CN110662696A

CN110662696A - Fuselage, horn, rotor subassembly, frame and many rotor unmanned aerial vehicle

Info

Publication number: CN110662696A
Application number: CN201880031603.4A
Authority: CN
Inventors: 任冠男; 潘子荣
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-05-31
Filing date: 2018-05-31
Publication date: 2020-01-07
Also published as: WO2019227439A1

Abstract

A rack, comprising: the aircraft comprises a fuselage (10), a flight control system, a quick release mechanism (30) and a plurality of booms (20). The aircraft body (10) is provided with a plurality of mounting parts (101), and the flight control system is mounted on the aircraft body (10); the plurality of the machine arms (20) are arranged on the machine body (10) in a radial surrounding manner, at least part of the machine arms (20) are detachably connected with the installation part (101) of the machine body (10) through the quick-release mechanism (30), and when the machine arms (20) are connected to the machine body (10), the machine arms (20) are also electrically connected with the flight control system; the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the airframe (10). The frame can adapt to the requirements of different application scenes by increasing or decreasing the number of the arms connected with the frame, and the flight control system can match corresponding power modes according to the number of the connected arms. A fuselage (10), horn (20), rotor subassembly and many rotors unmanned aerial vehicle are still provided.

Description

Fuselage, horn, rotor subassembly, frame and many rotor unmanned aerial vehicle

Technical Field

The invention relates to a fuselage, a horn, a rotor assembly, a frame and a multi-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. With the rapid development of science and technology and economy, the unmanned aerial vehicle gradually expands from the initial simple single field to more application fields such as agricultural plant protection, logistics transportation, engineering emergency rescue and the like. However, the drones currently on the market, which are used in different fields, need to be produced in a customized manner in order to provide the appropriate power to carry loads of different weights, that is, each different type of drone on the market is designed for a single application scenario. For example, aerial photography unmanned aerial vehicle generally is used for carrying out aerial photography, and commodity circulation unmanned aerial vehicle generally is used for carrying out the commodity circulation transportation, and plant protection unmanned aerial vehicle generally is used for sowing, fertilizeing etc.. Moreover, when designing the unmanned aerial vehicles with different application scenes, manufacturers can fully consider the characteristics of the different application scenes, so that the unmanned aerial vehicles with different application scenes are specifically optimized. For example, for an unmanned aerial vehicle for aerial photography, a manufacturer optimizes the stability of the unmanned aerial vehicle, thereby ensuring the photographing quality; and to the unmanned aerial vehicle of commodity circulation transportation, power take off can be optimized to the producer to thereby guarantee that unmanned aerial vehicle has great tensile force and carry on the goods of bigger weight. However, in practical application, a user may need to use the unmanned aerial vehicle to take an aerial photograph at some time, and need to use the unmanned aerial vehicle to transport some articles at other time, but the existing unmanned aerial vehicle cannot meet the above requirements.

Disclosure of Invention

To address the above and other potential problems in the prior art, embodiments of the present invention provide a fuselage, a horn, a rotor assembly, a airframe, and a multi-rotor drone.

According to some embodiments of the invention there is provided a rack comprising: the aircraft comprises an airframe, a flight control system, a quick release mechanism and a plurality of airframes; the aircraft body is provided with a plurality of mounting parts, and the flight control system is mounted on the aircraft body; the plurality of machine arms are radially arranged on the machine body in a surrounding manner, and at least part of the machine arms are detachably connected with the mounting part of the machine body through the quick-release mechanism; when the horn is connected to the fuselage, the horn is also electrically connected to the flight control system; and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.

According to some embodiments of the present invention, there is provided a multi-rotor drone comprising a frame and a plurality of powered systems, the powered systems including a motor and a propeller, one or more of the powered systems being mounted on each horn of the frame; the frame, include: the aircraft comprises an airframe, a flight control system, a quick release mechanism and a plurality of airframes; the aircraft body is provided with a plurality of installation parts, the flight control system is installed on the aircraft body and is electrically connected with the power system through the aircraft arm; the plurality of machine arms are radially arranged on the machine body in a surrounding manner, and at least part of the machine arms are detachably connected with the mounting part of the machine body through the quick-release mechanism; when the horn is connected to the fuselage, the horn is also electrically connected to the flight control system; and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.

According to some embodiments of the present invention, there is provided a fuselage, the fuselage having a plurality of mounts, and the fuselage having a flight control system mounted thereto; at least part of the mounting part is provided with a first part of a quick release mechanism which is used for being detachably connected with a second part of the quick release mechanism formed on a horn of the multi-rotor unmanned aerial vehicle, and when the first part is detachably connected with the second part, the horn is electrically connected with the flight control system; and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.

According to some embodiments of the present invention, there is provided a horn having an end formed with a second portion of a quick release mechanism for detachably coupling with a first portion of the quick release mechanism formed on a fuselage of a multi-rotor drone; the body is provided with a plurality of mounting parts, and at least part of the mounting parts are provided with the first parts; when the second part is detachably connected with the first part, the horn is electrically connected with a flight control system installed in the fuselage; and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.

According to some embodiments of the present invention, there is provided a rotor assembly comprising a power system and a horn, the power system comprising a motor and a propeller, the power system being mounted on the horn; a second part of a quick release mechanism is formed at one end of the arm and is detachably connected with a first part of the quick release mechanism formed on the body of the multi-rotor unmanned aerial vehicle; the body is provided with a plurality of mounting parts, and at least part of the mounting parts are provided with the first parts; when the second part is detachably connected with the first part, the horn is electrically connected with a flight control system installed in the fuselage; and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.

According to the embodiment of the invention, at least part of the arms are detachably connected with the mounting part of the fuselage through the quick-release mechanism, and the flight control system controls the flight control system to output the corresponding preset power mode according to the number of the arms connected to the fuselage, so that the model of the multi-rotor unmanned aerial vehicle can be changed by adjusting the number of the arms under different application scenes so as to be matched with the specific application scenes.

Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and other objects, features and advantages of the embodiments of the present invention will become more readily understood by the following detailed description with reference to the accompanying drawings. Embodiments of the invention will now be described, by way of example and not limitation, in the accompanying drawings, in which:

fig. 1 is an exploded view of a partial structure of a first multi-rotor drone according to an embodiment of the present invention;

fig. 2 is an exploded view of a partial structure of a second multi-rotor drone according to an embodiment of the present invention;

fig. 3 is an exploded view of a partial structure of a third multi-rotor drone according to an embodiment of the present invention.

FIG. 4 is an elevation view of a fuselage provided in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural view of a rotor assembly according to an embodiment of the present invention;

figure 6 is a schematic structural view of another rotor assembly according to an embodiment of the present invention;

in the figure:

10. a body; 101. An installation part;

20. a horn; 30. A quick release mechanism;

301. a groove; 302. A bump;

303. a second electrical connection; 304. A first electrical connection;

40. a power system; 401. A single-shaft single propeller;

402. single-shaft double-propeller.

Detailed Description

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Fig. 1 to 3 are partial structure exploded views of three kinds of multi-rotor drones provided in this embodiment. As shown in fig. 1 to 3, the multi-rotor drone comprises: the aircraft comprises a fuselage 10, a plurality of arms 20 radially surrounding the outer periphery of the fuselage 10, one or more power systems 40 mounted on each arm 20, a flight control system, and a quick release mechanism 30.

In the present embodiment, the fuselage 10, the horn 20 connected to the fuselage 10, the flight control system, and the quick release mechanism 30 are collectively referred to as a frame; the horn 20 and the power system 40 mounted on the horn 20 are collectively referred to as a rotor assembly.

Specifically, the cross-section of the fuselage 10 may be circular, elliptical, polygonal, or other suitable shape. The top plate and the bottom plate of the body 10 may be arranged in parallel or may be inclined at a certain angle according to actual needs. One or more mounts, which may be any objects such as an imaging device and a container for containing liquid, are optionally carried under the bottom plate, and this embodiment is not limited thereto.

For reasons such as ease of manufacture and ease of disassembly and assembly of the arm 20, in the present embodiment, the fuselage 10 may be fabricated as a tetrahedron, pentahedron, hexahedron, octahedron, dodecahedron, or other polyhedron having a closed cavity that may be used to mount flight control systems and other electronic components. Of course, the flight control system may be mounted elsewhere on the fuselage 10, such as in a separate mounting structure on the fuselage 10 or above the fuselage 10. In one embodiment, a portion of the horn may extend into the enclosed cavity.

Fig. 1 shows an octahedral fuselage 10 comprising oppositely arranged top and bottom plates and eight side plates between the top and bottom plates, said side plates having lateral sides. During manufacturing, the top plate, the bottom plate and the side plate can be manufactured respectively, and then the top plate, the bottom plate and the side plate are assembled together to form the machine body 10; or the side plates and the top plate or the bottom plate can be integrally formed and then assembled together; of course, the side plate may be divided into upper and lower portions, the upper portion being integrally formed with the top plate and the lower portion being integrally formed with the bottom plate, and then assembled together. It is understood that the top plate, the bottom plate and the side plates may be frame structures with hollows and the like.

Fig. 4 is a front view of a fuselage 10 according to the present embodiment. As shown in fig. 1 to 4, in the present embodiment, a plurality of mounting portions 101 are further provided on the body 10, and these mounting portions 101 may be provided perpendicular to the top plate and/or the bottom plate of the body 10; or may be disposed obliquely to the top plate and/or the bottom plate of the body 10 to extend to the side of the body 10, that is, the mounting portion 101 is located at the side of the body 10. For example, if the mounting portion 101 is located on the side of the body 10, it may extend obliquely upward from the top plate to be away from the center of the top plate; or may extend obliquely downward from the bottom plate so as to be away from the center of the bottom plate; or may extend from the side panels to the outside of the outer body 10. It should be understood that multiple mounting portions 101 may be provided on one or more of the top, bottom and side plates as desired for the actual design. For example, fig. 1 to 3 show an example in which the all-mounting portion 101 is provided to a side plate of the body 10.

With continued reference to fig. 1-3, in the present embodiment, each horn 20 is mounted to the fuselage 10 by a mounting portion 101 such that the horns 20 radially surround the outer circumference of the fuselage 10. At least a part of the arms 20 with the same or different lengths is detachably connected with the mounting part 101 through the quick release mechanism 30. For example, when there are four horn arms 20, one, two, three, or four of the horn arms 20 may be detachably connected to the mounting portion 101 via the quick release mechanism 30, while the remaining horn arms 20 may be non-detachably connected to the body 10, such as by being integrally formed with the mounting portion 101 or by being welded thereto. Or, the unmanned aerial vehicle can include that basic number horn 20 connects in fuselage 10 with non-detachable mode, and this basic number horn 20 guarantees that unmanned aerial vehicle normally takes off and accomplishes some and predetermine the function, when needs carry bigger load or need further increase power, can further install detachable horn 20. It is understood that the number of arms 20 radially surrounding the fuselage 10 may vary to form models such as four-rotor (see fig. 1), six-rotor (see fig. 2), eight-rotor (see fig. 3), and the like.

In order to accommodate the above-described variation in the number of the horn 20, the mount portions 101 on the body 10 may be configured to be the same as the number of the horns 20. Of course, the number of the mounting portions 101 of the body 10 may be different from the number of the horn 20. For example, the body 10 may be an octahedron, on each side of which the above-described mounting portion 101 is formed. Obviously, the mounting portion 101 formed on each side of the octahedron can be provided with one horn 20, and when each mounting portion 101 is provided with a horn 20, an eight-rotor unmanned aerial vehicle can be formed, see fig. 3. Of course, the eight mounting portions 101 formed on the eight side surfaces may be only partially mounted with the horn 20. For example, if four mounting portions 101 are each provided with one horn 20, then a quad-rotor drone is formed, see fig. 1; alternatively, where six mounting portions 101 are each mounted with one horn 20, then a six-rotor drone is formed, see fig. 2. Of course, when less than eight arms 20 are mounted on the octahedral body 10, the arms 20 should radially surround the body 10 as described above. For example, when four arms 20 are installed, two adjacent arms 20 may be spaced apart by one side, that is, the four arms 20 are symmetric about the center of the fuselage 10, so as to improve the unmanned balance of the four-rotor, thereby improving the flight performance. Similarly, other even numbers of arms 20 may be centered symmetrically about the center of fuselage 10 to improve balance.

Furthermore, although in the present embodiment, part of the arms 20 may be non-detachably connected to the mounting portion 101, in order to save the storage space of the multi-rotor drone and thus facilitate storage or transportation, all the arms 20 may be detachably connected to the mounting portion 101 of the fuselage 10 through a quick release structure as shown in fig. 1 to 3.

As shown in fig. 4, in the present embodiment, when the horn 20 is connected to the fuselage 10, the horn 20 is further electrically connected to a flight control system installed on the fuselage 10, so that the flight control system can control the flight system to output a corresponding preset power mode according to the number of the horns 20 connected to the fuselage 10. For example, the flight control system may output a quad-rotor power mode for a quad-rotor drone with four arms 20, may output a six-rotor power mode for a six-rotor drone with six arms 20, may output an eight-rotor power mode for an eight-rotor drone with eight arms 20, and may output a twelve-rotor power mode for a twelve-rotor drone with twelve arms 20. It is understood that the number of the arms 20 and the power mode of the unmanned aerial vehicle output are not limited thereto, and the embodiment is not limited thereto.

Fig. 5 and 6 are schematic structural views of two rotor assemblies provided in this embodiment. As shown in fig. 5 and 6, the rotor assembly includes a horn 20 and one or more power systems 40 mounted on the horn 20. Every driving system 40 all through horn 20 and flight control system electric connection to above-mentioned power mode according to the flight control system output provides flight power for many rotor unmanned aerial vehicle, thereby drives many rotor unmanned aerial vehicle and rises, descends, hovers, turns to etc.. Optionally, the power system 40 includes an electric motor and a propeller.

In this embodiment, the motor may be installed at any position of the horn 20. For example, in some examples, the motor is mounted at the end of the horn 20 remote from the fuselage 10; in other examples, the motor is mounted between the two ends of the horn 20. Of course, if a plurality of power systems 40 are mounted on the horn 20 to provide more flight power for the multi-rotor drone, the motor of one of the power systems 40 may be mounted at the end of the horn 20 away from the fuselage 10, and the motors of the other power systems 40 may be mounted between the two ends of the horn 20. The propeller can be arranged above or below the motor, and also can be respectively arranged above or below the motor. In the present embodiment, a single-shaft single propeller 401 as shown in fig. 5 may be used, and a single-shaft double propeller 402 as shown in fig. 6 may be used.

In some alternative examples, to control the operation of power system 40, an electrical governor may be installed in arm 20 and electrically connected to the flight control system, for example, via quick release mechanism 30, to control one or more parameters of the rotational speed, steering direction, acceleration, etc. of the motor according to the power mode output by the flight control system, so as to control one or more of the rotational speed, rotational direction, acceleration, etc. of the propeller. Optionally, to provide power to the power system 40 mounted on the horn 20, a battery may also be mounted within the horn 20, the battery being electrically connected to the electrical power conditioner to power the motor via the power supply line of the electrical power conditioner. Of course, a battery mounted in the horn 20 is not necessary, and the power system 40 mounted on the horn 20 may be powered by a battery mounted on the body 10. Furthermore, in the present embodiment, all of the plurality of arms 20 may be equipped with batteries, or a part of the plurality of arms 20 may be equipped with batteries, and another part may be powered by an electrical connection with the flight control system or by sharing batteries with other arms 20, and these powers may be provided by batteries installed on the fuselage 10 or by arms 20 equipped with batteries.

In the embodiment, at least part of the horn 20 is detachably connected with the mounting part 101 of the fuselage 10 through the quick release mechanism 30, and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the horns 20 connected to the fuselage 10, so that the model of the multi-rotor unmanned aerial vehicle can be changed by adjusting the number of the horns 20 under different application scenes so as to be matched with a specific application scene. For example, when it is desired to use a multi-rotor drone for aerial photography, four arms 20 may be attached to fuselage 10; when it is desired to use a multi-rotor drone for logistics transportation, it may be added to connect a greater number (e.g., two, four, or eight) of booms 20 to fuselage 10 via quick release mechanism 30, thereby providing greater lift for transporting cargo. On the contrary, when the current application scene needs less lift force, a certain number of the arms 20 connected to the body 10 through the quick release mechanism 30 can be detached from the body 10.

In the present embodiment, the quick release mechanism 30 may be any suitable mechanism, which is only required to be able to quickly mount the horn 20 to the mounting portion 101 of the body 10 and quickly detach it from the mounting portion 101. For example, in some alternative examples, the quick release mechanism 30 may include a first portion and a second portion removably coupled to the first portion. At least part of the mounting portion 101 is used to form a first part of the quick release structure, and the horn 20 is used to form a second part of the quick release structure, for example, the second part is formed on the end surface of the horn 20 close to the body 10. It will be appreciated that in some specific examples, all of the mounting portions 101 form a first portion of the quick release structure. When the first portion is removably coupled to the second portion, the horn 20 is electrically coupled to the flight control system through the electrical coupling of the first portion and the second portion. Optionally, the first part of the quick release mechanism and the mounting portion 101 are integrally formed, and the second part of the quick release mechanism 30 and the horn 20 are also integrally formed, so as to simplify the mounting steps and improve the efficiency of quick release.

Specifically, the second portion of the quick release mechanism 30 formed on the arm 20 and the first portion formed on the mounting portion 101 of the body 10 can be detachably connected by various methods such as a threaded connection, a snap connection, and the like for quick detachment. For example, the second portion may be a bolt formed at an end of the horn 20 adjacent to the body 10, and the first portion may be a threaded hole formed in the mounting portion 101 for engaging with the bolt, so that when the horn 20 needs to be mounted to the body 10 or dismounted from the body 10, the rotation of the horn 20 can be easily achieved. Of course, the bolt formed on the horn 20 fixed to the horn 20 may be formed integrally with the horn 20, for example, by molding or casting the bolt on the end of the horn 20 near the body 10.

With continued reference to fig. 1-3, in the present embodiment, a snap structure is provided that enables a detachable connection. Specifically, the first portion of the quick release structure formed on the mounting portion 101 is a groove 301, and the second portion of the quick release structure formed on the arm 20 is a protrusion 302 for detachably engaging with the groove 301. When the horn 20 needs to be mounted on the machine body 10, the horn 20 can be mounted on the machine body 10 quickly only by clamping the projection 302 of the quick release mechanism 30 into the groove 301; when the horn 20 mounted on the body 10 needs to be detached, the protrusion 302 clamped in the groove 301 needs to be pulled out, which is not only fast, but also simple and convenient. Alternatively, the groove 301 may be configured as a dovetail groove, and correspondingly, the protrusion 302 is configured as a dovetail block, so as to improve the connection strength between the quick release mechanism 30 and the mounting portion 101.

Further, referring to fig. 4, in order to electrically connect the horn 20 to the flight control system, a first electrical connector 304 electrically connected to the horn 20 is disposed on the bump 302, and a second electrical connector 303 electrically connected to the flight control system is disposed in the groove 301, so that the first electrical connector and the second electrical connector are electrically coupled when the horn 20 is detachably connected to the mounting portion 101. For example, in some specific examples, the first electrical connector comprises a pin plug or a metal contact disposed on the bump 302, and correspondingly, the second electrical connector comprises a pin receptacle or a contact disposed in the recess 301, so as to electrically couple the pin plug or the metal contact. Of course, this embodiment does not exclude the need to exchange the pin plugs and the pin receptacles, i.e. to arrange the pin plugs in the recesses 301 and, correspondingly, to arrange the pin receptacles on the projections 302. The metal contacts and contact points can also be reversed.

Further, the fuselage 10 and the horn 20 may be electrically connected and/or in communication via the electrically coupled first and second

electrical connections

304, 303 described above. For example, the male plug may include power pins and communication pins, and the female receptacle may include power jacks for mating with the power pins and communication jacks for mating with the communication pins. Thus, when the projection 302 of the quick release mechanism 30 is snapped into its recess 301, the horn 20 and the flight control system can be powered by coupling the power pins with the power jack and can also communicate by coupling the communication pins with the communication jack. For example, the battery installed on the fuselage 10 supplies power directly or indirectly through an electric regulation to the motor of the power system 40 installed on the horn 20 through the power supply pins and the power supply jacks, and meanwhile, the control signal of the flight control system (or the motor) is transmitted directly or indirectly through an electric regulation to the motor (or the flight control system) through the communication pins and the communication jacks. Of course, when the battery is installed in the arm 20, the power of the battery in the arm 20 may be supplied to the flight control system of the fuselage 10 or the motor of the power system 40 installed on the other arm 20 through the power supply pin and the power supply jack.

The manner in which the flight control system obtains the number of booms 20 attached to the fuselage 10 is briefly described below in connection with the booms 20 being communicatively coupled to the fuselage 10 via the quick release mechanism 30:

when the horn 20 is detachably connected to the mounting portions 101 via the quick release structure, the flight control system acquires an acknowledgement signal indicating that one of the mounting portions 101 has been detachably connected to the horn 20, so that the flight control system can determine the number of horns 20 detachably connected to the mounting portions 101 based on the number of received acknowledgement signals. For example, when four booms 20 are removably coupled to the mounting portion 101 via the quick release mechanism 30, the flight control system receives four confirmation signals, and the flight control system counts the confirmation signals (e.g., via a counter) to determine that four booms 20 are coupled to the mounting portion 101 of the fuselage 10. If the fuselage 10 is not detachably connected with the arms 20 by the mounting portion 101, the flight control system determines that the number of arms 20 finally connected to the fuselage 10 is four, thereby controlling the output quad-rotor power mode; if the fuselage 10 has two mounts 101 that are non-detachably connected to two arms 20, respectively, the flight control system determines by calculation (e.g., via computer executable code or arithmetic circuitry, etc.) that the number of arms 20 that are ultimately connected to the mounts 101 is six, thereby controlling the output six-rotor power mode. Further, the flight control system may confirm the position of the horn 20 detachably coupled to the mounting portion 101 through the quick release mechanism 30 to output a suitable preset power pattern. For example, when four arms 20 are centered symmetrically about the center of fuselage 10, the flight control system outputs a first quad-rotor power mode. Alternatively, when the four arms 20 are not centrosymmetric about the center of fuselage 10, the flight control system outputs a corresponding second quad-rotor power mode.

In some alternative examples, sensors may be provided on one or more of the fuselage 10, the quick release mechanism 30, and the horn 20 that send the confirmation signal to the flight control system upon detecting that the horn 20 is removably coupled to the mounting portion 101, such that the flight control system may derive the number of horns 20 mounted to the mounting portion 101 of the fuselage 10 based on the received confirmation signal. Specifically, the sensor may be a suitable sensor such as a photoelectric counting sensor, a pressure sensor, etc., and the sensor may be disposed on one or more of the body 10, the quick release mechanism 30, and the horn 20. For example, in one embodiment, an infrared receiver is provided on the body 10, an infrared transmitter is provided on the horn 20, and when the horn 20 is detachably attached to the mounting portion 101 of the body 10, infrared light emitted from the infrared transmitter provided on the horn 20 is received by the infrared receiver provided on the body 10, thereby confirming that the horn 20 is attached to the body 10, and transmitting a confirmation signal to the flight control system.

In other alternative examples, when the horn 20 is detachably coupled to the mounting portion 101 via the quick release mechanism 30, the circuit or circuits within the horn 20 may be turned on, thereby activating the communication element disposed within the horn 20 to send the acknowledgement signal to the flight control system. For example, a communication element is in series with a communication pin of the quick release mechanism 30 and the communication element continuously transmits a communication signal. When the horn 20 is detachably connected to the mounting portion 101 through the quick release mechanism 30, a communication pin of the quick release mechanism 30 is inserted into a communication jack, the communication element is conducted with the communication circuit of the flight control system, and a confirmation signal sent by the communication element is sent to the flight control system through the coupled communication pin and communication jack. It will be appreciated that in the above example, the communication element does not continue to send the acknowledgement signal, but only begins sending the acknowledgement signal after the communication pin and communication jack are coupled.

Finally, while advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also include such advantages, and not all embodiments describe all of the advantages of the invention in detail, and all advantages resulting from the technical features of the embodiments should be construed as advantages which distinguish the invention from the prior art, and are within the scope of the invention.

Claims

A rack, comprising: the aircraft comprises an airframe, a flight control system, a quick release mechanism and a plurality of airframes;

the aircraft body is provided with a plurality of mounting parts, and the flight control system is mounted on the aircraft body;

the plurality of machine arms are radially arranged on the machine body in a surrounding manner, and at least part of the machine arms are detachably connected with the mounting part of the machine body through the quick-release mechanism;

when the horn is connected to the fuselage, the horn is also electrically connected to the flight control system;

and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.
The frame of claim 1, wherein the body includes a plurality of side mounts.
The frame of claim 2, wherein the fuselage is a polyhedron having a plurality of sides, the mounting portion being disposed on the sides.
The airframe as recited in claim 1, wherein all arms are removably attached to the mounting portion of the airframe by the quick release mechanism.
The airframe as recited in claim 1, wherein a number of said fuselage mounting sections is the same as a number of said horn.
The frame of claim 1, wherein the plurality of arms are equal in length.
The airframe as recited in claim 1, wherein said airframe structure is one of a tetrahedron, hexahedron, octahedron, dodecahedron.
The airframe as recited in claim 7, wherein said preset power modes include a four-rotor power mode, a six-rotor power mode, an eight-rotor power mode, and a twelve-rotor power mode.
The frame of claim 1, wherein the mounting portion is formed with a first portion of the quick release mechanism, the one end of the horn is formed with a second portion of the quick release mechanism, and when the first and second portions of the quick release mechanism are detachably connected, the horn is electrically connected to the body by electrical coupling of the first and second portions.
The holster of claim 9, wherein the first portion is a recess and the second portion is a tab for removably engaging the recess.
The airframe as recited in claim 10, wherein said recess is a dovetail slot and said projection is a dovetail block.
The airframe as recited in claim 10, wherein said tab is provided with a first electrical connector for electrically connecting with said horn, and said recess is provided with a second electrical connector for electrically connecting with said flight control system, said first and second electrical connectors being electrically coupled when said horn is removably connected to said mounting portion.
The airframe as recited in claim 12, wherein said body and said horn are electrically connected and/or in communication by said first and second electrical connections being electrically coupled.
The rack of claim 12, wherein said first electrical connector comprises a pin plug disposed on said protrusion and said second electrical connector comprises a pin-and-socket receptacle disposed in said recess.
The rack of claim 14, wherein the male plugs comprise power pins and communication pins and the female receptacles comprise power jacks and communication jacks.
The chassis of claim 12, wherein the first electrical connection includes a metal contact disposed on the bump and the second electrical connection includes a contact disposed within the groove.
The airframe as defined in any one of claims 1 to 16, wherein the flight control system of the airframe is configured to acquire a confirmation signal that the horn is removably attached to the mounting portion and determine the number of the horns removably attached to the mounting portion based on the acquired confirmation signal.
The airframe as recited in claim 17, wherein the acknowledgement signal is sent to the flight control system by a communication element disposed within the airframe.
The airframe as recited in claim 17, wherein one or more of the fuselage, quick release mechanism and horn are provided with a sensor for sending the confirmation signal to the flight control system upon detecting that the horn is removably attached to the mount.
The frame according to any one of claims 1 to 16, wherein an electric governor is mounted in the horn; the electric controller is electrically connected with the flight control system through the quick-release mechanism.
The frame according to claim 20, wherein a battery is mounted in the horn and/or the fuselage, and the battery is electrically connected with the electronic controller.
A multi-rotor unmanned aerial vehicle, comprising: the power system comprises a motor and a propeller, and one or more power systems are mounted on each arm of the frame;

the frame, include: the aircraft comprises an airframe, a flight control system, a quick release mechanism and a plurality of airframes;

the aircraft body is provided with a plurality of installation parts, the flight control system is installed on the aircraft body and is electrically connected with the power system through the aircraft arm;

the plurality of machine arms are radially arranged on the machine body in a surrounding manner, and at least part of the machine arms are detachably connected with the mounting part of the machine body through the quick-release mechanism;

when the horn is connected to the fuselage, the horn is also electrically connected to the flight control system;

and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.
The multi-rotor drone of claim 22, wherein the propellers are single-shaft, single propellers.
A multi-rotor drone according to claim 22, wherein the propellers are single-shaft twin-propellers.
A multi-rotor drone according to claim 22, wherein the motor is mounted at the end of the horn remote from the fuselage, and the propellers are mounted above and/or below the motor.
A multi-rotor drone according to claim 22, wherein the fuselage includes a plurality of side-located mounts.
A multi-rotor drone according to claim 26, wherein the fuselage is a polyhedron having a plurality of sides, the mounts being provided on the sides.
A multi-rotor unmanned aerial vehicle as recited in claim 22, wherein all of the arms are detachably connected to the mounting portion of the fuselage by the quick release mechanism.
A multi-rotor unmanned aerial vehicle as recited in claim 22, wherein the number of mountings of the fuselage is the same as the number of horn.
The multi-rotor drone of claim 22, wherein the plurality of arms are equal in length.
The multi-rotor drone of claim 22, wherein the fuselage structure is one of a tetrahedron, hexahedron, octahedron, dodecahedron.
A multi-rotor drone according to claim 31, wherein the preset power modes include a quad-rotor power mode, a six-rotor power mode, an eight-rotor power mode, and a twelve-rotor power mode.
A multi-rotor unmanned aerial vehicle as recited in claim 22, wherein the mounting portion is formed with a first portion of the quick release structure, the horn is formed with a second portion of the quick release structure at one end, and when the first and second portions of the quick release mechanism are detachably connected, the horn is electrically connected to the fuselage by electrical coupling of the first and second portions.
A multi-rotor drone according to claim 33, wherein the first portion is a recess and the second portion is a projection for removable engagement within the recess.
A multi-rotor drone according to claim 34, wherein the grooves are dovetail grooves and the projections are dovetail blocks.
A multi-rotor drone according to claim 34, wherein the tab has a first electrical connection disposed thereon for electrical connection with the horn, and the recess has a second electrical connection disposed therein for electrical connection with the flight control system, the first and second electrical connections being electrically coupled when the horn is removably connected to the mounting portion.
A multi-rotor drone according to claim 36, wherein the fuselage and arms are electrically connected and/or in communication by the first and second electrical connections being electrically coupled.
The multi-rotor drone of claim 36, wherein the first electrical connector comprises a pin plug disposed on the tab and the second electrical connector comprises a pin receptacle disposed within the groove.
The multi-rotor drone of claim 38, wherein the pin plugs include power pins and communication pins and the pin-and-socket receptacles include power jacks and communication jacks.
The multi-rotor drone of claim 36, wherein the first electrical connection includes a metal contact disposed on the tab, and the second electrical connection includes a contact disposed within the groove.
A multi-rotor unmanned aerial vehicle as claimed in any of claims 22-40, wherein the flight control system of the fuselage is configured to obtain a confirmation signal that the horn is detachably connected to the mounting portion and determine the number of horns detachably connected to the mounting portion based on the obtained confirmation signal.
A multi-rotor drone according to claim 41, wherein the acknowledgement signal is sent to the flight control system by a communication element provided within the horn.
A multi-rotor unmanned aerial vehicle as claimed in claim 41, wherein one or more of the fuselage, quick release mechanism and horn are provided with sensors for sending the acknowledgement signal to the flight control system when it is detected that the horn is detachably connected to the mounting section.
A multi-rotor drone according to any one of claims 22 to 40, wherein the horn has an electrical tilt mounted therein; the electric controller is electrically connected with the flight control system through the quick-release mechanism.
A multi-rotor unmanned aerial vehicle according to claim 44, wherein a battery is mounted within the horn and/or fuselage, the battery being electrically connected to the electrical tilt.
A multi-rotor drone according to any one of claims 23 to 40, further comprising a load riding under the fuselage.
A multi-rotor drone according to claim 46, wherein the shipper is an imaging device.
A multi-rotor drone according to claim 46, wherein the ballast is a container containing liquid.
A fuselage, characterized in that the fuselage has a plurality of mounts, and the fuselage is fitted with a flight control system;

at least part of the mounting part is provided with a first part of a quick release mechanism which is used for being detachably connected with a second part of the quick release mechanism formed on a horn of the multi-rotor unmanned aerial vehicle, and when the first part is detachably connected with the second part, the horn is electrically connected with the flight control system;

and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.
The fuselage of claim 49, wherein the fuselage includes a plurality of side mounted mounts.
The airframe as defined in claim 50, wherein the airframe is a polyhedron having a plurality of sides, the mount being disposed on the sides.
The airframe as defined in claim 49, wherein the plurality of arms are equal in length.
The fuselage of claim 49, wherein the first portion is a groove and the second portion is a projection that mates with the groove.
The fuselage of claim 53, wherein the grooves are dovetail grooves and the projections are dovetail blocks.
The fuselage of claim 49, wherein all sides of the fuselage are formed with the first portion.
The airframe as defined in any one of claims 49 to 55, wherein a battery is mounted within the airframe in electrical communication with the flight control system.
The airframe as defined in claim 56, wherein the battery powers the horn through the quick release mechanism.
The fuselage according to any one of claims 49 to 55, wherein the fuselage structure is one of a tetrahedron, a hexahedron, an octahedron, a dodecahedron.
The airframe as defined in claim 58, wherein the preset power modes include a four-rotor power mode, a six-rotor power mode, an eight-rotor power mode, and a twelve-rotor power mode.
A horn is characterized in that a second part of a quick release mechanism is formed at one end of the horn and is used for being detachably connected with a first part of the quick release mechanism formed on the body of a multi-rotor unmanned aerial vehicle; the body is provided with a plurality of mounting parts, and at least part of the mounting parts are provided with the first parts;

when the second part is detachably connected with the first part, the horn is electrically connected with a flight control system installed in the fuselage;

and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.
A horn according to claim 60 wherein said body includes a plurality of side mounts.
A horn according to claim 61 wherein said body is a polyhedron having a plurality of sides, said mounting portion being provided on said sides.
A horn according to claim 60 wherein said plurality of horns are of equal length.
A horn according to claim 60 wherein said second portion is a projection and said first portion is a recess for engaging said projection.
A horn according to claim 64 wherein said projection is a dovetail and said recess is a dovetail.
A horn according to any one of claims 60 to 65, wherein an electrical regulator is mounted in said horn.
The horn according to claim 66, wherein a battery electrically connected to said electronic regulator is further mounted in said horn.
A rotor assembly, comprising: the power system comprises a motor and a propeller, and the power system is mounted on the horn;

a second part of a quick release mechanism is formed at one end of the horn and is used for being detachably connected with a first part of the quick release mechanism formed on the body of the multi-rotor unmanned aerial vehicle; the body is provided with a plurality of mounting parts, and at least part of the mounting parts are provided with the first parts;

when the second part is detachably connected with the first part, the horn is electrically connected with a flight control system installed in the fuselage;

and the flight control system controls the flight control system to output a corresponding preset power mode according to the number of the arms connected to the fuselage.
A rotor assembly according to claim 68, wherein the fuselage includes a plurality of side mounts.
A rotor assembly according to claim 69, wherein the fuselage is a polyhedron having a plurality of sides, the mounts being disposed on the sides.
A rotor assembly according to claim 68, wherein the plurality of horn are equal in length.
A rotor assembly according to claim 68, wherein the second portion is a tab and the first portion is a recess that mates with the tab.
A rotor assembly according to claim 72, wherein the projections are dovetail projections and the recesses are dovetail slots.
A rotor assembly according to any one of claims 68-73, wherein an electrical tilt is mounted within the horn.
A rotor assembly according to claim 74, wherein a battery is also mounted within the horn in electrical communication with the electrical tilt.
A rotor assembly according to any one of claims 68-73, wherein the rotor is a single-shaft single rotor.
A rotor assembly according to any one of claims 68-73, wherein the propellers are single-shaft twin-propellers.
A rotor assembly according to any one of claims 68 to 73, wherein the motor is mounted at an end of the horn remote from the fuselage, and the propellers are mounted above and/or below the motor.