WO2023082292A1

WO2023082292A1 - Multi-rotor unmanned aerial vehicle

Info

Publication number: WO2023082292A1
Application number: PCT/CN2021/130777
Authority: WO
Inventors: 赵进; 舒展; 李日照; 周乐; 高翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2023-05-19
Also published as: CN117980230A

Abstract

A multi-rotor unmanned aerial vehicle (UAV), comprising: a center body (10); a landing frame (11), which is located below the center body (10); two pairs of arms (12), which are rotatably connected to the center body (10), so as to achieve an unfolded state and a folded state of the arms (12); and multiple rotor devices (13), which are respectively mounted on the two pairs of arms (12), the rotor devices (13) being used for providing flight power, and the center body (10) being obliquely arranged relative to a landing plane of the landing frame (11). In the unfolded state, the arms (12) are radially unfolded relative to the center body (10); and in the folded state, each pair of arms (12) is in an up-down folded state, an arm (12) that is connected to a lower side of the center body (10) is located below, and an arm (12) that is connected to a higher side of the center body (10) is located above. The present multi-rotor UAV has a relatively low overall height and relatively small volume after being folded, which facilitates carrying, transporting and storing the multi-rotor UAV.

Description

Multi-rotor UAV

technical field

The present application relates to the field of aircraft technology, in particular to a multi-rotor unmanned aerial vehicle.

Background technique

In order to facilitate portability, transportation and storage, the multi-rotor unmanned aerial vehicle usually needs to be designed in a foldable form, that is, the arms of the multi-rotor unmanned aerial vehicle can be folded. When the arm is unfolded, the rotor device on the arm can be used to provide flight power. When the arm is folded, the overall volume of the multi-rotor UAV is reduced.

However, in the prior art, after the arms of the multi-rotor unmanned aerial vehicle are folded, in order to avoid mutual interference of the rotor devices on the arms, the overall height of the multi-rotor unmanned aerial vehicle is still relatively high. Moreover, in the flight state, the rotor device and functional parts (such as spraying device) on the rear arm are very susceptible to the incoming flow of the rotor device on the front arm, which greatly affects the flight quality of the multi-rotor unmanned aerial vehicle. (such as aerodynamic effects) and the working effects of functional parts (such as the spraying effect of sprinklers). In addition, due to the extremely unbalanced load on the front and rear rotor devices in the prior art, the control difficulty and damage cost of the rotor device are relatively high.

application content

The embodiment of the present application provides a multi-rotor unmanned aerial vehicle to solve the problem that the height of the existing multi-rotor unmanned aerial vehicle is still high after folding in the prior art, and the flight quality of the existing multi-rotor unmanned aerial vehicle (such as aerodynamic effect) and the problem of limited working effect of functional parts, the difficulty of controlling the rotor device and the problem of high damage cost are at least one of the problems.

In the first aspect, the embodiment of the present application provides a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle includes:

The central body;

a landing frame located below the central body;

Two pairs of machine arms are respectively rotatably connected to the central body, so as to realize the unfolded state and the folded state of the machine arms;

A plurality of rotor devices are installed on the two pairs of arms respectively, and the rotor devices are used to provide flight power;

Wherein, the central body is inclined relative to the landing plane of the landing gear;

In the deployed state, the arms are radially deployed relative to the central body;

In the folded state, each pair of arms is folded up and down, and the arms connected to the lower side of the central body are located below, and the arms connected to the higher side of the central body The arm is located above.

In the embodiment of the present application, since the central body of the multi-rotor UAV is inclined relative to the landing plane of the landing gear, when the arms are in the folded state, the lower one connected to the central body The arm on the side is located at the bottom, and the arm connected to the higher side of the central body is located at the top, so as to realize the upper and lower staggered folding of the arms, and avoid the gap between the folded arms. interference occurs. In this way, the overall height of the folded multi-rotor unmanned aerial vehicle can be lower and the volume is smaller, which is convenient for carrying, transportation and storage of the multi-rotor unmanned aerial vehicle.

In the second aspect, the embodiment of the present application also provides a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle includes:

The central body;

a front arm mechanically coupled to the front end of the central body;

a rear arm mechanically coupled to the rear end of the central body;

A plurality of rotor devices are installed on the front arm and the rear arm respectively, and the rotor devices are used to provide flight power;

a spraying arrangement located below said rotor arrangement on said rear arm,

Wherein, when the multi-rotor UAV is flying towards the nose direction, the bottom height of the rotor device on the front arm is lower than the bottom height of the rotor device on the rear arm.

In the embodiment of the present application, when the UAV is in flight, since the bottom height of the rotor device on the front arm is lower than the bottom height of the rotor device on the rear arm, the front and rear rotors There may also be a height difference in the device correspondingly, and the staggered arrangement is realized. The wind flow of the rotor device on the front arm and the wind flow of the rotor device on the rear arm can be independent of each other without affecting each other, so as to improve the performance of the multi-rotor unmanned aerial vehicle. Flight qualities, such as aerodynamic effects. Moreover, it can also avoid that the spray width of the spraying device on the rear arm is affected by the wind flow of the rotor device on the front arm, thereby improving the spraying quality of the spraying device.

Optionally, when the multi-rotor UAV is flying towards the nose, the bottom height of the rotor device on the front arm is smaller than the bottom height of the spray device on the rear arm.

Optionally, the central body includes a machine frame, and the machine frame is provided with an accommodation portion for accommodating functional components of the multi-rotor unmanned aerial vehicle, and the functional components can be detachably inserted into the accommodation portion.

Optionally, the rotor device is a coaxial dual-blade rotor device.

Optionally, the coaxial dual-blade rotor device includes:

a motor base, the motor base is fixedly connected to the machine arm;

The drive mechanism installed on the motor base, the top of the drive mechanism is provided with an upper paddle, the bottom of the drive mechanism is provided with a lower paddle, the paddle plane of the upper paddle and the paddle plane of the lower paddle The paddle planes are parallel, and the rotation speeds of the upper blade and the lower blade are equal and opposite.

Optionally, in the folded state, the gap between the upper arm and the lower arm is a first gap, and the first gap can accommodate the lower coaxial double arm. a part of the paddle rotor device above the arm connected thereto, and a part of the above coaxial dual-blade rotor device below the arm connected thereto;

Or, when the multi-rotor unmanned aerial vehicle is hovering without wind, the paddle plane of the upper blade and the paddle plane of the lower blade are all inclined to the first horizontal plane, so that the upper paddle The sum of the pulling force of the blade and the lower blade provides at least part of the yaw force of the drone, wherein the first horizontal plane is a plane substantially perpendicular to the direction of gravity;

Alternatively, the drive mechanism includes: a first motor disposed on the top of the motor base and a second motor disposed at the bottom of the motor base; the first motor is connected to the upper blade to drive the upper paddle The blade rotates, and the second motor is connected to the lower blade to drive the lower blade to rotate;

Alternatively, the drive mechanism includes: a third motor and a transmission mechanism connected to the output end of the third motor, the transmission mechanism is provided with a first output end and a second output end, and the first output end is connected to the The rotation speeds output by the second output end are equal and opposite in direction, the first output end is connected with the upper blade to drive the upper blade to rotate, and the second output end and the lower blade rotate to Drive described lower paddle to rotate.

Optionally, in the unfolded state, the coaxial dual-blade rotor device located on the front arm is a front rotor device, and the rotor device located on the rear arm is a rear rotor device; wherein,

The top of the motor base of the front rotor device is inclined towards the nose direction, and the top of the motor base of the rear rotor device is inclined towards the tail direction.

Optionally, the angle at which the top of the motor base of the front rotor device is inclined towards the direction of the aircraft nose is a first angle, and the angle at which the top of the motor base of the rear rotor device is inclined towards the direction of the tail is a second angle. angle, the first angle and the second angle are equal.

Optionally, both the first angle and the second angle are 5-15 degrees.

Optionally, both the front rotor device and the rear rotor device are coaxial dual-blade rotor devices, and the paddle plane of the upper blade and the paddle plane of the lower blade of the front rotor device and the rear rotor device are both It is substantially perpendicular to the axial direction of the motor seat.

Optionally, both the front rotor device and the rear rotor device are coaxial dual-blade rotor devices, and the speeds of the driving mechanisms of the front rotor device and the rear rotor device are the same.

Optionally, both the front rotor device and the rear rotor device are coaxial double-bladed rotor devices, and the distance between the tips of the upper blades of the front rotor device and the rear rotor device and the corresponding arms , which is smaller than the distance between the arms corresponding to the tips of the lower blades.

Optionally, the central body is located at the front end of the head of the multi-rotor UAV, and is lower than the central body at the rear end of the tail of the multi-rotor UAV.

Optionally, the inclination angle of the central body relative to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a flying state is greater than the inclination relative to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a hovering state in a windless environment angle.

Optionally, one of each pair of arms is connected to the front end of the central body, and the other is connected to the rear end of the central body;

In the folded state, among each pair of arms, the arm connected to the front end of the central body is located below, and the arm connected to the rear end of the central body is located above.

Optionally, in the flight state, the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body than the rear end of the central body.

Optionally, in the folded state, the arm is inclined relative to the landing plane of the landing gear.

Optionally, each pair of arms includes a front arm positioned at the nose of the multi-rotor UAV and a rear arm positioned at the nose of the multi-rotor UAV,

In the folded state, the front arm and the rear arm together with the central body form a "Z" shape.

Optionally, each pair of arms includes a front arm positioned at the nose of the multi-rotor unmanned aerial vehicle and a rear arm positioned at the nose of the multi-rotor unmanned aerial vehicle. In the unfolded state, the front arm and the rear arm are arranged up and down.

Optionally, in the unfolded state, the height of the front arm is a first height, the height of the rear arm is a second height, and the first height is lower than the second height.

Optionally, in the unfolded state, both the front arm and the rear arm are lifted upwards.

Optionally, the upward lifting angles of the front arm and the rear arm are the same.

Optionally, the upward raising angle of the front arm and the rear arm is 5-10 degrees, preferably 6 degrees.

Optionally, an arm connecting structure is provided on the central body, and the arm connecting structure is connected to the arm so as to rotatably connect the arm to the central body; wherein,

The connecting structure of the machine arm is a space folding axis.

Optionally, the multi-rotor unmanned aerial vehicle further includes a spraying device, and the spraying device is connected under the arm of the tail of the central body.

Optionally, the spraying device includes a spray bar, and the spray bar is perpendicular to the axial direction of the arm; wherein,

In the unfolded state, the spray boom extends obliquely from away from the machine arm toward the outside of the central body.

Optionally, the head of the central body is also provided with a visual sensor;

The distance between the rotor devices connected to the front end of the central body is greater than the distance between the rotor devices connected to the rear end of the central body.

Optionally, each pair of arms includes a front arm positioned at the nose of the multi-rotor unmanned aerial vehicle and a rear arm positioned at the tail of the multi-rotor unmanned aerial vehicle. The angle between the front arms is greater than the angle between the two rear arms.

Optionally, the line connecting the rotation axes of the plurality of rotor devices is trapezoidal.

In a third aspect, the embodiment of the present application also provides a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle includes:

The central body;

a front arm mechanically coupled to the front end of the central body;

a rear arm mechanically coupled to the rear end of the central body;

Wherein, when the multi-rotor unmanned aerial vehicle flies towards the direction of the nose, the center of gravity of the multi-rotor unmanned aerial vehicle tilts forward along the direction of the nose, so that the rotor device installed on the front arm and the rotor device installed on the The power balance of the rotor unit on the rear arm.

In the embodiment of the present application, due to the power balance between the rotor device installed on the front arm and the rotor device installed on the rear arm, the difficulty of controlling the rotor device and the damage cost of the rear rotor device are greatly reduced .

The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable , the following specifically cites the specific implementation manner of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Figure 1 schematically shows a schematic structural view of a multi-rotor unmanned aerial vehicle described in the embodiment of the present application in a deployed state;

Fig. 2 schematically shows a structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 1;

Fig. 3 schematically shows a structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 1;

Fig. 4 schematically shows a schematic structural view of the multi-rotor unmanned aerial vehicle described in the embodiment of the present application in a folded state;

Fig. 5 schematically shows a structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 4;

Fig. 6 schematically shows a structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 4;

Fig. 7 schematically shows the air flow diagram of the existing multi-rotor unmanned aerial vehicle;

Fig. 8 schematically shows the air flow diagram of the multi-rotor unmanned aerial vehicle described in the embodiment of the present application;

Fig. 9 schematically shows a schematic structural view of another multi-rotor unmanned aerial vehicle described in the embodiment of the present application;

Fig. 10 schematically shows a schematic structural view of the arm and rotor device of a multi-rotor unmanned aerial vehicle described in the embodiment of the present application;

Fig. 11 schematically shows a schematic diagram of the placement of the rotor device when the multi-rotor unmanned aerial vehicle described in the embodiment of the present application is hovering without wind;

Fig. 12 schematically shows a schematic view of the structure of the multi-rotor unmanned aerial vehicle shown in Fig. 2 in flight;

Fig. 13 schematically shows a schematic structural view of a rotor device and an arm of the present application;

Fig. 14 schematically shows a schematic diagram of a connection structure between an arm and a central body according to an embodiment of the present application;

Fig. 15 schematically shows a schematic diagram of the rotation process of the arm shown in Fig. 14;

Fig. 16 schematically shows a schematic top view of a multi-rotor unmanned aerial vehicle described in the embodiment of the present application;

Explanation of reference signs: 10-center body, 101-roll axis, 102-yaw axis, 11-landing frame, 12-arm, 13-rotor device, 131-motor base, 132-drive mechanism, 1321-first Motor, 1322-second motor, 133-upper blade, 134-lower blade, 14-spraying device, 141-spray bar, 15-visual sensor, 16-space folding shaft, 17-functional parts, A-the first A level.

specific embodiment

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

The features of the terms "first" and "second" in the description and claims of the present application may explicitly or implicitly include one or more of these features. In the description of the present application, unless otherwise specified, "plurality" means two or more. In addition, "and/or" in the specification and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, constructed, and operate in a particular orientation, and thus should not be construed as limiting of the application.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

An embodiment of the present application provides a multi-rotor unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle may be a multi-rotor unmanned aerial vehicle that can be folded for various needs, for example, an agricultural plant protection drone. Mapping drones, etc. In the embodiment of the present application, only the multi-rotor unmanned aerial vehicle is an agricultural plant protection unmanned aerial vehicle as an example for illustration.

Referring to Fig. 1, it shows a schematic structural view of a multi-rotor unmanned aerial vehicle described in the embodiment of the present application in an unfolded state, and referring to Fig. 2, it shows the structure of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 1 Schematic diagram, referring to Fig. 3, it shows a structural schematic view of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. Structural schematic diagram, referring to Fig. 5, shows the structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 4, referring to Fig. 6, shows the structural schematic diagram of another angle of the multi-rotor unmanned aerial vehicle shown in Fig. 4 .

Specifically, as shown in Figures 1-2 and Figures 4-5, the multi-rotor unmanned aerial vehicle may include: a central body 10; a landing stand 11, located below the central body 10; two pairs of arms 12, respectively rotationally connected On the central body 10, to realize the unfolded state and the folded state of the arms 12; a plurality of rotor devices 13 are installed on two pairs of arms 12 respectively, and the rotor devices 13 can be used to provide flight power; wherein, the central body 10 is relatively landed The landing plane of the frame 11 is inclined; in the unfolded state, the arms 12 are radially deployed relative to the central body 10; in the folded state, each pair of arms 12 is folded up and down, and connected to the lower one The side arms 12 are located below, and the arms 12 connected to the higher side of the central body 10 are located above.

In the embodiment of the present application, since the central body 10 of the multi-rotor unmanned aerial vehicle is inclined relative to the landing plane of the landing gear 11, when the arm 12 is in a folded state, the lower side of the central body 10 is connected to The machine arm 12 is located below, and the machine arm 12 connected to the higher side of the central body 10 is located above, so as to realize the upper and lower staggered folding of the machine arm 12 and avoid interference between the folded machine arms 12 . In this way, the overall height of the folded multi-rotor unmanned aerial vehicle can be lower and the volume is smaller, which is convenient for carrying, transportation and storage of the multi-rotor unmanned aerial vehicle.

The embodiment of the present application also provides another multi-rotor unmanned aerial vehicle. As shown in FIG. 2, the multi-rotor unmanned aerial vehicle includes: a central body 10; The machine arm is mechanically coupled with the rear end of the central body 10; a plurality of rotor devices 13 are respectively installed on the front arm and the rear machine arm, and the rotor device 13 can be used to provide flight power; the spraying device 14, Below the rotor device 13 on the rear arm, wherein, when the multi-rotor unmanned aerial vehicle is flying towards the nose direction, the bottom height of the rotor device 13 on the front arm is lower than the rear arm The height on the bottom of the rotor unit 13.

In the embodiment of the present application, when the UAV is in flight, since the bottom height of the rotor device 13 on the front arm is lower than the bottom height of the rotor device 13 on the rear arm, therefore, Correspondingly, there may also be a height difference between the front and rear rotor devices, so as to realize the staggered arrangement.

As shown in Figure 7, in the prior art, since the heights of the front rotor device and the rear rotor device are consistent, there will be an intersection area F3 between the wind flow F1 generated by the front rotor device and the wind flow F2 generated by the rear rotor device , the intersection area F3 often overlaps with the spraying area S1 of the spraying device 14 , which affects the spraying quality of the spraying device 14 . As shown in Figure 8, in the multi-rotor unmanned aerial vehicle described in the embodiment of the present application, since the wind flow F1 generated by the front rotor device and the wind flow F2 generated by the rear rotor device can be independent of each other, there is no intersection area, so The wind flow F1 generated by the front rotor device will not overlap with the spraying area S1 of the spraying device 14 . Therefore, the wind flow F1 of the rotor device 13 on the front arm and the wind flow F2 of the rotor device 13 on the rear arm can be independent of each other without affecting each other, so as to improve the flight quality of the multi-rotor UAV, such as aerodynamic effect. Moreover, it can also prevent the spraying width of the spraying device 14 on the rear arm from being affected by the wind flow of the rotor device 13 on the front arm, so as to improve the spraying quality of the spraying device 14 .

Optionally, when the multi-rotor UAV is flying towards the nose, the bottom height of the rotor device 13 on the front arm is smaller than the bottom height of the spray device 14 on the rear arm. Like this, the wind flow of the rotor device 13 on the front machine arm will be positioned at the below of the spray device 14, avoiding the wind flow of the rotor device 13 on the front machine arm from affecting the spray width of the spray device 14, thereby further improving the spraying device 14. The spraying effect of the spraying device 14.

It should be noted that, in the embodiment of the present application, the height may specifically be the vertical height from the landing plane of the landing stand 11 to the top of the multi-rotor unmanned aerial vehicle when the multi-rotor UAV is placed on a horizontal plane. high.

In the embodiment of the present application, as shown in FIG. 9 , the central body 10 specifically includes a machine frame, and the machine frame may be provided with an accommodation portion, and the accommodation portion may be used to accommodate the functional components 17 of the multi-rotor unmanned aerial vehicle, The functional part 17 can be detachably inserted into said receptacle. Exemplarily, the functional component 17 may include but not limited to at least one of a battery and a water tank.

Specifically, the frame can be used as the structural main body of the multi-rotor unmanned aerial vehicle for supporting structural components such as the arm 12 and the fuselage, as well as functional components such as water tanks and batteries. The structure of the machine frame can be set according to actual conditions. For example, in the embodiment of the present application, as shown in FIG. 1, in the case where the multi-rotor unmanned aerial vehicle includes four arms 12 and four rotor devices 13, the frame may be a rectangular frame. The arm 12 can then be mounted to a corner of the rectangular machine frame.

Optionally, the rotor device 13 is a coaxial dual-blade rotor device. Because the coaxial double-blade rotor device can greatly improve the load of the UAV. In the case that the rotor device 13 is a coaxial dual-blade rotor device, the carrying capacity of the multi-rotor UAV can be improved without greatly increasing the size of the multi-rotor UAV. For example, when the multi-rotor unmanned aerial vehicle is an agricultural plant protection unmanned aerial vehicle, the use of the dual-blade coaxial rotor device 13 can greatly improve the drug-loading capability of the multi-rotor unmanned aerial vehicle. Alternatively, when the multi-rotor unmanned aerial vehicle is a logistics unmanned aerial vehicle, the use of the dual-blade coaxial rotor device 13 can greatly improve the cargo-carrying capacity of the multi-rotor unmanned aerial vehicle.

Optionally, in some embodiments, as shown in FIG. 2 and FIG. 8 , the coaxial dual-blade rotor device may specifically include: a motor base 131, which is fixedly connected to the arm 12; installed on the motor base 131 The upper driving mechanism 132, the top of the driving mechanism 132 is provided with an upper blade 133, the bottom of the driving mechanism 132 is provided with a lower blade 134, the paddle plane of the upper blade 133 is parallel to the paddle plane of the lower blade 134, and the upper blade The rotational speed of 133 and lower paddle 134 is equal and turns to opposite.

Specifically, in the case where the upper blade 133 and the lower blade 134 of the coaxial dual-blade rotor device turn in opposite directions, the lift force when the upper blade 133 and the lower blade 134 rotate can be synthesized to further improve the Carrying capacity of multi-rotor unmanned aerial vehicles. The rotation speeds of the upper paddle 133 and the lower paddle 134 are equal, so that the rotation control of the lower paddle 134 of the upper paddle 133 is relatively simple, so that the reliable control of the upper paddle 133 and the lower paddle 134 can be realized.

Exemplarily, in the same coaxial double blade rotor device, the upper blade 133 can rotate clockwise, and the lower blade 134 can rotate counterclockwise, or, the upper blade 133 can rotate counterclockwise, and the lower blade 134 can rotate clockwise, This embodiment of the present application does not limit it.

Optionally, as shown in FIGS. 4-5 , in the folded state, the gap between the upper arm 12 and the lower arm 12 is a first gap, and the first gap can accommodate the lower The part of the coaxial dual-blade rotor device located above the machine arm 12 connected thereto, and the part of the coaxial dual-blade rotor device located above the machine arm 12 connected thereto. In this way, in the folded state, interference and damage between the coaxial dual-blade rotor device located below and the coaxial dual-blade rotor device located above can be avoided, and the coaxial dual-blade rotor device can be improved. The service life of the device.

For example, in the folded state, if the coaxial dual-blade rotor device connected to the front arm is located below and the coaxial dual-blade rotor device connected to the rear arm is located above, then the first gap needs to be able to accommodate The upper blade of the coaxial dual-blade rotor device connected to the front machine arm, the first motor 1321 and the part of the motor base 131 located above the front machine arm, and the lower blade of the coaxial dual-blade rotor device connected to the rear machine arm The leaf 134, the second motor 1322 and the motor mount 131 are located under the rear arm.

Referring to Figure 10, it shows a schematic structural view of the arm and rotor device of a multi-rotor unmanned aerial vehicle described in the embodiment of the application, and referring to Figure 11, it shows the multi-rotor unmanned aerial vehicle described in the embodiment of the application Schematic diagram of the placement of the rotor device in the case of hovering without wind. As shown in Figure 11, when the multi-rotor unmanned aerial vehicle is in the situation of hovering without wind, the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 are all inclined to the first horizontal plane, so that the upper blade 133 and the pulling force of the lower blade 134 to provide at least part of the yaw force of the UAV, wherein the first horizontal plane is a plane substantially perpendicular to the direction of gravity.

It should be noted that the yaw axis described in this article is defined in the body axis system. In this application, the body coordinate system is a right-handed system. The X axis is defined as the front and rear direction of the body, pointing from front to back, and the Z axis is the body up and down. Direction, from bottom to top, Y axis is the left and right direction of the body, and the specific direction is obtained based on the XZ plane. The yaw axis of the UAV in this article is the Z axis in the body coordinate system, and the normal plane of the UAV’s yaw axis is the XY plane perpendicular to the Z axis. Variety. When the drone is hovering without wind, the direction of gravity of the drone coincides with the direction of the yaw axis of the drone and the direction of the Z axis in the body coordinate system, and the XY plane is parallel to the horizontal plane, that is, when the drone When hovering without wind, the normal plane of the yaw axis of the UAV is parallel to the horizontal plane. When the UAV is in the cruising flight state, the normal plane of the yaw axis of the UAV can have an inclination angle relative to the horizontal plane 0. It can be understood that the windless hovering state of the UAV mentioned in this article may be approximately equivalent to the takeoff or landing state of the UAV on flat ground.

As shown in Figure 118, when the multi-rotor UAV is hovering without wind, the angle between the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 and the first horizontal plane A is theta. The rotation of the upper paddle 133 can generate a pulling force P1 perpendicular to the paddle plane of the upper paddle 133 , and the rotation of the lower paddle 134 can generate a pulling force P2 perpendicular to the paddle plane of the lower paddle 134 . Among them, the pulling force P1 can be decomposed into the lift force P11 perpendicular to the first horizontal plane A and the yaw force P1yaw parallel to the first horizontal plane A, and the pulling force P2 can be decomposed into the lift force P21 perpendicular to the first horizontal plane A and the The yaw force P2yaw.

As shown in Figure 11, when the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 are parallel, and the rotation speeds of the upper blade 133 and the lower blade 134 are equal and the directions are opposite, the multi-rotor unmanned The yaw force Pyaw of the aircraft can only be provided by the pulling force component generated by the rotation of the upper blade 133 and the lower blade 134, namely:

Pyaw＝P1yaw+P2yaw＝(P1+P2)*sin(θ) (Formula 1)

In the embodiment of the present application, by setting the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 obliquely to the first horizontal plane when the multi-rotor unmanned aerial vehicle is hovering without wind, it can realize The sum of the pulling force of the upper paddle 133 and the lower paddle 134 provides at least part of the yaw force of the drone to achieve better yaw attitude control performance.

In an optional embodiment of the present application, the driving mechanism 132 may specifically include: a first motor 1321 arranged on the top of the motor base 131 and a second motor 1322 arranged at the bottom of the motor base 131; The blade 133 is connected to drive the upper blade 133 to rotate, and the second motor 1322 is connected to the lower blade 134 to drive the lower blade 134 to rotate.

In some embodiments, because the independent first motor 1321 is used to drive the upper blade 133 to rotate, and the independent second motor 1322 is used to drive the lower blade 134 to rotate, the peak torque requirements of the first motor 1321 and the second motor 1322 are the same. can be lower.

In other optional embodiments of the present application, the drive mechanism 132 may specifically include: a third motor and a transmission mechanism connected to the output end of the third motor, and the transmission mechanism is provided with a first output end and a second output end end, the rotational speed of the first output end and the second output end are equal and opposite, the first output end is connected with the upper paddle 133 to drive the upper paddle 133 to rotate, and the second output end Rotate with the lower blade 134 to drive the lower blade 134 to rotate.

In some embodiments, by connecting a transmission mechanism to the output end of the third motor, the transmission mechanism can reverse half of the power output by the third motor, so that The output speeds of the second output terminals are equal and turn to the opposite output. By connecting the upper paddle 133 to the first output end and the lower paddle 134 to the second output end, the upper paddle 133 and the lower paddle 134 can be driven to achieve equal rotational speed and opposite rotation. In this way, only one motor is needed to drive the upper paddle 133 and the lower paddle 134 to rotate simultaneously, and the rotational speeds are equal and the directions are opposite.

Specifically, the transmission mechanism may be composed of a gear set, and the embodiment of the present application may not limit the specific form of the transmission mechanism.

In the embodiment of the present application, in the unfolded state, the coaxial dual-blade rotor device located on the front arm is a front rotor device, and the rotor device 13 located on the rear arm is a rear rotor device. As shown in Figure 2, the machine arm 12 on the right is the front machine arm, and the machine arm 12 on the left side is the rear machine arm, and correspondingly, the coaxial double propeller rotor device on the described front machine arm is a front rotor device, and the rear machine arm 12 is a front rotor device. The coaxial dual propeller rotor device on the machine arm is the rear rotor device.

Referring to FIG. 12 , it shows a schematic structural view of the multi-rotor unmanned aerial vehicle shown in FIG. 2 in flight state. As shown in Figure 12, when the multi-rotor UAV is flying towards the nose direction (direction shown by the arrow in the figure), the top of the motor base 131 of the front rotor device (rotor device 13 on the right side of the figure) Tilting towards the nose direction (the right side in the figure), the top of the motor base 131 of the rear rotor device (the rotor device 13 on the left side in the figure) tilts towards the tail direction (the left side in the figure).

As shown in Figure 12, under the condition that the blade rotation speeds of the front rotor device and the rear rotor device are the same, the pulling force P3 generated by the rotation of the blades of the front rotor device is different from the rotation speed of the blades of the rear rotor device. The resulting pulling forces P4 are equal. Wherein, the pulling force P4 generated by the rotation of the blades of the rear rotor device is basically in the vertical upward direction, and the pulling force P3 generated by the rotation of the blades of the front rotor device can be decomposed into P3f in the horizontal direction and P3u in the vertical direction . Since P3=P4, therefore, P4>P3u, that is, the lift P4 of the rear rotor device in the vertical direction is greater than the component force P3u of the front rotor device in the vertical direction, and the component force P3u of the front rotor device in the horizontal direction Force P3f can provide forward flight power to meet flight conditions. Like this, by tilting the top of the motor base 131 of the front rotor device towards the nose direction, the top of the motor base 131 of the rear rotor device is tilted towards the tail direction, so that the multi-rotor unmanned aerial vehicle can meet the flight requirements. At the same time, the blade speeds of the front and rear rotor devices can be substantially equal, which can keep the loads of the front and rear rotor devices balanced, greatly reducing the difficulty of controlling the rotor device 13 and reducing the damage cost of the rear rotor device. In the traditional scheme, according to the flight conditions, the vertical pulling force of the rear blade should be greater than that of the front blade, that is to say, the rotational speed of the rear propeller should be much greater than that of the front propeller in order to ensure flight. The load on the front and rear motors is extremely uneven.

Optionally, the angle at which the top of the motor base 131 of the front rotor device is inclined towards the direction of the nose is a first angle, and the angle at which the top of the motor base 131 of the rear rotor device is inclined towards the direction of the tail is The second angle, the first angle and the second angle are equal to further reduce the difficulty of controlling the blade rotation speed of the front and rear rotor devices.

It should be noted that, in practical applications, the first angle and the second angle may also be unequal. For example, the first angle may be greater than the second angle, or the second angle may be greater than the first angle. In this embodiment of the present application, there may not be specific limitations on the sizes of the first angle and the second angle.

For example, both the first angle and the second angle are any value from 5 to 15 degrees, so that the rotation speeds of the blades of the front and rear rotor devices can be substantially the same, and the multi-rotor can also be Unmanned aerial vehicles can maintain good flight stability.

Optionally, both the front rotor device and the rear rotor device are coaxial dual blade rotor devices, the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 of the front rotor device and the rear rotor device The planes are substantially perpendicular to the axial direction of the motor base 131 . In this way, it is convenient to set the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 in a substantially parallel state with reference to the axial direction of the motor base 131 , thereby improving the assembly efficiency of the rotor device 13 .

Optionally, both the front rotor device and the rear rotor device are coaxial dual-blade rotor devices, and the speeds of the drive mechanism 132 of the front rotor device and the rear rotor device are the same, so that the front and rear rotor devices The rotational speeds of the blades can be basically the same, which reduces the difficulty of controlling the rotation of the front and rear rotor devices, and improves the rotation stability of the front and rear rotor devices.

In some embodiments, the nose position and flight direction of the multi-rotor unmanned aerial vehicle are opposite to those of the multi-rotor unmanned aerial vehicle in the embodiment shown in FIG. 9 (shown by the arrow in FIG. 9 ). . In this embodiment, the front machine arm is connected with the higher part of the machine frame 10, and the rear machine arm is connected with the lower part of the machine frame 10, that is to say, the higher part of the machine frame 10 is the nose, and the lower part for the tail. In this embodiment, when the multi-rotor unmanned aerial vehicle is flying, in order to meet the flight conditions, the nose will be tilted forward, and the tail will be raised relative to the nose. Therefore, the machine frame 10 can be basically parallel to the horizontal plane, Thus, the load (such as cargo box) of the multi-rotor unmanned aerial vehicle is kept balanced. For example, the multi-rotor unmanned aerial vehicle is a logistics unmanned aerial vehicle. In the flight state, the load of the logistics UAV is kept balanced, which is conducive to the delivery of goods.

Referring to Figure 13, it shows a schematic structural view of a rotor device and an arm of the present application. As shown in Figure 13, both the front rotor device and the rear rotor device are coaxial dual-blade rotor devices, and The distance between the tip of the upper blade 133 of the rotor device and the rear rotor device and the corresponding arm 12 is smaller than the distance between the tip of the lower blade 134 and the corresponding arm 12 .

As shown in FIG. 13 , the distance between the tip of the upper blade 133 and the corresponding arm 12 is D1, the distance between the tip of the lower blade 134 and the corresponding arm 12 is D2, and D1 is smaller than D2. In practical applications, during the rotation of the blade, the blade will swing upwards and downwards, and the upward swinging amount will be greater than the downward swinging amount. Therefore, by designing the distance D1 between the tip of the upper blade 133 and the corresponding arm 12 to be D2 less than the distance between the tip of the lower blade 134 and the corresponding arm 12, it is possible to avoid the lower blade 134 The tip of the blade collides with the corresponding machine arm 12 to cause damage, which improves the safety of the blade and the machine arm 12 in use.

In some optional embodiments of the present application, the central body 10 is located at the front end of the head of the multi-rotor UAV, and is lower than the central body 10 at the rear end of the tail of the multi-rotor UAV, so that the front end of the central body 10 is inclined towards. In this way, when the multi-rotor unmanned aerial vehicle is in flight, the wind resistance of the central body 10 can be reduced, and the windward area of the central body 10 can be increased, thereby facilitating the optimization of the flight aerodynamic efficiency of the multi-rotor unmanned aerial vehicle .

Specifically, the inclination angle of the central body 10 relative to the horizontal plane when the multi-rotor UAV is in flight is greater than the inclination angle relative to the horizontal plane when the multi-rotor UAV is hovering in a windless environment. In this way, when the multi-rotor unmanned aerial vehicle is hovering in a windless environment, since the inclination angle of the central body 10 relative to the horizontal plane is relatively small, functional components can be reliably placed in the accommodation space of the central body 10 . For example, when the inclination angle of the central body 10 relative to the horizontal plane is small, it can facilitate the reliability of placing functional components such as water tanks and batteries on the central body 10 .

In the embodiment of the present application, in each pair of machine arms 12, one of them is connected to the front end of the central body 10, and the other is connected to the rear end of the central body 10; in the folded state, each pair of machine arms 12 Among them, the machine arm 12 connected to the front end of the central body 10 is located below, and the machine arm 12 connected to the rear end of the central body 10 is located above.

In practical applications, among each pair of arms 12 , the one connected to the front end of the central body 10 is the front arm, and the one connected to the rear end of the central body 10 is the rear arm. Since the height of the front end of the central body 10 is lower than that of the rear end, the height of the front arm is correspondingly lower than that of the rear arm. In the folded state, by folding the front arm below the rear arm, the front arm and the rear arm can be folded at a relatively small angle, and the folding efficiency is high , Moreover, the overall height of the multi-rotor unmanned aerial vehicle after folding is relatively low.

In the embodiment of the present application, in the flying state, the center of gravity of the multi-rotor UAV is closer to the front end of the central body 10 than to the rear end of the central body 10 . In practical applications, since the height of the front end of the central body 10 is lower than the height of the rear end, when a water tank is connected to the central body 10, the liquid in the water tank will move toward the center under the action of gravity. The front end of the central body 10 flows so that the center of gravity of the multi-rotor UAV is closer to the front end of the central body 10 .

The embodiment of the present application also provides another multi-rotor unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle includes: a central body 10; a front arm, mechanically coupled with the front end of the central body 10; a rear arm, connected to the central body The rear end of 10 is mechanically coupled; a plurality of rotor devices 13 are installed on the front arm and the rear arm respectively, and the rotor devices 13 can be used to provide flight power; wherein, in the multi-rotor UAV When flying towards the direction of the nose, the center of gravity of the multi-rotor unmanned aerial vehicle moves forward along the direction of the nose, so that the rotor device 13 installed on the front arm and the rotor device 13 installed on the rear arm dynamic balance. In the traditional scheme, since the center of gravity of the unmanned aerial vehicle does not change significantly in the flight state, in order to meet the flight conditions, the power output of the rear blade is much greater than the power output of the front blade, that is to say, the speed of the rear propeller is much higher. Only the front propeller can ensure the flight, which makes the load of the front and rear motors in the traditional scheme extremely unbalanced, and the rear motor is easy to overheat and easily damaged.

In a specific application, when the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body 10, since the moment arm of the rear rotor device is larger than the moment arm of the front rotor device, the The power demand of the rear rotor device is conducive to the optimization of the aerodynamic efficiency of the multi-rotor UAV.

As shown in FIG. 5 , in the folded state, the arm 12 is inclined relative to the landing plane of the landing frame 11 . By setting the machine arm 12 obliquely relative to the landing plane of the landing frame 11, the front machine arm and the rear machine arm can still be staggered up and down when the height difference between the front end and the rear end of the central body 10 is small. fold. In this way, the height difference between the front end and the rear end of the central body 10 can be made smaller, and the inclination angle of the central body 10 relative to the landing plane of the landing frame 11 is small, which is conducive to improving the height of the multi-rotor UAV. overall structural stability.

In the embodiment of the present application, each pair of arms 12 may specifically include a front arm located at the nose of the multi-rotor UAV aircraft and a rear arm located at the nose of the multi-rotor UAV aircraft, In the folded state, the front arm and the rear arm together with the central body 10 form a "Z" shape.

As shown in Figure 5, in the folded state, in each pair of arms 12, the front arm, the central body 10 and the rear arm can be connected to form a "Z" shape, forming a compact folded state, In order to further reduce the overall height of the folded multi-rotor UAV, it is convenient to carry, transport and store the multi-rotor UAV.

In the embodiment of the present application, each pair of arms 12 includes a front arm positioned at the nose of the multi-rotor unmanned aerial vehicle and a rear arm positioned at the nose of the multi-rotor unmanned aerial vehicle. In the unfolded state, the front arm and the rear arm are arranged up and down, so as to avoid the mutual influence of the wind flow of the rotor device 13 on the front arm and the wind flow of the rotor device 13 on the rear arm, and improve the Describe the flight quality of multi-rotor unmanned aerial vehicles.

Optionally, in the unfolded state, the height of the front arm is a first height, the height of the rear arm is a second height, and the first height is lower than the second height, The height of the front rotor device on the front arm is correspondingly lower than the height of the rear rotor device on the rear arm, so that the staggered arrangement of the front and rear rotor devices is realized. In this way, when the multi-rotor unmanned aerial vehicle is in the flying state, the influence of the wind flow of the front rotor device on the incoming flow of the rear rotor device can be reduced, and the aerodynamic efficiency of the rear rotor device is increased, thereby, The flight quality of the multi-rotor unmanned aerial vehicle can be improved.

In the embodiment of the present application, in the unfolded state, both the front arm and the rear arm are lifted up to increase the distance between the rotor device 13 and the ground. In practical applications, since the multi-rotor unmanned aerial vehicle described in the embodiment of the application uses a dual-blade coaxial rotor device, the distance between the rotor device 13 itself is relatively high. Therefore, when the arm 12 is in the unfolded state, the rotor device The bottom of 13 has a smaller distance from the ground. Especially for the rotor device 13 on the lower machine arm 12, due to the small distance from the ground, when the multi-rotor unmanned aerial vehicle takes off or lands on uneven ground, the rotor device 13 may Hitting the ground, or, when the multi-rotor unmanned aerial vehicle takes off, it is very easy to produce ground effect, which affects the aerodynamic efficiency of the multi-rotor unmanned aerial vehicle.

In a specific application, in the unfolded state, by lifting the front arm and the rear arm upward, the distance between the rotor device 13 and the ground can be increased to avoid the rotor device 13 hitting the ground, thus, Improve the aerodynamic efficiency and flight safety of the multi-rotor unmanned aerial vehicle.

In some optional embodiments of the present application, the upward lifting angles of the front arm and the rear arm are the same, so that the connection structure of the front arm and the rear arm at the central body 10 can be Common use reduces the misassembly of the front arm and the rear arm, thereby improving the assembly efficiency of the multi-rotor unmanned aerial vehicle.

Exemplarily, the upward lifting angle of the front arm and the rear arm is 5-10 degrees, preferably 6 degrees, so as to increase the ground clearance of the front rotor device and the rear rotor device.

It should be noted that the upward lifting angle of the front arm and the rear arm can also be 5 degrees, 8 degrees or 10 degrees, etc., and the upward lift of the front arm and the rear arm The angles can also be different, and the embodiment of the present application does not specifically limit the upward lifting angles of the front arm and the rear arm.

In the embodiment of the present application, the central body 10 is provided with an arm connecting structure, and the arm connecting structure is connected to the arm 12 so as to connect the arm 12 to the central body 10 in rotation; wherein, the arm connecting structure is Space folding axis.

Referring to FIG. 14 , it shows a schematic diagram of the connecting structure of the arm and the central body according to the embodiment of the present application. Referring to FIG. 15 , it shows a schematic diagram of the rotation process of the arm shown in FIG. 14 . As shown in FIG. 14 , the space folding axis 16 can be arranged obliquely relative to the pitch axis (perpendicular to the paper direction), roll axis 101 and yaw axis 102 of the multi-rotor UAV, and the space folding axis 16 It can also be arranged obliquely with respect to the corresponding machine arm 12 . Through the rotation of the machine arm 12 around the space folding axis 16 , the unfolding, folding and lifting of the machine arm 12 can be realized.

As shown in Fig. 14, the machine arm 12 on the left side is the rear machine arm, and the machine arm 12 on the right side is the front machine arm. The rear machine arm can rotate around the space folding axis 16 on the left side. When the rear machine arm is rotated to the position shown in A1, the unfolded state can be realized. When the rear machine arm is rotated to the position shown in A2 , which can achieve the folded state. The front arm can rotate around the space folding axis 16 on the right side. When the front arm rotates to the position shown in B1, the unfolded state can be realized. When the front arm rotates to the position shown in B2 , which can achieve the folded state.

In the embodiment of the present application, since the space folding axis 16 is set obliquely relative to the pitch axis (perpendicular to the paper direction), the roll axis 101, the heading axis 102 and the corresponding machine arm 12 of the multi-rotor unmanned aerial vehicle, therefore, When the rear machine arm rotates around the rotation axis 16 to switch between the unfolded state and the folded state, the track of the rear machine arm can be shown in the inclined fan-shaped area shown in FIG. 12 . When the rear machine arm rotates to one of the end positions C1 of the oblique fan-shaped area, the deployment and lifting of the rear machine arm can be realized; When the terminal position is C2, the deployment and upward movement of the rear machine arm can be realized. In some embodiments of the present application, the multi-rotor unmanned aerial vehicle may further include a spraying device 14 , and the spraying device 14 is connected under the arm 12 at the tail of the central body 10 . Because the height of the rear machine arm at the central body 10 afterbody is higher than the height of the front machine arm at the central body 10 head, the spraying device 14 is arranged below the described rear machine arm, not only can make the distance of the spraying device 14 apart from the ground Higher, avoid spraying device 14 to touch the ground, can also avoid the spray width of spraying device 14 on the rear machine arm from being affected by the wind flow of rotor device 13 on the front machine arm, improve the spraying quality of spraying device 14.

In a specific application, the spraying device 14 may include a spray bar 141, and the spray bar 141 is perpendicular to the axial direction of the machine arm 12; wherein, in the unfolded state, the bottom of the spray bar 141 extends obliquely toward a direction away from the central body 10 , to form an everted structure. Like this, not only can further promote the height of spray bar 141 apart from the ground, avoid spray bar 141 to touch the ground, and, can also avoid that spray bar 141 wets the fuselage of described multi-rotor unmanned aerial vehicle in the process of spraying, improve described The use of multi-rotor drones is safe.

Referring to Fig. 16 , it shows a schematic view of the top view structure of a multi-rotor unmanned aerial vehicle described in the embodiment of the present application. As shown in Fig. 16 , the head of the central body 10 is also provided with a visual sensor 15; connected to the central body 10 The distance L1 between the rotor devices 13 at the front end of the central body 10 is greater than the distance L2 between the rotor devices 13 connected to the rear end of the central body 10 .

Specifically, during the flight of the multi-rotor unmanned aerial vehicle, the visual sensor 15 can be used to acquire the visual image of the forward direction to assist the flight of the multi-rotor unmanned aerial vehicle. For example, the visual sensor 15 can be arranged at the front end of the central body 10 , or on the arm 12 connected to the front end of the central body 10 . The embodiment of the present application does not limit the specific position of the visual sensor 15 .

In the embodiment of the present application, since the distance L1 between the rotor devices 13 connected to the front end of the central body 10 is greater than the distance L2 between the rotor devices 13 connected to the rear end of the central body 10, the front rotor device can be reduced. For the occlusion of the visual sensor 15 , the field angle of the visual sensor 15 is increased, so that the shooting range of the visual sensor 15 can be increased.

In some embodiments of the present application, each pair of arms 12 includes a front arm positioned at the nose of the multi-rotor UAV and a rear arm positioned at the tail of the multi-rotor UAV , the angle between the two front arms is greater than the angle between the two rear arms to further increase the field of view of the visual sensor 15, thereby increasing the shooting range of the visual sensor 15 .

As shown in Figure 16, the line connecting the rotation axes of a plurality of rotor devices 13 can be trapezoidal, like this, so that the distance L1 connecting the two front rotor devices is greater than the distance L2 between the two rear rotor devices, And make the angle between the two front arms greater than the angle between the two rear arms, to increase the field of view angle of the visual sensor 15, thereby, the shooting range of the visual sensor 15 can be increased .

In summary, the multi-rotor unmanned aerial vehicle described in the embodiment of the present application can at least include the following advantages:

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Additionally, please note that examples of the word "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the description provided herein, numerous specific details are set forth. However, it is understood that the embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

A kind of multi-rotor unmanned aerial vehicle, it is characterized in that, described multi-rotor unmanned aerial vehicle comprises:

The central body;

a landing frame located below the central body;

Two pairs of machine arms are respectively rotatably connected to the central body, so as to realize the unfolded state and the folded state of the machine arms;

A plurality of rotor devices are installed on the two pairs of arms respectively, and the rotor devices are used to provide flight power;

Wherein, the central body is inclined relative to the landing plane of the landing gear;

In the deployed state, the arms are radially deployed relative to the central body;

In the folded state, each pair of arms is folded up and down, and the arms connected to the lower side of the central body are located below, and the arms connected to the higher side of the central body The arm is located above.
A kind of multi-rotor unmanned aerial vehicle, it is characterized in that, described multi-rotor unmanned aerial vehicle comprises:

The central body;

a front arm mechanically coupled to the front end of the central body;

a rear arm mechanically coupled to the rear end of the central body;

A plurality of rotor devices are installed on the front arm and the rear arm respectively, and the rotor devices are used to provide flight power;

a spraying arrangement located below said rotor arrangement on said rear arm,

Wherein, when the multi-rotor UAV is flying towards the nose direction, the bottom height of the rotor device on the front arm is lower than the bottom height of the rotor device on the rear arm.
The multi-rotor unmanned aerial vehicle according to claim 2, wherein when the multi-rotor unmanned aerial vehicle flies towards the nose direction, the height of the bottom of the rotor device on the front arm is less than that of the rear aircraft The bottom height of the sprinkler on the arm.
The multi-rotor unmanned aerial vehicle according to claim 1 or 2, and it is characterized in that, the central body includes a machine frame, and the machine frame is provided with an accommodation portion for accommodating the functional components of the multi-rotor unmanned aerial vehicle, The functional component can be detachably inserted into the receiving portion.
The multi-rotor unmanned aerial vehicle according to claim 1 or 2, wherein the rotor device is a coaxial double-bladed rotor device.
According to the multi-rotor unmanned aerial vehicle described in right 5, it is characterized in that, the coaxial dual-blade rotor device comprises:

a motor base, the motor base is fixedly connected to the machine arm;

The drive mechanism installed on the motor base, the top of the drive mechanism is provided with an upper paddle, the bottom of the drive mechanism is provided with a lower paddle, the paddle plane of the upper paddle and the paddle plane of the lower paddle The paddle planes are parallel, and the rotation speeds of the upper blade and the lower blade are equal and opposite.
The multi-rotor unmanned aerial vehicle according to claim 6, wherein, in the folded state, the gap between the above described machine arm and the below described machine arm is a first gap, and the The first gap is capable of accommodating the lower part of the coaxial dual-blade rotor device above the arm connected thereto, and the upper part of the coaxial dual-blade rotor device below the machine arm connected thereto. part;

Or, when the multi-rotor unmanned aerial vehicle is hovering without wind, the paddle plane of the upper blade and the paddle plane of the lower blade are all inclined to the first horizontal plane, so that the upper paddle The sum of the pulling force of the blade and the lower blade provides at least part of the yaw force of the drone, wherein the first horizontal plane is a plane substantially perpendicular to the direction of gravity;

Alternatively, the drive mechanism includes: a first motor disposed on the top of the motor base and a second motor disposed at the bottom of the motor base; the first motor is connected to the upper blade to drive the upper paddle The blade rotates, and the second motor is connected to the lower blade to drive the lower blade to rotate;

Alternatively, the drive mechanism includes: a third motor and a transmission mechanism connected to the output end of the third motor, the transmission mechanism is provided with a first output end and a second output end, and the first output end is connected to the The rotation speeds output by the second output end are equal and opposite in direction, the first output end is connected with the upper blade to drive the upper blade to rotate, and the second output end and the lower blade rotate to Drive described lower paddle to rotate.
The multi-rotor unmanned aerial vehicle according to claim 1 or 2, wherein, in the unfolded state, the coaxial dual-blade rotor device positioned on the front arm is a front rotor device, and is positioned at the rear The rotor unit on the arm is the rear rotor unit; where,

The top of the motor base of the front rotor device is inclined towards the nose direction, and the top of the motor base of the rear rotor device is inclined towards the tail direction.
The multi-rotor unmanned aerial vehicle according to claim 8, wherein the angle at which the top of the motor base of the front rotor device is tilted towards the direction of the nose is a first angle, and the angle at which the motor base of the rear rotor device is tilted is a first angle. The angle at which the top is inclined toward the tail is a second angle, and the first angle is equal to the second angle.
The multi-rotor unmanned aerial vehicle according to claim 9, characterized in that, both the first angle and the second angle are 5-15 degrees.
The multi-rotor unmanned aerial vehicle according to claim 10, wherein the front rotor device and the rear rotor device are both coaxial double-bladed rotor devices, and the upper parts of the front rotor device and the rear rotor device are Both the paddle plane of the paddle and the paddle plane of the lower paddle are substantially perpendicular to the axial direction of the motor base.
The multi-rotor unmanned aerial vehicle according to claim 10, wherein the front rotor device and the rear rotor device are both coaxial dual-blade rotor devices, and the drive of the front rotor device and the rear rotor device The speed of the mechanism is the same.
The multi-rotor unmanned aerial vehicle according to claim 8, wherein the front rotor device and the rear rotor device are both coaxial double-bladed rotor devices, and the upper parts of the front rotor device and the rear rotor device are The distance between the tip of the blade and the corresponding arm is smaller than the distance between the tip of the lower blade and the corresponding arm.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the central body is located at the front end of the head of the multi-rotor unmanned aerial vehicle, and is located lower than the central body of the multi-rotor unmanned aerial vehicle. the rear end of the tail.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein the inclination angle of the central body with respect to the horizontal plane when the multi-rotor unmanned aerial vehicle is in flight state is greater than that when the multi-rotor unmanned aerial vehicle is in the flight state. The tilt angle relative to the horizontal plane when hovering in a windless environment.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein, in each pair of the arms, one of them is connected to the front end of the central body, and the other is connected to the rear end of the central body department;

In the folded state, among each pair of arms, the arm connected to the front end of the central body is located below, and the arm connected to the rear end of the central body is located above.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein in the flight state, the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the central body than the rear end of the central body front end.
The multi-rotor unmanned aerial vehicle according to claim 14, characterized in that, in the folded state, the arms are inclined relative to the landing plane of the landing gear.
The multi-rotor unmanned aerial vehicle according to claim 18, wherein each pair of arms includes a front arm located at the nose of the multi-rotor unmanned aerial vehicle and a front arm located at the multi-rotor unmanned aerial vehicle. The rear arm of the nose part of the aircraft,

In the folded state, the front arm and the rear arm together with the central body form a "Z" shape.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein each pair of said arms comprises a front arm located at the nose of said multi-rotor unmanned aerial vehicle and a front arm located at said multi-rotor unmanned aerial vehicle. As for the rear arm at the nose part of the aircraft, in the unfolded state, the front arm and the rear arm are arranged up and down.
The multi-rotor unmanned aerial vehicle according to claim 20, wherein, in the unfolded state, the height of the front arm is a first height, the height of the rear arm is a second height, and the height of the front arm is a second height. The first height is lower than the second height.
The multi-rotor unmanned aerial vehicle according to claim 20, characterized in that, in the unfolded state, both the front arm and the rear arm are lifted upwards.
According to the described multi-rotor unmanned aerial vehicle of claim 20, it is characterized in that, the angles at which the front arm and the rear arm are lifted up are the same.
The multi-rotor unmanned aerial vehicle according to claim 23, characterized in that, the angle at which the front arm and the rear arm are lifted up is 5-10 degrees, preferably 6 degrees.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein an arm connecting structure is arranged on the central body, and the arm connecting structure is connected to the arm to rotate the arm attached to the central body; wherein,

The connecting structure of the machine arm is a space folding axis.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the multi-rotor unmanned aerial vehicle further comprises a spraying device, and the spraying device is connected under the arm of the tail of the central body.
The multi-rotor unmanned aerial vehicle according to claim 26, wherein the spraying device comprises a spray bar, and the spray bar is perpendicular to the axis of the arm; wherein,

In the unfolded state, the spray boom extends obliquely from away from the machine arm toward the outside of the central body.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the head of the central body is also provided with a visual sensor;

The distance between the rotor devices connected to the front end of the central body is greater than the distance between the rotor devices connected to the rear end of the central body.
The multi-rotor unmanned aerial vehicle according to claim 28, wherein each pair of arms comprises a front arm located at the nose of the multi-rotor unmanned aerial vehicle and a front arm located at the head of the multi-rotor unmanned aerial vehicle. As for the rear arm at the tail part of the aircraft, the angle between the two front arms is greater than the angle between the two rear arms.
The multi-rotor unmanned aerial vehicle according to claim 29, wherein the line connecting the rotation axes of the plurality of rotor devices is trapezoidal.
A kind of multi-rotor unmanned aerial vehicle, it is characterized in that, described multi-rotor unmanned aerial vehicle comprises:

The central body;

a front arm mechanically coupled to the front end of the central body;

a rear arm mechanically coupled to the rear end of the central body;

A plurality of rotor devices are installed on the front arm and the rear arm respectively, and the rotor devices are used to provide flight power;

Wherein, when the multi-rotor unmanned aerial vehicle flies towards the direction of the nose, the center of gravity of the multi-rotor unmanned aerial vehicle tilts forward along the direction of the nose, so that the rotor device installed on the front arm and the rotor device installed on the The power balance of the rotor unit on the rear arm.