阅读说明：本技术 具有垂直起飞和着陆能力的模块化飞行器 (With the modular aircraft to take off vertically with throwing power ) 是由 P·J·昆茨 W·D·古德里奇 J·S·艾伦 M·J·巴托 于 2018-05-07 设计创作，主要内容包括：一种飞行器包括机身模块(104)和支撑至少四个转子组件(302)的至少两个垂直提升转子模块(300)。每个转子组件(302)由转子桁(308)支撑,该转子桁(308)具有至少一个桁自由端和桁安装部分。每个转子组件(300)具有安装在桁自由端上的至少一个垂直提升转子(304)。每个桁安装部分可移除地耦连到机身模块(104)。垂直提升转子模块(304)被配置为使得当耦连到机身模块(104)时,一对转子组件(300)位于机身模块(104)的横向相对侧面中的每个上,并且每对转子组件(300)分别位于机翼中心部分(208)的前方和后方。一对机翼(200)被配置为可移除地耦连到机翼中心部分(208)。该飞行器包括可移除地耦连到机身主体(104)的向前推力模块(122)。(A kind of aircraft includes at least two vertical-lift rotor modules (300) of fuselage module (104) and support at least four rotor assembly (302).Each rotor assembly (302) is supported by rotor purlin (308), which has at least one purlin free end and purlin installation section.Each rotor assembly (300) has at least one the vertical-lift rotor (304) being mounted on the free end of purlin.Each purlin installation section is removably coupled fuselage module (104).Vertical-lift rotor module (304) is configured such that when being coupled to fuselage module (104), a pair of of rotor assembly (300) is located in each of laterally opposite side of fuselage module (104), and each pair of rotor assembly (300) is located at the front and back of wing central part (208).A pair of of wing (200) is configured as being removably coupled wing central part (208).The aircraft includes the forward thrust module (122) for being removably coupled fuselage main body (104).)

1. a kind of aircraft comprising:

Fuselage module, the fuselage module is with fuselage main body and with the wing central part of laterally opposed central portion side Point；

At least two vertical-lift rotor modules, at least two vertical-lifts rotor module support at least four rotors jointly Component, each rotor assembly are supported by rotor purlin, and the rotor purlin has at least one purlin free end and purlin installation section, each Rotor assembly has at least one the vertical-lift rotor being mounted on the purlin free end, the purlin installation of each rotor purlin It is partially configured as being removably coupled the fuselage module, the vertical-lift rotor module is configured such that when coupling When to the fuselage module, a pair of rotor assembly is located in each of laterally opposite side of the fuselage module, and And each pair of rotor assembly is located at the front and back of the wing central part；

A pair of of wing, the pair of wing are configured to be removably coupled close to the laterally opposed central portion side To the wing central part；With

Forward thrust module is removably coupled the fuselage main body.

2. aircraft according to claim 1, in which:

The rotor purlin includes longitudinal rotor purlin, and each longitudinal rotor purlin has purlin installation section, the purlin installation section It is configured as being removably coupled the wing central part, the mode close to the central portion side in one way So that the longitudinal direction rotor purlin extends forwardly and rearwardly substantially from the wing central part.

3. aircraft according to claim 1, in which:

The fuselage module has longitudinal axis；

The rotor purlin includes lateral rotor purlin, and each lateral rotor purlin has purlin installation section, the purlin installation section It is configured as being removably coupled the fuselage main body in one way, the mode makes the lateral rotor purlin from described Fuselage main body is extended laterally outward along the direction for the longitudinal axis for being not parallel to the fuselage main body；And

The pair of wing be configured as being removably coupled into respectively with the wing central part it is described it is laterally opposed in Heart surface direct physical contact.

4. aircraft according to claim 1, the aircraft further comprises:

Empennage, the empennage include a pair of of the tail boom for being configured as extending back from the wing central part, and including correspondence A pair of of vertical tails and be configured as each of the horizontal tail extended between the pair of vertical tails, the tail boom With purlin front end and purlin rear end, the empennage is coupled to the wing central part with one of following two configuration configuration:

The purlin front end in each of the tail boom is fixedly coupled to the wing central part, and the vertical tails Respectively it is configured as be removably coupled in the tail boom one purlin rear end；With

The purlin front end in each of the tail boom is configured as being removably coupled the wing central part, and institute State one purlin rear end that vertical tails are respectively fixedly coupled in the tail boom.

5. aircraft according to claim 4, in which:

Each of described tail boom has purlin rear end, and the purlin rear end has vertical tails；And

The empennage includes horizontal tail, the horizontal tail be configured as being removably coupled the pair of vertical tails it Between.

6. aircraft according to claim 5, in which:

When from the aircraft omit the vertical-lift rotor module when so that the vertical tails from the tail boom substantially The mode upwardly extended configures the empennage；And

When the vertical-lift rotor module is coupled to the aircraft, so that the vertical tails are big from the tail boom The mode extended downwardly is caused to configure the empennage.

7. a kind of method for operating aircraft, which comprises

By the way that the purlin installation section of the rotor purlin of each vertical-lift rotor module is removably coupled the aircraft Fuselage module, so that at least two vertical-lift rotor modules are removably coupled the aircraft, the vertical-lift Rotor module supports at least four rotor assembly jointly, and each rotor assembly is supported by the rotor purlin, and the rotor purlin has The purlin installation section and at least one purlin free end at least one vertical-lift rotor of support, the vertical-lift Rotor module is configured such that when being coupled to the fuselage module, a pair of rotor assembly is located at the fuselage module In each of laterally opposite side, and each pair of rotor assembly is located at the wing central part of the fuselage module Front and back；With

A pair of of wing is removably coupled to the laterally opposed central part of the wing central part of the fuselage module Side, the fuselage module have the forward thrust module pushed ahead for the aircraft.

8., will be described in each rotor purlin according to the method described in claim 7, wherein the rotor purlin includes longitudinal rotor purlin Purlin installation section is removably coupled the step of wing central part and includes:

The purlin installation section of rotor purlin longitudinally in each is removably coupled the wing central part in one way, The mode makes longitudinal rotor purlin generally forwards and extend back from the wing central part；With

The pair of wing is removably coupled to the laterally opposed central part side of the wing central part respectively Face so that the purlin installation section in each of the longitudinal direction rotor purlin be located at wing and laterally opposed central portion side it Between.

9., will be described in each rotor purlin according to the method described in claim 7, wherein the rotor purlin includes lateral rotor purlin Purlin installation section is removably coupled the step of wing central part and includes:

The purlin installation section of each lateral rotor purlin is removably coupled the fuselage module in one way, it is described Mode makes the lateral rotor purlin along the direction for the longitudinal axis for being not parallel to the fuselage module from the fuselage module It extends laterally outward；With

The pair of wing is removably coupled into the laterally opposed central part with the wing central part respectively Side directly contacts.

10. according to the method described in claim 7, the method further includes:

Empennage is removably coupled the wing central part by executing one in following steps:

A pair of of vertical tails are removably coupled to the purlin rear end of a pair of of tail boom, each tail boom, which has, to be fixedly coupled to The purlin front end of the wing central part；With

Purlin front end in each of a pair of of tail boom is removably coupled the wing central part, each of described tail boom With vertical tails, the vertical tails are fixedly coupled to one purlin rear end in the tail boom.

11. a kind of method for the operation for improving aircraft, which comprises

Taking off vertically for the aircraft is executed using at least four rotor assembly, at least four rotor assembly is by can be removed Ground is coupled at least two vertical-lift rotor modules support of the fuselage module of the aircraft, and each rotor assembly is by rotor Purlin support, the rotor purlin have at least one purlin free end and purlin installation section, and each purlin free end supports at least one to hang down Straight to promote rotor, the purlin installation section of each rotor purlin is configured as being removably coupled the fuselage module, described Vertical-lift rotor module is configured such that when being coupled to the fuselage module, a pair of rotor assembly is located at the machine In each laterally opposite side of body module, and each pair of rotor assembly is located at the wing center of the fuselage module Partial front and back；

The aircraft includes:

It is removably coupled a pair of of wing of the wing central part of the fuselage module；With

It is removably coupled the forward thrust module of fuselage main body.

12. the method according to claim 11, the method further includes:

The aircraft is transitioned into flight forward from hovering flight by executing following operation:

Control at least four rotor assembly in one way with realize the aircraft at least with certain air speed forward to Preceding movement, under the air speed forward, the pair of wing can support the aircraft；

Stop the rotation of the vertical-lift rotor, and increases the forward thrust of the forward thrust module；

Allow the front end of the aircraft to decline, while increasing the air speed forward under the power of the forward thrust module； With

The aircraft is supported using the aerodynamic lift generated by the pair of wing.

13. the method according to claim 11, the method further includes:

The aircraft is set to be transitioned into landing from flight forward by executing following steps:

Under the power of the forward thrust module, make near above the aircraft flight to touchdown area；

Start at least four rotor assembly and increase the rotation speed of the vertical-lift rotor, is in until that can support The aircraft of hovering flight；

Reduce the forward thrust of the forward thrust module；With

The rotation speed of the vertical-lift rotor is controlled to reduce the height of the aircraft until landing.

14. the method according to claim 11, the method further includes:

During at least one of take-off and landing of the aircraft, by the aircraft support the aircraft nose On portion's supporting element and a pair of of vertical tails；

The nose supporting element is extended downwardly from the front fuselage of the fuselage module；And

Corresponding a pair of of tail boom of the pair of vertical tails from being removably coupled the wing central part extends downwardly.

15. a kind of aircraft comprising:

Fuselage module, with fuselage main body and with the wing central part of laterally opposed central portion side；

A pair of of gyroplane module, each gyroplane module have the Gyro Assembly being supported on wingtip, the wingtip quilt It is configured to be removably coupled the central portion side, each Gyro Assembly has the gyro for generating normal thrust Instrument rotor, the laterally opposed central portion side are configured as and can support during flight a pair of of machine of the aircraft Wing on-site assembly, using the alternative solution as the pair of gyroplane module；With

Forward thrust module is removably coupled the fuselage main body.

16. aircraft according to claim 15, in which:

Each Gyro Assembly includes the inside for gyro wheel described in the pre-rotation before the aircraft vertical takes off Gyroscope motor.

17. aircraft according to claim 15, in which:

Each Gyro Assembly is configured such that the gyro wheel can be described by external prerotator motor pre-rotation External prerotator motor is supported on prerotator ground support and is configured as taking off vertically the phase in the aircraft Between with the gyro wheel disconnect couple.

18. aircraft according to claim 15, the aircraft further comprises:

Empennage, the empennage includes being configured as a pair of of tail boom that extends back from the wing central part, and including corresponding A pair of of vertical tails and it is configured as the horizontal tail extended between the pair of vertical tails, each tool in the tail boom There are purlin front end and purlin rear end, the empennage is coupled to the wing central part with one of following two configuration configuration:

The purlin front end in each of the tail boom is fixedly coupled to the wing central part, and the vertical tails Respectively it is configured as be removably coupled in the tail boom one purlin rear end；With

The purlin front end in each of the tail boom is configured as being removably coupled the wing central part, and institute State one purlin rear end that vertical tails are respectively fixedly coupled in the tail boom.

19. the aircraft according to claim 0, in which:

Each of described tail boom has purlin rear end, and the purlin rear end has from its outwardly extending vertical tails；And

The empennage includes horizontal tail, the horizontal tail be configured as being removably coupled a pair of vertical tails it Between.

20. the aircraft according to claim 0, in which:

When omitting the gyroplane module from the aircraft and the wing is coupled to the wing central part, institute It states tail boom to be respectively configured as being removably coupled the wing central part in one way, the mode makes described hang down Straight tail portion is upwardly extended from the tail boom；And

When the gyroplane module is coupled to the wing central part and omits the wing from the aircraft, institute It states tail boom to be respectively configured as being removably coupled the wing central part in one way, the mode makes described hang down Straight tail portion is extended downwardly from the tail boom.

21. a kind of method for the operation for improving aircraft, which comprises

By the laterally opposed central part that wingtip in each of gyroplane module is removably coupled to wing central part Divide one in side, so that a pair of of gyroplane module is removably coupled the aircraft, each gyroplane module tool There is the Gyro Assembly being supported on the wingtip, there is each Gyro Assembly the gyroscope for generating normal thrust to turn Son, the laterally opposed central portion side are configured as on-site assembly to for supporting the one of the aircraft during flight To wing, using the alternative solution as the pair of gyroplane module；And

The flying instrument has the forward thrust module pushed ahead for the aircraft.

22. according to the method for claim 21, wherein the gyroplane module is removably coupled the aircraft The step of include:

It is removably coupled the gyroplane module, each Gyro Assembly of the gyroplane module includes for flying described The inside gyroscope motor of the gyro wheel described in period pre-rotation that takes off vertically of row device.

23. according to the method for claim 21, wherein the gyroplane module is removably coupled the aircraft The step of include:

It is removably coupled the gyroplane module, each gyro wheel of the gyroplane module can be prewhirled by outside Turn device motor pre-rotation, the external prerotator motor is configured as take off vertically period and the top in the aircraft Spiral shell instrument rotor disconnects coupling.

24. the method according to claim 11, the method further includes:

Empennage is removably coupled the wing central part by executing one in following steps:

A pair of of vertical tails are removably coupled to the purlin rear end of a pair of of tail boom, each tail boom, which has, to be fixedly coupled to The purlin front end of the wing central part；With

Purlin front end in each of a pair of of tail boom is removably coupled the wing central part, each of described tail boom With vertical tails, the vertical tails are fixedly coupled to one purlin rear end in the tail boom.

25. a kind of method for operating aircraft, which comprises

Respective a pair of of gyro wheel of respective a pair of of the Gyro Assembly of pre-rotation a pair of gyroplane module, the pair of rotation Each of wing machine module all has one 's in the laterally opposed central portion side for being removably coupled fuselage module Wingtip, the central portion side are configured as removedly receiving a pair of of the machine that can support the aircraft during flight The wing, using as the alternative solution for removedly receiving the pair of gyroplane module；

The substantially vertical of the aircraft is executed using the gyroplane module to take off；With

It is transitioned by increasing the forward thrust of forward thrust module in one way after the taking off vertically of the aircraft Flight forward, which makes the aircraft travel forward at least until reaching certain air speed forward, in the air speed forward Under, the gyro wheel is able to maintain that the height of the aircraft.

26. according to the method for claim 25, wherein the step of gyro wheel described in pre-rotation includes:

Use the gyro for each Gyro Assembly of inside gyroscope motor pre-rotation being integrated in the Gyro Assembly Instrument rotor.

27. according to the method for claim 25, wherein the step of gyro wheel described in pre-rotation includes:

Using the gyro wheel of the external each Gyro Assembly of prerotator motor pre-rotation, the external prerotator Motor is disconnected with the gyro wheel during being configured as taking off vertically described in the aircraft and being coupled.

28. according to the method for claim 25, the method further includes executing following steps:

While supporting the aircraft using the gyro wheel, make under the forward thrust of the forward thrust module The aircraft is flown in a manner of controlled decline towards touchdown area；With

For rotor plane inclination angle of each increase in the gyro wheel in terms of pitch, while reducing institute in one way The forward thrust of forward thrust module is stated, to slow down the fortune forward of the aircraft before making the aircraft lands It is dynamic.

29. according to the method for claim 25, wherein gyro wheel described in pre-rotation and executing described substantially vertical The step of taking off respectively include:

The gyro wheel of each Gyro Assembly of pre-rotation, wherein the rotor blade of the gyro wheel is adjusted to Rotor blade pitch angle, the rotor blade pitch angle make each gyro wheel generate zero net vertical lift；With

The rotor blade pitch angle is increased to the amount for making the substantially vertical lift-off of the aircraft.

30. according to the method for claim 25, wherein the step of being transitioned into flight forward includes:

The reduction of rotor blade pitch angle is a certain amount of, and a certain amount of permission gyro wheel is with the air speed forward shifting The height of the aircraft is maintained when dynamic.

Technical field

The present disclosure generally relates to aircraft configurations, and relate more specifically to can situ configuration with for take off vertically and The unmanned plane of Lu Nengli.

Background technique

Unmanned plane (UAV) is increasingly used in performing various functions in civilian, commercial and Military Application.For example, UAV It can be implemented for delivering payload, the emergency services of execution such as administration of the prevention and control, the positioning shoal of fish, collect for monitoring and detecing The imaging data and other function examined.For certain applications, it is expected that UAV can be easily transported to remote location, and can Quick assembly and disassembly are carried out at the scene (such as land or ocean) using minimal number of tool and/or fastener.

Additionally, it is desirable to being capable of transmitting and withdrawal in the possible not available environment (for example, mountain area, sea) of private track UAV.In one approach, Portable catapult transmitter can be used to emit fixed-wing UAV, and be hung vertically in bolt using having The portable withdrawal system of withdrawal rope on column withdraws fixed-wing UAV.UAV may include wing tip mechanism, when UAV flies to withdrawal rope When, the wing tip mechanism latch is on withdrawing rope, so that UAV be made to stop.Although not needing private track, Portable catapult transmitting Device and portable withdrawal system increase the cost and complexity of operation unmanned plane.

It can be seen that, this field needs a kind of aircraft that can emit and withdraw in the case where not needing private track, And special ground support equipment is not needed, such as Portable catapult transmitter or portable withdrawal system.Aircraft is preferred Ground provides the option operated as Fixed Wing AirVehicle, to improve durability, range, payload, speed and practical ceiling side The ability in face.

Summary of the invention

The disclosure specifically solves the demand associated with unmanned plane, and the disclosure provides a kind of with fuselage module Aircraft, the fuselage module is with fuselage main body and with the wing central part of laterally opposed central portion side.This flies Row device includes multiple vertical-lift rotor modules, and multiple vertical-lift rotor module supports multiple rotor assembly jointly.Each Rotor assembly is supported by rotor purlin (rotor boom), which has at least one purlin free end and purlin installation section.Often A rotor assembly has at least one the vertical-lift rotor being mounted on the free end of purlin.The purlin installation section quilt of each rotor purlin It is configured to be removably coupled fuselage module.Vertical-lift rotor module is configured such that when being coupled to fuselage module, At least a pair of of rotor assembly is located in each of laterally opposite side of fuselage module, and each pair of rotor assembly is located at The front and back of wing central part.The aircraft further comprises a pair of of wing, which is configured to lean on Nearly laterally opposed central portion side is removably coupled wing central part.In addition, the aircraft includes removedly coupling It is connected to the forward thrust module of fuselage main body.

A kind of method that aircraft of the operation with vertical-lift rotor module is also disclosed.This method will be each including passing through The purlin installation section of the rotor purlin of vertical-lift rotor module is removably coupled the fuselage module of aircraft, thus by vertical It promotes rotor module and is removably coupled aircraft.Vertical-lift rotor module supports at least four turns as described above jointly Sub-component.This method also comprise by a pair of of wing be removably coupled fuselage module wing central part it is laterally opposed Central portion side.As described above, fuselage module includes the forward thrust module pushed ahead for aircraft.

In addition, a kind of method for disclosing operation for improving aircraft.This method includes being held using at least four rotor assembly Row aircraft takes off vertically, and at least four rotor assembly is by being removably coupled at least the two of the fuselage module of aircraft A vertical-lift rotor module support.As described above, each rotor assembly is supported by rotor purlin, which has at least one Purlin free end and purlin installation section, the purlin installation section are configured as being removably coupled fuselage module.As described above, flight Device includes a pair of of the wing for being removably coupled the wing central part of fuselage module, is removably coupled fuselage main body Forward thrust module.

The further example of aircraft includes fuselage module, and the fuselage module is with fuselage main body and has laterally opposed The wing central part of central portion side.The aircraft also comprises a pair of of gyroplane module, and each gyroplane module has The Gyro Assembly being supported on wingtip, the wingtip are configured as being removably coupled the central part side of wing central part Face.Each Gyro Assembly has the gyro wheel for generating normal thrust.Laterally opposed central portion side is configured For with a pair of of wing on-site assembly that aircraft can be supported during flight, arrived as by a pair of of gyroplane module on-site assembly The alternative solution of the laterally opposed central portion side of wing center module.The aircraft also comprises the machine of being removably coupled The forward thrust module of body main body.

Also disclose a kind of method of operation for improving aircraft.This method includes by will be in each gyroplane module Wingtip is removably coupled one in the laterally opposed central portion side of wing central part, thus by a pair of of gyroplane Module is removably coupled aircraft.Each gyroplane module has the Gyro Assembly being supported on wingtip.In addition, each Gyro Assembly has the gyro wheel for generating normal thrust.As described above, laterally opposed central portion side is matched On-site assembly is set to the alternative for supporting a pair of of wing of aircraft during flight, as a pair of of gyroplane module Case.The aircraft also has the forward thrust module pushed ahead for aircraft.

In addition a kind of method of aircraft of the operation with a pair of of gyroplane module is disclosed.This method includes pre-rotation one Respective a pair of of gyro wheel of a pair of Gyro Assembly respective to gyroplane module.As described above, in gyroplane module Each of all have one wingtip in the laterally opposed central portion side for being removably coupled fuselage module.Central part Point side is configured as removedly receiving a pair of of the wing that can support aircraft during flight, as removedly receiving The alternative solution of a pair of of gyroplane module.This method also comprises substantially vertical that aircraft is executed using gyroplane module Fly.In addition, this method include by increase in the following manner after the taking off vertically of aircraft forward thrust module to being pushed forward Power is transitioned into flight forward, and which makes aircraft travel forward, at least up to reaching certain air speed forward, this forward Under air speed, gyro wheel is able to maintain that the height of aircraft.

Feature, function and advantage by discussion can independently realize in the various embodiments of the disclosure, or can be at it It is combined in his embodiment, further details can refer to following description and drawings and find out.

Detailed description of the invention

Referring to attached drawing, these and other features of the disclosure be will become apparent, in the accompanying drawings similar number Always similar part is referred to, and wherein:

Fig. 1 is the exemplary perspective view of the unmanned plane (UAV) in assembled state, and wherein UAV includes fuselage module, The fuselage module has the wing central part being removably coupled with a pair of of tail boom of a pair of of wing and empennage；

Fig. 2 is the perspective view of the UAV of Fig. 1 in disassembly status, shows each of wing central part and wing Between and field joint between each of wing central part and tail boom position；

Fig. 3 is the perspective view of the UAV of Fig. 1 in further example, shows the vertical tails of each tail boom and empennage Between field joint alternative site；

Fig. 4 is that in disassembly status and have the common a vertical-lift rotor in two (2) for supporting a rotor assembly in four (4) The exemplary perspective view of the UAV of module, and wherein each of vertical-lift rotor module is configured as in wing and wing Fuselage module is removably coupled at field joint between central part；

Fig. 5 is the top perspective of the UAV of Fig. 4 in assembled state；

Fig. 6 is the bottom perspective view of the UAV of Fig. 4 in assembled state；

Fig. 7 is the top view of the UAV of Fig. 4 in assembled state；

Fig. 8 is the front view of the UAV of Fig. 4 in assembled state；

Fig. 9 is the side view of the UAV of Fig. 4 in assembled state；

Figure 10 is the exemplary perspective view of the UAV in part disassembly status, shows a vertical-lift rotor mould in four (4) Block, each vertical-lift rotor module are removably coupled fuselage module at a corresponding field joint in four (4)；

Figure 11 is the top perspective of the UAV of Figure 10 in assembled state；

Figure 12 is the top view of the UAV of Figure 10 in assembled state；

Figure 13 is the front view of the UAV of Figure 10 in assembled state；

Figure 14 is the side view of the UAV of Figure 10 in assembled state；

Figure 15 is the flow chart of the method for the UAV that assembling has vertical-lift rotor module；

Figure 16 is the flow chart of the method for the UAV that operation has vertical-lift rotor module；

Figure 17 is the exemplary perspective view of the UAV in disassembly status and with a gyroplane module in two (2), Mei Gexuan Wing machine module has the gyro wheel being supported on wingtip, which is configured as between wing and wing central part Fuselage module is removably coupled at field joint；

Figure 18 is the perspective view of the UAV of Figure 17 in assembled state；

Figure 19 is the top view of the UAV of Figure 18 in assembled state；

Figure 19 A is one cross-sectional view in one rotor blade in gyro wheel, and shows rotor blade Adjustable rotor blade propeller pitch angle；

Figure 20 is the front view of the UAV of Figure 18 in assembled state；

Figure 21 is the side view of the UAV of Figure 18 in assembled state；

Figure 22 is the front view for supporting the further embodiment of UAV of Figure 18 on the ground, and further shows one To prerotator ground support, each prerotator ground support has external prerotator motor, for taking off vertically in UAV The each gyro wheel of pre-rotation before；

Figure 23 is the front view of the UAV of Figure 22 after taking off vertically；

Figure 24 is the flow chart of the method for the UAV that assembling has gyroplane module；

Figure 25 is the flow chart of the method for the UAV that operation has gyroplane module.

Specific embodiment

It is the purpose preferably with various embodiments in order to illustrate the disclosure, Fig. 1 there is shown with attached drawing referring now to attached drawing Configuring in fixed-wing and with the exemplary of the aircraft 100 shown in assembled state for unmanned plane 102 (UAV) offer is provided View.UAV 102 can have relatively small size and low total weight, and be configured as field assembly and disassembly at several Lightweight unit and/or module, the component and/or module can be wrapped into one or more relatively small transport case (not shown) To allow through land, sea or in the air UAV 102 be transported to any position.Once being in desired position, the company of can be used Junction structure (not shown) and/or such as retention mechanism of shear pin (not shown) and/or machanical fastener (not shown) come quick Assembling parts and/or module.For example, UAV 102 includes a pair of of wing 200, which has convex/recessed adapter (not Show) or connector spar 214 (Fig. 2), with for by wing 200 respectively at respective a pair of of field joint 128 (for example, Fig. 2 to Fig. 3) is removably coupled the opposite side of the wing central part 208 of fuselage module 104.

UAV 102 further includes empennage 150, which is configured as via multiple field joints 128 (for example, Fig. 2 is extremely Fig. 3) it is coupled to wing central part 208.After being completed at the scene, it can be used Portable catapult transmitter (not shown) will The UAV 102 of Fig. 1 emits as Fixed Wing AirVehicle, without private track.When task is completed, portable receipts can be used System (not shown) is returned to withdraw the UAV 102 of Fig. 1.For example, UAV 102, which can fly to and be latched in, is suspended on portable withdrawal system On withdrawal rope (not shown) on the hitching post (not shown) of system, so as to avoid the needs to runway.

By with (for example, Fig. 4) on-site assembly of vertical-lift rotor module 300 aircraft 100 and by reconfiguring Empennage 150 to reflect the configuration shown in Fig. 4 to Figure 14 and being described below, the UAV 102 of Fig. 1 advantageously can situ configuration, with For (VTOL) ability that takes off vertically and land.Vertical-lift rotor module 300 supports multiple rotor assembly 302 jointly, each Rotor assembly 302 has at least one vertical-lift rotor 304 (Fig. 4), and the vertical-lift rotor 304 is by vertical-lift motor 306 (Fig. 4) driving, to provide VTOL capability option for UAV 102, while wing 200 is kept fixed the operation of rotor aircraft Ability.Shown in Fig. 4 to Figure 14 configuration in it is any in, pass through scene remove vertical-lift rotor module 300 and scene Empennage 150 is re-assemblied to reflect configuration shown in Fig. 1, aircraft 100 can situ configuration return conventional fixed-wing configuration (that is, There is no VTOL ability (Fig. 1)).

In the further embodiment shown in Figure 17 to Figure 23, the UAV 102 of Fig. 1 can be can situ configuration, with For by vertical to realize with a pair of of 400 field replaceable a pair of wing 200 of gyroplane module and by reconfiguring empennage 150 Straight or subvertical take-off and landing ability, as shown in Figure 17 to Figure 23 and is described in greater detail below.Such as Figure 17 to figure Shown in 23, each of gyroplane module 400 has the gyro wheel 406 being supported on wingtip 402, which is matched On-site assembly is set to wing central part 208.Each gyro wheel 406 has rotor hub 324 and multiple rotor blades 322, multiple rotor blade 322 is freely rotatable to generate normal thrust.For example, when passing through internal gyroscope motor 410 Or after external 412 pre-rotation gyro wheel 406 of prerotator motor by rotor plane 320 (for example, rotor blade 322 Plane of rotation) rotor plane inclination angle 321 (Figure 21) adjustment be positive propeller pitch angle when, gyro wheel 406, which can produce, vertically to be pushed away Power.In addition, passing through top in response to the period air-flow that travels forward under the propulsive force of forward thrust module 122 in aircraft 100 Spiral shell instrument rotor 406, gyro wheel 406 generate normal thrust, as described in more detail below.By existing with a pair of of wing 200 A pair of of gyroplane module 400 is replaced in field and scene re-assemblies empennage 150 to reflect configuration shown in FIG. 1, and Figure 17 is to Figure 23's Configuration can the conventional fixed-wing configuration (Fig. 1) of situ configuration time.

The UAV 102 of Fig. 1 to Figure 14 and Figure 17 to Figure 23 includes fuselage module 104, which has fuselage master Body 114 and the wing central part 208 for being installed to fuselage main body 114.In some instances, wing central part 208 can be can It is configured as being removably coupled fuselage main body at the Wing-fuselage joint surface (not shown) of 128 (not shown) of field joint 114.Wing central part 208 can be to allow adjustment wing central part 208 relative to the front-rear position of fuselage main body 114 Mode is coupled to fuselage main body 114, to allow the payload energy of the wide scope in the different payload bays of fuselage module 104 Power, while aircraft center of gravity (not shown) being maintained in the predetermined antero-posterior extent of aircraft lifting member center (not shown), and Ballast (not shown) is not needed.Fuselage module 104 has front fuselage 106 and back body 108 and limits longitudinal axis 110.Fuselage main body 114 is shown as having rounded square cross-sectional shape along a part of the length of fuselage main body 114.So And fuselage main body 114 can be (such as cylindrical or ellipse transversal with any shape in a variety of different cross-sectional shapes Face shape) it is provided.

Referring to figs. 1 to Figure 14 and Figure 17 to Figure 23, fuselage module 104 may include one or more payload bays, with In the various payload of receiving.For example, fuselage module 104 may include the preceding payload bay 116 near front fuselage 106 Be usually located at the lower section of wing central part 208 or following center payload bay 120.Fuselage module 104 may also include one A or multiple Avionics Equipment Bay (not shown).Imaging system 118 may be housed in preceding payload bay 116, and can wrap Any one of various types of sensor is included, the infrared biography of infrared imaging and/or visual light imaging is such as respectively used to Sensor and/or electro-optical sensor.Alternatively or additionally, imaging system 118 may include still camera, video camera and various Any one of sensor.In some instances, fuselage module 104 may include for accommodating in imaging device and/or sensor One or more turntables.

As shown in Fig. 1 to Figure 14 and Figure 17 to Figure 23, UAV 102 includes forward thrust module 122, the forward thrust module 122 can be removably coupled fuselage main body 114 at back body 108, as shown in the figure.Alternatively, forward thrust module 122 can be removably coupled 106 (not shown) of front fuselage or UAV 102 may include at front fuselage 106 and fuselage Forward thrust module 122 at rear end 108.Forward thrust module 122 includes engine 124, such as driving propeller 126 Internal combustion engine 124, but propeller 126 can be by electrical motor driven.In some instances, each rotor assembly 302 can Including reserve battery (not shown), to provide electric power for the electric motor for forward thrust module 122.In other examples, Each electric motor can be powered by one or more batteries in the center payload bay 120 of fuselage module 104.It can replace Dai Di, aircraft 100 may include main power system (not shown), with when being coupled to aircraft 100 to vertical-lift rotor mould The vertical-lift motor 306 of block 300 provides power, or when situ configuration VTOL ability (for example, Fig. 4 to Figure 14), power mould Aircraft 100 can be assembled in block (not shown).Alternatively, the engine 124 of forward thrust module 122 can be for driving The turbogenerator of propeller 126 or the engine 124 of forward thrust module 122 can be configured as passing through jet propulsion The turbojet of forward thrust is provided.

UAV 102 further includes empennage 150, which, which has, is configured as the slave on the opposite side of fuselage main body 114 A pair of of tail boom 152 (for example, left purlin and right purlin) that wing central part 208 extends back.Tail boom 152 can be usually hollow tubular knot Structure, length are enough in the position of centre of gravity of wide scope to provide longitudinal (for example, pitching) stability for UAV102.As UAV 102 (for example, Fig. 1, Fig. 5 are to Fig. 9, Figure 11 to Figure 14 and Figure 18 to Figure 23), each tail boom 152 can substantially be put down when in assembled state Row is orientated in longitudinal axis 110.Empennage 150 further comprises a pair of of the tail boom for being configured to configure from the UAV 102 of Fig. 1 A pair of of vertical tails 158 that 152 purlin rear end 156 upwardly extends.In the example shown, each vertical tails 158 can be opposite It is upwardly extended in vertical direction with intilted angle (for example, 10 degree).However, each vertical tails 158 can be relative to vertical Histogram is upwardly extended to any angle between+45 ° and -45 °.Empennage 150 includes between the free end of vertical tails 158 The horizontal tail 162 of extension.Each vertical tails 158 may include having one or more threaded hole (not shown) or tapped receptor The accessory (not shown) in portion's (for example, being not shown), the threaded hole or threaded receiver portion are configured as receiving for by horizontal tail One or more machanical fasteners that 162 opposite side is removably coupled the free end to vertical tails 158 (do not show Out-bolt, screw etc.).

Referring to Fig. 2 to Fig. 3, the perspective view of the UAV 102 in disassembly status is shown, which shows for inciting somebody to action Wing 200 is attached to the position of the field joint 128 of wing central part 208, and shows two kinds of different configurations, empennage 150 can be coupled to wing central part 208 by this two kinds different configurations.For example, Fig. 2 shows the configuration of empennage 150, wherein tail Purlin front end 154 in each of purlin 152 is configured as being removably coupled wing central part 208 at connector 128 at the scene, The field joint 128 is located at each of laterally opposite central portion side 210 of wing central part 208.It can be used outer Tail boom 152 is secured to wing central part 208 by the accessible machanical fastener (not shown) in portion, thus by tail boom 152 Each wing central part 208 is removably coupled at connector 128 at the scene.For example, purlin front end in each of tail boom 152 154 may include at least one forwardly facing shear pin (not shown), should forwardly facing shear pin be configured as to be formed in Including accessory (not shown) in shear pin aperture (not shown) be located at wing central part 208 laterally opposite side on Rib 212 engage.In addition, purlin front end 154 or wing central part 208 may include the spiral shell for being roughly parallel to the orientation of tail boom 152 Pit (not shown), to be somebody's turn to do for receiving externally accessible machanical fastener (for example, hex screw (Allen screw)) Machanical fastener for being secured to wing for tail boom 152 to during 100 module of aircraft for 152 on-site assembly of tail boom securely Central part 208.The shear pin and externally accessible machanical fastener that are incorporated into purlin joint surface 164 and optional structure are special The combination of sign (not shown) can prevent tail boom 152 relative to the movement of wing central part 208.Vertical tails 158 in Fig. 2 are each It couples to self-retaining or non-removable the purlin rear end 156 for being attached to tail boom 152.As described above, horizontal tail 162 is in vertical end Extend between the free end in portion 158, and can be removably coupled at a pair of of field joint 128 to free end.

Fig. 3 shows the alternative configuration of empennage 150, and wherein purlin front end 154 in each of tail boom 152 is fixedly coupled to machine Wing central part 208, and each of vertical tails 158 are both configured to be removably coupled at connector 128 at the scene Purlin rear end 156.For example, each of vertical tails 158 may include the purlin segment 160 extended forward, which is configured To use one or more externally accessible machanical fastener (not shown) and/or by using casing fitting (not shown) In It is removably coupled at field joint 128 to purlin rear end 156, which is configured as in purlin rear end 156 and purlin segment 160 Upper extension simultaneously clamps (for example, passing through machanical fastener) on purlin rear end 156 and purlin segment 160.Every width figure of the Fig. 2 into Fig. 3 Be also shown horizontal tail 162 be configured as respectively at a pair of of field joint 128 of the free end of vertical tails 158 it is removable Except ground is coupled to vertical tails 158.

In Fig. 2 into Fig. 3, it is also shown that field joint 128 is used for wing 200 close to laterally opposed central part side Face 210 is removably coupled wing central part 208.Each wing 200 has wing root 204 and wing tip 202.Wing 200 can Including the winglet 206 upwardly extended from wing tip 202.Alternatively, winglet 206 can extend downwardly (not shown) from wing tip 202.Often Connecting structure and/or hardware can be used to be attached to wing central part 208 for a wing 200.In the example shown, each wing 200 may include the connector spar 214 protruded inwardly from from wing root 204.Wing central part 208 may include being formed in rib 212 In and be configured as receiving the connector wing of the connector spar 214 for wing 200 to be coupled to wing central part 208 Beam chamber 216.Once the connector spar 214 of wing 200 is inserted into connector spar cavity 216, so that it may install in some way And/or the one or more externally accessible machanical fastener (not shown) of manipulation, wing 200 is locked to wing central part Divide 208.It can be connect by removing or being detached from any outside installed during wing 200 is assembled into wing central part 208 The machanical fastener entered removes each wing 200 to realize from wing central part 208, and when wing 200 and wing center When part 208 separates, connector spar 214 is skidded off into connector spar cavity 216.

Referring to fig. 4 to fig. 6, Fig. 4 shows the exemplary perspective view of the UAV 102 in disassembly status.UAV 102 has two (2) a vertical-lift rotor module 300, the vertical-lift rotor module 300 support a rotor assembly 302 in four (4) jointly, thus Realize the VTOL ability of UAV 102.Fig. 5 to Fig. 6 shows the UAV 102 in assembled state.In fig. 4 to fig. 6, each rotor Component 302 is supported by rotor purlin 308.As described above, each rotor assembly 302 has at least one vertical-lift rotor 304, it should Vertical-lift rotor 304 is driven by vertical-lift motor 306, which is fixedly mounted in rotor purlin 308 On purlin free end 310.In any in UAV 102 disclosed herein configuration, one or more in vertical-lift rotor 304 A reverse rotation rotor (not shown) that can be configured to be driven by vertical-lift motor.Each vertical-lift rotor 304 can wrap Include rotor hub 324 and multiple rotor blades 322.The purlin installation section 312 of each rotor purlin 308 is configured as connector at the scene Fuselage module 104 is removably coupled at 128 position.In this respect, each rotor purlin 308 is configured as removedly It is coupled to (the laterally opposed central part of Figure 10 to Figure 14) or the wing central part 208 of fuselage module 104 of fuselage main body 114 (Fig. 4 to Fig. 9) in side 210.

In the example of Fig. 4 to Fig. 9, rotor purlin 308 is configured as longitudinal rotor purlin 314, and rotor purlin 314 has longitudinally in each There is purlin installation section 312, which is configured with connecting structure and/or hardware close to central portion side 210 are removably coupled wing central part 208.For example, the purlin installation section 312 of rotor purlin 314 and wing longitudinally in each The laterally opposite side of central part 208 may be incorporated into cam pin (not shown) and cam pin female part (not shown) it is convex/ Concave adapter (not shown), is locked to wing central part 208 for purlin installation section 312.In some instances, each vertical Can be placed with to the purlin installation section 312 of rotor purlin 314 directly contacted with the wing root 204 of wing 200 and with wing center The laterally opposite side of part 208 directly contacts.In this way, each of rotor purlin 308 can effectively be clamped in wing Between 200 wing root 204 and the laterally opposite side of wing central part 208.In another example, from each wing 200 The connector spar 214 outstanding of wing root 204 can extend across the connection being formed in the purlin installation section 312 of rotor purlin 308 Device spar cavity 216, and enter the connector wing in the rib 212 being formed in the laterally opposite side of wing central part 208 In beam chamber 216, to capture the purlin installation section 312 between wing root 204 and wing central part 208.It will be appreciated that can make With any one of various connecting structures and/or hardware (such as pin, cam, threaded fastener and other kinds of coupling mechanism) Rotor purlin 308 is mechanically coupled to wing central part 208.

In Fig. 4 into Fig. 9, longitudinal rotor purlin 314 is shown as being roughly parallel to the longitudinal axis 110 of fuselage main body 114 Orientation.When being coupled to wing central part 208, longitudinally in each a part of rotor purlin 314 from wing central part 208 forward Extend, and a part of rotor purlin 314 extends back from wing central part 208 longitudinally in each.Longitudinal rotor purlin 314 The part that the rear of wing central part 208 extends is shown as being roughly parallel to tail boom 152, but in wing central part The part that 208 rear extends be also possible to laterally outward, laterally inwardly, it is angled up and/or down.Longitudinal rotor purlin The part that 314 rear in wing central part 208 extends is shown as laterally outward being at an angle of from tail boom 152, but vertical Tail boom 152 can be parallel in the part that the rear of wing central part 208 extends to rotor purlin 314, or upward or downward at Angle, although being not shown, each of longitudinal rotor purlin 314 can be provided with straight configuration.

In Fig. 4 into Fig. 9, each of longitudinal rotor purlin 314 has opposite a pair of of purlin free end 310 and is located at purlin certainly By the purlin installation section 312 between end 310.Two in rotor assembly 302 are separately mounted to the opposite of longitudinal rotor purlin 314 On purlin free end 310.Other than the direction of rotation of vertical-lift rotor 304, rotor assembly 302 can be mutually the same.Two vertical It can be configured to mutual mirror image to rotor purlin 314.However, longitudinal rotor purlin 314 can match in the same manner in unshowned example It sets.Although illustrated as with square cross sectional shape, but the rotor purlin in any of UAV example disclosed herein 308 can have cross-sectional shape than squares, such as circular cross sectional shape.During each of rotor purlin 308 can be It is empty to mitigate weight and accommodate one or more system lines, such as providing electric power to vertical-lift motor 306 Power cable, operation for controlling vertical-lift motor 306 and/or vertical-lift rotor 304 Electrical signal lines (for example, Electric wiring) and other kinds of system line.Such system line can have break-through connector at the attachment part of purlin And/or quick-release attachment, wherein each rotor purlin 308 is coupled to fuselage module 104.

Although Fig. 4 to Fig. 9 is shown in a pair of of the vertical-lift rotor mould for supporting a rotor assembly 302 in four (4) in total The UAV 102 of the configuration of block 300, but UAV 102 can be configured to any number with any amount of rotor assembly 302 of support The vertical-lift rotor module 300 of amount carries out on-site assembly.For example, multiple vertical-lift rotor modules 300 can be configured to prop up Support a rotor assembly 302 in six (6), the in total a rotor assembly 302 in eight (8) or any amount of rotor assembly 302 in total.It is preferred that Ground, rotor assembly 302 are arranged such that the rotor assembly on each transverse side of fuselage main body 114 with equal amount 302, and there is the rotor assembly 302 of identical quantity in the front and back of wing central part 208.

Referring to Fig. 6, the downside of the UAV 102 of Fig. 4 is shown, the configuration of empennage 150 is shown, wherein when vertical-lift turns When submodule 300 is coupled to aircraft 100, vertical tails 158 are extended generally downward from tail boom 152.In contrast, Fig. 1 extremely In the configuration of UAV 102 of Fig. 3, empennage 150 configures in this way, and which makes vertical when omitting from aircraft 100 When promoting rotor module 300, vertical tails 158 are extended generally upward from tail boom 152.In this respect, empennage 150 is by means of its assembling The selection sexual orientation of vertical tails 158 is allowed to the field joint 128 of aircraft 100, it is as normal that this, which depends on UAV102, Fixed Wing AirVehicle is advised (for example, Fig. 1 to Fig. 3) operation is still as the aircraft 100 with VTOL ability (for example, Fig. 4 extremely schemes 14 and Figure 17 to Figure 23) operation.Assemble empennage 150 as shown in Figure 1 to Figure 3 causes so that vertical tails 158 upwardly extend Horizontal tail 162 is located in relatively high position, to avoid the transmitting hardware of interference Portable catapult transmitter (not shown).Phase Than under, empennage 150 is assembled into shown in Fig. 4 to Figure 14 configuration so that vertical tails 158 extend downwardly prevents to being pushed forward The propeller 126 of power module 122 contacts ground.In addition, assembling empennage 150 makes vertical tails 158 extend downwardly permission vertically Tail portion 158 supports the rear end of aircraft 100 on the ground during vertical or near vertical take-off and landing.

Referring to Fig. 4 to Figure 14, UAV 102 may include being removably coupled (for example, at the scene at connector 128) to hang down to a pair of A pair of of tail portion extension 166 of straight tail portion 158.Each of tail portion extension 166 can be extended downwardly from vertical tails 158, and And when vertical-lift rotor module 300 is coupled to aircraft 100, the rear end of aircraft 100 can be supported on the surface.In addition to branch It supports except aircraft 100, tail portion extension 166 can increase tail surface product to improve the direction controlling of aircraft 100 and/or steady It is qualitative.Nose supporting element 112 is also shown into Figure 14 by Fig. 4, which can be removably coupled fuselage module 104, it is used to support the front end of aircraft 100.When seated, nose supporting element 112 can be extended downwardly from fuselage module 104.Though So it is shown as being fixed in proper orientation, but in some embodiments, nose supporting element 112 is retractable into fuselage main body In 114.Nose supporting element 112 can have aerodynamic cross section shape, to reduce during the flight forward of aircraft 100 Aerodynamic drag.

Referring to Fig. 7, the top view of the UAV 102 of Fig. 4 in assembled state is shown.In the example shown, vertically It promotes rotor module 300 and is configured such that when being coupled to wing central part 208, a pair of of rotor assembly 302 is located at fuselage In each of laterally opposite side of main body 114.Each pair of rotor assembly 302 is located at the front of wing central part 208 And rear, to generate the quadrangle patterns including rotor behind rotor, left back rotor and the right side before left front rotor, the right side.Left front rotor It can be configured to rotate on mutually the same direction with rotor behind the right side, and can be with the rotation side of rotor before the right side and left back rotor To opposite.However, vertical-lift rotor module 300 can be configured such that all vertical-lift rotors 304 in the same direction Rotation.

Referring to Fig. 8 to Fig. 9, front view and the side view of the UAV 102 of Fig. 4 to Fig. 7 in assembled state is shown respectively Figure.In the example shown, vertical-lift rotor module 300 is configured such that when being coupled to wing central part 208, when When from end or from side observation flight device 100, the rotor plane 320 of vertical-lift rotor 304 is higher than upper surface of the airfoil.Configuration Vertical-lift rotor module 300, which makes vertical-lift rotor 304 be in height more higher than upper surface of the airfoil, to be reduced in UAV By the destruction amount of the air-flow of wing 200 during 102 flight forward.

In unshowned embodiment, vertical-lift rotor module 300 can be to have a longitudinal rotor purlin in four (4) in total 314 configuration is provided, and rotor purlin 314 has purlin free end 310 and purlin installation section 312 longitudinally in each.Rotor longitudinally in each The purlin installation section 312 of purlin 314 can be configured to one in laterally opposed central portion side 210 it is independently removable nearby Except ground is coupled to wing central part 208.For example, purlin free end 310 in each of longitudinal rotor purlin 314 can be directly coupled to Wing central part 208.Four (4) longitudinal rotor purlins 314 can install in this way, and which makes at wing center On each of laterally opposed central portion side 210 of part 208, one in longitudinal rotor purlin 314 from wing central part Extend in point 208 forward directions, and one in longitudinal rotor purlin 314 is from 208 rearwardly direction of wing central part Upper extension.Purlin free end 310 in each of longitudinal rotor purlin 314 can each self-supporting rotor assembly 302, the rotor assembly 302 Including vertical-lift motor 306 and vertical-lift rotor 304.For the UAV with a independent longitudinal rotor purlin 314 in four (4) 102, this can be configured to be removably coupled into the laterally opposed central part with wing central part 208 respectively to wing 200 Divide side 210 directly to contact, be similar to shown in Fig. 2 to Fig. 3 and arrange, wherein each wing 200 has connector spar 214, which is configured as in the connector spar cavity 216 that insertion is formed in wing central part 208.

Referring now to fig. 10 to Figure 14, the embodiment of UAV 102 is shown, wherein rotor purlin 308 is configured as not parallel In the lateral rotor purlin 316 that the longitudinal axis 110 of fuselage main body 114 is orientated.Figure 10 shows the UAV in part disassembly status 102, wherein lateral rotor purlin 316 does not couple with fuselage main body 114, and wing 200 is illustrated in laterally opposed central part Wing central part 208 is coupled at a pair of of field joint 128 on side 210.In addition, empennage 150 is shown to be assembled into UAV 102.Wing 200 can be similar to shown in Fig. 2 to Fig. 3 and in a manner of wing attachment arrangement as described above removedly It is coupled to wing central part 208.Empennage 150 can be with shown in Fig. 4 and mode as described above is in multiple field joints It is assembled at 128.Vertical tails 158 can be assembled in tail portion extension 166, as shown in Figure 4.Nose supporting element 112 can be removed Ground is coupled to fuselage main body 114, extremely such as Figure 10

Shown in Figure 11 and as above described in Fig. 4 to Fig. 5.

Figure 10 shows a vertical-lift rotor module 300 in four (4), and each vertical-lift rotor module 300 is a right in four (4) Fuselage module 104 is removably coupled at the field joint 128 answered.Each of lateral rotor purlin 316 has purlin free end 310 and purlin installation section 312.The purlin free end 310 of each transverse direction rotor purlin 316 can support rotor assembly 302, the rotor assembly 302 include vertical-lift motor 306, and vertical-lift motor 306 is for being rotatably driven above-mentioned vertical-lift rotor 304.It is horizontal It is configured as independently being coupled to fuselage main body at connector 128 at the scene to purlin installation section 312 in each of rotor purlin 316 114.In the example shown, the purlin installation section 312 of each lateral rotor purlin 316 can be configured to insertion rotor purlin slot In 318.However, the purlin installation section 312 of each transverse direction rotor purlin 316 can be coupled with any one of a variety of different means To fuselage main body 114, which can be the hard spot such as purlin attachment structure (not shown) or be incorporated into fuselage main body 114 (not shown) is coupled to fuselage main body 114 and/or by using shear pin, externally accessible machanical fastener or various attachment Any one of mechanism is coupled to fuselage main body 114.

Figure 11 shows the UAV 102 of Figure 10 in assembled state, shows lateral rotor purlin 316 from fuselage main body 114 It is extended laterally outward along the direction not parallel with the longitudinal axis 110 of fuselage main body 114.It is each in lateral rotor purlin 316 It is a to be shown as upwardly extending from purlin installation section 312.Such as

Shown in Figure 12, the lateral rotor purlin 316 positioned at 208 front of wing central part is shown as angled forward degree.Position It is shown as being at an angle of backward in the lateral rotor purlin 316 at 208 rear of wing central part.The UAV 102 of Figure 10 to Figure 14 matches The rotor assembly 302 that the UAV 102 of the rotor assembly 302 and Fig. 4 to Fig. 9 set is configured is in identical relative position.

Figure 13 to Figure 14 is the front view and side view of the UAV 102 of Figure 10 in assembled state respectively.Lateral rotor Purlin 316 is configured such that when being coupled to fuselage main body 114, when from end or from side observation flight device 100, is vertically mentioned The rotor plane 320 for rising rotor 304 is higher than 200 upper surface of wing.Other than lateral rotor purlin 316, the UAV of Figure 10 to Figure 14 The UAV 102 that 102 configurations can be configured to be substantially similar to Fig. 4 as described above to Fig. 9 is configured, and can be had and this paper institute State same or similar Functional Capability.For example, the configuration of UAV 102 of Figure 10 to Figure 14 includes field joint 128, the field joint 128 allow empennage 150 so that the mode that vertical tails 158 are downwardly oriented is assembled into fuselage module 104.In addition, tail portion is prolonged Extending portion 166 can be removably coupled each of vertical tails 158 to support the rear end of aircraft 100, and nose branch Support member 112 can be removably coupled fuselage main body 114 to support the front end of aircraft 100.

5, Figure 15 shows assembling with vertical-lift rotor module referring to Fig.1 referring additionally to Fig. 4 to Fig. 9 The flow chart of the method 500 of 300 UAV 102.The step 502 of method 500 includes by by each vertical-lift rotor module The purlin installation section 312 of 300 rotor purlin 308 is removably coupled the fuselage module 104 of aircraft 100, by least two Vertical-lift rotor module 300 is removably coupled aircraft 100.In the example of above-mentioned Fig. 4 to Figure 14, vertical elevator Rotor module 300 supports a rotor assembly 302 in four (4) jointly.Each rotor assembly 302 is supported by rotor purlin 308, the rotor purlin 308 have purlin installation section 312 and at least one purlin free end 310.As described above and shown in Fig. 7 and Figure 12, vertically It promotes rotor module 300 and is configured such that when being coupled to fuselage module 104, a pair of of rotor assembly 302 is located at fuselage main body In each of 114 laterally opposite side.In addition, each pair of rotor assembly 302 is located at the wing center of fuselage module 104 The front and back of part 208.

Wherein rotor purlin 308 is configured as to be roughly parallel to the longitudinal direction of the orientation of longitudinal axis 110 of fuselage main body 114 102 embodiment of UAV of rotor purlin 314, the step of vertical-lift rotor module 300 is removably coupled aircraft 100 502 include that the purlin installation section 312 of rotor purlin 314 longitudinally in each is removably coupled wing central part in the following manner 208, which extends forwardly and rearwardly longitudinal rotor purlin 314 substantially from wing central part 208.Such as Fig. 4 to Fig. 9 institute Show, the UAV 102 with a longitudinal rotor purlin 314 in two (2) in total is configured, longitudinally in each the purlin mounting portion of rotor purlin 314 Points 312 between opposite a pair of of purlin free end 310.Each purlin free end 310 supports rotor assembly 302.To each it turn The step of purlin installation section 312 of sub- purlin 308 is removably coupled wing central part 208 includes by a pair of longitudinal rotor purlin Purlin installation section 312 in each of 314 is removably coupled wing central part 208 at the position of connector 128 at the scene Opposite central portion side 210 in one.In one example, purlin installation section 312 can be positioned to and wing center A direct physical contact in the central portion side 210 of part 208.Although it is not shown, each purlin installation section 312 Shear pin, machanical fastener and/or other hardware or stabilized structure to central portion side 210 can be passed through.Disclosed herein In any of example, once rotor purlin 308 is assembled into aircraft 100, rotor purlin 308 can immovably be fixed just Position, until being dismantled from aircraft 100.

After longitudinal rotor purlin 314 is secured to wing central part 208, this method may include step 504, that is, pass through A pair of of wing 200 is removably coupled wing central part by the purlin installation section 312 of a pair of of horizontal rotor purlin 308 respectively 208 laterally opposed central portion side 210.For example, the connector spar 214 of each wing 200 can extend across and be formed in The insertion of connector spar 214 is formed in wing central part 208 later by the connector spar cavity 216 in purlin installation section 312 Rib 212 in connector spar cavity 216 in.However, wing 200 can be secured to wing central part by alternative means 208, and be not limited to using connector spar 214.

In unshowned embodiment, longitudinal rotor purlin 314 may include a individual longitudinal rotor purlin 314 in four (4) in total. In this arrangement, the purlin installation section 312 of each rotor purlin 308 is removably coupled to the step of wing central part 208 It suddenly may include by purlin installation section 312 in each of a longitudinal rotor purlin 314 in four (4) in total close to wing central part 208 Laterally opposed central portion side 210 in one be removably coupled wing central part 208.A longitudinal direction in four (4) turns Each of sub- purlin 314 can at the scene at connector 128 in some way with the direct physical engagement of wing central part 208, the party Formula makes on each of laterally opposed central portion side 210, and one in longitudinal rotor purlin 314 prolongs in forward direction It stretches, and one in longitudinal rotor purlin 314 upwardly extends rearward.In some instances, rotor purlin 314 longitudinally in each Purlin installation section 312 can be secured to wing central part 208 at 128 position of connector at the scene, which allows A pair of of wing 200 is by Fig. 2 to the laterally opposed central part for being removably coupled wing central part 208 in a manner of shown in Fig. 3 Divide side 210.

Referring to Fig.1 0 to Figure 14, the UAV 102 with lateral rotor purlin 316 is shown and is configured, by each rotor purlin 308 It includes by the purlin peace of each lateral rotor purlin 316 that purlin installation section 312, which is removably coupled the step of wing central part 208, Dress part 312 is removably coupled fuselage main body 114 in some way, and which makes each of lateral rotor purlin 316 It is extended laterally outward along the direction for the longitudinal axis 110 for being not parallel to fuselage main body 114 from fuselage main body 114.For such as scheming Example UAV 102 shown in 10, lateral rotor purlin 316 include a lateral rotor purlin 316 in four (4) in total, each transverse direction rotor purlin 316 have purlin free end 310 and purlin installation section 312.In unshowned embodiment, a individual lateral rotor purlin in four (4) 316 can configure and can each self-supporting rotor assembly 302 in the same manner.It can by the purlin installation section 312 of each lateral rotor purlin 316 The step of being coupled to fuselage main body 114 with removing includes the position by a lateral rotor beam in two (2) in front of wing central part 208 The place of setting is coupled to each of the laterally opposite side of fuselage main body 114, and by a lateral rotor beam in remaining two (2) in wing The laterally opposite side of fuselage main body 114 is coupled at the position at 208 rear of central part, as shown in FIG. 10 to 14.Laterally Each of rotor purlin 316 independently can be removably coupled fuselage main body 114 at connector 128 at the scene.For example, each cross It can be plugged into the rotor purlin slot 318 being incorporated in fuselage main body 114 to the purlin installation section 312 of rotor purlin 316.Alternatively Or additionally, the purlin installation section 312 of each lateral rotor purlin 316 can be in each of front fuselage 106 and back body 108 Place is engaged with a pair of of structure hard spot (not shown) in the laterally opposite side of fuselage module 104.

In unshowned UAV 102 configuration, lateral rotor purlin 316 may include two (2) lateral rotor purlins 316 in total, Each transverse direction rotor purlin 316 has opposite a pair of of purlin free end 310 and the purlin installation section between purlin free end 310 312.This transverse direction rotor purlin 316 can be generally perpendicularly orientated relative to longitudinal axis 110.For example, in lateral rotor purlin 316 The top of fuselage main body 114, and another lateral rotor can be each extended through at the position in front of wing central part Purlin 316 can extend through the top of fuselage main body 114 at the position at 208 rear of wing central part.A transverse direction in two (2) is turned The step of purlin installation section 312 in each of sub- purlin 316 is removably coupled fuselage main body 114 may include that two (2) are a It can at a position (such as close to 104 front of fuselage module) in 208 front of wing central part in lateral rotor purlin 316 It removes ground coupling (for example, at a pair of of field joint 128) and arrives fuselage main body 114, and by a lateral rotor purlin 316 in two (2) In residue one position (such as close to back body 108) at 208 rear of wing central part at be removably coupled (example Such as, at another pair field joint 128) arrive fuselage main body 114.

The UAV 102 of Figure 10 to Figure 14 is configured, method 500 may include with shown in Fig. 2 to Fig. 3 and described above A pair of of wing 200 is removably coupled wing central part 208 by mode.For example, as described above, each of wing 200 Connector spar 214 can be inserted into the connector spar cavity that is formed in each laterally opposite side of wing central part 208 In 216.In this respect, each of wing 200 can be positioned to respectively with 208 direct physical contact of wing central part.

The UAV 102 shown in Fig. 4 to Figure 14 configuration in it is any in, method 500 include by empennage 150 removedly It is coupled to wing central part 208.For example, Fig. 4, which shows one pair of them vertical tails 158, is removably coupled a pair of of tail boom The arrangement of 152 purlin rear end 156.As described above, purlin front end 154 in each of tail boom 152 can be fixedly (for example, not removable Except ground) it is coupled to wing central part 208, as shown in Fig. 3 to Figure 14.Purlin rear end 156 in each of tail boom 152 can be coupled to Purlin segment 160, the purlin segment 160 can protrude forward from each of vertical tails 158.Outside or inside casing fitting (does not show Purlin rear end 156 and purlin segment 160 can be bound up out), so that vertical tails 158 are secured to tail boom 152.However, hanging down Straight tail portion 158 can be secured to tail boom 152 with any one of a variety of different arrangements, and be not limited to using casing fitting. In the embodiment of fig. 2, empennage 150 can be configured such that purlin front end 154 in each of a pair of of tail boom 152 corresponding one To being removably coupled wing central part 208 at field joint 128.In this arrangement, tail boom 152 can be configured to make Purlin front end 154 can be coupled to wing central part 208 so that vertical tails 158 upwardly extend (for example, Fig. 1 to Fig. 3) or It extends downwardly (for example, Fig. 4 to Figure 14).

In this respect, when omitting vertical-lift rotor module 300 from aircraft 100, method 500 is included such that Each of vertical tails 158 are attached empennage 150 from the mode that tail boom 152 upwardly extends.When 300 quilt of vertical-lift rotor module When being coupled to aircraft 100, this method is included such that the mode that each of vertical tails 158 are extended downwardly from tail boom 152 It is attached empennage 150.When vertical tails 158 are extended downwardly from tail boom 152, this method may include that tail portion extension 166 is removable Except ground is coupled to each vertical tails 158, to support the rear end of aircraft 100 on the surface.In addition, working as vertical-lift rotor mould When block 300 is coupled to aircraft 100, this method may include that nose supporting element 112 is removably coupled aircraft 100 Front fuselage 106, to support the front end of aircraft 100.This method may include when vertical-lift rotor module 300 is coupled to flight The additional operations executed when device 100.For example, this method may include one or more in the payload bay of fuselage module 104 A middle installation battery (not shown) or power plant module (not shown), for the vertical-lift to vertical-lift rotor module 300 Motor 306 provides electric power.

No matter purlin front end 154 be removably coupled (Fig. 2) be still permanently connected (Fig. 3 to Fig. 4) arrive wing central part Divide 208, empennage 150 can be configured to on-site assembly, so that when UAV 102 is in the configuration of the VTOL as shown in Fig. 4 to Figure 14 When vertical tails 158 extended downwardly from tail boom 152, and empennage 150 can on-site assembly so that UAV 102 be in as Fig. 1 to scheme Vertical tails 158 are upwardly extended from tail boom 152 when routine fixed-wing shown in 3 configures.This method further comprises by horizontal tail Portion 162 is removably coupled a pair of of vertical tails 158, as shown in Figure 4 and described above to be used to interconnect vertical tails 158.

Figure 16 is the flow chart for improving the method 600 of operation of the aircraft 100 with vertical-lift rotor module 300. As described above, aircraft 100 can situ configuration be to be capable of the aircraft 100 of VTOL (that is, Fig. 4 to Figure 14) or there is no VTOL ability Conventional Fixed Wing AirVehicle (such as Fig. 1 to Fig. 3).This method 600 discloses the behaviour of the aircraft 100 with VTOL ability Make.

The step 602 of method 600, which is included in execute in hovering flight, to take off vertically and aircraft 100 is enable to operate.It hangs down The feelings of travelling forward without aircraft 100 (for example, relative to ground) can be described as be in front of aircraft 100 takes off by directly taking off Surface (for example, ground, road, ramp, runway, boat deck, platform) is left into 100 vertical-lift of aircraft under condition.Aircraft 100 can be configured to operate in hovering flight, during the hovering flight, vertical-lift rotor module 300 be able to use to Aircraft 100 is at least maintained substantially invariable height by few four rotor assembly 302, and the rotor assembly 302 is by removedly Couple at least two vertical-lift rotor module 300 that (passing through field joint 128) arrives the fuselage module 104 of aircraft 100 Support.As described above, vertical-lift rotor module 300, which is configured such that work as, is coupled to fuselage module 104 by rotor purlin 308 When, a pair of of rotor assembly 302 is located in each of laterally opposite side of fuselage main body 114, and each pair of rotor assembly 302 It is located at the front and back of wing central part 208.

As described above, aircraft 100 includes a pair of of wing 200, a pair of wing 200 is in laterally opposed central portion side The wing central part 208 of fuselage module 104 is removably coupled at a pair of of field joint 128 on 210.Wing 200 can Aerodynamic lift is generated when aircraft 100 is pushed ahead by forward thrust module 122.In some instances, wing 200 can be matched It is set to the aerodynamic lift amount for generating and being enough under the following conditions to maintain the horizontal flight of aircraft 100 desired operation height: (1) when vertical-lift rotor module 300 is not coupled to aircraft 100, (for example, when Fig. 1 to Fig. 3), and (2) turn when vertical-lift Submodule 300 is coupled to aircraft 100 (for example, Fig. 4 to Figure 14) and vertical-lift rotor 304 is not rotated and/or do not generated When normal thrust.However, in other examples, wing 200 can be configured to generate only in conjunction with the generation of vertical-lift rotor 304 Normal thrust is just enough to maintain the horizontal flight of aircraft 100 into the aerodynamic lift amount of desired operation height.Aircraft 100 Desired operation height can be described as the aircraft 100 when being configured as conventional Fixed Wing AirVehicle 100 (for example, Fig. 1) Maximum height.

In some instances, the method for operating aircraft 100 may include with relatively low rotation speed (for example, with idling) The engine 124 of forward thrust module 122 is operated, to confirm the nominal of engine 124 before the taking off vertically of aircraft 100 Operation.During taking off vertically, flight control system (for example, airborne system or automatic pilot-are not shown) can be configured For adjust the pitch of rotor blade 322 with compensate during the vertical ascent of aircraft 100 from push ahead module to being pushed forward Any disturbance caused by power.Alternatively, the pitch of rotor blade 322 can be manually controlled by remotely controlling.

Referring still to Figure 16, the method 600 for operating aircraft 100 may include when aircraft 100 has increased to expectation height Aircraft 100 is transitioned into the step 604 of flight forward when spending from hovering flight.In the disclosure, hovering flight can be described For the flight for the normal thrust support that the quality of the aircraft 100 during flight is only generated by rotor assembly 302.By aircraft 100 to be transitioned into flight forward from hovering flight may include control rotor assembly 302, and make aircraft 100 in one way Aircraft 100 is inclined to underriding orientation (not shown), to realize that aircraft 100 is at least travelled forward with certain air speed forward, Under this forward air speed, wing 200 can support the quality in at least aircraft 100 of horizontal flight, without coming from The help of the normal thrust of four rotor assembly 302.In one embodiment, wing 200 can support the air speed of aircraft 100 It can be when being configured as conventional Fixed Wing AirVehicle 100 that (cruising speed of Fig. 1 to Fig. 3) aircraft 100 is at least about 70% air speed.

Transition from hovering flight to flight forward can further comprise stop vertical-lift rotor 304 rotation (for example, By remotely controlling either manually or by automatic pilot), while such as passing through increase (for example, from idle running) forward thrust module The rotation speed of 122 propeller 126 increases the forward thrust of forward thrust module 122.From hovering flight to flight forward Transition can further comprise allow aircraft 100 front end become dive orientation so that aircraft 100 is with stable wind vane Maneuver dives and the increased power of forward thrust module 122 (for example, applying or pass through manually automatic pilot) Under cause forward air speed increase.Air speed, which can be increased up, reaches air speed forward, and at this, the generation of air speed lower wing 200 can be tieed up forward Hold the aerodynamic lift amount of 100 horizontal flight of aircraft.In some instances, can by the aerodynamic lift that is generated by wing 200 and The combination of the normal thrust generated by vertical-lift rotor 304 maintains the horizontal flight of aircraft 100.From hovering flight to forward The transition of flight can carry out being pre-programmed to hold under the control of automatic pilot or through the existing control system to aircraft 100 Row, to realize a smooth transition.

Referring now still to Figure 16, the method 600 for operating aircraft 100 may include being transitioned into aircraft 100 from flight forward The step 606 in land.Transition from flight forward to landing may include the transition from flight forward to hovering flight, and can be related to Make the flight of aircraft 100 to close to above touchdown area (not shown) or surface under the power of forward thrust module 122.Separately Outside, the transition from flight forward to landing may include the rotation for starting rotor assembly 302 and/or increasing vertical-lift rotor 304 Speed can support the normal thrust amount of aircraft 100 to generate in hovering flight.Transition can further comprise reducing forward The rotation speed of the propeller 126 of forward thrust module 122 is such as reduced to idling (example by the forward thrust of thrust block 122 Such as, by remotely controlling either manually or by automatic pilot).In some instances, transition optionally includes when aircraft 100 Stop starting for forward thrust module 122 when predetermined altitude (for example, less than 10 feet) in the surface of touchdown area is interior Machine 124, to avoid aircraft 100 is unintentionally removed expectation touchdown area.Alternatively, engine 124 can remain operational directly To after landing.In addition transition may include the rotation speed of control vertical-lift rotor 304 to reduce the height of aircraft 100, Until vertical landing on the surface, the engine 124 of forward thrust module 122 can be closed at this time.It in some instances, can be in base Vertical landing is executed in the case where moving horizontally without aircraft 100 in sheet, this is moved horizontally may be otherwise by forward The forward thrust of thrust block 122 causes.During the taking off vertically and/or land of aircraft 100, this method may include in nose Aircraft 100 is supported on portion's supporting element 112 and a pair of of vertical tails 158 or tail portion extension 166, extremely such as Fig. 8 to Fig. 9 and Figure 13 Shown in Figure 14.

During the operation of aircraft 100, multiple vertical-lift motors 306 can be allowed pair by control system (not shown) Each of vertical-lift motor 306 coordinate or the mode of independent control is controlled (for example, long-range or pre-programmed).With Can be independently of the existing flight control system of aircraft 100 in the control system of vertical-lift motor 306, or it is used for vertical-lift The control system of motor 306 can be integrated into the existing flight control system of aircraft 100.In one embodiment, it can control Vertical-lift rotor 304 generates different normal thrusts in this way, and which makes aircraft 100 along aircraft 100 front-rear direction and/or along aircraft 100 transverse direction translate.10008 additionally or alternatively, vertical-lift rotor 304 can be controlled in a manner of generating different thrusts so that aircraft 100 surrounds the roll axis of aircraft 100 (that is, longitudinal axis Line 110), pitch axis (transverse axis) and/or yaw axes (i.e. vertical axis) rotation.

Referring now to fig. 17 to Figure 23, the further example of aircraft 100 is shown, the aircraft 100 can Fig. 1 extremely The configuration of routine fixed-wing shown in Fig. 3 and the VTOL with a pair of of gyroplane module 400 or nearly VTOL configuration (Figure 17 to figure 23) situ configuration between, a pair of gyroplane module 400 are configured as being removably coupled wing central part 208.Figure 17 It is shown as with the aircraft 100 of the UAV 102 shown in disassembly status.Figure 18 to Figure 21 shows Figure 17's in assembled state UAV 102.Each of gyroplane module 400 includes Gyro Assembly 404 and wingtip 402.Each Gyro Assembly 404 can prop up Support is on the wing tip 202 of wingtip 402.Gyro Assembly 404 can fixedly be coupled to the wing tip 202 of wingtip 402.However, at it In his example, Gyro Assembly 404 can be removably coupled wing tip 202.In further example, each gyroscope turns Son 406 rotor blade 322 can be it is folding so that all rotor blades 322 flock together and in identical totality It is orientated on the (not shown) of direction, to reduce the occupied space of gyro wheel 406, so that gyroplane module 400 is packed in simplification Into one or more transport case (not shown) to be transported together with other modules (for example, fuselage module 104, empennage 150 etc.).

Each wingtip 402 is configured as being removably coupled wing central part 208 at the wing root 204 of wingtip 402. For example, each wingtip 402 may include connector spar 214, the connector spar 214 is prominent from wing root 204 and is configured as It is inserted into the connector spar cavity 216 being formed in the rib 212 at each laterally opposite side of wing central part 208 In, which is similar to as shown in Figure 2 to Figure 3 and as described above by 200 on-site assembly of wing to wing center Part 208.However, wingtip 402 can be configured to be removably coupled machine by the means other than connector spar 214 Wing central part 208.For example, wingtip 402 can pass through externally accessible mechanical hardware (such as one or more pins, cam, spiral shell Line fastener or other 200 attachment hardwares of wing or structure) it is mechanically coupled to wing central part 208.

Referring to Fig.1 9 to Figure 21, gyroplane module 400 can be configured such that when wingtip 402 is coupled to wing central part When 208, gyro wheel 406 is with the positioning that is arranged side by side, as shown in figure 19.It is coupled in addition, wingtip 402 is configured such that work as When wing central part 208, each wingtip 402 is orientated to dihedral angle (Figure 20), so that the rotor of each gyro wheel 406 is flat Face 320 is higher than the other structures (for example, rotating screw 126 of forward thrust module 122) of aircraft 100.By each gyro The other structures that the rotor plane 320 of instrument rotor 406 is positioned higher than aircraft 100 can realize each gyro wheel 406 Maximum gauge.In some instances, each wingtip 402 may include extending downwards (for example, with a non-perpendicular angle) from wing tip 202 Winglet 206.Winglet 206 can improve the aeroperformance of wing 200 by reducing induced drag and/or can provide for installing The position of antenna, such as control aircraft 100 and with the communication of airborne system.

The configuration of UAV 102 shown in Figure 17 to Figure 23 can have fuselage module 104, which is configured as Similar to shown in Fig. 1 to Figure 14 and as described above UAV 102 fuselage module 104.For example, the UAV of Figure 17 to Figure 23 102 fuselage module 104 can have fuselage main body 114 and can be fixedly secured to the wing of fuselage main body 114 as described above Central part 208.In addition, UAV 102 may include forward thrust module 122 as described above, which can be Fuselage main body 114 is removably coupled at back body 108.In addition, UAV 102 may include the tail with a pair of of tail boom 152 The wing 150, the tail boom 152 extend back from wing central part 208.Empennage 150 further comprises associated with tail boom 152 respectively A pair of of vertical tails 158.

Empennage 150 allows the selection sexual orientation of vertical tails 158 so as to being assembled into the field joint 128 of aircraft 100, this It is as conventional Fixed Wing AirVehicle (for example, Fig. 1 to Fig. 3) is operated or as with VTOL or close depending on UAV 102 The aircraft 100 of VTOL ability is (for example, Figure 17 to Figure 23) is operated.As described above, empennage 150 can be configured to be assembled into wing Central part 208, so that when gyroplane module 400 is coupled to aircraft 100 (for example, Fig. 4 to Figure 14 and Figure 17 to Figure 23), Vertical tails 158 are usually extended downwardly from tail boom 152, and when omitting gyroplane module 400 from aircraft 100 (for example, Fig. 1 to Fig. 3), vertical tails 158 are usually upwardly extended from tail boom 152.In addition, empennage 150 includes that can be removably coupled The horizontal tail 162 (Figure 17) of vertical tails 158, and can further comprise the tail portion that live can be coupled to vertical tails 158 Extension 166, and it live can be coupled to the nose supporting element 112 of fuselage main body 114, as shown in figure 17 and as described above.

Referring still to Figure 17 to Figure 23, each gyroplane module 400, which has, is fixedly coupled to wingtip 402 as described above Gyro Assembly 404.Each Gyro Assembly 404 has the gyro wheel 406 for generating vertical lift.Gyroscope turns Son 406 can be rotatable, and can be configured to (such as flying in response to air-flow by gyro wheel 406 During device 100 for example travels forward under the forward thrust generated by forward thrust module 122) and rotate.Gyro wheel 406 Rotation can produce normal thrust to support the quality of aircraft 100, as described in more detail below.The wingtip of wing 200 Size can design and be configured to generate aerodynamic lift with increase by gyro wheel 406 rotation generate normal thrust (that is, Vertical lift).Gyro wheel 406 can be configured to rotate in the opposite direction to reduce in vertical tails 158 with other The surface area requirements that mode needs, yaw caused by the torque for preventing aircraft 100.

Referring to Figure 20, each Gyro Assembly 404 may include internal gyroscope motor 410, the inside gyroscope motor 410 It can be integrated into Gyro Assembly 404, for such as rotary gyroscope rotor 406 before transmission.Internal gyroscope motor 410 can be relatively small electric motor.In one embodiment, each electric motor can be by can be in the same place with electric motor One or more battery power supply.Alternatively, battery is mountable in the payload bay of fuselage module 104, such as installs In center payload bay 120.Alternatively or additionally, aircraft 100 may include for internally gyroscope motor 410 The power module (not shown) of electric power is provided.Gyroscope motor 408 can be configured to will be corresponding before aircraft 100 goes up to the air Gyro wheel 406, which is prewhirled, goes to scheduled rotation speed.For example, gyroscope motor 408 can be by 406 pre-rotation of gyro wheel To certain rotation speed, which is that the increased quality of aircraft 100 is left ground and optionally climbed to expire Hope about the 100% of highly desired rotation speed.

Each of gyro wheel 406 can have rotor hub 324, which has for controlling rotor blade The common pitch control part at 322 rotor blade pitch angle 323 (that is, angle of attack).During the pre-rotation before lift-off, rotor leaf Piece 322 is adjustable and remains fixed in rotor blade pitch angle 323 (for example, Figure 19 A), this generates rotor blade 322 about The net normal thrust for being zero.Generating zero net normal thrust can prevent rotor blade 322 from generating corresponding opposite torques on the rack. In one example, the rotor blade pitch angle 323 of gyro wheel 406 may be provided at about+1 degree -4 degree between (for example, Between about 0 degree and -2 degree), it can be a kind of range, in the range, rotor blade generates zero net normal thrust.In In the disclosure, the geometrical characteristic of rotor blade can refer to measure rotor blade pitch angle 323.For example, rotor blade pitch angle 323 can be described as plane (not shown) and rotor blade 322 perpendicular to the rotation axis (not shown) of gyro wheel 406 Local string (not shown) between angle.Local string can be described as the rearmost point (phase from trailing edge (not shown) For the direction of air-flow to come head-on during blade rotation) extend to the First Point of blade inlet edge (not shown).It can such as manage Solution, string can be exclusively used in the pneumatic cross section of rotor blade 322.Length distortion along rotor blade 322 (is not shown Rotor blade 322 out), rotor blade pitch angle 323 can be described as be in the rotor blade from vane tip (not shown) When, the string at one end of rotor blade 322 and the angle between the string at the opposite end of rotor blade 322.Alternatively, In the disclosure, it can refer to the aerodynamic characteristic of rotor blade 322 to measure rotor blade pitch angle 323.For example, rotor blade paddle Elongation 323 can be defined according to string and during rotation by the direction of the opposite wind (not shown) of rotor blade 322.No matter How is the measurement method at rotor blade pitch angle 323, preferably so that rotor blade 322 of the rotor blade 322 before lift-off Pre-rotation during generate zero net normal thrust rotor blade pitch angle 323 keep rotor blade 322.

Once gyro wheel 406 is during pre-rotation with the rotation of desired rotation speed, rotor blade pitch angle 323 (Figure 19 A) quick (for example, within several seconds) can increase to and be fixed on certain angle, which makes rotor blade 322 Normal thrust is generated with a certain amount, the normal thrust of the amount makes aircraft 100 lift off ground, and optionally in addition Aircraft 100 is set to rise to predetermined altitude before aircraft 100 is transitioned into flight forward.For example, rotor blade pitch angle 323 Can increase it is a certain amount of so that aircraft 100 is starting to lifting off ground before flight forward transition and rise to several English Ruler is to 100 feet of height.In one example, rotor blade pitch angle 323 rises to and is maintained within the scope of 5-40 degree Positive-angle, and more preferably in 20-30 degree, and rotor blade 322 can be made to generate, aircraft 100 is lifted off ground The normal thrust in face.After lift-off and to flight forward transition period, rotor blade pitch angle 323 can reduce and fix It is being suitable for aircraft 100 in the angle for continuing flight forward at height.For example, rotor blade pitch angle 323 can reduce and consolidate The angle (for example, in 1-3 degree) being scheduled in the range of about positive 0.5-10 degree, and can during the remainder of flight (including During landing) remain fixed in such rotor blade pitch angle 323.

Travelling forward for aircraft 100 rotates rotor blade 322 and produces under the thrust power of forward thrust module 122 Vertical lift is given birth to support the quality of aircraft 100.As described below, the rotor plane inclination angle 321 of two gyro wheels 406 (Figure 21) can in order to during flight forward and aircraft 100 land during to aircraft 100 carry out direction controlling side Formula is controlled.For example, Figure 20 is the front view of aircraft, the rotor plane inclination angle 321 for showing gyro wheel 406 can It is adjusted by a manner of rolling aircraft 100 to the left or to the right.Figure 21 is the side view of aircraft 100, and it is flat to show rotor Face inclination angle 321 can be so that aircraft pitching upward or downward be adjusted in a manner of changing height.

Rotor hub 324 allows the overall pitch control of rotor blade 322 to an infinite number of rotor blade pitch angle 323, or such as by using spring mechanism (not shown) in rotor hub 324, rotor hub 324 can be limited to the rotor of discrete number Blade pitch angle 323.In some instances, the internal electric motor at the rotor hub 324 of each gyro wheel 406 can be used as Generator (not shown) operation, for such as when declining and/or when aircraft 100 is promoted simultaneously by forward thrust module 122 Gyro wheel 406 is caused to generate electric power when rotating for aircraft 100.In other examples, internal electric motor can be configured To provide normal thrust in emergency circumstances or when aircraft 100 operates under edge flying condition during flight.

Referring to Figure 22 to Figure 23, in the further example of UAV 102, each Gyro Assembly 404 be can be configured to So that gyro wheel 406 can pass through 412 pre-rotation of a pair of outer prerotator motor.External prerotator motor 412 can be with It is electric motor, such as commercially available drill motor.Each external prerotator motor 412 can have to be protruded vertically upward Axis 416, inserted with the vertically oriented hub in the lower end for being joined to the rotor hub 324 for being formed in gyro wheel 406 In slot 418.Each external prerotator motor 412 may be supported on prerotator ground support 414, which may be supported on ground On face.It is external in the case where the axis 416 of gyroscope motor 408 is joined respectively in the hub slot 418 of gyro wheel 406 Gyro wheel 406 can be prewhirled to go to generate and lift off aircraft 100 needed for ground by prerotator motor 412 The rotation speed of normal thrust amount.During carrying out pre-rotation by external prerotator motor 412, rotor blade 322 can quilt It is arranged to the rotor blade pitch angle 323 (Figure 19 A) of 0 to -2 degree, as described above.After reaching desired rotation speed, each Rotor blade pitch angle 323 can be increased to the positive-angle of about 20-30 degree by the rotor hub 324 of gyro wheel 406, to make Aircraft 100 generates normal thrust and aircraft 100 is lifted off ground, as shown in figure 23, at this time when aircraft 100 rises When, axis 416 skids off hub slot 418.

The UAV 102 of Figure 17 to Figure 23 is configured, rotor hub 324 is configured as allowing with pitch (Figure 21) and rolling The mode of (Figure 20) controls the rotor plane inclination angle 321 (Figure 21) of gyro wheel 406, to fly for providing during flight The pitch control of row device 100 and the main source of Roll control, as described above.The empennage 150 of such as horizontal tail 162 can be optional Ground includes one or more movable surfaces, such as elevator (not shown), for increasing by adjusting rotor plane inclination The pitch control that angle 321 provides.Wingtip 402 may include the pair that can increase Roll control by adjusting rotor plane inclination angle 321 Wing (not shown) or other control surfaces.If event occurs for the rotor hub 324 of the inclination control for rotor plane inclination angle 321 Barrier, then one or more controls surface (for example, aileron of wingtip 402) of aircraft 100 can provide inclination control for aircraft 100 System.

Figure 24 is the process of the method 700 for the UAV 102 that assembling has the gyroplane module 400 as shown in Figure 17 to Figure 23 Figure.Advantageously, aircraft configuration shown in Figure 17 to Figure 23 can also situ configuration be no VTOL ability such as Fig. 1 to Fig. 3 institute The conventional Fixed Wing AirVehicle shown.As described above, each of gyroplane module 400 includes the wing of support Gyro Assembly 404 The tip 402.The step 702 of this method includes by the way that wingtip 402 in each of gyroplane module 400 is coupled to aircraft 100 Wing central part 208 laterally opposed central portion side 210 in one, a pair of of gyroplane module 400 is removable Except ground is coupled to aircraft 100.As described above, wingtip 402 is configured as such as by by the connector spar of each wingtip 402 214 are inserted into the connector spar cavity 216 in one be formed in the laterally opposite side of wing central part 208, thus It is mechanically coupled to wing central part 208.Alternatively or additionally, externally accessible mechanical hardware can be used (not show Each of wingtip 402 is attached to wing central part by (such as shear pin, threaded fastener and/or other hardware) out) 208。

As described above, aircraft 100 includes multiple field joints 128, which allows aircraft 100 and rotation Wing machine module 400 assembles, and as shown in Figure 17 to Figure 23, alternatively, field joint 128 allows aircraft 100 and a pair of of wing 200 groups are filled with to form routine Fixed Wing AirVehicle shown in Fig. 1 to Fig. 3.Empennage 150 can be connect by multiple scenes as described above First 128 are assembled into aircraft 100, as shown in figure 17.In this respect, this method may include by by a pair of of vertical tails 158 Empennage 150 is removably coupled wing central part 208 by the purlin rear end 156 for being each coupled to a pair of of tail boom 152, is such as schemed Shown in 17.Alternatively, for 150 embodiment of empennage shown in Fig. 2, this method may include by purlin in each of tail boom 152 Front end 154 is removably coupled wing central part 208.In the embodiment of fig. 2, each of tail boom 152, which has, fixes Ground is coupled to the vertical tails 158 of purlin rear end 156.In addition this method may include that horizontal tail 162 is removably coupled to one To each of vertical tails 158, which extends outwardly from a pair of of tail boom 152 respectively.As described above, tail Portion's extension 166 can be removably coupled vertical tails 158 to be used to support the rear end of aircraft 100.In addition, institute as above It states, nose supporting element 112 can be removably coupled front fuselage 106, to be used to support the front end of aircraft 100.It is rising Before flying and/or landing, aircraft 100 be may be supported on nose supporting element 112 and on a pair of of tail portion extension 166.

In some examples of UAV 102, gyroplane module 400 is removably coupled to the step 702 of aircraft 100 Including being removably coupled gyroplane module 400, each Gyro Assembly 404 of the gyroplane module 400 includes internal gyro Instrument motor 410.As described above, internal gyroscope motor 410 can be integrated in rotor hub 324 in each of gyro wheel 406 In, and allow the pre-rotation of gyro wheel 406 in order to the vertical lift-off of aircraft 100.Alternatively, for Figure 22 To 102 embodiment of UAV shown in Figure 23, the step 702 that gyroplane module 400 is removably coupled aircraft 100 is wrapped It includes and is removably coupled gyroplane module 400, each gyro wheel 406 of the gyroplane module 400 can be prewhirled by outside Turn 412 pre-rotation of device motor.As shown in figure 22 to figure 23 and as described above, each external prerotator motor 412 can be by prewhirling Turn the support of device ground support 414.Each external prerotator motor 412 can have axis 416, the axis 416 project upwards and by The hub slot 418 being configured in the lower end for the rotor hub 324 that engagement is formed in gyro wheel 406, to be used for gyro wheel 406 pre-rotation.When aircraft 100 lifts off ground, each of external prerotator motor 412 is configured as and top The hub slot of spiral shell instrument rotor 406 disconnects coupling.

Figure 25 is the method 800 of the operation of UAV 102 of the enhancing as shown in Figure 17 to Figure 23 with gyroplane module 400 Flow chart.Before the taking off vertically of aircraft 100, method 800 may include step 802, i.e., with relatively low rotation speed (for example, with idling) rotates the propeller 126 of forward thrust module 122, to confirm the front engine to take off in aircraft 100 124 nominal operation.The step 804 of method 800 includes respective a pair of of the gyro wheel of pre-rotation a pair of gyroplane module 400 406.The step 804 of pre-rotation gyro wheel 406 may include the gyro wheel 406 of each Gyro Assembly of pre-rotation, Middle that rotor blade 322 is adjusted to rotor blade pitch angle 323, which causes each gyro wheel 406 generate zero net vertical lift.For example, rotor blade pitch angle 323 can be adjusted and fix in above-mentioned pre-rotation example Between about+1 degree and -4 degree, this can be a range, and in the range, rotor blade 322 generates zero net normal thrust, To allow gyro wheel 406 to increase rotation speed in the case where aircraft 100 not being lifted off ground.

In one embodiment, the step 804 of pre-rotation gyro wheel 406 may include using internal gyroscope motor The gyro wheel 406 of each Gyro Assembly 404 of 410 pre-rotations, the inside gyroscope motor 410 can be integrated into gyroscope group In part 404.In the above-described embodiments, each internal gyroscope motor 410 can be configured to relatively small electric motor.It is alternative Ground, in the embodiment shown in Figure 22 to Figure 23, the step 804 of pre-rotation gyro wheel 406 may include pre- using being supported on External prerotator motor 412 on rotator ground support 414 carrys out the gyro wheel of each Gyro Assembly 404 of pre-rotation 406.As described above, each external prerotator motor 412 can be configured to take off vertically period and gyro in aircraft 100 Instrument motor 408 disconnects coupling.Similarly, as described above, during the pre-rotation of gyro wheel 406, rotor blade 322 can be set Set rotor blade pitch angle 323, the rotor blade pitch angle 323 prevent gyro wheel generate on the rack vertical lift and Associated torsional forces.In some instances, gyro wheel 406 can go to certain rotation speed by prewhirling, rotation speed Degree is at least 100% of rotation speed needed for realizing the vertical lift-off of aircraft 100 before aircraft 100 travels forward.

The step 806 of method 800 includes that hanging down substantially for aircraft 100 is executed after the pre-rotation of gyro wheel 406 Straight takes off.In this respect, step 806 may include quick (for example, within several seconds) increasing a certain amount of rotor blade 322 Rotor blade pitch angle 323 (Figure 19 A), this is a certain amount of to make aircraft 100 lift off surface (for example, ground).For example, turning Rotor blade pitch angle 323 can increase to positive propeller pitch angle from the angle for generating zero net lift during pre-rotation, which makes Aircraft 100 substantially perpendicularly lifts off ground and optionally makes to fly before aircraft 100 starts flight forward Device 100 rises to predetermined altitude.In the examples described above, the rotor blade 322 of gyro wheel 406 can be adjusted to up to positive 30 The rotor blade pitch angle 323 of degree.It in some instances, can be before lift-off substantially without the feelings of aircraft 100 to travel forward The vertical lift-off of aircraft 100 is executed under condition.As described above, rotor blade pitch angle 323 can be reduced to relatively after lift-off Small propeller pitch angle, which can be positive propeller pitch angle, and can remain fixed in this way during residue flight Propeller pitch angle.

The step 808 of method 800 includes being transitioned into aircraft 100 after the taking off vertically of aircraft 100 to fly forward Row.It can be by increasing the forward thrust of forward thrust module 122 (such as by the propeller 126 of increase forward thrust module 122 Rotation speed) promote the aircraft 100 to be transitioned into flight forward.In some instances, can during lift-off aircraft 100 with Increase the rotation speed of propeller 126 while surface separates.The rotation speed that propeller 126 can be increased, at least up to flight Device 100 reaches certain air speed forward, and under this forward air speed, aircraft 100 can be maintained expectation by gyro wheel 406 Height.Be transitioned into flight forward may include by rotor blade pitch angle reduce it is a certain amount of, the amount allow gyro wheel 406 exist Aircraft 100 is maintained into certain altitude when mobile with air speed forward.As described above, each gyro wheel 406 is configured as Normal thrust is generated by gyro wheel 406 in response to the period air-flow that travels forward in aircraft 100 during rotation. In some instances, wingtip 402 can produce a small amount of aerodynamic lift, be increased with the period that travels forward in aircraft 100 by gyro The vertical lift that instrument rotor 406 generates.

As described above, each of gyro wheel 406 include rotor hub 324, the rotor hub 324 be configured as allow with Allow the pitch control (Figure 21) of aircraft 100 and the mode of Roll control (Figure 20) to control rotor plane during flight to tilt Angle 321 (Figure 21).In this respect, the rotation speed of control (for example, passing through remotely control or pre-programmed) propeller 126 can be passed through Degree and control gyro wheel 406 rotor plane inclination angle 321 come promote the direction to aircraft 100, posture, air speed and The control of height.In addition, can be by one or more flight-control surfaces (for example, aileron) that deflection of flight device 100 may include To enhance the pitch control and/or Roll control of aircraft 100.

It is transitioned into vertical or near vertical landing in aircraft 100 from flight forward, this method may include to being pushed forward Aircraft 100 is set to fly in a manner of controlled decline towards touchdown area (not shown) under the forward thrust of power module 122, simultaneously Use the quality of the normal thrust support aircraft 100 generated by Gyro Assembly 404.For example, close to after touchdown area, it should Method may include that aircraft 100 is made to dive, and as the rotation speed for increasing gyro wheel 406 and then increase in terms of pitch Rotor plane inclination angle 321 (Figure 21), while such as by reduce propeller 126 rotation speed (for example, being reduced to idle Speed) reduce the forward thrust of forward thrust module 122, to reduce the speed forward of aircraft 100.Landing maneuver may include Make 100 glittering signal device (flare) of aircraft during this period can be by immediately at relatively low height above touchdown area (for example, in terms of pitch) rotor plane inclination angle 321 is sharply increased before landing to increase the rotation of gyro wheel 406 speed Degree, to further decrease the vertical fall off rate of aircraft 100 and/or significantly slow down travelling forward for aircraft 100.Some In example, gyro wheel 406 and forward thrust module 122 can be controlled in this way, and which makes immediately in winged Row device 100 stops travelling forward for aircraft 100 before landing on the surface of touchdown area.During landing, this method can Including by aircraft 100 be supported on nose supporting element 112 and a pair of of tail portion extension 166 on.However, aircraft 100 can quilt It is configured to be able to carry out the transverse movement of relatively small amount during landing and/or travel forward.

The technical staff for benefiting from the introduction presented in foregoing description and relevant drawings of disclosure fields will expect Many modifications of the disclosure and other configurations.It is described herein configuration be intended to it is illustrative, and be not intended to it is restrictive or Exhaustion.Although specific terms be employed herein, but they are only used with generic and descriptive sense, rather than for limitation Purpose.