Vector propulsion cycloid type variable configuration triphibian unmanned aerial vehicle and working method

The vector propulsion cycloid type variable configuration triphibian unmanned aerial vehicle comprises a base, a first rotating part, a second rotating part, a first cycloid propeller and a second cycloid propeller, and the first rotating part and the second rotating part can rotate with the base as the center; the two ends of the first rotating part are each connected with a first cycloid propeller, the two ends of the second rotating part are each connected with a second cycloid propeller, and the unmanned aerial vehicle forms an X configuration, an H configuration or an N + 1 configuration by adjusting the relative positions of the first rotating part and the second rotating part and the relative positions of the cycloid propellers and the rotating parts. The invention further relates to a working method which adapts to the water-land-air environment by changing the three configurations and is easy to operate and good in maneuverability. 本发明涉及一种矢量推进的摆线式变构型水陆空三栖无人机，包括基座、第一转动件、第二转动件、第一摆线推进器和第二摆线推进器，第一转动件和第二转