WO2018107564A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2018107564A1
WO2018107564A1 PCT/CN2017/072453 CN2017072453W WO2018107564A1 WO 2018107564 A1 WO2018107564 A1 WO 2018107564A1 CN 2017072453 W CN2017072453 W CN 2017072453W WO 2018107564 A1 WO2018107564 A1 WO 2018107564A1
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WO
WIPO (PCT)
Prior art keywords
uav
fixed wing
fixed
propeller
unmanned aerial
Prior art date
Application number
PCT/CN2017/072453
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English (en)
French (fr)
Inventor
王坤殿
胡奔
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780049729.XA priority Critical patent/CN109843719A/zh
Publication of WO2018107564A1 publication Critical patent/WO2018107564A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors

Definitions

  • the present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle.
  • Rotorcraft can take off and land at low speed, and the requirements for airport runways are not high, but the speed and range are not as good as fixed-wing aircraft; fixed-wing aircraft take off and land at a high speed, and the airport runway requires high, both of which have their own length.
  • the aircraft cannot combine the advantages of both.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an unmanned aerial vehicle.
  • An unmanned aerial vehicle of an embodiment of the invention includes a fixed wing fuselage, a fixed wing power assembly, and a plurality of rotor power assemblies.
  • a fixed wing power assembly is disposed on the fixed wing body.
  • a plurality of rotor power assemblies are disposed on the fixed wing body.
  • the fixed wing fuselage includes a front side adjacent to the handpiece and a rear side away from the handpiece, and the rear side of the fixed wing body is provided with two ailerons.
  • the rotor power assembly can make the UAV vertical and vertical
  • the fixed wing assembly and the fixed wing fuselage can make the UAV's range and speed faster, so that the UAV has both rotors.
  • Both airplanes and fixed-wing aircraft can adapt to complex environments and improve the performance of unmanned aerial vehicles.
  • the fixed wing fuselage includes two connecting plates that are directly connected to each other and together form a delta wing, and the two ailerons are respectively disposed in one of the joints On the board.
  • one side of the two connecting plates away from the center of the fixed wing body is respectively provided with a winglet winglet.
  • the fixed wing power assembly is disposed at a junction of the two webs or at the front or/and rear sides of the two webs.
  • the plurality of rotor power assemblies are centrally symmetrically distributed about a center of the delta wing.
  • the fixed wing power assembly includes a first electric machine and a first propeller coupled to the first electric machine, a central axis of the first propeller being coincident with a forward direction of the unmanned aerial vehicle;
  • Each of the rotor power assemblies includes a second motor and a second propeller coupled to the second motor, the central axis of the second propeller being compliant with a direction of ascending/descending movement of the UAV.
  • the UAV includes a frame fixed to the fixed wing body, the frame including two fixed rods extending in a forward direction of the UAV, each fixed The rod is arranged on a connecting plate;
  • the frame further includes a connector, the fixing rod being fixedly coupled to the fixed wing body by the connector.
  • the rotor power assembly is tiltable relative to the fixed rod.
  • the first motor drives the first propeller to rotate;
  • the rotor power assembly is tilted relative to the fixed rod such that a central axis of the second propeller coincides with a forward direction of the UAV, and the second motor drives the second propeller to rotate.
  • the center axis of the second propeller coincides with the direction of rise/fall of the UAV when the UAV is taking off or landing.
  • the ailerons can be flipped up and down relative to the fixed wing fuselage.
  • the UAV further includes a connecting plate including opposing top and bottom surfaces, the ailerons including opposing upper and lower surfaces, the upper surface and the upper surface In the top surface, the lower surface is substantially flush with the bottom surface.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a side elevational view of the unmanned aerial vehicle of Figure 1;
  • Figure 3 is a side elevational view of the UAV of Figure 1 in another state
  • FIG. 4 to 7 are schematic views of the two ailerons of the UAV of Fig. 1 in different flight states.
  • Unmanned aerial vehicle 100
  • Fixed wing body 10 connecting plate 11, top surface 111, bottom surface 112, wing tip wing 12, front side 13, rear side 14, aileron 15, upper surface 151, lower surface 152;
  • the fixed axis power assembly 20 The fixed axis power assembly 20, the first motor 21, the first propeller 22, the central axis 221 of the first propeller 22;
  • the frame 40 The frame 40, the fixing rod 41, and the connecting member 42.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature "above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely the first feature level being less than the second feature.
  • an unmanned aerial vehicle 100 of an embodiment of the present invention includes a fixed wing fuselage 10 , a fixed wing power assembly 20 , a plurality of rotor power assemblies 30 , and a frame 40 .
  • the fixed wing power assembly 20 is disposed on the fixed wing body 10.
  • a plurality of rotor power assemblies 30 are disposed on the frame 40.
  • the frame 40 is fixed to the fixed wing body 10.
  • the fixed wing fuselage 10 comprises two webs 11 which are directly connected to each other and which together form a delta wing. It should be noted that the delta wing may be triangular or triangular.
  • the connecting plate 11 may be made of a single continuous plate or a plurality of plates. Further, the two connecting plates 11 may be an integrally formed structure, or may be integrally formed and fixedly connected to each other to form the fixed wing body 10.
  • the connecting plate 11 includes opposite top surfaces 111 and bottom surfaces 112. To reduce the resistance during the flight of the UAV 100, the top surface 111 or/and the bottom surface 112 of the connecting plate 11 are streamlined.
  • a winglet wing 12 is disposed on a side of the two connecting plates 11 away from the center of the fixed wing body 10.
  • the winglet wing 12 is at an angle with the fixed wing body 10 to block the fixed wing body 10
  • the surface air flows around, reducing the damage caused by the flow around the lift.
  • the fixed wing fuselage 10 includes a front side 13 adjacent the handpiece and a rear side 14 remote from the handpiece.
  • the rear side 14 of the fixed wing fuselage 10 is provided with two ailerons 15.
  • the two ailerons 15 are respectively disposed on one of the connecting plates 11.
  • each of the ailerons 15 is disposed on a connecting plate 11 and is located at the rear side 14 of the connecting plate 11. Further, the aileron 15 can be turned upside down relative to the fixed wing body 10 to achieve control of the flying attitude of the unmanned aerial vehicle 100.
  • the aileron 15 includes opposing upper surfaces 151 and a lower surface 152.
  • the upper surface 151 of the aileron 15 is substantially flush with the top surface 111 of the connecting plate 11, and the lower surface 152 of the aileron 15 is substantially flat with the bottom surface 112 of the connecting plate 11. Qi.
  • the fixed wing power assembly 20 is disposed at the junction of the two connecting plates 11. Specifically, the fixed wing power assembly 20 is located at the tail of the fixed wing body 10.
  • a mounting seat 16 may be provided at the junction of the two connecting plates 11, thereby mounting the fixed wing power assembly 20 on the mounting seat 16.
  • the fixed wing power assembly 20 includes a first electric motor 21 and a first propeller 22 coupled to the first electric motor 21.
  • the first motor 21 may be any suitable type of motor such as a brush motor or a brushless motor.
  • the central axis 221 of the first propeller 22 coincides with the advancing direction of the UAV 100 to cause the first propeller 22 to rotate when the first electric machine 21 is in operation, thereby pushing or pulling the UAV 100 forward.
  • the number of rotor power assemblies 30 is four and the four rotor power assemblies 30 are centrally symmetrically distributed about the center of the delta wing to allow the UAV 100 to fly balance.
  • Each of the rotor power assemblies 30 includes a second motor 31 and a second propeller 32 coupled to the second motor 31.
  • the center axis 321 of the second propeller 32 can conform to the direction of the ascent/descent of the UAV 100.
  • the second motor 31 may be any suitable type of motor such as a brush motor or a brushless motor.
  • the central axis 321 of the second propeller 32 coincides with the rising/falling direction of the UAV 100 so that The second motor 31 drives the second propeller 32 to rotate during operation, thereby driving the UAV 100 to ascend/descend.
  • the unmanned aerial vehicle 100 when the lift generated by the rotation of the second propeller 32 is greater than the gravity of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 rises; when the lift generated by the rotation of the second propeller 32 is smaller than the gravity of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 is lowered; when the lift generated by the rotation of the second propeller 32 is equal to the gravity of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 is in a hovering state.
  • the frame 40 includes two fixing rods 41 and an even number of connecting members 42.
  • Each of the fixing rods 41 is fixedly coupled to the bottom surface 112 of the fixed wing body 10 by one or more connecting members 42.
  • the two fixing rods 41 extend in the advancing direction of the unmanned aerial vehicle 100.
  • Each of the fixing rods 41 is disposed on one of the connecting plates 11.
  • each of the fixing rods 41 respectively protrude from the front side 13 and the rear side 14 of the connecting plate 11 and are respectively provided with a rotor power assembly 30.
  • the rotor power assembly 30 is tiltable relative to the fixed rod 41.
  • the rotor power assembly 30 is tiltable relative to the fixed rod 41 such that the central axis 321 of the second propeller 32 coincides with the direction of advancement of the UAV 100, as shown in FIG.
  • the center axis 321 of the second propeller 32 coincides with the rising/falling direction of the UAV 100, and the second motor 31 drives the second propeller 32 to rotate, and the first motor 21 stops operating.
  • the first propeller 22 stops rotating, and the second propeller 32 rotates to provide lift for the unmanned aerial vehicle 100; when the UAV 100 falls, the first propeller 22 stops rotating, The second propeller 32 rotates to cause the UAV 100 to slowly descend.
  • the rotor power assembly 30 While the UAV 100 is advancing, while the first electric motor 21 drives the first propeller 22 to rotate, the rotor power assembly 30 is tilted relative to the fixed rod 41 such that the central axis 321 of the second propeller 32 and the advancing direction of the UAV 100 Consistently, the second motor 31 drives the second propeller 32 to rotate, at which time the first propeller 22 and the second propeller 32 collectively drive the UAV 100 to advance.
  • the first electric motor 21 can be stopped to stop the first propeller 22, while the rotor power assembly 30 is tilted relative to the fixed rod 41 to make the first
  • the central axis 321 of the second propeller 32 coincides with the advancing direction of the UAV 100, and the second motor 31 drives the second propeller 32 to rotate, thereby driving the UAV 100 to advance.
  • the second propeller 32 drives the UAV 100 to advance.
  • the first motor 21 drives the first propeller 22 to rotate, and the second motor 31 stops operating to stop the second propeller 32 from rotating. At this time, only the first propeller 22 drives the UAV 100 to advance.
  • the first propeller 21 remains rotated. In the state, only when the second propeller 32 rotates to drive the unmanned aerial vehicle 100 to advance, the first propeller 21 can stop rotating.
  • only a portion of the rotor power assembly 30 may be tilted relative to the fixed rod 41 such that the central axis 321 of the second propeller 32 coincides with the forward direction of the UAV 100, for example, only a fixed wing aircraft
  • the two rotor power assemblies 30 at the rear of the body 10 are tilted relative to the fixed rod 41, or only the two rotor power assemblies 30 in front of the fixed wing body 10 are tilted relative to the fixed rod 41.
  • the aileron 15 can be turned upside down relative to the fixed wing body 10.
  • the UAV 100 ascends upward with respect to the fixed wing body 10, and the UAV 100 ascends.
  • the left aileron 15 and the right aileron 15 are both open upward.
  • one of the ailerons 15 is turned upside down relative to the fixed wing body 10, and the other aileron 15 is turned upside down relative to the fixed wing body 10, and the UAV 100 is turned upside down.
  • the side where the aileron 15 is located is rolled.
  • the left aileron 15 is turned upside down, and the right aileron 15 is turned down to open, and the UAV 100 rolls to the left side.
  • the left aileron 15 is turned upside down, and the left aileron 15 is turned upside down, and the unmanned aerial vehicle 100 rolls to the right side.
  • the rotor power assembly 30 can make the UAV 100 rise and fall vertically, and the fixed wing assembly 20 and the fixed wing fuselage 10 cooperate to make the UAV 100 flight and speed faster, thereby making no
  • the human aircraft 100 combines both a rotorcraft and a fixed-wing aircraft to accommodate complex environments and improve the performance of the UAV 100.
  • the two connecting plates 11 are directly connected to each other and together form a delta wing to increase the surface area of the fixed wing body 10 to increase the lift of the UAV 100, thereby further improving the range of the UAV 100.
  • the wing tip wing 12 can reduce eddy currents on both sides of the fixed wing body 10 to reduce the resistance of the UAV 100 during flight, thereby improving the stability of the UAV 100 flight.
  • the fixed wing power assembly 20 is disposed at the junction of the two webs 11 and the fixed wing power assembly 20 is located at the nose of the fixed wing body 10.
  • the fixed wing power assembly 20 is disposed on the front side 13 or/and the rear side 14 of the two webs 11.
  • the fixed wing power assembly 20 pulls the UAV 100 forward, when the fixed wing power assembly 20 is disposed on the rear side 14 of the two connecting plates 11, The fixed wing power assembly 20 pushes the UAV 100 forward.
  • the number of rotor power assemblies 30 can be six, eight, and the like.

Abstract

一种无人飞行器，其包括固定翼机身（10）、固定翼动力组件（20）和多个旋翼动力组件（30）。固定翼动力组件设置在固定翼机身上。多个旋翼动力组件设置在固定翼机身上。固定翼机身包括靠近机头的前侧及远离机头的后侧，固定翼的后侧设置有两个副翼（15）。该无人飞行器的旋翼动力组件可以使得无人飞行器垂直起落，固定翼组件和固定翼机身配合可使得无人飞行器的航程较长，航速较快，从而使得无人飞行器兼具了旋翼飞机和固定翼飞机两者的优点，可以适应复杂的环境，提高了无人飞行器的性能。

Description

无人飞行器 技术领域
本发明涉及飞行器领域，尤其涉及一种无人飞行器。
背景技术
常见的普通飞行器分为旋翼飞机和固定翼飞机两大类。旋翼飞机可以低速垂直起降，对机场跑道要求不高，但航速和航程不及固定翼飞机；固定翼飞机起降时速度快，对机场跑道要求高，二者各有其长，而现有的飞行器不能兼备二者的优点。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提供一种无人飞行器。
本发明实施方式的无人飞行器包括固定翼机身、固定翼动力组件和多个旋翼动力组件。固定翼动力组件设置在所述固定翼机身上。多个旋翼动力组件设置在所述固定翼机身上。所述固定翼机身包括靠近机头的前侧及远离所述机头的后侧，所述固定翼机身的后侧设置有两个副翼。
本发明实施方式的无人飞行器，旋翼动力组件可以使得无人飞行器垂直起落，固定翼组件和固定翼机身配合可使得无人飞行器的航程和航速较快，从而使得无人飞行器兼具了旋翼飞机和固定翼飞机两者的有点，可以适应复杂的环境，提高了无人飞行器的性能。
在某些实施方式中，所述固定翼机身包括两个连接板，所述两个连接板彼此直接连接且共同形成一个三角翼，两个所述副翼分别设置在一个所述连 接板上。
在某些实施方式中，两个所述连接板远离所述固定翼机身中心的一侧分别设置有一翼尖小翼。
在某些实施方式中，所述固定翼动力组件设置在所述两个连接板的连接处，或者设置在所述两个连接板的所述前侧或/和后侧。
在某些实施方式中，所述多个旋翼动力组件绕所述三角翼的中心呈中心对称分布。
在某些实施方式中，所述固定翼动力组件包括第一电机及与所述第一电机连接的第一螺旋桨，所述第一螺旋桨的中心轴线与所述无人飞行器的前进方向一致；
每个所述旋翼动力组件包括一第二电机及与所述第二电机连接的第二螺旋桨，所述第二螺旋桨的中心轴线能够与所述无人飞行器的上升/下降的方向一致。
在某些实施方式中，所述无人飞行器包括固定在所述固定翼机身上的机架，所述机架包括沿所述无人飞行器的前进方向延伸的两个固定杆，每个固定杆设置在一个连接板上；
每个固定杆的两端分别从所述连接板的前侧和后侧伸出并分别设置有一个所述旋翼动力组件。
在某些实施方式中，所述机架还包括连接件，所述固定杆通过所述连接件固定连接在所述固定翼机身上。
在某些实施方式中，所述旋翼动力组件能够相对于所述固定杆倾转。
在某些实施方式中，在所述无人飞行器前进时，
所述第一电机驱动所述第一螺旋桨转动；和/或
所述旋翼动力组件相对于所述固定杆倾转以使所述第二螺旋桨的中心轴线与所述无人飞行器的前进方向一致，所述第二电机驱动所述第二螺旋桨转动。
在某些实施方式中，在所述无人飞行器起飞或降落时，所述第二螺旋桨的中心轴线与所述无人飞行器的上升/下降的方向一致。
在某些实施方式中，所述副翼能够相对所述固定翼机身上下翻转。
在某些实施方式中，所述无人飞行器进一步包括连接板，所述连接板包括相背的顶面及底面，所述副翼包括相背的上表面及下表面，所述上表面与所述顶面，所述下表面与所述底面大致平齐。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的无人飞行器的立体示意图；
图2是图1中的无人飞行器的侧面示意图；
图3是图1中的无人飞行器的另一状态下的侧面示意图；
图4至图7是图1中的无人飞行器的两个副翼处于不同飞行状态时的示意图。
主要元件符号说明：
无人飞行器100；
固定翼机身10、连接板11、顶面111、底面112、翼尖小翼12、前侧13、后侧14、副翼15、上表面151、下表面152；
固定翼动力组件20、第一电机21、第一螺旋桨22、第一螺旋桨22的中心轴线221；
旋翼动力组件30、第二电机31、第二螺旋桨32、第二螺旋桨32的中心轴线321；
机架40、固定杆41、连接件42。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征 不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1及图2，本发明实施方式的无人飞行器100包括固定翼机身10、固定翼动力组件20、多个旋翼动力组件30、及机架40。
固定翼动力组件20设置在固定翼机身10上。多个旋翼动力组件30设置在机架40上。机架40固定在固定翼机身10上。
具体地，固定翼机身10的数量为单个。固定翼机身10包括两个连接板11，两个连接板11彼此直接连接且共同形成一个三角翼。需要说明的是，三角翼可以呈三角形，也可以呈类三角形。
另外，连接板11可以由一个单一连续的板材制造而成，也可以由多个板材拼接而成。再有，两个连接板11可以为一体成型结构，也可以单独成型后彼此固定连接以形成固定翼机身10。
连接板11包括相背的顶面111及底面112，为了减少无人飞行器100飞行过程中的阻力，连接板11的顶面111或/和底面112呈流线型。
两个连接板11远离固定翼机身10中心的一侧分别设置有一翼尖小翼12。翼尖小翼12与固定翼机身10成一夹角，用以阻碍固定翼机身10上下 表面的空气绕流，减少绕流对升力的破坏。
固定翼机身10包括靠近机头的前侧13及远离机头的后侧14。固定翼机身10的后侧14设置有两个副翼15。两个副翼15分别设置在一个连接板11上。或者说，每个副翼15设置在一个连接板11上，且位于连接板11的后侧14。进一步地，副翼15能够相对固定翼机身10上下翻转，以实现控制无人飞行器100的飞行姿态。
副翼15包括相背的上表面151及下表面152，副翼15的上表面151与连接板11的顶面111大致平齐，副翼15的下表面152与连接板11的底面112大致平齐。
本实施方式中，固定翼动力组件20设置在两个连接板11的连接处。具体地，固定翼动力组件20位于固定翼机身10的的尾部。
为了方便安装固定翼动力组件20，如图1的示例所示，可在两个连接板11的连接处设置安装座16，进而将固定翼动力组件20安装在安装座16上。
固定翼动力组件20包括第一电机21及与第一电机21连接的第一螺旋桨22。第一电机21可以为有刷电机、无刷电机等任意合适类型的电机。第一螺旋桨22的中心轴线221与无人飞行器100的前进方向一致，以使第一电机21工作时驱动第一螺旋桨22转动，从而推动或拉动无人飞行器100前进。
旋翼动力组件30的数量为四个，四个旋翼动力组件30绕三角翼的中心呈中心对称分布，以使无人飞行器100飞行平衡。
每个旋翼动力组件30包括一第二电机31及与第二电机31连接的第二螺旋桨32，第二螺旋桨32的中心轴线321能够与无人飞行器100的上升/下降的方向一致。
第二电机31可以为有刷电机、无刷电机等任意合适类型的电机。第二螺旋桨32的中心轴线321与无人飞行器100的上升/下降的方向一致，以使 第二电机31工作时驱动第二螺旋桨32转动，从而驱动无人飞行器100上升/下降。
可以理解，当第二螺旋桨32转动所产生的升力大于无人飞行器100的重力时，无人飞行器100上升；当第二螺旋桨32转动所产生的升力小于无人飞行器100的重力时，无人飞行器100下降；当第二螺旋桨32转动所产生的升力等于无人飞行器100的重力时，无人飞行器100处于悬停状态。
本实施方式中，机架40包括两个固定杆41及偶数个连接件42。每根固定杆41通过一个或多个连接件42固定连接在固定翼机身10的底面112上。两个固定杆41沿无人飞行器100的前进方向延伸。每个固定杆41设置在一个连接板11上。
每个固定杆41的两端分别从连接板11的前侧13和后侧14伸出并分别设置有一个旋翼动力组件30。旋翼动力组件30能够相对于固定杆41倾转。旋翼动力组件30能够相对于固定杆41倾转至使第二螺旋桨32的中心轴线321与无人飞行器100的前进方向一致，如图3所示。
在无人飞行器100起飞或降落时，第二螺旋桨32的中心轴线321与无人飞行器100的上升/下降的方向一致，第二电机31驱动第二螺旋桨32转动，第一电机21停止工作。或者说，在无人飞行器100起飞时，第一螺旋桨22停止转动，而第二螺旋桨32转动，从而为无人飞行器100提供升力；在无人飞行器100降落时，第一螺旋桨22停止转动，第二螺旋桨32转动以使无人飞行器100缓慢下降。
在无人飞行器100前进时，第一电机21驱动第一螺旋桨22转动的同时，旋翼动力组件30相对于固定杆41倾转以使第二螺旋桨32的中心轴线321与无人飞行器100的前进方向一致，第二电机31驱动第二螺旋桨32转动，此时第一螺旋桨22和第二螺旋桨32共同驱动无人飞行器100前进。
当然，在无人飞行器100前进时，第一电机21可以停止工作以使第一螺旋桨22停止转动的同时，旋翼动力组件30相对于固定杆41倾转以使第 二螺旋桨32的中心轴线321与无人飞行器100的前进方向一致，第二电机31驱动第二螺旋桨32转动，从而驱动无人飞行器100前进。此时，只有第二螺旋桨32驱动无人飞行器100前进。
另外，还可以是：在无人飞行器100前进时，第一电机21驱动第一螺旋桨22转动，第二电机31停止工作以使第二螺旋桨32停止转动。此时，只有第一螺旋桨22驱动无人飞行器100前进。
需要说明的是，在无人飞行器100前进，旋翼动力组件30相对于固定杆41倾转以使第二螺旋桨32的中心轴线321与无人飞行器100的前进方向一致时，第一螺旋桨21保持转动的状态，只有当第二螺旋桨32转动以驱动无人飞行飞行器100前进时，第一螺旋桨21方可停止转动。
另外，多个旋翼动力组件30中，可以只有部分旋翼动力组件30相对于固定杆41倾转以使第二螺旋桨32的中心轴线321与无人飞行器100的前进方向一致，例如，只有固定翼机身10的后方的两个旋翼动力组件30相对于固定杆41发生倾转，或者只有固定翼机身10的前方的两个旋翼动力组件30相对于固定杆41发生倾转。
如上所述，副翼15能够相对固定翼机身10上下翻转。在无人飞行器100前进时，两个副翼15相对于固定翼机身10向上翻转打开后，无人飞行器100上升。如图4所示，左侧的副翼15和右侧的副翼15均为向上打开的状态。
在无人飞行器100前进时，两个副翼15相对于固定翼机身10向下翻转打开后，如图5所示，无人飞行器100下降。
在无人飞行器100前进时，其中一个副翼15相对于固定翼机身10向上翻转打开，另一个副翼15相对于固定翼机身10向下翻转打开后，无人飞行器100朝上翻的副翼15所在的一侧发生横滚。
如图6所示，左侧的副翼15向上翻转打开，右侧的副翼15向下翻转打开后，无人飞行器100向左侧发生横滚。
如图7所示，左侧的副翼15向下翻转打开，左侧的副翼15向上翻转打开后，无人飞行器100向右侧发生横滚。
本发明实施方式的无人飞行器100，旋翼动力组件30可以使得无人飞行器100垂直起落，固定翼组件20和固定翼机身10配合可使得无人飞行器100的航程和航速较快，从而使得无人飞行器100兼具了旋翼飞机和固定翼飞机两者的有点，可以适应复杂的环境，提高了无人飞行器100的性能。
另外，两个连接板11彼此直接连接且共同形成一个三角翼增大固定翼机身10的表面积，以增大无人飞行器100的升力，从而进一步提高无人飞行器100的航程。
再有，翼尖小翼12可以减少固定翼机身10的两侧的涡流，以减少无人飞行器100在飞行过程中的阻力，从而提高无人飞行器100飞行的稳定性。
在某些实施方式中，固定翼动力组件20设置在两个连接板11的连接处，且固定翼动力组件20位于固定翼机身10的机头处。
在某些实施方式中，固定翼动力组件20设置在两个连接板11的前侧13或/和后侧14。当固定翼动力组件20设置在两个连接板11的前侧13时，固定翼动力组件20拉动无人飞行器100前进，当固定翼动力组件20设置在两个连接板11的后侧14时，固定翼动力组件20推动无人飞行器100前进。
在其他实施方式中，旋翼动力组件30的数量可为六个、八个等其他数量。
在本说明书的描述中，参考术语“一个实施方式”、“某些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施方式，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (13)

  1. 一种无人飞行器，其特征在于，包括：
    固定翼机身；
    设置在所述固定翼机身上的固定翼动力组件；及
    设置在所述固定翼机身上的多个旋翼动力组件；
    所述固定翼机身包括靠近机头的前侧及远离所述机头的后侧，所述固定翼机身的后侧设置有两个副翼。
  2. 如权利要求1所述的无人飞行器，其特征在于，所述固定翼机身包括两个连接板，所述两个连接板彼此直接连接且共同形成一个三角翼，两个所述副翼分别设置在一个所述连接板上。
  3. 如权利要求2所述的无人飞行器，其特征在于，两个所述连接板远离所述固定翼机身中心的一侧分别设置有一翼尖小翼。
  4. 如权利要求2所述的无人飞行器，其特征在于，所述固定翼动力组件设置在所述两个连接板的连接处，或者设置在所述两个连接板的所述前侧或/和后侧。
  5. 如权利要求2所述的无人飞行器，其特征在于，所述多个旋翼动力组件绕所述三角翼的中心呈中心对称分布。
  6. 如权利要求2所述的无人飞行器，其特征在于，所述固定翼动力组件包括第一电机及与所述第一电机连接的第一螺旋桨，所述第一螺旋桨的中心轴线与所述无人飞行器的前进方向一致；
    每个所述旋翼动力组件包括一第二电机及与所述第二电机连接的第二螺旋桨，所述第二螺旋桨的中心轴线能够与所述无人飞行器的上升/下降的方向一致。
  7. 如权利要求6所述的无人飞行器，其特征在于，所述无人飞行器包括固定在所述固定翼机身上的机架，所述机架包括沿所述无人飞行器的前进 方向延伸的两个固定杆，每个固定杆设置在一个连接板上；
    每个固定杆的两端分别从所述连接板的前侧和后侧伸出并分别设置有一个所述旋翼动力组件。
  8. 如权利要求7所述的无人飞行器，其特征在于，所述机架还包括连接件，所述固定杆通过所述连接件固定连接在所述固定翼机身上。
  9. 如权利要求7所述的无人飞行器，其特征在于，所述旋翼动力组件能够相对于所述固定杆倾转。
  10. 如权利要求9所述的无人飞行器，其特征在于，在所述无人飞行器前进时，
    所述第一电机驱动所述第一螺旋桨转动；和/或
    所述旋翼动力组件相对于所述固定杆倾转以使所述第二螺旋桨的中心轴线与所述无人飞行器的前进方向一致，所述第二电机驱动所述第二螺旋桨转动。
  11. 如权利要求6所述的无人飞行器，其特征在于，在所述无人飞行器起飞或降落时，所述第二螺旋桨的中心轴线与所述无人飞行器的上升/下降的方向一致。
  12. 如权利要求1所述的无人飞行器，其特征在于，所述副翼能够相对所述固定翼机身上下翻转。
  13. 如权利要求12所述的无人飞行器，其特征在于，所述无人飞行器进一步包括连接板，所述连接板包括相背的顶面及底面，所述副翼包括相背的上表面及下表面，所述上表面与所述顶面，所述下表面与所述底面大致平齐。
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