TWI610851B - A multi-axes unmanned aerial vehicle and the flying method thereof - Google Patents

Abstract

A multi-axis drone and a flying method thereof. The multi-axis drone includes: N cantilevers, M cantilever interfaces, a flight control module, and an arithmetic module, and each cantilever includes a power element. The multi-axis drone flight method includes the steps of detecting whether a cantilever interface is connected to a cantilever; calculating the total weight of the multi-axis drone; determining whether the multi-axis drone can fly; and if the multi-axis drone can fly, issuing a permission to fly message. Among them, N and M are natural numbers, M ≧ N ≧ 3, and whether the multi-axis drone can fly is determined by the maximum total output power of the power components and the total weight of the multi-axis drone. Compared with the conventional technology, the present invention can freely change the number of flying cantilevers to form a variety of multi-axis drone configurations.

Description

Multi-axis drone and its flying method

The present invention relates to a multi-axis unmanned aerial vehicle and a flying method thereof. More specifically, the present invention relates to a multi-axis unmanned aerial vehicle capable of freely changing the number of cantilever and a configuration manner of the cantilever and a flying method thereof.

Many multi-axis aircraft with different sizes, different number of axes, and different application levels are currently on the market. Some are remotely controlled by the user, some are programmable for autonomous flight, some are as small as toys, and some are large enough to mount cameras for aerial photography or cargo flight.

However, the current multi-axis aircraft on the market are mostly fixed-axis aircraft, that is, the number of cantilevers is fixed, and the output power of the motor is also fixed. If this type of multi-axis aircraft is used for cargo transportation, the motor's The output power cannot be adjusted according to the weight of the cargo to achieve the balance between the optimization of output power and power control.

In response to the foregoing problems, one category of the present invention is to provide a multi-axis drone, which can change the number of cantilevers according to user needs, and determine whether the multi-axis drone can fly according to the number of cantilever and installation position, and further use flight parameters Inputs and settings to optimize flight distance, flight time, and adjust motor output power based on the weight of the cargo rate.

A multi-axis drone provided by the present invention includes: N cantilever arms, M cantilever interfaces, a flight control module, and a computing module.

Each of the cantilevers includes a power element, and the cantilever is detachably connected to the multi-axis drone through the cantilever interfaces; the flight control module is electrically connected to the cantilever interfaces and the power elements to control the output power of the power elements ; The computing module is electrically connected to the cantilever interfaces to detect whether there is a cantilever connected to the cantilever interfaces, and to judge the multi-axis unmanned according to the maximum total output power of the power components and the total weight of the cantilever and the multi-axis drone. Whether the aircraft can fly; the flight control module sends a flight message according to the judgment result of the computing module; N and M are natural numbers, and M ≧ N ≧ 3.

In a specific embodiment of the present invention, the multi-axis drone further includes a display element, and the flight control module of the display element is electrically connected. When the flight control module determines that the configuration of the cantilever on the body can fly, the flight control The module will send a flight message to display on the display element. In a specific embodiment of the present invention, when the flight control module judges that the cantilever-on-body configuration is unable to fly, the flight control module will send a flightless message display On the display element.

In a specific embodiment of the present invention, the multi-axis drone includes a bearing structure for carrying a product.

In a specific embodiment of the present invention, the computing module further determines whether the multi-axis drone is based on the positions of the cantilever interfaces connected to the cantilever, the total weight of the multi-axis drone and the maximum total output power of the power components. Able to fly.

In a specific embodiment of the present invention, the multi-axis drone further includes an input interface, a user may use the input interface to input a first flight parameter and a third flight parameter, and the computing module may obtain the first flight parameter according to the first flight parameter. A second flight parameter, a fourth and a fifth flight parameter are calculated with the third flight parameter, and the flight control module will control the flight of the multi-axis drone according to the first to fifth flight parameters.

In a specific embodiment of the present invention, the first flight parameter is a flight speed or a dead weight, the second flight parameter is a minimum configuration number of the cantilevers, and the third flight parameter is a flight distance or a flight time. 4. The fourth flight parameter must be the payload or flight speed, the fifth flight parameter must be the flight time or flight distance, and there is no overlap between the first and fourth flight parameters; the third and fifth flight parameters do not overlap with each other.

In a specific embodiment of the present invention, the flight control module includes a wireless communication unit. A user may use a portable electronic device to establish a wireless connection with the wireless communication unit, and enter a first flight parameter and a For the third flight parameter, the calculation module calculates a second flight parameter, a fourth and a fifth flight parameter according to the first flight parameter and the third flight parameter, and the flight control module will calculate the first to fifth flight parameters. The parameters control the flight of the multi-axis drone.

In a specific embodiment of the present invention, the flight control module includes a data interface, and a user may use a portable electronic device to establish a wired connection with the data interface, and enter a first flight parameter and a third Flight parameters, the calculation module calculates a second flight parameter, a fourth and a fifth flight parameter according to the first flight parameter and a third flight parameter, and the flight control module will control according to the first to fifth flight parameters Flight of a multi-axis drone.

Another aspect of the present invention is to provide a multi-axis drone flight method for controlling the flight of the multi-axis drone. The multi-axis drone includes N cantilevers and M cantilever interfaces. Each cantilever contains a power element, including the following steps: S1: detecting whether the cantilever interface is connected to the cantilever: S3: calculating the total weight of the cantilever and the body; S4: judging whether the multi-axis drone can Flight; and S6: if the multi-axis drone is capable of flying, a flight permission message is issued; where N and M are natural numbers, M ≧ N ≧ 3, and the judgment of whether the multi-axis drone can fly is based on the The maximum total output power of the isokinetic components and the total weight of the multi-axis drone.

In another specific embodiment of the present invention, step S5 is further included: if the multi-axis drone is unable to fly, a non-flying message is sent.

In another embodiment of the present invention, the multi-axis drone flight method further includes the following steps: a user inputs a first flight parameter and a third flight parameter; according to the first flight parameter and the third flight parameter , Calculating a second, a fourth, and a fifth flight parameter; and controlling the flight of the multi-axis drone according to the first to fifth flight parameters.

In another specific embodiment of the present invention, the first flight parameter may be a flight speed or a dead weight, the second flight parameter may be a minimum configuration number of one of the cantilevers, and the third flight parameter may be a flight distance or a flight. Time, the fourth flight parameter must be the dead weight or flight speed, the fifth flight parameter must be the flight time or flight distance, and there is no overlap between the first and fourth flight parameters, and between the third and fifth flight parameters.

Compared with the conventional technology, the present invention uses a combination of a plurality of cantilever interfaces and a plurality of flying cantilevers to achieve freely changing the number of flying cantilevers and the configuration of multiple multi-axis drones.

1‧‧‧Multi-axis drone

10‧‧‧ Ontology

102‧‧‧Shell

104‧‧‧ cantilever interface

106‧‧‧ Computing Module

108‧‧‧ Flight Control Module

1082‧‧‧Current Control Unit

1084‧‧‧Airframe Control Unit

1086‧‧‧ Electricity measuring unit

1088‧‧‧Wireless communication unit

110‧‧‧Display element

114‧‧‧Switch

11‧‧‧RC remote control module

12‧‧‧ cantilever

122‧‧‧ Power Elements

13‧‧‧Data Interface

14‧‧‧ load bearing structure

15‧‧‧Memory media

16‧‧‧ Battery

17‧‧‧ input interface

18‧‧‧ satellite positioning module

2‧‧‧Multi-axis drone flight method

C1 ~ C3, E0 ~ E6, S0 ~ S10‧‧‧step

D‧‧‧ Flight distance

T‧‧‧ flight time

X‧‧‧Minimum number of configuration of such cantilever 12

V‧‧‧ Maximum flight speed

FIG. 1 is a top view of a multi-axis drone according to a specific embodiment of the present invention.

FIG. 2 is a side view of a multi-axis drone according to a specific embodiment of the present invention. Illustration.

FIG. 3 is a functional block diagram of a multi-axis drone according to a specific embodiment of the present invention.

FIG. 4 is a schematic diagram of a user interface of a display element display according to a specific embodiment of the present invention.

FIG. 5 is a flowchart of a multi-axis drone flying method according to a specific embodiment of the present invention.

FIG. 6 is a flowchart of a multi-axis drone flying method according to another embodiment of the present invention.

One category of the present invention is to provide a multi-axis drone 1, which can change the number of cantilevers according to the needs of users, and determine whether the multi-axis drone can fly according to the number of cantilever and installation position, and further through the input of flight parameters and Set to optimize flight distance, flight time, and adjust motor output power based on the weight of the cargo.

Please refer to FIGS. 1 to 3. FIG. 1 illustrates a top view of a multi-axis drone according to a specific embodiment of the present invention. FIG. 2 illustrates a side view of a multi-axis drone according to a specific embodiment of the present invention. FIG. 3 is a functional block diagram of a multi-axis drone according to a specific embodiment of the present invention.

The multi-axis drone 1 of the present invention includes: a body 10 and N cantilever 12, each of which cantilever 12 includes a power element 122, which can be a motor. The body 10 includes a housing 102, M cantilever interfaces 104, a computing module 106, a flight control module 108, a display element 110, an input interface 17, and a switch 114. N and M are natural numbers. M ≧ N ≧ 3, and in this embodiment, M = 8, and N is at least 4.

Among them, M cantilever interfaces 104 are exposed on one side surface of the housing 102, and the cantilevers 12 are detachably connected to the multi-axis drone 1 through the cantilever interfaces 104. The housing 102 has a detachable load-bearing structure 14 for carrying a product, but the load-bearing structure is not limited to a detachable type, and may also be a design of a drone body structure. The housing 102 can accommodate a computing module 106 and a flight control module 108, but it is not limited thereto. The flight control module 108 connects the M cantilever interfaces 104 and the power element 122 to control the output power of the power element 122. The computing module 106 is electrically connected to the M cantilever interfaces 104, the flight control module 108 and the display element 110. The display element 110, the input interface 17 and the power switch 114 are all disposed on an upper surface of the housing 102, and the input interface 17 is electrically connected to the flight control module 108.

The computing module 106 is used to detect which of the M cantilever interfaces 104 are connected to the cantilever 12, and according to the positions of the cantilever interfaces 104 connected to the cantilever 12, the maximum total output power of the power element 122 and the multi-axis The total weight of the drone 1 determines whether the multi-axis drone 1 can fly. If the load bearing structure 14 is installed on the housing 102, the computing module 106 is further based on the positions of the cantilever interfaces 104 connected to the cantilever 12, the maximum total output power of the power element 122, and the total of the multi-axis drone 1 and the goods. Let's judge again whether the multi-axis drone 1 can fly. After the computing module 106 judges that the multi-axis drone 1 can fly, it will send a flight permission message to the display element 110, and display the flight permission message on the display element 110. After the multi-axis drone 1 is unable to fly, a non-flying message will be sent to the display element 110, and the non-flying message will be displayed on the display element 110.

The display element 110 may be a light-emitting diode (LED), and the flight-permitted information and the flight-incapable information may be individually represented by visible light signals of different colors, such as a bright green light. Indicates that the flight message is approved; a red light indicates that the flight message is not available. The display element 110 may also be a liquid crystal screen, and the flight permission and non-flying information may be displayed on the liquid crystal screen as a text message. The computing module 106 and the flight control module 108 may be integrated circuits or single chips that are independent of each other, or integrated into one integrated circuit or single chip, which is not limited in the present invention.

In this embodiment, the display element 110 is disposed on an upper surface of the body 10, but the present invention is not limited thereto. The display element 110 may also be connected to the body 10 and the computing module 106 by a wireless network. At this time, the display element 110 may be an indicator light on a remote controller of the multi-axis drone 1, or a display screen or a touch screen on a portable electronic device.

Please refer to FIG. 3, after the N cantilever 12 is connected to the body 10 through M cantilever interfaces, the computing module 106 is also based on the maximum total output power of the power element 122 of the N cantilever 12 and the multi-axis drone 1 and After the total weight of the goods determines that the multi-axis drone 1 can fly, the flight control module 108 performs flight control of the multi-axis drone 1 by controlling the output power of the power element 122.

The flight control module 108 includes a current control unit 1082, a fuselage control unit 1084, a power measurement unit 1086, and a wireless communication unit 1088. In this embodiment, the flight control module 108 is connected to a battery 16, an RC remote control module 11, a memory medium 15, and a satellite positioning module 18, and the memory medium 15 is connected to a data interface 13 and an input interface 17 . The functions of each component are detailed in the following paragraphs.

The battery 16 is used to provide the power of the multi-axis drone 1, and the power measurement unit 1086 is used to measure the power of the battery 16. The RC remote control module 11 is used to enable the multi-axis drone 1 to receive a remote control signal so that the multi-axis drone 1 can fly to a conventional remote-control toy and be operated by a user. The satellite positioning module 18 is used to enable the multi-axis drone 1 to sense its own position by itself.

Please refer to FIG. 1 and FIG. 3 at the same time. As shown in FIG. 1, the input interface 17 is disposed on the upper surface of the body 10 to provide a user to input a first flight parameter and a third flight parameter using the input interface 17, and The input first and third flight parameters will be stored in the memory medium 15 and then transmitted to the computing module 106 via the flight control module 108, and the computing module 106 uses a first A calculation formula calculates a second flight parameter; the calculation module 106 designates a fourth flight parameter according to the second flight parameter; and finally, the calculation module 106 calculates the third flight parameter and the fourth flight parameter by a second calculation formula. A fifth flight parameter. After calculating the first to fifth flight parameters, the user must install a cantilever 12 on the body 10 according to the flight parameters, and the flight control module 108 will control the flight of the multi-axis drone 1 according to the flight parameters. The first and second expressions are as follows:

The first calculation formula: this weight + (cantilever weight * X) + load capacity ≦ (500 * X)

Second expression: V ≦ D * T

Among them in this embodiment. The first flight parameter is the payload (g), the second flight parameter is the minimum number of configurations of the cantilever 12, the third flight parameter is the flight distance D (Km), and the fourth flight parameter is the maximum flight speed V (Km / Hr), the fifth flight parameter is the flight time T (Hr).

The body weight is the weight of the body 10, and the cantilever weight is the weight of a single such cantilever 12, in grams. The 500 in the first calculation formula is the load capacity of a single power element 122 at the maximum output power. The unit is also Grams, of which the weight, the weight of a single cantilever and the load capacity of a single power element 122 under the maximum output power will be set in the computing module 106 in advance. If the user later purchases a cantilever 12 kit with a higher output, the user will also The load data of the power element 122 can be modified.

First, the maximum flight speed V of the multi-axis drone 1 is positively related to the total number X of the booms 12 Related. For example, when multi-axis drone 1 is equipped with three cantilever 12, the maximum flight speed is 3km / hr, when multi-axis drone 1 is equipped with four cantilever 12, the maximum flight speed is 5km / hr, and when six cantilever 12 is configured, The maximum flight speed is 6km / hr. When eight cantilevers 12 are configured, the maximum flight speed is 10km / hr, as shown in Table 1 below, where the highest flight speed refers to the maximum output of all cantilevers 12 at the maximum power output. Flying speed. These correspondences between the flying speed and the number of cantilevers are recorded in the computing unit 106. After inputting the desired flight distance and flight time, the maximum flight speed V required to satisfy the foregoing flight distance and flight time is calculated, and the computing unit 106 then selects from the foregoing flight speed-cantilever correspondence relationship. A suitable cantilever 12 is provided with a number X and displayed on the display panel 110.

By inputting the load capacity as the first flight parameter, the user calculates the minimum number of configuration X of the cantilever 12 (hereinafter referred to as the number of cantilever configuration X) of the second flight parameter after bringing in the first calculation formula, and then according to Table 1 Look up the table to determine the maximum flight speed V of the fourth flight parameter. The user inputs the flight time T (or flight distance D) as the third flight parameter, and calculates the flight distance D (or flight time T) as the fifth flight in accordance with the maximum flight speed V of the fourth flight parameter in the second calculation formula. parameter. If the load capacity input by the user exceeds the load capacity under the fully configured power element 122 (depending on the number of cantilever interfaces 104) and the maximum output power, the computing module 106 will send a non-flying message to the display element 110 and display it on Display element 110

The foregoing embodiments are discussed by first inputting a load capacity and flight parameters such as a flight time T or a flight distance D. The load capacity is a core parameter that determines the minimum number X of the cantilever. However, the present invention proposes another embodiment here. The user must first specify the maximum flight speed V of the multi-axis drone 1 as the first flight parameter, and then find the corresponding number of cantilever configurations X from the corresponding relationship shown in Table 1. As the second flight parameter, the present invention calculates the payload of the multi-axis drone 1 (the fourth flight parameter) under the specified first flight parameter (the maximum flight speed V) according to the first calculation formula, and The user then inputs the flight time T (or flight distance D) as the third flight parameter, and calculates the flight distance D (or flight time T) as the fifth by the second calculation formula and the first flight parameter (the maximum flight speed V). Flight parameters.

In this embodiment, the computing module 106 first determines the first flight parameter input by the user, that is, the maximum flight speed V. If the maximum flight speed V input by the user exceeds the maximum speed range listed in Table 1, the computing module 106 will send a non-flying message to the display element 110 and display it on the display element 110; Although the flying speed V does not exceed the maximum speed range listed in Table 1, but when there is no direct corresponding flying speed value in Table 1 (for example, when 5.5Km / Hr is input), the computing module 106 will choose the closest and larger than that. Enter the corresponding speed of the value (that is, 6Km / Hr), and then display the number X of the cantilever corresponding to the speed on the display element 110.

It should be known that the above embodiment description is based on the calculation module 106 firstly determining whether the multi-axis drone 1 can fly according to the number of cantilever 12 connected to the multi-axis drone 1, and then according to the flight parameters input by the user , Further modify the number of cantilever 12 to which the multi-axis drone 1 should be connected to fly according to the flight parameters input by the user. However, the present invention is not limited to this. The present invention can also directly input the aforementioned flight parameters by the user after the multi-axis drone 1 is turned on, and then calculate the The module 106 calculates the number of cantilevers 12 to which the multi-axis drone 1 should be connected according to the first and second calculation formulas, that is, the number of cantilever configurations X, to fly according to the flight parameters input by the user.

The storage medium 15 may be a hard disk, a dynamic random access memory (DRAM), and a static random access memory (SRAM).

However, the method of inputting various parameters of the present invention is not limited to the aforementioned input interface 17. In other embodiments, a wireless network connection with a portable electronic device must be established through the wireless communication unit 1088, and then borrowed. The portable electronic device is used to input the first and second flight parameters. Alternatively, a wired connection is established with a portable electronic device through the data interface 13, and the first and second flight parameters are input through the portable electronic device. In this embodiment, the display interface of the display element 110 when each flight parameter is input is shown in FIG. 4. FIG. 4 is a schematic diagram of a user interface of the display element display according to a specific embodiment of the present invention.

In order to allow the multi-axis drone 1 of the present invention to fly autonomously, the user must use a portable electronic device or a fixed-type electronic device to plan the planned multi-axis drone 1 through a wireless communication unit 1088 or a data interface 13. The flight path is input into the storage medium 15, and then the satellite positioning module 18 is used for navigation. The fuselage control unit 1084 in the flight control module 108 maintains the balance of the fuselage and the control of the flight direction, and then is controlled by the current control unit 1082. The output power of the power elements 122 of the cantilevers 12 is used to adjust the flight speed and attitude of the multi-axis drone.

Please refer to FIG. 5, which illustrates a flowchart of a multi-axis drone flying method according to a specific embodiment of the present invention. Another category of the present invention is to provide a multi-axis drone flight method 2 for controlling the flight of a multi-axis drone. The multi-axis drone includes N cantilevers and M cantilever interfaces, and each cantilever contains a power element. , Including the following steps: S1: Detect the suspension Whether the boom interface is connected to the cantilever; S3: Calculate the total weight of the cantilever and the body; S4: Determine whether the multi-axis drone can fly; and S6: If the multi-axis drone can fly, issue an approval Flight information; where N and M are natural numbers, M ≧ N ≧ 3, and whether the multi-axis drone can fly is determined by the maximum total output power of these power components and the total weight of the multi-axis drone.

In more detail, a multi-axis drone flying method provided by the present invention includes steps S0 to S10, which will be described in detail below with reference to FIGS. 1, 2 and 5. First, step S0 is executed, and the switch 114 is pressed to start the multi-axis drone 1. Then, the computing module 106 detects which of the M cantilever interfaces 104 are connected to the cantilevers 12. If the computing module 106 does not detect that at least one cantilever 12 is connected to any of the cantilever interfaces 104 within a preset time, such as three minutes, the computing module 106 will execute step S2: a preset time The rear body is automatically turned off, so that the body 10 is automatically turned off to save power.

If the computing module 106 detects that at least one cantilever 12 is connected to any of the cantilever interfaces 104, the computing module 106 will execute step S3: calculate the total weight of the cantilever and the body. Then proceed to step S4: determine whether the multi-axis drone can fly. Since the load capacity of the single power element 122, its own weight, and the weight of a single cantilever are all known, the calculation module 106 can first calculate the minimum number of such cantilever 12 configurations according to the aforementioned first and second calculation formulas. X, and detect whether the cantilever 12 connected to the multi-axis drone 1 is greater than or equal to X, if not, proceed to step S5: the computing module sends a flight incapability message, and a flight incapability message will be sent to the display Element 110 is displayed. If yes, proceed to step S6: the computing module sends a flight approval message, and a flight approval message will be sent to the display element 110 to be displayed, wherein the flight message further includes a message of the number of proposed cantilever configurations.

Then proceed to step S7: determine whether the multi-axis drone is set to autonomous flight. Since the multi-axis drone 1 of the present invention can also be operated by RC remote control, in this step, the flight control module 108 detects whether a control signal is received from the RC remote control module. If not, it indicates that the multi-axis drone 1 No autonomous flight will be performed, that is, step S8: the RC remote control module controls the multi-axis drone flight. If yes, it indicates that the multi-axis drone 1 will perform autonomous flight, and it proceeds to step S9: the flight control module loads flight parameters and flight paths, wherein steps S7 to S8 must be implemented selectively. In another embodiment, the steps S7 ~ S8 must be omitted. In this embodiment, the flight parameters and flight path are input into the flight control module 108 through the input interface 17 and the wireless communication unit 1088. After the flight parameters are entered, the process will first jump from step S9 to step S4, and once again make a judgment as to whether the multi-axis non-entry machine 1 can fly according to the input flight parameters. Because it is possible that the performance of the current multi-axis drone 1 cannot meet the requirements for input flight parameters, for example, the current configuration of the multi-axis drone 1 has 3 cantilever 12 connected to it, and the maximum speed is 3 Km / Hr. Requires a flight speed of 6Km / Hr. Another embodiment is that the user has entered the flight parameters of the payload, but the cantilever 12 of the multi-axis drone 1 is currently not configured to carry the payload. Therefore, after re-examination in step S4, the user can perform the flight according to the return flight. The message to update the input flight parameters requires or change the configuration of the cantilever 12 of the multi-axis drone 1.

When jumping from step S9 back to step S4 and then following steps S5 to S7 to step S9, if the performance of the current multi-axis drone 1 is already met at this time, proceed to step 510: the multi-axis drone performs autonomous flight. However, if the flight parameters are to be updated at this time, skip back to step S4 again, and judge again whether the multi-axis drone 1 can fly according to the input flight parameters. And so on.

Multi-axis drone flight method 2 further includes the following steps: Step C1: a user inputs a first flight parameter and a third flight parameter; step C2: according to the first flight Parameters and the third flight parameter to calculate a second, a fourth and a fifth flight parameter; and step C3: controlling the flight of the multi-axis drone according to the first to the fifth flight parameter.

The first flight parameter is a flight speed or a dead weight, the second flight parameter is a cantilever configuration number, the third flight parameter is a flight distance or flight time, the fourth flight parameter is a dead weight or flight speed, and the fifth flight parameter It must be flight time or flight distance, and there is no overlap between the first and fourth flight parameters; the third and fifth flight parameters.

In step C1, the user must use the input interface 17 provided on the housing 102, or use a portable electronic device to input the first and third flight parameters to the multi-axis unmanned by a wired connection or a wireless connection. In the machine 1 and recorded by the storage medium 15. The input first and third flight parameters are transmitted to the calculation module 106 through the flight control module 108, and step C2 is performed: the calculation module 106 calculates the first Two flight parameters; and a fourth flight parameter is specified according to the second flight parameter reference table 1. Then, according to the third flight parameter input by the user and the previously calculated fourth flight parameter, the fifth flight parameter is calculated by the second calculation formula; finally, step C3 is performed: the flight control module 108 performs the first to the fifth flight parameters. Flight parameters control the flight of the multi-axis drone 1.

What needs to be known is that the above method embodiment description is based on the calculation module 106 firstly determining whether the multi-axis drone 1 can fly according to the number of cantilever 12 connected to the multi-axis drone 1, and then according to the flight input by the user Parameters to further modify the number of cantilevers 12 to which the multi-axis drone 1 should be connected to fly in accordance with the flight parameters entered by the user. However, the present invention is not limited to this. The present invention can also directly input the aforementioned flight parameters by the user after the multi-axis drone 1 is turned on, and then the arithmetic module 106 calculates the multi-axes according to the first and second calculation formulas. The number of cantilevers 12 to which the drone 1 should be connected, that is, the number of cantilever configurations X, to fly according to the flight parameters input by the user. The method embodiment The details are as follows.

Please refer to FIG. 6, which illustrates a flowchart of a multi-axis drone flying method according to another embodiment of the present invention. The invention also provides a multi-axis drone flight method 3 for controlling the flight of the multi-axis drone. The multi-axis drone includes N cantilever arms and M cantilever interfaces. Each cantilever contains a power element, including the following: Step: Step E1: The user inputs the first and third flight parameters and the flight path; Step E2: Calculates the second, fourth, and fifth flight parameters; Step E3: Outputs a required one according to the first to fifth flight parameters Cantilever configuration number information; Step E4: Determine whether the multi-axis drone is set to autonomous flight; if not, proceed to step E5: The multi-axis drone performs remote control flight according to the first to fifth flight parameters; if yes, proceed to step E6: The multi-axis drone performs autonomous flight according to the first to the fifth flight parameters and the flight path.

The flight method 3 of the multi-axis drone will be described in detail below. Please refer to FIG. 6 again. First, step S0 is performed first, and the switch 114 is pressed to start the multi-axis drone 1. At this time, the multi-axis drone 1 is not connected to any cantilever 12. Then in step E1, the user first inputs two flight parameters, which are called the first and third generations respectively. The first flight parameter must be a flight speed or a payload, and the third flight parameter must be a flight distance or a flight time. After the flight parameters are input, step E2 is performed, and the calculation module 106 calculates the second, fourth, and fifth flight parameters according to the first and third flight parameters by using the foregoing first and second calculation formulas. The second flight parameter is the number of cantilever configurations, the fourth flight parameter is the load capacity or flight speed, the fifth flight parameter is the flight time or flight distance, and between the first and fourth flight parameters; the third and fifth flight The parameters do not overlap with each other.

After all the flight parameters are calculated by the operation module 106, step E3 is performed. According to the first to fifth flight parameters, a recommended X number of cantilever configurations is output, so that the user can know how many cantilever 12 to multi-axis drones need to be installed 1 of the body 10. And the aforementioned number of required cantilever configurations X The message may be output to the display element 110 for the user to read, or output to the user's portable electronic device via the wireless communication unit 1088 for the user to read.

After the user has installed the number of cantilever 12 corresponding to X to the body 10 according to the required number of cantilever configuration X, proceed to step E4 to determine whether the multi-axis drone is set to autonomous flight. Since the multi-axis drone 1 of the present invention can also be operated by RC remote control, in step E4, the flight control module 108 detects whether a control signal is received from the RC remote control module. If so, it indicates that the multi-axis drone 1 No autonomous flight will be performed, that is, step E5 is performed: the multi-axis drone performs remote control flight according to the first to the fifth flight parameters. If not, it indicates that the multi-axis drone 1 will perform autonomous flight, then proceed to step E6: the multi-axis drone performs autonomous flight according to the first to the fifth flight parameters and the flight path.

In summary, the present invention provides a multi-axis unmanned aerial vehicle, which has a plurality of cantilever interfaces and a plurality of cantilever attached with power components, that is, a flying cantilever, an operation module and a flight control module. The invention can freely change the number of cantilever with power elements required for flight, and the computing module can determine whether the multi-axis drone can fly according to the number of cantilever provided, body weight and power element output power, and then input including flight time After the flight parameters such as flight distance and payload or flight speed are sent to the calculation module, the flight control module controls the flight of the multi-axis drone. Another method is to provide a multi-axis drone flight method. First, determine whether the drone body is equipped with a flying cantilever, and determine whether it can fly based on the installation position of the flying cantilever, the output power of the flying cantilever, and the total weight of the whole aircraft. Flight parameters to achieve the required flight plan requirements.

Compared with the conventional technology, the present invention uses a combination of a plurality of cantilever interfaces and a plurality of flying cantilevers to achieve freely changing the number of flying cantilevers and the configuration of multiple multi-axis drones.

With the detailed description of the above preferred embodiments, it is hoped that the present invention can be more clearly described The features and spirit of the invention do not limit the scope of the invention with the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the patents to be applied for in the present invention. Therefore, the scope of the patent scope of the present invention should be interpreted in the broadest sense according to the above description, so that it covers all possible changes and equal arrangements.

1‧‧‧Multi-axis drone

10‧‧‧ Ontology

102‧‧‧Shell

110‧‧‧Display element

114‧‧‧Switch

12‧‧‧ cantilever

122‧‧‧ Power Elements

14‧‧‧ load bearing structure

17‧‧‧ input interface

Claims (14)

A multi-axis drone includes: N cantilevers, each of which includes a power element; M cantilever interfaces, and the cantilevers are detachably connected to the multi-axis drone through the cantilever interfaces; a flight A control module connected to the cantilever interfaces and the power components for controlling the power output of the power components; and a computing module electrically connected to the cantilever interfaces and based on the maximum of the cantilever connected The total output power and the total weight of the multi-axis drone determine whether the multi-axis drone is capable of flying; wherein the flight control module sends a flight message based on the judgment result of the computing module; N and M are both natural Number, M ≧ N ≧ 3. The multi-axis drone according to item 1 of the patent application scope further includes a display element for displaying the flight information. The multi-axis drone according to item 1 of the scope of patent application, wherein the flight information includes a suggested number of cantilever configurations. The multi-axis drone according to item 1 of the scope of patent application, wherein the multi-axis drone includes a bearing structure for carrying a product. The multi-axis drone described in item 4 of the scope of patent application, wherein the computing module is further based on the positions of the cantilever interfaces to which the cantilevers are connected, the total weight of the multi-axis drone containing the product, and the power components. To determine whether the multi-axis drone can fly. The multi-axis drone according to item 1 of the scope of patent application, wherein the flight control module can be accessed A user inputs a first flight parameter and a third flight parameter. The multi-axis drone according to item 6 of the scope of patent application, wherein the computing module must calculate a second flight parameter, a fourth and a fifth flight according to the first flight parameter and the third flight parameter. Parameters, and the flight control module will control the flight of the multi-axis drone according to the first to the fifth flight parameters. The multi-axis drone according to item 7 of the scope of patent application, wherein the first flight parameter is a flight speed or a dead weight, the second flight parameter is a minimum configuration number of the cantilevers, and the third flight The parameter may be a flight distance or a flight time, the fourth flight parameter may be the dead weight or the flight speed, the fifth flight parameter may be the flight time or the flight distance, and the first and fourth flight Parameters; the third and the fifth flight parameters do not overlap with each other. The multi-axis drone according to item 7 of the scope of patent application, wherein the flight control module includes a wireless communication unit, and the wireless communication unit may establish a wireless connection with a portable electronic device, and use the The portable electronic device inputs the first flight parameter and the third flight parameter. According to the multi-axis drone described in item 7 of the patent application scope, wherein the flight control module includes a data interface, a user may use a portable electronic device to establish a wired connection with the data interface and enter the data interface. The first flight parameter and the third flight parameter. A flying method for a multi-axis drone. The multi-axis drone includes N cantilevers and M cantilever interfaces, and each cantilever contains a power element. The flying method includes the following steps: detecting whether the cantilever interfaces are connected to the Waiting for the cantilever; calculating the total weight of the connected cantilever and the multi-axis drone; judging whether the multi-axis drone can fly; and According to the judgment result, a flight message is issued; where N and M are natural numbers, M ≧ N ≧ 3, and whether the multi-axis drone can fly is judged based on the maximum total output power of the power components and the The total weight of the multi-axis drone. The flight method of the multi-axis drone according to item 11 of the scope of the patent application further includes the following steps: inputting a first flight parameter and a third flight parameter; calculating according to the first flight parameter and the third flight parameter A second, a fourth, and a fifth flight parameter; and controlling the flight of the multi-axis drone according to the first to the fifth flight parameters. The flight method of the multi-axis drone according to item 12 of the scope of the patent application, wherein the first flight parameter is a flight speed or a dead weight, and the second flight parameter is a minimum configuration number of one of the cantilevers, the The third flight parameter may be a flight distance or a flight time, the fourth flight parameter may be the dead weight or the flight speed, the fifth flight parameter may be the flight time or the flight distance, and the first and the Between the fourth flight parameters; the third and the fifth flight parameters do not overlap with each other. A flying method for a multi-axis drone. The multi-axis drone includes N cantilevers and M cantilever interfaces, and each cantilever contains a power element. The flying method includes the following steps: a user inputs a first flight parameter and A third flight parameter; calculating a second, a fourth and a fifth flight parameter according to the first flight parameter and the third flight parameter; and outputting a recommended cantilever according to the first to the fifth flight parameter Configuration number information; and The flight of the multi-axis drone is controlled according to the first to the fifth flight parameters; wherein N and M are natural numbers, and M ≧ N ≧ 3.