阅读说明：本技术 一种共轴无人机控制方法 (Coaxial unmanned aerial vehicle control method ) 是由 杨仙妮 计敏涛 于 2021-09-10 设计创作，主要内容包括：本发明涉及无人机领域,尤其涉及一种共轴无人机控制方法。导航飞控计算机A和导航飞控计算机B,地面站能够和地面遥控、遥测收发射机通信连接,通过主遥控遥测通道和备份遥控遥测通道分别通信连接着导航飞控计算机A和导航飞控计算机B；地面遥控、遥测收发射机通信连接着遥控二,遥控二能够控制无人机的发动机、纵向双余度电动舵机、横向双余度电动舵机、航向双余度电动舵机、总距双余度电动舵机、油门双余度电动舵机进行控制进而操纵飞机形态；空气压力传感器通过大气数据计算机能够给导航飞控计算机A和导航飞控计算机B提供大气信息。(The invention relates to the field of unmanned aerial vehicles, in particular to a coaxial unmanned aerial vehicle control method. The ground station can be in communication connection with the ground remote control and remote measurement transmitter and receiver, and is respectively in communication connection with the navigation flight control computer A and the navigation flight control computer B through a main remote control remote measurement channel and a backup remote control remote measurement channel; the ground remote control and remote sensing transceiver is in communication connection with a second remote control, and the second remote control can control an engine, a longitudinal dual-redundancy electric steering engine, a transverse dual-redundancy electric steering engine, a course dual-redundancy electric steering engine, a total distance dual-redundancy electric steering engine and an accelerator dual-redundancy electric steering engine of the unmanned aerial vehicle to control the shape of the airplane; the air pressure sensor can provide air information for the navigation flight control computer A and the navigation flight control computer B through the air data computer.)

1. A control method of a coaxial unmanned aerial vehicle, the control system includes a navigation flight control computer A and a navigation flight control computer B, characterized in that, a ground station can communicate with a ground remote control and remote control transceiver, and respectively communicate with the navigation flight control computer A and the navigation flight control computer B through a main remote control channel and a backup remote control channel; the ground remote control and remote sensing transceiver is in communication connection with a second remote control, and the second remote control can control an engine, a longitudinal dual-redundancy electric steering engine, a transverse dual-redundancy electric steering engine, a course dual-redundancy electric steering engine, a total distance dual-redundancy electric steering engine and an accelerator dual-redundancy electric steering engine of the unmanned aerial vehicle to control the shape of the airplane; the navigation flight control computer A and the navigation flight control computer B can acquire the oil mass of an oil tank, the temperature of an engine, the pressure of lubricating oil, the rotating speed of the engine, a signal of a magnetic heading sensor and a signal of a radio altimeter; the attitude gyro angular rate gyro is in communication connection with the navigation flight control computer A and the navigation flight control computer B and can acquire the attitude of the aircraft; the GPS/INS combination can be in communication connection with a navigation flight control computer A and a navigation flight control computer B; the air pressure sensor can provide air information for the navigation flight control computer A and the navigation flight control computer B through the air data computer.

2. A coaxial drone controlling method according to claim 1, characterised in that the drone transmitting step is: firstly, carrying out system self-check, abandoning transmission if the self-check is not passed, and prompting to carry out fault alarm to further carry out fault elimination; the engine is preheated through self-checking, power starting is carried out after preheating, the state before launching is confirmed after power starting, and the flying is popped up after the state before launching is confirmed.

3. A control method for a coaxial drone according to claim 2, characterized in that during the ejection flight, the drone is ejected first, after ejection, the upper and lower rotors are deployed, and the wings continue to fly after entering the limit area.

4. The coaxial unmanned aerial vehicle control method of claim 1, wherein during the pop-up flight, the unmanned aerial vehicle takes off in any one of the following modes:

novel swarm unmanned aerial vehicle launch vehicle takes off: the primary bevel gear system (1107) and the secondary bevel gear system (1110) can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously; gradually transmitting according to the control of the clutch;

the individual soldier launches helping hand unmanned aerial vehicle and takes off: when the unmanned aerial vehicle is carried by a person, the primary bevel gear system (1107) and the secondary bevel gear system (1110) can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously to launch in a single cylinder;

single jet launching takeoff: a specific injection structure is provided at the bottom of the supporting leg, so that the unmanned aerial vehicle can be subjected to injection takeoff assistance while the propeller provides power; the fuel in the fuel container (701) is ignited, so that upward injection force is integrally formed, the unmanned aerial vehicle body is further driven to move upwards relatively, and when the unmanned aerial vehicle body rises to a target height, the propeller is started, so that rapid take-off is realized;

the bracket rotates to take off: the lower rotating group (221) comprises paddles (210) which are used for supporting the ground, the end part of each paddle (210) which is contained by the lower rotating group (221) comprises a take-off bottom embedded ball (1003), the take-off bottom embedded ball (1003) is embedded into or installed at the end part of each paddle, and the take-off bottom embedded ball (1003) is used for assisting take-off reduction and ground friction when the lower propeller takes off and the ground rotates; the bottom shield (801) comprises a spine structure, and when blades included in the lower rotation group are used as supporting legs, the top is inserted on the ground in the process of taking off for auxiliary taking-off positioning of the unmanned aerial vehicle;

taking off by the support: the supporting legs (5) support the ground and start to take off;

airflow jet takeoff: the swarm unmanned aerial vehicle launching vehicle adopts air flow to jet and launch, and starts up in the air.

5. The coaxial unmanned aerial vehicle control method of claim 1, wherein during the pop-up flight, the unmanned aerial vehicle further comprises an attitude adjustment step in the air after takeoff:

predicting the time when the obstacle flies or the missile flies;

the navigation flight control computer A and the navigation flight control computer B perform simulation, and obstacle avoidance operation is performed according to the fact that the steering engine of the flight control system can be adjusted to be opened more; when the steering engine of the flight control system cannot be adjusted to avoid; any one of the fuel containers (701) is opened in an emergency, so that the unmanned aerial vehicle can be adjusted in position in the air quickly; the instantaneous movement of the high-thrust air position is realized, and the emergency obstacle avoidance is realized.

6. A method of controlling a coaxial drone according to claim 1, characterised in that the drone support is provided with a camera, so that the peripheral and lower images can be acquired; the signal of the auxiliary camera of unmanned aerial vehicle communication connection satellite and nearby eminence acquires the figure.

7. A method of controlling coaxial drones according to claim 1, further comprising the step of recovering the landing of the drones,

selection of landing points: fixed-point landing is carried out through preset GPS information or landing is carried out through the position where the geology is relatively soft judged through images; the judging mode is that the ground surface of non-stone or concrete is judged through the image;

when the unmanned aerial vehicle lands on the ground, any one of the fuel containers (701) is intermittently started, so that the speed of the unmanned aerial vehicle can be quickly reduced, and slow landing is realized;

the bottom shield (801) comprises a spike structure, which is capable of being inserted into the ground;

the end parts of the bottom punching pipe (702) or the supporting legs (5) comprise supporting leg spikes (901), and the supporting leg spikes (901) can be inserted underground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

the bottom shield (801) comprises a spike structure, which is capable of being inserted into the ground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

and after landing, the communication report is carried out on the position of the GPS or the Beidou, and the ground is prompted to recover.

8. A method as claimed in claim 2, further comprising the step of a vision control logic, wherein the vision control logic analyzes the images from the satellite or the camera, and when the obstacle or the flying object is determined, the vision ranging, the emergency obstacle avoidance, the target tracking, and the target hitting are performed.

9. A method of coaxial drone control according to claim 1, characterized by the hollow blades, i.e. paddles (210), inside which are arranged some collision explosives, which, when acting as weapons, collide with the target object to explode; the blast and the high-speed blade are collided, and the target object is damaged.

10. The control method of claim 1, wherein when the high speed blade hits the target object, the blade is disconnected and the high speed blade can be used as a shrapnel to perform independent flight striking.

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a coaxial unmanned aerial vehicle control method.

Background

Since the unmanned aerial vehicle enters the plant protection market, the aerial working mode of the unmanned aerial vehicle is favorable for the growth of plants, does not damage the plants, gradually replaces the traditional working mode, and is popular with the majority of users. But the problems of load, endurance and downdraft fields cause the work efficiency and the prevention and treatment effect to be general.

Unmanned aerial vehicle has widely been applied to fields such as police force, city management, agricultural, geology, weather, electric power, and unmanned aerial vehicle's flight control computer system is the core of unmanned aerial vehicle "brain", is flight control system's central control unit, and its arithmetic speed has crucial effect to unmanned aerial vehicle's control.

At present, most unmanned aerial vehicles are consumer-grade, and control computers of the unmanned aerial vehicles are simpler than industrial-grade unmanned aerial vehicles. If many rotor unmanned aerial vehicle, it is developing from the model aeroplane and model ship itself, just is equivalent to a big model aeroplane and model ship, and its characteristics are that the threshold is low, easy to operate, and the price is cheaper, are ready to be liked by consumers in general.

Foldable unmanned aerial vehicle is because can fold, whole small, consequently wide by favour, nevertheless present foldable unmanned aerial vehicle exists uses inconvenient, retrieves inconvenient scheduling problem.

Disclosure of Invention

The purpose of the invention is as follows: in order to provide a coaxial unmanned aerial vehicle control method with better effect, a plurality of substantial technical effects of the specific implementation part are seen.

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

the first invention is as follows: a folding helicopter rotor system and a bracket-free light unmanned aerial vehicle;

the second invention is: a bulletproof shock-absorbing unmanned aerial vehicle and a method;

the third invention: a multi-purpose drone and method;

the fourth invention: a multi-surface transmission unmanned aerial vehicle and face teeth;

the fifth invention: the integrated rack launching vehicle, the positioning unmanned aerial vehicle and the launching positioning system are integrated;

the sixth invention: provided is an unmanned aerial vehicle control method.

The first invention relates to a folding helicopter rotor system and a bracket-free light unmanned aerial vehicle, which mainly adopts a unique propeller design and a support leg removing design, wherein a second layer of propellers is used for supporting the ground, a ground supporting trolley can be separated when the propellers are started, or small steel balls for supporting the ground are arranged at the end parts of the propellers; the overall quality can be remarkably reduced, a large number of parts can be reduced, and the cost can be reduced;

the second invention relates to a bulletproof shock-absorbing unmanned aerial vehicle and a method, which are as follows: the self engine performs initial impact ejection, namely self-ejection by utilizing self gunpowder, and the propeller rapidly takes off by driving in the air; the core of the technology is that the impact and the impact position have two options, one is an independent impact structure, the other is a bottom impact structure based on supporting legs, and the bottoms of the supporting legs are provided with small impact structures. Meanwhile, transient state adjustment can be carried out in the air. Rather than by auxiliary structures;

the third invention relates to a multipurpose unmanned aerial vehicle and a method, wherein the multipurpose unmanned aerial vehicle can be recovered, a groove is formed in the surface of a gear, the groove is used for accommodating balls of a bearing so as to further limit the position, and the two gears and rotating balls of the bearing form a sandwich-like clamping structure to ensure stability;

the fourth invention: the multi-surface transmission unmanned aerial vehicle and the surface teeth have the advantages that a bearing is removed, the cost is greatly reduced, the bearing is directly removed, the problem of abrasion and damage of the bearing is solved, and the high synchronization is realized by utilizing the tooth positioning;

the fifth invention: the integrated rack launching vehicle, the positioning unmanned aerial vehicle and the launching positioning system are based on the improvement of the front four groups of the invention on the launching vehicle;

the sixth invention: provided is an unmanned aerial vehicle control method.

The sixth invention: an unmanned aerial vehicle control method;

a control method of a coaxial unmanned aerial vehicle is characterized in that a control system comprises a navigation flight control computer A and a navigation flight control computer B, a ground station can be in communication connection with a ground remote control and remote control transceiver, and the navigation flight control computer A and the navigation flight control computer B are respectively in communication connection through a main remote control and remote control channel and a backup remote control and remote control channel; the ground remote control and remote sensing transceiver is in communication connection with a second remote control, and the second remote control can control an engine, a longitudinal dual-redundancy electric steering engine, a transverse dual-redundancy electric steering engine, a course dual-redundancy electric steering engine, a total distance dual-redundancy electric steering engine and an accelerator dual-redundancy electric steering engine of the unmanned aerial vehicle to control the shape of the airplane; the navigation flight control computer A and the navigation flight control computer B can acquire the oil mass of an oil tank, the temperature of an engine, the pressure of lubricating oil, the rotating speed of the engine, a signal of a magnetic heading sensor and a signal of a radio altimeter; the attitude gyro angular rate gyro is in communication connection with the navigation flight control computer A and the navigation flight control computer B and can acquire the attitude of the aircraft; the GPS/INS combination can be in communication connection with a navigation flight control computer A and a navigation flight control computer B; the air pressure sensor can provide air information for the navigation flight control computer A and the navigation flight control computer B through the air data computer.

The invention further adopts the technical scheme that the unmanned aerial vehicle launching step is as follows: firstly, carrying out system self-check, abandoning transmission if the self-check is not passed, and prompting to carry out fault alarm to further carry out fault elimination; the engine is preheated through self-checking, power starting is carried out after preheating, the state before launching is confirmed after power starting, and the flying is popped up after the state before launching is confirmed.

The invention further adopts the technical scheme that in the process of popping up and flying, the unmanned aerial vehicle pops up first, after popping up, the upper rotor wing and the lower rotor wing are unfolded, and the wings continuously fly after entering a limit area.

The invention further adopts the technical scheme that in the process of pop-up flight, the unmanned aerial vehicle takes off in any one of the following modes:

novel swarm unmanned aerial vehicle launch vehicle takes off: the primary bevel gear system 1107 and the secondary bevel gear system 1110 can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously; gradually transmitting according to the control of the clutch;

the individual soldier launches helping hand unmanned aerial vehicle and takes off: when the unmanned aerial vehicle is carried by a person, the primary bevel gear system 1107 and the secondary bevel gear system 1110 can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously to carry out single-cylinder launching;

single jet launching takeoff: a specific injection structure is provided at the bottom of the supporting leg, so that the unmanned aerial vehicle can be subjected to injection takeoff assistance while the propeller provides power; the fuel in the fuel container (701) is ignited, so that upward injection force is integrally formed, the unmanned aerial vehicle body is further driven to move upwards relatively, and when the unmanned aerial vehicle body rises to a target height, the propeller is started, so that rapid take-off is realized;

the bracket rotates to take off: the paddles 210 contained in the lower rotating group 221 prop up the ground, the end parts of the paddles 210 contained in the lower rotating group 221 contain a take-off bottom embedded ball 1003, the take-off bottom embedded ball 1003 is embedded in or installed at the end parts of the paddles, and the take-off bottom embedded ball 1003 is used for assisting take-off reduction and ground friction when the lower propeller takes off and when the ground rotates; the bottom protective cover 801 comprises a spine structure, and when blades included in the lower rotation group are used as supporting legs, the top is inserted on the ground in the process of taking off for auxiliary taking-off positioning of the unmanned aerial vehicle;

taking off by the support: the supporting legs 5 support the ground and start to take off;

airflow jet takeoff: the swarm unmanned aerial vehicle launching vehicle adopts air flow to jet and launch, and starts up in the air.

The invention further adopts the technical scheme that in the process of pop-up flight, the unmanned aerial vehicle also comprises the step of attitude adjustment in the air after taking off:

predicting the time when the obstacle flies or the missile flies;

the navigation flight control computer A and the navigation flight control computer B perform simulation, and obstacle avoidance operation is performed according to the fact that the steering engine of the flight control system can be adjusted to be opened more; when the steering engine of the flight control system cannot be adjusted to avoid; any one of the fuel containers 701 is opened in an emergency, so that the unmanned aerial vehicle can be quickly adjusted in position in the air; the instantaneous movement of the high-thrust air position is realized, and the emergency obstacle avoidance is realized.

The invention further adopts the technical scheme that the unmanned aerial vehicle bracket is provided with the camera, so that images on the periphery and the lower part can be obtained; the signal of the auxiliary camera of unmanned aerial vehicle communication connection satellite and nearby eminence acquires the figure.

The invention has the further technical proposal that the invention also comprises the step of recovering and landing the unmanned aerial vehicle,

selection of landing points: fixed-point landing is carried out through preset GPS information or landing is carried out through the position where the geology is relatively soft judged through images; the judging mode is that the ground surface of non-stone or concrete is judged through the image;

when the unmanned aerial vehicle lands on the ground, any one of the plurality of fuel containers 701 is intermittently started, so that the speed of the unmanned aerial vehicle can be quickly reduced, and slow landing is realized;

the bottom shield 801 contains a spike structure that can be inserted underground;

the bottom punching pipe 702 or the end part of the supporting leg 5 comprises a supporting leg spike 901, and the supporting leg spike 901 can be inserted underground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

the bottom shield 801 contains a spike structure that can be inserted underground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

and after landing, the communication report is carried out on the position of the GPS or the Beidou, and the ground is prompted to recover.

The invention further adopts the technical scheme that the method also comprises a step of a visual control logic, wherein the visual control logic analyzes images of a satellite or images acquired by a camera, and when the obstacle or the flying object is judged, visual ranging is carried out, emergency obstacle avoidance is carried out, the target is tracked, and the target is hit.

The further technical scheme of the invention is that some collision explosives are arranged inside the hollow blade, namely the blade 210, and when the hollow blade is used as a weapon, the collision explosives are exploded on a target object; the blast and the high-speed blade are collided, and the target object is damaged.

The invention further adopts the technical scheme that when the high-speed blade impacts a target object, the blade is disconnected, and the high-speed blade can be used as a shrapnel to carry out independent flying striking.

Compared with the prior art, the invention adopting the technical scheme has the following beneficial effects: the function is various, and is collapsible, and the result of use is better, and is safer, can retrieve, can realize the protection of self, can adopt auxiliary power to go up and down.

Drawings

To further illustrate the present invention, further description is provided below with reference to the accompanying drawings:

FIG. 1 is a schematic view of a rotating mass of the present invention;

FIG. 2 is a schematic view of a rotating group according to the present invention;

FIG. 3 is an overall schematic view of the upper rotating group and the lower rotating group;

FIG. 4 is an enlarged view of a portion of FIG. 1;

FIG. 5 is a drive diagram of the power section;

FIG. 6 is a schematic view of the power section;

FIG. 7 is one of the schematic diagrams of the engine and clutch;

FIG. 8 is a second schematic view of the engine and clutch;

FIG. 9 is a third schematic view of the engine and clutch;

FIG. 10 is a perspective view of the construction of the bottom shield;

FIG. 11 is a block diagram of the engine and clutch;

fig. 12 is a schematic view of the bottom of the drone;

fig. 13 is a schematic view of the upper bottom portion of the drone;

fig. 14 is a schematic view of a bottom lower portion of the drone;

fig. 15 is an overall view of the drone;

FIG. 16 is a novel docking diagram of a lower axle fixed gear and an upper axle fixed gear;

FIG. 17 is a gap clamping view of the lower and upper axle fixed gears;

fig. 18 is a further modified view of the bottom of the unmanned aerial vehicle;

FIG. 19 is a further modified view of the support leg;

FIG. 20 is a schematic view of a power transmission;

FIG. 21 is a further modified view of the support leg with the apex;

FIG. 22 is a schematic view of a further modification of the patent;

FIG. 23 is a schematic view of a technical solution of an integrated rack launching vehicle;

FIG. 24 is a schematic structural view of a single-barrel launch barrel;

FIG. 25 is a system control diagram;

FIG. 26 is a diagram of a system self takeoff;

FIG. 27 is a system pop-up diagram;

wherein: 101 a power input shaft; 102. a power input gear; 103. a lower primary transmission gear; 104. a transmission gear at the upper stage; 105. a lower coaxial transmission gear; 106. the upper part is provided with a coaxial transmission gear; a gear is fixed on a shaft below 107; 108. a gear is fixed by an upper shaft; 201. a top tray; 202. a fixed disc limiting disc; 203. a power hinge shaft is arranged on the fixed disc; 204. a skin fixation structure; 205. an upper steering shaft; 206. a steering base connecting shaft; 207. rotating the inner shaft hoop; 208. folding the paddle hoop; 209. a rotating shaft and a torsion spring; 210. a paddle; 211. an upper linkage rod; 212. an upper rotating bearing; 213. moving the disc upwards; 214. rotating the rotating shaft; 215. the group lower rotating disc is rotated upwards; 216. the group upper rotating disc is rotated downwards; 217. a lower linkage rod; 218. the group lower rotating disc is rotated downwards; 219. a downward moving disk; 220. a steering engine rotating shaft; 221. a lower rotating group; 222. a steering engine; 223. a steering engine fixing plate; 224. the upper rotating group; 225. rotating the shaft downwards; 226. the folding paddle hoop rotates the shaft; 227. adjusting a steering articulated shaft; 228. a steering articulation position; 301 an output shaft; 302 fixing the disc; 303 starting the disc; 304 output shaft fixing frame; 305 a clutch; 306 a crankshaft; 307 engine upper fixing frame; 308, an accelerator steering engine; 309 a crankcase; 310 an engine fixed shaft; 311 engine lower fixed disc; 313 starter fixing frame; 314 start the disc shaft; 315 starter flywheel; 316 starter motor; 317 a cooling liquid inlet; 318 spark plug; 319 exhaust port; 320 cylinder liner; 321 a cooling liquid outlet; 401 a fan housing; 402 a water pump; 403 water tank; 404 flight control; 405 combined navigation; 406 a power source; 407 an oil pump; 408 an oil tank; 409 laser radar; 410 a seeker; 5. supporting legs; 601. face teeth; 602. a middle space; 603. a roller bearing; 701. a fuel container; 702. a bottom punch tube; 703. punching the bottom; 801. a bottom shield; 901. supporting leg spikes; 8011. an inner wall; 8012. a cavity hole; 8013. an interlayer; 8014. an outer wall; 1001. an upper hanging ring; 1002. an up-flow hood; 1003. embedding balls into the takeoff bottom; 1101. a motor and an accelerator thereof; 1102. a power take-off shaft; 1103. a power output gear; 1104. a clutch power input gear; 1105. a clutch; 1106. a lower power gear; 1107. a primary bevel gear system; 1108. a primary power cross shaft; 1109. a secondary power vertical shaft; 1110. a secondary bevel gear system; 1111. ejecting a power shaft; 1112. a propulsion gear; 1113. a rack; 1114. a lower launch canister; 1115. a unit unmanned aerial vehicle; 1116. a transmitting portion support; 1117. a transfer gear; 1118. a gear mounting bracket; 1119. a single-tube launch tube; 1120. a transfer steering gear.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The patent provides a plurality of parallel schemes, and different expressions belong to an improved scheme based on a basic scheme or a parallel scheme. Each solution has its own unique features. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The fixing means, which is not described herein, may be any one of screw fixing, bolt fixing, or glue bonding.

The first embodiment is as follows: with reference to all of the accompanying drawings; a folding helicopter rotor system, characterized in that,

the propeller part comprises an upper rotating shaft 214 and a lower rotating shaft 225 which are nested with each other, wherein an upper rotating group 224 is arranged on the upper rotating shaft 214, and a lower rotating group 221 is arranged on the lower rotating shaft 225;

the upper rotating group 224 comprises a rotating inner shaft hoop 207 fixed on the upper rotating shaft 214, more than one folding paddle hoop 208 is arranged on the rotating inner shaft hoop 207, a folding paddle hoop rotating shaft 226 and the rotating inner shaft hoop 207 are integrally connected, the folding paddle hoop rotating shaft extends outwards based on the rotating inner shaft hoop 207, and the folding paddle hoop 208 is sleeved on the folding paddle hoop rotating shaft 226 and can rotate around the folding paddle hoop rotating shaft 226; the middle part of the folding paddle hoop 208 is rotatably provided with a paddle 210 through a rotating shaft and a torsion spring 209;

the lower rotating group 221 comprises a rotating inner shaft hoop 207 fixed on a lower rotating shaft 225, more than one folding paddle hoop 208 is arranged on the rotating inner shaft hoop 207, a folding paddle hoop rotating shaft 226 and the rotating inner shaft hoop 207 are integrally connected, the folding paddle hoop rotating shaft extends outwards based on the rotating inner shaft hoop 207, and the folding paddle hoop 208 is sleeved on the folding paddle hoop rotating shaft 226 and can rotate around the folding paddle hoop rotating shaft 226; the middle part of the folding paddle hoop 208 is rotatably provided with a paddle 210 through a rotating shaft and a torsion spring 209;

an upper rotating part adjusting system capable of adjusting the angle of the upper rotating group 224; a lower rotation part adjusting system capable of adjusting the angle of the lower rotation group 221;

the lower rotating part adjusting system comprises a lower rotating disk 219, a rotatable lower rotating group lower rotating disk 218 is arranged above the lower rotating disk 219, and a disk arranged below the lower rotating disk 219 is hinged with a steering engine rotating shaft 220; when the steering engine rotating shaft 220 moves upwards, the lower moving disk 219 can move upwards; an adjusting steering hinge shaft 227 is hinged on the lower rotating group lower turntable 218, the upper end of the adjusting steering hinge shaft 227 is hinged with the folding paddle hoop 208 through a steering hinge position 228, and the adjusting steering hinge shaft 227 can adjust the rotating angle and the direction of the folding paddle hoop 208; the lower rotating group upper turntable 216, the lower linkage rod 217, the lower rotating group lower turntable 218 and the adjusting steering hinge shaft 227 belong to a lower rotating part adjusting system corresponding to the lower rotating group 221; the lower rotating group 221 and the lower rotating portion adjustment system can rotate together;

the lower rotating group lower turntable 218 is hinged with the lower rotating group upper turntable 216 through more than one lower linkage rod 217; the lower rotating group lower turntable 218 and the lower rotating group upper turntable 216 each contain bearings inside and are therefore able to rotate;

the upper rotating part adjusting system comprises an upper moving disc 213, an upper rotating group lower rotating disc 215 which can rotate is arranged above the upper moving disc 213, and a lower rotating group upper rotating disc 216 is arranged below the upper moving disc 213; when the lower linkage rod 217 moves upwards, the upper moving disc 213 can move upwards; the upper rotating group lower rotating disc 215 is hinged with an upper fixed disc power hinge shaft 203 through an upper linkage rod 211, one side of the upper fixed disc power hinge shaft 203 is hinged with a top disc 201, the top disc 201 is positioned between two fixed disc limiting discs 202, the two fixed disc limiting discs 202 are fixed on an upper rotating shaft 214, the middle part of the upper fixed disc power hinge shaft 203 is hinged with an upper adjusting steering hinge shaft 205, the upper adjusting steering hinge shaft 205 is hinged with a folding paddle hoop 208 through an upper steering hinge position, and the upper adjusting steering hinge shaft 205 can adjust the rotating angle and the direction of the folding paddle hoop 208; the upper moving disc 213 moves up and down to drive the upper linkage rod 211 to move, further drive the power hinge shaft 203 on the fixed disc to move relatively, further drive the upper steering hinge shaft 205 to move relatively, and further drive the folding paddle hoop 208 to rotate so as to adjust the rotating angle and direction of the folding paddle hoop 208;

the upper rotating group lower rotating disc 215, the fixed disc upper power articulated shaft 203, the upper linkage rod 211, the adjusting steering articulated shaft 205 and the top disc 201 belong to an upper rotating part adjusting system corresponding to an upper rotating group 224; the top plate 201 and the upper rotating group lower rotating plate 215 contain bearings inside and can rotate; upper rotating group 224 and the upper rotating portion adjustment system can rotate together.

The technical scheme of the invention has the following substantial technical effects and the realization process: the upper rotating shaft 214 and the lower rotating shaft 225 which are nested with each other can respectively rotate, so that the blades are driven to rotate; because the paddle 210 is rotatably installed in the middle of the folding paddle hoop 208 through the rotating shaft and the torsion spring 209, the paddle 210 can fall and unfold, and when rotating, the paddle 210 can rotate due to the inertia of throwing. The upper rotating part adjusting system and the lower rotating part adjusting system can adjust the upper rotating group and the lower rotating group, and further realize the adjustment of the basic state. The upper moving plate 213 moves up and down to relatively move and rotate the height of the group.

Example two: as a further development or a parallel development or alternatively an independent development, the direction of rotation of both the upper and lower rolling groups 224 and 221 does not coincide.

The technical scheme of the invention has the following substantial technical effects and the realization process: the inconsistent transmission that adopts the gear train of pivoted direction realizes, further realizes unmanned aerial vehicle's lift.

Example three: as a further development or in a side-by-side or alternatively independent solution, both the upper rolling group 224 and the lower rolling group 221 each comprise two blades and the two blades are arranged symmetrically to each other. The technical scheme of the invention has the following substantial technical effects and the realization process: the symmetrical arrangement can facilitate the realization of a balanced rotation.

Example four: as a further modification or a side-by-side or alternatively an independent solution, both the upper rotating shaft 214 and the lower rotating shaft 225 nested with each other are arranged concentrically; more than one bearing is arranged between the two, so that the two can rotate without influencing each other.

Example five: as a further modification or in parallel or alternatively independently, the diameter of the upper rotating shaft 214 is smaller than the diameter of the lower rotating shaft 225. The technical scheme of the invention has the following substantial technical effects and the realization process: the diameter arrangement here is the preferred diameter arrangement, and similar diameter arrangements are within the scope of protection of this patent.

Example six: as a further improvement or a parallel solution or an alternative independent solution, the middle part of the upper rotating shaft 214 comprises a central shaft, the central shaft is hollow, and the line runs in the central shaft.

Example seven: as a further modification or a parallel solution or an alternative independent solution, the upper rotating shaft 214 and the lower rotating shaft 225 are respectively connected with a skin fixing structure 204, the skin fixing structure 204 is used for respectively installing skins on the upper rotating shaft 214 and the lower rotating shaft 225, and the skin fixing structure 204 comprises screw fixing holes through which the skins are fixed on the skin fixing structure 204. The technical scheme of the invention has the following substantial technical effects and the realization process: the covering can avoid foreign objects to influence the mechanical transmission part of the unmanned aerial vehicle, and avoid foreign objects to influence the operation of the unmanned aerial vehicle.

Example eight: as a further improvement or a parallel scheme or an optional independent scheme, the device further comprises a gear transmission part, wherein an upper shaft fixed gear 108 is fixed below the upper rotating shaft 214, an upper shaft fixed gear 108 is fixed below the lower rotating shaft 225, the upper shaft fixed gear 108 is meshed with the upper coaxial transmission gear 106, the upper coaxial transmission gear 106 and the upper primary transmission gear 104 are coaxially arranged, the upper primary transmission gear 104 is meshed with the power input gear 102, and the power input gear 102 is positioned on the power input shaft 101; the lower rotating shaft 225 is fixed with a lower shaft fixed gear 107, the lower shaft fixed gear 107 is meshed with a lower coaxial transmission gear 105, the lower coaxial transmission gear 105 and a lower primary transmission gear 103 are coaxially arranged, and the lower primary transmission gear 103 is meshed with the power input gear 102. The technical scheme of the invention has the following substantial technical effects and the realization process: the present embodiment provides a specific power transmission section capable of realizing precise and high-speed transmission; similar implementations and precision drives are within the scope of this patent.

Example nine: as a further development or in a side-by-side or alternatively independent solution, roller bearings are included between the upper and lower axle-fixed gears 108, 107. The technical scheme of the invention has the following substantial technical effects and the realization process: referring to fig. 20, the roller bearing allows the upper-shaft fixed gear 108 and the lower-shaft fixed gear 107 to operate without interfering with each other.

Example ten: as a further improvement or a parallel solution or an alternative independent solution, as a further preferable solution of the ninth embodiment, the faces of the upper shaft fixed gear 108 and the lower shaft fixed gear 107 respectively include grooves, and rollers of the roller bearings can move along the grooves, so that the upper shaft fixed gear 108, the lower shaft fixed gear 107 and the roller bearings can operate without affecting each other, and the grooves have a positioning function, so that the upper rotating part and the lower rotating part of the helicopter can operate independently without interfering each other.

Example eleven: as a further improvement scheme or a parallel scheme or an optional independent scheme, the power part capable of transmitting energy to the gear transmission part is further included, the power part comprises an engine and a clutch 305, an output shaft 301 of the clutch 305 is butted with a power input shaft, an engine fixed shaft 310 is included between an engine upper fixed frame 307 and an engine lower fixed disc 312, and the engine and the clutch 305 are included among a plurality of engine fixed shafts 310; the engine further comprises a cooling part, wherein the cooling part comprises a cooling liquid inlet 317 and a cooling liquid outlet 321, a cooling space is arranged between the cooling liquid inlet 317 and the cooling liquid outlet 321, the cooling space is a hollow shell, and the temperature of the engine can be reduced through circulation of cooling liquid. The technical scheme of the invention has the following substantial technical effects and the realization process: the embodiment provides a specific power part and a clutch part, and can realize specific power supply.

Example twelve: as a further development, either a parallel solution or an alternative independent solution, a fan housing 401 is included below the power section, and a fan is provided inside the fan housing 401. The technical scheme of the invention has the following substantial technical effects and the realization process: the fan can cool down.

Example thirteen: as a further modification, or in parallel or alternatively independently, the engine starter 316 is fixed to the engine upper fixing frame 307.

Example fourteen: as a further development or in parallel or alternatively independently, a water pump 402 is arranged below the fan housing 401, which water pump 402 is capable of drawing water from the water tank 403. The technical scheme of the invention has the following substantial technical effects and the realization process: the water in the water pump can be used for cooling, fire fighting or spraying, and liquid medicine is placed inside during spraying.

Example fifteen: as a further modification or a parallel scheme or an optional independent scheme, a flight control 404, a combined navigation 405 and a power supply 406 are arranged in the space at the side of the water pump 402 and the water tank 403. The technical scheme of the invention has the following substantial technical effects and the realization process: the present embodiment provides specific flight control arrangement positions and manners, and similar implementations are all within the scope of protection of the present patent.

Example sixteen: as a further modification or a parallel or alternative independent solution, an oil pump 407 and an oil tank 408 are disposed below the water pump 402 and the water tank 403, and the oil pump 407 and the oil tank 408 can supply oil to the engine.

Example seventeen: as a further development or in a parallel or optionally independent solution, the bottom of the drone contains a lidar 409 and a seeker 410. The technical scheme of the invention has the following substantial technical effects and the realization process: laser radar 409 and seeker 410 are capable of ranging and acquisition of geographic location, providing basic information for flight.

Example eighteen: as a further improvement scheme or a parallel scheme or an optional independent scheme, the shell of the unmanned aerial vehicle comprises support legs 5, and the support legs 5 are foldable support legs. The technical scheme of the invention has the following substantial technical effects and the realization process: the supporting leg can be as supporting, makes things convenient for unmanned aerial vehicle to stabilize on ground.

Example nineteenth: as a further improvement scheme or a parallel scheme or an optional independent scheme, the support legs can be retracted through the steering engine. The technical scheme of the invention has the following substantial technical effects and the realization process: the implementation and structure of the retraction of the support legs are numerous, and similar implementations and implementations are within the scope of this patent. The support legs can also be fixed support legs, for example.

Example twenty: as a further improved scheme or a parallel scheme or an optional independent scheme, a fuel container 701 is arranged at the end part of the supporting leg 5, an ignition device and a takeoff powder are arranged inside the fuel container 701, the fuel container 701 is communicated with a bottom punching pipe 702, the end part of the bottom punching pipe 702 is a bottom punching 703, and the bottom punching pipe can impact downwards after ignition. The technical scheme of the invention has the following substantial technical effects and the realization process: this embodiment provides specific injection structure for pioneering's design in the bottom of supporting leg, when further can realizing that the screw provides power, can let unmanned aerial vehicle spray the helping hand of taking off.

The specific implementation process is any one of the following modes:

1. the fuel in the fuel container 701 is ignited, so that upward injection force is integrally formed, the unmanned aerial vehicle body is further driven to move upwards relatively, when the unmanned aerial vehicle body rises to the target height, the propeller is started, the upper rotating group and the lower rotating group are further enabled to rotate, and then rapid take-off is realized; takeoff is realized by utilizing recoil force and the propeller together; the unique point of the mode is that the landing leg is used for supporting and taking off. The name of this approach may also be called: a method for assisting in the takeoff of a propeller together with impact. The aircraft is used for rapid takeoff and reduces the starting time;

2. when the unmanned aerial vehicle flies in the air, any one of the plurality of fuel containers 701 is intermittently started, and then the unmanned aerial vehicle can be quickly adjusted in the air. This embodiment is used for unmanned aerial vehicle to realize when quick shifting in the air. The name of this approach may also be called: a method for rapidly adjusting the position of an unmanned aerial vehicle. The device is used for lateral quick movement, and is used for avoiding obstacles or avoiding approaching flyers;

3. when unmanned aerial vehicle fell to the ground, any one in a plurality of fuel container 701 of intermittent type nature start, and then can let unmanned aerial vehicle speed reduce fast, and then realize slowly landing. The name of this approach may also be called: a method for slow landing based on unmanned aerial vehicle supporting legs.

Example twenty one: as a further development or in a parallel or optionally independent solution, the ignition device is communicatively connected to the central control part of the drone. The technical scheme of the invention has the following substantial technical effects and the realization process: the present embodiment enables joint control.

Example twenty two: as a further improvement or in a parallel or alternative independent solution, the bottom punch 702 comprises support foot spikes 901, and the support foot spikes 901 can be inserted into the ground. The technical scheme of the invention has the following substantial technical effects and the realization process: the supporting foot spine 901 can be inserted underground to realize stable fixation, and the fixing effect and the positioning effect are better.

Example twenty three: as a further modification or a juxtaposition or alternatively an independent solution, both the upper-shaft fixed gear 108 and the lower-shaft fixed gear 107 each include face teeth 601, and the face teeth 601 of both the upper-shaft fixed gear 108 and the lower-shaft fixed gear 107 can be engaged to achieve the fitting rotation. The technical scheme of the invention has the following substantial technical effects and the realization process: this embodiment is a parallel embodiment to the ninth embodiment, but this embodiment has a further advantage that the gear has an advantage of a small degree of wear, and therefore wear can be reduced, unlike a roller bearing which is a worn-out product, and therefore cost can be reduced.

Example twenty-four: as a further development or in a side-by-side or alternatively independent solution, both lidar 409 and seeker 410 include externally a bottom shield 801 that protects both. The technical scheme of the invention has the following substantial technical effects and the realization process: damage to lidar 409 and seeker 410 when landing can be avoided.

Example twenty-five: as a further improvement or a juxtaposition or an alternative independent solution, the bottom shield 801 is a sandwich structure comprising an inner wall 8011 and an outer wall 8014, with a sandwich layer 8013 between the inner wall 8011 and the outer wall 8014; more than one set of cavity holes 8012 are arranged in the sandwich. The technical scheme of the invention has the following substantial technical effects and the realization process: the sandwich structure is more impact resistant.

Example twenty-six: as a further improvement or a side-by-side or an alternative independent solution, the interlayer 8013 is provided with polyurea, which is an elastic material and can reduce and buffer vibrations. The technical scheme of the invention has the following substantial technical effects and the realization process: polyurea can absorb shock and simultaneously can prevent bullets.

Example twenty-seven: as a further alternative, either in parallel or alternatively independently, cavity aperture 8012 may be a channel, which is an impact channel, filled with a charge that, when ignited, provides a downward impact force. The technical scheme of the invention has the following substantial technical effects and the realization process: the gunpowder is ignited, and recoil force is provided for rapid lift-off of the unmanned aerial vehicle.

Example twenty-eight: as a further development or in a side-by-side or alternatively independent solution, the upper rotating group 224 comprises blades 210 of a length less than the length of the blades 210 of the lower rotating group 221; the paddles 210 included in the lower rotating group 221 can thus be used as a support structure when they are bent downward. The technical scheme of the invention has the following substantial technical effects and the realization process: the unique position of this embodiment lies in, need not the supporting leg, can let two unifications of paddle on screw and lower limit, and then reduce the adhering to of unmanned aerial vehicle fuselage, and then reduce overall quality, let unmanned aerial vehicle lift off more easily.

Example twenty-nine: as a further alternative or in parallel or alternatively independent, the bottom shield 801 includes spike structures that can be inserted into the ground. The technical scheme of the invention has the following substantial technical effects and the realization process: avoid empting when falling to the ground, further protect unmanned aerial vehicle for unmanned aerial vehicle's protection.

Example thirty: as a further development or in a side-by-side or alternatively independent solution, a recess is included on the drone housing, in which recess the blade 210 is located when it is vertically oriented towards the ground. The technical scheme of the invention has the following substantial technical effects and the realization process: the recess is not drawn, lets the paddle more smooth-going when accomodating, avoids destroying unmanned aerial vehicle's streamlined body.

Example thirty one: as a further modification or a side-by-side or an alternative independent solution, the blade 210 is a hollow blade. The technical scheme of the invention has the following substantial technical effects and the realization process: the hollow blade has small mass and is convenient to lift off integrally.

Example thirty-two: as a further improved scheme or a parallel scheme or an optional independent scheme, the integrated rack launching vehicle is characterized in that the launching vehicle comprises a launching part support 1116, the launching part support comprises more than one lower launching cylinder 1114, the more than one lower launching cylinder 1114 are arranged in parallel, a launching positioning system is arranged in the launching part support 1116, the launching positioning system comprises a motor and an accelerator 1101 thereof, a power output gear 1103 of a power output shaft 1102 of the motor and the accelerator 1101 thereof is meshed with more than one gear, the more than one gear is a clutch power input gear 1104 and a middle rotating steering gear 1120 respectively, a shaft connected with the clutch power input gear 1104 is communicated with a launching clutch 1105, a lower power gear 1106 is arranged on the power output shaft of the launching clutch 1105, the lower power gear 1106 is in power connection with a primary bevel gear system 1107 on a primary power transverse shaft 1108, two bevel gears of a primary bevel gear system 1107 are respectively positioned on a primary power horizontal shaft 1108 and a secondary power vertical shaft 1109, the end part of the secondary power vertical shaft 1109 comprises a secondary bevel gear system 1110, the power of the secondary bevel gear system 1110 can be transmitted to an ejection power shaft 1111 through the bevel gears, the power of the ejection power shaft 1111 can be transmitted to a shaft where a propulsion gear 1112 is positioned, and the propulsion gear 1112 is meshed with a rack 1113 arranged on the skin of the unmanned aerial vehicle; launch clutch 1105 can control whether power is engaged; primary and secondary bevel gear systems 1107 and 1110 enable power steering and multi-directional transmission such that the racks on both sides of the drone are pushed simultaneously. The technical scheme of the invention has the following substantial technical effects and the realization process: this embodiment pioneering provides a novel weapon firing system, and this weapon can be the unmanned aerial vehicle of this patent, also can be rocket projectile or other types of bullet. The weapon system has the prominent characteristics that: a purely mechanical system is used. The function is as follows: 1. the middle position of the machine for injection is positioned, so that accidents caused by collision with the cylinder wall are avoided, and the system can be used as a reference for a missile system;

2. the high-speed motor and the high-frequency accelerator are used for calculating the overall quality and completing projection at high speed. Gears are symmetrically arranged, bevel gears are in three-stage redirection, and launching vehicles are arranged on two sides and at the bottom; the middle part of the launching tube is an unmanned aerial vehicle body. The firing is carried out in a mechanical mode, circuit control is not involved, and the firing gun is more suitable for a battlefield environment, so that the firing gun is more stable, high-pressure air is not used, and safety accidents are easy to happen to weapons, especially weapons containing ammunition, due to the fact that the high-pressure air has impact force. The system is provided with a plurality of groups of multi-outlets, and the clutch is adopted to regulate and control different holes.

Example thirty-three: as a further alternative, or in parallel or alternatively independently, more than one gear may be mounted on the gear mounting bracket 1118.

Example thirty-four: as a further development or in parallel or alternatively independently, a hydraulic cylinder is included below the launch section support 1116, which hydraulic cylinder is arranged on the rear compartment of the launch vehicle, the launch section support 1116 being able to be angled by the launch vehicle. The technical scheme of the invention has the following substantial technical effects and the realization process: similar angular adjustment systems are within the scope of this patent.

Example thirty-five: as a further improvement, either a parallel scheme or an optional independent scheme, the racks comprise two groups, and the two groups of racks are symmetrically arranged around the body of the unmanned aerial vehicle. The technical scheme of the invention has the following substantial technical effects and the realization process: the two sides are pushed out, and the stability is better.

Example thirty-six: as a further improvement scheme or a parallel scheme or an optional independent scheme, the propulsion gear 1112 can be meshed with a rack, and when the propulsion gear 1112 is not started, the distance between the unmanned aerial vehicle and the wall of the launch canister is controlled to avoid mutual collision between the unmanned aerial vehicle and the wall of the launch canister; impel the middle part position that gear 1112 can fix a position the machine of injection promptly, avoid unmanned aerial vehicle and section of thick bamboo wall collision to cause the accident.

Example thirty-seven: as a further development or in parallel or alternatively independently, the motor and its accelerator 1101 is a multi-stage geared accelerator system.

Example thirty-eight: as a further improved scheme or a parallel scheme or an optional independent scheme, the launching positioning system is characterized by comprising a motor and an accelerator 1101, wherein a power output gear 1103 of a power output shaft 1102 of the motor and the accelerator 1101 is meshed with more than one gear, the more than one gear is a clutch power input gear 1104 and a middle turning gear 1120 respectively, a shaft connected with the clutch power input gear 1104 is led into a launching clutch 1105, a lower power gear 1106 is arranged on the power output shaft of the launching clutch 1105, the lower power gear 1106 is in power connection with a primary bevel gear system 1107 on a primary power horizontal shaft 1108, two bevel gears of the primary bevel gear system 1107 are respectively positioned on a primary power horizontal shaft 1108 and a secondary power vertical shaft 1109, the end part of the secondary power vertical shaft 1109 comprises a secondary bevel gear system 1110, the power of the secondary bevel gear system can be transmitted to a launching shaft 1111 through the bevel gears, the power of the ejection power shaft 1111 can be transmitted to the shaft where the propulsion gear 1112 is located, and the propulsion gear 1112 is meshed with a rack 1113 arranged on the skin of the unmanned aerial vehicle; launch clutch 1105 can control whether power is engaged; primary and secondary bevel gear systems 1107 and 1110 enable power steering and multi-directional transmission such that the racks on both sides of the drone are pushed simultaneously.

Example thirty-nine: as a further improvement scheme or a parallel scheme or an optional independent scheme, the positioning unmanned aerial vehicle is characterized in that racks are fixed on two sides of the unmanned aerial vehicle.

Example forty: as a further improved scheme or a parallel scheme or an optional independent scheme, the individual soldier launching power-assisted unmanned aerial vehicle is characterized by comprising a single-cylinder shell, wherein a motor and an accelerator 1101 thereof are arranged in the single-cylinder shell, a power output gear 1103 which is in power connection with a power output shaft of the motor and the accelerator 1101 is in power connection with a primary bevel gear system 1107 on a primary power transverse shaft 1108, two bevel gears of the primary bevel gear system 1107 are respectively positioned on the primary power transverse shaft 1108 and a secondary power vertical shaft 1109, the end part of the secondary power vertical shaft 1109 comprises a secondary bevel gear system 1110, the power of the secondary bevel gear system 1110 can be transmitted to an ejection power shaft 1111 through the bevel gears, the power of the ejection power shaft 1111 can be transmitted to a shaft where a propelling gear 1112 is positioned, and the propelling gear 1112 is meshed with a rack 1113 arranged on a skin of the unmanned aerial vehicle; primary and secondary bevel gear systems 1107 and 1110 enable power steering and multi-directional transmission such that the racks on both sides of the drone are pushed simultaneously. The technical scheme of the invention has the following substantial technical effects and the realization process: this scheme is referred to fig. 24. Can be launched on the shoulder.

Example forty one: as a further improvement scheme or a parallel scheme or an optional independent scheme, the bee colony weapon launching system is characterized in that the launching vehicle comprises a launching part support 1116, the launching part support comprises more than one lower launching cylinder 1114, more than one lower launching cylinder 1114 are arranged in parallel, a launching positioning system is arranged in the launching part support 1116, the launching positioning system comprises a motor and an accelerator 1101 thereof, a power output gear 1103 of a power output shaft 1102 of the motor and the accelerator 1101 thereof is meshed with more than one gear, the more than one gear is a clutch power input gear 1104 and a middle rotating steering gear 1120 respectively, a shaft connected with the clutch power input gear 1104 is communicated with a launching clutch 1105, a lower power gear 1106 is arranged on the power output shaft of the launching clutch 1105, the lower power gear 1106 is in power connection with a primary bevel gear system 1107 on a primary power transverse shaft 1108, two bevel gears of a primary bevel gear system 1107 are respectively positioned on a primary power transverse shaft 1108 and a secondary power vertical shaft 1109, the end part of the secondary power vertical shaft 1109 comprises a secondary bevel gear system 1110, the power of the secondary bevel gear system 1110 can be transmitted to an ejection power shaft 1111 through the bevel gears, the power of the ejection power shaft 1111 can be transmitted to a shaft where a propelling gear 1112 is positioned, and the propelling gear 1112 is meshed with a rack 1113 arranged on a weapon device skin; launch clutch 1105 can control whether power is engaged; primary bevel gear system 1107 and secondary bevel gear system 1110 enable power steering and multi-directional transmission such that racks on both sides of the weapon device are pushed simultaneously.

Example forty two: as a further development or in a parallel or alternatively independent solution, the accelerator can be replaced by the following structure. The first-stage bevel gear system 1107 and the second-stage bevel gear system 1110 are both acceleration systems, namely, the acceleration is realized step by step through the change of the size of a bevel gear, and the gear pushes the weapon to eject at high speed.

The sixth invention: a coaxial unmanned aerial vehicle control method;

steering engines as prior art are divided into: the device comprises a longitudinal dual-redundancy electric steering engine, a transverse dual-redundancy electric steering engine, a course dual-redundancy electric steering engine, a total distance dual-redundancy electric steering engine and an accelerator dual-redundancy electric steering engine.

Example forty-three: as a further improved scheme or a parallel scheme or a selectable independent scheme, the coaxial unmanned aerial vehicle control method is characterized in that the control system comprises a navigation flight control computer A and a navigation flight control computer B, a ground station can be in communication connection with a ground remote control and remote control transceiver, and the ground station is respectively in communication connection with the navigation flight control computer A and the navigation flight control computer B through a main remote control channel and a backup remote control channel; the ground remote control and remote sensing transceiver is in communication connection with a second remote control, and the second remote control can control an engine, a longitudinal dual-redundancy electric steering engine, a transverse dual-redundancy electric steering engine, a course dual-redundancy electric steering engine, a total distance dual-redundancy electric steering engine and an accelerator dual-redundancy electric steering engine of the unmanned aerial vehicle to control the shape of the airplane; the navigation flight control computer A and the navigation flight control computer B can acquire the oil mass of an oil tank, the temperature of an engine, the pressure of lubricating oil, the rotating speed of the engine, a signal of a magnetic heading sensor and a signal of a radio altimeter; the attitude gyro angular rate gyro is in communication connection with the navigation flight control computer A and the navigation flight control computer B and can acquire the attitude of the aircraft; the GPS/INS combination can be in communication connection with a navigation flight control computer A and a navigation flight control computer B; the air pressure sensor can provide air information for the navigation flight control computer A and the navigation flight control computer B through the air data computer.

Example forty-four: as a further improvement scheme or a parallel scheme or an optional independent scheme, the unmanned aerial vehicle transmitting step is as follows: firstly, carrying out system self-check, abandoning transmission if the self-check is not passed, and prompting to carry out fault alarm to further carry out fault elimination; the engine is preheated through self-checking, power starting is carried out after preheating, the state before launching is confirmed after power starting, and the flying is popped up after the state before launching is confirmed.

Example forty-five: as a further improved scheme or a parallel scheme or an optional independent scheme, in the process of popping up and flying, the unmanned aerial vehicle pops up first, after popping up, the upper rotor wing and the lower rotor wing are unfolded, and the wings continuously fly after entering a limit area.

Example forty-six: as a further improvement scheme or a parallel scheme or an optional independent scheme, in the process of pop-up flight, the unmanned aerial vehicle takes off in any one of the following modes:

taking off by the integrated rack launching vehicle: the primary bevel gear system 1107 and the secondary bevel gear system 1110 can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously; gradually transmitting according to the control of the clutch;

the individual soldier launches helping hand unmanned aerial vehicle and takes off: when the unmanned aerial vehicle is carried by a person, the primary bevel gear system 1107 and the secondary bevel gear system 1110 can realize power steering and multi-directional transmission, so that racks on two sides of the unmanned aerial vehicle are pushed simultaneously to carry out single-cylinder launching;

single jet launching takeoff: a specific injection structure is provided at the bottom of the supporting leg, so that the unmanned aerial vehicle can be subjected to injection takeoff assistance while the propeller provides power; the fuel in the fuel container 701 is ignited, so that upward injection force is integrally formed, the unmanned aerial vehicle body is further driven to move upwards relatively, and when the unmanned aerial vehicle body rises to a target height, the propeller is started, so that rapid take-off is realized;

the bracket rotates to take off: the paddles 210 contained in the lower rotating group 221 prop up the ground, the end parts of the paddles 210 contained in the lower rotating group 221 contain a take-off bottom embedded ball 1003, the take-off bottom embedded ball 1003 is embedded in or installed at the end parts of the paddles, and the take-off bottom embedded ball 1003 is used for assisting take-off reduction and ground friction when the lower propeller takes off and when the ground rotates; the bottom protective cover 801 comprises a spine structure, and when blades included in the lower rotation group are used as supporting legs, the top is inserted on the ground in the process of taking off for auxiliary taking-off positioning of the unmanned aerial vehicle;

taking off by the support: the supporting legs 5 support the ground and start to take off;

airflow jet takeoff: the swarm unmanned aerial vehicle launching vehicle adopts air flow to jet and launch, and starts up in the air.

Example forty-seven: as a further improvement scheme or a parallel scheme or an optional independent scheme, the unmanned aerial vehicle further comprises the following steps of attitude adjustment in the air after taking off:

predicting the time when the obstacle flies or the missile flies;

the navigation flight control computer A and the navigation flight control computer B perform simulation, and obstacle avoidance operation is performed according to the fact that the steering engine of the flight control system can be adjusted to be opened more; when the steering engine of the flight control system cannot be adjusted to avoid; any one of the fuel containers 701 is opened in an emergency, so that the unmanned aerial vehicle can be quickly adjusted in position in the air; the instantaneous movement of the high-thrust air position is realized, and the emergency obstacle avoidance is realized.

Example forty-eight: as a further development or a parallel solution or an alternative independent solution, the unmanned aerial vehicle support is provided with a camera, so that images of the periphery and the underside can be acquired; the signal of the auxiliary camera of unmanned aerial vehicle communication connection satellite and nearby eminence acquires the figure.

Example forty-nine: as a further improved scheme, a parallel scheme or an optional independent scheme, the method also comprises a step of recovering and landing the unmanned aerial vehicle,

selection of landing points: fixed-point landing is carried out through preset GPS information or landing is carried out through the position where the geology is relatively soft judged through images; the judging mode is that the ground surface of non-stone or concrete is judged through the image;

when the unmanned aerial vehicle lands on the ground, any one of the plurality of fuel containers 701 is intermittently started, so that the speed of the unmanned aerial vehicle can be quickly reduced, and slow landing is realized;

the bottom shield 801 contains a spike structure that can be inserted underground;

the bottom punching pipe 702 or the end part of the supporting leg 5 comprises a supporting leg spike 901, and the supporting leg spike 901 can be inserted underground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

the bottom shield 801 contains a spike structure that can be inserted underground; the unmanned aerial vehicle is inserted into the ground to be recovered when falling to the ground;

and after landing, the communication report is carried out on the position of the GPS or the Beidou, and the ground is prompted to recover.

Example fifty: as a further improvement scheme or a parallel scheme or an optional independent scheme, the method further comprises a step of a visual control logic, wherein the visual control logic analyzes images of satellites or images acquired by a camera, and when the obstacles or flying objects are judged, visual ranging is carried out, emergency obstacle avoidance is carried out, targets are tracked, and the targets are hit.

Example fifty one: as a further development or in parallel or alternatively independently, hollow blades, i.e. blades 210, are internally provided with a number of collision explosives, which, when acting as weapons, collide with the target object to explode; the blast and the high-speed blade are collided, and the target object is damaged.

Example fifty two: as a further improvement scheme or a parallel scheme or an optional independent scheme, when the high-speed blade impacts a target object, the blade is disconnected, and the high-speed blade can be used as a shrapnel to carry out independent flying striking. This embodiment is a further improvement of embodiment fifty-one.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is to be limited to the embodiments described above.