A combined aircraft system and control method

Abstract

This application discloses a combined aircraft system and control method, relating to the field of aircraft technology. A paraglider unit is foldably stored on the fuselage; a release mechanism is located on the fuselage for releasing the paraglider unit from the fuselage; the paraglider unit is connected to a multi-rotor flight unit via multiple parachute lines on both sides; limiting components are provided on both sides of the fuselage arms, and at least one parachute line on each side is threaded through or connected to the corresponding limiting component; the multi-rotor flight unit is configured to generate differential force by controlling at least one set of rotors corresponding to the limiting components. This differential force is transmitted to the parachute lines through the limiting components, creating a lift difference between the two sides of the paraglider unit, thereby controlling the flight attitude of the combined aircraft system. Therefore, this application ultimately achieves the technical effect of "combining the vertical takeoff and landing and high maneuverability of a multi-rotor flight unit with the long endurance advantages of a paraglider unit," becoming an integrated and efficient flight platform.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a combined aircraft system and control method. Background Technology

[0002] Multirotor aircraft, with their vertical takeoff and landing and hovering capabilities, are widely used in fields such as patrol and search. However, their performance is limited by several key technological bottlenecks: First, due to limitations in battery technology, their endurance is short, making it difficult to meet the needs of long-term aerial operations; in addition, energy consumption increases dramatically during high-speed flight, further limiting their flight time and mission radius.

[0003] On the other hand, paragliders, as a highly efficient unpowered aircraft, rely on aerodynamics for gliding and have natural advantages such as long flight time and low energy consumption. However, traditional paragliders generally suffer from slow flight speed, poor maneuverability, and a lack of active control capabilities, making it impossible to achieve autonomous and precise flight.

[0004] Therefore, there is a lack of an integrated system in the existing technology that can effectively combine the maneuverability of multi-rotor aircraft with the long endurance of paragliders. Summary of the Invention

[0005] This application provides a combined aircraft system and control method, which solves the problems mentioned in the background art.

[0006] In a first aspect, embodiments of this application provide a combined aircraft system, including a paraglider unit, a multi-rotor flight unit, and a release mechanism; the multi-rotor flight unit includes a fuselage, multiple arms disposed around the fuselage, and rotors disposed at the ends of the arms; the paraglider unit is foldably stored in the fuselage; the release mechanism is disposed in the fuselage for releasing the paraglider unit from the fuselage; the paraglider unit is connected to the multi-rotor flight unit via multiple parachute lines on both sides; wherein, each arm on both sides of the fuselage is provided with a limiting component, and at least one parachute line on each side is threaded through or connected to the corresponding limiting component; the multi-rotor flight unit is configured to generate differential force by controlling at least one set of rotors corresponding to the limiting component, the differential force being transmitted to the parachute lines through the limiting component, thereby creating a lift difference between the two sides of the paraglider unit, and thus controlling the flight attitude of the combined aircraft system.

[0007] In conjunction with the first aspect, in one possible implementation, the combined aircraft system further includes a parachute compartment assembly disposed on the top of the fuselage; the paraglider unit is foldably housed within the parachute compartment assembly; the parachute compartment assembly includes a parachute canopy; and a release mechanism is disposed on the parachute canopy for ejecting the parachute canopy and causing the paraglider unit to deploy automatically.

[0008] In conjunction with the first aspect, in one possible implementation, the multi-rotor flight unit further includes a tilting mechanism; the tilting mechanism is connected between the fuselage and at least one of the rotors, for driving the rotors to tilt as a whole to change the direction of their thrust, thereby controlling the angle of attack of the paraglider unit; it also includes a separation mechanism; the separation mechanism is disposed on the fuselage, for separating the deployed paraglider unit from the multi-rotor flight unit; and / or further includes a communication unit; the communication unit is communicatively connected to the multi-rotor flight unit.

[0009] In conjunction with the first aspect, in one possible implementation, the limiting component is located at the distal end of the arms on both sides of the fuselage; the parachute rope passes through the limiting component and is then connected to the fuselage of the multi-rotor flight unit via the separation mechanism.

[0010] In conjunction with the first aspect, in one possible implementation, the separation mechanism includes a connecting component and a separation triggering component; the connecting component is disposed on the fuselage for releasably connecting the ends of all the parachute lines; the separation triggering component is disposed between the connecting component and the fuselage, and the separation triggering component is configured to cause the connecting component to release all the parachute lines upon triggering, thereby causing the paraglider unit to detach from the multi-rotor flight unit.

[0011] Secondly, embodiments of this application provide a combined aircraft control method, applied to a combined aircraft system as described in the first aspect or a possible implementation of the first aspect, the method comprising:

[0012] Mode switching steps: Control the release mechanism to deploy the glider unit in the retracted state and put it into working state, thereby switching the combined aircraft system from the first flight mode in which the multi-rotor flight unit provides lift to the second flight mode in which the glider unit provides at least part of the lift;

[0013] Gliding control steps: In the second flight mode, the glider unit is controlled to climb, descend, or turn by controlling the rotor of the multi-rotor flight unit.

[0014] In conjunction with the second aspect, in one possible implementation, the mode conversion step includes:

[0015] The parachute unit is ejected by the release mechanism that ejects the canopy.

[0016] Control the multi-rotor flight unit to enter free fall, causing the paraglider unit to inflate and deploy.

[0017] In conjunction with the second aspect, in one possible implementation, the gliding control steps include climb control:

[0018] In the second flight mode, at least one rotor of the multi-rotor flight unit is tilted by the tilting mechanism, causing its thrust to generate a forward component;

[0019] The center of gravity of the multi-rotor flight unit is shifted forward relative to the paraglider unit to increase the angle of attack of the paraglider unit, thereby achieving a climb.

[0020] In conjunction with the second aspect, in one possible implementation, the gliding control steps also include descent control:

[0021] In the second flight mode, at least one rotor of the multi-rotor flight unit is tilted in the opposite direction by the tilting mechanism to generate a rearward thrust.

[0022] The center of gravity of the multi-rotor flight unit is shifted rearward relative to the paraglider unit to reduce the angle of attack of the paraglider unit and thus achieve descent.

[0023] In conjunction with the second aspect, in one possible implementation, the gliding control steps include steering control:

[0024] In the second flight mode, differential force is generated by controlling a set of spatially opposite rotors in the multi-rotor flight unit. The differential force is transmitted through the corresponding parachute lines, causing asymmetrical lift to be generated on both sides of the paraglider unit, and then turning is achieved by rolling.

[0025] One or more technical solutions provided in the embodiments of this application have at least the following technical effects:

[0026] The combined aircraft system provided in this application includes a paraglider unit, a multi-rotor flight unit, and a release mechanism. When long-endurance cruising is required, the release mechanism deploys the paraglider unit stored in the fuselage. The system switches from a first flight mode where lift is provided by the multi-rotor flight unit to a second flight mode where lift is provided at least partially by the paraglider unit, thus achieving low-energy, long-endurance flight. During gliding, the multi-rotor flight unit is not idle but acts as an active control system. It generates differential force by controlling the rotors on the arms on both sides of the fuselage. This differential force is transmitted to the parachute lines connecting the two sides of the paraglider unit through limiting components on the arms, thereby creating an adjustable lift difference between the two sides of the paraglider unit, ultimately achieving precise and active control of the aircraft's attitude. Therefore, this application ultimately achieves the technical effect of "combining the vertical takeoff and landing and high maneuverability of a multi-rotor flight unit with the long-endurance advantages of a paraglider unit," becoming an integrated and efficient flight platform. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the combined aircraft system provided in the embodiments of this application;

[0029] Figure 2 This is a schematic diagram of the structure of the parachute assembly provided in the embodiments of this application;

[0030] Figure 3 This is a schematic diagram of the paraglider unit after it has been opened, as provided in the embodiments of this application.

[0031] Figure 4 A schematic diagram of the tilt mechanism tilting the rotor in the second flight mode provided in an embodiment of this application;

[0032] Figure 5 for Figure 4 Enlarged view of section A in the image;

[0033] Figure 6 This is a schematic diagram of the right roll flight of the combined aircraft system provided in the embodiments of this application;

[0034] Figure 7 This is a schematic diagram of the separator lifting ring provided in an embodiment of this application;

[0035] Figure 8 This is a schematic diagram of the structure of the limiting component provided in the embodiment of this application.

[0036] Icons: 1-Gliding parachute unit; 11-Parachute lines; 2-Multirotor flight unit; 21-Fuselage; 22-Arm; 23-Rotor; 24-Tilting mechanism; 25-Separation mechanism; 251-Connecting assembly; 2511-Separator base; 2512-Separator shackle; 26-Communication unit; 3-Release mechanism; 31-Explosive bolt; 4-Parachute compartment assembly; 41-Parachute compartment cover; 5-Limiting component. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0039] This application provides a combined aircraft system, such as... Figures 1 to 8 As shown. The combined aircraft system includes a paraglider unit 1, a multi-rotor flight unit 2, and a release mechanism 3. The multi-rotor flight unit 2 includes a fuselage 21, multiple arms 22 arranged circumferentially around the fuselage 21, and rotors 23 at the ends of the arms 22. The paraglider unit 1 is foldably stored on the fuselage 21. The release mechanism 3 is located on the fuselage 21 and is used to release the paraglider unit 1 from the fuselage 21. The paraglider unit 1 is connected to the multi-rotor flight unit 2 via multiple parachute lines 11 on both sides. Limiting components 5 are provided on both sides of the fuselage 21, and at least one parachute line 11 on each side is threaded through or connected to the corresponding limiting component 5. The multi-rotor flight unit 2 is configured to generate differential force by controlling at least one set of rotors 23 corresponding to the limiting components 5. The differential force is transmitted to the parachute lines 11 through the limiting components 5, creating a lift difference between the two sides of the paraglider unit 1, thereby controlling the flight attitude of the combined aircraft system.

[0040] It should be noted that when long-endurance cruise is required, the release mechanism 3 will deploy the paraglider unit 1 stored in the fuselage 21. The system switches from a first flight mode where lift is provided by the multi-rotor flight unit 2 to a second flight mode where lift is provided by the paraglider unit 1 at least partially, thus achieving low-energy, long-endurance flight. During gliding, the multi-rotor flight unit 2 is not idle but acts as an active control system. It generates differential force by controlling the rotors 23 on the arms 22 on both sides of the fuselage 21. This differential force is transmitted to the parachute lines 11 connecting the two sides of the paraglider unit 1 through the limiting components 5 on the arms 22, thereby creating an adjustable lift difference between the two sides of the paraglider unit 1, ultimately achieving precise and active control of the aircraft's attitude. Therefore, this application ultimately achieves the technical effect of "combining the vertical takeoff and landing and high maneuverability of the multi-rotor flight unit 2 with the long-endurance advantages of the paraglider unit 1," becoming an integrated and efficient flight platform.

[0041] In this embodiment, the combined aircraft system further includes a parachute compartment assembly 4 disposed on the top of the fuselage 21. The parachute unit 1 is foldably housed within the parachute compartment assembly 4. The parachute compartment assembly 4 includes a parachute compartment cover 41. A release mechanism 3 is disposed on the parachute compartment cover 41 for ejecting the parachute compartment cover 41 and automatically deploying the parachute unit 1.

[0042] In one embodiment of this application, the release mechanism 3 includes an explosive bolt 31.

[0043] Specifically, when the multi-rotor flight unit 2 is in a hovering state, the trigger release mechanism 3 (such as the detonating bolt 31) ejects the parachute canopy 41; then, the multi-rotor flight unit 2 shuts off the power of all rotors 23, and with the help of the relative airflow of its own free fall, the ejected parachute unit 1 is quickly inflated and fully deployed, thus providing key assurance for the combined aircraft system to smoothly switch from the high-energy-consuming multi-rotor mode to the long-endurance gliding mode.

[0044] In this embodiment, the multi-rotor flight unit 2 further includes a tilting mechanism 24. The tilting mechanism 24 is connected between the fuselage 21 and at least one rotor 23, and is used to drive the rotor 23 to tilt as a whole to change the direction of its thrust, thereby controlling the angle of attack of the paraglider unit 1.

[0045] Specifically, when active separation is required, the multi-rotor flight unit 2 tilts its front rotor 23 to a horizontal position through the tilting mechanism 24, generating forward thrust, creating conditions for the separation mechanism 25 to perform the separation action, thereby achieving safe and rapid separation from the paraglider unit 1.

[0046] The multi-rotor flight unit 2 also includes a separation mechanism 25. The separation mechanism 25 is located on the fuselage 21 and is used to separate the deployed paraglider unit 1 from the multi-rotor flight unit 2.

[0047] And / or the multi-rotor flight unit 2 also includes a communication unit 26, which is communicatively connected to the multi-rotor flight unit 2.

[0048] Furthermore, to fundamentally solve the problem of traditional multi-rotor flight unit 2 communication links being susceptible to terrain obstruction and electromagnetic interference, a preferred embodiment of this application features a targeted design for the communication unit 26: it is positioned at the bottom of the fuselage 21 and employs a fiber optic communicator. This design offers dual advantages: firstly, it fully utilizes the inherent high anti-interference and low signal attenuation characteristics of the fiber optic communicator, fundamentally ensuring the stability and reliability of signal transmission in complex environments; secondly, combined with the unique configuration of the system in gliding mode where the multi-rotor flight unit 2 is suspended below the paraglider unit 1, the bottom communication unit 26 obtains a continuous, unobstructed view of the ground, effectively avoiding signal obstruction by the fuselage 21 structure and the parachute during flight.

[0049] Building on this, the paraglider unit 1 provides the system with long endurance and high flight altitude capabilities, enabling the multi-rotor flight unit 2 to have sufficient loiter time and cruising altitude to fly over areas with traditional communication obstacles such as hillsides and mountaintops. At the same time, the fiber optic communicator configured at the bottom of the fuselage 21 can provide high-quality and uninterrupted signal support throughout the mission, ensuring unimpeded communication and reliable control in complex geographical and electromagnetic environments, thereby greatly expanding the actual mission radius and scenario adaptability of the aircraft.

[0050] In this embodiment, the limiting component 5 is located at the distal end of the arm 22 on both sides of the fuselage 21. The parachute rope 11 passes through the limiting component 5 and is then connected to the fuselage 21 of the multi-rotor flight unit 2 via the separation mechanism 25.

[0051] In this embodiment, by placing the limiting component 5 at the distal end of the arm 22, the force-bearing point of the parachute line 11 is moved outward to the maximum extent, thereby increasing the lever arm of the control force. This design creates a highly efficient "lever" effect, allowing the finite differential force generated by the rotor 23 to be amplified into a significant rolling torque acting on both sides of the paraglider unit 1. This not only improves the sensitivity and efficiency of flight attitude control but also enables precise and rapid steering control with less power consumption, further optimizing the overall energy efficiency and maneuverability of the system in gliding mode.

[0052] In one embodiment of this application, the multi-rotor flight unit 2 includes four arms 22 and four rotors 23 disposed at the ends of the arms 22. The limiting components 5 are multiple lifting rings, installed on a pair of arms 22 arranged diagonally on both sides of the fuselage 21. Additionally, lifting rings are also provided on the fuselage 21. Multiple parachute lines 11 are threaded through the corresponding lifting rings on the arms 22 and the fuselage 21, and finally connected to the separation mechanism 25 disposed in the middle of the fuselage 21.

[0053] During controlled climb, the multi-rotor flight unit 2 tilts its front rotor 23 to a vertical position via the tilting mechanism 24 and activates the rotor 23 to generate an upward pull, causing the center of gravity of the multi-rotor flight unit 2 to move forward relative to the paraglider unit 1, thereby increasing the angle of attack of the paraglider unit 1 and achieving climb control.

[0054] In calm conditions, if the center of gravity of the multi-rotor flight unit 2 remains unchanged, the paraglider unit 1 has the function of gliding autonomously and descending slowly.

[0055] To achieve steering control, the multi-rotor flight unit 2 generates differential force by controlling its two rotors 23, driving the paraglider unit 1 to perform left or right roll maneuvers. Specifically, during a right roll, the control process is as follows:

[0056] The hanging ring on the left arm 22 moves upward, causing the corresponding left parachute rope 11 to rise, which in turn causes the left tip of the parachute unit 1 to move upward.

[0057] The hanging ring on the left side of the fuselage 21 moves upward, causing the corresponding left parachute rope 11 to rise, thus moving the entire left side of the paraglider unit 1 upward.

[0058] The hanging ring on the right arm 22 moves downward, causing the corresponding right parachute line 11 to pull down, resulting in the right tip of the parachute unit 1 moving downward.

[0059] The hanging ring on the right side of the fuselage 21 moves downward, causing the corresponding right side parachute rope 11 to pull down, thus moving the entire right side of the paraglider unit 1 downward.

[0060] Ultimately, paraglider unit 1 adopted a left-high, right-low orientation, began performing a right roll, and entered right-turn flight.

[0061] Similarly, by controlling the differential force of the two rotors 23 in the opposite direction, the paraglider unit 1 can be made to form an attitude with the left side low and the right side high, thus achieving left roll and left turn flight.

[0062] Of course, the limiting component 5 in this application is not limited to the form of a lifting ring. In other embodiments of this application, the limiting component 5 can also be a tubular structure, such as a guide tube fixed to the arm 22. The parachute rope 11 passes through the guide tube and can also play a core role in guiding and transmitting differential force.

[0063] In this embodiment, the separation mechanism 25 includes a connecting assembly 251 and a separation triggering component. The connecting assembly 251 is disposed on the fuselage 21 and is used to releasably connect the ends of all parachute lines 11. The separation triggering component is disposed between the connecting assembly 251 and the fuselage 21, and is configured to release all parachute lines 11 upon triggering, thereby causing the paraglider unit 1 to detach from the multi-rotor flight unit 2.

[0064] In one specific embodiment, the separation triggering component uses separation explosives. The connecting assembly 251 includes a separator base 2511 fixed to the fuselage 21 and a separator shackle 2512 that is interference-fitted with the separator base 2511. When the separation explosives are detonated, the resulting impact force will force the separator shackle 2512 to quickly detach from the separator base 2511, thereby freeing all parachute lines 11 from the separator shackle 2512, and the paraglider unit 1 will then completely separate from the multi-rotor flight unit 2. After separation, the multi-rotor flight unit 2 can resume multi-rotor 23 flight mode for rapid autonomous flight.

[0065] This application provides a combined aircraft control method, applied to the aforementioned combined aircraft system, the method comprising:

[0066] S1: Mode switching step: Control the release mechanism 3 to deploy the paraglider unit 1 in the retracted state and put it into working state, thereby switching the combined aircraft system from the first flight mode in which lift is provided by the multi-rotor flight unit 2 to the second flight mode in which lift is provided by at least part of the paraglider unit 1.

[0067] S2: Gliding control steps: In the second flight mode, the glider unit 1 is controlled to climb, descend or turn by controlling the rotor 23 of the multi-rotor flight unit 2.

[0068] It should be noted that this application achieves a smooth switch from a highly maneuverable first flight mode to a long-endurance second flight mode through a mode switching step, and can actively and precisely control the glider unit 1 to climb, descend and turn in the second flight mode through gliding control steps, thereby organically integrating the controllability of the multi-rotor flight unit 2 and the endurance advantage of the glider unit 1 on a single flight platform.

[0069] In this embodiment of the application, the mode conversion step includes:

[0070] S11: The parachute unit 1 is ejected by the release mechanism 3 ejecting the parachute canopy 41.

[0071] S12: Control the multi-rotor flight unit 2 to enter free fall state, causing the paraglider unit 1 to inflate and deploy.

[0072] In this embodiment, the mode switching step uses the release mechanism 3 to actively eject the parachute canopy 41 to eject the paraglider unit 1 and control the multi-rotor flight unit 2 to enter free fall. By utilizing the relative airflow generated during its descent, the paraglider unit 1 is rapidly and reliably inflated and deployed, thereby achieving a fast, automatic, and stable transition from the first flight mode to the second flight mode, laying the foundation for subsequent gliding control steps.

[0073] In this embodiment of the application, the gliding control steps include climb control:

[0074] S211: In the second flight mode, at least one rotor 23 of the multi-rotor flight unit 2 is tilted by the tilting mechanism 24, causing its thrust to generate a forward component.

[0075] S212: Drive the center of gravity of the multi-rotor flight unit 2 to move forward relative to the paraglider unit 1, thereby increasing the angle of attack of the paraglider unit 1 and achieving a climb.

[0076] In this embodiment of the application, the gliding control steps further include descent control:

[0077] S221: In the second flight mode, at least one rotor 23 of the multi-rotor flight unit 2 is tilted in the opposite direction by the tilting mechanism 24 to generate a rearward thrust.

[0078] S222: Drive the center of gravity of the multi-rotor flight unit 2 to shift rearward relative to the paraglider unit 1, thereby reducing the angle of attack of the paraglider unit 1 and achieving descent.

[0079] In this embodiment of the application, the gliding control steps include steering control:

[0080] S231: In the second flight mode, differential force is generated by controlling a set of spatially opposite rotors 23 in the multi-rotor flight unit 2. The differential force is transmitted through the corresponding parachute lines 11, causing asymmetrical lift to be generated on both sides of the paraglider unit 1, and then turning is achieved by rolling.

[0081] It should be noted that this application achieves comprehensive active control of the flight attitude of the paraglider unit 1 by coordinating the use of tilt control and differential control mechanisms in the second flight mode: on the one hand, the tilt mechanism 24 tilts the rotor 23 to change the relative center of gravity position of the multi-rotor flight unit 2, and precisely adjusts the angle of attack of the paraglider unit 1, thereby implementing controllable climb and descent; on the other hand, the differential force output of the diagonal rotor 23 is transmitted through the parachute lines 11 to generate asymmetrical lift on both sides of the paraglider unit 1, and then achieves flexible turning through roll.

[0082] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0083] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A combined aircraft system, characterized in that, It includes a paraglider unit (1), a multi-rotor flight unit (2), and a release mechanism (3); The multi-rotor flight unit (2) includes a fuselage (21), a plurality of arms (22) arranged around the fuselage (21), and rotors (23) arranged at the ends of the arms (22). The paraglider unit (1) can be folded and stored on the fuselage (21); The release mechanism (3) is disposed on the fuselage (21) and is used to release the paraglider unit (1) from the fuselage (21); The paraglider unit (1) is connected to the multi-rotor flight unit (2) via multiple parachute lines (11) on both sides of the unit; wherein, limit components (5) are provided on the arms (22) on both sides of the fuselage (21), and at least one parachute line (11) on each side is threaded through or connected to the corresponding limit component (5); a separation mechanism (25) is also included; the separation mechanism (25) is provided on the fuselage (21), and the limit components (5) are provided at the far ends of the arms (22) on both sides of the fuselage (21); The parachute rope (11) passes through the limiting component (5) and then connects to the fuselage (21) of the multi-rotor flight unit (2) via the separation mechanism (25). The multi-rotor flight unit (2) is configured to generate differential force by controlling at least one set of rotors (23) corresponding to the limiting component (5). The differential force is transmitted to the parachute lines (11) through the limiting component (5), so that the two sides of the paraglider unit (1) generate a lift difference. By controlling the rotors (23) of the multi-rotor flight unit (2), the paraglider unit (1) is controlled to climb, descend or turn, thereby controlling the flight attitude of the combined aircraft system.

2. The combined aircraft system according to claim 1, characterized in that, It also includes a parachute assembly (4) located on top of the fuselage (21); The paraglider unit (1) is foldably stored inside the paraglider cabin assembly (4); The parachute assembly (4) includes a parachute canopy (41); The release mechanism (3) is located on the parachute canopy (41) and is used to eject the parachute canopy (41) and cause the paragliding unit (1) to deploy automatically.

3. The combined aircraft system according to claim 1, characterized in that, The multi-rotor flight unit (2) also includes a tilting mechanism (24); The tilting mechanism (24) is connected between the fuselage (21) and at least one rotor (23) to drive the rotor (23) to tilt as a whole to change the direction of its thrust, thereby controlling the angle of attack of the paraglider unit (1); The separation mechanism (25) is used to separate the deployed paraglider unit (1) from the multi-rotor flight unit (2); And / or may also include a communication unit (26); The communication unit (26) is communicatively connected to the multi-rotor flight unit (2).

4. The combined aircraft system according to claim 3, characterized in that, The separation mechanism (25) includes a connection assembly (251) and a separation triggering component; The connecting assembly (251) is disposed on the fuselage (21) for releasably connecting the ends of all the paracords (11); The separation triggering component is disposed between the connecting assembly (251) and the fuselage (21). The separation triggering component is configured to release all parachute lines (11) from the connecting assembly (251) upon triggering, thereby causing the paraglider unit (1) to detach from the multi-rotor flight unit (2).

5. A combined aircraft control method, characterized in that, Applied to the combined aircraft system as described in any one of claims 1-4, the method comprises: Mode switching steps: Control the release mechanism (3) to deploy the paraglider unit (1) in the storage state and put it into working state, thereby switching the combined aircraft system from the first flight mode in which lift is provided by the multi-rotor flight unit (2) to the second flight mode in which lift is provided by at least part of the paraglider unit (1); Gliding control steps: In the second flight mode, the glider unit (1) is controlled to climb, descend or turn by controlling the rotor (23) of the multi-rotor flight unit (2).

6. The combined aircraft control method according to claim 5, characterized in that, The mode conversion steps include: The parachute unit (1) is ejected by releasing the parachute canopy (41) via the release mechanism (3); Control the multi-rotor flight unit (2) to enter free fall state, so that the paraglider unit (1) is inflated and deployed.

7. The combined aircraft control method according to claim 5, characterized in that, Gliding control steps include climb control: In the second flight mode, at least one rotor (23) of the multi-rotor flight unit (2) is tilted by the tilting mechanism (24) to generate a forward component of its thrust; The center of gravity of the multi-rotor flight unit (2) is moved forward relative to the paraglider unit (1) to increase the angle of attack of the paraglider unit (1) and thus achieve a climb.

8. The combined aircraft control method according to claim 7, characterized in that, The gliding control process also includes descent control: In the second flight mode, at least one rotor (23) of the multi-rotor flight unit (2) is tilted in the opposite direction by the tilting mechanism (24) to generate a rearward thrust; The center of gravity of the multi-rotor flight unit (2) is shifted rearward relative to the paraglider unit (1) to reduce the angle of attack of the paraglider unit (1) and thus achieve descent.

9. The combined aircraft control method according to claim 5, characterized in that, Gliding control steps include steering control: In the second flight mode, differential force is generated by controlling a set of spatially opposite rotors (23) in the multi-rotor flight unit (2). The differential force is transmitted through the corresponding parachute lines (11) to generate asymmetrical lift on both sides of the paraglider unit (1), and then the glider turns by rolling.

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