Foldable wing swarm unmanned aerial vehicle capable of being spirally recycled and application of foldable wing swarm unmanned aerial vehicle

Abstract

The invention relates to a spirally retractable folding wing swarm unmanned aerial vehicle and application thereof. The spirally retractable folding wing swarm unmanned aerial vehicle comprises a fuselage, wing parts, a tail part, a power part and a height measuring part, the front section of the fuselage is a low-wind-resistance load cabin section, and the rear section of the fuselage is an equipment storage section; each wing part comprises a wing, a multi-purpose rotating shaft and a wing torsional spring, the wing is connected with the multi-purpose rotating shaft through the wing torsional spring, and the multi-purpose rotating shaft is movably connected with the equipment storage section of the fuselage; the tail part comprises a vertical fin and a vertical fin torsion spring, and the vertical fin is movably connected with the equipment storage section of the fuselage through the vertical fin torsion spring; the power part is arranged at the tail end of the equipment storage section of the machine body; and the height measuring part is arranged at the head end of the low wind resistance load cabin section of the fuselage. After being folded, the unmanned aerial vehicle can be densely stored in the honeycomb cylinder so as to be conveniently transported, launched and taken off, a fixed wing mode can be switched into a rotor wing mode through configuration transformation, and spiral landing recovery is completed without depending on an airport or complex equipment.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of foldable unmanned aerial vehicles, and particularly relates to a foldable wing spiral recovery bee swarm unmanned aerial vehicle and application thereof. BACKGROUND

[0002] With the development of artificial intelligence technology, unmanned aerial vehicle systems will gradually be transformed into intelligent and information-based systems. Unmanned aerial vehicles are important components of unmanned systems, and have advantages such as flexibility, strong adaptability, and low cost. A large number of unmanned aerial vehicles can form a swarm to attack targets in a saturation manner, and the swarm combat style will inevitably change the future warfare mode.

[0003] Unmanned aerial vehicle swarm combat involves multiple key technologies, and unmanned aerial vehicle launch and recovery technology is a key technology for the practical application of unmanned aerial vehicle swarms. Current conventional unmanned aerial vehicle recovery technologies include sliding landing, tilt-rotor / tilt-duct vertical take-off and landing, and compound vertical take-off and landing. Other forms include net impact recovery, rope hook recovery, parachute recovery, air recovery, and tail seat vertical take-off and landing. The advantages and disadvantages of the above unmanned aerial vehicle recovery methods are as follows: 1) Net impact recovery Net impact recovery is an ideal precision point recovery method that uses the direct contact between the fuselage and the blocking net to reduce speed. It is particularly suitable for fixed-wing unmanned aerial vehicles used in narrow recovery sites or on ships, and can be considered as a zero-distance recovery method. Net impact recovery does not require the precise descent rate required for conventional runway landing. However, it requires precise control of the landing point and maintains the lowest possible approach speed. When the unmanned aerial vehicle returns, the ground station requires the unmanned aerial vehicle to glide at a small angle, with a maximum speed that cannot be too high, and the unmanned aerial vehicle touch net overload usually cannot be greater than 6g.

[0004] 2) Rope hook recovery Rope hook recovery captures the wing tip hook on the unmanned aerial vehicle through a vertically arranged recovery rope. Its main advantages are: a. low cost, simple structure, small size, and no need for expensive recovery equipment, only the hook of the unmanned aerial vehicle needs to be launched and captured; b. wide application range, suitable for unmanned aerial vehicle recovery in various terrains, environments, and weather conditions; c. high recovery success rate, the rope hook method is not affected by strong winds and other factors. Its disadvantages are: limited by the design and quality of the hook, the length and diameter of the rope, and other factors; suitable for small unmanned aerial vehicles with light weight, with limitations on the model.

[0005] 3) Parachute recovery During the landing process, the unmanned aerial vehicle first reduces the flight speed by a deceleration parachute, and then releases a main landing parachute, so that the unmanned aerial vehicle slowly descends under the traction of the landing parachute. The advantages are: this recovery method is simple to operate, and the whole process from the flight state to the safe recovery of the unmanned aerial vehicle is automatically completed, and the requirement for the operator is relatively low. The disadvantages are: the self-provided landing parachute occupies the limited space and load in the fuselage; when the parachute lands, the aircraft descends at a relatively high speed, and the aircraft body will be subjected to a relatively strong impact at the moment of landing, which is easy to cause damage of different degrees; if it lands in water, the on-board equipment, engine and the like are easy to be soaked by water, and after recovery, they generally need to be checked and repaired before being used again.

[0006] 4) Air recovery The unmanned aerial vehicle is captured in the air by a manned aircraft or a special recovery device to achieve safe recovery of the unmanned aerial vehicle. The advantages are: in some special cases, such as sea operations or environments where landing sites cannot be provided, air recovery becomes a feasible option, and this method has the advantage of no damage. The disadvantages are: the pilot of the manned aircraft needs to have high driving skills, the recovery cost is high and is affected by weather and wind, the recovery is difficult and complex.

[0007] 5) Tail seat vertical take-off and landing Generally, the tail seat unmanned aerial vehicle is parked with the tail on the ground and the head upwards. In vertical and horizontal flight, the same set of power systems provides thrust or pull force, and the vertical and horizontal modes are converted by using the characteristics of the structure. The advantages are: vertical take-off and landing and constant height hovering capability, which can take off and land in complex hilly and narrow urban streets; at the same time, it has the characteristics of high speed, long endurance and high flight efficiency, which greatly increases the advantages of unmanned aerial vehicles with limited power energy. The disadvantages are: the configuration is complex and the design is difficult, and at the same time, the unmanned aerial vehicle is easily disturbed by the ground effect during vertical take-off and landing, which makes the take-off stability poor.

[0008] A reasonable and efficient recovery method of the unmanned aerial vehicle not only ensures flight safety but also greatly reduces the combat cost, which has important practical significance for the use of a large number of unmanned aerial vehicle clusters. Although the current recovery methods of unmanned aerial vehicles are various, they cannot fully play the characteristics of low cost and high flexibility of the unmanned aerial vehicle cluster due to the limitations of the site, supporting devices and wind.

[0009] Therefore, it is necessary to study a spiral recovery folding wing swarm unmanned aerial vehicle and its application to overcome the shortcomings of the prior art, so as to solve or alleviate one or more of the above problems. SUMMARY

[0010] Therefore, the present application provides a spiral recovery folding wing swarm unmanned aerial vehicle and its application, which can be switched from a fixed-wing mode to a rotor mode through configuration conversion, and the recovery is completed without relying on an airport or complex equipment.

[0011] On one hand, the present invention provides a spirally recoverable folding-wing swarm drone, which includes a fuselage, wings, tail, power unit and altitude measuring unit; The front section of the fuselage is a low-drag load compartment, and the rear section is an equipment storage section. The wing section includes a wing, a multi-purpose pivot, and a wing torsion spring. The wing is connected to the multi-purpose pivot via the wing torsion spring. The multi-purpose pivot is movably connected to the upper and lower rear sides of the equipment storage section of the fuselage. The tail section includes a vertical tail and a vertical tail torsion spring. The vertical tail is movably connected to the left and right sides of the rear end of the equipment storage section of the body through the vertical tail torsion spring. The power unit is located at the end of the equipment storage section of the fuselage; The altimeter is located at the bow of the low-drag load section of the fuselage.

[0012] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the wing portion further includes an aileron and a flap, both of which are disposed on the wing, the flap being disposed on the wing root side of the wing and the aileron being disposed on the wing tip side of the wing.

[0013] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the tail portion further includes a rudder disposed on the vertical tail.

[0014] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the wing has a long and slender configuration with an aspect ratio of not less than 8, which can improve the lift-to-drag ratio in fixed-wing mode and provide greater lift as a rotor in rotor mode. The flaps are used to increase lift when the UAV takes off in fixed-wing mode, and the flaps are used in conjunction with the ailerons to increase lift when the UAV rotates in rotor mode to land.

[0015] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the upper and lower surfaces of the low-drag load compartment of the fuselage are both arc-shaped curved surfaces to reduce air resistance, and the interior has storage space for loading loads for different functional purposes. The upper and lower surfaces of the equipment storage section of the fuselage are flat, as are the two side surfaces, which facilitates the folding and fitting of the wings and tail. The interior has storage space for loading the drone's own navigation, control, link, electrical, and energy equipment.

[0016] In addition to the aspects and any possible implementations described above, a further implementation is provided in which symmetrical fixing holes are provided inside the upper and lower surfaces of the end of the device storage section. The multi-purpose rotating shaft includes a fixing shaft, a connecting block, and a torsion spring base. The fixing shaft is disposed in the fixing holes. The fixing shaft is connected to the torsion spring base through the connecting block. The torsion spring base is connected to the wing torsion spring. The wing torsion spring is fixedly connected to the wing root. The wing torsion spring is a bidirectional pre-tensioned torsion spring that drives the wing to fold and unfold. The wing unfolding angle is completed by limiting the movement. The rotation of the fixing shaft in the fixing holes drives the wing to flip, realizing the switching of the UAV from fixed-wing mode to rotor mode.

[0017] In addition to the aspects and any possible implementations described above, a further implementation is provided in which a torsion spring base is provided inside the left and right sides of the end of the device storage section, the vertical tail is connected to the torsion spring base through a vertical tail torsion spring, the vertical tail torsion spring is a bidirectional pre-tensioned torsion spring that drives the tail wing to fold and unfold, and the tail wing unfolding angle is limited by a limit.

[0018] In addition to the aspects and any possible implementations described above, a further implementation is provided in which there are at least two sets of both the wings and the tail.

[0019] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the power unit includes a propeller and a drive motor, the propeller being connected to the drive motor and disposed at the end of the device storage section for providing thrust for the UAV in fixed-wing mode flight.

[0020] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the altimeter is an altimeter sensor used to measure the altitude above the ground when the UAV lands in rotor mode.

[0021] In accordance with the aspects described above and any possible implementation, an application of a spirally recoverable folding-wing swarm drone is further provided, wherein the application sequentially completes the drone's catapult takeoff in folded state, cruise flight in fixed-wing mode, and recovery and landing in rotor mode using the spirally recoverable folding-wing swarm drone.

[0022] Compared with the prior art, the present invention can achieve the following technical effects: The front section of the fuselage of this invention has curved upper and lower surfaces, and the curved surfaces and streamlined fuselage design can reduce air resistance; the rear section of the fuselage has flat upper and lower surfaces to facilitate wing folding and retraction. When the wings are deployed, they provide lift for the UAV to maintain cruise level flight. The left and right sides of the rear section of the fuselage are also flat to facilitate vertical tail folding and retraction. When the vertical tail is deployed, it provides lateral stability to maintain the balance of the UAV. The deflection of the rudder on the vertical tail can adjust the attitude of the UAV. The altitude sensor is mounted on the nose of the drone and is used to measure the altitude relative to the ground during the drone's descent and recovery phase. This serves as a feedback signal for adjusting the rotor lift, enabling the drone to touch down slowly when it approaches the ground. The wings have a large aspect ratio, which improves the lift-to-drag ratio in fixed-wing mode and provides greater lift as rotors in rotary-wing mode. The wings are equipped with flaps and ailerons. The flaps increase lift during takeoff in fixed-wing mode, while the flaps and ailerons work together to rotate the wings during landing in rotary-wing mode, increasing lift and reducing the drone's descent speed, thus minimizing impact damage upon landing. The wing root is connected to the upper and lower planes of the tail end of the fuselage via a multi-purpose pivot. A torsion spring is installed in the multi-purpose pivot. The torsion spring is pre-tensioned in both directions to drive the wing to fold and unfold. The wing unfolding angle is achieved by limiting the position. The outward rotation of the multi-purpose pivot can drive the wing to flip outward, thus changing the UAV from a horizontal attitude to a vertical attitude. The vertical tail fin root is connected to the left and right sides of the fuselage tail via a pivot. A torsion spring is installed in the pivot, and the torsion spring is pre-tensioned in both directions to drive the tail fin to fold and unfold. A rudder is installed on the vertical tail to control the direction. The propeller is mounted at the tail of the UAV and rotates under the control of a motor, providing thrust to the UAV in fixed-wing flight mode.

[0023] Of course, any product implementing this invention does not necessarily need to achieve all of the technical effects described above at the same time. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an exploded view of the rotor configuration of a spirally recoverable folding-wing swarm drone provided in one embodiment of the present invention; In the figure: Altitude sensor-1, fuselage-2, wing-3, aileron-4, flaps-5, vertical tail-6, rudder-7, wing torsion spring-8, vertical tail torsion spring-9, multi-purpose pivot-10, and propeller-11.

[0026] Figure 2 This is a schematic diagram of the multi-purpose rotating shaft before and after flipping, provided in one embodiment of the present invention; Figure 3 This is a folding configuration diagram of a spirally retrievable folding-wing swarm drone provided in one embodiment of the present invention; Figure 4This is a fixed-wing configuration diagram of a spirally retrievable folding-wing swarm drone provided in one embodiment of the present invention; Figure 5 This is a rotor configuration diagram of a spirally recoverable folding-wing swarm drone provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of the configuration changes of a drone at different flight stages according to an embodiment of the present invention. Detailed Implementation

[0027] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0030] This invention provides a spiral-recoverable folding-wing swarm drone, which includes a fuselage, wings, tail, power unit, and altitude measuring unit. The front section of the fuselage is a low-drag load compartment, and the rear section is an equipment storage section. The wing section includes a wing, a multi-purpose pivot, and a wing torsion spring. The wing is connected to the multi-purpose pivot via the wing torsion spring. The multi-purpose pivot is movably connected to the upper and lower rear sides of the equipment storage section of the fuselage. The tail section includes a vertical tail and a vertical tail torsion spring. The vertical tail is movably connected to the left and right sides of the rear end of the equipment storage section of the body through the vertical tail torsion spring. The power unit is located at the end of the equipment storage section of the fuselage; The altimeter is located at the bow of the low-drag load section of the fuselage.

[0031] The wing also includes ailerons and flaps, both of which are mounted on the wing. The flaps are mounted on the side of the wing near the wing root, and the ailerons are mounted on the side of the wing near the wingtip.

[0032] The tail section also includes a rudder, which is mounted on the vertical stabilizer.

[0033] The wing has a long and slender configuration with an aspect ratio of not less than 8. In fixed-wing mode, it can improve the lift-to-drag ratio, and in rotor mode, it can provide greater lift as a rotor. The flaps are used to increase lift when the UAV takes off in fixed-wing mode. The flaps are used in conjunction with the ailerons to increase lift when the UAV lands in rotor mode by rotating the wing.

[0034] The upper and lower surfaces of the low-drag load compartment of the fuselage are both curved to reduce air resistance, and the interior has storage space for loading loads with different functions. The upper and lower surfaces of the equipment storage section of the fuselage are flat, as are the two side surfaces, which facilitates the folding and fitting of the wings and tail. The interior has storage space for loading the drone's own navigation, control, link, electrical, and energy equipment.

[0035] The device storage section has symmetrical fixing holes on its upper and lower surfaces. The multi-purpose rotating shaft includes a fixing shaft, a connecting block, and a torsion spring base. The fixing shaft is set in the fixing hole and is connected to the torsion spring base through the connecting block. The torsion spring base is connected to the wing torsion spring, which is fixedly connected to the wing root. The wing torsion spring is a bidirectional pre-tensioned torsion spring that drives the wing to fold and unfold, and the wing unfolding angle is completed by limiting the position. The rotation of the fixing shaft in the fixing hole drives the wing to flip, realizing the switching of the UAV from fixed-wing mode to rotor mode.

[0036] The device storage section has torsion spring bases installed inside the left and right sides at the end. The tail is connected to the torsion spring base through a tail torsion spring. The tail torsion spring is a bidirectional pre-tensioned torsion spring that drives the tail wing to fold and unfold, and the tail wing unfolding angle is limited by a limit.

[0037] The wings and tail sections each have at least two sets.

[0038] The power unit includes a propeller and a drive motor. The propeller is connected to the drive motor and is located at the end of the device storage section to provide thrust for the UAV in fixed-wing mode flight.

[0039] The height measurement unit is a height sensor used to measure the altitude from the ground when the UAV lands in rotor mode.

[0040] This invention also provides an application of a spiral-recoverable folding-wing swarm drone, which sequentially completes the drone's catapult takeoff in folded state, cruise flight in fixed-wing mode, and recovery and landing in rotor mode.

[0041] Example 1: The spiral-recoverable folding-wing swarm drone of this invention comprises: an altitude sensor 1, a fuselage 2, a wing 3, an aileron 4, flaps 5, a vertical tail 6, a rudder 7, a wing torsion spring 8, a vertical tail torsion spring 9, a multi-purpose pivot 10, and a propeller 11, as shown below. Figure 1 As shown, a partial schematic diagram of the multi-purpose rotating shaft 10 in its locked and flipped states is as follows: Figure 2 (a) and Figure 2 As shown in (b).

[0042] The wings and tail of the spiral-recoverable folding-wing swarm drone described in this invention can be folded and unfolded, forming a long strip shape with the fuselage when folded, such as... Figure 3 As shown, it achieves a high degree of integration and miniaturization. After catapult launch, the wings and vertical tail rapidly deploy to form a fixed-wing configuration, as shown... Figure 4 As shown, the drone can cruise over long distances and perform missions. After completing the mission, the drone's tail folds to fit snugly against the left and right sides of the rear fuselage, while the wings flip outwards so that the wing surfaces are approximately perpendicular to the fuselage, assuming a rotor configuration. Figure 5 As shown, the lower surface of the wing, perpendicular to the airflow, creates significant aerodynamic drag, reducing the drone's forward speed. Under the influence of gravity, the drone's nose tilts downwards, while the wings begin to rotate, generating lift. The drone then descends slowly in a spiral. During the spiral recovery process, flaps and ailerons work together to maintain the drone's attitude stability and the accuracy of its descent trajectory. This recovery method reduces site requirements and recovery costs, allows for the simultaneous recovery of multiple aircraft, and expands the number of drones that can be used in a swarm.

[0043] The spiral-recoverable folding-wing swarm drone of the present invention, during the flight phase, as follows: Figure 6 As shown.

[0044] During the catapult launch phase, such as Figure 6 As shown in (a): The swarm drone is normally in a folded state, with wings 3 folded to the upper and lower sides of the fuselage 2, and vertical tail 6 folded to the left and right sides of the fuselage 2. Wing torsion springs 8 and vertical tail torsion springs 9 are both in a pre-tensioned state. At a certain moment after the swarm drone is ejected from the launch tube, the wings 3 on the upper and lower sides of the fuselage 2 and the vertical tail 6 on the left and right sides of the fuselage 2 are subjected to torque due to the unfolding tendency of the wing torsion springs 8 and vertical tail torsion springs 9, causing the wings 3 and vertical tail 6 to unfold outwards. When the wings 3 and vertical tail 6 have unfolded outwards to a certain angle, the unfolding is stopped by a limiting device. At this stage, the drone switches from folded mode to fixed-wing mode, and the multi-purpose pivot 10 is in a locked state. Figure 2 As shown in (a); During the cruise flight phase, such as Figure 6As shown in (b): After the UAV launches from the launch tube, the UAV deploys its flaps 5 to increase lift. The flight control system controls the ailerons 4 and rudder 7 to adjust the aircraft's attitude and stabilize its flight. The tail motor of the UAV starts, driving the propeller 11 to rotate and provide thrust for the UAV. After the swarm of UAVs successfully takes off, it cruises to the mission area and performs missions within the mission area (e.g., long-endurance reconnaissance and search, target tracking and positioning, and electronic warfare missions). After completing the mission, it returns to base. During the recycling phase, such as Figure 6 As shown in (c): After the UAV reaches the safe zone, the vertical tail 6 retracts to the folded state under the retraction torque of the vertical tail torsion spring 9. The multi-purpose pivot 10 at the wing root of the wing 3 flips outward, causing the wing 3 to fold outward. The state after the multi-purpose pivot flips is as follows. Figure 2 As shown in (b). The drone's wings 3 generate significant drag to achieve rapid deceleration. Simultaneously, the fuselage tilts downwards under gravity, and the drone's fuselage 2 changes from a horizontal to a vertical attitude. At this point, the drone rotates and descends, and the rotation of wings 3 generates lift to reduce the descent speed. During descent, the imbalance of lift caused by the different curvatures of the upper and lower wing surfaces on both sides of the wings 3 can be resolved by adjusting the angle of the flaps 5. When the nose ranging sensor 1 detects that the drone is about 0.5m above the ground, the ailerons 4 rotate downwards at a certain angle, increasing the wing lift. At the same time, the drone accelerates its rotation, and the drone's descent speed decreases sharply, achieving near-zero speed ground contact. After landing, the drone needs to be folded and placed in the ejection tube. The folding process involves first restoring the flaps 5 and ailerons 4 to be level with the wing surfaces of the wings 3, then rotating the multi-purpose pivot 10 to fold the wings 3 forward until the wing surfaces are parallel to the fuselage 2. Finally, under the retraction torque of the wing torsion springs 8, the upper and lower wings 3 rotate until the upper and lower sides of the fuselage 2 overlap, returning to the folded state.

[0045] The foregoing provides a detailed description of a spiral-recoverable folding-wing swarm drone and its applications, as provided in the embodiments of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the methods and core ideas of this application; furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

[0046] Certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The terms "comprising" and "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising / including but not limited to". "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error. The following descriptions in the specification are preferred embodiments for carrying out this application; however, these descriptions are for the purpose of illustrating the general principles of this application and are not intended to limit the scope of this application. The scope of protection of this application shall be determined by the appended claims.

[0047] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0048] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0049] The foregoing description illustrates and describes several preferred embodiments of this application. However, as previously stated, it should be understood that this application is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the application concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this application should be within the protection scope of the appended claims.

Claims

1. A spiral-recoverable foldable-wing swarm drone, characterized in that, The foldable wing swarm UAV comprises a fuselage, a wing, a tail, a power unit and an altimeter unit. The fuselage comprises a front low-drag load cabin section and a rear equipment storage section. The wing comprises a wing, a multipurpose rotating shaft and a wing torsion spring, the wing is connected to the multipurpose rotating shaft through the wing torsion spring, the multipurpose rotating shaft is movably connected to the upper and lower sides of the rear end of the equipment storage section of the fuselage. The tail comprises a vertical tail and a vertical tail torsion spring, the vertical tail is movably connected to the left and right sides of the rear end of the equipment storage section of the fuselage through the vertical tail torsion spring. The power unit is arranged at the end of the equipment storage section of the fuselage. The altimeter unit is arranged at the front end of the low-drag load cabin section of the fuselage.

2. The spiral-recoverable, foldable-wing swarm drone of claim 1, wherein, The wing further comprises ailerons and flaps, the ailerons and flaps are arranged on the wing, the flaps are arranged on the wing near the wing root side, and the ailerons are arranged on the wing near the wing tip side.

3. The helically recyclable folded-wing swarm drone of claim 1, wherein, The tail further comprises a rudder, which is arranged on the vertical tail.

4. The spiral-recoverable, foldable-wing swarm drone of claim 2, wherein, The wing has a long and thin configuration, and the aspect ratio is not less than 8, the fixed wing mode can increase the lift-drag ratio, the rotor mode can provide large lift as a rotor, the flaps are used to increase the lift when the UAV takes off in the fixed wing mode, and the flaps and ailerons are used in cooperation to increase the lift by rotating the wing when the UAV lands in the rotor mode.

5. The foldable wing swarm UAV according to claim 1, wherein The upper and lower surfaces of the low-drag load cabin section of the fuselage are arc-shaped curved surfaces for reducing air resistance, and the interior has a storage space for loading loads with different functions; The upper and lower surfaces of the equipment storage section of the fuselage are planes, and the two side surfaces are planes, which are convenient for folding and adhering the wing and tail, and the interior has a storage space for loading navigation, control, link, electrical and energy equipment of the UAV itself.

6. The spiral recyclable folded-wing swarm drone of claim 1, wherein, The interior of the upper and lower surfaces of the end of the equipment storage section is provided with symmetrical fixing holes, the multipurpose rotating shaft comprises a fixed shaft, a connecting block and a torsion spring base, the fixed shaft is arranged in the fixing hole, the fixed shaft is connected to the torsion spring base through the connecting block, the torsion spring base is connected to the wing torsion spring, the wing torsion spring is fixedly connected to the wing root of the wing, the wing torsion spring is a bidirectional pre-tightening torsion spring for driving the wing to fold and unfold, and the wing unfolding angle is limited by limiting; the wing is turned over by rotating the fixed shaft in the fixing hole, and the UAV is switched from the fixed wing mode to the rotor mode.

7. The helically recyclable folded-wing swarm drone of claim 1, wherein, The interior of the left and right surfaces of the end of the equipment storage section is provided with a torsion spring base, the vertical tail is connected to the torsion spring base through the vertical tail torsion spring, and the vertical tail torsion spring is a bidirectional pre-tightening torsion spring for driving the tail to fold and unfold, and the tail unfolding angle is limited by limiting.

8. The spiral recyclable folded-wing swarm drone of claim 1, wherein, The wing and tail are not less than two sets.

9. The helically recyclable folded-wing swarm drone of claim 1, wherein, The power unit comprises a propeller and a driving motor, the propeller is connected to the driving motor, and the propeller is arranged at the end of the equipment storage section to provide thrust for the UAV in the fixed wing mode.

10. The use of a spiral-recoverable foldable wing swarm drone, characterized in that, The application sequentially completes the catapult take-off of the UAV in the folded state, the cruising flight of the UAV in the fixed wing mode and the recovery landing of the UAV in the rotor mode by using the foldable wing swarm UAV according to any one of claims 1-9.

Images