A high wind resistance unmanned aerial vehicle

Abstract

The utility model discloses a high wind resistance unmanned plane, high wind resistance unmanned plane includes fuselage, aileron, tail plane, tail fin and vector control module, and the tail of tail fin is equipped with rudder, and vector control module includes rotor and tilt part, and the one end of rotor rotatory connection is in tilt part, and the other end of tilt part is rotatory connection in aileron or tail plane around Y axle. Vector control module and tail fin combination carry out the course adjustment, and are each redundant complementary, can adapt to the course control demand of unmanned plane in different flight stage, and should respond turbulent flow, strong wind environment, have higher wind resistance performance, realized accurate attitude control to unmanned plane, when one course control system failure, another system automatic takeover control, can avoid the drift single point control failure, improved the stability of unmanned plane flight attitude control.

Description

Technical Field

[0001] This utility model relates to the field of aircraft technology, and in particular to a highly wind-resistant unmanned aerial vehicle (UAV). Background Technology

[0002] Unmanned aerial vehicles (UAVs) have been applied in fields such as military reconnaissance, logistics transportation, environmental monitoring, and disaster relief. They have high requirements for flight attitude stability under different working conditions. Existing technologies combine fixed-wing and multi-rotor UAVs to develop hybrid UAVs with a blended wing-body layout of rotor and fixed-wing. However, these hybrid UAVs have the characteristics of low power distribution efficiency, cannot adapt to the heading control requirements of UAVs in different flight stages, and the single-point control mode is prone to instability under strong wind conditions. They also have insufficient wind resistance and cannot achieve precise attitude control of UAVs. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a highly wind-resistant drone, which can improve the wind resistance performance and the stability of the drone's attitude control.

[0004] The high wind-resistant drone according to the embodiments of this utility model includes: body; The wings are symmetrically arranged on both sides of the fuselage along the Y-axis; The tail fin is located at the rear of the fuselage and is symmetrically arranged on both sides of the fuselage along the Y-axis; The vertical stabilizer is located on the top of the fuselage and behind the wings, and is symmetrically arranged on both sides of the fuselage along the Y-axis. The tail of the vertical stabilizer is equipped with a rudder. The vector control module is provided at least on the leading edge of the wing along the X-axis and on both sides of the tail along the Y-axis in the positive and negative directions; or, the vector control module is provided at least on the leading edge and trailing edge of the wing along the X-axis. The vector control module includes a rotor and a tilting part, the rotor being rotatably connected to one end of the tilting part, and the other end of the tilting part being rotatably connected to the wing or the tail about the Y-axis. The flight detection module is used to detect the flight parameters of the aircraft. The flight control module is communicatively connected to at least the vector control module and the rudder, and is configured to control the rotor rotation and / or the rudder tilt according to the flight parameters; The high wind-resistant UAV has a first flight condition, a second flight condition and a third flight condition; When the high wind-resistant UAV is in the first flight condition, the high wind-resistant UAV hovers, takes off and lands, or flies at low speed, and the flight control module controls the heading at least through the vector control module; When the high wind-resistant UAV is in the second flight condition, the high wind-resistant UAV flies at high speed, and the flight control module controls the heading at least through the vertical tail. When the high wind-resistant UAV is in the third flight condition, the high wind-resistant UAV maneuvers, and the flight control module controls the heading through the vector control module and the vertical tail. When the vertical tail malfunctions, the flight control module controls the heading via the vector control module; When the vector control module fails, the flight control module controls the heading via the vertical tail.

[0005] According to some embodiments of the present invention, at least a portion of the vertical tail is located at the top of the tail fin; And / or, the leading edge of the vertical tail is connected to the top of the fuselage, and the trailing edge of the vertical tail is connected to the top of the tail fin; And / or, the rudder is located on top of the tail fin.

[0006] The wind-resistant drone according to the embodiments of this utility model has at least the following beneficial effects: In this invention, the vector control module and the vertical tail are combined to adjust the heading and are redundant and complementary to each other. This can adapt to the heading control requirements of the UAV at different flight stages and cope with turbulent and strong wind environments, with high wind resistance performance. It achieves precise attitude control of the UAV. When one heading control system fails, the other system automatically takes over the control, which can avoid single-point control failure of yaw and improve the stability of UAV flight attitude control.

[0007] According to some embodiments of the present invention, the trailing edge of the tail fin is provided with an elevator, the elevators are symmetrically arranged on both sides of the fuselage along the Y-axis, the elevators are configured to communicate with the flight control module, and the flight control module can control the elevators to swing up and down; the tail fin is located between the two elevators along the Y-axis. And / or, the distance between the two vertical tails gradually increases from bottom to top.

[0008] According to some embodiments of the present invention, the vector control module includes two rotors and two motors, as well as a servo motor and a bracket. The rotation axes of the two rotors are collinear. Each motor is connected to one rotor and is used to drive the rotor to rotate. The tilting part is rotatably connected to the servo motor around the Y-axis. The servo motor is fixed to the end of the bracket, and the bracket is fixed to the wing or the tail fin.

[0009] According to some embodiments of this utility model, the vector control module is provided on both the leading and trailing edges of the wing and on both sides of the tail along the positive and negative directions of the Y-axis.

[0010] According to some embodiments of the present invention, the vector control module located at the leading edge of the wing and the vector control module located at the trailing edge of the wing are offset along the Y-axis; And / or, the trailing edge of the tail fin is provided with an elevator, the elevator is symmetrically arranged on both sides of the fuselage along the Y-axis, and the elevator is located in the slipstream area of ​​the vector control module connected to the trailing edge of the wing.

[0011] According to some embodiments of the present invention, the trailing edge of the wing is provided with flaps and ailerons, and each wing is connected to the vector control module. The vector control module connected to the trailing edge of the wing is located on the side of the flap facing away from the aileron.

[0012] According to some embodiments of the present invention, the vector control module connected to the trailing edge of the wing is located on the side of the flap facing away from the aileron; And / or, the flaps are located on the rear side of the vector control module, which is situated at the leading edge of the wing.

[0013] According to some embodiments of this utility model, the trailing edge of the tail fin is provided with an elevator, the elevator is symmetrically arranged on both sides of the fuselage along the Y-axis, the elevator is configured to communicate with the flight control module, and the flight control module can control the elevator to swing up and down; the trailing edge of the tail fin located on the left and right sides of the fuselage is provided with the elevator, wherein the tail fin located on the left side of the fuselage is the left tail fin, the tail fin located on the right side of the fuselage is the right tail fin, the wing located on the left side of the fuselage is the left wing, and the wing located on the right side of the fuselage is the right wing; The elevator on the left tail fin is located within the slipstream area of ​​the vector control module on the trailing edge of the left wing, and the elevator on the right tail fin is located within the slipstream area of ​​the vector control module on the trailing edge of the right wing.

[0014] According to some embodiments of the present invention, it also includes landing gear located below the fuselage.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a perspective view of an embodiment of the high wind-resistant UAV of the present invention, with the UAV in a horizontal cruising state; Figure 2 A top-down view of the drone in vertical takeoff and landing or hovering mode; Figure 3 A side view of the drone in vertical take-off and landing or hovering mode; Figure 4 A front view of the drone in vertical take-off and landing or hovering mode; Figure 5 This is a schematic diagram of one embodiment of the vector control module.

[0017] Figure label: Fuselage 100; Wings 200, Flaps 210, Ailerons 220; Tail 300, Elevator 310; Landing Gear 400; Vector Control Module 500, Rotors 510, First Rotor 510a, Second Rotor 510b, Tilting Unit 520, Motors 530, First Motor 530a, Second Motor 530b, Servo 540, Bracket 550, Load-Bearing Components 560; Vertical Tail 600, Rudder 610. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0020] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0022] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] The embodiments of the present invention provide a high wind-resistant unmanned aerial vehicle (hereinafter referred to as UAV). For ease of description, the present invention defines the following: the Z-axis and Y-axis are perpendicular to each other, wherein the X-axis is defined as the front-back direction of the UAV, the direction of the UAV's nose is forward and is the positive direction of the X-axis, the Y-axis is defined as the left-right direction of the UAV, when facing the front of the UAV, the right side of the UAV is the positive direction of the Y-axis, the Z-axis is defined as the up-down direction of the UAV, and the direction based on the upward of the UAV's center of gravity is the positive direction of the Z-axis.

[0024] Reference Figures 1 to 4 The drone comprises a fuselage 100, wings 200, and a tail 300. Two wings 200 are symmetrically arranged along the Y-axis on both sides of the fuselage 100. Two tail 300s are located at the rear of the fuselage 100 and are also symmetrically arranged along the Y-axis on both sides of the fuselage 100. Both the wings 200 and the tail 300 are fixed to the sides of the fuselage 100, giving the drone a fixed-wing configuration. Landing gear 400 is located below the fuselage 100 along the Z-axis, and the landing gear 400s are spaced apart along the X-axis to support the drone during parking, taxiing, takeoff, and landing.

[0025] The drone also includes a vector control module 500, which comprises a rotor 510 and a tilting section 520. Both the rotor 510 and the tilting section 520 are capable of rotation. The rotor 510 is connected to one end of the tilting section 520. The airflow generated by the rotation of the rotor 510 provides lift and thrust to the drone. The tilting section 520 can drive the rotor 510 to rotate synchronously, thereby changing the direction of the airflow generated by the rotor 510. It should be noted that the rotation axis of the tilting section 520 is perpendicular to the rotation axis of the rotor 510.

[0026] Vector control modules 500 are provided at least along the leading edge of the wing 200 along the X-axis and on both sides of the tail 300 along the positive and negative Y-axis. That is, vector control modules 500 are provided on the leading edges of the left and right wings 200, the left side of the left tail 300, and the right side of the right tail 300. The vector control modules 500 located on the left and right sides of the fuselage 100 are symmetrically arranged with respect to the fuselage 100. Alternatively, vector control modules 500 are provided at least along the leading and trailing edges of the wing 200 along the X-axis. That is, vector control modules 500 are provided on the leading and trailing edges of the left and right wings 200 and the right wing 200. The vector control modules 500 located on the left and right sides of the fuselage 100 are symmetrically arranged with respect to the fuselage 100. The tilting part 520 in the vector control module 500 is rotatably connected to the wing 200 or the tail 300 around the Y-axis. When the tilting part 520 is driven to tilt relative to the wing 200 or the tail 300 around the Y-axis, the airflow direction of the corresponding vector control module 500 can be changed. For example, the tilting part 520 can switch between a horizontal and a vertical state by rotating around the Y-axis. When the tilting part 520 is in a horizontal state, the rotor 510 rotates around the Y-axis and can generate horizontal thrust. When the tilting part 520 is in a vertical state, the rotor 510 rotates around the Z-axis and can generate vertical lift. When the tilting part 520 switches between a horizontal and a vertical state, the airflow generated by the rotor 510 has two components: horizontal thrust and vertical lift.

[0027] The UAV also includes a vertical stabilizer 600, which is located on top of the fuselage 100 and behind the wings 200, and is symmetrically arranged on both sides of the fuselage 100 along the Y-axis. A rudder 610 is located at the tail of the vertical stabilizer 600. The stabilizer 600 provides directional balance in the airflow. When the UAV is disturbed and deviates from its course, the stabilizer generates a restoring torque opposite to the yaw direction, helping the UAV to automatically return to its correct course. Tilting the rudder 610 can change the airflow distribution around the vertical stabilizer 600, thereby altering the yaw control torque.

[0028] The drone also includes a flight detection module, which is used to detect the drone's flight parameters. These parameters include, but are not limited to, the rotational speed of the rotor 510, the rotation angle of the tilting head 520, the wind speed and direction of the area where the drone is currently located, the drone's current angular velocity, speed and linear acceleration, the drone's current heading, and the air pressure of the area where the drone is currently located. For example, the flight detection module includes an anemometer, which is located at the head of the fuselage 100 and is used to detect wind speed and direction; or, the flight detection module includes a gyroscope, which detects the angular velocity of the drone and can sense the attitude changes of the drone caused by wind disturbance, so as to stabilize the drone's flight state; or, the flight detection module includes an accelerometer, which is used to detect the linear acceleration of the drone and can sense the displacement changes of the drone caused by wind disturbance, so as to adjust the thrust and attitude of the drone to resist wind disturbance; or, the flight detection module includes a magnetometer, which is used to detect the heading of the drone to determine whether the wind disturbance causes the drone to yaw and helps the drone adjust its heading; or, the flight detection module includes a barometer, which detects the current barometric altitude of the drone to determine whether the wind disturbance causes the drone to experience altitude fluctuations and helps the drone adjust its control surfaces to stabilize its altitude.

[0029] The drone also includes a flight control module, which is located inside the fuselage 100. The flight control module includes a PID controller and is communicatively connected to the vector control module 500 and the rudder 610. The communication connection method is not limited to wires, infrared, Bluetooth, etc. The flight control module is used to control the vector control module 500 and the rudder 610 based on flight parameters provided by the flight detection module. The flight control module can reference various flight parameters during drone flight, thereby improving the reliability and safety of drone flight.

[0030] In addition, the UAV also includes a navigation module, which can be equipped with infrared obstacle avoidance detection, radar, etc. The navigation module is connected to the flight control module. The flight control module can control the vector control module 500 and the vertical tail 600 according to the navigation information of the navigation module, so that the UAV has an autonomous navigation and automatic control system.

[0031] The flight control module controls the vector control module 500 and the vertical tail 600 by controlling the rotor 510 and the tilting part 520 to rotate, thereby changing the rotational speed of the rotor 510 and adjusting the magnitude of the lift or thrust provided by the vector control module 500, or changing the angle of the tilting part 520 and adjusting the direction of the thrust provided by the vector control module 500; or changing the tilt angle of the rudder 610 to change the airflow distribution of the vertical tail 600 and thus changing the yaw control torque.

[0032] The UAV has a first flight mode, a second flight mode, and a third flight mode. When the UAV is in the first flight mode, it hovers, takes off and lands, or flies at low speed. In this case, the flight control module controls the heading at least through the vector control module 500. When the UAV takes off and lands or flies at low speed, the vertical tail 600 has an inefficient area. The vector control module 500 provides vector thrust, which can compensate for the inefficient area of ​​the vertical tail 600 and provide precise heading fine-tuning.

[0033] When the UAV is in the second flight condition, it is flying at high speed or in cruise mode. In this case, the flight of the UAV is relatively stable. The flight control module controls the heading at least through the vertical tail 600 to reduce flight energy consumption. The vector control system serves as a backup or assists the vertical tail 600 in yaw adjustment in case of emergencies.

[0034] When the UAV is in the third flight mode, it performs maneuvering maneuvers such as obstacle crossing and terrain following. The flight control module controls the heading through the vector control module 500 and the vertical stabilizer 600. The vector control module 500 and the vertical stabilizer 600 work together to output a composite torque, which can improve the control bandwidth and agility of the UAV and meet the maneuvering flight requirements. It should be noted that the differential coordination of the thrust provided by the vertical stabilizer 600 and the vector control module 500 can significantly improve the UAV's turning rate and rate of change of direction. For example, simultaneously deflecting the rudder 610 and the differential vector control module 500 can obtain a larger yaw torque under the same control input, shortening the response time.

[0035] When the vertical stabilizer 600 fails, such as when the transmission mechanism of the vertical stabilizer 600 or the rudder 610 fails, the flight control module independently controls the heading through the vector control module 500; when the vector control module 500 fails, the flight control module controls the heading solely through the vertical stabilizer 600. In this way, the vector control module 500 and the vertical stabilizer 600 are redundant and complementary. When one of the heading control systems fails, the other system automatically takes over control, which can avoid single-point control failure of yaw.

[0036] The vertical stabilizer 600 has high yaw control efficiency, high aerodynamic efficiency, and low energy consumption during high-speed flight. Therefore, when the UAV is in the second flight mode, using the vertical stabilizer 600 for yaw control can improve yaw control efficiency and reduce flight energy consumption. The vector control module 500 can directly generate directional control force by adjusting the thrust direction or distribution of the rotor 510. Moreover, this directional control is independent of the aerodynamic control surfaces and has a fast response speed. In low-speed (such as the first flight mode), high angle of attack (such as the third flight mode), or turbulent environment (such as the third flight mode), the vertical stabilizer 600 may experience a decrease in control efficiency due to airflow separation. By having the vector control module 500 take over the directional control or superimpose auxiliary torque, the response accuracy of the UAV can be ensured.

[0037] In addition, the aerodynamic control of the vertical tail 600 can provide smooth and continuous steady-state yaw torque, and the thrust provided by the vector control module 500 can quickly supplement the return torque, achieving transient response to heading. The combined control method of the vertical tail 600 and the vector control module 500 can achieve microsecond-level response and sub-degree-level heading tracking accuracy, making the UAV suitable for high-precision missions, such as aerial refueling and docking, scientific observation path holding, precision agricultural spraying and other fields.

[0038] Therefore, the vertical tail 600 and the vector control module 500 in this application are redundantly complementary. The flight control module can prioritize according to flight requirements, realizing dynamic division of labor between the two systems. This adapts to the heading control needs of the UAV at different flight stages and can cope with turbulent and strong wind environments, exhibiting high wind resistance and achieving precise attitude control of the UAV. In addition, when the UAV is flying at low speeds, the vector control module 500 provides thrust to compensate for the insufficient efficiency of the vertical tail 600. When the UAV is flying at high speeds, the aerodynamic control surfaces of the vertical tail 600 take the lead, reducing energy consumption and covering the full range of flight requirements of the UAV from hovering to supersonic speeds.

[0039] The vertical tail 600 is located at the rear of the fuselage 100 to maximize aerodynamic utilization. The windward surface of the vertical tail 600 is perpendicular to the axis of the fuselage 100, effectively capturing aerodynamic forces generated by crosswinds while avoiding interference with the lift generated by the forward part of the wing 200. This facilitates the coordinated operation of different flight control systems within the UAV. In one embodiment, at least a portion of the vertical tail 600 is located on top of the tail fin 300, bringing the vertical tail 600 as close as possible to the rear of the fuselage 100 to improve its yaw control efficiency. Figure 1 As shown, the leading edge of the vertical stabilizer 600 is connected to the top of the fuselage 100, and the trailing edge is connected to the top of the tail fin 300. This brings the vertical stabilizer 600 closer to the tail of the fuselage 100 and increases its connection area, enhancing the connection strength between the vertical stabilizer 600 and the fuselage 100 and tail fin 300. This ensures the stability of the vertical stabilizer 600's stabilizer and provides effective yaw control in strong winds. Furthermore, the rudder 610 of the vertical stabilizer 600 is located at the top of the tail fin 300, placing it at the rearmost part of the fuselage 100. This effectively utilizes the aerodynamic characteristics of the vertical stabilizer 600, enabling it to provide a smooth and continuous steady-state yaw moment. An elevator 310 is provided on the trailing edge of the tail fin 300. The elevator 310 is symmetrically arranged on both sides of the fuselage 100 along the Y-axis. The elevator 310 is configured to communicate with the flight control module. The flight control module controls the pitch attitude of the UAV by controlling the up and down swing of the elevator 310. For example, when the UAV needs to climb, the flight control module controls the elevator 310 to deflect upward, and the elevator 310 is subjected to downward aerodynamic force, providing the UAV with a pitching moment. In this embodiment, the elevator 310 is located in the slipstream area of ​​the vector control module 500 connected to the trailing edge of the wing 200. During the horizontal cruise of the UAV, the slipstream backward of the vector control module 500 flows forward over the elevator 310, which can improve the control efficiency of the elevator 310 and improve the rapid adjustment of the UAV's attitude by the elevator 310.

[0040] It should be noted that elevators 310 are provided on the trailing edges of both the left and right tail fins 300. The elevator 310 on the left tail fin 300 is located in the slipstream area of ​​the vector control module 500 on the trailing edge of the left wing 200, and the elevator 310 on the right tail fin 300 is located in the slipstream area of ​​the vector control module 500 on the trailing edge of the right wing 200.

[0041] The tail fin 300 is positioned between the two elevators 310 along the Y-axis. The tail fin 300 and elevators 310 are offset in the X and Y axes, which avoids mutual interference between the aerodynamic control of the rudder 610 on the tail fin 300 and the elevators 310, and is conducive to the coordinated operation of different flight controls in the UAV. In addition, the distance between the two vertical tails 600 increases from bottom to top, making the vertical tails 600 V-shaped, and the vertical tails 600 can simultaneously play the role of longitudinal pitch and directional stabilization.

[0042] Understandably, the rotation of the tilting section 520 and the rotor 510 are independent of each other, and they are driven to rotate by different power components. Specifically, refer to... Figure 5 The vector control module 500 includes a motor 530, a servo motor 540, and a bracket 550. The bracket 550 is fixed to the wing 200 or the tail 300. For example, for a vector control module 500 located at the leading edge of the wing 200, the bracket 550 is fixed to the leading edge of the wing 200. The servo motor 540 is mounted on the bracket 550 and connected to the tilting section 520. The servo motor 540 drives the tilting section 520 to rotate around the Y-axis. The motor 530 is mounted on the tilting section 520. The tilting section 520, driven by the servo motor 540, drives the motor 530 and the rotor 510 to rotate synchronously around the Y-axis. The motor 530 drives the rotor 510 to rotate. The flight control module is communicatively connected to the motor 530 and the servo motor 540, and changes the rotational speed of the rotor 510 by controlling the motor 530 and changes the deflection angle of the tilting section 520 by controlling the servo motor 540.

[0043] It should be noted that the vector control module 500 adopts a modular design with a simple structure. The bracket 550 and the tilting part 520 are made of carbon fiber material, which gives the vector control module 500 high structural strength and improves the safety performance of the UAV.

[0044] In one embodiment, the vector control module 500 located at the leading edge of the wing 200 and the vector control module 500 located at the trailing edge of the wing 200 are staggered along the Y-axis to prevent airflow from flowing backward from the vector control module 500 at the leading edge of the wing 200, thus avoiding aerodynamic interference with the vector control module 500 at the trailing edge of the wing 200 and improving the reliability and safety of the UAV flight control. The wing 200 has a large wingspan, and multiple vector control modules 500 can be arranged on the leading edge of the wing 200. These multiple vector control modules 500 are symmetrically arranged on the left and right sides of the fuselage 100, that is, at least two vector control modules 500 can be arranged on the leading edge of the left wing 200 and the leading edge of the right wing 200. The synchronous movement of multiple vector control modules 500 can increase the thrust and lift provided to the UAV, improve the cruise capability of the UAV, and make the flight control of the UAV more flexible.

[0045] In addition, the vector control module 500 located at the leading edge of the wing 200 is positioned along the Y-axis on the side of the tail 300 facing away from the fuselage 100, to ensure that the airflow generated by the vector control module 500 at the leading edge of the wing 200 does not pass through the tail 300, thereby avoiding airflow disturbance from interfering with the tail 300's control of the UAV's pitch attitude and maintaining control surface stability.

[0046] The trailing edge of the wing 200 is provided with flaps 210 and ailerons 220. The flaps 210 are symmetrically arranged with respect to the fuselage 100 along the Y-axis, and the ailerons 220 are symmetrically arranged with respect to the fuselage 100 along the Y-axis. The flaps 210 can deflect up and down relative to the wing 200 to increase lift and speed during takeoff and to increase lift and speed during landing. The ailerons 220 can deflect down relative to the wing 200 to generate a rolling moment for the drone to roll.

[0047] Furthermore, the vector control module 500 connected to the trailing edge of the wing 200 is located on the side of the flap 210 facing away from the aileron 220. The vector control module 500 is closer to the fuselage 100 than the flap 210. This arrangement allows the rudder 610 on the tail 300 to be located within the slipstream area of ​​the vector control module 500 at the trailing edge of the wing 200. It also offsets the vector control module 500 located at the trailing edge of the wing 200 from the one located at the leading edge of the wing 200 along the Y-axis, avoiding aerodynamic interference. Additionally, the flap 210 is positioned behind the vector control module 500 located at the leading edge of the wing 200. Since the flap 210 primarily provides lift during the UAV's ascent and descent, while the vector control module 500 at the leading edge of the wing 200 provides downward airflow during ascent and descent, the airflow generated by the vector control module 500 will not disturb the flap 210 behind it, and it also makes the placement of the vector control module 500 at the leading edge of the wing 200 more convenient.

[0048] In one embodiment, the vector control module 500 includes two motors 530 and two rotors 510. The rotation axes of the two rotors 510 are collinear. Each motor 530 is connected to one rotor 510 and drives the rotor 510 to rotate. The two rotors 510 are independent of each other, realizing a redundant design. When one motor 530 and the corresponding rotor 510 fail, the other rotor 510 serves as a backup, reducing downtime. In addition, the vector control module 500 provides direct control force in areas without aerodynamic control effects (such as zero-speed hovering, vertical take-off and landing, or post-stall), enabling the UAV to perform maneuvers that are not possible in traditional designs, such as pendulum maneuvers, Herbst maneuvers, or precise hovering and turning.

[0049] Specifically, refer to Figure 5 The vector control module 500 defines one motor 530 as the first motor 530a and the other motor 530 as the second motor 530b. One rotor 510 is designated as the first rotor 510a and the other rotor 510 as the second rotor 510b. The first motor 530a drives the first rotor 510a to rotate, and the second motor 530b drives the second rotor 510b to rotate. The first motor 530a is mounted on the tilting part 520, and the driving of the rotors 510 by the first motor 530a and the second motor 530b is independent of each other. The vector control module 500 also includes a load-bearing member 560, which is disposed between the second motor 530b and the first rotor 510a, and serves to support and fix the second motor 530b.

[0050] It should be noted that both rotors 510 in this invention can rotate synchronously with the tilting part 520 and rotate around the Y-axis. The two rotors 510 synchronously follow the tilting part 520 to adjust their angles, thereby adjusting the thrust direction provided by the vector control module 500. The synchronous tilting of the two rotors 510 enables the UAV to have a lower rotor speed under the same payload, resulting in less noise. By controlling the speed and direction of rotation of the two rotors 510, the balance and stability control of the UAV can be achieved.

[0051] In this invention, the landing gear 400 located at the front and rear of the fuselage 100 stands vertically on the ground. During the vertical takeoff and landing phase, the UAV is in its first flight condition. The vector control module 500 provides vertical thrust to achieve vertical takeoff. The vector control module 500 connected to the leading edge of the wing 200 provides the main lift, while the vector control module 500 connected to the trailing edge of the wing 200 provides auxiliary lift and assists in adjusting the UAV's flight attitude. The left and right symmetrical rotors 510 rotate in opposite directions to counteract the torque and rotation of the entire aircraft along the Z-axis. The flight control module accurately calculates and controls the rotation speed of the rotors 510 in each vector control module 500 based on the UAV's weight, center position, wind speed, and wind direction, so that the vector control module 500 generates sufficient lift to achieve vertical takeoff. During the UAV's ascent and descent, the tilt angle of each tilting part 520 is adjusted to maintain the UAV's attitude stability and prevent the UAV from tilting or swaying due to wind interference. In addition, the lift of the wing 200 can be changed by controlling the flap 210 to deflect up and down, and the vector control module 500 can be used to make the UAV take off and land smoothly; and the attitude of the UAV during takeoff and landing can be adjusted by controlling the aileron 220 to maintain the UAV's stable flight.

[0052] When the UAV is hovering, the flight control module controls the vector control module 500 at the leading edge of the wing 200 to provide lift, and at the same time uses the vector control module 500 at the trailing edge of the wing 200 to assist in providing lift, and uses the flaps 210 to deflect up and down to change the lift provided by the wing 200. The flight control module controls the vector control module 500 and the vector control module 500 to keep the UAV balanced in the pitch, yaw and roll directions. For example, the flight control module controls the tilting part 520 in the vector control module 500 to tilt around the Y-axis, while simultaneously controlling the rotor 510 to rotate. The flight control module sends control commands to the vector control module 500 located on the leading edge, trailing edge, and tail 300 of the wing 200 according to the current pitch angle of the UAV, so that the rotors 510 connected to the leading edge of the wing 200, the rotors 510 connected to the trailing edge of the wing 200, and the rotors 510 connected to the tail 300 rotate at the same speed. In this way, the rotational balance of the UAV around the Y-axis is achieved, and the UAV maintains balance in the pitch direction. It should be noted that during the process of adjusting the pitch balance of the UAV, the flight control module can also simultaneously control the rudder 610 on the tail 300 to deflect, so as to assist in the control of the vector control module 500 and enable the UAV to quickly achieve pitch balance.

[0053] In addition, the flight control module can send control commands to the vector control modules 500 at the leading and trailing edges of the wing 200 based on the current roll angle data of the UAV. This controls the rotor 510 connected to the left side of the wing 200 to rotate at the same speed, and the rotor 510 connected to the right side of the wing 200 to rotate at the same speed, thereby achieving rotational balance of the UAV around the X-axis and maintaining balance in the roll direction. It should be noted that during the process of adjusting the UAV's roll balance, the flight control module can also control the left and right ailerons 220 to deflect, assisting in the control of the vector control modules and enabling the UAV to quickly achieve roll balance.

[0054] Additionally, when the wind field changes, the drone can switch to a third flight mode or maintain the first flight mode. The flight control module controls the tilting unit 520 in the vector control module 500 to tilt around the Y-axis, while simultaneously controlling the rotor 510 to rotate. Based on the drone's current yaw angle, the flight control module sends control commands to the vector control module 500 located on the leading edge, trailing edge, and tail 300 of the wing 200. The rotor 510 connected to the left and right sides of the wing 200 rotates at different speeds to achieve differential control, thereby achieving rotational balance of the entire drone around the Z-axis and enabling the drone to quickly reach yaw balance. When the UAV reaches a certain altitude and prepares to switch to horizontal cruise, it gradually switches to the second flight mode. The flight control module controls the tilting section 520 in the vector control module 500 at the leading edge of the wing 200 to tilt, gradually tilting the tilting section 520 from vertical downward to forward, while gradually increasing the thrust to provide forward propulsion for the UAV. At the same time, it controls the tilting section 520 in the vector control module 500 at the trailing edge of the wing 200 to tilt gradually from vertical downward to forward, providing forward thrust, working in conjunction with the vector control module 500 at the leading edge of the wing 200 to propel the UAV forward and accelerate. As the UAV's speed gradually increases, the lift generated by the wing 200 gradually increases. The flight control module reduces the rotational speed and lift output of the rotor 510 in the vector control module 500 at the leading edge of the wing 200, so that it mainly provides forward thrust. At the same time, the flight control module controls the flaps 210 and ailerons 220 on the wing 200 to deflect, adjusting the UAV's flight speed and attitude to adapt to the aerodynamic requirements of different flight stages. When the UAV reaches the preset cruise speed, the tilting part 520 in the first vector control module 500 at the leading edge of the wing 200 tilts completely to a horizontal state and provides the main forward thrust. The vector control module 500 at the trailing edge of the wing 200 is used to assist in providing forward thrust and assist in adjusting the flight attitude, so that the UAV enters a stable horizontal flight state.

[0055] During horizontal cruise, the UAV is in its second flight mode, where its heading is primarily controlled by the vertical stabilizer 600. The flight detection module monitors attitude changes based on flight parameters provided by the module. When the UAV encounters strong winds, it switches to maneuvering flight, entering its third flight mode. In this mode, the flight control module controls the heading via the vector control module 500 and the vertical stabilizer 600. Through integrated control of the rudder 610 of the vertical stabilizer 600 and the various vector control modules 500, the flight control module enables the UAV to quickly regain a stable flight attitude and stabilize its heading.

[0056] When switching between hovering and level cruise states, the flight control module can also control the rotation of the tilting section 520 connected to the trailing edge of the wing 200 to assist in providing thrust or lift, and to adjust the flight attitude of the drone. At the same time, the flight control module can also control the up and down deflection of the flaps 210 on the trailing edge of the wing 200 to change the lift of the wing 200 and adapt to the aerodynamic requirements of the drone in different flight phases.

[0057] During vertical landing, the flight control module reduces vertical thrust by controlling the vector control modules 500 at the leading and trailing edges of the wing 200. Specifically, it reduces the rotational speed of the rotors 510 at the leading and trailing edges of the wing 200 and simultaneously controls the flaps 210 to deflect, increasing lift and achieving a smooth landing. Of course, during vertical landing, the drone can also stabilize its attitude by controlling the rotation of the tilting components 520 on the trailing edge of the wing 200 and the tail fin 300.

[0058] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A highly wind-resistant unmanned aerial vehicle (UAV), characterized in that, include: body; The wings are symmetrically arranged on both sides of the fuselage along the Y-axis; The tail fin is located at the rear of the fuselage and is symmetrically arranged on both sides of the fuselage along the Y-axis; The vertical stabilizer is located on the top of the fuselage and behind the wings, and is symmetrically arranged on both sides of the fuselage along the Y-axis. The tail of the vertical stabilizer is equipped with a rudder. The vector control module is provided at least on the leading edge of the wing along the X-axis and on both sides of the tail along the Y-axis in the positive and negative directions; or, the vector control module is provided at least on the leading edge and trailing edge of the wing along the X-axis. The vector control module includes a rotor and a tilting part, the rotor being rotatably connected to one end of the tilting part, and the other end of the tilting part being rotatably connected to the wing or the tail about the Y-axis. The flight detection module is used to detect the flight parameters of the aircraft. The flight control module is communicatively connected to at least the vector control module and the rudder, and is configured to control the rotor rotation and / or the rudder tilt according to the flight parameters; The high wind-resistant UAV has a first flight condition, a second flight condition and a third flight condition; When the high wind-resistant UAV is in the first flight condition, the high wind-resistant UAV hovers, takes off and lands, or flies at low speed, and the flight control module controls the heading at least through the vector control module; When the high wind-resistant UAV is in the second flight condition, the high wind-resistant UAV flies at high speed, and the flight control module controls the heading at least through the vertical tail. When the high wind-resistant UAV is in the third flight condition, the high wind-resistant UAV maneuvers, and the flight control module controls the heading through the vector control module and the vertical tail. When the vertical tail malfunctions, the flight control module controls the heading via the vector control module; When the vector control module fails, the flight control module controls the heading via the vertical tail.

2. The high wind resistance UAV according to claim 1, characterized in that, At least a portion of the vertical tail is located at the top of the tail fin; And / or, the leading edge of the vertical tail is connected to the top of the fuselage, and the trailing edge of the vertical tail is connected to the top of the tail fin; And / or, the rudder is located on top of the tail fin.

3. The high wind resistance UAV according to claim 1, characterized in that, The trailing edge of the tail fin is provided with an elevator, which is symmetrically arranged on both sides of the fuselage along the Y-axis. The elevator is configured to communicate with the flight control module, which can control the elevator to swing up and down. The tail fin is located between the two elevators along the Y-axis. And / or, the distance between the two vertical tails gradually increases from bottom to top.

4. The high wind resistance UAV according to claim 1, characterized in that, The vector control module includes two rotors and two motors, as well as a servo motor and a bracket. The rotation axes of the two rotors are collinear. Each motor is connected to one rotor and is used to drive the rotor to rotate. The tilting part is rotatably connected to the servo motor around the Y-axis. The servo motor is fixed to the end of the bracket, and the bracket is fixed to the wing or the tail fin.

5. The high wind resistance UAV according to claim 1, characterized in that, The vector control module is provided on both the leading and trailing edges of the wing and on both sides of the tail along the positive and negative directions of the Y-axis.

6. The high wind resistance UAV according to claim 1, characterized in that, The vector control module located at the leading edge of the wing and the vector control module located at the trailing edge of the wing are offset along the Y-axis; And / or, the trailing edge of the tail fin is provided with an elevator, the elevator is symmetrically arranged on both sides of the fuselage along the Y-axis, and the elevator is located in the slipstream area of ​​the vector control module connected to the trailing edge of the wing.

7. The high wind resistance UAV according to claim 1, characterized in that, The trailing edge of the wing is provided with flaps and ailerons, and each wing is connected to the vector control module. The vector control module connected to the trailing edge of the wing is located on the side of the flap that faces away from the aileron.

8. The high wind resistance UAV according to claim 7, characterized in that, The vector control module, connected to the trailing edge of the wing, is located on the side of the flap facing away from the aileron; And / or, the flaps are located on the rear side of the vector control module, which is situated at the leading edge of the wing.

9. The high wind resistance UAV according to claim 1, characterized in that, The trailing edge of the tail fin is provided with an elevator, which is symmetrically arranged on both sides of the fuselage along the Y-axis. The elevator is configured to communicate with the flight control module, which can control the elevator to swing up and down. The trailing edge of the tail fin located on the left and right sides of the fuselage is provided with the elevator. The tail fin located on the left side of the fuselage is the left tail fin, and the tail fin located on the right side of the fuselage is the right tail fin. The wing located on the left side of the fuselage is the left wing, and the wing located on the right side of the fuselage is the right wing. The elevator on the left tail fin is located within the slipstream area of ​​the vector control module on the trailing edge of the left wing, and the elevator on the right tail fin is located within the slipstream area of ​​the vector control module on the trailing edge of the right wing.

10. The high wind resistance UAV according to claim 1, characterized in that, It also includes landing gear, which is located below the fuselage.

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