CN111846226B

CN111846226B - Unmanned aerial vehicle and control method thereof

Info

Publication number: CN111846226B
Application number: CN202010738609.4A
Authority: CN
Inventors: 刘城斌
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2022-09-30
Anticipated expiration: 2040-07-28
Also published as: CN111846226A

Abstract

The invention relates to an unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle comprises a first wing (10), a second wing (20), a first propeller (30) and a second propeller (40), the first wing (10) comprises a first wing body (11) and a first aileron (12) arranged on the first wing body (11), the first aileron (12) can deflect relative to the first wing body (11), the first propeller (30) is arranged at the front edge of the first wing body (11), the second wing (20) is connected with the first wing (10), the second wing (20) comprises a second wing body (21) and a second aileron (22) arranged on the second wing body (21), the second aileron (22) can deflect relative to the second wing body (21), the second propeller (40) is arranged at the front edge of the second wing body (21), wherein the rotational speed of the first propeller (30) and the rotational speed of the second propeller (40) can be adjusted independently of each other.

Description

Unmanned aerial vehicle and control method thereof

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a control method thereof.

Background

Unmanned aerial vehicle includes fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle. Fixed wing unmanned aerial vehicle's is efficient, and the continuation of the journey mileage is big, nevertheless is higher to the requirement in take off and land place. Many rotor unmanned aerial vehicle provides lift by the screw and offsets the gravity of self, though it is convenient to take off and land, flight inefficiency, and the continuation of the journey mileage is short, is fit for being used for the transportation flight task of short distance.

In order to overcome the problems that the take-off and landing requirement of the fixed-wing unmanned aerial vehicle is high and the endurance mileage of the multi-rotor unmanned aerial vehicle is short, a vertical take-off and landing fixed-wing unmanned aerial vehicle is designed, the fixed wings and the multiple rotors are combined, and the fixed wings and the multiple rotors are matched for use in the flying process. Vertical take-off and landing fixed wing unmanned aerial vehicle has combined the characteristics of many rotors and fixed wing, utilizes many rotor parts to take off and land, utilizes the fixed wing part to cruise the flight, and its flight efficiency is higher than many rotors and is less than the fixed wing, is fit for being used for the transportation flight task of well distance, can save more delivery time when being used for delivering the goods.

In the related art, the takeoff mode of the composite unmanned aerial vehicle with multiple rotors and fixed wings is as follows: 4, starting the multi-rotor system to work, and enabling the unmanned aerial vehicle to take off vertically through the lift force of the rotors; after taking off and arriving certain safe altitude, the screw of horizontal direction begins work and produces thrust, makes unmanned aerial vehicle produce horizontal acceleration, and after unmanned aerial vehicle's course speed exceeded certain safe value, 4 vertical screw stop work, unmanned aerial vehicle got into fixed wing flight mode, and the descending process also produces lift and comes the vertical landing by 4 rotors. This kind of unmanned aerial vehicle belongs to and has directly increased one set of many rotor systems on the stationary vane, has compromise the long voyage of the convenient and stationary vane of taking off and landing of many rotors, and is simple relatively to system design and flight control, so its reliability is than higher. However, this aircraft has the great disadvantage that the entire set of multiple rotor systems does not participate in any flight operation during the cruising phase, which is an excess weight, also called dead weight, that greatly reduces the load capacity of the aircraft.

Still have among the correlation technique VTOL wing unmanned aerial vehicle that verts, this kind of unmanned aerial vehicle's the mode of taking off is: the method includes the steps that firstly, wings are arranged vertically upwards, then all propellers on the wings start to work, the unmanned aerial vehicle vertically takes off through the lift force of the rotors, after the unmanned aerial vehicle reaches a certain safe height, the wings start to tilt towards a machine head gradually, meanwhile, the lift force generated by the rotors provides component force in the horizontal direction, the unmanned aerial vehicle generates horizontal acceleration, when the wings tilt to the horizontal position, the aircraft just obtains the course speed capable of maintaining horizontal flight, the aircraft enters a fixed wing cruise mode, and the landing process and the taking-off process are just opposite. This kind of unmanned aerial vehicle has also taken into account when the long voyage of the convenient and fixed wing of taking off and land of many rotors equally, but its difference with foretell many rotors + fixed wing's compound unmanned aerial vehicle lies in, this unmanned aerial vehicle only has one set of driving system, and this set of driving system is multiplexed at taking off and land and cruise process, so do not have unnecessary dead weight. But it also has self shortcoming, and it can take place to vert for making the wing, has additionally increased one set of wing system of verting, and this set of system adopts motor drive, and weight is heavier, can occupy the very big some load-carrying capacity of unmanned aerial vehicle.

It is noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

Disclosure of Invention

The embodiment of the invention provides an unmanned aerial vehicle and a control method thereof, which can improve the load capacity of the unmanned aerial vehicle as much as possible.

According to an aspect of the invention, there is provided a drone comprising:

the first wing comprises a first wing body and a first aileron arranged on the first wing body, and the first aileron can deflect relative to the first wing body;

the first propeller is arranged at the front edge of the first wing body;

the second wing is connected with the first wing and comprises a second wing body and a second aileron arranged on the second wing body, and the second aileron can deflect relative to the second wing body; and

the second propeller is arranged at the front edge of the second wing body;

wherein the rotational speed of the first propeller and the rotational speed of the second propeller are independently adjustable.

In some embodiments, the drone further comprises a control system configured to control the yaw of the first and second ailerons and to adjust the rotational speed of the first and second propellers to effect a switch between landing and cruising of the drone.

In some embodiments, the first wing includes a first vertical fin disposed on a trailing edge side of the first wing body, and the second wing includes a second vertical fin disposed on a trailing edge side of the second wing body, the first vertical fin and the second vertical fin acting as landing gear for the drone.

In some embodiments, the first wing is disposed parallel to the second wing, and the pressure surface of the first wing body is disposed opposite the suction surface of the second wing body.

In some embodiments, the number of first propellers and second propellers is 2 or 3 each.

In some embodiments, the drone further includes a storage compartment disposed between the first wing and the second wing.

In some embodiments, the drone further comprises a power supply and a storage bay disposed between the first wing and the second wing, the storage bay comprising a first bay for storing the control system and/or the power supply and a second bay for storing cargo.

In some embodiments, the first pod is disposed on a side of the second pod proximate to the first propeller and the second propeller.

In some embodiments, the first pod is pyramid-shaped.

In some embodiments, at least two layers of storage chambers are arranged in the second compartment in the cargo delivery direction.

In some embodiments, the storage compartment includes a floor carrying cargo and a side frame rotatably coupled to the floor, and the control system is configured to control the floor to rotate relative to the side frame to release the cargo.

In some embodiments, the bottom panel includes a first panel and a second panel, each rotatably coupled to the side frame.

In some embodiments, the drone further includes a parachute disposed on the first wing body or the second wing body.

According to another aspect of the invention, a control method based on the unmanned aerial vehicle is provided, which includes:

and opening the first aileron and the second aileron, adjusting the rotating speed of the first propeller and the second propeller, and enabling the difference value between the rotating speeds of the first propeller and the second propeller to reach a preset value, so that the unmanned aerial vehicle is switched from the vertical lifting mode to the cruise mode or from the cruise mode to the vertical landing mode.

According to another aspect of the present invention, there is provided a control method based on the above-mentioned unmanned aerial vehicle, including:

opening a bottom plate of a storage chamber positioned below, and throwing goods in the storage chamber; and

after the goods in all the storage chambers below are released, the bottom plate of the storage chamber above is opened, and the goods in the storage chamber are released.

Based on the technical scheme, the unmanned aerial vehicle comprises two wings, an aileron and propellers are arranged on a wing body of each wing, the aileron can deflect relative to the wing body to generate deflection torque, the rotating speeds of the propellers on the two wing bodies can be respectively and independently adjusted, the lifting forces on the left side and the right side of the unmanned aerial vehicle are different when the rotating speeds of the propellers on the two wing bodies are different, the unmanned aerial vehicle can realize the switching between the vertical take-off and landing mode and the cruise mode under the combined action of unbalanced lifting forces generated by the deflection torque generated by the aileron and the different rotating speeds of the propellers, a special deflection power system is not required to be added, so the dead weight of the unmanned aerial vehicle can be reduced, and the load capacity of the unmanned aerial vehicle is improved.

Drawings

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

fig. 1 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present invention.

Fig. 2 is a schematic structural diagram of another angle of the unmanned aerial vehicle according to the present invention.

Fig. 3 is a top view of an embodiment of the drone of the present invention.

Fig. 4 is a schematic structural diagram of a storage cabin in an embodiment of the drone of the present invention.

Fig. 5 is a schematic structural diagram of a second cabin in an embodiment of the drone of the present invention.

Fig. 6 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle in a vertical lifting mode or a vertical landing mode.

Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention when the unmanned aerial vehicle is deflected from the vertical lifting mode to the cruise mode.

Fig. 8 is a schematic structural view of the unmanned aerial vehicle in the cruise mode according to the embodiment of the present invention.

Fig. 9 is a schematic structural view of the unmanned aerial vehicle according to the embodiment of the present invention when it is deflected from the cruise mode to the vertical landing mode.

In the figure:

10. a first airfoil; 20. a second airfoil; 30. a first propeller; 40. a second propeller; 50. a storage compartment; 60. a parachute; 70. a connecting member; 80. a control system; 90. a power supply; 100. goods;

11. a first wing body; 12. a first flap; 13. a first vertical fin;

21. a second airfoil body; 22. a second flap; 23. a second vertical fin;

51. a first compartment; 52. a second compartment; 520. a storage chamber; 521. a side frame; 522. a first plate; 523. a second plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the scope of the invention.

Referring to fig. 1 and 2, in some embodiments of the drone provided by the present invention, the drone includes a first wing 10, a second wing 20, a first propeller 30, and a second propeller 40, the first wing 10 includes a first wing body 11 and a first flap 12 mounted on the first wing body 11, the first flap 12 is capable of deflecting with respect to the first wing body 11, the first propeller 30 is mounted at a leading edge of the first wing body 11, the second wing 20 is connected to the first wing 10, the second wing 20 includes a second wing body 21 and a second flap 22 mounted on the second wing body 21, the second flap 22 is capable of deflecting with respect to the second wing body 21, the second propeller 40 is mounted at a leading edge of the second wing body 21, wherein the rotational speed of the first propeller 30 and the rotational speed of the second propeller 40 can be independently adjusted, respectively.

In the above embodiment, unmanned aerial vehicle includes two wings, be equipped with aileron and screw on the wing body of every wing, the aileron can take place to deflect for the wing body, produce deflection torque, the rotational speed of the screw on two wing bodies can be adjusted respectively independently, the lift size that the lift that the left and right sides of unmanned aerial vehicle received is different when the rotational speed of the screw on two wing bodies is different, under the combined action of the unbalanced lift that deflection torque and the screw rotational speed difference that the aileron produced, unmanned aerial vehicle can realize the switching of VTOL mode and cruise mode, need not to increase special deflection power system, consequently, unmanned aerial vehicle's dead weight can be reduced, unmanned aerial vehicle's load-carrying capacity is improved.

The unmanned aerial vehicle in the embodiment of the invention is a tailstock type vertical take-off and landing unmanned aerial vehicle, and the whole unmanned aerial vehicle is tilted after taking off. The takeoff mode of the unmanned aerial vehicle is as follows: the first propeller 30 and the second propeller 40 start to work at the same time, and the rotation speeds are the same, so that the airplane can be pulled up, after the airplane reaches a certain safe height, the first secondary wing 12 and the second secondary wing 22 are opened and deflect relative to the first wing body 11 and the second wing body 21, and the air flow spun out by the first propeller 30 and the second propeller 40 respectively blows to the surfaces of the first secondary wing 12 and the second secondary wing 22, so that the airplane generates tilting moment; meanwhile, the rotating speeds of the first propeller 30 and the second propeller 40 are adjusted, so that the rotating speeds of the first propeller 30 and the second propeller 40 are different, and the left side and the right side of the unmanned aerial vehicle are unbalanced in stress, so that the aircraft can tilt; in the tilting process, the lift force generated by the first propeller 30 and the second propeller 40 can provide a component force in the horizontal direction, so that the unmanned aerial vehicle generates a horizontal acceleration, when the whole aircraft body tilts to the horizontal position, the aircraft obtains a course speed capable of maintaining horizontal flight, enters a cruise mode, and the landing process and the take-off process are just opposite. When taking off and landing convenience of multiple rotors and long voyage of a fixed wing are taken into consideration by the unmanned aerial vehicle, a set of tilting power system does not need to be designed independently, redundant dead weight does not exist, the utilization rate of the unmanned aerial vehicle power system is high, and effective load is large.

As shown in fig. 4, in some embodiments, the drone further includes a control system 80, the control system 80 configured to control the yaw of the first and second flaps 12, 22 and to adjust the rotational speed of the first and

second propellers

30, 40 to effect switching of the drone between the landing and cruise modes. Through setting up control system 80, unmanned aerial vehicle's automatic control can be realized.

In some embodiments, the first wing 10 includes a first droop 13 disposed laterally to the trailing edge of the first wing body 11, the second wing 20 includes a second droop 23 disposed laterally to the trailing edge of the second wing body 21, and the first droop 13 and the second droop 23 serve as landing gear for the drone. In this embodiment, unmanned aerial vehicle need not set up special undercarriage, utilizes the vertical fin on the wing body as the undercarriage, both can guarantee unmanned aerial vehicle subaerial stability, can reduce the part again, alleviates unmanned aerial vehicle's whole weight to increase unmanned aerial vehicle's load-carrying capacity.

In some embodiments, the first wing 10 is disposed parallel to the second wing 20, and the pressure surface of the first wing body 11 is disposed opposite the suction surface of the second wing body 21. The center plane of the first airfoil 10 extending in the axial direction and the center plane of the second airfoil 20 extending in the axial direction are kept parallel.

The first wing 10 and the second wing 20 are connected by a connection piece 70, and the connection piece 70 is connected between the trailing edge side of the first wing 10 and the trailing edge side of the second wing 20. This arrangement can increase the storage space of the storage compartment 50 provided between the first wing 10 and the second wing 20.

The side of the attachment 70 remote from the trailing edge is gradually closer to the trailing edge from both ends towards the center, i.e. the attachment 70 comprises an inclined surface that gradually slopes towards the trailing edge from both ends towards the center, which arrangement is beneficial for reducing air drag and increasing the flight speed of the aircraft when the aircraft is in cruise mode.

The connecting element 70 may comprise a lateral vertical fin of the first wing 10 and a lateral vertical fin of the second wing 20, that is, the two wings are connected by the connection of the two vertical fins, so that the two existing wings which are originally provided with the vertical fins can be used to assemble the unmanned aerial vehicle of the embodiment of the present invention, and no special connecting element 70 is required to be arranged on the wings. Of course, for wings that do not have a vertical tail, a special connection 70 may be added to achieve the connection of the two wings.

In some embodiments, the number of first propellers 30 and second propellers 40 is 2 or 3 each. In other embodiments, the number of first and

second propellers

30, 40 may be more.

As shown in fig. 3, the leading edge of the first wing 10 is provided with three first propellers 30, the leading edge of the second wing 20 is provided with three second propellers 40, the rotation directions of the adjacent two first propellers 30 are opposite, the rotation directions of the adjacent two second propellers 40 are opposite, and the rotation directions of the adjacent first propellers 30 and the adjacent second propellers 40 are also opposite.

In some embodiments, the drone further comprises a storage compartment 50 disposed between the first wing 10 and the second wing 20. Through setting up storage cabin 50, also can save unmanned aerial vehicle's constitution part, storage cabin 50 sets up between first wing 10 and second wing 20, can strengthen first wing 10 and second wing 20's connection, improves the holistic structural strength of unmanned aerial vehicle.

As shown in fig. 4, in some embodiments, the drone further comprises a power supply 90 and a storage compartment 50 disposed between the first wing 10 and the second wing 20, the storage compartment 50 comprising a first compartment 51 for storing the control system 80 and/or the power supply 90 and a second compartment 52 for storing cargo 100. Dividing the storage compartment 50 into two separate compartments prevents cross-talk or collision between items stored in the two compartments, such as by preventing items from being affected by electrical components in the control system or by preventing items from colliding with electrical components and causing damage.

In some embodiments, the first pod 51 is disposed on a side of the second pod 52 proximate to the first propeller 30 and the second propeller 40. The first and

second bays

51 and 52 are arranged in the axial direction of the first and

second wing bodies

11 and 21, which facilitates the release of cargo.

In some embodiments, the first pod 51 is pyramid-shaped. The base of the pyramid is connected to the second chamber 52 and the apex of the pyramid is remote from the second chamber 52.

First cabin 51 sets up to pyramid form, is favorable to reducing the air resistance when unmanned aerial vehicle is in the mode of cruising, improves the aerodynamic performance of unmanned aerial vehicle flight.

In some embodiments, at least two layers of storage chambers 520 are disposed in the second compartment 52 along the direction of release of the cargo 100. By providing at least two levels of storage compartments 520, more cargo 100 can be stored while achieving a reasonable distribution of storage space for the second compartment 52.

In some embodiments, each layer of storage chambers 520 may include one or more individual chambers. In the embodiment shown in fig. 4 and 5, the second compartment 52 comprises two layers, each layer is provided with two storage chambers 520, four cargos 100 can be stored simultaneously, and the storage space is large; when the drone is used to deliver goods, it may be possible to deliver multiple goods 100 with the same address or different addresses at a time.

In some embodiments, the storage compartment 520 includes a bottom panel carrying the cargo 100 and a side frame 521 rotatably coupled to the bottom panel, and the control system 80 is configured to control the bottom panel to rotate relative to the side frame 521 to release the cargo 100.

By arranging the bottom plate rotatably connected with the side frame 521, when the goods 100 need to be put in, the storage chamber 520 can be opened through the rotation of the bottom plate, so that the goods 100 can be automatically put in; in addition, the storage cabin 50 with such a structure can also realize batch delivery, and after the lower-layer cargo 100 is delivered, the bottom plates of the upper-layer and lower-layer storage chambers 520 can be opened at the same time, so as to realize automatic delivery of the upper-layer cargo 100.

In some embodiments, the bottom plate includes a first plate 522 and a second plate 523, and the first plate 522 and the second plate 523 are rotatably connected to the side frame 521, respectively.

In this embodiment, the bottom plate is provided as a split structure including the first plate 522 and the second plate 523, when the storage chamber 520 is opened, the first plate 522 and the second plate 523 are rotated in opposite directions, respectively, and the volumes of the first plate 522 and the second plate 523 are smaller than the area of the entire bottom surface, so that the area of the rotating member is reduced, the requirement for an operation space can be reduced, and interference with other components can be avoided.

In some embodiments, the drone further comprises a parachute 60 disposed on the first wing body 11 or the second wing body 21. Through setting up parachute 60, can effectively protect unmanned aerial vehicle when unmanned aerial vehicle is out of control and takes place to descend, prevent that unmanned aerial vehicle from being broken and damaging goods 100.

Optionally, a parachute 60 is provided on the one of the first wing body 11 and the second wing body 21 that is located above in the cruise mode. Set up like this and be convenient for parachute 60 in time to play a role, avoid unmanned aerial vehicle whole 180 upsets that take place simultaneously.

The structure and the working process of an embodiment of the unmanned aerial vehicle are described below with reference to the accompanying drawings 1 to 9:

as shown in fig. 1 and 2, in this embodiment, the drone includes a first wing 10, a second wing 20, a first propeller 30, a second propeller 40, a storage compartment 50, a parachute 60, a connection 70, a control system 80, and a power supply 90.

The first wing 10 includes a first wing body 11, a first flap 12 mounted on a trailing edge of the first wing body 11, and a first vertical tail 13 mounted on a side surface of the trailing edge of the first wing body 11, and the first flap 12 is capable of deflecting with respect to the first wing body 11. Three first propellers 30 are mounted to the front edge of the first wing body 11. The second wing 20 is connected with the first wing 10 through a connecting piece 70, the second wing 20 comprises a second wing body 21, a second flap 22 installed at the tail edge of the second wing body 21 and a second vertical tail 23 installed at the side surface of the tail edge of the second wing body 21, and the second flap 22 can deflect relative to the second wing body 21. Three second propellers 40 are mounted to the leading edge of the second wing body 21. The rotational speed of the first propeller 30 and the rotational speed of the second propeller 40 can be independently adjusted, respectively.

When the drone is on the ground, the first and

second flaps

13, 23 are in contact with the ground for supporting the first and

second wing bodies

11, 21. The axial directions of the first wing body 11 and the second wing body 21 are parallel to the vertical direction, and the first wing 10 and the second wing 20 are vertically disposed and parallel to each other. The spacing between the three first propellers 30 is equal to the spacing between the three second propellers 40, and the three first propellers 30 and the three second propellers 40 are symmetrically arranged about the midline between the two wings. When the unmanned aerial vehicle enters a lifting or landing mode, the unmanned aerial vehicle is vertically lifted or landed in the same posture as that of the unmanned aerial vehicle on the ground. When the cruise mode is entered, the whole body is deflected by 90 degrees relative to the posture when the airplane is lifted or landed, and when the airplane cruises, the first wing 10 and the second wing 20 are parallel to the horizontal plane.

The unmanned aerial vehicle adopts a double-wing design, the total wing area is large, enough lift force can be provided, the total span length of the wings is not overlong, and the occupied area is small; the vertical fin is used as an undercarriage at the same time, so that the structural strength of the whole unmanned aerial vehicle is improved; the storage cabin is arranged between the two wings, so that the structural design of the storage cabin is facilitated, and the storage space of the storage cabin is increased.

As shown in fig. 3, the first vertical fin 13 is perpendicular to the first wing body 11, the second vertical fin 23 is perpendicular to the second wing body 21, the first wing body 11 and the second wing body 21 are parallel to each other, and the first vertical fin 13 and the second vertical fin 23 are parallel and collinear.

As shown in fig. 4 and 5, a storage compartment 50 is disposed between the first wing 10 and the second wing 20, and the storage compartment 50 includes a first compartment 51 for storing the control system 80 and/or the power supply 90 and a second compartment 52 for storing goods 100. The first nacelle 51 is disposed on a side of the second nacelle 52 adjacent to the first propeller 30 and the second propeller 40. The first chamber 51 is pyramid shaped. Two levels of two storage chambers 520 are provided in the second compartment 52. The storage compartment 520 includes a bottom panel for carrying the cargo 100 and a side frame 521 rotatably coupled to the bottom panel, and the control system 80 is configured to control the bottom panel to rotate relative to the side frame 521 to release the cargo 100. The bottom plate includes a first plate 522 and a second plate 523, and the first plate 522 and the second plate 523 are rotatably connected to the side frames 521, respectively.

Unmanned aerial vehicle working process:

a takeoff stage:

as shown in fig. 6, the three first propellers 30 and the three second propellers 40 start to rotate at the same time at the same rotating speed, the rotating speed is gradually increased, and when the lifting force of the propellers exceeds the weight of the unmanned aerial vehicle, the unmanned aerial vehicle gradually leaves the ground and climbs to the safe height at a constant speed.

A deflection stage:

as shown in fig. 7, when reaching the safe height, the whole unmanned aerial vehicle starts tilting, and the force providing tilting includes two aspects: firstly, the rotating speed of the second propeller 40 is higher than that of the first propeller 30, and the unmanned aerial vehicle can tilt to the left due to the imbalance of left and right lift forces; secondly, the first aileron 12 positioned below the first propeller 30 and the second aileron 22 positioned below the second propeller 40 are unfolded leftwards to deflect, the downwash air flow of the propellers blows to the control surface of the aileron, a deflection moment for inclining the airframe can be generated, the whole unmanned aerial vehicle tilts leftwards under the combined action of unbalanced lift force and the deflection moment, the speed of the unmanned aerial vehicle in the horizontal direction is increased in the deflecting process, the flight track is an upward climbing track, and finally the unmanned aerial vehicle can be converted into a cruise mode by a vertical lifting mode.

And (3) cruising:

as shown in fig. 8, after the drone is tilted, the obtained horizontal flying speed can meet the lowest cruising speed, and at this time, the drone will fly in a pure fixed wing mode, and the flying attitude of the drone will be completed through the cooperative control of the first aileron 12, the second aileron 22, the first vertical tail 13, the second vertical tail 23, the first propeller 30 and the second propeller 40.

A deflection stage:

as shown in fig. 9, when the drone is going to reach a destination, the difference between the rotation speeds of the first propeller 30 and the second propeller 40 can provide a yawing moment for making the fuselage vertical, and the yawing moment can also be provided by the yawing of the first aileron 12 and the second aileron 22, when the fuselage is deflected to a certain extent, the horizontal direction resistance is very large due to the large frontal area, the horizontal direction speed is rapidly reduced to zero, and the airplane is switched from the cruise mode to the vertical landing mode.

A descending stage:

referring to fig. 6, after the body of the unmanned aerial vehicle is completely vertical, the attitude of the unmanned aerial vehicle is controlled by the first propeller 30 and the second propeller 40, descends at a constant speed, and accurately lands in a designated area under visual guidance.

Based on the unmanned aerial vehicle in each embodiment, the invention provides an unmanned aerial vehicle control method, which comprises the following steps:

the first and second ailerons 12, 22 are opened, the rotational speed of the first and

second propellers

30, 40 is adjusted, and the rotational speed of the first and

second propellers

30, 40 is varied to switch the drone from a vertical lift mode to a cruise mode or from a cruise mode to a vertical landing mode.

The control method realizes the switching of the flight mode under the combined action of the yawing moment generated by the yawing of the first auxiliary wing 12 and the second auxiliary wing 22 after the first propeller and the

second propeller

30 and 40 generate the speed difference to cause the imbalance of the left and right lifting forces, and the switching efficiency is higher.

The invention also provides an unmanned aerial vehicle control method, which comprises the following steps:

opening the bottom plate of the storage chamber 520 located below, and dropping the cargo 100 in the storage chamber 520; and

after the cargo 100 in all the storage chambers 520 located below has been released, the bottom plate of the storage chamber 520 located above is opened, and the cargo 100 in the storage chamber 520 is released.

The control method has the advantages that the lower layer of cargos 100 are unloaded firstly, and the cargos 100 on the upper layer begin to be unloaded after all the cargos 100 on the lower layer are unloaded, so that the problems that the gravity distribution of the airplane body is uneven, the airplane deflects and the like caused by the fact that the cargos 100 on the upper layer and the lower layer in one row are unloaded can be avoided, and the improvement of the flight stability of the airplane is facilitated.

The positive technical effects of the unmanned aerial vehicle in the above embodiments are also applicable to the unmanned aerial vehicle control method, and are not described herein again.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made without departing from the principles of the invention, and these modifications and equivalents are intended to be included within the scope of the claims.

Claims

1. An unmanned aerial vehicle, comprising:

a first wing (10) comprising a first wing body (11) and a first aileron (12) mounted on the first wing body (11), the first aileron (12) being deflectable relative to the first wing body (11);

a first propeller (30) mounted on a leading edge of the first wing body (11);

a second airfoil (20) connected to the first airfoil (10), the second airfoil (20) comprising a second airfoil body (21) and a second aileron (22) mounted on the second airfoil body (21), the second aileron (22) being deflectable relative to the second airfoil body (21); and

a second propeller (40) mounted at a leading edge of the second wing body (21);

wherein the rotational speed of the first propeller (30) and the rotational speed of the second propeller (40) are adjustable independently from each other;

the unmanned aerial vehicle further comprises a connecting piece (70), the first wing (10) and the second wing (20) are connected through the connecting piece (70), the connecting piece (70) is connected between the side face of the tail edge of the first wing (10) and the side face of the tail edge of the second wing (20), and one side, far away from the tail edge of the first wing (10) and the tail edge of the second wing (20), of the connecting piece (70) is gradually close to the tail edge of the first wing (10) and the tail edge of the second wing (20) from two ends to the center;

the unmanned aerial vehicle is still including set up in first wing (10) with storage cabin (50) between second wing (20) in the spanwise direction of first wing (10) with second wing (20), connecting piece (70) connect in the tip of first wing (10) with second wing (20), just storage cabin (50) with have the preset distance between the connecting piece (70).

2. The drone of claim 1, further comprising a control system (80), the control system (80) being configured to control the deflection of the first and second ailerons (12, 22) and to adjust the rotational speed of the first and second propellers (30, 40) to effect a switch of the drone between landing and cruising.

3. A drone according to claim 1, wherein the first wing (10) comprises a first vertical fin (13) arranged laterally to the trailing edge of the first wing body (11), and the second wing (20) comprises a second vertical fin (23) arranged laterally to the trailing edge of the second wing body (21), the first vertical fin (13) and the second vertical fin (23) acting as landing gear for the drone.

4. Unmanned aerial vehicle according to claim 1, characterized in that the first wing (10) is arranged in parallel with the second wing (20) and that the pressure surface of the first wing body (11) is arranged opposite the suction surface of the second wing body (21).

5. Unmanned aerial vehicle according to claim 1, characterized in that the number of first propellers (30) and second propellers (40) is 2 or 3 each.

6. Unmanned aerial vehicle according to claim 2, further comprising a power supply (90), the storage compartment (50) comprising a first compartment (51) for storing the control system (80) and/or the power supply (90) and a second compartment (52) for storing goods (100).

7. A drone according to claim 6, characterised in that the first cabin (51) is arranged on the side of the second cabin (52) close to the first propeller (30) and the second propeller (40).

8. A drone according to claim 6, characterised in that the first cabin (51) is pyramid-shaped.

9. Unmanned aerial vehicle according to claim 6, characterized in that at least two levels of storage chambers (520) are provided in the second compartment (52) in the direction of release of the cargo (100).

10. A drone according to claim 9, wherein the storage chamber (520) comprises a bottom plate carrying the cargo (100) and a side frame (521) rotatably connected to the bottom plate, the control system (80) being configured to control the rotation of the bottom plate with respect to the side frame (521) to release the cargo (100).

11. A drone according to claim 10, wherein the bottom plate comprises a first plate (522) and a second plate (523), the first plate (522) and the second plate (523) being rotatably connected with the side frame (521), respectively.

12. A drone according to claim 1, characterised in that it further comprises a parachute (60) provided to the first wing body (11) or to the second wing body (21).

13. The unmanned aerial vehicle control method according to any one of claims 1 to 11, comprising:

-opening the first and second ailerons (12, 22), -adjusting the rotational speed of the first and second propellers (30, 40), and-differentiating the rotational speed of the first and second propellers (30, 40) to switch the drone from a vertical lift mode to a cruise mode or from the cruise mode to a vertical landing mode.

14. A control method for a drone according to claim 10, comprising:

opening the bottom plate of the storage chamber (520) positioned below, and throwing in the goods (100) in the storage chamber (520); and

after the goods (100) in all the storage chambers (520) which are positioned below are released, the bottom plate of the storage chamber (520) which is positioned above is opened, and the goods (100) in the storage chamber (520) are released.