CN105857587A - Multi-axis unmanned aerial vehicle and flight method thereof - Google Patents
Multi-axis unmanned aerial vehicle and flight method thereof Download PDFInfo
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- CN105857587A CN105857587A CN201610196203.1A CN201610196203A CN105857587A CN 105857587 A CN105857587 A CN 105857587A CN 201610196203 A CN201610196203 A CN 201610196203A CN 105857587 A CN105857587 A CN 105857587A
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- unmanned plane
- cantilever
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention provides a multi-axis unmanned aerial vehicle and a flight method thereof. The multi-axis unmanned aerial vehicle comprises N cantilevers, M cantilever connectors, a flight control module and a calculation module. Each cantilever comprises a power assembly. The flight method of the multi-axis unmanned aerial vehicle comprises the steps that whether the cantilevers are connected to the cantilever connectors or not is detected; the total weight of the multi-axis unmanned aerial vehicle is calculated; whether the multi-axis unmanned aerial vehicle can fly or not is judged; and if the multi-axis unmanned aerial vehicle can fly, a flight approval message is sent out. Both N and M are natural numbers, M>=N>=3, and whether the multi-axis unmanned aerial vehicle can fly or not is judged according to the maximum output power of the power assemblies and the total weight of the multi-axis unmanned aerial vehicle. Compared with the prior art, multi-axis unmanned aerial vehicles of various configurations can be formed by changing the number of the flight cantilevers freely.
Description
Technical field
The present invention, about a kind of multiaxis unmanned plane and its flying method, more particularly, is about one
Plant the multiaxis unmanned plane that can freely convert cantilever quantity and cantilever arrangement mode and its flying method.
Background technology
The most existing many different sizes, the different number of axle and the multiaxis of different application aspect
Aircraft is being peddled.Have plenty of and need to be had plenty of can be carried out self-discipline flight by programming by user remote control,
Have is little to as toy, and also have carries out taking photo in the sky or loading flight to energy carry camera greatly.
But mostly Multi-axis aircraft the most on the market is the aircraft of the fixing number of axle, that is the number of cantilever
Amount is fixing, and the output of motor is also fixing, if being applied by this kind of Multi-axis aircraft
In loading transport, the output of motor will be unable to adjust according to bearing goods weight, to reach output work
Rate optimizes and the balance of electric energy control.
Summary of the invention
In response to foregoing problems, scope of the invention is to provide a kind of multiaxis unmanned plane, can be according to making
User's demand changes the quantity of cantilever, and the quantity and installation site according to cantilever judges that multiaxis unmanned plane whether can
Enough flight, and further by input and the setting of flight parameter, reach flying distance optimization, flight time
Optimize and adjust motor output power according to bearing goods weight.
A kind of multiaxis unmanned plane that the present invention provides, comprises: N number of cantilever, M cantilever interface,
Flight control modules and computing module.
Each of which cantilever includes Power Component, and cantilever passes through described M cantilever interface and multiaxis
Unmanned plane connects removably；Flight control modules is electrically connected with described M cantilever interface and Power Component,
In order to control the output of Power Component；Computing module is electrically connected with, in order to examine with described M cantilever interface
Survey described M cantilever interface whether to connect and have cantilever, and according to the maximum gross output of Power Component and cantilever
Judge whether multiaxis unmanned plane can fly with the gross weight of multiaxis unmanned plane；Flight control modules is according to described fortune
Calculate the judged result of module, send flight message；N Yu M is all natural number, M >=N >=3.
In the specific embodiment of the present invention, wherein multiaxis unmanned plane comprises display module further,
Display module flight control modules is electrically connected with, when flight control modules judges that cantilever is in the configuration side of described body
Formula can flight time, flight control modules will send flight message and be shown on display module；
In the specific embodiment of the present invention, when flight control modules judges that cantilever is in the configuration of body
Mode cannot flight time, flight control modules will send and cannot flight message be shown on display module.
In the specific embodiment of the present invention, multiaxis unmanned plane comprises carrying structure, in order to carry goods
Product.
In the specific embodiment of the present invention, wherein computing module has cantilever according to connection further
Described M cantilever interface position, multiaxis unmanned plane contain the gross weight of kinds of goods and maximum total output work of Power Component
Rate judges whether multiaxis unmanned plane can fly.
In the specific embodiment of the present invention, wherein multiaxis unmanned plane comprises input interface further,
User must utilize input interface to input the first flight parameter and the 3rd flight parameter, and computing module must fly according to first
Line parameter and the 3rd flight parameter, calculate the second flight parameter, the 4th and the 5th flight parameter, and control of flying
Molding block is by according to the first to the 5th flight parameter, the flight that controls described multiaxis unmanned plane.
In the specific embodiment of the present invention, wherein the first flight parameter must be flight speed or load-carrying
Amount, the second flight parameter be the minimal configuration number of described N number of cantilever, the 3rd flight parameter must for flying distance or
Flight time, the 4th flight parameter must be loading capacity or flight speed, the 5th flight parameter must for the flight time or
Flying distance, and first and the 4th between flight parameter；Do not repeat mutually between 3rd and the 5th flight parameter.
In the specific embodiment of the present invention, flight control modules comprises wireless communication unit, user
Portable electronic devices and wireless communication unit must be utilized to set up wireless connections, and input the first flight parameter and the
Three flight parameters, computing module according to the first flight parameter and the 3rd flight parameter, calculate the second flight parameter,
4th and the 5th flight parameter, and flight control modules will be unmanned according to the first to the 5th flight parameter control multiaxis
The flight of machine.
In the specific embodiment of the present invention, flight control modules comprises data-interface, and user gets profit
Set up wired connections with portable electronic devices and data-interface, and input the first flight parameter and the 3rd flight ginseng
Number, computing module according to the first flight parameter and the 3rd flight parameter, calculate the second flight parameter, the 4th and
5th flight parameter, and flight control modules will control flying of multiaxis unmanned plane according to the first to the 5th flight parameter
OK.
Another category of the present invention is to provide the flying method of a kind of multiaxis unmanned plane, in order to control
The flight of multiaxis unmanned plane, multiaxis unmanned plane comprises N number of cantilever, and M cantilever interface, each cantilever bag
Containing Power Component, comprise the steps of S1: detect described M cantilever interface whether connect have described N number of outstanding
Arm；S3: calculate the gross weight of described N number of cantilever and described body；S4: judge that described multiaxis unmanned plane whether can
Enough flight；And S6: if described multiaxis unmanned plane can fly, then send permission flight message；Wherein N with
M is all natural number, M >=N >=3, and whether multiaxis unmanned plane can fly and judge that basis is as described power packages
The maximum gross output of part and the gross weight of multiaxis unmanned plane.
In the another specific embodiment of the present invention, comprise step S5 further: if multiaxis unmanned plane without
Method is flown, then sending cannot flight message.
In another specific embodiment of the present invention, the flying method of multiaxis unmanned plane additionally comprised with
Lower step: user inputs the first flight parameter and the 3rd flight parameter；Fly according to the first flight parameter and the 3rd
Line parameter, calculates the second, the 4th and the 5th flight parameter；And control according to the first to the 5th flight parameter
The flight of described multiaxis unmanned plane.
In another specific embodiment of the present invention, wherein the first flight parameter must be flight speed or
Loading capacity, the second flight parameter be the minimal configuration number of described N number of cantilever, the 3rd flight parameter must for flight away from
From or flight time, the 4th flight parameter must be loading capacity or flight speed, the 5th flight parameter must for flight time
Between or flying distance, and first and the 4th between flight parameter；Do not repeat mutually between 3rd and the 5th flight parameter.
Compared to conventional art, the present invention is by multiple cantilever interfaces and the group of multiple flight cantilever
Closing, reaching can free change of flight cantilever quantity and the configuration of multiple multiaxis unmanned plane.
Accompanying drawing explanation
Fig. 1 depicts multiaxis unmanned plane top view according to a particular embodiment of the invention.
Fig. 2 depicts multiaxis unmanned plane side view according to a particular embodiment of the invention.
Fig. 3 depicts multiaxis unmanned plane functional block diagram according to a particular embodiment of the invention.
Fig. 4 depicts the user interface that display module according to a particular embodiment of the invention shows and shows
It is intended to.
Fig. 5 depicts multiaxis unmanned plane during flying method flow according to a particular embodiment of the invention
Figure.
Fig. 6 depicts the multiaxis unmanned plane during flying method flow of the another specific embodiment according to the present invention
Figure.
Symbol description
1: multiaxis unmanned plane
10: body 102: shell
104: cantilever interface 106: computing module
108: flight control modules
1082: current control unit 1084: fuselage control unit
1086: electrical measurement unit 1088: wireless communication unit
110: display module 114: switch
11:RC remote control module 12: cantilever
122: Power Component 13: data-interface
14: carrying structure 15: storage media
16: battery 17: input interface
18: satellite positioning module
2: multiaxis unmanned plane during flying method
C1～C3, E0～E6, S0～S10: step
D: flying distance T: flight time
X: configuration number V: the highest flight speed of minimum described cantilever 12
Detailed description of the invention
Scope of the invention provides a kind of multiaxis unmanned plane 1, can change cantilever according to user demand
Quantity, and the quantity and installation site according to cantilever judges whether multiaxis unmanned plane can fly, and further
By input and the setting of flight parameter, reach flying distance optimization, the flight time optimize and according to carrying
Goods weight adjusts motor output power.
Referring to Fig. 1 to Fig. 3, Fig. 1, to depict multiaxis according to a particular embodiment of the invention unmanned
Machine top view.Fig. 2 depicts multiaxis unmanned plane side view according to a particular embodiment of the invention.Fig. 3 depicts
Multiaxis unmanned plane functional block diagram according to a particular embodiment of the invention.
The multiaxis unmanned plane 1 of the present invention includes: body 10 and N number of cantilever 12, each described N
Individual cantilever 12 includes Power Component 122, and Power Component 122 must be motor.Body 10 includes shell 102, M
Individual cantilever interface 104, computing module 106, flight control modules 108, display module 110, input interface 17 with
And switch 114；Wherein N Yu M is all natural number, M >=N >=3, and in the present embodiment, M=8, and N is extremely
It is 4 less.
Wherein, M cantilever interface 104 is exposed to the side surface of shell 102, and described cantilever 12 passes through
Described M cantilever interface 104 is connected removably with multiaxis unmanned plane 1.Shell 102 has detachable holding
Carrying structure 14, in order to carry kinds of goods, but carrying structure is not limited to detachable, it is possible to for unmanned plane bulk junction
The design of structure.Computing module 106 and flight control modules 108 can be accommodated in shell 102, but not as setting
Limit.Flight control modules 108 connects M cantilever interface 104 and Power Component 122, in order to control Power Component 122
Output.Computing module 106 and M cantilever interface 104, flight control modules 108 and display module 110
It is electrically connected with.Display module 110, input interface 17 and on and off switch 114 are all arranged at the upper surface of shell 102,
And input interface 17 is electrically connected with flight control modules 108.
Computing module 106 has described outstanding in order to detect which interface connection in M cantilever interface 104
Arm 12, and according to connect have described cantilever interface 104 position of described cantilever 12, Power Component 122 maximum total
With the gross weight of multiaxis unmanned plane 1, output judges whether multiaxis unmanned plane 1 can fly.If pacifying on shell 102
During equipped with carrying structure 14, computing module 106 is the most further according to connecting the described cantilever interface having described cantilever 12
104 positions, the maximum gross output of Power Component 122 judge multiaxis with the gross weight of multiaxis unmanned plane 1 with kinds of goods
Whether unmanned plane 1 can fly.And when computing module 106 is after having judged that multiaxis unmanned plane 1 can fly, will
Send permission flight message to display module 110, and permission flight message is shown on display module 110, and
When computing module 106 is after having judged that multiaxis unmanned plane 1 can not fly, will send and cannot flight message extremely show
Show assembly 110, and will be unable to flight message and be shown on display module 110.
Wherein display module 110 must be light emitting diode (LED), and grant flight message with cannot
The indivedual visible light signal in different colors of flight message represents, such as, represent permission flight message to give a green light；
Representing to send out a warning cannot flight message.Display module 110 must be also LCD screen, and grants flight message and nothing
Method flight message is also shown on LCD screen with message language individually.And computing module 106 and flight control modules
108 must be separate integrated circuit or single-chip, or integrates in bulk integrated circuit or single-chip, the present invention
This is not limited.
In the present embodiment, display module 110 is arranged at the upper surface of body 10, but the present invention is also
Being not limited system, display module 110 also must connect with wireless network with between body 10, and computing module 106
Connecing, now display module 110 must be the display lamp on the remote controller of multiaxis unmanned plane 1, or portable electronic dress
The display screen put or Touch Screen etc..
Then Fig. 3 is referred to, after N number of cantilever 12 connects body 10 via M cantilever interface,
And computing module 106 is also according to the maximum gross output of the Power Component 122 of N number of cantilever 12, and multiaxis without
With the gross weight of kinds of goods, man-machine 1 judges that multiaxis unmanned plane 1 can fly after, flight control modules 108 is then by control
The output of Power Component 122 carries out the flight of multiaxis unmanned plane 1 and controls.
Flight control modules 108 include current control unit 1082, fuselage control unit 1084,
Electrical measurement unit 1086 and wireless communication unit 1088.In the present embodiment, flight control modules 108 and electricity
Pond 16, RC remote control module 11, storage media 15, satellite positioning module 18 connect, and store media 15 and data
Interface 13 and input interface 17 connect.The function of each assembly will be described in paragraphs below.
Battery 16 is in order to provide multiaxis unmanned plane 1 electric power, and electrical measurement unit 1086 is in order to measure electricity
The electricity in pond 16.RC remote control module 11 is in order to make multiaxis unmanned plane 1 can receive remote signal, so that multiaxis is unmanned
Machine 1 can be general to traditional remote-control toy, user operate flight.Satellite positioning module 18 in order to make multiaxis without
Man-machine 1 can the position of sensing voluntarily itself.
Please refer to Fig. 1 and Fig. 3, as it is shown in figure 1, input interface 17 is arranged at the upper of body 10
Surface, in order to provide user to utilize input interface 17 to input the first flight parameter and the 3rd flight parameter, and inputs
First and the 3rd flight parameter will be stored in storage media 15, then be transmitted via flight control modules 108
To computing module 106, and computing module 106 is according to the first flight parameter of input, with the first expression solution
Go out the second flight parameter；Computing module 106 specifies out the 4th flight parameter further according to the second flight parameter；Finally transport
Calculate module 106 and calculate to obtain the 5th flight parameter with the 3rd flight parameter and the 4th flight parameter with the second expression formula.Calculating
After obtaining the first to the 5th flight parameter, user must load onto cantilever according to described flight parameter on body 10
12, and flight control modules 108 will control the flight of multiaxis unmanned plane 1 according to described flight parameter.Wherein,
One expression formula is as follows with the second expression formula:
First expression formula: this body weight+(cantilever weight * X)+loading capacity (500*X)
Second expression formula: V D*T
Wherein in the present embodiment.First flight parameter is that loading capacity (g), the second flight parameter are
The minimum configuration number X of described cantilever 12, the 3rd flight parameter are flying distance D (Km), and the 4th flight parameter is
The highest flight speed V (Km/Hr), the 5th flight parameter are flight time T (Hr).
This body weight is the weight of body 10, and cantilever is heavily the weight of single described cantilever 12, single
Position is all g, and 500 in the first expression formula are the single power assembly 122 loading capacity under peak power output,
Unit is also g, and wherein this body weight, single cantilever weight and single power assembly 122 are under peak power output
Loading capacity can be previously set in computing module 106, if later user have purchased the cantilever 12 exerting oneself higher
During external member, the data of Power Component 122 loading capacity also can be modified by user.
First, the highest flight speed V of multiaxis unmanned plane 1 becomes positive correlation with the total number X of cantilever 12.
Such as when multiaxis unmanned plane 1 is configured with three cantilevers 12, the highest flight speed is 3km/hr, and multiaxis unmanned plane 1 is joined
When being equipped with four cantilevers 12, the highest flight speed is 5km/hr, when being configured with six cantilevers 12, and scanning frequency of soaring most
Degree is for 6km/hr, and when being configured with eight cantilevers 12, the highest flight speed is 10km/hr, as with shown in following table one,
The highest flight speed of indication refers to that all cantilevers 12 are with flight speed during maximum power output.This
The corresponding relation of a little flight speed-cantilever quantity can be recorded in arithmetic element 106.And have input desired flying
After row distance and flight time, calculate the highest flight speed being met needed for aforementioned flying distance and flight time
V, and arithmetic element 106 now can select the cantilever that is suitable for from aforesaid flight speed-cantilever quantity corresponding relation
12 configuration number X, and be shown on display floater 110.
Table one: flight speed-cantilever quantity corresponding relation
User, is calculated after bringing the first expression formula into as the first flight parameter by input loading capacity
Configuration quantity X (hereinafter referred to as cantilever arrangement quantity X) of the described cantilever of minimum 12 of the second flight parameter, then
Table look-up to know the highest flight speed V of the 4th flight parameter according to table one content.And during user input flight
Between T (or flying distance D) using as the 3rd flight parameter, coordinate the highest flight speed V of the 4th flight parameter
Flying distance D (or flight time T) is calculated using as the 5th flight parameter with the second expression formula.If user inputs
Loading capacity exceed at complete configuration Power Component 122 times (depending on cantilever interface 104 quantity), maximum work output
Loading capacity under rate, computing module 106 by transmission cannot flight message to display module 110, and be shown in display
On assembly 110
Aforesaid embodiment, first input loading capacity and the flight ginseng such as flight time T or flying distance D
Discuss on number, wherein with loading capacity for determining the core parameter of cantilever minimal configuration number X.But the present invention
Proposing another kind of embodiment in this, user obtains first specifies the highest flight speed V of multiaxis unmanned plane 1 as first
Flight parameter, then find out cantilever arrangement quantity X of correspondence using as the second flight from the corresponding relation shown in table one
After parameter, the present invention further according to the first expression formula, calculates in the first flight parameter (scanning frequency of soaring most specified
Degree V) under, the loading capacity (the 4th flight parameter) of multiaxis unmanned plane 1, and user inputs flight time T again
(or flying distance D) as the 3rd flight parameter, (is soared most by the second expression formula the first flight parameter of arranging in pairs or groups
Line speed V) calculate flying distance D (or flight time T) using as the 5th flight parameter.
In this embodiment, the first flight parameter that user can first be inputted by computing module 106, also
The highest flight speed V judges.If it is the highest that the highest flight speed V of user's input has exceeded listed by table one
Velocity interval, computing module 106 by transmission cannot flight message to display module 110, and be shown in display module
On 110；Though and if user input the highest flight speed V not less than the maximum speed scope listed by table one, but
When table one does not has the most corresponding flight speed numerical value (such as during input 5.5Km/Hr), computing module 106 meeting
Select closest to the corresponding speed (that is 6Km/Hr) being more than again described input numerical value, then by right for described speed institute
Cantilever arrangement quantity X answered is shown on display module 110.
It is understood that, above embodiment explanation is first unmanned according to multiaxis with computing module 106
Cantilever 12 quantity that machine 1 has connected, it is judged that whether multiaxis unmanned plane 1 can fly, then further according to user institute
The flight parameter of input, cantilever 12 quantity that correction multiaxis unmanned plane 1 should connect further to input according to user
Flight parameter flight.But the present invention is not limited thereto, the present invention also can multiaxis unmanned plane 1 start shooting after, by
User directly inputs aforesaid flight parameter, then is calculated many by computing module 106 according to first and second expression formula
Cantilever 12 quantity that axle unmanned plane 1 should connect, that is cantilever arrangement quantity X, carry out the flight according to user input
Parameter is flown.
Storage media 15 must be hard disk, DRAM (Dynamic Random Access Memory) (Dynamic Random Access
Memory, DRAM), static random access memory (Static Random Access Memory, SRAM).
But the present invention is not limited with aforesaid input interface 17 in the mode inputting each parameter, Yu Qi
In his embodiment, also must set up wireless network by wireless communication unit 1088 with portable electronic devices and be connected,
First and second flight parameter is inputted again by portable electronic devices.Also or by data-interface 13 with can
Portable electronic apparatus sets up wired connection, then inputs first and second flight parameter by portable electronic devices.
In the present embodiment, as shown in Figure 4, Fig. 4 illustrates the display interface of the display module 110 when inputting each flight parameter
The user interface diagram that display module according to a particular embodiment of the invention shows.
In order to the multiaxis unmanned plane 1 of the present invention can be restrained oneself flight, user must utilize portable electricity
Sub-device or fixation type electronic installation, will have been planned by wireless communication unit 1088 or data-interface 13
The input of multiaxis unmanned plane 1 flight path is to storing in media 15, then is navigated by satellite positioning module 18, and by
Fuselage control unit 1084 in flight control modules 108 keeps fuselage to balance and the control of heading, then by
Current control unit 1082 controls the output of the Power Component 122 of described cantilever 12, adjusts multiaxis unmanned plane
Flight speed and posture.
Refer to Fig. 5, Fig. 5 and depict multiaxis unmanned plane during flying according to a particular embodiment of the invention
Method flow diagram.Another category of the present invention is to provide the flying method 2 of a kind of multiaxis unmanned plane, in order to control
The flight of multiaxis unmanned plane, multiaxis unmanned plane comprises N number of cantilever, and M cantilever interface, each cantilever bag
Containing Power Component, comprise the steps of S1: detect described cantilever interface and whether connect and have described cantilever；S3:
Calculate the gross weight of described cantilever and described body；S4: judge whether described multiaxis unmanned plane can fly；And
S6: if described multiaxis unmanned plane can fly, then send permission flight message；Wherein N Yu M is all natural number,
M >=N >=3, and whether multiaxis unmanned plane can fly and judge to export according to as the maximum total of described Power Component
Power and the gross weight of multiaxis unmanned plane.
In more detail, the flying method of a kind of multiaxis unmanned plane that the present invention provides comprises step
S0～S10, below arrange in pairs or groups Fig. 1, Fig. 2 are described in detail with Fig. 5.First, first carry out step S0, press out
Pass 114 is to start multiaxis unmanned plane 1, and then, computing module 106 detects which interface in M cantilever interface 104
Connect and have described cantilever 12.If at Preset Time, such as in three minutes, computing module 106 all can't detect to
When a cantilever 12 is access in and appoints cantilever interface 104 less, computing module 106 will perform step S2: after Preset Time originally
Body automatic shutdown, makes body 10 automatic shutdown to save electric power.
If computing module 106 detect the most individual cantilever 12 be access in appoint cantilever interface 104 time, fortune
Calculate module 106 and will perform step S3: calculate the gross weight of cantilever and body.Subsequently enter step S4: judge multiaxis
Whether unmanned plane can fly.Owing to loading capacity, this body weight of single power assembly 122 are heavily all with single cantilever
It is known that event computing module 106 can calculate described in minimum first according to aforesaid first expression formula and the second expression formula
The configuration number X of cantilever 12, and detect the described cantilever 12 that connected on current multiaxis unmanned plane 1 whether more than or etc.
In X, if it is not, then enter step S5: computing module send cannot flight message, and cannot flight message will be by
Send and be shown to display module 110.The most then enter step S6: computing module sends permission flight message,
And grant flight message and will be sent to display module 110 and be shown, wherein, flight message further includes suggestion and hangs
Arm configuration quantity information.
Next step S7 is entered: judge whether multiaxis unmanned plane is set to self-discipline flight.Due to this
Bright multiaxis unmanned plane 1 can also operate by RC remote control mode, therefore in this step, flight control modules 108 examines
Survey and whether receive the control signal from RC remote control module, if it is not, represent that multiaxis unmanned plane 1 will not be carried out certainly
Rule flight, i.e. enters step S8:RC remote control module and controls multiaxis unmanned plane during flying.If so, represent that multiaxis is unmanned
Machine 1 will carry out self-discipline flight, and enter step S9: flight control modules loads flight parameter and flight path, its
In, step S7～S8 must implement for selectivity, and in another embodiment, step S7～S8 must be omitted.Yu Benshi
Executing in example, flight parameter is input to flight with flight path by input interface 17 and wireless communication unit 1088
In control module 108.And after flight parameter inputs, will enter again first from step S9 rebound step S4
Whether row multiaxis unmanned plane 1 can carry out, according to the flight parameter of input, the judgement flown.Because there being current multiaxis unmanned
The performance of machine 1 does not reaches the possibility of the requirement of input flight parameter, and multiaxis unmanned plane 1 has connected such as at present 3
Individual cantilever 12, under the configuration of maximum speed 3Km/Hr, the flight parameter of input but requires with flight speed 6Km/Hr
Flight.Another embodiment is the flight parameter that user has inputted loading capacity, but current multiaxis unmanned plane 1 is outstanding
Arm 12 configures and is not enough to carry described loading capacity, therefore again inspecting via step S4, user can be according to passback
Flight message carry out more newly inputted flight parameter and require or change the cantilever 12 of multiaxis unmanned plane 1 to configure.
And from step S9 rebound step S4, then when step S5 to S7 returns to step S9, if this
Time met the performance of current multiaxis unmanned plane 1, then carry out step S10: multiaxis unmanned plane carries out self-discipline flight.
If but flight parameter to be updated, the S4 of rebound step the most again, whether carry out multiaxis unmanned plane 1 again can root
The judgement flown is carried out according to the flight parameter of input.By that analogy.
The flying method 2 of multiaxis unmanned plane comprises the steps of step C1 further: user is defeated
Enter the first flight parameter and the 3rd flight parameter；Step C2: fly with the described 3rd according to described first flight parameter
Line parameter, calculates the second, the 4th and the 5th flight parameter；And step C3: according to described first to described
5th flight parameter controls the flight of described multiaxis unmanned plane.
Wherein the first flight parameter must be flight speed or loading capacity, and the second flight parameter is that cantilever is joined
Put quantity, the 3rd flight parameter must for flying distance or flight time, the 4th flight parameter must be for loading capacity or fly
Line speed, the 5th flight parameter must be flight time or flying distance, and first and the 4th between flight parameter；
Do not repeat mutually between 3rd and the 5th flight parameter.
And in step C1, user must utilize the input interface 17 being arranged on shell 102, or
It is by portable electronic devices, defeated with the 3rd flight parameter by first in the way of wired connection or wireless connections
Enter to multiaxis unmanned plane 1, and by storage media 15 in addition record.And input first and the 3rd flight parameter again
It is transferred in computing module 106 via flight control modules 108, carries out step C2: computing module 106 basis
First flight parameter of input, goes out the second flight parameter with the first expression solution；Further according to the second flight parameter
The 4th flight parameter is specified out with reference to table one content.Then further according to user input the 3rd flight parameter therewith
Front counted 4th flight parameter, goes out the 5th flight parameter with the second expression solution；Finally carry out step C3:
Flight control modules 108 is further according to the first to described 5th flight parameter flight controlling multiaxis unmanned plane 1.
It is understood that, above embodiment of the method explanation is first according to multiaxis with computing module 106
Cantilever 12 quantity that unmanned plane 1 has connected, it is judged that whether multiaxis unmanned plane 1 can fly, then further according to use
The flight parameter that person is inputted, cantilever 12 quantity that correction multiaxis unmanned plane 1 should connect further is come according to user
The flight parameter flight of input.But the present invention is not limited thereto, the present invention also can multiaxis unmanned plane 1 start shooting after,
Directly inputted aforesaid flight parameter by user, then calculated according to first and second expression formula by computing module 106
Cantilever 12 quantity that multiaxis unmanned plane 1 should connect, that is cantilever arrangement quantity X, according to flying of user input
Line parameter flies.Its embodiment of the method describes in detail as follows.
Refer to Fig. 6, Fig. 6 and depict the multiaxis unmanned plane of another specific embodiment according to the present invention
Flying method flow chart.The another flying method 3 that a kind of multiaxis unmanned plane is provided of the present invention, in order to control multiaxis without
Man-machine flight, multiaxis unmanned plane comprises N number of cantilever, and M cantilever interface, and each cantilever comprises power
Assembly, comprises the steps of step E1: user input first and the 3rd flight parameter and flight path；
Step E2: calculate the second, the 4th and the 5th flight parameter；Step E3: according to the first to the 5th flight parameter,
The required cantilever arrangement quantity information of output；Step E4: judge whether multiaxis unmanned plane is set to self-discipline flight；If it is not,
Then carry out step E5: multiaxis unmanned plane is remotely controlled flight according to described first to described 5th flight parameter；If
Then to carry out step E6: multiaxis unmanned plane according to described first to described 5th flight parameter, and flight road
Footpath carries out self-discipline flight.
Will be detailed below the flying method 3 of multiaxis unmanned plane.Referring again to Fig. 6, first, first
Performing step S0, press switch 114 to start multiaxis unmanned plane 1, now multiaxis unmanned plane 1 not yet connects any hanging
Arm 12.Then, in step E1, user first inputs two flight parameters, claims with the third generation with first respectively,
First flight parameter must be flight speed or loading capacity, and the 3rd flight parameter must be flying distance or flight time.
Step E2 is i.e. carried out, by computing module 106 according to the first flight parameter and the 3rd flight after flight parameter input
Parameter, calculates the second, the 4th and the 5th flight parameter with aforesaid first expression formula and the second expression formula.Second
Flight parameter is cantilever arrangement quantity, the 4th flight parameter must be for loading capacity or flight speed, the 5th flight parameter
Must be flight time or flying distance, and first and the 4th between flight parameter；3rd and the 5th flight parameter it
Between do not repeat mutually.
And computing module 106 calculate after all flight parameters, carry out step E3, according to first
To the 5th flight parameter, output suggestion cantilever arrangement quantity X information, allow a user to learn that needs are installed how many
The body 10 of cantilever 12 to multiaxis unmanned plane 1.And cantilever arrangement quantity X information must be output to show needed for aforesaid
Show that assembly 110 supplies user's interpretation, or export the portable electronic devices to user via wireless communication unit 1088
For user's interpretation.
When user is according to required cantilever arrangement quantity X, and cantilever 12 quantity that will be equivalent to X is installed
After body 10, carry out step E4, it is judged that whether multiaxis unmanned plane is set to self-discipline flight.Due to the present invention's
Multiaxis unmanned plane 1 can also operate by RC remote control mode, therefore in step E4, flight control modules 108 detection is
No reception has the control signal from RC remote control module, if having, represents that multiaxis unmanned plane 1 will not carry out self-discipline and fly
OK, step E5 is i.e. entered: multiaxis unmanned plane is remotely controlled flight according to described first to described 5th flight parameter.
If nothing, represent that multiaxis unmanned plane 1 will carry out self-discipline flight, then carry out step E6: multiaxis unmanned plane is according to described
First to described 5th flight parameter, and flight path carries out self-discipline flight.
In sum, the present invention provides a kind of multiaxis unmanned plane, has multiple cantilever interface and many
The individual cantilever with Power Component, that is flight cantilever, computing module and flight control modules.The present invention can be certainly
By the cantilever quantity with Power Component needed for change of flight, and by computing module according to the cantilever quantity arranged,
Body weight and Power Component output judge whether multiaxis unmanned plane can fly, then input comprises and flies
After row time, flying distance and the flight parameter such as loading capacity or flight speed to computing module, flight control mould
Block controls the flight of multiaxis unmanned plane.The another flying method providing a kind of multiaxis unmanned plane, first judges that unmanned plane is originally
Whether body is provided with flight cantilever, and according to the installation site of flight cantilever, the output of flight cantilever with
Full machine gross weight judges whether to fly, then by the Flight plan requirements needed for the flight parameter realization of input.
Compared to conventional art, the present invention is by multiple cantilever interfaces and the group of multiple flight cantilever
Closing, reaching can free change of flight cantilever quantity and the configuration of multiple multiaxis unmanned plane.
Pass through the above detailed description of preferred embodiments, it would be desirable to more clearly describe the spy of the present invention
Levy and spirit, and not with above-mentioned disclosed preferred embodiment, scope of the invention is any limitation as.
On the contrary, its objective is to wish to contain various change and tool equality be arranged in that the present invention to be applied for special
In the category of profit scope.Therefore, the category of the apllied the scope of the claims of the present invention should be described according to above-mentioned explanation
Make the broadest explanation, to cause it to contain all possible change and the arrangement of tool equality.
Claims (13)
1. a multiaxis unmanned plane, it is characterised in that comprise:
N number of cantilever, each described N number of cantilever comprises Power Component；
M cantilever interface, described N number of cantilever can by described M cantilever interface and described multiaxis unmanned plane
Dismountable ground connects；
Flight control modules, connects described M cantilever interface and described Power Component, in order to control described power
Assembly output；And
Computing module, is electrically connected with described M cantilever interface, and the maximum according to the described cantilever connected is total
Output and the gross weight of described multiaxis unmanned plane judge whether described multiaxis unmanned plane can fly；
Wherein, described flight control modules, according to the judged result of described computing module, sends flight message；N
It is all natural number, M >=N >=3 with M.
2. multiaxis unmanned plane as claimed in claim 1, it is characterised in that comprise display module further, use
To show described flight message.
3. multiaxis unmanned plane as claimed in claim 1, it is characterised in that described flight message comprises suggestion and hangs
Arm configuration quantity information.
4. multiaxis unmanned plane as claimed in claim 1, it is characterised in that described multiaxis unmanned plane comprises carrying
Structure, in order to carry kinds of goods.
5. multiaxis unmanned plane as claimed in claim 4, it is characterised in that described computing module basis further
Connect the gross weight having described M the cantilever interface position of described N number of cantilever, described multiaxis unmanned plane containing kinds of goods
And the maximum gross output of described Power Component judges whether described multiaxis unmanned plane can fly.
6. multiaxis unmanned plane as claimed in claim 1, it is characterised in that described flight control modules is used for connecing
Receive user and input the first flight parameter and the 3rd flight parameter.
7. multiaxis unmanned plane as claimed in claim 6, it is characterised in that described computing module must be according to described
First flight parameter and described 3rd flight parameter, calculate the second flight parameter, the 4th and the 5th flight parameter,
And described flight control modules will according to described first to described 5th flight parameter, control described multiaxis unmanned plane
Flight.
8. multiaxis unmanned plane as claimed in claim 6, it is characterised in that described first flight parameter is flight
Speed or loading capacity, described second flight parameter is the minimal configuration number of described N number of cantilever, described 3rd flight ginseng
Number is flying distance or flight time, described 4th flight parameter is loading capacity or flight speed, the described 5th flies
Line parameter is flight time or flying distance, and between described first and described 4th flight parameter；Described 3rd
And do not repeat mutually between described 5th flight parameter.
9. multiaxis unmanned plane as claimed in claim 6, it is characterised in that described flight control modules comprises nothing
Line communication unit, described wireless communication unit and portable electronic devices set up wireless connections, and by described can
Portable electronic apparatus inputs described first flight parameter and described 3rd flight parameter, and described computing module is according to institute
State the first flight parameter and described 3rd flight parameter, calculate the second flight parameter, the 4th join with the 5th flight
Number, and described flight control modules will according to described first to described 5th flight parameter, control described multiaxis without
Man-machine flight.
10. multiaxis unmanned plane as claimed in claim 6, it is characterised in that described flight control modules comprises number
According to interface, user utilizes portable electronic devices and described data-interface to set up wired connections, and inputs described the
One flight parameter and described 3rd flight parameter, described computing module is according to described first flight parameter and described the
Three flight parameters, calculate the second flight parameter, the 4th and the 5th flight parameter, and described flight control modules
By according to described first to described 5th flight parameter, the flight that controls described multiaxis unmanned plane.
The flying method of 11. 1 kinds of multiaxis unmanned planes, it is characterised in that described multiaxis unmanned plane comprises N number of cantilever,
And M cantilever interface, each cantilever comprises Power Component, and described flying method comprises the steps of
Detect M cantilever interface whether to connect and have N number of cantilever；
Calculate the gross weight of cantilever and the multiaxis unmanned plane connected；
Judge whether multiaxis unmanned plane can fly；And
According to judged result, then send flight message；
Wherein N Yu M is all natural number, M >=N >=3, and whether described multiaxis unmanned plane can fly and sentence
It is completely cured the gross weight according to maximum gross output and the multiaxis unmanned plane being Power Component.
The flying method of 12. multiaxis unmanned planes as claimed in claim 11, it is characterised in that additionally comprised with
Lower step:
Input the first flight parameter and the 3rd flight parameter；
According to described first flight parameter and described 3rd flight parameter, calculate the second, the 4th and the 5th flight
Parameter；And
The flight of described multiaxis unmanned plane is controlled according to the first to the 5th flight parameter.
13. multiaxis unmanned planes as claimed in claim 11, it is characterised in that described first flight parameter is for flying
Line speed or loading capacity, described second flight parameter is the minimal configuration number of described N number of cantilever, the described 3rd flies
Line parameter be described flying distance or described flight time, described 4th flight parameter be described loading capacity or described
Flight speed, described 5th flight parameter are described flight time or described flying distance, and described first and institute
State between the 4th flight parameter；Do not repeat mutually between described 3rd and described 5th flight parameter.
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| CN201610196203.1A CN105857587B (en) | 2016-03-31 | 2016-03-31 | Multiaxis unmanned plane and its flying method |
| TW105119109A TWI610851B (en) | 2016-03-31 | 2016-06-17 | A multi-axes unmanned aerial vehicle and the flying method thereof |
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| CN201610196203.1A CN105857587B (en) | 2016-03-31 | 2016-03-31 | Multiaxis unmanned plane and its flying method |
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| WO2018094701A1 (en) * | 2016-11-25 | 2018-05-31 | 深圳市杏桉科技有限公司 | Unmanned aerial vehicle navigation system and navigation method |
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Also Published As
| Publication number | Publication date |
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| CN105857587B (en) | 2018-10-12 |
| TW201736201A (en) | 2017-10-16 |
| TWI610851B (en) | 2018-01-11 |
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