CN219277817U - Three rotor unmanned aerial vehicle take off and land perpendicularly with overlap joint wing - Google Patents

Abstract

The utility model discloses a vertical take-off and landing three-rotor unmanned aerial vehicle with lap wings, which comprises a lift-type fuselage, diamond-shaped flying wings, a control surface and a tilting propeller device, wherein the lift-type fuselage is provided with a plurality of landing wings; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the rhombic flying wings at the left side and the right side. The utility model uses the lap wing structure, has better structural rigidity, can reduce the influence of the rotor wing on the pneumatic elasticity, increases the wing area under the shorter span length, realizes the great improvement of the lift force performance, and effectively improves the pneumatic efficiency; the switching of different modes is realized through the tilting of the propeller direction, and the power utilization rate is high, the energy consumption is low, the endurance time is long and the pneumatic stability is good during the flat flight; the lift type fuselage is adopted, so that the flight resistance is reduced, and the flight load of the unmanned aerial vehicle is further improved.

Description

Three rotor unmanned aerial vehicle take off and land perpendicularly with overlap joint wing

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a vertical take-off and landing three-rotor unmanned aerial vehicle with lap wings.

Background

According to the traditional classification method, unmanned aerial vehicles can be divided into fixed-wing unmanned aerial vehicles and rotary-wing unmanned aerial vehicles. The lift force is provided by the wing when the fixed wing unmanned aerial vehicle flies, the navigation time and range are larger, the taking-off and landing conditions are generally harsh, a flatter runway is required for running take-off or landing, and a special catapulting device is required for catapulting take-off; in addition, fixed wing unmanned aerial vehicles can not realize the vertical take off and land, also can't hover in the sky. The lift force of the rotor unmanned aerial vehicle is provided by a propeller or a ducted fan, so that the rotor unmanned aerial vehicle can realize vertical lifting, has lower requirements on a lifting field, and can hover in the air stably; however, the rotor unmanned aerial vehicle has lower flat flight efficiency when cruising and smaller range under the same condition. Whether a pure fixed-wing unmanned aerial vehicle or a rotor unmanned aerial vehicle cannot realize efficient cruising, flying, hovering and vertical take-off and landing at the same time, so that a composite vertical take-off and landing fixed-wing unmanned aerial vehicle, namely a tilt rotor unmanned aerial vehicle, has appeared in recent years.

Although the existing tilt rotor unmanned aerial vehicle has the advantages of both a fixed-wing aircraft and a rotor unmanned aerial vehicle, the following disadvantages still exist due to the fact that the conventional layout (such as an MV-22 osprey conveyor) is mostly adopted in the layout: firstly, the tilting rotor unmanned aerial vehicle is similar to a horizontal helicopter in vertical flight and low-speed flight, and the wings are required to bear larger structural load and aerodynamic load, so that the requirements on the rigidity of the wings are higher, the problem of aeroelastic stability of the wings is very outstanding, the practical adaptability to a field is considered, the conventional tilting rotor unmanned aerial vehicle has smaller wingspan and poor gliding performance, and the structural system of the unmanned aerial vehicle is difficult to glide and safely force down after an aerial engine stops; secondly, the engine is arranged at the wing tip, so that the strength of the wing needs to be ensured in order to overcome the complicated pneumatic elasticity problem caused by vertical take-off and landing, and the requirement on the structural strength of a single wing is high, so that the wing span is limited, and the wing load is increased; and thirdly, the smaller wing span makes the wing area smaller, for example, the wing span of a hawk conveyor (MV-22) is only 14m, the wing area is 28m2, and the lift force is difficult to ensure.

Disclosure of Invention

The utility model aims to solve the problems in the background art, and provides the vertical take-off and landing three-rotor unmanned aerial vehicle with the lap-joint wings, which has the advantages of large effective area of the wings, strong structural pressure resistance, high cruising efficiency, long endurance time and good pneumatic stability, and can realize vertical take-off and landing and fixed-point hovering in the air.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a vertical take-off and landing three-rotor unmanned aerial vehicle with lap wings comprises a lift type fuselage, diamond-shaped flying wings, control surfaces and a tilting propeller device; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the rhombic flying wings at the left side and the right side.

Further, the lifting type airframe comprises a streamline flat airframe and an equipment bin; the upper part of the streamline flat body is in a streamline upper convex shape, and the lower part of the streamline flat body is transited in a smooth curve shape with an angle of 0 degrees to form a plane which tends to be horizontal; the equipment bin is in an elliptic shape and is positioned at the head of the flat machine body.

Further, the diamond-shaped flying wings comprise a lower wing, an upper wing, a lap wing and a vertical tail; the lower wing is connected with the upper wing through the lap joint wings in a diamond lap joint layout, and the connection position of the lap joint wings is positioned at the tail end of the wing tip of the lower wing; the root of the lower wing is connected with the head of the streamline flat fuselage in a middle single wing mode, and the upper wing is connected with the upper end of the tail of the lift-type fuselage through a vertical tail; the vertical tail is positioned at the tail part of the streamline flat fuselage.

Further, the control rudder surface includes a flap; the flap is arranged at the trailing edge of the lower wing and is used for comprehensive control of heading.

Further, the tilting propeller device comprises a motor, a tilting motor seat, a connecting rod and a propeller; the number of the tilting motor seats is three, and the tilting motor seats are respectively positioned at the left side, the right side and the tail part of the streamline flat machine body; the left-right tilting motor seat is connected with the lower wing through a connecting rod, the rear tilting motor seat is connected with the middle position of the tail end of the streamline flat fuselage through a connecting rod, and the left-right rear three tilting motor seats form equilateral triangle distribution; the three motors are respectively fastened on the left tilting motor seat, the right tilting motor seat and the rear tilting motor seat through screws, and can rotate 0-90 degrees around the vertical line on the horizontal plane in the direction pointed by the machine body under the drive of the tilting motor seat; the propellers are respectively connected to the motor and used for generating lifting force, and the propellers at the left side and the right side of the streamline flat machine body are opposite in steering direction.

Further, the lower wing and the upper wing adopt the flying wing layout, and one of a low-speed wing profile, a laminar flow wing profile or a supercritical wing profile is selected; the propeller is 2-leaf or 3-leaf, and the blade material is wood or glass fiber.

Further, the protruding highest point of the streamline flat body is positioned at the position 30% of the length of the body from the front end of the streamline flat body, and the ratio of the length of the body to the height of the body is 7:1; the depth of the equipment bin is 40-50% of the thickness of the machine body, the front side of the equipment bin is 10-15% of the length of the machine body from the front end of the streamline flat machine body, and the rear side of the equipment bin is 40-50% of the length of the machine body from the front end of the streamline flat machine body.

Further, the sweepback angle of the front edge of the lower wing is 10-20 degrees, the dihedral angle is 4-8 degrees, and the lower wing is 10-25% of the length of the body from the front end of the streamline flat body; the forward sweep angle of the upper wing is 15-25 degrees, and the reverse sweep angle is 3-5 degrees; the vertical tail is positioned at 5-10% of the length of the tail of the streamline flat fuselage, and the front edge of the vertical tail is swept back by 5-15 degrees.

Further, the flap chord length is 55-70% of the lower wing chord length.

Further, the tilting motor bases on the left side and the right side of the streamline flat fuselage are positioned at 15-30% span length from the wing root of the lower wing.

Compared with the prior art, the utility model has the beneficial effects that: 1) The lap wing structure is better in structural rigidity, so that the influence of a rotor wing on pneumatic elasticity can be reduced, the wing area is increased under the condition of a shorter span length, the lift performance is greatly improved, and the pneumatic efficiency is effectively improved; 2) The three tilting rotors are combined with the lap joint wing structure, connecting rods are respectively arranged on the left wing and the right wing, the tilting motor seat is connected with the motor through the connecting rods and the lower wing, the motor is fastened on the tilting motor seat through screws, the tilting motor seat can rotate 0-90 degrees around a vertical line on a horizontal plane in the direction pointed by the machine body under the driving of the tilting motor seat, the screw propeller is connected to the motor, the switching of different modes is realized through the tilting in the direction of the screw propeller, and the vertical take-off and landing, the hovering in the air fixed point and the high-efficiency air cruising and flying in the air can be realized; the power utilization rate is high, the energy consumption is low, the endurance time is long, and the pneumatic stability is good during the flat flight; 3) By adopting the lifting type fuselage, the lifting performance of the unmanned aerial vehicle is further improved, the upper part of the fuselage is designed into a streamline convex shape, the flight resistance is reduced, and the flight load of the unmanned aerial vehicle is further improved.

In order to more clearly describe the functional characteristics and structural parameters of the present utility model, the following description is made with reference to the accompanying drawings and detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

fig. 1 is an oblique view of a drone of the present utility model;

FIG. 2 is a top view of the unmanned aerial vehicle of the present utility model;

FIG. 3 is an unmanned side view of the present utility model;

fig. 4 is a schematic diagram of transition to a flat flight state after vertical takeoff of the unmanned aerial vehicle according to the present utility model;

FIG. 5 is a graph comparing flight data of an aerial flight test of a unmanned aerial vehicle and a four-rotor unmanned aerial vehicle of a certain brand;

the reference numerals in the drawings are: the device comprises a streamline flat fuselage 1, a device cabin 2, a lower wing 3, an upper wing 4, a lap joint wing 5, a vertical fin 6, a flap 7, a motor 8, a tilting motor seat 9, a connecting rod 10 and a propeller 11.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model; all other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

1-3, a vertical take-off and landing three-rotor unmanned aerial vehicle with lap wings comprises a lift fuselage, diamond-shaped flying wings, control surfaces and a tiltable propeller device; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the rhombic flying wings at the left side and the right side. The upper part of the streamline flat machine body 1 is in a streamline upper convex shape, and the lower part is in transition in a shape of a smooth curve with an angle close to the horizontal, so that a plane with a slight bulge and low curvature is formed; the equipment bin 2 is in an elliptic shape and is positioned at the head of the flat machine body 1. The lower wing 3 is connected with the upper wing 4 through the lap wings 5 in a diamond lap layout, and the connection position of the lap wings 5 is positioned at the tail end of the wing tip of the lower wing 3; the root of the lower wing 3 is connected with the head of the streamline flat fuselage 1 in a middle single wing mode, and the upper wing 4 is connected with the upper end of the tail of the lift-type fuselage through a vertical tail 6; the vertical tail 6 is positioned at the tail of the streamline flat fuselage 1. A flap 7 is provided at the trailing edge of the lower wing 3 for integrated steering of heading. The number of the tilting motor seats 9 is three, and the tilting motor seats are respectively positioned at the left side, the right side and the tail of the streamline flat machine body 1; the left-right tilting motor seat 9 is connected with the lower wing 3 through a connecting rod 10, the rear tilting motor seat 9 is connected with the middle position of the tail end of the streamline flat machine body 1 through the connecting rod 10, and the left-right rear three tilting motor seats 9 form equilateral triangle distribution; the three motors 8 are respectively fastened on the left tilting motor seat 9, the right tilting motor seat 9 and the left tilting motor seat 9 can rotate 0-90 degrees around the vertical line on the horizontal plane in the direction pointed by the machine body; the propellers 11 are respectively connected to the motor 8 and are used for generating lifting force, and the propellers 11 on the left side and the right side of the streamline flat machine body 1 are opposite in direction.

Specifically, in the present embodiment, the lower wing 3 and the upper wing 4 adopt an flying wing layout, and one of a low-speed airfoil, a laminar flow airfoil or a supercritical airfoil is selected; the propeller 11 is a 2-blade or 3-blade propeller, and the blade material is wood or glass fiber.

Specifically, in the present embodiment, the protruding highest point of the streamline flat body 1 is located at 30% of the body length from the front end of the streamline flat body 1, and the ratio of the body length to the body height is 7:1; the depth of the equipment bin 2 is 40-50% of the thickness of the machine body, the front side of the equipment bin 2 is 10-15% of the length of the machine body from the front end of the streamline flat machine body 1, and the rear side of the equipment bin 2 is 40-50% of the length of the machine body from the front end of the streamline flat machine body 1.

Specifically, in the embodiment, the sweep angle of the front edge of the lower wing 3 is 10-20 degrees, the dihedral angle is 4-8 degrees, and the lower wing 3 is 10-25% of the length of the body from the front end of the streamline flat body 1; the forward sweep angle of the upper wing 4 is 15-25 degrees, and the downward sweep angle is 3-5 degrees; the vertical fin 6 is positioned at the tail 5-10% of the length of the streamline flat fuselage 1, and the front edge of the vertical fin 6 is swept back by 5-15 degrees.

Specifically, in this embodiment, the flap 7 chord length is 55-70% of the lower wing 3 chord length.

Specifically, in the present embodiment, the tilting motor bases 9 on the left and right sides of the streamlined flat fuselage 1 are located at 15-30% span length from the root of the lower wing 3.

As shown in fig. 4, fig. 4 is a schematic diagram of transition to a flat flight state after vertical takeoff of the unmanned aerial vehicle, including a takeoff/hover state, and flying in a rotor mode; the tilting state is a transition mode between two flight modes; and when the vehicle flies at cruising level, the vehicle flies by adopting the fixed wings. The unmanned aerial vehicle has three flight states of hovering, tilting and forward flight, and adopts three flight modes of a fixed-wing cruise mode, a rotor wing mode and a transition mode respectively. The mode procedure is as follows: firstly, the unmanned aerial vehicle body is horizontally arranged on the ground, thrust axes of the three sets of tilting propeller systems are all located in the vertical direction, and the three sets of tilting propeller systems generate lifting force during taking off, so that the self gravity of the unmanned aerial vehicle is overcome, and the vertical taking off of the unmanned aerial vehicle is realized. When the conversion of the flight mode is carried out, the three sets of tilting propeller systems are driven by the tilting mechanism to tilt forwards along the tilting shaft, in the rotation process, the horizontal component of the thrust force enables the unmanned aerial vehicle to generate speed, so that the wing generates certain lift force, and the lift force generated on the wing and the vertical component of the thrust force of the electric propeller overcome the gravity of the unmanned aerial vehicle together to maintain the height of the unmanned aerial vehicle. After the transition mode is finished, the whole transition process is finished, the unmanned aerial vehicle has the cruise speed for the flat flight, the lift force generated by the wings overcomes the gravity of the unmanned aerial vehicle, and the thrust generated by the three sets of inclinable propeller systems drives the unmanned aerial vehicle to advance so as to overcome the structural resistance of the unmanned aerial vehicle. In the cruising and flying process, the gesture of the unmanned aerial vehicle is controlled by the control surfaces on the wings, the horizontal tail and the vertical tail. The process of converting from the cruising flat flight state to the landing mode is similar, the three sets of propellers are driven by the tilting mechanism to tilt backwards along the tilting shaft, and the vertical component of the propeller thrust and the lifting force generated by the wings overcome the gravity of the aircraft together in the rotating process. When the conversion process is finished, the thrust axes of the three sets of propellers are along the vertical direction, the thrust overcomes the gravity of the aircraft to realize fixed-point hovering, and when the thrust of the three sets of propellers is simultaneously reduced, the aircraft can vertically land.

The unmanned aerial vehicle and the four rotor unmanned aerial vehicle of a certain brand are selected to carry out an aerial flight test, flight data are used as reference basis, and the advantages of the unmanned aerial vehicle are explained.

Firstly, introducing the structural and performance difference of a vertical take-off and landing three-rotor unmanned aerial vehicle with lap-joint wings and a four-rotor unmanned aerial vehicle, wherein the lift force of the rotor unmanned aerial vehicle is provided by a propeller or a ducted fan, so that the vertical take-off and landing can be realized, the requirement on a take-off and landing site is lower, and the rotor unmanned aerial vehicle can hover in the air stably; however, the rotor unmanned aerial vehicle has lower flat flight efficiency when cruising and smaller range under the same condition. The utility model has the advantages of both the rotor unmanned aerial vehicle and the fixed wing unmanned aerial vehicle, not only can realize vertical take-off and landing under different field conditions, but also can realize high-speed cruising in the air. And because of its peculiar overlap joint wing, have increased the wing effective area by a wide margin under the unchangeable circumstances of unmanned aerial vehicle occupation space, and make the wing structure more have stability, therefore its structural compressive resistance, cruising efficiency, duration, pneumatic stability can all obtain the enhancement of different degrees.

The outdoor open grassland is selected in this flight experiment place, and the weather condition has the wind of medium strength to disturb, sets for the same flight path for two unmanned aerial vehicles through ground station, and the stability and the wind resistance of important comparison.

After prototype test flight, the flight data read from the ground station is analyzed and displayed as shown in fig. 1. The left column is flight data of the vertical take-off and landing three-rotor unmanned aerial vehicle with the lap wings, and the sequence is a roll angle set value and an estimated value, a pitch angle set value and an estimated value, and a yaw angle set value and an estimated value; the right column is flight data of a certain quadrotor unmanned aerial vehicle, and the data sequence is the same as the front. The self-stabilizing mode is selected for both test flights to compare the stability of the machine type.

As shown in FIG. 5, in the same image, the set values and the estimated values of the roll angle, the pitch angle and the yaw angle can be intuitively compared, so that the anti-interference capability and the self-stability capability in the test flight process of the prototype are analyzed. Comparing with a certain four-rotor unmanned aerial vehicle, the method can find out from a roll angle curve and a pitch angle curve that although the test flight is in the weather condition that the fluctuation of air flow is large and the influence of the air flow on the large fixed wing aircraft type roll angle is obvious, the aircraft body can track the attitude error of the aircraft body well, the generated hysteresis is small, and the design requirement is met as a whole. In the yaw angle curve, the phenomenon is more visual, and the unmanned aerial vehicle does not need to correct the attitude error of the unmanned aerial vehicle by frequently adjusting the set value. It should be noted that the yaw angle set point of the prototype designed in fig. 1 almost coincides with the estimated value, so the red estimated value curve is less obvious. Compared with the prior art, the model machine is under larger fluctuation, but the gesture control also achieves better effect.

The experimental data are processed, the average value and the variance of the angle difference are calculated after the errors of the actual Euler angle and the corresponding expected angle are calculated, and the processed experimental data are summarized as shown in table 1. As can be seen from the following table, the model we designed has advantages in terms of pitch angle and yaw angle over certain quadrotors, both mean and variance, with better stability; and also has excellent anti-interference capability on the rolling angle.

Table 1 experimental data processing

Therefore, the unmanned aerial vehicle designed by the patent can well track the deviation of the self posture, correct and self-stabilize, and stabilize the self posture deviation in a smaller range under the larger fluctuation of air flow, thereby having good stability.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The vertical take-off and landing three-rotor unmanned aerial vehicle with the lap joint wings is characterized by comprising a lift-type fuselage, a diamond-shaped flying wing, a control surface and a tilting propeller device; the rhombic flying wings are arranged at the left side and the right side of the lifting type airframe, and the lifting type airframe and the rhombic flying wings are integrally formed; the control surface is arranged at the rear edge of the diamond-shaped flying wing; the tilting propeller device is arranged on the tail part of the lifting type fuselage and the diamond flying wings at the left side and the right side.

2. A three rotor unmanned aerial vehicle for vertical lift with overlapping wings according to claim 1, wherein the lift fuselage comprises a streamlined flat fuselage (1) and a device cabin (2); the upper part of the streamline flat body (1) is in a streamline upper convex shape, and the lower part is in transition with a smooth curve shape with an angle of 0 degrees to form a plane which tends to be horizontal; the equipment bin (2) is in an elliptic shape and is positioned at the head of the flat machine body (1).

3. A three rotor unmanned aerial vehicle for vertical take-off and landing with overlapping wings according to claim 2, wherein the diamond-shaped flying wings comprise a lower wing (3), an upper wing (4), an overlapping wing (5) and a vertical tail (6); the lower wing (3) is connected with the upper wing (4) through the lap joint wings (5) in a diamond lap joint layout, and the connection position of the lap joint wings (5) is positioned at the tail end of the wing tip of the lower wing (3); the root of the lower wing (3) is connected with the head of the streamline flat fuselage (1) in a middle single wing mode, and the upper wing (4) is connected with the upper end of the tail of the lifting fuselage through a vertical tail (6); the vertical tail (6) is positioned at the tail part of the streamline flat fuselage (1).

4. A three rotor unmanned aerial vehicle with landing flaps according to claim 3, wherein the control rudder surface comprises flaps (7); the flap (7) is arranged at the trailing edge of the lower wing (3) and is used for comprehensively controlling heading.

5. A three rotor unmanned aerial vehicle with tandem wings for vertical lift as claimed in claim 3, wherein the tiltable propeller means comprises a motor (8), a tilting motor mount (9), a connecting rod (10) and a propeller (11); the number of the tilting motor seats (9) is three, and the tilting motor seats are respectively positioned at the left side, the right side and the tail of the streamline flat machine body (1); the left-right tilting motor seat (9) is connected with the lower wing (3) through a connecting rod (10), the rear tilting motor seat (9) is connected with the middle position of the tail end of the streamline flat machine body (1) through the connecting rod (10), and the left-right rear three tilting motor seats (9) form equilateral triangle distribution; the three motors (8) are respectively fastened on the left tilting motor seat (9) and the right tilting motor seat (9) through screws, and can rotate 0-90 degrees around the vertical line on the horizontal plane in the direction pointed by the machine body under the drive of the tilting motor seat (9); the propellers (11) are respectively connected to the motor (8) and used for generating lifting force, and the propellers (11) on the left side and the right side of the streamline flat machine body (1) are opposite in direction.

6. The three-rotor unmanned aerial vehicle with the lap joint wings for vertical take-off and landing of claim 5, wherein the lower wing (3) and the upper wing (4) adopt the flying wing layout and adopt one of low-speed wing profile, laminar flow wing profile or supercritical wing profile; the propeller (11) is a 2-leaf or 3-leaf propeller, and the blade material is wood or glass fiber.

7. The three-rotor unmanned aerial vehicle with the lap joint wings for vertical take-off and landing according to claim 2, wherein the protruding highest point of the streamline flat-shaped fuselage (1) is positioned at a position 30% of the length of the fuselage from the front end of the streamline flat-shaped fuselage (1), and the ratio of the length of the fuselage to the height of the fuselage is 7:1; the depth of the equipment bin (2) is 40-50% of the thickness of the machine body, the front side of the equipment bin (2) is 10-15% of the length of the machine body from the front end of the streamline flat machine body (1), and the rear side of the equipment bin is 40-50% of the length of the machine body from the front end of the streamline flat machine body (1).

8. A three rotor unmanned aerial vehicle with vertical take-off and landing with overlapping wings according to claim 3, wherein the sweep angle of the front edge of the lower wing (3) is 10-20 degrees, the dihedral angle is 4-8 degrees, the lower wing (3) is 10-25% of the fuselage length from the front end of the streamlined flat fuselage (1); the forward sweep angle of the upper wing (4) is 15-25 degrees, and the downward sweep angle is 3-5 degrees; the vertical fin (6) is positioned at the position of 5-10% of the length of the tail of the streamline flat fuselage (1), and the front edge of the vertical fin (6) is swept back by 5-15 degrees.

9. A three rotor unmanned aerial vehicle with tandem wing vertical take-off and landing as claimed in claim 4, wherein the chord length of the flap (7) is 55-70% of the chord length of the lower wing (3).

10. A three rotor unmanned aerial vehicle with overlapping wings for vertical take-off and landing as claimed in claim 5, wherein the tilting motor seats (9) on the left and right sides of the streamlined flat fuselage (1) are located at 15-30% span length from the root of the lower wing (3).

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