-4-5) is provided with a plurality of trapezoidal holes which are engaged with the outer hub (1-4-4), and a central angle formed by adjacent trapezoidal holes and the center of the inner hub (1-4-5) is 45 degrees.

6. The hybrid UAV control system according to claim 1, characterized in that: It comprises a sensor unit, a communication link unit (2-3), a flight control unit (2-2), a main control unit (2-1) and an actuator unit; wherein the main control unit (2-1) comprises a main control circuit board module (2-1-1), and the main control unit board (2-1-1) is installed on the top of the main control circuit board (1-1-3); the flight control unit (2-2) comprises a flight control circuit board (2-2-1); The communication link (2-3) includes a data transmission module (2-3-1) and a remote control receiver (2-3-2); wherein the data transmission module (2-3-1) performs data communication with a remote ground station; and the remote control receiver (2-3-2) receives a real-time remote control signal from an operator; The sensor unit includes a posture perception sensor group (2-4-1) and a positioning perception sensor group (2-4-2); the posture perception sensor group (2-4-1) is directly connected to the flight control circuit board (2-2-1), and includes an IMU1 module (2-4-1-1), an IMU2 module (2-4-1-2), a magnetometer module (2-4-1-3), and a barometer module (2-4-1-4); the positioning perception sensor group (2-4-2) includes a GPS module (2-4-2-1) and an optical flow module (2-4-2-2), and is installed on a positioning sensor bracket (1-1-4) in the main body (1-1); The actuator includes a flight actuator group (2-5-1), a ground actuator group (2-5-2) and a mode execution converter group (2-5-3); the flight actuator group (2-5-1) includes a swash plate servo (1-2-1), a brushless motor (1-2-3) and an electronic speed control module (2-5-1-1); the ground actuator (2-5-2) includes a ground drive controller (2-5-2-1) and a reduction motor (1-4-2), and the ground drive controller (2-5-2-1) is installed at the bottom of the main control unit board (1-1-3); the mode execution converter group (2-5-3) includes a folding servo (1-1-5); IMU1 (2-4-1-1), IMU2 (2-4-1-2), magnetometer (2-4-1-3), barometer (2-4-1-4), flight control circuit board (2-2-1) and electronic speed controller (2-5-1-1) together form the flight tower (2-6), which is installed at the bottom of the top plate (1-1-1) of the fuselage; The flight control unit (2-2) receives attitude data from the attitude sensing sensor group (2-4-1), positioning data from the positioning sensing sensor group (2-4-2), and a command signal from the communication link (2-3); the flight control unit (2-2) inputs the DShot signal into the brushless motor (1-2-3) through the electric regulator (2-5-1-1), and controls the speed of the propeller (1-2-4) through the brushless motor (1-2-3); the flight control unit (2-2) transmits a PWM signal to the swash plate servo (1-2-1), controls the rotation angle of the swash plate servo (2-5-3), and thereby changes the tilt direction of the propeller (1-2-4), generating a pitch moment and a roll moment; the flight control unit (2-2) transmits a folding signal to the folding servo (1-1-5), and thereby controls the folding of the folding rod (1-1-6); The main control unit (2-1) receives the command signal of the communication link (2-3), and the main control unit (2-1) and the flight control unit (2-2) can exchange signals; the main control unit (2-1) transmits the motor output signal to the ground drive controller (2-5-2-1), and the ground drive controller (2-5-2-1) converts the motor output into a corresponding PWM signal and drives the reduction motor (1-4-2) to rotate.

7. The method for using the control system of a hybrid UAV according to claim 5, comprising the steps of: S1. Run in air mode S1.1 The main control unit (2-1) receives the flight mode control instruction transmitted by the communication link (2-3) and sends the flight mode control instruction to the flight control unit (2-2); S1.2 The flight control unit (2-2) obtains the actual position from the GPS module (2-4-2-1), sets a target position, and calculates the expected speed based on the error between the target position and the actual position; S1.3 The flight control unit (2-2) obtains the actual speed from the IMU1 module (2-4-1-1) and the IMU module (2-4-1-2), and calculates the expected acceleration based on the difference between the expected speed and the actual speed; S1.4 The flight control unit (2-2) obtains the actual attitude angular rate from the gyroscope portion of the IMU1 module (2-4-1-1) and the IMU module (2-4-1-2), calculates the angular rate error between the expected attitude angular rate included in the flight mode control instruction and the actual attitude angular rate, and calculates the expected total thrust based on the angular rate error; The S1.5 flight control unit (2-2) converts the expected total thrust into a DShot signal and a PWM signal through a built-in hybrid controller program; the flight control unit (2-2) inputs the DShot signal into the brushless motor (1-2-3) through the electronic controller (2-5-1-1), and controls the speed of the propeller (1-2-4) through the brushless motor (1-2-3); the flight control unit (2-2) inputs the PWM signal into the swash plate servo (1-2-1), controls the rotation angle of the swash plate servo (2-5-3), and thereby changes the tilt direction of the propeller (1-2-4), generating a pitch moment and a roll moment; S2. Operation ground mode S2.1 The main control unit (2-1) receives the ground mode control instruction transmitted by the communication link (2-3) and sends the ground mode control instruction to the flight control unit (2-2); S2.2 The IMU1 module (2-4-1-1) and the IMU module (2-4-1-2) continuously transmit the real-time angle of the fuselage pitch axis to the main control unit (2-1) through the flight control unit (2-2). The main control unit (2-1) compares the expected angle of the fuselage pitch axis with the real-time angle of the fuselage pitch axis to calculate the corrected motor output; S2.3 The main control unit (2-1) receives the real-time speed read by the encoder on the reduction motor (1-4-2), and calculates the output of the speed control motor based on the speed error between the expected speed and the real-time speed; S2.4 The main control unit (2-1) algebraically adds the correction motor output and the speed control motor output to obtain the total motor output; The S2.5 main control unit (2-1) transmits the total motor output to the ground drive controller (2-5-2-1) of the ground actuator (2-5-2); the ground drive controller (2-5-2-1) converts the total motor output into a corresponding PWM signal and drives the reduction motor (1-4-2) to rotate the inner wheel hub (1-4-5); S3. Landing Override Mode S3.1 The main control unit (2-1) receives the landing instruction transmitted by the communication link (2-3); S3.2 Initialize a dynamic allocation parameter λ 落 , whose value changes smoothly from 0 to 1; the control weight of the brushless motor (1-2-3) is defined as (1-λ 落 ), the control weight of the reduction motor (1-4-2) is λ 落 ; S3.3 The main control unit (2-1) transmits a landing command to the flight control unit (2-2), causing the hybrid UAV to descend vertically at a constant speed; repeat S1.2-S1.4, and use the expected total thrust as the virtual flight total thrust; repeat S2.2-S2.4, and use the total motor output as the virtual reduction motor output; in λ 落 When the value changes, the output of the flight control unit (2-2) to the flight actuator (2-5-1) and the output of the main control unit to the ground actuator (2-5-2) are determined by the following weighted formula: Among them, T air It represents the total thrust outputted by the flight control unit (2-2) to the flight actuator (2-5-1), F air Indicates the total thrust of virtual flight, T land Indicates the output from the main control unit (2-1) to the ground actuator (2-5-2), F land Indicates the output of the virtual reduction motor; S3.4 At the moment of landing, when the altitude data transmitted by the positioning sensor group (2-4-2) to the flight control unit (2-2) reaches a threshold, the flight control unit (2-2) transmits the altitude data to the main control unit (2-1), and the main control unit (2-1) determines that the altitude data has reached the threshold and sends a landing command to the flight control unit (2-2); the flight control unit (2-2) shuts down the flight controller (2-5-1) and sends a folding signal to the folding servo (1-1-5) in the mode conversion actuator (2-5-3), and the folding servo (1-1-5) retracts the unfolded folding rod (1-1-6) to a position close to the fuselage; S4. Takeoff transition mode S4.1 After receiving the takeoff command transmitted by the communication link (2-3), the main control unit (2-1) transmits the takeoff command to the flight control unit (2-2), and the flight control unit (2-2) controls the folding servo (1-1-5) to unfold the folding rod (1-1-6) to a preset flight working position; S4.2 Initialize a dynamic allocation parameter λ 升 ; S4.3 The main control unit (2-1) sends a start command to the flight control unit (2-2), and the flight control unit (2-2) controls the brushless motor (1-2-3) to start rotating at the preset idle speed, activating the λ 升 , so that its value increases smoothly and continuously from 0 to 1; repeat S1.2-S1.4, and use the expected total thrust as the virtual flight total thrust; repeat S2.2-S2.4, and use the total motor output as the virtual reduction motor output; λ 升 When the value changes, the output of the flight control unit (2-2) to the flight actuator (2-5-1) and the output of the main control unit to the ground actuator (2-5-2) are determined by the following weighted formula: Among them, T air It represents the total thrust outputted by the flight control unit (2-2) to the flight actuator (2-5-1), F air Indicates the total thrust of virtual flight, T land Indicates the output from the main control unit (2-1) to the ground actuator (2-5-2), F land Indicates the output of the virtual reduction motor; S4.4 When λ 升 When the thrust of the brushless motor (1-2-3) corresponding to the weight is greater than the gravity of the hybrid drone, the hybrid drone is lifted off the ground smoothly and vertically.

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