CN107839874A - Multi-rotor aerocraft and control method - Google Patents
Multi-rotor aerocraft and control method Download PDFInfo
- Publication number
- CN107839874A CN107839874A CN201711274245.3A CN201711274245A CN107839874A CN 107839874 A CN107839874 A CN 107839874A CN 201711274245 A CN201711274245 A CN 201711274245A CN 107839874 A CN107839874 A CN 107839874A
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- Prior art keywords
- horn
- rotor
- tumbler
- external member
- state
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/008—Rotors tracking or balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Abstract
The invention provides a kind of multi-rotor aerocraft and control method, is related to multi-rotor aerocraft technical field.The multi-rotor aerocraft includes body and two horns with body rotation connection, and the relative both ends of the body are respectively arranged with least one tumbler；At least two horns, the horn is rotatablely connected by the tumbler and the body respectively, the horn both ends are respectively arranged with rotor external member, and the rotor external member includes rotor and drives the power plant module of the rotor wing rotation, and the rotor on each horn is located at the opposite end of the tumbler.The multi-rotor aerocraft can be by horn around tumbler rotation, change rotor with respect to body position.It can rotate corresponding horn in the rotor failure on horn or dynamic buckling, realize the modification of aircraft, avoid in flight course, due to the imbalance of flight attitude caused by failure, avoid the dangerous situations such as air crash from occurring.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of multi-rotor aerocraft and control method.
Background technology
Multi-rotor aerocraft, it is a kind of special aircraft with three and above rotor shaft, it passes through on each axle
Motor rotation, drive rotor, so as to produce a liter thrust.With the continuous development of scientific technology, multi-rotor aerocraft due to
Handling characteristics easy to use are applied to increasing industry., can but aircraft of the prior art is in flight course
Can occur due to failure, cause flight uneven, the dangerous situations such as air crash occur.
The content of the invention
It is an object of the invention to provide a kind of multi-rotor aerocraft and control method, can solve the above problems.
Technical scheme provided by the invention is as follows：
A kind of multi-rotor aerocraft, including body and at least two horns；Wherein：
The horn is connected with the body by tumbler；
Each horn can around tumbler corresponding to the horn where the horn Plane Rotation, each machine
Rotor external member is provided with arm, each horn includes four rotor first states and three the second states of rotor, more rotors
Aircraft can stabilized flight under four rotor first states and three the second states of rotor；Wherein：
Under the four rotors first state, each horn is fixed relative to the body, and each horn
On rotor external member be in away from the body position；
Under the state of three rotor second, each horn is fixed relative to the body, the horn by around
Tumbler corresponding to the horn rotates, and the multi-rotor aerocraft is converted into three rotation from the four rotors first state
The state of the wing second.
Further, in addition to locking device, the locking device is used to lock or discharge the tumbler, so that described
Horn is mutually fixed with the body or the horn is rotated around the tumbler.
Further, in addition to drive device, the drive device is used to drive the tumbler to rotate, so that the machine
Arm using the tumbler as axle the Plane Rotation where the horn.
Further, the multi-rotor aerocraft also includes control chip, the control chip respectively with the drive device and
Rotor external member is connected, for exceeding predetermined deviation value in the deviation for detecting the rotating speed of the rotor external member and preset rotation speed
When, control the drive device to drive tumbler corresponding to the horn of rotor external member place to rotate, so that where the rotor external member
Horn moves to close to the direction of the body.
Further, the drive device includes connecting rod and steering wheel, and the tumbler includes rotating shaft, wherein：
One end of the rotating shaft is fixedly connected with the horn, and one end of the other end of the rotating shaft and the connecting rod connects
Connect, the other end of the connecting rod is connected with the steering wheel, and the steering wheel is used to drive the connecting rod along the connecting rod bearing of trend
Move back and forth, to drive the rotating shaft to rotate, the horn is rotated around the rotating shaft.
Further, the connecting rod and the rotating shaft are connected by the chi cone engagement to match.
Further, steering mechanism is provided with the horn, wherein：
Described steering mechanism one end is connected with the rotor external member, for driving the rotor external member to extend with the horn
Direction rotates for axle.
Further, the horn is two, and the tumbler is two, and the both ends of each horn are respectively arranged with
One rotor external member, each horn are rotatablely connected by a tumbler and the body, on each horn
Two rotor external members be located at the opposite sides of the tumbler corresponding to the horn.
Further, the horn is four, and the tumbler is four, and one end of each horn is provided with one
The rotor external member, each horn are rotatablely connected by a tumbler and the body, and the tumbler is positioned at each
The one end of the horn away from the rotor external member.
Present invention also offers a kind of control method of multi-rotor aerocraft, applied to multi-rotor aerocraft, more rotors
Aircraft includes body and at least two horns；Wherein：The horn is connected with the body by tumbler；Each machine
Arm can around tumbler corresponding to the horn where the horn Plane Rotation, be provided with rotor set on each horn
Part, each horn include four rotor first states and three the second states of rotor, and the multi-rotor aerocraft is in first state
With can stabilized flight under three the second states of rotor；Wherein：
Under the four rotors first state, each horn is fixed relative to the body, and each horn
On rotor external member be in away from the body position；
Under the state of three rotor second, each horn is fixed relative to the body, and at least one described
Rotor external member on horn is in close to the position of the body, and the horn around tumbler corresponding to the horn by turning
It is dynamic, the multi-rotor aerocraft is converted into the state of three rotor second from the four rotors first state；
The control method includes：
When the multi-rotor aerocraft is in the four rotors first state, the work of each rotor external member is detected
State；
When having detected that a rotor external member is in abnormal condition, the multi-rotor aerocraft is controlled to be changed into described
Three the second states of rotor, so that the rotor external member of another normal condition where the rotor external member in abnormal condition on horn
Moved to the direction away from the body center, so that another normal on horn where the rotor external member in abnormal condition
Horn where the rotor external member of state rotates to the state that can make the multi-rotor aerocraft stabilized flight.
Multi-rotor aerocraft provided in an embodiment of the present invention includes body and two horns with body rotation connection, and this is more
Rotor craft can be by horn around tumbler rotation, change rotor with respect to body position.Can be in the rotation on horn
When the wing breaks down, the horn of failure is rotated, horn is rotated to the position that can make aircraft stabilized flight.
Avoid in flight course, due to the imbalance of flight attitude caused by failure, avoid the dangerous situations such as air crash from occurring.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of multi-rotor aerocraft provided in an embodiment of the present invention.
Fig. 2 is another structural representation of multi-rotor aerocraft provided in an embodiment of the present invention.
Fig. 3 is another structural representation of multi-rotor aerocraft provided in an embodiment of the present invention.
Fig. 4 is the schematic diagram of the horn rotation of the multi-rotor aerocraft shown in Fig. 1.
Fig. 5 is a postrotational schematic diagram of horn of the multi-rotor aerocraft shown in Fig. 1.
Fig. 6 is another structural representation of multi-rotor aerocraft provided in an embodiment of the present invention.
Fig. 7 is the partial schematic diagram of a horn of the multi-rotor aerocraft shown in Fig. 6.
Fig. 8 is the structural representation of another multi-rotor aerocraft provided in an embodiment of the present invention.
Fig. 9 is the schematic diagram of the horn rotation of the multi-rotor aerocraft shown in Fig. 8.
Figure 10 is the structural representation of another multi-rotor aerocraft provided in an embodiment of the present invention.
Figure 11 is the schematic diagram of the horn rotation of the multi-rotor aerocraft described in Figure 10.
Icon：10- multi-rotor aerocrafts；101- bodies；102- horns；104- drive devices；103- tumblers；105- turns
To mechanism；1021- fixed arms；1022- turning arms.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Multi-rotor aerocraft is in flight course, if there is one of rotor because the feelings of failure cisco unity malfunction
Condition, just occur due to air crash situation caused by power distribution imbalance, threat is brought to ground staff.
The embodiment of the present application provides a kind of multi-rotor aerocraft 10, as shown in figure 1, including body 101 and at least two
Horn 102.
Accommodating cavity can be provided with the body 101, the relative both ends of the body 101 are respectively arranged with least one
Tumbler 103.Battery module, control module or other assemblies can be set in accommodating cavity.The shape of body 101 can be according to more
The concrete condition of rotor craft determines that the embodiment of the present application is not intended to limit the shape of body 101.Optionally, body 101 can be with
It is arranged to the shape of cuboid.Two tumblers 103 can be separately positioned on the both ends of the length direction of body 101.In order to ensure
Stability in flight course, two tumblers 103 can be symmetrical arranged, and can be all located at the axle of the length direction of body 101
On line.
Two horns 102 can be rotatablely connected by the tumbler 103 and the body 101 respectively, the horn 102
Close to the surface of the body higher than the body close to the surface of the horn 102.In order to ensure horn 102 in relative body
It when being rotated, will not be collided with body, body 101 can be higher than by what plane where the minimum point of horn 102 was set
Upper surface, when horn 102 rotates relative to body, horn 102 rotate to close to horn 102 when, due under horn 102
Surface is higher than the upper surface of body, and the can of horn 102 rotates to the top of body, overlapping with body, ensures that horn 102 can
To rotate to suitable position.The length of two horns 102 can be with identical or different, and tumbler 103 can be arranged on each machine
The center position of arm 102, ensure the stability in flight course.
Each horn 102 includes four rotor first states and three the second states of rotor, as shown in Figure 1, Figure 2, Figure 3 shows,
Such a state is four rotor first states, in this condition, four equal normal works of rotor so that multi-rotor aerocraft can be steady
Fixed flight.As shown in figure 5, three the second states of rotor are in the horn 102 that the length direction of body 101 coincides, in the shape
Under state, the rotor overlapped with body is cisco unity malfunction, and now, the multi-rotor aerocraft 10 is operated in three rotor states,
Also can stabilized flight under the three rotors state.
Under the four rotors first state, each horn 102 is fixed relative to the body 101, and each institute
The rotor external member stated on horn 102 is in the position away from the body 101；
Under the state of three rotor second, each horn 102 is fixed relative to the body 101, the horn
102, by being rotated around tumbler 103 corresponding to the horn 102, make the multi-rotor aerocraft from the shape of four rotor first
State is converted into the state of three rotor second.
In addition, the multi-rotor aerocraft can also include locking device, the locking device is described for locking or discharging
Tumbler, so that the horn is mutually fixed with the body or makes the horn to be rotated around the tumbler.Lock can be passed through
Tight device controls the locking or release of the tumbler.In the locked condition, tumbler 103 can not rotate, accordingly, horn
102 will not also be rotated.In the released state, tumbler may be at flexible rotating state, and accordingly, horn 102 also may be used
To be rotated around the tumbler.For example, under regular flight condition, two horns 102 are substantially parallel, now, locking dress
Put and lock tumbler 103, horn 102 is not rotated.When a certain rotor external member on horn 102 breaks down,
Locking device can discharge the horn 102 corresponding to tumbler 103, the horn 102 where making the rotor external member of failure can
To be rotated around the tumbler, the modification of multi-rotor aerocraft is realized.
Two horns in the embodiment of the present application can form I-shaped, shape the application reality of body 101 with body 101
Apply example and do not make limitation.For example, body 101 can be the shape of approximate cuboid, tumbler 103 can be arranged on body
The both ends of 101 length directions.Again as shown in figure 1, under regular flight condition, bearing of trend and the body 101 of a horn 102
Length direction it is perpendicular, the bearing of trend of another horn 102 is also perpendicular with the length direction of body 101, makes two horns
Approximate I-shaped shape is formed with body 101.
As shown in Figures 2 and 3, the multi-rotor aerocraft can also include drive device 104, and drive device 104 is used to drive
Move the tumbler 103 to rotate, so that the horn 102 is that axle revolves in the place plane of horn 102 with the tumbler 103
Turn.Drive device 104 is by driving the rotation of tumbler 103 to drive horn 102 to be rotated around tumbler 103.
In a kind of embodiment, the drive device 104 can include rack and steering wheel, the tumbler 103
Including the fixed mount being fixedly connected with the body 101 and the rotating shaft being arranged in the fixed mount.One end of the rotating shaft with
The horn 102 is fixedly connected, and the other end of the rotating shaft is provided with gear, and the rotating shaft passes through the gear and the rack
Engagement, the other end of the rack are connected with the steering wheel, and the steering wheel is used to drive the rack along the rack extension side
To reciprocating motion, to drive the rotating shaft to rotate, the horn 102 is set to be rotated around the rotating shaft.Steering wheel can be straight line steering wheel,
Rack can be driven to move along a straight line, rack drives the gear being meshed to turn clockwise or revolve counterclockwise by linear motion
Turn, and then the horn 102 being connected with rotating shaft can be driven to turn clockwise or rotate counterclockwise.
The embodiment of the present application is not intended to limit drive device 104 and the connected mode of rotating shaft.For example, drive device 104 may be used also
To be connected by belt with rotating shaft, the driving of countershaft is realized by belt.Or drive device 104 can be by connecting rod with turning
Axis connection, connecting rod one end set cone with teeth, and one end that rotating shaft coordinates with connecting rod is provided with the tooth to match with the tooth cone on connecting rod
Cone.The other end of connecting rod is connected with drive device 104, and connecting rod can axially rotate under the driving of drive device 104, pass through
The transmission of tooth cone, drives rotating shaft to be rotated, and then realizes the rotation for driving horn 102.Drive device 104 can also be with turning
The motor that moving part 103 connects, passes through the rotation of the rotated by rotation part 103 of the output shaft of motor.
The both ends of horn 102 are respectively arranged with rotor external member, and the rotor external member includes rotor and drives the rotor
The power plant module of rotation, the rotor on each horn 102 are located at the opposite end of the tumbler 103, the multi-rotor aerocraft
10 can also include control chip.The control chip can be arranged in the accommodating cavity, the control chip respectively with it is described
Drive device 104 is connected with power plant module, for detecting that the rotating speed of the power plant module and the deviation of preset rotation speed surpass
When crossing predetermined deviation value, the drive device 104 is controlled to drive tumbler 103 corresponding to the horn 102 of rotor place to rotate, with
Make rotating speed be less than the rotor of preset rotation speed to move to close to the direction of the body 101.Control chip can use STM32F4 micro-
Controller.
Control chip can control tumbler 103 when making horn 102 rotate to 101 equitant position of body, control
Tumbler 103 processed stops the rotation, and makes the bearing of trend of a horn 102 vertical with the bearing of trend of another horn 102, makes this more
Rotor craft 10 is changed into T fonts by I-shaped.In flight course, after modification is completed, failure can be controlled
Rotor shuts down, and other normal rotors can continue to run with.When one rotor set of setting respectively at every both ends of horn 102
During part, multi-rotor aerocraft 10 is actually a quadrotor, stops fortune in the driving equipment for carrying out modification and failure
After turning, actually from a quadrotor transformation for three rotor crafts.
The rotation of horn 102 is driven by tumbler 103, a four stable rotor flying states is changed into three rotors
State of flight.If without modification, when a driving equipment breaks down, even if other three driving equipments are all normally transported
Turn, due to the imbalance of power distribution, whole aircraft is also difficult to keep overall balance.And by modification, fly after modification
Three power distribution of row device can still keep balancing, so that the multi-rotor aerocraft 10 after modification still can keep steady
Fixed state of flight.
Multi-rotor aerocraft 10 in the embodiment of the present application, by setting two horns 102, horn 102 passes through tumbler
103 are connected with body 101, and two horns 102 and body 101 constitute approximate I-shaped structure.The both ends of each horn 102
One group of rotor external member or multigroup rotor external member can be set respectively, and all rotor external members of multi-rotor aerocraft are symmetrical, protect
The stress balance in multi-rotor aerocraft flight course is demonstrate,proved, the situation of unbalance stress will not occur.But if one of which rotor
There is failure in external member, such as occur rotor come off, rotor infringement, power plant module failure when, the rotating speed of power plant module will be with working as
There is deviation in the rated speed of preceding state of flight.It is assumed that the rotor external member of the lower section right-hand member of horn 102 shown in figure
There is failure, control chip shows that event occurs in the rotor external member when detecting that the deviation has exceeded predetermined deviation value
Barrier, now the rotor external member can not provide the normal kinetic needed for stabilized flight.Now, by controlling drive device 104 to drive
Tumbler 103 corresponding to horn 102 where the rotor external member of failure rotates, and the horn 102 is revolved around tumbler 103
Turn, the rotor external member that will appear from failure moves to close to the direction of body, may finally move the rotor external member of failure
Above to body, as shown in Figure 5.The bearing of trend of horn 102 where the rotor external member of failure and another horn 102
Bearing of trend is vertical, the multi-rotor aerocraft is transformed into T fonts by I-shaped.Because the rotor external member of failure is located at machine
Above body, the structure of T fonts can be changed by the rotating speed of the rotor external member to remaining normal work, make more rotor flyings
Device reenters stabilized flight condition, is not in the risk of air crash.
In another embodiment, in addition to multiple transmission components for being used to change the pitch of the rotor, often
The individual power plant module is connected by the transmission component with the rotor.By setting transmission component to change the spiral shell of rotor
Away from, and then blade angle of attack during change rotor wing rotation, change lift during rotor wing rotation, meet the flight need of different conditions
Will.
In addition, as shown in Figure 6 and Figure 7, in order to realize that the flight under different conditions controls.The horn 102 can also wrap
Include fixed arm 1021, Liang Ge steering mechanism 105 and two turning arms 1022.The fixed arm 1021 passes through the tumbler 103
It is connected with the body 101.The both ends of the fixed arm 1021 pass through the steering mechanism 105 and the turning arm 1022 respectively
Connection, the rotor external member are separately positioned on the one end of the turning arm 1022 away from the fixed arm 1021.The turning machine
Structure 105 is used to drive the turning arm 1022 to rotate by axle of the bearing of trend of fixed arm 1021.Every horn 102 is by turning
The rotation of turning arm 1022 can be controlled to mechanism 105, and then the work shape of the rotor set on turning arm 1022 can be controlled
State.
When the pitch of multi-rotor aerocraft is to change, if in flight course, one of rotor or corresponding
There is failure in power plant module.Modification can be realized by two kinds of variants.One kind is that each tumbler 103 passes through a locking
Device controls it to lock or unclamp, it is necessary to which tumbler 103 corresponding with the horn of body relative movement can pass through locking device
Its locking state is discharged, the horn that needs rotate is rotated around tumbler 103.Another variant is control chip
Tumbler 103 corresponding to the horn 102 of failure can be controlled to rotate, when not needing modification, control chip control rotates
Part 103 keeps normal state., can be by controlling the pitch of other normal rotors to carry out in the rotary course of horn 102
Change, to ensure aircraft keep level posture.And in the rotary course of horn 102, control the rotor or power of failure
Turning arm 1022 where module rotates, and makes the rotor wing rotation plane of rotor external member of failure horizontal by a clamp
Angle, the rotation of aircraft is controlled to taper off with this.Or can also the horn 102 of failure rotate to it is another
When the bearing of trend of horn 102 is vertical, then by controlling steering mechanism 105 corresponding to the rotor external member to break down to rotate, make
The rotor wing rotation plane of the rotor external member of failure, until the rotation of aircraft stops, making more horizontal by certain angle
Rotor craft recovers stabilized flight.
When the pitch of multi-rotor aerocraft is fixed pitch, horn 102 rotates where the rotor external member in failure
During, multi-rotor aerocraft can be avoided along two tumblers by controlling the rotor on other horns 102 to run well
Axial rotation occurs for 103 places direction.Meanwhile the rotor wing rotation plane and horizontal plane of the rotor external member of failure can be controlled
It is in a certain angle, control the rotation of aircraft to taper off with this.Or it can also be rotated in the horn 102 of failure
To it is vertical with the bearing of trend of another horn 102 when, then pass through control break down rotor external member corresponding to steering mechanism 105
Rotation, make the rotor wing rotation plane of rotor external member of failure horizontal by certain angle, until the rotation of aircraft stops
Only, multi-rotor aerocraft is made to recover stabilized flight.
Detailed, the steering mechanism 105 includes base, steering motor and steering assembly, the base and the fixation
Arm 1021 is fixedly connected.The steering motor is fixed on the base, the output shaft of the steering motor and the steering group
Part is connected, for driving the steering assembly to be rotated by axle of the bearing of trend of fixed arm 1021, the turning arm
1022 are fixedly connected with the steering assembly.By the rotation of steering motor, turning arm 1022 can be made with fixed arm 1021
Bearing of trend is the rotation of axle progress clockwise or counterclockwise.
As shown in Figs. 8 to 11, the horn in the embodiment of the present application can also be by separate at least two parts group
Into separate part independently can rotate around tumbler 103 on each horn, realize more flexible modification.It is appreciated that
, tumbler 103 can be arranged on body 101, can also be arranged on horn 102, the embodiment of the present application is to tumbler
103 set location does not make limitation.
For example, horn 102 can include the first horn and the second horn, the first horn can be by the sub- arm of two parts independence
Composition, first horn include the first sub- arm and the second sub- arm.First sub- arm and the second sub- arm can be turned by one respectively
Moving part is connected with body 101.First sub- arm and the second sub- arm can also share a tumbler, pass through a tumbler and body
101 connections.First sub- arm and the second sub- arm can independently rotate, and complete the modification of multi-rotor aerocraft.Similar, described second
Horn includes the 3rd sub- arm and the 4th sub- arm, and the 3rd sub- arm and the 4th sub- arm pass through the tumbler and the body respectively
101 rotation connections.3rd sub- arm and the 4th sub- arm can be connected by a tumbler with body 101 respectively.3rd sub- arm and
4th sub- arm can also share a tumbler, be connected by second attachment structure with body 101.3rd sub- arm and the 4th
Sub- arm can independently rotate, and complete the modification of multi-rotor aerocraft.
The embodiment of the present application provides a kind of multi-rotor aerocraft 10, including body 101 and is rotatablely connected with body 101
Two horns 102, the rotation that the multi-rotor aerocraft can be by horn 102 around tumbler 103, change rotor with respect to body
101 position.It can rotate the horn of failure when the rotor on horn 102 breaks down, rotate horn
To the position that can make aircraft stabilized flight.Avoid in flight course, due to the imbalance of flight attitude caused by failure,
The dangerous situations such as air crash are avoided to occur.
The embodiment of the present application additionally provides a kind of control method of multi-rotor aerocraft, should applied to multi-rotor aerocraft
Multi-rotor aerocraft includes body and at least two horns；Wherein：The horn is connected with the body by tumbler；Each
The horn can around tumbler corresponding to the horn where the horn Plane Rotation, be provided with rotation on each horn
Wing external member, each horn include four rotor first states and three the second states of rotor, and the multi-rotor aerocraft is first
Can stabilized flight under state and three the second states of rotor；Wherein：
Under the four rotors first state, each horn is fixed relative to the body, and each horn
On rotor external member be in away from the body position；
Under the state of three rotor second, each horn is fixed relative to the body, and at least one described
Rotor external member on horn is in close to the position of the body, and the horn around tumbler corresponding to the horn by turning
It is dynamic, the multi-rotor aerocraft is converted into the state of three rotor second from the four rotors first state；
The control method includes：
When the multi-rotor aerocraft is in the four rotors first state, the work of each rotor external member is detected
State；
When having detected that a rotor external member is in abnormal condition, the multi-rotor aerocraft is controlled to be changed into described
Three the second states of rotor, so that the rotor external member of another normal condition where the rotor external member in abnormal condition on horn
Moved to the direction away from the body center, so that another normal on horn where the rotor external member in abnormal condition
Horn where the rotor external member of state rotates to the state that can make the multi-rotor aerocraft stabilized flight.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of multi-rotor aerocraft, it is characterised in that including body and at least two horns；Wherein：
The horn is connected with the body by tumbler；
Each horn can around tumbler corresponding to the horn where the horn Plane Rotation, on each horn
Rotor external member is provided with, each horn includes four rotor first states and three the second states of rotor, more rotor flyings
Device can stabilized flight under four rotor first states and three the second states of rotor；Wherein：
Under the four rotors first state, each horn is fixed relative to the body, and on each horn
Rotor external member is in the position away from the body；
Under the state of three rotor second, each horn is fixed relative to the body, and the horn passes through around described
Tumbler corresponding to horn rotates, and the multi-rotor aerocraft is converted into three rotor the from the four rotors first state
Two-state.
2. multi-rotor aerocraft according to claim 1, it is characterised in that also including locking device, the locking device
For locking or discharging the tumbler, so that the horn is mutually fixed with the body or makes the horn can be around the rotation
Part rotates.
3. multi-rotor aerocraft according to claim 1, it is characterised in that also including drive device, the drive device
For driving the tumbler to rotate so that the horn using the tumbler as axle the Plane Rotation where the horn.
4. multi-rotor aerocraft according to claim 3, it is characterised in that the multi-rotor aerocraft also includes control core
Piece, the control chip are connected with the drive device and rotor external member respectively, for detecting turning for the rotor external member
When the deviation of speed and preset rotation speed exceedes predetermined deviation value, the drive device is controlled to drive rotor external member place horn corresponding
Tumbler rotate so that the rotor external member where horn to close to the body direction move.
5. multi-rotor aerocraft according to claim 3, it is characterised in that the drive device includes connecting rod and steering wheel,
The tumbler includes rotating shaft, wherein：
One end of the rotating shaft is fixedly connected with the horn, and the other end of the rotating shaft is connected with one end of the connecting rod, institute
The other end for stating connecting rod is connected with the steering wheel, and the steering wheel is used to drive the connecting rod back and forth to transport along the connecting rod bearing of trend
It is dynamic, to drive the rotating shaft to rotate, the horn is rotated around the rotating shaft.
6. multi-rotor aerocraft according to claim 5, it is characterised in that the connecting rod and the rotating shaft are by matching
Chi cone engagement connection.
7. multi-rotor aerocraft according to claim 4, it is characterised in that steering mechanism is provided with the horn, its
In：
Described steering mechanism one end is connected with the rotor external member, for driving the rotor external member with the horn bearing of trend
Rotated for axle.
8. multi-rotor aerocraft according to claim 1, it is characterised in that the horn is two, and the tumbler is
Two, the both ends of each horn are respectively arranged with a rotor external member, and each horn passes through a tumbler
It is rotatablely connected with the body, two rotor external members on each horn are located at the tumbler corresponding to the horn
Opposite sides.
9. multi-rotor aerocraft according to claim 1, it is characterised in that the horn is four, and the tumbler is
Four, one end of each horn is provided with a rotor external member, and each horn passes through a tumbler and institute
Body rotation connection is stated, the tumbler is located at each one end of the horn away from the rotor external member.
10. a kind of control method of multi-rotor aerocraft, it is characterised in that applied to multi-rotor aerocraft, more rotor flyings
Device includes body and at least two horns；Wherein：The horn is connected with the body by tumbler；Each horn can
Around tumbler corresponding to the horn where the horn Plane Rotation, be provided with rotor external member on each horn, often
The individual horn includes four rotor first states and three the second states of rotor, and the multi-rotor aerocraft revolves in first state and three
Can stabilized flight under the state of the wing second；Wherein：
Under the four rotors first state, each horn is fixed relative to the body, and on each horn
Rotor external member is in the position away from the body；
Under the state of three rotor second, each horn is fixed relative to the body, and at least one horn
On rotor external member be in close to the position of the body, the horn makes by being rotated around tumbler corresponding to the horn
The multi-rotor aerocraft is converted into the state of three rotor second from the four rotors first state；
The control method includes：
When the multi-rotor aerocraft is in the four rotors first state, the work shape of each rotor external member is detected
State；
When having detected that a rotor external member is in abnormal condition, the multi-rotor aerocraft is controlled to be changed into three rotation
The state of the wing second, so that the rotor external member of another normal condition where rotor external member in abnormal condition on horn is to remote
Direction from the body center is moved, so that another normal condition where the rotor external member in abnormal condition on horn
Rotor external member where horn rotate to the state that can make the multi-rotor aerocraft stabilized flight.
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| CN201711274245.3A CN107839874A (en) | 2017-12-06 | 2017-12-06 | Multi-rotor aerocraft and control method |
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| CN201711274245.3A CN107839874A (en) | 2017-12-06 | 2017-12-06 | Multi-rotor aerocraft and control method |
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| CN112455670A (en) * | 2020-12-09 | 2021-03-09 | 杭州巨泳科技有限公司 | Flight control method of full-motion wing aircraft |
| CN112455666A (en) * | 2020-11-26 | 2021-03-09 | 广东国士健科技发展有限公司 | Four rotor crafts of individual layer |
| CN112520026A (en) * | 2020-12-23 | 2021-03-19 | 中国民用航空飞行学院 | Novel variant aircraft |
| CN112722301A (en) * | 2021-01-25 | 2021-04-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Unmanned aerial vehicle's mounting mechanism is patrolled and examined with electric wire netting |
| CN112874787A (en) * | 2021-01-27 | 2021-06-01 | 郑州东辰科技有限公司 | A many rotor unmanned aerial vehicle for electric power unwrapping wire |
| CN113911373A (en) * | 2021-11-12 | 2022-01-11 | 白城师范学院 | Industrial unmanned aerial vehicle |
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