CN107323660B - Vertical take-off and landing method of delta-wing unmanned aerial vehicle - Google Patents
Vertical take-off and landing method of delta-wing unmanned aerial vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a vertical take-off and landing method of a delta-wing unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. The invention relates to a vertical take-off and landing method of a delta-wing unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein a front rotor wing is arranged on the front side of a wing of the unmanned aerial vehicle body, a rear rotor wing is arranged on the rear side of the wing, and the front rotor wing and the rear rotor wing are both arranged along the direction of a body of the unmanned aerial vehicle body; the unmanned aerial vehicle is characterized in that a side wing is arranged at the end part of the wing and is in an A shape, and the unmanned aerial vehicle body can be vertically placed through the side wing. The front rotor wing can rotate upwards by 90 degrees, the rear rotor wing can rotate downwards by 90 degrees, and the taking-off and landing method of the unmanned aerial vehicle by the structure comprises a transverse vertical taking-off and landing mode and a vertical taking-off and landing mode; and can be landed by using the parachute. The invention can realize the vertical take-off and landing of the delta wing unmanned aerial vehicle, has sufficient power and high safety, and overcomes the limitation of the field to take-off.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing method of a delta-wing unmanned aerial vehicle.
Background
Common aircraft include helicopters and fixed-wing aircraft. The helicopter can take off and land vertically at low speed, and has low requirement on airport runways, such as a rotor aircraft, but the speed range is not as fast as that of a fixed-wing aircraft; the fixed wing aircraft has the advantages of long flight time, large flight distance, high flight speed and the like, but is high in speed during taking off and landing, needs the assistance of a runway to take off mostly, and has higher requirements on a take-off field. For some delta wing aircrafts, bouncing takeoff can be adopted, and a jumper is required to be used as takeoff power.
Therefore, the fixed-wing aircraft can realize a vertical take-off and landing mode, the take-off and landing safety performance of the fixed-wing aircraft is improved, the field requirements of the fixed-wing aircraft on take-off and landing are reduced, and the application range of the fixed-wing aircraft is wider.
Regarding the vertical take-off and landing technology, for example, chinese patent (CN 105035320 a) discloses a multi-rotor vertical take-off and landing fixed wing aircraft, which includes a fuselage, wings and a tail wing, and further includes power frame units disposed on the wings and the tail wing, where the power frame units include a front rotor, a rear rotor and a tail rotor. The helicopter mode take-off and landing and fixed wing flight mode conversion is realized, the take-off and landing safety performance of the aircraft is improved, and the take-off and landing mode of the traditional fixed wing aircraft is changed.
For another example, chinese patent (CN 106043686 a) discloses a vertical take-off and landing fixed wing aircraft, which includes a main fuselage, an equipment cabin, a left wing and a right wing installed on the left and right sides of the main fuselage, an upper vertical fin and a lower vertical fin installed on the front and rear sides of the main fuselage, more than four propellers, a power system and a power cabin with the same number as the propellers, and a control system. All main parts of the aircraft are fixedly connected by the scheme, so that the structure is more stable, and the maintenance cost is reduced.
The above two patent schemes are all improvements made for fixed wing airplanes, and a rotor wing is installed on a wing, so that the fixed wing has the vertical take-off and landing functions. The first patent scheme is that the rotation of the rotor wing can be used for realizing vertical take-off and landing and also can be used as a propeller; the 4 rotors are arranged in the second patent scheme, so that the airplane can take off vertically, and the two schemes can achieve the purpose. However, the vertical takeoff in the first patent scheme is suitable for the aircraft with the tail wing, and the second patent scheme is mostly applied to the delta wing aircraft, so that the effective combination is difficult to realize.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defect that a fixed delta wing unmanned aerial vehicle is inconvenient to take off and land in the prior art, and provides a vertical take-off and landing method of the delta wing unmanned aerial vehicle. The invention can realize the vertical take-off and landing of the delta wing unmanned aerial vehicle, has sufficient power and overcomes the limitation of the field to take-off.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
according to the vertical take-off and landing method of the delta-wing unmanned aerial vehicle, the delta-wing unmanned aerial vehicle comprises an unmanned aerial vehicle body, a front rotor wing is arranged on the front side of a wing of the unmanned aerial vehicle body, a rear rotor wing is arranged on the rear side of the wing, the front rotor wing and the rear rotor wing are both arranged along the direction of the unmanned aerial vehicle body, the front rotor wing can rotate upwards by 90 degrees, and the rear rotor wing can rotate downwards by 90 degrees; the end part of the wing is provided with a side wing which is A-shaped, and the unmanned aerial vehicle body can be vertically placed through the side wing; the taking-off and landing method of the unmanned aerial vehicle comprises a transverse vertical taking-off and landing mode and a vertical taking-off and landing mode;
the taking-off and landing process of the transverse vertical taking-off and landing mode comprises the following steps:
s1, switching a rotor rotating shaft of the unmanned aerial vehicle to a vertical direction, wherein the front rotor is positioned above the wings, and the rear rotor is positioned below the wings;
s2, flatly placing the unmanned aerial vehicle body on a take-off platform, and enabling the wings to be located in the horizontal direction to prepare for take-off;
s3, controlling the rotor wing to rotate through the control device, and when the provided lifting force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle body upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rotating shaft of the rear rotor wing rotates backwards by 90 degrees to provide forward power, and then the front rotor wing rotates forwards by 90 degrees to enable the unmanned aerial vehicle to enter a flying state;
s5, when descending, do not provide power to the rotor, unmanned aerial vehicle is in the state of sliding, then rotates preceding rotor and back rotor pivot to vertical direction, and the rotor work that restarts relies on 4 rotors to make unmanned aerial vehicle descend.
The vertical take-off and landing mode has the following take-off and landing processes:
s1, switching a rotor wing rotating shaft of the unmanned aerial vehicle to be parallel to the fuselage, wherein the front rotor wing is coaxial with the rear rotor wing;
s2, vertically placing the unmanned aerial vehicle body on a take-off platform, and enabling the unmanned aerial vehicle body to stand by the side wings to prepare for take-off;
s3, controlling the front rotor wing to rotate through the control device, and when the provided ascending force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rear rotor wing accelerates to enable the unmanned aerial vehicle to enter a flying state, and at the moment, the front rotor wing and the rear rotor wing can provide flying power;
s5, when descending, the back rotor does not provide power, reduces preceding rotor rotational speed, relies on 2 rotors to make unmanned aerial vehicle descend.
As a further improvement of the invention, the landing mode in the transverse vertical take-off and landing mode and the vertical take-off and landing mode adopts the parachute landing mode.
As a further improvement of the invention, the wing is connected with the middle part of the side wing, and the lower side of the side wing is provided with a V-shaped opening, so that the ground of the side wing forms two supporting points.
As a further improvement of the unmanned aerial vehicle, a rotor wing installation frame is arranged below the unmanned aerial vehicle body, a rotor wing steering engine is installed at the end part of the rotor wing installation frame, a rotating shaft of the rotor wing steering engine is connected with a motor installation seat, and the motor installation seat is used for installing a motor.
As a further improvement of the unmanned aerial vehicle, a parachute cabin is arranged on the belly of the unmanned aerial vehicle body, a parachute is placed in the parachute cabin, and when the parachute cabin is opened, the parachute is released and opened for landing of the unmanned aerial vehicle.
As a further improvement of the invention, a cabin door is connected below the umbrella cabin, one end of the cabin door is clamped on the bottom wall of the umbrella cabin, and the other end of the cabin door is pressed by a bolt of an umbrella opening steering engine, so that the cabin door is in a closed state.
As a further improvement of the invention, the cabin door is connected with the bottom wall of the umbrella cabin in a clamping way, the end part of the bottom wall of the umbrella cabin is of a convex arc structure, and the end surface of the cabin door is provided with a corresponding concave arc structure which are matched with each other.
As a further improvement of the invention, the other end of the cabin door is arranged to be step-shaped, and the step-shaped interface is matched with the step on the bottom wall of the umbrella cabin; the rotating shaft of the parachute opening steering engine is connected with a door bolt, and when the door bolt presses the cabin door, the parachute is sealed in the parachute cabin.
As a further improvement of the invention, one side of the bottom wall of the umbrella chamber, which is in a convex arc structure, is provided with a spring, and the spring is used for applying thrust to the chamber door.
As a further improvement of the invention, the parachute landing process comprises the following steps: under unmanned aerial vehicle flight state, close rotor power, then make the keeper rotate through the parachute-opening steering wheel, the hatch door rotates under the action of gravity, the concave arc and the convex arc structure of arc interface break away from gradually, the hatch door drops downwards to pull out the parachute that links to each other with it, the parachute meets air resistance and opens, unmanned aerial vehicle body drops downwards under the resistance, and falls along with the parachute together, realizes unmanned aerial vehicle's safe landing.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) according to the vertical take-off and landing method of the delta wing unmanned aerial vehicle, 4 rotor wings are arranged on the wings, take-off power and flight power can be provided for the unmanned aerial vehicle, the A-shaped side wing is arranged at the end part of the wings and can support the whole unmanned aerial vehicle to form an attitude, the rotor wings can be used for directly driving the unmanned aerial vehicle to take off, the limitation of a field is eliminated, and the flight power is sufficient;
(2) according to the vertical take-off and landing method of the delta-wing unmanned aerial vehicle, the front rotor wing can rotate upwards by 90 degrees, the rear rotor wing can rotate downwards by 90 degrees, the rotor wing can be used for directly driving the unmanned aerial vehicle to take off vertically, so that the unmanned aerial vehicle can take off and land vertically in a horizontal posture, and the unmanned aerial vehicle can take off in two take-off modes of horizontal take-off and vertical take-off;
(3) according to the vertical take-off and landing method of the delta-wing unmanned aerial vehicle, the parachute cabin is arranged on the belly of the unmanned aerial vehicle, the steering engine can be used for controlling the opening of the parachute cabin, the parachute can be directly used for landing of the unmanned aerial vehicle under the condition of insufficient cruising ability or operation failure, safety and reliability are achieved, operation is easy, and the requirement for operation is lowered.
Figure illustrates the drawings
FIG. 1 is a schematic view of a rotor with its rotor shaft parallel to the fuselage;
FIG. 2 is a schematic view of a rotor mounting arrangement;
FIG. 3 is a schematic view of a rotor with its rotor shaft perpendicular to the fuselage;
FIG. 4 is a schematic view of the distribution of the pods;
fig. 5 is a schematic view of the internal structure of the umbrella cabin.
The reference numerals in the schematic drawings illustrate: 11. a body; 12. an airfoil; 13. a side wing; 14. an umbrella cabin; 141. an umbrella opening steering engine; 142. a door bolt; 143. a cabin door; 144. a parachute; 145. an arc-shaped interface; 146. a spring; 21. a rotor mount; 22. a front rotor; 221. a rotor wing steering engine; 222. a motor mounting seat; 223. a motor; 224. a blade; 23. a rear rotor.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1
With reference to fig. 1, the delta-wing drone of the present embodiment includes a drone body, which is composed of a fuselage 11 and wings 12 distributed on two sides of the fuselage, and forms a triangle-like shape. The delta wing unmanned aerial vehicle has the advantages of high flying speed, large flying distance, long operation time and more advantages, realizes vertical takeoff, and can greatly increase the application range of the delta wing unmanned aerial vehicle.
As the improvement, rotor mounting bracket 21 is installed to wing 12 below of this embodiment unmanned aerial vehicle body, can fix it in wing 12 below, and rotor mounting bracket 21 is located the one end of wing 12 front side and installs preceding rotor 22, and the one end that is located the wing 12 rear side installs back rotor 23, and preceding rotor 22 and back rotor 23 all set up along the fuselage 11 direction of the unmanned aerial vehicle body, and rotor axis of rotation is parallel with unmanned aerial vehicle fuselage direction promptly, can provide flight power for it.
In order to realize vertical takeoff, the end part of the wing 12 is provided with a side wing 13, the side wing 13 is in an A shape, namely the side wing 13 is an A-shaped plate, when the unmanned aerial vehicle body is vertically placed, the two side wings 13 are used as supporting points, and the unmanned aerial vehicle body can be vertically placed. Under this kind of gesture, the rotor axis of rotation is in vertical direction, can provide the lift, realizes taking off perpendicularly, after unmanned aerial vehicle flies the take off altitude, through its flight gesture of control rotor speed adjustment, can regard as fixed wing unmanned aerial vehicle work, has changed the mode of taking off of traditional fixed wing aircraft.
Example 2
With reference to fig. 2, the basic structure of the delta-wing drone of the present embodiment is the same as that of embodiment 1, and the difference is that: for the front rotor 22, the end part of the rotor installation frame 21 is provided with a rotor steering engine 221, the rotor steering engine 221 is embedded into the rotor installation frame 21, the rotating shaft of the rotor steering engine 221 is connected with a motor installation seat 222, the motor installation seat 222 is of a U-shaped structure, two side walls of the motor installation seat are connected with the rotating shaft of the rotor steering engine 221, and the motor installation seat 222 can be driven to rotate around the rotating shaft through the rotor steering engine 221.
The bottom wall of the motor mounting base 222 is used for mounting a motor 223, and the motor 223 can be a brushless motor, and a blade 224 is mounted on a rotating shaft of the motor and drives the blade 224 to rotate. The rear rotor 23 has the same structure as the mounting structure of the front rotor 22 described above.
Can drive motor mount 222 through rotor steering wheel 221 and rotate, realize the rotation of rotor, this embodiment restriction front rotor 22 can upwards rotate 90, and back rotor 23 can downwards rotate 90. To different unmanned aerial vehicle structures, also can consider back rotor 23 upwards rotatory, because this embodiment is to delta wing unmanned aerial vehicle, its wing 12 inclines backward, if back rotor 23 upwards rotates, there is certain regional overlapping with the wing in the horizontal projection in the blade rotation range of rotor, when the pivot is located vertical position and provides lift, the air current that is used for providing the rotor and rises can impact wing 12, forms certain resistance, and the structure is unreasonable.
Combine fig. 3, in this embodiment, under the gesture is placed to the unmanned aerial vehicle body level, the pivot of preceding rotor 22 and back rotor 23 all is located vertical direction, provides lift through the rotor, but direct control unmanned aerial vehicle takes off, adjusts the rotor rotation again after reacing the take-off altitude, makes it use as the propeller, realizes taking off of unmanned aerial vehicle. Then this embodiment unmanned aerial vehicle realizes two kinds of modes of takeoff of keeping flat and takeoff vertically.
Example 3
The delta-wing unmanned aerial vehicle of this embodiment, its basic structure is the same with embodiment 2, its difference lies in: the included angle between the inner surface of the flank 13 and the upper surface of the wing 12 is 90-120 degrees. If the contained angle undersize, can influence unmanned aerial vehicle flight, produce great resistance that turns to, if the angle is too big, the contained angle between two flanks 13 diminishes, can not effectively support unmanned fuselage.
Further, the wing 12 is connected with the middle of the side wing 13, and the lower side of the side wing 13 is provided with a V-shaped opening which is downward, so that the ground of the side wing 13 forms two supporting points. Namely, the wing 12 corresponds to the middle section position of the wing 13, and the wing 13 forms two supporting points, so that the stable fluctuation range of the gravity center is enlarged, and the wing can be vertically placed under the condition that the weight of the body is changed to a certain degree.
Example 4
With reference to fig. 4, the basic structure of the delta-wing drone of the present embodiment is the same as that of embodiment 3, and the difference is that: the belly of fuselage 11 of unmanned aerial vehicle body is provided with parachute bay 14, places parachute 144 in parachute bay 14, and after parachute bay 14 opened, parachute 144 was played and is opened for unmanned aerial vehicle's landing.
Utilize the rotor to make unmanned aerial vehicle vertical takeoff, also can realize unmanned aerial vehicle's descending through the rotor in addition, but can't realize descending through the rotor when power is not enough, if operating personnel is not skilled to operating technique moreover, can't realize the conversion between operating condition and the descending state, perhaps meets the rotor trouble, will hardly steadily descend, that is to say, this kind of fixed wing unmanned aerial vehicle still faces the descending problem.
And the parachute 144 that sets up can be used for supplementary landing, utilizes the steering wheel can control opening of parachute bay, under the not enough or operational failure's of duration circumstances, can directly utilize the parachute to realize unmanned aerial vehicle's landing, safe and reliable changes in the operation, has reduced the requirement to the operation.
Example 5
With reference to fig. 5, the basic structure of the delta-wing drone of the present embodiment is the same as that of embodiment 4, and the difference is that: a hatch door 143 is connected below the umbrella cabin 14, one end of the hatch door 143 is clamped on the bottom wall of the umbrella cabin 14, and the other end is pressed by a bolt 142 of the umbrella opening steering engine 141, so that the hatch door 143 is in a closed state.
The end part of the bottom wall of the umbrella cabin 14 is a convex arc structure, the end surface of the cabin door 143 is provided with a corresponding concave arc structure, the convex arc structure and the concave arc structure are matched to form an arc interface 145, and the cabin door 143 can be connected with the bottom wall of the umbrella cabin 14 in a clamping mode.
The other end of the cabin door 143 is arranged in a step shape, and the step-shaped interface is matched with the step on the bottom wall of the umbrella cabin 14 and is connected more tightly; the parachute opening steering gear 141 is arranged in the parachute cabin 14, a rotating shaft of the parachute opening steering gear 141 is connected with the door bolt 142, and when the door bolt 142 presses the cabin door 143, the parachute 144 is sealed in the parachute cabin 14.
After the power of the unmanned aerial vehicle is turned off, the bolt 14290 degrees rotates, the cabin door 143 rotates under the action of gravity, the concave arc and convex arc structures of the arc interface 145 gradually break away from the cabin door 143, the cabin door 143 drops downwards and pulls out the parachute 144 connected with the cabin door, and due to huge air resistance, the parachute 144 is opened, so that the unmanned aerial vehicle body drops downwards under the action of resistance and falls down along with the parachute, and the safe landing of the unmanned aerial vehicle is realized.
Example 6
The basic structure of the delta-wing drone of the present embodiment is the same as that of the embodiment 5, and the difference is that: in order to ensure that the parachute can be opened, a spring 146 can be installed on one side of the bottom wall of the parachute bay 14, the other end of the spring 146 abuts against the protruding portion of the bay door 143 and applies thrust to the protruding portion, after the door bolt is opened, the bay door 143 can be opened and fall off rapidly under the thrust action of the spring 146, the parachute can be opened timely, and safety of the unmanned aerial vehicle during landing is ensured.
Example 7
The embodiment provides a vertical take-off and landing method of a delta-wing unmanned aerial vehicle, which aims at the vertical take-off and landing of the delta-wing unmanned aerial vehicle, and comprises a transverse vertical take-off and landing mode and a vertical take-off and landing mode, wherein the take-off and landing process of the transverse vertical take-off and landing mode is as follows:
s1, switching a rotor rotating shaft of the unmanned aerial vehicle to a vertical direction, wherein the front rotor 22 is positioned above the wing 12, and the rear rotor 23 is positioned below the wing 12;
s2, flatly placing the unmanned aerial vehicle body on a take-off platform, and enabling the wings 12 to be located in the horizontal direction to prepare for take-off;
s3, controlling the rotor wing to rotate through the control device, and when the provided lifting force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle body upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rotating shaft of the rear rotor 23 rotates backwards by 90 degrees to provide forward power, and then the front rotor 22 rotates forwards by 90 degrees to enable the unmanned aerial vehicle to enter a flying state;
s5, when descending, do not provide power to the rotor, unmanned aerial vehicle is in the state of sliding, then rotates preceding rotor 22 and back rotor 23 pivot to vertical direction, starts rotor work once more, relies on 4 rotors to make unmanned aerial vehicle descend.
The vertical take-off and landing mode has the following take-off and landing processes:
s1, switching a rotor rotating shaft of the unmanned aerial vehicle to be parallel to the fuselage, wherein the front rotor 22 and the rear rotor 23 are coaxial;
s2, vertically placing the unmanned aerial vehicle body on a take-off platform, and enabling the unmanned aerial vehicle body to stand by the side wings 13 to prepare for take-off;
s3, controlling the front rotor 22 to rotate through the control device, and when the provided lifting force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rear rotor 23 accelerates to enable the unmanned aerial vehicle to enter a flying state, and at the moment, the front rotor 22 and the rear rotor 23 can be used for providing flying power;
s5, when descending, back rotor 23 does not provide power, reduces preceding rotor 22 rotational speed, relies on 2 rotors to make unmanned aerial vehicle descend.
For the landing mode in the horizontal vertical take-off and landing mode and the vertical take-off and landing mode, the landing mode can also be an umbrella landing mode, and the process is as follows:
under unmanned aerial vehicle flight state, close rotor power, then make keeper 142 rotate through parachute-opening steering wheel 141, hatch door 143 rotates under the action of gravity, the concave arc and the convex arc structure of arc interface 145 break away from gradually, hatch door 143 drops downwards to pull out parachute 144 that links to each other with it, parachute 144 meets air resistance and opens, unmanned aerial vehicle body drops downwards under the resistance, and falls along with the parachute together, realizes unmanned aerial vehicle's safe landing.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (8)
1. A vertical take-off and landing method of a delta-wing unmanned aerial vehicle is characterized in that: the delta-wing unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a front rotor (22) is arranged on the front side of a wing (12) of the unmanned aerial vehicle body, a rear rotor (23) is arranged on the rear side of the wing (12), the front rotor (22) and the rear rotor (23) are both arranged along the direction of a vehicle body (11) of the unmanned aerial vehicle body, the front rotor (22) can rotate upwards by 90 degrees, and the rear rotor (23) can rotate downwards by 90 degrees; a side wing (13) is arranged at the end part of the wing (12), the side wing (13) is A-shaped, and the unmanned aerial vehicle body can be vertically placed through the side wing (13); the wing (12) is connected with the middle part of the side wing (13), and the lower side of the side wing (13) is provided with a V-shaped opening, so that two supporting points are formed on the ground of the side wing (13); the taking-off and landing method of the unmanned aerial vehicle comprises a transverse vertical taking-off and landing mode and a vertical taking-off and landing mode, and the unmanned aerial vehicle adopts a parachute landing mode for landing in the transverse vertical taking-off and landing mode and the vertical taking-off and landing mode;
the taking-off and landing process of the transverse vertical taking-off and landing mode comprises the following steps:
s1, switching a rotor rotating shaft of the unmanned aerial vehicle to a vertical direction, wherein the front rotor (22) is positioned above the wing (12), and the rear rotor (23) is positioned below the wing (12);
s2, flatly placing the unmanned aerial vehicle body on a take-off platform, and enabling the wings (12) to be located in the horizontal direction to prepare for take-off;
s3, controlling the rotor wing to rotate through the control device, and when the provided lifting force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle body upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rotating shaft of the rear rotor (23) rotates backwards by 90 degrees to provide forward power, and then the front rotor (22) rotates forwards by 90 degrees to enable the unmanned aerial vehicle to enter a flying state;
s5, when the unmanned aerial vehicle lands, no power is provided for the rotor wings, the unmanned aerial vehicle is in a sliding state, then the rotating shafts of the front rotor wing (22) and the rear rotor wing (23) are rotated to the vertical direction, the rotor wings are started to work again, and the unmanned aerial vehicle lands by means of 4 rotor wings;
the vertical take-off and landing mode has the following take-off and landing processes:
s1, switching a rotor rotating shaft of the unmanned aerial vehicle to a direction parallel to the fuselage, wherein the front rotor (22) and the rear rotor (23) are coaxial;
s2, vertically placing the unmanned aerial vehicle body on a take-off platform, and enabling the unmanned aerial vehicle body to stand on a side wing (13) to prepare for take-off;
s3, controlling the front rotor (22) to rotate through the control device, and when the provided lifting force is larger than the weight of the unmanned aerial vehicle, lifting the unmanned aerial vehicle upwards;
s4, when the unmanned aerial vehicle rises to a certain height, the rear rotor (23) accelerates to enable the unmanned aerial vehicle to enter a flying state, and at the moment, the unmanned aerial vehicle can provide flying power by the front rotor (22) and the rear rotor (23);
s5, when descending, back rotor (23) do not provide power, reduce preceding rotor (22) rotational speed, rely on 2 rotors to make unmanned aerial vehicle descend.
2. The vertical take-off and landing method of the delta-wing drone according to claim 1, characterized in that: be provided with rotor mounting bracket (21) below the unmanned aerial vehicle body, rotor steering wheel (221) are installed to the tip of rotor mounting bracket (21), and the pivot of rotor steering wheel (221) is connected with motor mount pad (222), and this motor mount pad (222) is used for installing motor (223).
3. The vertical take-off and landing method of the delta-wing drone according to claim 1, characterized in that: the belly of fuselage (11) of unmanned aerial vehicle body is provided with parachute bay (14), places parachute (144) in parachute bay (14), and when parachute bay (14) open the back, parachute (144) are emitted and are opened for unmanned aerial vehicle's landing.
4. The vertical take-off and landing method of a delta-wing drone according to claim 3, characterized in that: a cabin door (143) is connected below the umbrella cabin (14), one end of the cabin door (143) is clamped on the bottom wall of the umbrella cabin (14), and the other end of the cabin door is pressed by a bolt (142) of the umbrella opening steering engine (141), so that the cabin door (143) is in a closed state.
5. The vertical take-off and landing method of a delta-wing drone according to claim 4, characterized in that: the cabin door (143) is connected with the bottom wall of the umbrella cabin (14) in a clamping mode, the end part of the bottom wall of the umbrella cabin (14) is of a convex arc structure, and the end face of the cabin door (143) is provided with a corresponding concave arc structure which is matched with the convex arc structure.
6. The vertical take-off and landing method of a delta-wing drone according to claim 5, characterized in that: the other end of the cabin door (143) is arranged to be stepped, and the stepped interface is matched with a step on the bottom wall of the umbrella cabin (14); the rotating shaft of the parachute opening steering engine (141) is connected with a door bolt (142), and when the door bolt (142) presses the cabin door (143), a parachute (144) is sealed in the parachute cabin (14).
7. The vertical take-off and landing method of a delta-wing drone according to claim 6, characterized in that: and a spring (146) is arranged on one side of the bottom wall of the umbrella cabin (14) in a convex arc structure, and the spring (146) is used for applying thrust to the cabin door (143).
8. The vertical take-off and landing method of a delta-wing drone according to claim 6, characterized in that: the parachute descending process comprises the following steps: under unmanned aerial vehicle flight state, close rotor power, then make keeper (142) rotate through parachute-opening steering wheel (141), hatch door (143) rotate under the action of gravity, the concave arc and the protruding arc structure of arc interface (145) break away from gradually, hatch door (143) drop down, and pull out parachute (144) that link to each other with it, parachute (144) meet the air resistance and open, unmanned organism drops downwards under the resistance, and fall along with the parachute together, realize unmanned aerial vehicle's safe landing.
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| TWI688520B (en) * | 2018-01-08 | 2020-03-21 | 經緯航太科技股份有限公司 | Fixed-wing unmanned aerial vehicle having landing mechanism and method thereof |
| CN108508753B (en) * | 2018-05-10 | 2021-03-12 | 南京邮电大学 | Fractional order control method for vertical take-off and landing unmanned aerial vehicle |
| CN109606635A (en) * | 2018-12-29 | 2019-04-12 | 杨春鹏 | Adjustable wing can VTOL delta-winged aircraft |
| EP3998209A1 (en) * | 2021-03-05 | 2022-05-18 | Lilium eAircraft GmbH | Wing and engine structure for a vertical take-off and landing aircraft |
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