阅读说明：本技术 一种垂直起降无人机及其控制方法 (Vertical take-off and landing unmanned aerial vehicle and control method thereof ) 是由 王鹏 于 2019-01-14 设计创作，主要内容包括：本发明公开了一种垂直起降无人机及其控制方法,涉及无人机领域。该无人机包括倾转支架；成对的旋翼支架,分别设置在所述倾转支架的两端；至少两个旋翼,所述至少两个旋翼分为两组,每组所述旋翼分别通过旋翼转轴可旋转地安装在成对的旋翼支架上；和升力翼,设置在所述倾转支架上,并相对于所述成对的旋翼支架所在的旋翼支架平面角度可调。该无人机控制方法包括在巡航过程中,调整所述升力翼与所述旋翼支架平面的角度,以便在所述升力翼保持基本水平的条件下,使所述旋翼支架平面与所述升力翼呈设定角度。本发明通过控制升力翼的倾转角度,减少无人机在巡航状态及起降过程中的死重,解决了现有技术中普遍存在的额外功耗过高的技术问题。(The invention discloses a vertical take-off and landing unmanned aerial vehicle and a control method thereof, and relates to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a tilting bracket; the paired rotor wing brackets are respectively arranged at two ends of the tilting bracket; the rotor wing structure comprises at least two rotor wings, wherein the at least two rotor wings are divided into two groups, and each group of rotor wings are rotatably arranged on paired rotor wing brackets through rotor wing rotating shafts respectively; and the lift wings are arranged on the tilting supports and are adjustable relative to the plane angles of the rotor supports where the paired rotor supports are located. The unmanned aerial vehicle control method comprises the step of adjusting the angle between the lifting wing and the plane of the rotor wing bracket during cruising so as to enable the plane of the rotor wing bracket and the lifting wing to form a set angle under the condition that the lifting wing is kept basically horizontal. According to the invention, through controlling the tilting angle of the lifting wing, the dead weight of the unmanned aerial vehicle in the cruising state and the taking-off and landing processes is reduced, and the technical problem of overhigh extra power consumption commonly existing in the prior art is solved.)

1. A VTOL unmanned aerial vehicle, comprising:

a tilt bracket (4);

the paired rotor wing brackets (3) are respectively arranged at two ends of the tilting bracket (4);

the rotor type helicopter comprises at least two rotors (1), wherein the at least two rotors (1) are divided into two groups, and each group of rotors (1) is rotatably arranged on a pair of rotor brackets (3) through a rotor rotating shaft (5); and

the lift wings (2) are arranged on the tilting supports (4) and are adjustable in plane angle relative to the rotor supports where the paired rotor supports (3) are located.

2. VTOL UAV according to claim 1, characterized in that each set of said rotors (1) comprises two rotors (1), respectively mounted at the two ends of said rotor support (3).

3. VTOL UAV according to claim 1, characterized in that said tilt bracket (4) comprises a rotation shaft arranged along the length of said lift wing (2), said lift wing (2) being rotatable with respect to said rotation shaft by a preset angle.

4. VTOL UAV according to claim 3, characterized in that the axis of the shaft lies in a plane perpendicular to the length direction of the lifting wing (2).

5. VTOL unmanned aerial vehicle according to claim 3, characterized in that the lifting wing (2) is a straight wing.

6. VTOL UAV according to claim 5, characterized in that the aerodynamic center of the lifting wing (2) is located on the axis of the rotation shaft of the tilt support (4).

7. VTOL UAV according to claim 3, characterized in that said lifting wing (2) is a fly wing of swept-back wing type.

8. VTOL UAV according to claim 7, characterized in that the axis of the rotation shaft of the tilt bracket (4) passes between the profile leading edge and the aerodynamic center of the lift wing (2).

9. The VTOL unmanned aerial vehicle of claim 1, further comprising:

and the aileron (6) is arranged at the trailing edge of the airfoil of the lifting wing (2), and the control surface of the aileron (6) can deflect relative to the lifting wing (2).

10. The VTOL unmanned aerial vehicle of claim 1, further comprising:

a lifting wing drive mechanism for driving the lifting wing (2) to rotate relative to the rotor bracket (3) to vary the angle between the lifting wing (2) and the rotor bracket plane.

11. The VTOL unmanned aerial vehicle of claim 10, further comprising:

the controller, with lift wing drive arrangement with the actuating mechanism communication connection of rotor (1) for according to unmanned aerial vehicle's flight status and environmental factor, control lift wing actuating mechanism adjusts the angle of lift wing (2), and control the actuating mechanism of rotor (1) adjusts the rotational speed of rotor (1).

12. The VTOL unmanned aerial vehicle of claim 11, further comprising:

and the wireless remote controller is in wireless communication connection with the controller and is used for sending a control command to the controller so that the controller can control the angle of the lift wing (2) and the rotating speed of the rotor wing (1) according to the control command.

13. VTOL UAV according to claim 1, characterized in that the angle of the rotor shaft (5) with respect to the rotor bracket (3) is adjustable.

14. A method for controlling a vertical take-off and landing drone according to any one of claims 1 to 13, comprising:

during cruising, adjusting the angle of the lifting wing (2) to the rotor support plane so as to make the rotor support plane and the lifting wing (2) form a set angle under the condition that the lifting wing (2) is kept basically horizontal.

15. The control method according to claim 14, characterized by further comprising:

in the takeoff process and/or the landing process of the unmanned aerial vehicle, if the local wind speed exceeds a preset wind speed threshold value, the lift wing (2) is adjusted to enable the lift wing (2) to be kept in a horizontal state, and otherwise, the lift wing (2) is kept in a vertical state.

16. The control method according to claim 14, characterized by further comprising:

after the unmanned aerial vehicle takes off, controlling the rotating speed of the rotor wing (1), providing pitching moment relative to a horizontal plane for the rotor wing bracket plane, and enabling the rotor wing bracket plane to deflect relative to the horizontal plane and reach a set angle;

after the included angle between the rotor wing bracket plane and the horizontal plane reaches the set angle, the rotating speed of the rotor wing (1) is controlled, so that the rotor wing bracket plane is maintained at the set angle.

17. The control method according to claim 14, characterized by further comprising:

before the unmanned aerial vehicle lands on the ground, controlling the rotating speed of the rotor wing (1) to provide pitching moment relative to a horizontal plane for the rotor wing bracket plane, so that the rotor wing bracket plane deflects relative to the horizontal plane and reaches a basic level;

after the rotor support plane reaches the basic level, the rotating speed of the rotor (1) is controlled to enable the rotor support plane to keep the basic level.

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a vertical take-off and landing unmanned aerial vehicle and a control method thereof.

Background

At present, the technical requirements of VTO L (VTO L) can be realized by the cooperation of a fixed wing and a plurality of rotors in the take-off, landing and hovering states, the rotor provides lift force and attitude control, and in the cruise state, the fixed wing provides lift force to reduce the power consumption of a flight system, so that the unmanned aerial vehicle has the advantages of high range, hovering and low take-off and landing conditions, and the like.

The fixed wing and the rotor wing assembly of the vertical take-off and landing unmanned aerial vehicle are respectively and fixedly installed on an unmanned aerial vehicle body, the take-off and landing rotor wing is closed after the unmanned aerial vehicle is lifted to a certain height by the take-off and landing rotor wing, and the lift force and the thrust force of cruising flight are provided through the fixed wing and the cruise power source. This kind of VTOL unmanned aerial vehicle's rotor does not have the motion of verting, has higher reliability and low operation degree of difficulty, but can't avoid the adverse effect of dead weight (the part weight of not participating in the work) to the consumption. Specifically, the method comprises the following steps: under cruise condition, the rotor does not participate in work, can influence unmanned aerial vehicle's aerodynamic configuration moreover, produces extra air resistance. In the vertical take-off and landing and hovering states, the fixed wing is dead and heavy, and the power consumption of the system can be greatly increased.

In the second type of vertical take-off and landing unmanned aerial vehicle, the rotor wings with certain tilting capability are arranged on the fixed wings, so that the rotor wings rotate on the horizontal plane to provide upward power in the take-off, landing and hovering states; and at cruise status, control rotor verts to unmanned aerial vehicle direction of flight, makes the rotor rotatory in order to provide forward power at vertical face. The vertical take-off and landing unmanned aerial vehicle with the structure has the advantages that the tilting angle of each rotor wing is controlled, so that the unmanned aerial vehicle has no extra dead weight; but need carry out attitude control through the fin under the cruise and level flight state, and when VTOL, the stationary vane can produce great windward resistance, leads to unmanned aerial vehicle weight of taking off big and the load capacity is not enough to the mechanical structure that control rotor verts is complicated, and the reliability is low, and manufacturing cost is higher.

Disclosure of Invention

At least one purpose of the invention is to provide a vertical take-off and landing unmanned aerial vehicle and a control method thereof, which solve the technical problems of large invalid power consumption ratio and high control difficulty of the unmanned aerial vehicle in the prior art. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

a VTOL unmanned aerial vehicle, comprising:

a tilt bracket;

the paired rotor wing brackets are respectively arranged at two ends of the tilting bracket;

the rotor wing structure comprises at least two rotor wings, wherein the at least two rotor wings are divided into two groups, and each group of rotor wings are rotatably arranged on paired rotor wing brackets through rotor wing rotating shafts respectively; and

the lift wing sets up on the support that verts, and for rotor support plane angle adjustable at rotor support place in pairs.

In some embodiments, the rotor includes two rotors mounted at respective ends of the rotor support.

In some embodiments, the tilt support comprises a shaft disposed along the length of the lift wing, the lift wing being rotatable relative to the shaft by a predetermined angle.

In some embodiments, the axis of the shaft lies in a plane perpendicular to the length direction of the lift wing.

In some embodiments, the lifting wing is a straight wing.

In some embodiments, the aerodynamic center of the lift wing is located on the axis of the shaft of the tilt bracket.

In some embodiments, the lift wing is a swept wing of the swept wing type.

In some embodiments, the axis of the shaft of the tilt support passes between the lift foil leading edge and the aerodynamic center.

In some embodiments, the drone further comprises:

and the aileron is arranged at the trailing edge of the airfoil of the lifting wing, and the control surface of the aileron can deflect relative to the lifting wing.

In some embodiments, the drone further comprises:

a lift wing drive mechanism for driving the lift wing to rotate relative to the rotor pylon so as to vary the angle between the lift wing and the plane of the rotor pylon.

In some embodiments, the drone further comprises:

the controller, with lift wing drive arrangement with the actuating mechanism communication connection of rotor for according to unmanned aerial vehicle's flight status and environmental factor, control lift wing actuating mechanism adjusts the angle of lift wing, and control the actuating mechanism of rotor adjusts the rotational speed of rotor.

In some embodiments, the drone further comprises:

and the wireless remote controller is in wireless communication connection with the controller and is used for sending a control command to the controller so that the controller can control the angle of the lift wing and the rotating speed of the rotor wing according to the control command.

In some embodiments, the angle of the rotor shaft relative to the rotor support is adjustable.

The invention also provides a control method of the vertical take-off and landing unmanned aerial vehicle, which is characterized by comprising the following steps:

during cruising, adjusting an angle of the lifting wing to the rotor support plane to cause the rotor support plane to be at a set angle to the lifting wing while the lifting wing remains substantially horizontal.

In some embodiments, the control method further comprises:

in the takeoff process and/or the landing process of the unmanned aerial vehicle, if the local wind speed exceeds a preset wind speed threshold value, the lift wing is adjusted to enable the lift wing to be kept in a horizontal state, and otherwise, the lift wing is kept in a vertical state.

In some embodiments, the control method further comprises:

after the unmanned aerial vehicle takes off, controlling the rotating speed of the rotor wing, providing a pitching moment relative to a horizontal plane for the plane of the rotor wing bracket, and enabling the plane of the rotor wing bracket to deflect relative to the horizontal plane and reach a set angle;

after the included angle between rotor support plane and the horizontal plane reaches the set angle, control the rotational speed of rotor makes rotor support plane maintains at the set angle.

In some embodiments, the control method further comprises:

before the unmanned aerial vehicle lands on the ground, controlling the rotating speed of the rotor wing, providing a pitching moment relative to a horizontal plane for the rotor wing bracket plane, and enabling the rotor wing bracket plane to deflect relative to the horizontal plane and reach a basic level;

after the rotor support plane reaches the basic level, the rotating speed of the rotor is controlled, and the rotor support plane is kept to be the basic level.

Based on the technical scheme, the unmanned aerial vehicle provided by the invention can at least generate the following technical effects: in a cruising state, the lift wing is controlled to tilt around the tilting bracket, so that the lift wing is kept basically horizontal and kept at a set included angle with the plane of the rotor wing bracket, partial lift is provided by the lift wing, and the power consumption of the unmanned aerial vehicle is reduced; and at the in-process of taking off and land, rotatory to vertical direction with the lift wing, reduce unmanned aerial vehicle overall air resistance, improve energy utilization.

The embodiment of the unmanned aerial vehicle control method provided by the invention has the following technical effects besides the beneficial effects: in a cruising state, the deflection angle between the lift wing and the plane of the rotor wing bracket is determined according to the cruising speed of the unmanned aerial vehicle and the local wind speed, so that the lift wing can provide lift for the unmanned aerial vehicle as much as possible, and the total power consumption is reduced; and in the taking-off and landing process of the unmanned aerial vehicle, the angle of the lift wing is controlled according to the wind power condition, if the wind speed is greater than a set threshold value, the lift wing is adjusted to be in a horizontal state, so that the influence of crosswind on the stability of the unmanned aerial vehicle is reduced, and deviation from a flight line is avoided.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a schematic isometric view of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic top view of the embodiment shown in FIG. 1;

FIG. 3 is a schematic elevation view of the embodiment of FIG. 1;

FIG. 4 is a schematic view of the embodiment of FIG. 1 in a vertical take-off and landing state;

FIG. 5 is a schematic view of the cruise condition of the embodiment shown in FIG. 1;

FIG. 6 is a schematic side view of the embodiment of FIG. 1 in a cruise condition with a forward flight side view;

FIG. 7 is a schematic top view of another embodiment of the present invention;

FIG. 8 is a side view angle diagram of the embodiment of FIG. 7;

FIG. 9 is a schematic view of the embodiment of FIG. 7 in a vertical take-off and landing state;

FIG. 10 is a schematic view of the cruise condition of the embodiment of FIG. 7;

FIG. 11 is a side view angle schematic of the cruise condition of the embodiment shown in FIG. 7;

FIG. 12 is a schematic top view of another embodiment of the present invention;

FIG. 13 is a schematic view of the cruise condition of the embodiment of FIG. 12;

FIG. 14 is a schematic view of the embodiment of FIG. 12 in a vertical takeoff and landing state;

reference numerals: 1. a rotor; 2. a lift wing; 3. a rotor support; 4. a tilt bracket; 5. a rotor shaft; 6. an aileron.

Detailed Description

The contents of the present invention and the points of distinction between the present invention and the prior art can be understood with reference to the accompanying drawings and the text. The invention will now be described in further detail, including the preferred embodiments, with reference to the accompanying drawings, in which some alternative embodiments of the invention are shown.

It should be noted that: any technical features and any technical solutions in the present embodiment are one or more of various optional technical features or optional technical solutions, and for the sake of brevity, this document cannot exhaustively enumerate all the alternative technical features and alternative technical solutions of the present invention, and is also not convenient for each embodiment of the technical features to emphasize it as one of various optional embodiments, so those skilled in the art should know that: any technical means provided by the invention can be replaced or any two or more technical means or technical characteristics provided by the invention can be combined with each other to obtain a new technical scheme.

Any technical features and any technical solutions in the present embodiment do not limit the scope of the present invention, and the scope of the present invention should include any alternative technical solutions that can be conceived by those skilled in the art without inventive efforts and new technical solutions that can be obtained by those skilled in the art by combining any two or more technical means or technical features provided by the present invention with each other.

As shown in fig. 1-4, according to one embodiment of the present invention, a vertical take-off and landing drone includes a tilt bracket; the paired rotor wing brackets are respectively arranged at two ends of the tilting bracket; the rotor wing structure comprises at least two rotor wings, wherein the at least two rotor wings are divided into two groups, and each group of rotor wings are rotatably arranged on paired rotor wing brackets through rotor wing rotating shafts respectively; and the lift wings are arranged on the tilting supports and are adjustable relative to the plane angles of the rotor supports where the paired rotor supports are located.

The lift wing 2 is an airfoil cross section shape capable of generating lift force through the up-down airflow pressure difference of the lift wing in the front flying process of the unmanned aerial vehicle. A typical lift airfoil has an upper airfoil surface with a longer inflow direction and a lower airfoil surface with a shorter inflow direction, and a pressure difference is generated by a velocity difference of an airflow passing over the upper and lower surfaces of the lift airfoil, so as to provide a lift force during a forward flight. In addition, the lift wing can also adopt other types of lift wing structures to provide lift force in the forward flying process of the unmanned aerial vehicle.

Mated rotor support 3 sets up respectively in this embodiment the both ends of support 4 vert to together constitute rotor support plane, and two at least rotors 1 with rotor support plane is parallel basically, has guaranteed that the lift wing 2 around support 4 that verts can not influence the relative position relation of other subassemblies of unmanned aerial vehicle at the in-process of verting, makes unmanned aerial vehicle whole change and controls, and stability is higher. In addition, other brackets can be introduced between the rotor supports 3 to connect the two rotor supports, so as to enhance the stability of the unmanned aerial vehicle structure; frame structures such as landing gears can be introduced to enhance the ability of the unmanned aerial vehicle to adapt to different ground environments.

Every group the rotor includes two rotors, installs respectively the both ends of rotor support to realize unmanned aerial vehicle's control better. In fact, the number of rotors 1 need only be greater than two, and it provides power to make the whole unmanned aerial vehicle remain basically stable can. For example: the number of the rotor wings 1 can be six, and after the rotor wings are divided into two groups, the three rotor wings in each group can be respectively positioned at the two ends and the middle point of the rotor wing bracket 3; the quantity of rotor 1 also can be odd number, for example can select for three, divide into two sets of backs, only need to guarantee that lift and the moment of one of them two rotors of a set of to unmanned aerial vehicle and the lift and the moment of another group single rotor are corresponding to keep unanimous can.

Fig. 5 and 6 are schematic views of the cruise state of the above embodiment, in which the tilt bracket includes a rotating shaft disposed along the length direction of the lift wing, and the lift wing can rotate relative to the rotating shaft by a preset angle.

In cruising, the lifting wing 2 is kept at a set angle to the plane of the rotor support on the premise of keeping the lifting wing 2 substantially horizontal by rotating the lifting wing 2. Rotor 1 can provide the partial lift of unmanned aerial vehicle and the power that advances this moment, and lift wing 2 can provide another part lift for unmanned aerial vehicle under the condition that has certain flat flying speed, effectively reduces the consumption of rotor, makes unmanned aerial vehicle have longer voyage. In addition, the lift wing 2 can change the angle of pitch under the restriction of pivot, under the circumstances that does not influence rotor power, supplementary unmanned aerial vehicle accomplishes the technical action of climbing or descending. And at the in-process of taking off or falling to the ground, can control lift wing 2 and vert to vertical direction, reduce extra resistance and the interference that lift wing 2 produced at the vertical direction flight in-process of unmanned aerial vehicle, make unmanned aerial vehicle's the process of taking off and land more swift, more steady.

Correspondingly, the tilting bracket can also comprise a rotating shaft arranged along the width direction of the lift wing, and the lift wing 2 can also generate partial lift force to reduce the power consumption of the unmanned aerial vehicle in a cruising state by reasonably setting an included angle between the lift wing 2 and a plane where the rotor wing is located; in addition, the lift wing 2 that sets up with above-mentioned mode can also make unmanned aerial vehicle turn to in the air faster through its effect of verting to the task of adaptation complicated flying environment.

In order to achieve a better control effect, the lift wing 2 can be selected as a straight wing, and at the moment, in order to enable the unmanned aerial vehicle to be free from the influence of aerodynamic force and lose balance when the unmanned aerial vehicle controls the rotation of the lift wing 2, the tilting support is coincided with a straight line where the aerodynamic center of the lift wing is located. The pneumatic center is as follows: when the incidence angle of the airfoil changes, the resultant moment of the aerodynamic force applied to the airfoil at this point is not changed, and this point is called the aerodynamic center of the airfoil at the current reynolds number, which is also called the focal point. And the straight line at aerodynamic center place is the line at the aerodynamic center of the whole cross section of wing section, and when the lift wing is straight wing, this line is the straight line, makes to vert support 4 and this line coincidence and can make the lift wing can both guarantee that the whole aerodynamic force that receives of unmanned aerial vehicle does not squint the center of a plurality of rotor under any angle this moment to control unmanned aerial vehicle overall balance.

Another embodiment is shown in fig. 7-11, in which the lift wing may also be a swept wing type of flying wing. Different from straight wings, the connecting line of the gravity centers of all cross sections of the lifting wing of the sweepback wing type flying wing structure is not a straight line, and at the moment, the tilting support 4 should pass between the wing type leading edge and the aerodynamic center at the symmetrical axis of the lifting wing 2, so that better control effect and flight stability are obtained. Compared with a straight wing, the lift wing adopting the sweepback wing flying wing structure has smaller aerodynamic resistance, larger lift force and higher structural strength, so that the unmanned aerial vehicle can obtain larger lift force at the same speed in the forward flying process, and a plane at which the rotor wing is positioned and a horizontal plane can be kept at a larger included angle to obtain higher flying speed, thereby further reducing the power consumption of the unmanned aerial vehicle and providing higher load weight.

Yet another embodiment as shown in fig. 12-14, wherein the drone further comprises: the aileron sets up the airfoil trailing edge of lift wing, just the control plane of aileron is for the lift wing is deflectable, can provide rotation, roll or pitching moment for unmanned aerial vehicle. For example, two ailerons are arranged and symmetrically hinged on the left side and the right side of the rear edge of the lift wing 2 respectively, when the unmanned aerial vehicle needs to turn, the fast turning of the unmanned aerial vehicle can be completed under the condition that the power of all the rotor wings 1 is not adjusted by only lifting the aileron 6 on one side; when the unmanned aerial vehicle needs to complete the pitching angle change or rolling action, the flying posture of the unmanned aerial vehicle can be changed under the condition of not changing the power of the rotor wing 1 only by simultaneously lifting the ailerons 6 at the left side and the right side and controlling the deflection angle of the ailerons relative to the lifting wing 2.

In order to better control the flight attitude of the drone, the drone further comprises: the lifting wing driving mechanism is used for driving the lifting wing to rotate relative to the rotor wing bracket so as to change an included angle between the lifting wing and the plane of the rotor wing bracket and keep the lifting wing at a specific rotation angle. In the whole flying process, the lifting wing can be driven forwards and backwards through the lifting wing driving mechanism, and the task that the lifting wing rotates in different directions can be conveniently completed.

In some embodiments, to drive the lift wing 2 in rotation relative to the rotor pylon 3, the lift wing drive mechanism may be configured to rotate the lift wing 2 relative to the tilt pylon 4. Make tilt support 4 articulate along length direction in lift wing 2, and with rotor support 3 fixed connection, can pass through lift wing 2 for tilt support 4's rotary motion accomplishes lift wing 2 for the planar angularly adjustable of rotor support.

In order to realize the hinge joint of the tilting bracket 4 and the lifting wing 2, a through hole can be arranged inside the lifting wing 2, so that the tilting bracket 4 is rotatably connected with the lifting wing 2 in a through shaft manner; the lift wing 2 can also be provided with a pair of blind holes close to both sides of the rotor bracket 3, so that the tilt bracket 4 is rotatably connected with the lift wing 2 in the form of a pair of short shafts. Further, lift wing actuating mechanism can adopt independent rotating device, for example rotate the motor, set up in lift wing 2's inside to reduce air resistance as far as possible and guarantee unmanned aerial vehicle's balance.

Accordingly, in further embodiments, the lift wing drive mechanism may also be configured to rotate the tilt bracket 4 relative to the rotor bracket 3. At this moment, the support 4 that verts with lift wing 2 is fixed to be set up, and with rotor bracket 3 is articulated, in order to realize lift wing 2 for rotor bracket planar angularly adjustable. The tilting bracket 4 and the lift wing 2 can be fixedly arranged with each other by an integrated molding process or a fixed connection manner. Further, because the region that takes place to vert the motion is located vert support 4 with between rotor support 3, be close to rotor 1, consequently lift wing actuating mechanism can follow acquire power in rotor 1's the relevant motion subassembly, realize vert support 4 with rotary motion between the rotor support 3 to simplify unmanned aerial vehicle's motion mechanism and reduce structure weight.

In addition, in order to realize the adaptation to different wind conditions, the embodiment of the invention further comprises a controller which is in communication connection with the lifting wing driving device and the driving mechanism of the rotor wing and is used for controlling the lifting wing driving mechanism to adjust the angle of the lifting wing and controlling the driving mechanism of the rotor wing to adjust the rotating speed of the rotor wing according to the flight state of the unmanned aerial vehicle and environmental factors.

In order to realize remote communication and control, the embodiment of the invention further comprises a wireless remote controller which is in wireless communication connection with the controller and is used for sending a control command to the controller so that the controller can control the angle of the lifting wing and the rotating speed of the rotor wing according to the control command.

In order to more directly and more quickly control the posture of the unmanned aerial vehicle, the angle of the rotor rotating shaft relative to the rotor bracket is adjustable in the embodiment of the invention. The rotor pivot 5 of adjustable direction can strengthen unmanned aerial vehicle's the nature controlled greatly, and the cooperation is with the lift wing 2 that can overturn and can be for the aileron 6 of lift wing upset, makes unmanned aerial vehicle can realize turning to the motion under less radius of gyration, strengthens unmanned aerial vehicle to the adaptability in complicated airspace environment.

In some embodiments, a plurality of said rotors 1 of the drone are each driven by a corresponding motor. At this time, in order to realize the angle adjustment of the rotor wing rotating shaft 5 relative to the rotor wing bracket 3, the angle of the motor relative to the rotor wing bracket 3 can be adjusted, so as to drive the rotor wing rotating shaft 5 arranged on the motor; the motor can also be fixed in angle relative to the rotor bracket 3, and the rotor rotating shaft 5 can be adjusted in angle relative to the motor, so that the control of the power supply direction of the rotor 1 is realized. The invention also provides a control method of the vertical take-off and landing unmanned aerial vehicle, which comprises the following steps:

during cruising, adjusting an angle of the lifting wing to the rotor support plane to cause the rotor support plane to be at a set angle to the lifting wing while the lifting wing remains substantially horizontal.

In the takeoff process and/or the landing process of the unmanned aerial vehicle, if the local wind speed exceeds a preset wind speed threshold value, the lift wing is adjusted to enable the lift wing to be kept in a horizontal state, and otherwise, the lift wing is kept in a vertical state.

After the unmanned aerial vehicle takes off, controlling the rotating speed of the rotor wing 1, providing a pitching moment relative to a horizontal plane for the rotor wing bracket plane, and enabling the rotor wing bracket plane to deflect relative to the horizontal plane and reach a set angle;

after the included angle between rotor support plane and the horizontal plane reaches the set angle, control the rotational speed of rotor 1 makes rotor support plane maintains at the set angle.

Before the unmanned aerial vehicle lands on the ground, the rotating speed of the rotor wing 1 is controlled to provide pitching moment relative to the horizontal plane for the rotor wing bracket plane, so that the rotor wing bracket plane deflects relative to the horizontal plane and reaches the basic level;

after the rotor support plane reaches the basic level, the rotation speed of the rotor 1 is controlled to keep the rotor support plane substantially horizontal.

In unmanned aerial vehicle's whole flight period, the controller sends the rotational speed instruction to the driver of rotor with the frequency of 200 ~ 400hz, the rotational speed of each driver of continuous adjustment to the moment that produces by the rotational speed difference of rotor stabilizes the flight gesture. And after rotor support plane reached the settlement angle, the driver of rotor was continued to control to the controller, made the rotor have specific rotational speed separately to make unmanned aerial vehicle maintain under specific flight gesture.

For example, after the unmanned aerial vehicle takes off, in the process of controlling the change of the pitch angle of the plane of the rotor bracket from 0 degrees to 30 degrees of head lowering, the rotating speed of the rotor at the back in the flight direction is controlled to be increased, and the rotating speed of the rotor at the front is controlled to be decreased, so that the pitching moment of the head lowering of the unmanned aerial vehicle is generated. Pitching moment makes unmanned aerial vehicle begin to have angular acceleration, and after constantly grow and reach the setting value along with angular velocity, angular velocity just reduces gradually to when unmanned aerial vehicle pitch angle is close 30, produce reverse pitching moment by the driver of controller control rotor, reduce angular velocity to 0 and make rotor support plane keeps under 30 attitude angle. And the landing process of the unmanned aerial vehicle corresponds to the control mode of the takeoff process, and the pitching attitude change of the unmanned aerial vehicle is adjusted by controlling the rotating speed of the rotor wing.

The unmanned aerial vehicle control method can be achieved only by changing the rotating speed of the rotor wing and the tilting of the lift wing, and the operation process is simple and reliable; dead weight is effectively reduced in the whole flying process of the unmanned aerial vehicle, so that the power consumption of the unmanned aerial vehicle is obviously reduced; the tilting angle of the lifting wing can be changed according to local wind conditions, so that the interference of transverse crosswind to the unmanned aerial vehicle in the taking-off and landing process is reduced. In addition, the whole every single move of unmanned aerial vehicle, turn to and the action of rolling then can be through adjusting the aileron angle, the angle of adjustment rotor pivot is convenient realization more, has improved unmanned aerial vehicle adaptation complex flight environment's ability.

Meanwhile, if the invention as described above discloses or relates to parts or structural members fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).

In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated. Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.

If the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the description of the invention, the above-described terms are intended to be based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device, mechanism, component, or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the invention.

Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.