CN104743106A - Multi-rotor unmanned aerial vehicle - Google Patents

Multi-rotor unmanned aerial vehicle Download PDF

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CN104743106A
CN104743106A CN201510164019.4A CN201510164019A CN104743106A CN 104743106 A CN104743106 A CN 104743106A CN 201510164019 A CN201510164019 A CN 201510164019A CN 104743106 A CN104743106 A CN 104743106A
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rotor
multi
uav
body
flight control
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CN201510164019.4A
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CN104743106B (en
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唐枫一
万波
李忠涛
李昊昕
郭如刚
张昕喆
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唐枫一
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Abstract

The invention discloses a multi-rotor unmanned aerial vehicle which comprises a vehicle body, a power supply system, a cargo allocating standard box and a plurality of rotor systems, wherein the vehicle body is in an annular structure, and comprises a positioning device, a flight control device and a buckling device, wherein the buckling device is positioned in an inner ring of the vehicle body; the power supply system is suitable for being connected with the positioning device and the flight control device to supply power to the positioning device and the flight control device; the cargo allocating standard box is used for internally limiting a space for accommodating cargoes, and is detachably arranged on the buckling device; each rotor system is fixed on the peripheral wall of the vehicle body through a rack, each rotor system comprises a rotor and a motor used for driving the rotor to rotate, and the motor is connected with the flight control device. The multi-rotor unmanned aerial vehicle disclosed by the invention has relatively high stability, safety and controllability, and can be used for transporting the cargoes with relatively high weight under a condition of ensuring that the whole appearance is relatively small.

Description

多旋翼无人机 Multi-rotor UAV

技术领域 FIELD

[0001 ] 本发明涉及无人机技术领域,特别涉及一种多旋翼无人机。 [0001] Technical Field The present invention relates to unmanned aerial vehicles, and particularly relates to a multi-rotor UAV.

背景技术 Background technique

[0002] 目前,现有快递业终端配送体系基本全部采用人力配送方式,其最大的不足之处在于:配货效率低、配货成本高和用户接货时间与送货时间不对称等问题。 [0002] Presently, the express industry terminal and distribution system in all basic human delivery methods, its biggest shortcomings is that: picking low efficiency, high cost and user access goods picking time and delivery time asymmetry problem. 因此将来无人机应用在快递终端配送体系是必然的趋势,目前,全球知名的快递公司也开始关注无人机送货方式,并开始进行相关的技术研宄,但目前设计的送货无人机投递误差大、载重量低、需要人力收货。 Therefore, future UAV applications in the courier terminal and distribution system is an inevitable trend, at present, the world's leading express delivery companies begin to focus on UAVs shipping method, and start the related technical study based on, but the design of unmanned delivery machine delivery error, low load, require human receipt.

发明内容 SUMMARY

[0003] 本发明旨在至少在一定程度上解决相关技术中的技术问题之一。 [0003] The present invention to solve at least to some extent, one of the technical issues related to technology. 为此,本发明提出一种多旋翼无人机,该多旋翼无人机具有较高的稳定性、安全性和可控性,且可以在保证整体外形较小的条件下,能够运输较大重量的货物。 To this end, the invention proposes a multi-rotor UAV, the UAV rotor having a plurality of high stability, security and controllability, and can be smaller in overall shape to ensure conditions capable of transporting large cargo weight.

[0004] 根据本发明的多旋翼无人机,包括:机身,所述机身形成为环状的结构,所述机身包括定位装置、飞控装置和锁扣装置,所述锁扣装置位于所述机身的内环内;供电系统,所述供电系统适于与所述定位装置和所述飞控装置相连以向所述定位装置和所述飞控装置供电;配货标准箱,所述配货标准箱内限定出用于容纳货物的空间,所述配货标准箱可拆卸地设在所述锁扣装置上;多个旋翼系统,每个所述旋翼系统通过机架固定在所述机身的外周壁上,每个所述旋翼系统包括旋翼和用于驱动所述旋翼转动的电机,所述电机与所述飞控装置相连。 [0004] According to the present invention, the multi-rotor UAV, comprising: a body, the body is formed as an annular structure, said positioning means comprising a fuselage, and flight control means latching means, said latching means located within the inner body; power supply system, the power supply system is adapted to the positioning means and to said flight control means coupled to said power supply means and control means for positioning said flight; picking TEU, the picking standard defines an inside space for accommodating goods, the standard picking box is detachably provided on said latch means; a plurality of rotor system, each of the rotor system by fixing the frame an outer circumferential wall of said body, each of the rotor system includes a motor for driving the rotor to rotate the rotor, said motor means connected to the flight control.

[0005] 根据本发明的多旋翼无人机,通过将机身的形状设计成环形的结构,且配货标准箱放置在内环内,使得多旋翼无人机在运输货物中的重心和卸载货物后的重心大体相同,由此提高了多旋翼无人机的稳定性、安全性和可控性,且可以在保证整体外形较小的条件下,运输较大重量的货物,即货物的重量与机身的重量的比值相对较大。 [0005] The multi-rotor UAV present invention, by the shape of the fuselage structure designed to be annular and picking TEU disposed within the inner ring, so that the center of gravity of UAV multi rotor and unloading of cargo transport substantially the same center of gravity of the goods, thereby improving the stability, safety and controllability of the multi-rotor UAV, and can ensure that the weight is small in overall shape conditions, the larger the weight of cargo transport, i.e. goods body weight ratio is relatively large.

[0006] 另外,根据本发明的多旋翼无人机还可以具有如下附加的技术特征: [0006] Further, the multi-rotor UAV according to the present invention may also have the following additional technical features:

[0007] 根据本发明的一个实施例,每个所述旋翼系统还包括环形的旋翼护罩,所述旋翼护罩固定在所述机架上且外套在相应的所述旋翼上。 [0007] According to an embodiment of the present invention, each of the rotor system also includes an annular shroud of a rotor, the rotor shroud secured to said frame and said outer sleeve on the respective rotor.

[0008] 根据本发明的一个实施例,所述供电系统包括设在所述配货标准箱上的充电电池以及设在所述机身上的供电电池,所述配货标准箱设在所述锁扣装置上时,所述充电电池与所述供电电池相连以向所述供电电池充电,所述供电电池与所述定位装置和所述飞控装置相连以向所述定位装置和所述飞控装置供电。 [0008] According to an embodiment of the present invention, the system comprises a power supply disposed on the picking TEU rechargeable batteries and the power supply battery provided in said body, said box picking provided in the standard when the latching means, the rechargeable battery with the power supply connected to the battery to charge the battery of the power supply, the power supply battery and the positioning means and to said flight control means coupled to said positioning means and said flying power supply control means.

[0009] 根据本发明的一个实施例,所述供电电池、所述定位装置和所述飞控装置沿周向均匀排布在所述机身内。 [0009] According to an embodiment of the present invention, the battery power supply, said positioning means and said flight control means circumferentially uniformly arranged within the fuselage.

[0010] 根据本发明的一个实施例,所述多旋翼无人机还包括机脚支架,所述机脚支架设在所述机身的下表面上用于支撑所述机身。 [0010] According to one embodiment of the present invention, the machine further comprising a plurality UAV rotor foot holder, the holder foot machine provided on the lower surface of the body for supporting the body.

[0011] 根据本发明的一个实施例,所述机脚支架包括多个在上下方向上延伸的支撑柱,所述多个支撑柱沿周向均匀分布。 [0011] According to an embodiment of the present invention, the machine comprises a support column bracket plurality foot extending in the vertical direction, a plurality of support posts uniformly distributed circumferentially.

[0012] 根据本发明的一个实施例,每个所述支撑柱上设有用于定位所述支撑柱的放置位置的定位模块。 [0012] According to one embodiment of the present invention, each of the support column is provided for positioning the module placement position of the positioning of the support column.

[0013] 根据本发明的一个实施例,所述旋翼系统为四个、六个或者八个。 [0013] According to one embodiment of the present invention, the rotor system is a four, six or eight.

[0014] 根据本发明的一个实施例,所述机身的外周壁形成为圆形,所述机身的内周壁形成为方形。 An outer peripheral wall [0014] According to one embodiment of the present invention, the body is formed in a circular shape, the inner peripheral wall of the body is formed as a square.

[0015] 根据本发明的一个实施例,每个所述旋翼护罩形成为圆环形。 [0015] According to one embodiment of the present invention, each of the rotor is formed as an annular shroud.

[0016] 根据本发明的一个实施例,所述多旋翼无人机还包括用于定位所述多旋翼无人机停放位置的定位设备。 [0016] According to one embodiment of the present invention, the UAV rotor further comprises a multi-positioning device for positioning the plurality UAV rotor parking position.

附图说明 BRIEF DESCRIPTION

[0017] 图1是根据本发明实施例的多旋翼无人机的立体图; [0017] FIG. 1 is a perspective view of a multi-rotor UAV embodiment of the present invention;

[0018] 图2是根据本发明实施例的四旋翼无人机的示意图; [0018] FIG. 2 is a schematic view of the UAV rotor according to a four embodiment of the present invention;

[0019]图3是根据本发明实施例的六旋翼无人机的示意图; [0019] FIG. 3 is a schematic view of the UAV rotor according to an embodiment six of the present invention;

[0020] 图4是根据本发明实施例的八旋翼无人机的示意图。 [0020] FIG. 4 is a schematic view of the UAV rotor eight embodiment according to the present embodiment of the invention.

[0021] 附图标记:多旋翼无人机100,机身10,定位装置11,飞控装置12,锁扣装置13,供电电池14,定位设备15,配货标准箱30,旋翼系统40,旋翼41,电机42,旋翼护罩43,机架50,机脚支架60,支撑柱61。 [0021] reference numerals: multi-rotor UAV 100, body 10, positioning means 11, flight control means 12, latching means 13, the battery power supply 14, the positioning device 15, distribution box 30 standard, the rotor system 40, rotor 41, motor 42, rotor shrouds 43, rack 50, leg unit holder 60, the support column 61.

具体实施方式 Detailed ways

[0022] 下面详细描述本发明的实施例,所述实施例的示例在附图中示出。 [0022] exemplary embodiment of the present invention are described in detail below, the embodiment illustrated in the accompanying drawings. 下面通过参考附图描述的实施例是示例性的,旨在用于解释本发明,而不能理解为对本发明的限制。 By following with reference to the embodiments described are exemplary, and are intended for explaining the present invention and should not be construed as limiting the present invention.

[0023] 在本发明的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底” “内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。 [0023] In the description of the present invention, it is to be understood that the term "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front "," rear "," left "," right "," vertical "," horizontal "," top "," bottom "," inner "," outer "," clockwise "," counterclockwise "," axis to "," radial "," circumferential "and indicates the position or location or orientation relationship positional relationship shown in the accompanying drawings, for convenience of description only and the present invention is to simplify the description, not indicate or imply referred devices or elements must have a specific orientation, the orientation of a particular configuration and operation, can not be construed as limiting the present invention.

[0024] 此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。 [0024] In addition, the terms "first", "second" are used to indicate or imply relative importance or the number of technical features specified implicitly indicated the purpose of description and should not be understood. 由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。 Thus, there is defined "first", "second" features may be explicitly or implicitly include at least one of the feature. 在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。 In the description of the present invention, the meaning of the "plurality" is at least two, e.g. two, three, etc., unless explicitly specifically limited.

[0025] 在本发明中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接或彼此可通讯;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。 [0025] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "fixed" and like terms are to be broadly understood, for example, may be a fixed connection, may be detachable connection, or integrally; may be a mechanical connector may be electrically connected or communicate with one another; may be directly connected, it can also be connected indirectly via an intermediate medium, or may be interconnected inside the two elements of the two elements effect relationship, unless otherwise expressly limited. 对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。 Those of ordinary skill in the art, to be understood that the specific meanings in the present invention depending on the circumstances.

[0026] 在本发明中,除非另有明确的规定和限定,第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触,或第一和第二特征通过中间媒介间接接触。 [0026] In the present invention, unless otherwise expressly specified or limited, the first feature in the "on" a second or "lower" may be in direct contact with the first and second characteristic or the first and second characteristics by intermediary indirect contact. 而且,第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方,或仅仅表示第一特征水平高度高于第二特征。 Also, the first feature a second feature in the "on", "above" and "upper" But first feature a second feature directly above or obliquely upward or simply represents a first characteristic level is higher than the height of the second feature. 第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方,或仅仅表示第一特征水平高度小于第二特征。 In the first feature a second feature "beneath", "below" and "lower" may be just below the first feature or the second feature obliquely downward, or just less than the level represented by the first feature a second feature.

[0027] 下面详细描述根据本发明实施例的多旋翼无人机100,该多旋翼无人机100可以应用在快递业等领域。 [0027] The following detailed description of the multi-rotor UAV 100 according to an embodiment of the present invention, the multi-rotor UAV 100 can be applied in the field of delivery industry. 在本申请下面的描述中,将以多旋翼无人机100应用在快递行业为例进行说明。 In the following description of the present application, a multi-rotor UAV 100 will use in the industry is described as an example. 当然,本领域内的技术人员可以理解的是,多旋翼无人机100应用在快递行业仅为示例性说明,本发明的多旋翼无人机100的应用范围并不限于此。 Of course, those skilled in the art will appreciate that a multi-rotor UAV 100 application in the industry is merely illustrative, the present invention is a multi-rotor UAV application 100 is not limited thereto.

[0028] 根据本发明实施例的多旋翼无人机100,可以包括机身10、供电系统、配货标准箱30以及多个旋翼系统40。 [0028] The multi UAV rotor embodiment 100 of the present embodiment of the invention, may include a body 10, the power supply system, 30 and a plurality of picking TEU rotor system 40.

[0029] 其中,如图1至图4所示,机身10形成为环形的结构,机身10包括定位装置11、飞控装置12和锁扣装置13。 [0029] wherein, as shown in FIG. 1 to FIG. 4, the body 10 is formed as an annular structure, the positioning means 11 comprises a body 10, flight control device 12 and the latching means 13. 也就是说,机身10构造成中央中空的环形结构,定位装置11和飞控装置12分布在环形的机身10内。 That is, the body 10 is configured central hollow annular structure, positioning means 11 and the flight control apparatus 12 located in the annular body 10.

[0030] 定位装置11可以实现多旋翼无人机100的精准投递,保证多旋翼无人机100携带的货物能够准确的投递到客户的货物接收装置中,以及多旋翼无人机100在投递完成后安全的返航。 [0030] The positioning means 11 can achieve more accurate delivery rotor UAV 100, UAV 100 to ensure multi rotor carrying the goods can be accurately delivered to the customer the goods receiving means, and a plurality of rotor 100 in the UAV delivery completion after the safe return.

[0031] 飞控装置12是多旋翼无人机100的控制系统,用于保持多旋翼无人机100正常的飞行姿态。 [0031] The flight control apparatus 12 is a multi-rotor UAV control system 100, 100 for holding a multi-rotor UAV normal flight attitude. 例如,多旋翼无人机100在起飞和降落时,飞控装置12可以控制旋翼系统40维持适宜的转速以保证多旋翼无人机100平稳地起飞和降落;在多旋翼无人机100检测到前方有建筑物时,飞控装置12可以控制多旋翼无人机100绕开建筑物或者提升多旋翼无人机100的高度以使其安全的飞行;此外,在较为恶劣的外部环境下(例如,有较大的风),飞控装置12可以提升多旋翼无人机100的动力以保证其平稳地飞行。 For example, multi-rotor UAV 100 during takeoff and landing, the flight control apparatus 12 may control the rotor system 40 is maintained at the appropriate speed in order to ensure smooth 100 takeoff and landing UAV multi rotor; UAV 100 detects the multi-rotor when the front of the building, the flight control device 12 can control multiple UAV rotor 100 to bypass multiple buildings or lifting height of rotor 100 so as to secure UAV flight; in addition, under more harsh external environments (e.g. , larger wind), flight control device 12 can improve the multi-rotor power UAV 100 to ensure smooth flight.

[0032] 需要进行说明的是,定位装置11和飞控装置12可以采用现有技术的无人机中的定位装置和飞控装置,这里就不对定位装置11和飞控装置12的结构和工作原理进行详细描述。 [0032] needs to be noted that the positioning means 11 and the flight control apparatus 12 and locating means may be employed UAV flight control apparatus of the prior art, there is not the structure and operation of the positioning means 11 and the flight control apparatus 12 the principles described in detail.

[0033] 供电系统是多旋翼无人机100的动力配送中心,在本发明的实施例中,多旋翼无人机100使用的动力为电能。 [0033] The power supply system is a multi-rotor UAV power distribution center 100, in the embodiment of the present invention, the use of multi-rotor UAV 100 power into electrical energy. 供电系统适于与定位装置11和飞控装置12相连,以向定位装置11和飞控装置12提供电能。 Power supply system adapted to connect to the positioning means 11 and the flight control apparatus 12, to provide electrical power to the positioning means 11 and the flight control device 12. 这样,才能保证定位装置11以及飞控装置12正常稳定地工作。 Thus, in order to ensure the positioning means 11 and a flight control device 12 normally operates stably.

[0034] 锁扣装置13位于机身10的内环内,且如图1至图4所示,配货标准箱30内限定出用于容纳货物的空间,配货标准箱30可拆卸地设在锁扣装置13上。 [0034] The latching mechanism 13 is located within the inner body 10, and as shown, define a space for accommodating a cargo tank 30 of the picking criteria 1 to 4, distribution 30 is detachably disposed TEU in the latching means 13. 锁扣装置13可以用于将配货标准箱30锁住以使货物不会从多旋翼无人机100上掉落,保证在多旋翼无人机100在配送货物时物品的安全以及行人的安全。 Latching means 13 may be used to lock picking standard container 30 so that the cargo does not fall from the multi-rotor UAV 100, to ensure the safety of pedestrians and safety of the article multi rotor UAV 100 when distribution of goods .

[0035] 换言之,配货标准箱30通过锁扣装置13固定在机身10的内环内,又因为货物放置在配货标准箱30内,所以待配送的货物在多旋翼无人机100配送过程中是置于机身10的内环内的。 [0035] In other words, by picking TEU latching means 30 within the inner ring 13 is fixed to the body 10, and because the goods are placed in a standard picking box 30, so that the goods to be dispensed in a multi-distribution rotor 100 UAV process is placed in the body 10 of the inner ring.

[0036] 由此,可以保证多旋翼无人机100整体结构的配重平衡,多旋翼无人机100在载货时的重心和在卸完货后的重心的位置大致不变,提高了多旋翼无人机100的稳定性和安全性,且其可控性也得到了提高。 [0036] Accordingly, it is possible to ensure the counterweight 100 overall configuration of multi-rotor UAV, UAV 100 multi rotor position at the center of gravity and the cargo unloaded at a substantially constant center of gravity, improved multi- stability and safety UAV rotor 100, and controllability is also improved.

[0037] 现有的多旋翼无人机为了保证在卸载完货物后其重心不发生较大的变化,其上的货物重量相对于机身的重量较小,即货物的重量与机身的重量的比值较小,如此在卸载完货物后,由于多旋翼无人机的重量变化不大,因此重心的变化也相对较小。 [0037] The conventional multi-rotor UAV in order to ensure no big change in the center of gravity unloading of finished goods, the weight of the cargo is small relative to the weight of the body, i.e., body weight and the weight of the goods ratio is small, so the finished goods after unloading, since little change in weight of the multi-rotor UAV, thus changes the center of gravity is relatively small.

[0038] 而本发明实施例中的多旋翼无人机100的机身10设置成环形的结构,且货物放置在内环内,因此本发明实施例的多旋翼无人机100在载货时的重心和在卸完货后的重心的位置大致不变,可以在保证整体外形较小的条件下,运输重量较大的货物,即货物的重量与机身10的重量的比值较大。 When [0038] the plurality UAV rotor in the embodiment of the present invention to the body 100 of annular structure 10 is provided, and the goods placed in the inner ring, the present invention is therefore a multi-rotor embodiment 100 of the UAV cargo position of the center of gravity and the center of gravity of the unloaded after approximately constant, can be smaller in overall shape to ensure conditions, the larger weight of goods transportation, i.e., the weight ratio of the weight of the cargo body 10 is large.

[0039] 需要说明的是,在将配货标准箱30放置在锁扣装置13上时,锁扣装置13可以是自动地将配货标准箱30锁住,当然也可以通过人工的方式将锁扣装置13扣紧,以将配货标准箱30固定在机身10上。 [0039] Incidentally, when the picking TEU 30 is placed on the latching means 13, latching means 13 may be automatically locked picking TEU 30 may of course be manually locked manner buckle fastening means 13, 30 to the fixed rationing TEU fuselage 10.

[0040] 如图1至图4所示,每个旋翼系统40通过机架50固定在机身10的外周壁上,每个旋翼系统40包括旋翼41和用于驱动旋翼41转动的电机42,电机42与飞控装置12相连。 [0040] As shown in FIG. 1 to FIG, each rotor system 40 by the rack 50 fixed to the outer periphery of the body wall 10, each rotor comprising a rotor system 440 and the rotation of the motor 41 for driving the rotor 41 42, motor 42 is connected to the flight control device 12. 由此,飞控装置12可以控制电机42转动的速度和转动的方向,保证多旋翼无人机100在多种条件下的稳定飞行。 Accordingly, flight control device 12 may control the motor rotation speed and the direction of rotation 42, to ensure stable multi rotor 100 UAV flight under a variety of conditions.

[0041] 可选地,如图2至图4所示,旋翼系统40的数量可以为四个、六个或八个,当然,可以理解的是,随着旋翼系统40数量的增加,多旋翼无人机100的最大载重量也会逐渐增加。 [0041] Alternatively, as shown in FIG. 2 to FIG. 4, the number of rotor system 40 may be four, six or eight, of course, be appreciated that, with the increase of the number of rotor system 40, a multi-rotor the maximum load of 100 UAV will gradually increase. 快递公司可以根据货物的重量,来选择不同数量的旋翼41的多旋翼无人机100。 Express according to the weight, to select a different number of plurality of rotor 41. Rotor 100 UAV.

[0042] 根据本发明实施例的多旋翼无人机100,通过将机身10的形状设计成环形的结构,且配货标准箱30放置在内环内,使得多旋翼无人机100在运输货物中的重心和卸载货物后的重心大体相同,由此提高了多旋翼无人机100的稳定性、安全性和可控性,且可以在保证整体外形较小的条件下,运输较大重量的货物,即货物的重量与机身10的重量的比值较大。 [0042] The multi-rotor embodiment 100 of the present invention UAV, by the shape of the body 10 is designed as an annular structure, and picking TEU disposed within the inner ring 30, so that the multi-transport rotor UAV 100 after the center of gravity and unloading cargoes in substantially the same center of gravity, thereby improving the stability, safety and controllability of the multi-rotor UAV 100, and can be smaller in overall shape to ensure conditions, transporting larger weight goods, i.e., the weight ratio of the weight of the cargo body 10 is large.

[0043] 在本发明的一些实施例中,如图1至图4所示,每个旋翼系统40还可以包括环形的旋翼护罩43,旋翼护罩43固定在机架50上且外套在相应的旋翼41上。 [0043] In some embodiments of the present invention, FIG. 1 to FIG. 4, each rotor system 40 may further include an annular shroud of a rotor 43, the rotor shroud 43 fixed to the frame 50 and the respective jacket 41 on the rotor.

[0044] 具体地,每个旋翼护罩43通过一个连接臂固定在机架50上,连接臂的一端与机架50相连,另外一端与旋翼护罩43相连。 [0044] Specifically, each rotor shroud 43 on the frame 50, connecting arm 50 is connected to one end of the frame by means of a fixed connecting arm, the other end is connected to the rotor shroud 43.

[0045] 旋翼41是多旋翼无人机100上重要的部件,较为贵重,需要一定的措施进行保护。 [0045] The rotor 41 is an important component 100 multi-rotor UAV, it is expensive, requires certain protective measures. 在多旋翼无人机100处于飞行状态或静止状态时,旋翼护罩43可以在一定程度上保护旋翼41不受外界因素的损伤;且在旋翼41转动时,如果没有旋翼护罩43的保护,很有可能会划伤快递工作人员或者客户,即使旋翼41处于静止状态,裸露的旋翼41也有可能划伤工作人员,旋翼护罩43可以在一定程度上避免上述情况的发生。 When a multi-rotor UAV 100 in flight or stationary state, the shield 43 protects the rotor 41 from damage by external factors rotor to some extent; and when the rotation of the rotor 41, without the protection of the rotor shroud 43, It is likely to scratch the delivery personnel or the customer, even if the rotor 41 is stationary, the rotor 41 is also exposed staff likely to scratch, the rotor shield 43 can be avoided from happening to a certain extent.

[0046] 此外,旋翼41在旋转时,不可避免的会产生噪音,旋翼护罩43外套在相应的旋翼41上,可以减弱旋翼41叶片尖部产生的尾涡,加速尾涡衰减,进而减少了旋翼41高速旋转时产生的噪音。 [0046] Further, when the rotor 41 rotates, inevitably produce noise, the rotor shroud 43 on respective outer rotor 41, rotor 41 can be weakened trailing blade tip vortex generated wake vortex decay accelerating, thereby reducing High speed rotor 41 is rotated generated noise.

[0047] 可选地,每个旋翼护罩43形成为圆环形。 [0047] Alternatively, each rotor 43 is formed as an annular shroud. 由此,可以进一步减少多旋翼无人机100产生的噪音,且圆环形的旋翼护罩43可以使多旋翼无人机100的外形更加美观。 This can further reduce the noise generated by the multi-rotor UAV 100, and an annular rotor shroud 43 can be made of a multi-rotor UAV 100 more aesthetically pleasing appearance.

[0048] 根据本发明的一些实施例,供电系统包括设在配货标准箱30上的充电电池以及设在机身10上的供电电池14,配货标准箱30设在锁扣装置13上时,充电电池与供电电池14相连以向供电电池14充电,供电电池14与定位装置11和飞控装置12相连,以向定位装置11和飞控装置12供电。 [0048] According to some embodiments, the power supply system according to the present invention comprises a tank provided on the picking standard rechargeable battery 30 and the power supply battery 10 is provided at the main body 14, distribution box 30 provided on the standard when the latching means 13 , the rechargeable battery 14 is connected to the supply battery power to charge the battery 14, the battery power 14 and positioning means 11 and the flight control apparatus 12 is connected to the power supply to the positioning means 11 and the flight control device 12.

[0049] 也就是说,配货标准箱30上的充电电池14并不会直接为定位装置11和飞控装置12提供电力,多旋翼无人机100在工作时,充电电池可以为供电电池14充电,保证供电电池14具有充足的电量,进而无人机100可以具有较长的续航时间。 [0049] That is, the rechargeable battery 14 and tank 30 picking standard does not provide power directly to the positioning means 11 and the flight control apparatus 12, a multi-rotor UAV 100 during operation, the rechargeable battery 14 may be a battery-powered charging, guarantee the power supply battery 14 has sufficient power, UAV 100 may further have a longer life time.

[0050] 充电电池是设置在配货标准箱30上的,配货标准箱30在未装有货物时,可以在快递终端配货仓库内充电,在将货物放置在配货标准箱30上且将配货标准箱30设在锁扣装置13上时,锁扣装置13将配货标准箱30锁紧,同时充电电池与供电电池14相连以向供电电池14充电,供电电池14向定位装置11和飞控装置12供电。 [0050] disposed on the rechargeable battery is a standard picking box 30, box 30 is a standard picking when not containing the goods, the delivery can be charged in the terminal picking warehouse, the cargo is placed on the box 30 and the standard picking when picking a standard box 30 provided on the latching means 13, latching means 13 to lock picking standard tank 30, while rechargeable battery 14 is connected to the supply battery power to charge the battery 14, the battery power 14 to the positioning means 11 flight control means 12 and power supply.

[0051]当然,在将配货标准箱30从机身10上卸载掉后,机身10上的供电电池14仍然具有一定的电量,还可以为多旋翼无人机100提供电力。 [0051] Of course, the tank 30 after picking standard uninstall from the body 10, the battery power supply 14 is still on the body 10 has a certain amount of power, multi-rotor UAV 100 may also be provided power.

[0052] 进一步地,如图1至图4所示,供电电池14、定位装置11和飞控装置12沿周向均匀排布在机身10内。 [0052] Further, as shown, are arranged uniformly in the FIGS. 1 to 10 414, the positioning device 12 along the periphery of the battery power supply 11 to the fuselage, and flight control apparatus. 由此,多旋翼无人机100的重心大致位于环形机身10的内环空间中,保证多旋翼无人机100整体结构的配重平衡。 Thus, multi-rotor center of gravity of UAV 100 is substantially annular space located between the internal body 10, the UAV rotor ensure that the multi counterweight structure 100 as a whole.

[0053] 在本发明的一些实施例中,如图1所示,多旋翼无人机100还可以包括机脚支架60,机脚支架60设在机身10的下表面上用于支撑机身10。 [0053] In some embodiments of the present invention, the multi-rotor UAV 100 may also include an on-foot bracket 60, a machine foot holder 60 is provided on the lower surface of the body 10 for supporting the body 10. 由此,可以使多旋翼无人机100在降落时更加稳定,且可以适宜多种复杂的地面条件。 This makes it possible in a multi-rotor landing UAV 100 is more stable, and may be suitable for a variety of complex ground conditions.

[0054] 具体地,机脚支架60包括多个在上下方向上延伸的支撑柱61,多个支撑柱61沿周向均匀分布。 [0054] In particular, bracket 60 comprises a foot support unit 61 a plurality of posts extending in the vertical direction, a plurality of support posts 61 uniformly distributed circumferentially. 由此,机身10可以不必与降落地点直接接触,至少在一定程度上保护了机身10。 Thus, the body 10 may not necessarily be in direct contact with the landing site, at least a protective body 10 to some extent.

[0055] 进一步地,每个支撑柱61上设有用于定位支撑柱61的放置位置的定位模块。 [0055] Further, each support column 61 is provided for positioning the support column 61 to place the positioning module. 由此可以配合货物接收装置上的定位模块对多旋翼无人机进行精准定位。 Thereby positioning module with the goods receiving means for multi-rotor UAV accurate positioning.

[0056] 根据本发明的一些实施例,如图1至图4所不,机身10的外周壁形成为圆形,机身10的内周壁形成为方形。 [0056] According to some embodiments of the present invention, FIGS. 1 to 4 without the outer peripheral wall of a circular body 10, the inner peripheral wall of the body 10 is formed as a square. 也就是说,内环并不是圆形的结构,而是方形的结构,当然,与方形的机身10的内周壁相匹配的,配货标准箱30的外形也构造成为方形。 That is, the structure of the inner ring is not circular, but a square configuration, of course, the inner circumferential wall of the rectangular body 10 matches the shape picking standard box 30 also configured as a square.

[0057] 当然,本领域普通技术人员可以理解的是,本发明示例中圆形的机身10和方形的机身10的内周壁只是一种具体的实施方式,并不是对本发明的多旋翼无人机100所作的具体限定,例如,机身10的外周壁也可以构造成为方形。 [0057] Of course, those of ordinary skill in the art will be appreciated that the inner peripheral wall of the examples of the present invention the circular body 10 and a square body 10 is only a specific embodiment, the present invention is not of a multi-rotor without the display unit 100 made particularly limited, for example, an outer peripheral wall of the body 10 may also be configured to be square.

[0058] 在本发明的一些实施例中,如图1所示,多旋翼无人机100还包括用于定位多旋翼无人机100停放位置的定位设备15,该定位设备15可以在多旋翼无人机100飞行至货物投放地点时,配合投放地点的定位设备对多旋翼无人机100的停放位置进行精准定位。 [0058] In some embodiments of the present invention, shown in Figure 1, a multi-rotor UAV 100 further includes a positioning device for positioning a multi-rotor UAV 100 parked position 15, the positioning device 15 may be a multi-rotor positioning device 100 UAV flight to their goods on the site, with delivery locations for accurate positioning of the parked position multi-rotor UAV 100.

[0059] 当然,定位设备15也可以和支撑柱61上的定位模块一起对多旋翼无人机100的停放位置作更精确的定位。 [0059] Of course, the positioning device and the positioning module 15 may be on the support column 61 with the parked position of the multi-rotor UAV 100 A more accurate positioning.

[0060] 下面简单描述根据本发明实施例的多旋翼无人机100在快递行业的应用。 [0060] The application 100 is described as follows in the industry is a multi-rotor UAV embodiment of the present invention.

[0061] 首先在居民区、办公区、楼宇区等客户相对集中区域内建成快递终端配货仓库,以及无人机起降平台、充电间等。 [0061] First, between the completion of picking warehouse delivery terminal, and the UAV landing platform, and the like in the charging residential, office, and other customer premises region relatively concentrated areas. 客户可通过手机客户端直接订购商品货物,客户下单后,货物存储控制系统直接生成订单,由人工将货物装载至配货标准箱30中,然后通过配货标准箱输送装置直接将配货标准箱30输送至多旋翼无人机100的起飞平台,可通过自动或手动方式由电控锁扣装置13将配货标准箱30与机身10锁扣连接。 Customers can order goods through the goods directly to the mobile client, the customer orders, cargo storage control system directly generate orders by manually picking TEU cargo loading to 30, the apparatus is then conveyed directly to a standard picking by picking TEU UAV rotorcraft tank 30 up off the conveying platform 100, 13 may be connected to the latching means by the electronic control box 30 with standard picking latch body 10 automatically or manually.

[0062] 然后,多旋翼无人机100根据飞控装置12已接收的飞行路径控制信息,进行起飞和飞行控制,在飞行过程中由定位装置11进行实时导航,将货物精准投递至客户的货物接收装置中。 [0062] Then, according to the multi-rotor 100 controls the flight path of UAV flight control apparatus 12 has received the information, take-off and flight control, real-time navigation by the positioning apparatus 11 during flight, accurate delivery of the goods to the customer the goods receiving apparatus. 完成投递后多旋翼无人机100再根据飞控装置12返回至多旋翼无人机100的降落平台,采用自动或手动的方式将配货标准箱30与机身10解扣。 After completion of the delivery of multi-rotor UAV flight control means 100 then returns at most 12 UAV rotorcraft landing platform 100, automatically or manually in accordance with the standard picking box body 30 and 10 trip. 多旋翼无人机100返回至起飞平台准备下一次配送工作,配货标准箱30被输送至充电间充电,完成后随时准备配货。 Multi UAV rotor 100 returns to prepare for the next take-off platform work distribution, distribution box 30 is conveyed to the standard charge between the charge, after the completion of picking ready.

[0063] 每个旋翼系统40中的每个旋翼41均配置一个旋翼护罩43,这样可有效保护旋翼41,同时也可以改变噪音的传播方向,进而有效地减少多旋翼无人机100的整体噪音。 [0063] each rotor 40 each rotor system 41 are disposed a rotor shroud 43, so as to effectively protect the rotor 41, but also can change the direction of propagation of the noise, thus effectively reducing the overall multi-rotor UAV 100 noise.

[0064] 在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。 [0064] In the description of the present specification, reference to the term "one embodiment," "some embodiments", "an example", "a specific example", or "some examples" means that a description of the exemplary embodiment or embodiments described a particular feature, structure, material, or characteristic is included in at least one embodiment of the present invention, embodiments or examples. 在本说明书中,对上述术语的示意性表述不必须针对的是相同的实施例或示例。 In the present specification, a schematic representation of the above terms must not be the same for the embodiment or exemplary embodiments. 而且,描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。 Furthermore, the particular features, structures, materials, or characteristics described may be in any one or more embodiments or examples combined in suitable manner. 此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。 Furthermore, different embodiments or examples and embodiments or features of different exemplary embodiments without conflicting, those skilled in the art described in this specification can be combined and the combination thereof.

[0065] 尽管上面已经示出和描述了本发明的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本发明的限制,本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。 [0065] Although the above has been illustrated and described embodiments of the present invention, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present invention, within the scope of the invention to those of ordinary skill in the art It may be variations of the above embodiments, modifications, alternatives, and modifications.

Claims (11)

1.一种多旋翼无人机,其特征在于,包括: 机身,所述机身形成为环状的结构,所述机身包括定位装置、飞控装置和锁扣装置,所述锁扣装置位于所述机身的内环内; 供电系统,所述供电系统适于与所述定位装置和所述飞控装置相连以向所述定位装置和所述飞控装置供电; 配货标准箱,所述配货标准箱内限定出用于容纳货物的空间,所述配货标准箱可拆卸地设在所述锁扣装置上; 多个旋翼系统,每个所述旋翼系统通过机架固定在所述机身的外周壁上,每个所述旋翼系统包括旋翼和用于驱动所述旋翼转动的电机,所述电机与所述飞控装置相连。 A multi-rotor UAV, characterized in that, comprising: a body, the body is formed as an annular structure, said positioning means comprising a fuselage, and flight control means the latching means, the latching means located within said inner body; power supply system, the power supply system is adapted to the positioning means and connected to said flight control means to supply power to said positioning means and said flight control means; picking TEU the picking standard defines an inside space for accommodating goods, the standard picking box is detachably provided on said latch means; a plurality of rotor system, each of the rotor system through the rack-mounted in the outer periphery of the body wall, each of the rotor system includes a motor for driving the rotor to rotate the rotor, said motor connected to said flight control means.
2.根据权利要求1所述的多旋翼无人机,其特征在于,每个所述旋翼系统还包括环形的旋翼护罩,所述旋翼护罩固定在所述机架上且外套在相应的所述旋翼上。 The multi-rotor UAV according to claim 1, characterized in that each of the rotor system also includes an annular shroud of a rotor, said rotor and fixed to the outer shroud in the respective said frame the upper rotor.
3.根据权利要求1所述的多旋翼无人机,其特征在于,所述供电系统包括设在所述配货标准箱上的充电电池以及设在所述机身上的供电电池,所述配货标准箱设在所述锁扣装置上时,所述充电电池与所述供电电池相连以向所述供电电池充电,所述供电电池与所述定位装置和所述飞控装置相连以向所述定位装置和所述飞控装置供电。 According to claim 1 of the multi-rotor UAV, wherein the system comprises a power supply disposed on the picking TEU rechargeable batteries and the power supply battery provided in the body of the when picking TEU provided on said latch means, said rechargeable battery with the power supply connected to the battery to charge the battery of the power supply, the power supply battery and the positioning means and connected to said flight control means to said flight control means and said power supply means is positioned.
4.根据权利要求3所述的多旋翼无人机,其特征在于,所述供电电池、所述定位装置和所述飞控装置沿周向均匀排布在所述机身内。 Multi-rotor according to claim 3 of the UAV, wherein said battery power supply, said positioning means and said flight control means circumferentially uniformly arranged within the fuselage.
5.根据权利要求1所述的多旋翼无人机,其特征在于,还包括机脚支架,所述机脚支架设在所述机身的下表面上用于支撑所述机身。 According to claim 1 of the multi-rotor UAV, wherein the machine further comprising a foot bracket, the bracket machine feet provided on the lower surface of the body for supporting the body.
6.根据权利要求5所述的多旋翼无人机,其特征在于,所述机脚支架包括多个在上下方向上延伸的支撑柱,所述多个支撑柱沿周向均匀分布。 Multi-rotor according to claim UAV 5, characterized in that said robot comprises a legged support a plurality of support column extending in the vertical direction, a plurality of support posts uniformly distributed circumferentially.
7.根据权利要求6所述的多旋翼无人机,其特征在于,每个所述支撑柱上设有用于定位所述支撑柱的放置位置的定位模块。 7. A multi-rotor UAV according to claim 6, characterized in that each of said support column is provided for positioning the module placement position of the positioning of the support column.
8.根据权利要求1所述的多旋翼无人机,其特征在于,所述旋翼系统为四个、六个或者八个。 According to claim 1, said plurality UAV rotor, wherein the rotor system is a four, six or eight.
9.根据权利要求1所述的多旋翼无人机,其特征在于,所述机身的外周壁形成为圆形,所述机身的内周壁形成为方形。 According to claim 1 of the multi-rotor UAV, wherein said body is formed a circular outer peripheral wall, the peripheral wall of the inner body is formed as a square.
10.根据权利要求2所述的多旋翼无人机,其特征在于,每个所述旋翼护罩形成为圆环形。 10. The multi-rotor UAV claim 2, wherein each of said shroud is formed as a circular rotor.
11.根据权利要求1所述的多旋翼无人机,其特征在于,还包括用于定位所述多旋翼无人机停放位置的定位设备。 According to claim 1 of the multi-rotor UAV, characterized by further comprising a positioning device for positioning the plurality UAV rotor parking position.
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