Vertical take-off and landing fixed-wing drone

Abstract

The application provides a vertical take-off and landing fixed-wing unmanned aerial vehicle, which comprises a body, a propeller system, a fixed-wing system, a battery assembly and a flight control system, and the propeller system, the fixed-wing system, the battery assembly and the flight control system are all arranged on the body; the body comprises a rectangular frame, a plurality of arms and a rack; the arms comprise first arms arranged on one pair of opposite sides of the rectangular frame and second arms arranged on another pair of opposite sides of the rectangular frame; the rack is sequentially provided with a battery cabin, a cargo cabin and an equipment cabin from bottom to top; the propeller system comprises a plurality of propellers, part of the propellers are arranged at the ends of the first arms, and the rest of the propellers are arranged at the middle portions of the second arms; the fixed-wing system comprises a pair of fixed wings which are connected to the ends of the second arms and form a tandem wing structure; the battery assembly is arranged in the battery cabin in a plug-in manner; and the flight control system is arranged in the equipment cabin and is electrically connected with the battery assembly. The unmanned aerial vehicle has low mechanical complexity, low manufacturing and maintenance cost and high reliability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and more specifically, to a vertical take-off and landing fixed-wing unmanned aerial vehicle. Background Technology

[0002] Currently, the main type of drone capable of vertical takeoff and landing (VTOL) on the market is the multi-rotor drone. Multi-rotor drones generate lift through multiple propellers, overcoming the runway-based takeoff limitation of fixed-wing drones and offering good adaptability to different takeoff and landing sites. However, multi-rotor drones rely entirely on propellers for lift to overcome their own gravity during flight, while also allocating some thrust for attitude adjustment, forward movement, and cruise control. This reliance on propellers for all lift results in low energy efficiency, limiting their range and endurance, making it difficult to perform long-distance missions.

[0003] In existing technologies, to achieve both vertical takeoff and landing (VTOL) and long endurance, most UAVs adopt a VTOL fixed-wing configuration. Common transitional solutions include thrust vector control, rotor tilting, and wing tilting. While these solutions can achieve a smooth transition between VTOL and horizontal cruise, they are structurally complex, involve numerous mechanical transmission systems, have high manufacturing costs, are difficult to maintain, and carry a high risk of mechanical failure. Summary of the Invention

[0004] The purpose of this invention is to provide a vertical take-off and landing fixed-wing unmanned aerial vehicle (UAV) that is capable of vertical take-off and landing, and has a long flight time and strong payload capacity.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a vertical takeoff and landing fixed-wing unmanned aerial vehicle (UAV), comprising a fuselage and a propeller system, a fixed-wing system, a battery pack, and a flight control system all disposed on the fuselage. The fuselage includes a rectangular frame, a plurality of arms evenly distributed around the rectangular frame, and a frame erected on the rectangular frame. The plurality of arms includes a first arm disposed on a pair of opposite sides of the rectangular frame and a second arm disposed on another pair of opposite sides of the rectangular frame, the second arm being longer than the first arm. The frame is provided with a battery compartment, a cargo compartment, and an equipment compartment from bottom to top. The propeller system includes a plurality of propellers, some of which are mounted at the ends of the first arms, and the remaining propellers are mounted in the middle of the second arms. The fixed-wing system includes a pair of fixed wings connected to the ends of the second arms to form a tandem wing structure. The battery pack is detachably disposed in the battery compartment, and the flight control system is disposed in the equipment compartment and electrically connected to the battery pack.

[0006] In one embodiment, the propeller includes a motor and blades mounted on the motor output shaft, wherein the motor output shaft of each propeller is inclined relative to the vertical direction.

[0007] In one embodiment, the angle between the motor output shaft and the vertical direction is between 5° and 35°.

[0008] In one embodiment, the propeller is provided with six; the first arm is provided with a pair, which is vertically fixed to a pair of opposite sides of the rectangular frame; the second arm is provided with two pairs, which are respectively provided on another pair of opposite sides of the rectangular frame and are obliquely connected to the rectangular frame, and the two fixed wings are connected to the two pairs of second arms in a one-to-one correspondence; the included angle between two adjacent arms is 60°.

[0009] In one embodiment, the second arm is connected to the rectangular frame via an arm folding assembly, so that the fixed wing can be unfolded or folded relative to the rectangular frame.

[0010] In one embodiment, the arm folding assembly includes a hinge, an arm latch, and a screw and nut assembly. The hinge includes a spindle, a hinge plate, and an arm folding rod. The hinge plate and the arm folding rod are each provided with a bushing and are alternately sleeved on the spindle. The hinge plate is fixed to the rectangular frame, and the second arm is fixed to the arm folding rod. When the wing is deployed, the arm latch is fixed to the rectangular frame from the side of the arm folding rod facing away from the rectangular frame, pressing the arm folding rod tightly against the rectangular frame. The screw and nut assembly is used to fix the arm latch to the rectangular frame.

[0011] In one embodiment, the end of the folding arm is provided with a first pressing slope, and the arm latch includes a fixed end and a pressing end. The pressing end is perpendicularly connected to the fixed end, and the pressing end is provided with a second pressing slope. When the arm latch is fixedly pressed against the folding arm by the rectangular frame, the second pressing slope and the first pressing slope are engaged by an inclined surface.

[0012] In one embodiment, the cargo compartment is located within the frame and can be rotated in a controlled manner relative to the frame so that the cargo compartment remains horizontal throughout the flight of the UAV.

[0013] In one embodiment, the cargo compartment is connected to the frame via a pair of rotating shafts and a lead screw and nut transmission mechanism; the lead screw and nut transmission mechanism includes a lead screw motor, a lead screw, and a nut, the lead screw motor is fixed to the motor mounting structure and electrically connected to the UAV's flight control system, the lead screw is connected to the output shaft of the lead screw motor, and the nut is fixed to the cargo compartment and threadedly connected to the lead screw.

[0014] In one embodiment, the equipment compartment includes a first mounting cavity and a second mounting cavity separated in a front-to-back direction; the flight control system includes a flight control component, an RTK receiver and a data / image transmission receiver, a computing module, a power distribution board, a camera, and a radar. The flight control component, the RTK receiver and the data / image transmission receiver, and the computing module are arranged from top to bottom in the second mounting cavity. The power distribution board is electrically connected to the battery pack and is arranged in the first mounting cavity. The camera and radar are mounted on the top of the equipment compartment.

[0015] In one embodiment, the fixed wings include a front wing and a rear wing, which are arranged in tandem along the longitudinal direction of the fuselage and in a vertically distributed relationship; each propeller is located within the space defined by the front wing and the rear wing.

[0016] Furthermore, the drone also includes a pair of landing gears located under the fuselage and connected to a pair of sides of the first arm mounted on the rectangular frame.

[0017] Furthermore, the drone also includes a portable grip that is connected to the frame.

[0018] The beneficial effects of the technical solution provided by this invention are as follows: The vertical takeoff and landing fixed-wing UAV of this invention adopts a composite layout combining multiple propellers and a fixed wing, combining the flexibility of vertical takeoff and landing of multi-propellers with the long endurance and high-efficiency cruise performance of fixed wings. This UAV is not equipped with the control surfaces of traditional fixed-wing aircraft; that is, it does not have ailerons or flaps on the wings, nor elevators or rudders on the tail. It mainly achieves a smooth transition from vertical takeoff and landing to horizontal flight through differential thrust control of six propellers, eliminating the need for thrust vectoring or tilting mechanisms. This results in low structural mechanical complexity, low manufacturing and maintenance costs, and high reliability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0020] Figure 1 A perspective view of a vertical take-off and landing fixed-wing unmanned aerial vehicle provided in an embodiment of the present invention; Figure 2 for Figure 1 The image shows a side view of the drone. In the image, the direction from left to right is the front-to-back direction. Figure 3 for Figure 1 The diagram shows a partial structural diagram of the drone. Figure 4 A perspective view of a hinge provided in one embodiment of the present invention; Figure 5A perspective view of a boom lock provided in one embodiment of the present invention; Figure 6 A schematic diagram of the folded state of the vertical take-off and landing fixed-wing UAV provided by the present invention; Figure 7 This is a schematic diagram of the structure of a vertical takeoff and landing fixed-wing UAV without the frame protective plate according to an embodiment of the present invention, showing the relative assembly relationship between the cargo compartment and the vertical frame; Figure 8 This is a schematic diagram of a vertical take-off and landing fixed-wing unmanned aerial vehicle (UAV) in cruise mode according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a vertical take-off and landing fixed-wing UAV provided in one embodiment of the present invention, with the fixed wing removed. Figure 10 This is an exploded view of the equipment bay and flight control system provided in one embodiment of the present invention. Detailed Implementation

[0021] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0022] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0023] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "connection" can refer to a direct connection or an indirect connection via intermediate components (elements). The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description.

[0024] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish between devices, modules or units, and are not intended to limit these devices, modules or units to necessarily be different devices, modules or units, nor are they intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0025] See Figures 1 to 10This invention provides a vertical takeoff and landing fixed-wing unmanned aerial vehicle (hereinafter referred to as the UAV), including a fuselage and a propeller system 30, a fixed-wing system 40, a battery pack, and a flight control system 70, all mounted on the fuselage. The UAV of this invention possesses both the flexibility of multi-rotor vertical takeoff and landing and the high-efficiency cruising characteristics of fixed-wing aircraft with long endurance. In the military field, it can be used for long-range reconnaissance, surveillance, and delivery missions in field environments without relying on runways; in the civilian field, it can be applied to medium- and long-distance cargo transportation, emergency rescue, inspection, and logistics delivery scenarios in urban environments, showing broad application prospects.

[0026] The aircraft body includes a fuselage 10 formed by a rectangular frame, a plurality of arms 20 evenly distributed around the rectangular frame, and a frame 50 erected on the rectangular frame. The plurality of arms 20 includes a first arm 21 located on a pair of opposite sides of the rectangular frame and a second arm 22 located on another pair of opposite sides of the rectangular frame, the second arm 22 being longer than the first arm 21. The frame 50, from bottom to top, is provided with a battery compartment 53, a cargo compartment 51, and an equipment compartment 52, wherein the battery compartment 53 is located below the rectangular frame, the cargo compartment 51 is located inside the frame 50, and the equipment compartment 52 is located above the frame 50.

[0027] The propeller system 30 includes multiple propellers, for example, six propellers, with some propellers mounted at the end of the first arm 21 and the remaining propellers mounted in the middle of the second arm 22.

[0028] The fixed-wing system 40 includes a pair of fixed wings connected to the end of the second arm 22 to form a tandem wing structure. The pair of fixed wings includes a front wing 42 and a rear wing 41 distributed along the longitudinal direction of the UAV. The front wing 42 and the rear wing 41 are arranged in tandem along the longitudinal direction of the fuselage 10 and form an up-down distribution relationship in the vertical direction. Each propeller is located within the space defined by the front wing 42 and the rear wing 41.

[0029] In this embodiment, the front wing 42 is located in the area below the propeller, in a relatively stable free airflow, resulting in stable and efficient lift output; the rear wing 41 is located in the area above the propeller, within the range of the accelerating wake, and can utilize the wake energy to enhance the synergistic effect of local lift and thrust, thereby significantly improving the overall aerodynamic efficiency and cruise performance.

[0030] The battery assembly 80 is detachably disposed in the battery compartment 53 and is used to provide power for the operation of the drone.

[0031] The flight control system 70 is used to realize flight attitude perception, navigation and mission control. It is located in the equipment compartment 52 and electrically connected to the battery pack.

[0032] The vertical takeoff and landing fixed-wing UAV of this invention is not equipped with the control surfaces of a traditional fixed-wing aircraft; that is, there are no ailerons or flaps on the wings (i.e., fixed wings), and no elevators or rudders on the tail. The pitch, roll, and yaw control of the entire aircraft are achieved through the differential rotation speed of the six propellers, which significantly simplifies the flight control system, reduces the complexity of the mechanism, and improves the reliability of the system.

[0033] In one embodiment, the propeller includes a motor and blades mounted on the output shaft of the motor. The output shaft of the motor of each propeller is inclined relative to the vertical direction. The angle between the motor output shaft and the vertical direction can be adjusted between 5° and 35° to adapt to different flight performance requirements.

[0034] Preferably, the angle between the output shaft of the motor and the vertical direction is 19.8°.

[0035] Furthermore, the tilt direction of the pair of propellers on the first arm 21 is the same as the forward and backward direction of the drone, so that when the drone is cruising, the tilt angle of the fuselage 10 is 70.2°. At this time, the pull direction of the two motors on the pair of first arms 21 is horizontal and forward. The two propellers of the pair of first arms 21, together with the fixed wings, can provide the power for the drone to fly, and the drone is most efficient.

[0036] The tilt design of the six propeller motors, in conjunction with the aircraft's pitch angle during level flight, maximizes propeller efficiency. Simultaneously, the tilt configuration provides additional stabilizing torque in crosswinds or gusts, improving wind resistance and flight attitude stability.

[0037] The tilt design of the six propeller motors makes the thrust direction of the drone more horizontal in level flight, enabling a smooth transition between vertical take-off and landing and level flight modes. Attitude and heading control can be achieved by adjusting the thrust and speed difference of each rotor, which helps to improve cruise speed control and energy efficiency.

[0038] In level flight, the fixed wing located above the fuselage is positioned behind the propeller, forming a "front propeller" configuration; while the fixed wing located below the fuselage is positioned in front of the propeller, forming a "rear propeller" configuration.

[0039] This tandem twin-wing structure effectively utilizes the propeller wake during UAV level flight, improving aerodynamic efficiency and reducing induced drag, thereby significantly increasing flight time and payload capacity. Furthermore, distributing lift between the front and rear wing sets significantly reduces the lift load on a single wing, resulting in a more uniform airflow distribution. This allows for greater total lift with a relatively small wingspan, which is beneficial for improving wing structural strength and reducing induced drag.

[0040] In addition, by adjusting the installation angle difference and relative position of the front wing 42 and the rear wing 41, the aerodynamic center and center of gravity position matching relationship can be optimized, improving flight stability and controllability, and reducing the imbalance of pitch moment of the UAV.

[0041] In one embodiment, the first arm 21 is provided in a pair, which is vertically connected to the side of the rectangular frame; the second arm 22 is provided in two pairs, which are respectively provided on the other pair of opposite sides of the rectangular frame and are obliquely connected to the rectangular frame, and the two fixed wings are connected to the two pairs of second arms 22 in a one-to-one correspondence. In this embodiment, the arms are evenly distributed around the rectangular frame, that is, the included angle between two adjacent arms is 60°.

[0042] Please combine Figures 3 to 6 In one embodiment, the second arm 22 is connected to the rectangular frame via an arm folding assembly, so that the fixed wing can be unfolded or folded relative to the rectangular frame, thereby reducing the size of the drone during storage and transportation, making it convenient to store and carry.

[0043] In one embodiment, the arm folding assembly includes a hinge 15, an arm latch 16, and a screw and nut assembly (not shown, the same below).

[0044] The hinge 15 includes a spindle 151, a hinge piece 152, and an arm folding rod 153. The hinge piece 152 is provided with a first bushing 1521, and the arm folding rod 153 is provided with a second bushing 1531. The two are fitted onto the spindle 151 in an alternating manner with their respective bushings. The hinge piece 152 is fixed to the rectangular frame, and the second arm 22 is fixed to the arm folding rod 153. When the wing is deployed, the arm latch 16 is fixed to the rectangular frame from the side of the arm folding rod 153 facing away from the rectangular frame, pressing the arm folding rod 153 tightly against the rectangular frame. The screw and nut assembly is used to fix the arm latch 16 to the rectangular frame.

[0045] The arm folding rod 153 is provided with an arm mounting block 1532 near both ends. The arm mounting block 1532 has an arm fixing hole group 15321. The angle between the line connecting each arm fixing hole group and the side of the rectangular frame is 60°.

[0046] In one embodiment, the end of the folding arm 153 is provided with a first pressing slope 1533, and the arm latch 16 includes a fixed end 161 and a pressing end 162. The pressing end is perpendicularly connected to the fixed end, and the pressing end 162 is provided with a second pressing slope 1621. When the arm latch is fixedly pressed against the folding arm 153 by the rectangular frame, the second pressing slope 1621 and the first pressing slope 1533 are engaged by an inclined surface.

[0047] Preferably, the fixed end 161 has a locking hole 1611 for the screw to pass through. The screw and nut assembly consists of a screw and a hand-tightening nut fitted onto the screw. The rectangular frame has a locking mounting hole at a position corresponding to the locking hole 1611, and the locking mounting hole is a threaded hole that mates with the screw thread. When the fixed wing needs to be folded, first loosen the hand-tightening nut by hand, and the arm lock can be removed. The arm folding rod 153 can then rotate around the hinge core to fold up and down, thus eliminating the need for tools and facilitating transportation after folding. When the fixed wing needs to be unfolded, unfold the arm folding rod, press the arm lock onto both ends of the arm folding rod, and finally tighten the hand-tightening nut to complete the unfolding process.

[0048] In other embodiments, the arm folding rod 153 can be connected to the rectangular frame by a threaded connector, quick-lock, or binding, so that the arm folding rod can be close to the rectangular frame to keep the wing in the deployed state or separated from the rectangular frame for the arm to fold relative to the rectangular frame.

[0049] Preferably, the folding arm 153 is provided with a weight reduction groove 1534, which extends along the length of the folding arm 153 to reduce the weight of the folding arm 153, thereby avoiding increasing the weight of the drone and ensuring the flight time.

[0050] In this embodiment, a large-capacity cargo compartment 51 is provided in the middle of the fuselage, and the internal structure of the frame 50 adopts a modular design, which can flexibly carry different mission equipment or cargo. The six-propeller power system has a high thrust-to-weight ratio and can carry a large-mass mission payload, meeting the needs of medium- and long-distance transportation or emergency material delivery.

[0051] Please combine Figure 7 and Figure 8 In one embodiment, the cargo compartment 51 is located within the frame 50 and can be rotated in a controlled manner relative to the frame 50, so that the cargo compartment 51 remains horizontal during the flight of the UAV, thereby preventing the cargo compartment 51 from overturning and ensuring the smooth progress of the flight mission.

[0052] In one embodiment, the cargo compartment 51 is connected to the frame 50 via a pair of rotating shafts 56 and a lead screw and nut transmission mechanism 55. A rotatable motor mount is mounted on the frame 50. The lead screw and nut transmission mechanism 55 includes a lead screw motor 551, a lead screw 552, and a nut 553. The lead screw motor 551 is fixed to the motor mount and electrically connected to the flight control system 70 of the UAV. The lead screw 552 is connected to the output shaft of the lead screw motor via a component such as a coupling. The nut 553 is fixed to the cargo compartment 51 and threadedly connected to the lead screw 552, so that when the lead screw motor 551 rotates, the nut 553 slides on the lead screw 552, thereby driving the cargo compartment 51 to rotate relative to the frame 50.

[0053] Please combine Figure 9 and Figure 10 In one embodiment, the equipment compartment 52 includes a cavity 521 and a cover 522 covering the upper end of the cavity. The cavity 521 is separated into a first mounting cavity 524 and a second mounting cavity 523 by a partition 525 in the front-rear direction.

[0054] The flight control system 70 includes a flight control component 71, an RTK receiver and a data / image transmission receiver 72, a computing module 73, a power distribution board 74, a camera, and a radar 75. The flight control component 71, the RTK receiver and the data / image transmission receiver 72, and the computing module 73 are arranged from top to bottom in the second mounting cavity 523. The power distribution board 74 is electrically connected to the battery pack and is located in the first mounting cavity 524. The camera and radar 75 are mounted on the top of the equipment compartment 52. Additionally, the antenna 76 of the RTK receiver and the data / image transmission receiver is located on one side of the equipment compartment 52.

[0055] Among them, the flight control component 71 is the core controller of the entire UAV, responsible for attitude control, heading maintenance, flight stability, etc. It receives sensor data (such as gyroscope, accelerometer, barometer, etc.), calculates the state of the aircraft, and then controls the servo motors, motors and other actuators according to the mission instructions to keep the aircraft flying stably and complete tasks such as route planning.

[0056] RTK receivers are responsible for receiving high-precision differential signals from ground base stations or satellites to obtain a very accurate position.

[0057] The data transmission and image transmission receiver consists of two parts: a data transmission receiver and an image transmission receiver. The data transmission receiver transmits the drone's flight data, such as position, speed, battery level, flight mode, and sensor data. It can also receive mission commands sent to the drone from the ground, such as takeoff, return to home, and waypoint relocation. The image transmission receiver is used to transmit real-time video captured by the drone's camera to the ground station.

[0058] The computing module, often referred to as the "intelligent brain" of the drone, is used to perform highly complex tasks beyond flight control, such as target recognition (identifying people, vehicles, and ships), path planning, visual positioning, SLAM (Simultaneous Localization and Mapping), and advanced decision-making logic (such as obstacle avoidance and tracking). Compared to the flight control components, which are primarily responsible for "flying," the computing module is responsible for "intelligent decision-making."

[0059] A power distribution board (PDB) is a "power distribution center." The battery outputs a uniform voltage (e.g., 12V, 24V), and the PDB distributes this power as needed to devices such as flight controllers, image transmission systems, RTK systems, computing modules, and motors. Additionally, the PDB is responsible for voltage stabilization, protection, and current and voltage monitoring.

[0060] Cameras can be one of the following: ordinary RGB cameras, infrared cameras, or night vision cameras. Their overall function is to capture images or videos for transmitting real-time images (image transmission), performing visual recognition (identification of targets such as people, vehicles, and ships), assisting in positioning (visual SLAM), obstacle avoidance (visual obstacle avoidance), and precise landing (identification of markers).

[0061] Cameras include standard RGB cameras, infrared cameras, and night vision cameras.

[0062] Radar assists flight safety by emitting electromagnetic waves and receiving reflected echoes to help flight systems determine distances.

[0063] The various devices and the power distribution board and battery modules are electrically connected via aviation plugs to ensure the electrical signal and power connection between the devices, thereby ensuring flight safety.

[0064] In this embodiment, the flight control system 70 is mounted on the top of the frame 50, which enables the UAV to have a better field of vision. The flight control component 71, RTK and data / image transmission receiver 72, and computing module 73 are separated from the power distribution board 74 into two chambers, which avoids the heat generated when powered by the battery affecting the working efficiency and service life of the three modules. The stacked assembly of the three modules also improves the space utilization of the equipment compartment 52 and helps to reduce the size of the equipment compartment 52.

[0065] Furthermore, the drone also includes a pair of landing gear 60, which absorbs impact loads during the drone's vertical takeoff, landing, and descent, thus supporting and protecting the fuselage. The pair of landing gear 60 is located below the fuselage 10 and is respectively connected to a pair of sides of the first arm 21 mounted on the rectangular frame.

[0066] Furthermore, the drone also includes a portable grip 54, which is connected to the frame 50.

[0067] The drone workflow (flight profile) of this invention is mainly divided into the following six stages: 1) Vertical takeoff: The UAV activates its multi-propeller system 30 to provide sufficient vertical lift, enabling stable vertical takeoff and escape from ground obstacle areas.

[0068] 2) Level Flight Transition: The UAV ascends to the preset flight altitude and gradually adjusts its attitude (increasing the pitch angle) during flight to increase forward speed. During this stage, lift is gradually transferred from the multi-propeller to the fixed wing, achieving a smooth transition from hovering to level flight.

[0069] 3) Cruise conversion: After attitude adjustment, it enters fixed-wing mode cruise flight, mainly relying on the tandem wings to generate lift and propulsion by the propeller, to carry out medium-high speed and long-range flight. It has high energy efficiency and is suitable for long-distance material delivery missions.

[0070] 4) Mission Execution: Upon approaching the target area, the drone gradually reduces its altitude and speed, switches back to multi-rotor mode, and hovers above the mission point. It can accurately locate itself by recognizing ground QR codes or other visual markers before deploying or delivering supplies.

[0071] 5) Return Flight: After the mission is completed, the UAV will ascend again and accelerate to the preset altitude and speed, switch to fixed-wing cruise mode by adjusting its attitude, and return to the takeoff area or the designated recovery point.

[0072] 6) Vertical landing: After returning to the landing area, the drone reduces its flight speed and altitude, switches to multi-rotor mode, and finally lands vertically and smoothly at the designated landing point.

[0073] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions as those in the present invention.

[0074] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A vertical takeoff and landing fixed-wing unmanned aerial vehicle (UAV), comprising a fuselage and a propeller system, a fixed-wing system, a battery assembly, and a flight control system, all disposed within the fuselage, characterized in that, The body includes a rectangular frame, multiple arms evenly distributed around the rectangular frame, and a frame erected on the rectangular frame. The multiple arms include a first arm located on a pair of opposite sides of the rectangular frame and a second arm located on another pair of opposite sides of the rectangular frame. The frame is provided with a battery compartment, a cargo compartment and an equipment compartment from bottom to top. The propeller system includes multiple propellers, some of which are installed at the end of the first arm and the rest are installed in the middle of the second arm. Each propeller includes a motor and blades mounted on the motor output shaft. The motor output shaft of each propeller is inclined relative to the vertical direction. The angle between the motor output shaft and the vertical direction is between 5° and 35°. The fixed-wing system includes a pair of fixed wings connected to the end of the second arm and forming a tandem wing structure; The battery pack is detachably mounted in the battery compartment, and the flight control system is mounted in the equipment compartment and electrically connected to the battery pack.

2. The vertical takeoff and landing fixed-wing UAV according to claim 1, characterized in that, The propeller has six parts; the first arm has one pair, which is vertically fixed to one pair of opposite sides of the rectangular frame; the second arm has two pairs, which are respectively located on another pair of opposite sides of the rectangular frame and are inclinedly connected to the rectangular frame; the two fixed wings are connected to the two pairs of second arms in a one-to-one correspondence; the included angle between two adjacent arms is 60°.

3. The vertical takeoff and landing fixed-wing UAV according to claim 2, characterized in that, The second arm is connected to the rectangular frame via an arm folding assembly, so that the fixed wing can be unfolded or folded relative to the rectangular frame.

4. The vertical takeoff and landing fixed-wing UAV according to claim 3, characterized in that, The arm folding assembly includes a hinge, an arm latch, and a screw and nut assembly. The hinge includes a spindle, a hinge piece, and a machine arm folding rod. The hinge piece and the machine arm folding rod are both provided with bushings and are sleeved on the spindle in an alternating manner. The hinge piece is fixed to the rectangular frame, and the second machine arm is fixed to the machine arm folding rod. The arm latch is fixed to the rectangular frame from the side of the arm folding rod facing away from the rectangular frame when the wing is deployed, pressing the arm folding rod tightly against the rectangular frame. The screw and nut assembly is used to fix the arm latch to the rectangular frame.

5. The vertical takeoff and landing fixed-wing UAV according to claim 4, characterized in that, The end of the folding arm is provided with a first clamping ramp. The arm latch includes a fixed end and a pressing end, the pressing end being perpendicularly connected to the fixed end, and the pressing end having a second pressing inclined surface; When the arm lock is fixed and pressed against the rectangular frame to tighten the arm folding rod, the second pressing inclined surface and the first pressing inclined surface are engaged.

6. The vertical takeoff and landing fixed-wing UAV according to claim 1, characterized in that, The cargo compartment is located within the frame and can be rotated in a controlled manner relative to the frame so that the cargo compartment remains horizontal during the flight of the UAV.

7. The vertical takeoff and landing fixed-wing UAV according to claim 6, characterized in that, The cargo compartment is connected to the frame via a pair of rotating shafts and a lead screw and nut transmission mechanism; The lead screw and nut transmission mechanism includes a lead screw motor, a lead screw, and a nut. The lead screw motor is fixed to the motor mounting structure and electrically connected to the flight control system of the UAV. The lead screw is connected to the output shaft of the lead screw motor, and the nut is fixed to the cargo compartment and threadedly connected to the lead screw.

8. The vertical takeoff and landing fixed-wing UAV according to claim 1, characterized in that, The equipment compartment includes a first mounting cavity and a second mounting cavity separated in a front-to-back direction. The flight control system includes a flight control component, an RTK receiver and a data / image transmission receiver, a computing module, a power distribution board, a camera, and a radar. The flight control component, the RTK receiver and the data / image transmission receiver, and the computing module are arranged from top to bottom in the second mounting cavity. The power distribution board is electrically connected to the battery pack and is located in the first mounting cavity. The camera and radar are installed at the top of the equipment compartment.

9. The vertical takeoff and landing fixed-wing UAV according to claim 1, characterized in that, It also includes a pair of landing gears, which are located below the fuselage and are respectively connected to a pair of sides of the first arm of the rectangular frame.

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