A symmetrical cross-wing layout unmanned aerial vehicle system

Abstract

This invention proposes a symmetrically arranged cross-wing unmanned aerial vehicle (UAV) system, relating to the field of UAVs. It includes a fuselage structure, a power module, and a flight control module. The fuselage structure comprises a cylindrical fuselage and four wings symmetrically arranged in a cross pattern around the cylindrical surface of the fuselage; the four wings are arranged in an X-shape or a cross shape. The power module includes motors and propellers. The motors are located at the wingtips, with their output shafts aligned with the fuselage axis and facing the tail of the fuselage. The propellers are connected to the motor output shafts. The flight control module is located inside the fuselage and is used to control the output speed of the four motors. This system combines the advantages of a quadcopter FPV and a fixed-wing UAV, generating lift from the wings while also cruising and sprinting in fixed-wing form. Furthermore, by changing the motor speeds, it can control the pitch, yaw, and roll attitude of the UAV, eliminating the need for separate control surfaces, thus simplifying the structure and reducing costs.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicles (UAVs), and more specifically, to a UAV system with a symmetrical cross-wing layout. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are mainly classified into rotary-wing UAVs and fixed-wing UAVs based on their lift generation method. Traditional fixed-wing UAVs generate lift primarily through their wings, resulting in low drag and enabling them to fly for extended periods. However, they cannot perform vertical takeoff and landing, limiting their versatility. During flight, fixed-wing UAVs cannot operate below their minimum cruising speed and cannot hover, restricting their ability to conduct detailed reconnaissance of sensitive areas. Furthermore, traditional fixed-wing UAVs require servo motors to control control surfaces for attitude control, resulting in a complex structure and increased manufacturing costs.

[0003] Traditional quadcopter FPV drones rely primarily on rotor rotation to generate lift, enabling vertical takeoff and landing and offering relatively flexible control. However, due to the lack of wings, their large frontal area results in low aerodynamic efficiency, leading to significant drag at high speeds and limiting their speed ceiling. This makes them vulnerable to being shot down during the terminal penetration phase. Furthermore, the high drag at high speeds results in high energy consumption and short flight time, impacting their overall effectiveness. Utility Model Content

[0004] The purpose of this invention is to provide a symmetrical cross-wing layout UAV system that combines the advantages of quadcopter FPV and fixed-wing UAV. It can achieve vertical take-off and landing and hovering flight, as well as cruise and sprint in fixed-wing form. By changing the motor speed, it can achieve differential control of the vertical and horizontal control forces and change the roll torque of the whole aircraft in both flight modes, thereby controlling the pitch, yaw and roll attitude of the UAV. There is no need to design control surfaces for the UAV to control the attitude, making the UAV structure simpler and the manufacturing cost lower.

[0005] The embodiments of this utility model are implemented as follows:

[0006] This application provides a symmetrical cross-wing layout unmanned aerial vehicle (UAV) system, including a fuselage structure, a power module, and a flight control module. The fuselage structure includes a cylindrical fuselage and four wings arranged symmetrically and cross-shaped around the cylindrical surface of the fuselage. The four wings are arranged in an X-shape or a cross shape.

[0007] The power module includes a motor and a propeller. The motor is located at the wingtip of the wing and its output shaft is aligned with the fuselage axis and faces the tail of the fuselage. The propeller is connected to the output shaft of the motor.

[0008] The flight control module is located inside the fuselage and is used to control the output speed of the four motors.

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

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

[0011] The visual recognition and tracking module includes cameras and an information processing unit. Two cameras are provided, one at the head of the fuselage and the other at the tail. The information processing unit is located inside the fuselage and is used to process the image and video information transmitted from the cameras, identify sensitive targets, and generate corresponding drone control commands.

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

[0013] The navigation module includes an IMU sensor and a GPS antenna. The IMU sensor is integrated into the flight control module. There are two GPS antennas, which are placed on the top surface of the fuselage and the upper slope of the nose of the fuselage, respectively.

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

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

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

[0017] Furthermore, based on the aforementioned scheme, exhaust ports communicating with the interior of the fuselage are respectively opened on both sides of the rear of the fuselage.

[0018] Furthermore, based on the aforementioned scheme, the wingtip of the wing is connected to a cylindrical motor fairing, the end of the motor fairing facing the nose of the fuselage is conical, and the end of the motor fairing facing the tail of the fuselage is connected to the motor.

[0019] Furthermore, based on the aforementioned scheme, cable tie holes for installing cable ties are symmetrically provided on both sides of the bottom of the machine body, and the bottom of the machine body is a concave arc-shaped groove.

[0020] Furthermore, based on the aforementioned scheme, the fuselage is a cuboid or a cylinder; when it is a cuboid, the head, tail, and edges of the fuselage are all streamlined; when it is a cylinder, the head and tail of the fuselage are both streamlined.

[0021] Furthermore, based on the aforementioned solution, the rear top surface of the machine body is provided with an installation port and a removable and sealed rear cover.

[0022] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0023] This application designs the drone's fuselage as a cylinder, with four wings arranged in an X-shaped or cross-shaped intersecting pattern around its perimeter. Motors and propellers are mounted at the wingtips, with the motor output shafts aligned with the fuselage axis and pointing towards the tail. The propellers are connected to the motor output shafts. This X-shaped or cross-shaped wing arrangement enables vertical takeoff and landing (VTOL) and hovering flight capabilities similar to a quadcopter, significantly enhancing usability. During cruise flight, the wings generate lift, greatly increasing the overall aerodynamic efficiency. With the same battery capacity, this allows the drone to achieve... The aircraft boasts a longer endurance; during the terminal penetration phase, it can sprint as a fixed-wing drone, significantly reducing aerodynamic drag and greatly increasing flight speed, thus shortening the time to reach the target and increasing the success rate of penetration. Furthermore, the flight control module controls the output speed of the four motors, allowing for differential control of vertical and horizontal forces and variations in roll torque. This enables control of the drone's pitch, yaw, and roll attitude, eliminating the need for separate control surfaces and simplifying the structure, resulting in lower manufacturing costs. Powered entirely by electric motors, it directly controls flight attitude, possessing high-speed penetration capabilities. Combining the advantages of a quadcopter FPV and a fixed-wing drone, it features visual recognition and automatic tracking capabilities, making it particularly suitable for striking sensitive targets on the battlefield. Its low manufacturing cost makes it suitable for mass production. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an isometric view of a UAV with a symmetrical cross-wing layout according to an embodiment of the present invention;

[0026] Figure 2 This is a side view of an unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0027] Figure 3 This is a front view of the drone according to an embodiment of the present invention;

[0028] Figure 4 This is a bottom view of an embodiment of the UAV of this utility model;

[0029] Figure 5 This is a schematic diagram of the multi-rotor flight mode control of an unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the fixed-wing flight control of an unmanned aerial vehicle (UAV) according to an embodiment of this utility model.

[0031] Icons: 1-Fuselage, 11-Fuselage Nose, 12-Fuselage Tail, 13-Arc-shaped Groove, 14-Cable Tie Hole, 15-Exhaust Port, 16-Fuselage Rear Cover, 2-Wing, 21-Installation Angle of Attack, 3-Motor, 4-Propeller, 5-Electronic Speed ​​Controller, 6-Reinforcing Plate, 7-Motor Fairing, 8-GPS Antenna, 9-Camera. Detailed Implementation

[0032] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0033] Please refer to Figures 1-6 The diagram shows the overall structure of a symmetrically arranged cross-wing unmanned aerial vehicle (UAV) system.

[0034] This embodiment provides a symmetrical cross-wing layout unmanned aerial vehicle system, including a fuselage structure 1, a power module and a flight control module. The fuselage structure 1 includes a cylindrical fuselage 1 and four wings 2 arranged symmetrically and cross-shaped around the cylindrical surface of the fuselage 1. The four wings 2 are arranged in an X-shape or a cross shape. The two ends of the fuselage 1 are the fuselage head 11 and the fuselage tail 12, respectively.

[0035] The power module includes a motor 3 and a propeller 4. The motor 3 is located at the wingtip of the wing 2 and its output shaft is axially aligned with the fuselage 1 and faces the tail 12 of the fuselage. The propeller 4 is connected to the output shaft of the motor 3.

[0036] The flight control module is located inside the fuselage 1 and is used to control the output speed of the four motors 3.

[0037] The following will further describe an exemplary embodiment of an unmanned aerial vehicle (UAV) system with a symmetrical cross-wing layout.

[0038] In some embodiments, the fuselage 1 is cylindrical, either cuboid or cylindrical. When it is cuboid, the nose, tail, and edges of the fuselage 1 are streamlined. When it is cylindrical, the nose and tail of the fuselage 1 are streamlined to reduce flight drag. The two ends of the fuselage 1 are the nose 11 and the tail 12, respectively. Four wings 2 are distributed on the periphery of the cylindrical surface of the fuselage 1 in an X-shaped or cross-shaped arrangement. That is, the wings 2 can be X-shaped or cross-shaped wings. Specifically, the two ends of the fuselage 1 in the length direction are the nose and the tail, respectively. The wings 2 are located on the periphery of the middle position of the fuselage 1. The dihedral angle and anhedral angle of the wings 2 are determined according to aerodynamic simulation.

[0039] The aforementioned power module includes motors 3 and propellers 4. Motors 3 are mounted at the wingtips of the wing 2, with their output shafts aligned axially with the fuselage 1 and facing the tail 12. The propellers 4 are connected to the output shafts of motors 3. The motors 3 are installed in a staggered configuration, with adjacent motors rotating in opposite directions. The flight control module is located inside the fuselage 1 and controls the output speeds of the four motors 3. The flight control system, according to a pre-programmed control procedure, or by receiving control commands from a ground control terminal or control instructions generated by an information processing system, controls the output speeds of the four motors 3, thereby achieving flight control of the UAV.

[0040] The drone utilizes an X-wing or cruciform wing configuration, generating lift through its wings 2 during cruise flight, significantly increasing overall aerodynamic efficiency and extending flight time with the same battery capacity. In the terminal penetration phase, it sprints as a fixed-wing drone, greatly reducing aerodynamic drag and significantly increasing flight speed, shortening the time to reach the target and increasing the drone's penetration success rate. Four motors 3 and four propellers 4 are deployed at the wingtips of the drone's wings 2, enabling vertical takeoff and landing (VTOL) capabilities similar to a quadcopter, greatly enhancing ease of use. During fixed-wing flight, by changing the speed of the motors 3, differential control forces for vertical and horizontal movement, as well as variations in roll torque, can be achieved, allowing for pitch, yaw, and roll attitude control. This eliminates the need for separate control surfaces, simplifying the drone's structure and reducing manufacturing costs.

[0041] In a preferred embodiment, the aforementioned power module further includes four electronic speed controllers (ESCs) 5. Each ESC 5 is embedded in mounting holes on opposite side walls of the fuselage 1 and connected to one of the motors 3 of the four wings 2. The ESCs 5 are also electrically connected to the flight control module. The ESCs 5 are connected to the flight control system and the motors 3, receiving control commands from the flight control system and converting them into motor speed control commands, which are then sent to the motors 3 to control their speed adjustment. Embedded on the side walls of the fuselage 1, the ESCs 5 are in direct contact with external cold air, allowing for rapid dissipation of heat generated during operation, ensuring stability under high power output, and preventing control delays or failures due to high temperatures.

[0042] In a preferred implementation, the unmanned aerial vehicle (UAV) system also includes a visual recognition and tracking module, a communication module, a navigation module, and a power module. The visual recognition and tracking module includes two cameras 9: one set is mounted on the nose 11 of the fuselage, primarily for acquiring image information when the UAV is flying in fixed-wing mode; the other set is mounted on the tail 12 of the fuselage, primarily for acquiring image information when the UAV is flying in multi-rotor mode. The information processing unit is located inside the fuselage 1 and is used to process the image and video information transmitted from the cameras 9, identify sensitive targets, and generate corresponding UAV control commands.

[0043] The communication module includes an airborne transceiver unit, an antenna, and a ground transceiver unit. The airborne transceiver unit is installed inside the fuselage 1 and connected to the information processing unit. There are two antennas, which are respectively installed inside the two lower wings 2. The built-in antennas help reduce flight drag. The ground transceiver unit is installed inside the ground handheld display and control terminal to realize air-to-ground information interaction.

[0044] The navigation module includes an IMU sensor and a GPS antenna 8. The IMU sensor is integrated into the flight control module. Two GPS antennas 8 are located, one on the top surface of the fuselage 1 and the other on the sloping surface of the nose 11. The navigation system employs an IMU+GPS+vision approach. The GPS antenna 8 on the top surface of the fuselage 1 primarily operates when the UAV is in fixed-wing flight mode, while the GPS antenna 8 on the sloping surface of the nose 11 primarily operates when the UAV is in multi-rotor flight mode. The visual navigation signal mainly originates from the analysis and calculation of the visual recognition and tracking module. It works in conjunction with the IMU sensor and GPS antenna 8 to achieve navigation and positioning, primarily operating during the target engagement phase of the UAV. It can accurately identify and engage targets, enabling multi-mode navigation.

[0045] The energy module is located inside the fuselage 1 and is electrically connected to the motor 3, electronic speed controller 5, and flight control system to provide power. Specifically, the energy module is composed of a high-density lithium battery and is connected to the motor 3 via wires passing through the interior of the wing 2, and is installed inside the fuselage 1.

[0046] In a preferred embodiment, a reinforcing plate 6 is provided on the side of the wing 2 near the tail section 12 of the fuselage, extending along the wing 2's extension direction. The reinforcing plate 6 is connected to the wing 2, with one end fixedly connected to the fuselage 1's outer shell, and the other end extending to the motor 3 and connected to the motor 3's outer shell. The reinforcing plate 6 is a carbon fiber reinforcing plate, which can significantly improve the wing 2's bending strength, especially during high-speed flight or high-speed operation of the motor 3. It can resist the deformation of the wing 2 caused by airflow impact and the reaction force of the propeller 4, ensuring the structural stability of the wing 2. The root of the reinforcing plate 6 is fixedly connected to the fuselage 1, that is, the reinforcing plate 6 is fixedly connected to the fuselage 1's outer shell, transferring the force on the wing 2 to the main body of the fuselage 1, dispersing local loads, and extending the overall service life of the aircraft. The portion of the reinforcing plate 6 extending to the wingtip can serve as a mounting base for the motor 3, supporting the motor 3, making the connection between the motor 3 and the wing 2 more secure, preventing displacement of the motor 3 or imbalance of the propeller 4 due to vibration, and improving the reliability of the power system.

[0047] In a preferred embodiment, the wing 2 has an upwardly tilted installation angle 21 relative to the axial direction of the fuselage 1. For example... Figure 2 As shown, the mounting axes of the upper and lower wings 2 are tilted upwards relative to the axis of the fuselage 1. This allows the wing 2 to be at its optimal aerodynamic angle of attack when the UAV is flying in a level flight attitude (i.e., the axis of fuselage 1 is nearly horizontal) at its designed cruise speed and cruise weight. This also ensures that the fuselage 1 remains nearly horizontal when the UAV cruises at a specific speed in fixed-wing flight mode, minimizing aerodynamic drag. The streamlined nose and tail of the fuselage 1, combined with the horizontal fuselage 1, reduce air disturbance and improve cruise efficiency and endurance.

[0048] As a preferred implementation, exhaust ports 15 communicating with the interior of the fuselage 1 are respectively provided on both sides of the rear part of the fuselage 1, so that the air entering from the head can flow through the interior of the fuselage 1 and carry away the heat generated by the electronic hardware system inside the fuselage 1.

[0049] As a preferred embodiment, the rear top surface of the aforementioned body 1 is provided with an installation port and a removable and sealed rear cover 16 is provided. The upper rear cover of the body 1 is openable to facilitate the installation of equipment and batteries inside the body 1.

[0050] In a preferred embodiment, the wingtip of the wing 2 is connected to a cylindrical motor fairing 7. The end of the motor fairing 7 facing the nose 11 of the fuselage is tapered, and the end of the motor fairing 7 facing the tail 12 of the fuselage is connected to the motor 3. The tapered nose design reduces air resistance between the motor 3 and the propeller 4 during high-speed flight, especially in fixed-wing mode, reducing aerodynamic interference and improving flight speed and energy efficiency. The cylindrical structure matches the streamlined design of the wing 2 and the fuselage 1, ensuring the consistency of the overall aerodynamic shape and further optimizing flight stability.

[0051] In a preferred embodiment, the bottom of the aforementioned body 1 is symmetrically provided with cable tie holes 14 on both sides for installing cable ties, and the bottom of the body 1 has an inwardly concave arc-shaped groove 13. The cable tie holes 14 are used to install cable ties, and the bottom of the body 1 has a circular groove to facilitate the fixing of the required transport payload together with the cable ties.

[0052] This application also provides a control method for an unmanned aerial vehicle (UAV) system based on the above-described symmetrical cross-wing layout, including quadcopter flight mode control and fixed-wing flight mode control; specifically, it includes the following steps:

[0053] The flight control module controls the output speed of the four motors 3 according to the pre-set control program or the received control command to achieve flight control; among them, the four motors 3 are combined in pairs to form two groups of motors 3 under different control programs or control commands;

[0054] In quadcopter flight mode, vertical takeoff and landing are achieved by synchronously increasing or decreasing the speed of the four motors by 3, and heading, pitch and roll control are achieved by adjusting the speed difference of different motor groups.

[0055] In fixed-wing flight mode, acceleration and deceleration are achieved by synchronously increasing or decreasing the speed of the four motors 3, roll, pitch and yaw control are achieved by adjusting the speed difference between different motor groups, and climb or descent is achieved by adjusting the wing angle of attack 2 through pitch control.

[0056] By employing two modes, the UAV combines the vertical takeoff and landing (VTOL) and hovering capabilities of a quadcopter with the high-speed cruise and penetration capabilities of a fixed-wing aircraft, adapting to diverse scenario requirements such as takeoff and landing in confined spaces and long-range high-speed strikes. Attitude control is achieved through a three-motor speed difference, replacing traditional control surfaces, reducing mechanical transmission structures, lowering the risk of failure, and providing faster control response. The control logic for both modes is unified through a flight control module, simplifying system integration, reducing software development costs, and ensuring consistent control command transmission paths, thus improving operational reliability.

[0057] As a preferred implementation, in the aforementioned quadcopter flight mode, yaw, pitch, and roll control are achieved by adjusting the speed differences between different motor sets. Specifically: for yaw control, two cross-facing motors are combined into one motor set; the yaw direction is changed by reversing the speeds of the two cross-facing motor sets. For pitch control, two horizontally opposite motors are combined into one motor set; the pitch direction is changed by reversing the speeds of the two vertically opposite motor sets. For roll control, two vertically opposite motors are combined into one motor set; the roll direction is changed by reversing the speeds of the two horizontally opposite motor sets.

[0058] Specifically, such as Figure 5 In quadcopter flight (hovering or low-speed flight) mode, the four basic control strategies—climb, yaw, pitch, and roll—are as follows:

[0059] Vertical ascent or descent: The speeds of motors one through four increase or decrease synchronously.

[0060] Heading control: By increasing the speed of motors 1 and 3 and decreasing the speed of motors 2 and 4, the heading can be changed in one direction; conversely, by decreasing the speed of motors 1 and 3 and increasing the speed of motors 2 and 4, the heading can be changed in the opposite direction.

[0061] Pitch control: Motors 1 and 2 increase their speed synchronously, while motors 3 and 4 decrease their speed synchronously, enabling tilting operation; Motors 1 and 2 decrease their speed synchronously, while motors 3 and 4 increase their speed synchronously, enabling tabletop operation.

[0062] Roll control: Motors 1 and 4 increase their speed synchronously, while motors 2 and 3 decrease their speed synchronously, which can achieve a roll to the right; Motors 1 and 4 decrease their speed synchronously, while motors 2 and 3 increase their speed synchronously, which can achieve a roll to the right.

[0063] Other controls can be achieved by combining the above four operations. All operations are implemented by sending motor control commands through the flight control system.

[0064] As a preferred implementation, in the aforementioned fixed-wing flight mode, roll, pitch, and yaw control are achieved by adjusting the speed difference between different motor sets. Pitch control is used to adjust the wing's angle of attack to achieve climb or descent. This includes: for roll control, two cross-facing motors are combined into one motor set; the roll direction is changed by adjusting the speed of the two cross-facing motor sets in the opposite direction. For pitch control, two horizontally opposite motors are combined into one motor set; the pitch direction and pitch angle of attack are changed by adjusting the speed of the two vertically opposite motor sets in the opposite direction, achieving climb or descent. For yaw control, two vertically opposite motors are combined into one motor set; the yaw direction is changed by adjusting the speed of the two horizontally opposite motor sets.

[0065] Specifically, such as Figure 6 In fixed-wing flight (high-speed flight) mode, the four basic control strategies—acceleration / deceleration, heading, pitch, and roll—are as follows:

[0066] Acceleration / deceleration: The speeds of motors one through four increase or decrease synchronously.

[0067] Roll control: Motors 1 and 3 increase their speed synchronously, while motors 2 and 4 decrease their speed synchronously, which can achieve a roll in one direction; conversely, motors 1 and 3 decrease their speed synchronously, while motors 2 and 4 increase their speed synchronously, which can achieve a roll in the opposite direction.

[0068] Pitch control: Motors 1 and 2 increase their speed synchronously, while motors 3 and 4 decrease their speed synchronously, enabling tilting operation; Motors 1 and 2 decrease their speed synchronously, while motors 3 and 4 increase their speed synchronously, enabling tabletop operation.

[0069] Heading control: By synchronously increasing the speed of motors 1 and 4 and synchronously decreasing the speed of motors 2 and 3, yaw can be achieved in one direction; by synchronously decreasing the speed of motors 1 and 4 and synchronously increasing the speed of motors 2 and 3, yaw can be achieved in the opposite direction.

[0070] Climb or descent: By increasing the wing angle of attack 2 through pitch control, the lift of the UAV increases, achieving a climb; by decreasing the wing angle of attack 2 through pitch control, the lift of the UAV decreases, achieving a descent.

[0071] Other controls can be achieved by combining the above five operations. All operations are implemented by sending motor 3 control commands through the flight control system.

[0072] The beneficial effects of this application's embodiments are as follows: Compared to traditional quadcopter FPV drones, the drone of this application has lower forward drag and a significantly increased maximum flight speed, which is beneficial for improving the success rate of battlefield strikes. Since the drone of this application flies in fixed-wing mode most of the time, it has lower forward drag and higher aerodynamic efficiency. With the same battery capacity, it has a longer flight time, which is beneficial for improving reconnaissance efficiency and increasing the strike range. It combines the advantages of quadcopters and fixed-wing drones, adapting to diverse scenario requirements; and the controlless design simplifies the structure, reducing costs and failure risks; at the same time, multi-module collaboration (vision, navigation, communication) improves target strike and operational accuracy, and innovative control methods ensure high responsiveness and stability in both modes.

[0073] Furthermore, unless otherwise explicitly specified or limited, the terms "installation" and "connection" in this application embodiment should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. The terms "upper," "lower," "left," "right," "inner," "outer," and "side," etc., are merely for reference to the direction in the accompanying drawings or the usual placement of the product during use. They are only for clearly describing this application and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limitations on this application. The terms "first," "second," etc., are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance; "multiple" refers to at least two. In this application embodiment, the limitations on relative positional relationships such as parallel, perpendicular, and aligned are all relative to the current technological level and are not absolutely strict limitations. Slight deviations are allowed; approximations of parallel, perpendicular, and aligned are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 degrees and 10 degrees.

[0074] The above are only some embodiments and implementation methods of this application. The protection scope of this application is not limited thereto. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. Any combination of features in different embodiments is also within the protection scope of this application. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A symmetrically arranged cross-wing unmanned aerial vehicle (UAV) system, characterized in that, It includes a fuselage structure, a power module, and a flight control module. The fuselage structure includes a cylindrical fuselage and four wings arranged symmetrically and intersectingly on the periphery of the cylindrical surface of the fuselage. The four wings are arranged in an X-shape or a cross shape. The two ends of the fuselage are the nose and the tail, respectively. The power module includes a motor and a propeller. The motor is located at the wingtip of the wing and its output shaft is aligned with the fuselage axis and faces the tail of the fuselage. The propeller is connected to the output shaft of the motor. The flight control module is located inside the fuselage and is used to control the output speed of the four motors.

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

3. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 2, characterized in that, It also includes a visual recognition and tracking module, a communication module, a navigation module, and an energy module; The visual recognition and tracking module includes cameras and an information processing unit. Two cameras are provided, one at the head of the fuselage and the other at the tail. The information processing unit is located inside the fuselage and is used to process the image and video information transmitted from the cameras, identify sensitive targets, and generate corresponding drone control commands. The communication module includes an airborne transceiver unit, an antenna, and a ground transceiver unit. The airborne transceiver unit is installed inside the fuselage and connected to the information processing unit. There are two antennas, which are respectively installed inside the two lower wings. The ground transceiver unit is installed inside a ground handheld display and control terminal. The navigation module includes an IMU sensor and a GPS antenna. The IMU sensor is integrated into the flight control module. There are two GPS antennas, which are placed on the top surface of the fuselage and the upper slope of the nose of the fuselage, respectively. The energy module is located inside the fuselage and is electrically connected to the motor, electronic speed controller, and flight control system.

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

5. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The wing has an upward-sloping angle of attack relative to the fuselage axis.

6. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The rear of the fuselage has exhaust ports on both sides that communicate with the interior of the fuselage.

7. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The wingtip is connected to a cylindrical motor fairing. The end of the motor fairing facing the nose of the fuselage is tapered, and the end of the motor fairing facing the tail of the fuselage is connected to the motor.

8. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The bottom of the machine body has symmetrical cable tie holes on both sides for installing cable ties, and the bottom of the machine body is a concave arc-shaped groove.

9. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The fuselage is rectangular or cylindrical; when it is rectangular, the head, tail, and edges of the fuselage are streamlined; when it is cylindrical, the head and tail of the fuselage are streamlined.

10. The unmanned aerial vehicle system with a symmetrical cross-wing layout according to claim 1, characterized in that, The rear top surface of the machine body is provided with an installation port and a removable and sealed rear cover.

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