CN110901907B - Novel multi-rotor unmanned aerial vehicle, control method and unmanned aerial vehicle suite - Google Patents
Novel multi-rotor unmanned aerial vehicle, control method and unmanned aerial vehicle suite Download PDFInfo
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- CN110901907B CN110901907B CN201911380968.0A CN201911380968A CN110901907B CN 110901907 B CN110901907 B CN 110901907B CN 201911380968 A CN201911380968 A CN 201911380968A CN 110901907 B CN110901907 B CN 110901907B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
Abstract
The invention discloses a novel multi-rotor unmanned aerial vehicle, an operation method and an unmanned aerial vehicle suite, wherein the unmanned aerial vehicle comprises a rack and a horizontal rotor assembly arranged on the rack, in the horizontal standing state of the unmanned aerial vehicle, the plane where the horizontal rotor assembly is located is parallel to the horizontal plane, the rack is also provided with a side-standing rotor assembly used for controlling the horizontal motion of the unmanned aerial vehicle, in the horizontal standing state of the unmanned aerial vehicle, the side-standing rotor assembly comprises a plurality of side-standing propeller assemblies, and the included angle between the plane where the propeller assemblies are located and the horizontal plane is 45-135 degrees, so that the attitude change and the translational motion of the unmanned aerial vehicle are independently controlled, namely the adjustment of the horizontal rotor assembly is used for controlling different flight attitudes of the unmanned aerial vehicle, including pitching, rolling, course and flight height adjustment, and the adjustment of the side-standing rotor assembly is used for controlling the horizontal motion of the unmanned aerial vehicle, the attitude motion and the translational motion of the unmanned aerial vehicle are decoupled, the simultaneous adjustment of 6 degrees of freedom is realized, and a remote controller scheme with more than 4 degrees of freedom is provided.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a novel multi-rotor unmanned aerial vehicle, a control method and an unmanned aerial vehicle suite.
Background
A multi-rotor unmanned aerial vehicle is a special unmanned helicopter with four or more rotor shafts. It is rotated by a motor on each shaft, driving the rotor, thereby generating lift. The collective pitch of the rotors is fixed and not variable as in a typical helicopter. Through changing the relative speed between the different rotors, the size of unipolar propulsive force can be changed to the orbit of control aircraft.
Traditional many rotor unmanned aerial vehicle generally only is equipped with 4, the horizontal oar that revolves of 6 or 8 symmetry settings, and unmanned aerial vehicle's gesture (rotation) motion and translational motion are the coupling, can't realize unmanned aerial vehicle flight gesture (like gesture such as rotation, every single move, upset) and horizontal translational motion's independent control. Similarly, the remote controller matched with the unmanned aerial vehicle can only realize the control of four degrees of freedom at most. If the remote controller is used for controlling the course angle, the roll angle, the pitch angle and the height of the unmanned aerial vehicle, the horizontal motion can move freely according to the current conditions of three rotation angles. If the remote controller is used for controlling the course angle, the height and two horizontal motions of the unmanned aerial vehicle, the roll angle and the pitch angle can not be independently controlled, and in fact, the flight control system of the airplane further influences and controls the horizontal motions by adjusting the roll angle and the pitch angle. I.e. the horizontal movement and the rotational movement are coupled together, i.e. causally, as is the speed and displacement, and cannot be controlled independently at the same time. The invention is also motivated, namely, the unmanned aerial vehicle is designed, the simultaneous adjustment of all 6 degrees of freedom can be realized in the flight process, the flight mode of the unmanned aerial vehicle is enriched, and the remote controller corresponding to the unmanned aerial vehicle is designed, so that the independent adjustment of up to 6 degrees of freedom can be realized.
Disclosure of Invention
The invention aims to overcome at least one defect of the prior art and provides a novel multi-rotor unmanned aerial vehicle so as to achieve the purpose of independently controlling the attitude motion and the translation motion of the unmanned aerial vehicle.
The invention also provides a control method of the novel multi-rotor unmanned aerial vehicle, and the method can realize independent control of attitude motion and translation motion of the unmanned aerial vehicle.
The invention also provides an unmanned aerial vehicle suite which comprises a remote controller, wherein the remote controller is used for controlling the multi-dimensional flight of the unmanned aerial vehicle with more than four degrees of freedom by arranging two-dimensional rockers and up to two one-dimensional rockers, so that the independent adjustment of the attitude motion and the translation motion of the unmanned aerial vehicle is realized.
The invention adopts the technical scheme that the novel multi-rotor unmanned aerial vehicle comprises a rack and a horizontal rotor assembly arranged on the rack, wherein in the horizontal standing state of the unmanned aerial vehicle, the plane where the horizontal rotor assembly is located is parallel to the horizontal plane, and the novel multi-rotor unmanned aerial vehicle is characterized in that the rack is also provided with a side-standing rotor assembly used for controlling the horizontal motion of the unmanned aerial vehicle, in the horizontal standing state of the unmanned aerial vehicle, the side-standing rotor assembly comprises a plurality of side-standing propeller assemblies, and the included angle between the plane where the propeller assemblies are located and the horizontal plane is 45-135 degrees, so that the attitude change and the translational motion of the unmanned aerial vehicle can be independently controlled. Preferably, the angle is 90 degrees, i.e. perpendicular to the horizontal, and the gesturing movement is a rotating movement.
Furthermore, the side upright rotor wing assembly comprises a first side upright rotor wing assembly and a second side upright rotor wing assembly, and under the horizontal standing state of the unmanned aerial vehicle, an included angle formed by the projection of the first cantilever (311) and the second cantilever (321) on the horizontal plane is alpha, wherein the alpha is more than 0 degree and less than 180 degrees.
Preferably, α is 45 ° to 135 °, and more preferably, α is 90 °.
Further, unmanned aerial vehicle still includes the casing, be equipped with first wind channel and second wind channel in the casing, first wind channel and second wind channel cross formation "X" type wind channel structure, first side founds in the rotor subassembly locates first wind channel, second side founds in the rotor subassembly locates the second wind channel, first side founds rotor subassembly and second side and founds rotor subassembly during operation, "X" type wind channel structure in forms mutual ventilation air current, horizontal rotor subassembly is ten "type cross structure through horizontal cantilever, runs through the casing constitutes" rice "style of calligraphy staggered structure with the" X "type wind channel structure of casing.
Preferably, the side upright rotor subassembly still includes central fixed plate, first side upright rotor subassembly includes first cantilever, fixes the first oar subassembly that spins of first cantilever distal end, the second side upright rotor subassembly includes the second cantilever and fixes the second oar subassembly that spins of second cantilever distal end, central fixed plate with the near-end integrated into one piece of first cantilever and second cantilever, the contained angle between first cantilever and the second cantilever is alpha, and wherein 0 is < alpha < 180. Preferably, α is 45 ° to 135 °, and more preferably, α is 90 °.
Further, first oar subassembly includes first motor fixing base, installs first motor on the first motor fixing base and by first motor drive pivoted first perpendicular oar that revolves, second oar subassembly includes second motor fixing base, installs second motor on the second motor fixing base and by second motor drive pivoted second perpendicular oar that revolves, first motor fixing base with the distal end integrated into one piece of first cantilever, second motor fixing base with the distal end integrated into one piece of second cantilever.
Furthermore, the horizontal rotor wing assembly comprises a plurality of horizontal cantilevers and a plurality of horizontal propeller assemblies matched with the horizontal cantilevers, each horizontal propeller assembly comprises a multidirectional connector, a third motor and a horizontal propeller arranged at the upper end of the third motor, a plurality of first interfaces are arranged on the upper side of the multidirectional connector, the third motor is fixed on the first interfaces, a second interface and a fourth interface are further arranged on one side, close to the central axis of the unmanned aerial vehicle, of the multidirectional connector, and the horizontal cantilevers are detachably connected with the second interfaces and the fourth interfaces; the lower extreme that multidirectional connects still is equipped with the third interface, multidirectional one side of keeping away from the unmanned aerial vehicle axis that connects still is equipped with the fourth interface, horizontal rotor subassembly still includes undercarriage and protective cradle, undercarriage fixed mounting in the third interface. The middle part of the horizontal cantilever is hollow, the protective bracket is connected with the horizontal cantilever through the carbon fiber rod, and the carbon fiber rod (90) can be inserted into the hollow inside of the horizontal cantilever and fixed with the rack.
More specifically, the multidirectional joint is including fixed disc, third motor fixed mounting in the upside of fixed disc, the middle part of the bottom surface of fixed disc is equipped with first block subassembly, and locates the both sides of fixed disc, and with first block subassembly is axisymmetric second block subassembly and third block subassembly, the middle part of first block subassembly forms the third interface, the middle part of second block subassembly and third block subassembly forms second interface and fourth interface respectively, second block subassembly and third block subassembly structure are close, wholly present the U type, and the upper end open end draws close, and the upper end is equipped with horizontal screw hole, and usable screw thread spare or other fasteners realize the block that the lock is close to the mouth section.
Further, the horizontal rotor assembly comprises a first horizontal rotor assembly, a second horizontal rotor assembly, a third horizontal rotor assembly, and a fourth horizontal rotor assembly; the upper side of the central fixing plate is provided with a first clamping position, a second clamping position and a third clamping position, wherein the second clamping position and the third clamping position are arranged on two sides of the first clamping position;
the first horizontal rotor assembly comprises a first cantilever support and a first horizontal propeller assembly fixed with the far end of the first cantilever support, the second horizontal rotor assembly comprises a second cantilever support and a second horizontal propeller assembly fixed with the far end of the second cantilever support, the third horizontal rotor assembly comprises a third cantilever support and a third horizontal propeller assembly fixed with the far end of the third cantilever support, and the fourth horizontal rotor assembly comprises a fourth cantilever support and a fourth horizontal propeller assembly fixed with the far end of the fourth cantilever support;
the near end of the first cantilever support is integrally connected with the near end of the third cantilever support and is fixed on the first clamping position;
the near end of the second cantilever support is fixed in the second clamping position, and the near end of the third cantilever support is fixed on the third clamping position; then the upper cover is fixed with the central fixing plate through screws and nuts, and the horizontal cantilever in the clamping position is clamped and fixed.
So that the first, second, third and fourth horizontal rotor assemblies form a cross-shaped horizontal rotor structure or an X-shaped horizontal rotor structure. The propellers of a conventional drone may be 4, 6, 8, or more. There are cross, X, and similar axis pair distributions. All configurations may be applied to the present invention instead of the four horizontal rotors arrangement of the present invention.
Besides the integrated connection mode, the first cantilever support and the third cantilever support can also adopt a structure similar to that of the second cantilever support and the fourth cantilever support, namely, the middle of the first cantilever support and the fourth cantilever support is disconnected and respectively clamped on the central fixing plate, the fixing modes are flexible and various, and similarly, the second cantilever support and the fourth cantilever support can also adopt an integrated connection mode similar to the integrated connection mode of the first cantilever support and the third cantilever support.
The first cantilever support, the third cantilever support, the second cantilever support and the fourth cantilever support are preferably made of carbon fiber rods, the shapes of the first cantilever support, the third cantilever support, the second cantilever support and the fourth cantilever support can be round carbon fiber rods or square carbon fiber rods, matching can be achieved through corresponding clamping shapes, and the shapes of the interface positions of the multidirectional connectors can be adjusted adaptively according to the shapes of the carbon fiber rods.
The invention also provides a flight control method of the novel multi-rotor unmanned aerial vehicle, which is realized by utilizing the unmanned aerial vehicle, and the control method comprises the following steps: through adjusting respectively horizontal rotor subassembly with the side founds rotor subassembly, realizes the independent regulation of six degrees of freedom of unmanned aerial vehicle.
The four horizontal rotor assemblies of the present invention can be used as a cross or X configuration without any effect, i.e., the direction of the nose can be arbitrarily set. The four rotor assemblies are divided into two groups, wherein the four rotor assemblies correspond to each other to form one group. The differential component of the rotational speed of the two rotor assemblies of each set (i.e., the difference in lift provided by the horizontal rotor assemblies of each set) affects the tilt of the aircraft in this axial direction, such that the respective differences between the two rotor assemblies determine the pitch and roll angles. The difference between the two sets of rotor assemblies then determines the twist of the aircraft, i.e. the heading angle. The projection of the common mode component of both sets (i.e. all) of the rotor assemblies in the vertical and horizontal plane then determines the force in the vertical direction, which, combined with the force of gravity, is the final force of the aircraft in the horizontal direction, which in turn affects the change in altitude. The projection of the forces of the two sets of side-standing rotor assemblies in the horizontal plane direction influences the movement of the airplane in the horizontal direction. Because the forces of the two side-standing rotor assemblies can be independently adjusted, and further, the components of the forces in the X and Y directions of the horizontal plane can be independently adjusted, the horizontal movement of the aircraft can be independently adjusted. The force component of the projections of the two edgewise rotor assemblies in the vertical direction, as a disturbance, is cancelled by the forces of the aircraft in the vertical horizontal plane. The control method for the overlooking flight of the unmanned aerial vehicle comprises the following steps: the rotational speed of 2 side-standing rotors is adjusted to control the motion in the horizontal direction. The average speed of the horizontal rotor assembly is then adjusted to control the altitude direction of motion and to counteract the effects of gravity and the edgewise propeller. The wing assemblies are then divided into two groups, the difference between the two groups determining the heading, the difference within each group determining the pitch and roll (the pitch and roll definitions are determined by the nose definition, and how the nose is set is irrelevant).
Furthermore, the invention also provides a novel multi-rotor unmanned aerial vehicle suite, which further comprises a remote controller, wherein the remote controller is provided with two-dimensional rockers and two one-dimensional rockers, one of the two-dimensional rockers gives a command of horizontal translation motion of the unmanned aerial vehicle, the other two-dimensional rocker and the two one-dimensional rockers give a command of rotation motion and height motion of the unmanned aerial vehicle, and six rockers give commands of all translation motion and rotation motion; the translational motion comprises horizontal flying motion and up-and-down height adjusting motion; the rotation motion comprises pitching motion, rolling motion and course angle adjusting motion; thereby realize unmanned aerial vehicle rotation and translational motion's independent control. The roll angle can be set to 0 by default, so that a one-dimensional rocker can be saved.
Two-dimensional rockers and two one-dimensional rockers (six degrees of freedom in total) are arranged on the remote controller, and commands of translational motion (horizontal flight and altitude speed) and rotational motion (pitching angle, roll angle and course angle) of the unmanned aerial vehicle are given through the rockers. And the independent control of the rotation and translation motion of the unmanned aerial vehicle is realized. One of the two-dimensional rockers is used to give speed commands for translational movement in two horizontal directions. The remaining two-dimensional rockers and two one-dimensional rockers are used to give the following commands: 1. altitude speed, 2 course angular speed, 3 pitch angular speed or angle, 4 roll angular speed or angle. The combination thereof may be arbitrarily set. If the rocker controls the angle, the rocker is used without automatic centering, i.e. the offset of the rocker corresponds directly to the desired angle setting. If the rocker controls angular velocity, then the rocker may or may not use auto-centering (i.e., if there is no external force, the corresponding angular velocity is 0 in the rocker centering), but all at the midpoint indicate an angular velocity of 0. The translational motion is the control velocity. The roll angle can be set to 0 by default, so that a one-dimensional rocker can be saved.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention is provided with the horizontal rotor assembly and the side-standing rotor assembly at the same time, so that the independent control of the flight attitude and the horizontal motion of the unmanned aerial vehicle is realized, the adjustment of the horizontal rotor assembly is used for controlling different flight attitudes of the unmanned aerial vehicle, including the adjustment of pitching, rolling and course as well as flight height, and the adjustment of the side-standing rotor assembly is used for controlling the horizontal motion of the unmanned aerial vehicle, so that the attitude actuation and the horizontal motion of the aircraft are decoupled, the simultaneous adjustment of 6 degrees of freedom of the unmanned aerial vehicle is realized, and the invention also provides a corresponding remote controller scheme with more than 4 degrees of freedom.
(2) The speed adjustment of the side-standing rotor assemblies includes direction in addition to magnitude, i.e., each side-standing rotor assembly can control forward and reverse rotation. According to the invention, by adjusting the rotating direction and the rotating speed of the propellers on the first side vertical rotor assembly and the second side vertical rotor assembly and adjusting the rotating direction and the rotating speed of the first side vertical rotor assembly and the second side vertical rotor assembly, forces in different directions can be formed, so that the unmanned aerial vehicle is propelled to fly horizontally in the specified direction, and alpha is more than 0 degree and less than 180 degrees, so that the direction of the horizontal force can be adjusted between 0 degree and 360 degrees, and further, the full-angle adjustment of the unmanned aerial vehicle in the horizontal direction is realized.
(3) According to the unmanned aerial vehicle, the X-shaped air channel structure is arranged, and the X-shaped horizontal rotor wing assembly structure penetrates through the inside of the frame, so that the unmanned aerial vehicle integrally has a staggered structure in a shape like a Chinese character 'mi', air inlet and outlet flows of the side-standing rotor wings are conveniently separated from the flow formed by the horizontal rotor wings, and mutual influence is reduced.
(4) The integrated design of the side-standing rotor wing assembly and the central connecting piece enables the structure to be more stable, reduces the arrangement of related connecting pieces and is more portable.
(5) The design of the multi-way joint is convenient for the integral assembly and disassembly of a plurality of components and parts, and is convenient for assembly and later maintenance. The multidirectional connector can be connected with a motor, a horizontal cantilever and a landing gear rod simultaneously, and the number of connecting pieces is reduced.
(4) The protection bracket which can be selectively connected to the interior of the hollow horizontal cantilever is arranged, so that the propeller can be prevented from being damaged by colliding with objects or injuring people by rotating the propeller, and the safety of the unmanned aerial vehicle is improved. The protection support is arc-shaped, the side face of the horizontal cantilever penetrating through the casing is concave arc-shaped, so that the arc-shaped of the protection support and the concave arc-shaped of the casing form an approximately circular protection area, the propeller is better protected, and meanwhile, the risk of misoperation of personnel is reduced.
(5) The unmanned aerial vehicle adopts the hollow shell, so that the heat dissipation in the whole unmanned aerial vehicle is facilitated, and the air inlet and outlet flows of the side-standing rotor wing are utilized, so that the heat dissipation speed of the unmanned aerial vehicle control main board is further accelerated, the stability of an electronic system is improved, and the unmanned aerial vehicle runs more stably.
Drawings
Fig. 1 is a schematic view of a top view structure of the unmanned aerial vehicle frame of the present invention.
Fig. 2 is a schematic view of a three-dimensional structure of the unmanned aerial vehicle frame.
Fig. 3 is a schematic diagram of the overall overhead structure of the unmanned aerial vehicle.
FIG. 4 is a schematic diagram of the structure of the central fixing plate according to the present invention.
Fig. 5 is a schematic view of the whole bottom perspective structure of the unmanned aerial vehicle of the invention.
Fig. 6 is a schematic perspective view of the multi-way joint of the present invention.
Fig. 7 is a schematic view of another overhead structure of the unmanned aerial vehicle airframe.
Fig. 8 is a top view of the present invention drone with a 60 ° included angle α between the two side vertical rotor assemblies.
Fig. 9 is a top view of the unmanned aerial vehicle of the present invention with the included angle α of the two side vertical rotor assemblies being 120 °.
Fig. 10 is a top view of a rotor assembly of an unmanned aerial vehicle according to the present invention, with the propeller at an angle γ of 60 ° to the horizontal.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The utility model provides a novel many rotor unmanned aerial vehicle, includes frame 1 and locates horizontal rotor subassembly 2 in the frame 1 under the unmanned aerial vehicle level state of stewing, horizontal rotor subassembly 2 place plane is parallel with the horizontal plane, still be equipped with the side rotor subassembly 3 that is used for controlling unmanned aerial vehicle horizontal motion in the frame 1 under the unmanned aerial vehicle state of stewing, side rotor subassembly 3 includes a plurality of side's oar components that revolve, the contained angle is 45 ~135 between oar component place plane and the horizontal plane, makes unmanned aerial vehicle's attitude change and translational motion realize independent control. Preferably, in this embodiment, the included angle between the plane where the propeller assembly is located and the horizontal plane is 90 °.
Horizontal rotor subassembly 2 is the main power component that unmanned aerial vehicle takes off and descends, through adjusting horizontal rotor subassembly 2's rotational speed realizes rising and descending under unmanned aerial vehicle's the horizontality, the setting of sideslip rotor subassembly 3 lets unmanned aerial vehicle flight attitude and horizontal motion realize independent control, and the regulation of horizontal rotor subassembly 2 is used for controlling unmanned aerial vehicle's different flight attitudes promptly, including the every single move, roll and course and flight height's regulation, and the regulation of sideslip rotor subassembly 3 is used for controlling unmanned aerial vehicle's horizontal motion, and the attitude of aircraft is aroused and the horizontal motion decoupling, realizes the not unidimensional simultaneous control of unmanned aerial vehicle.
As shown in fig. 2, the side-standing rotor assembly 3 includes a first side-standing rotor assembly 31 and a second side-standing rotor assembly 32, and an included angle between the first side-standing rotor assembly 31 and the second side-standing rotor assembly 32 is α, which is 90 °.
According to the invention, the two side-standing first side-standing rotor assemblies 31 and second side-standing rotor assemblies 32 are arranged, the included angle between the two rotor assemblies is 90 degrees, when the multi-rotor unmanned aerial vehicle keeps a horizontal posture, the first side-standing rotor assemblies 31 and the second side-standing rotor assemblies 32 are respectively vertical to a horizontal plane, the airflows formed by the rotation of the propellers of the first side-standing rotor assemblies and the second side-standing rotor assemblies are parallel to the horizontal plane, and the airflows formed by the rotation of the propellers of the horizontal rotor assemblies 2 are vertical to the horizontal plane, so that the airflows between the first side-standing rotor assemblies and the second side-standing rotor assemblies do not interfere with each other, and the flying stability of the unmanned aerial vehicle is further ensured.
Combine shown in fig. 3, unmanned aerial vehicle still includes casing 4, be equipped with first wind channel 10 and second wind channel 20 in the casing 4, first wind channel 10 and second wind channel 20 alternately form "X" type wind channel structure, first side founds rotor subassembly 31 and locates in first wind channel 10, and it is shown to combine fig. 1, second side founds rotor subassembly 32 and locates in second wind channel 20, first side founds rotor subassembly 31 and second side and founds rotor subassembly 32 during operation, "X" type wind channel structure forms mutual ventilation air current, horizontal rotor subassembly 2 is "ten" style of calligraphy cross structure through horizontal cantilever 21, runs through casing 4 constitutes "rice" style of calligraphy staggered structure with casing 4's "X" type wind channel structure.
The top of the machine shell can be provided with a movable skylight, and a corresponding shell can be installed or sealed by the shell after the assembly is finished, so that the upper part and the lower part of the X-shaped air duct are integrally of a closed structure.
The unmanned aerial vehicle is provided with a hollow casing 4, an X-shaped air duct structure is arranged inside the hollow casing, X-shaped cross airflow can be formed when the first side vertical rotor wing assembly 31 and the second side vertical rotor wing assembly 32 work, the horizontal rotor wing assembly 2 is of a cross structure and penetrates through the casing 4, the whole top view of the unmanned aerial vehicle is of a staggered structure in a shape of a Chinese character 'mi', air inlet airflow and air outlet airflow of the side vertical rotor wings are isolated from airflow formed by the horizontal rotor wings, and mutual influence is reduced.
According to the unmanned aerial vehicle control main board, the hollow casing is adopted, so that the heat dissipation of the interior of the whole unmanned aerial vehicle is facilitated, the air inlet flow and the air outlet flow of the side-standing rotor wing are utilized, the heat dissipation speed of the unmanned aerial vehicle control main board is further accelerated, and the unmanned aerial vehicle is enabled to run more stably.
As shown in fig. 2 and 4, the edger rotor assembly 3 further includes a central fixing plate 33, and the first edger rotor assembly 31 includes a first cantilever 311, and a first propeller assembly 312 fixed at a distal end of the first cantilever 311; second sidestand rotor subassembly 32 includes second cantilever 321 and fixes second oar subassembly 322 of rotating of second cantilever 321 distal end, central fixed plate 33 with the near-end integrated into one piece of first cantilever 311 and second cantilever 321, the contained angle between first cantilever 311 and the second cantilever 321 is alpha, and wherein alpha is 90.
As shown in fig. 4, the first propeller assembly 312 includes a first motor fixing base 100, a first motor 101 installed on the first motor fixing base 100 and a first vertical propeller 102 driven and rotated by the first motor 101, the second propeller assembly 322 includes a second motor fixing base 200, a second motor 201 installed on the second motor fixing base 200 and a second vertical propeller 202 driven and rotated by the second motor 201, the first motor fixing base 100 and the distal end of the first cantilever 311 are integrally formed, and the second motor fixing base 200 and the distal end of the second cantilever 321 are integrally formed.
As shown in fig. 3, the horizontal rotor assembly 2 includes a plurality of horizontal cantilevers 21 and a plurality of horizontal propellers 22 matched with the horizontal cantilevers 21, as shown in fig. 5, the horizontal propellers 22 include a multidirectional joint 221, a third motor 222 and a horizontal propeller 223 disposed at an upper end of the third motor 222, as shown in fig. 6, a first interface 30 is disposed on an upper side of the multidirectional joint 221, the third motor 222 is fixed to the first interface 30, a second interface 40 is further disposed on a side of the multidirectional joint 221 close to the central axis of the unmanned aerial vehicle, a fourth interface 60 is further disposed on a side of the multidirectional joint 221 far from the central axis of the unmanned aerial vehicle, and the horizontal cantilevers 21 are detachably connected to the second interface 40 and the fourth interface 60.
The lower end of the multidirectional joint 221 is further provided with a third interface 50, and as shown in fig. 5, the horizontal rotor assembly 2 further includes an undercarriage 70 and a protection bracket 80, the undercarriage 70 is fixedly mounted on the third interface 50, and the protection bracket 80 is fixedly mounted inside the hollow horizontal cantilever 21 through a carbon fiber rod 90.
Referring to fig. 5 and 6, the multi-directional joint 221 includes a fixed disk 300, the third motor 222 is fixedly mounted on the upper side of the fixed disk 300, a first engaging component 400 is disposed in the middle of the bottom surface of the fixed disk 300, and a second engaging component 500 and a third engaging component 600 are disposed on two sides of the fixed disk 300 and are symmetric about the first engaging component 400, a third interface 50 is formed in the middle of the first engaging component 400, and a second interface 40 and a fourth interface 60 are respectively formed on the outer sides of the second engaging component 500 and the third engaging component 600.
As shown in fig. 7, the horizontal rotor assembly 2 includes a first horizontal rotor assembly 23, a second horizontal rotor assembly 24, a third horizontal rotor assembly 25, and a fourth horizontal rotor assembly 26; a first blocking position 331, a second blocking position 332 and a third blocking position 333 which are arranged at two sides of the first blocking position 331 are arranged at the upper side of the central fixing plate 33;
according to the unmanned aerial vehicle, due to the arrangement of the plurality of clamping positions, the plurality of rotor wing assemblies can be conveniently mounted and dismounted, meanwhile, the maintenance and the replacement of parts are convenient, and the service life of the whole unmanned aerial vehicle is prolonged.
The first horizontal rotor assembly 23 comprises a first boom support 231 and a first horizontal pitch assembly 232 secured distally to the first boom support 231, the second horizontal rotor assembly 24 comprises a second boom support 241 and a second horizontal pitch assembly 242 secured distally to the second boom support 241, the third horizontal rotor assembly 25 comprises a third boom support 251 and a third horizontal pitch assembly 252 secured distally to the third boom support 251, and the fourth horizontal rotor assembly 26 comprises a fourth boom support 261 and a fourth horizontal pitch assembly 262 secured distally to the fourth boom support 261;
the proximal end of the first cantilever support 231 is integrally connected with the proximal end of the third cantilever support 251 and is fixed on the first blocking position 331;
the proximal end of the second cantilever bracket 241 is fixed in the second detent 332, and the proximal end of the third cantilever bracket 251 is fixed in the third detent 333;
such that first, second, third, and fourth horizontal rotor assemblies 23, 24, 25, and 26 form a cross-type horizontal rotor configuration or an "X" type horizontal rotor configuration.
Example 2
As shown in fig. 8, the present embodiment is different from embodiment 1 in that the angle between the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 is α, and α is 60 °.
Example 3
As shown in fig. 9, the present embodiment is different from embodiment 1 in that the angle between the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 is α,180 ° - α = β, and β is 60 °.
Example 4
As shown in fig. 10, the present embodiment is different from embodiment 1 in that an included angle γ between a plane in which the propeller assembly is located and a horizontal plane is 60 °.
Example 5
The embodiment provides a flight control method of a novel multi-rotor unmanned aerial vehicle, which is implemented by the unmanned aerial vehicle of any one of embodiments 1 to 4, and the control method comprises the following steps: through adjusting respectively horizontal rotor subassembly 2 with the side upright rotor subassembly 3 realizes the independent regulation of six degrees of freedom of unmanned aerial vehicle.
Example 6
The embodiment provides a remote controller for controlling an unmanned aerial vehicle according to any one of embodiments 1 to 4, wherein the remote controller is provided with two-dimensional rockers and two one-dimensional rockers (six degrees of freedom in total), the one-dimensional rockers give a command of the unmanned aerial vehicle for translational motion, the two-dimensional rockers give a command of the unmanned aerial vehicle for rotational motion, and the translational motion comprises horizontal flying motion and vertical height adjusting motion; the rotation motion comprises pitching motion, rolling motion and course angle adjusting motion; thereby realize unmanned aerial vehicle rotation and translational motion's independent control. Preferably, the one-dimensional rocker of the roll angle can be set to 0, so that one-dimensional rocker can be saved.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.
Claims (8)
1. A novel multi-rotor unmanned aerial vehicle comprises a frame (1) and a horizontal rotor component (2) arranged on the frame (1), wherein in a horizontal standing state of the unmanned aerial vehicle, the plane where the horizontal rotor component (2) is located is parallel to the horizontal plane, and the novel multi-rotor unmanned aerial vehicle is characterized in that the frame (1) is also provided with a side rotor component (3) used for controlling the horizontal movement of the unmanned aerial vehicle, and in the horizontal standing state of the unmanned aerial vehicle, the side rotor component (3) comprises a plurality of side propeller components, and an included angle between the plane where the propeller components are located and the horizontal plane is 45-135 degrees, so that the attitude change and the translation movement of the unmanned aerial vehicle are independently controlled;
the horizontal rotor wing assembly (2) comprises a plurality of horizontal cantilevers (21) and a plurality of horizontal propeller assemblies (22) matched with the horizontal cantilevers (21), each horizontal propeller assembly (22) comprises a multidirectional joint (221), a third motor (222) and a horizontal propeller (223) arranged at the upper end of the third motor (222), a plurality of first interfaces (30) are arranged on the upper side of the multidirectional joint (221), the third motor (222) is fixed on the first interfaces (30), a second interface (40) is further arranged on one side, close to the central axis of the unmanned aerial vehicle, of the multidirectional joint (221), a fourth interface (60) is further arranged on one side, far away from the central axis of the unmanned aerial vehicle, of the multidirectional joint (221), and the horizontal cantilevers (21) are detachably connected with the second interface (40) and the fourth interface (60); the lower end of the multidirectional joint (221) is further provided with a third interface (50), the horizontal rotor assembly (2) further comprises an undercarriage (70) and a protective bracket (80), the undercarriage (70) is fixedly mounted on the third interface (50), and the protective bracket (80) is inserted into the hollow interior of the horizontal cantilever (21) through a carbon fiber rod (90) and is fixed;
the multi-directional joint (221) comprises a fixed disc (300), a third motor (222) is fixedly mounted on the upper side of the fixed disc (300), a first clamping component (400) is arranged in the middle of the bottom surface of the fixed disc (300), the third clamping component is arranged on two sides of the fixed disc (300), the first clamping component (400) is used as a second clamping component (500) and a third clamping component (600) of axial symmetry, a third interface (50) is formed in the middle of the first clamping component (400), and a second interface (40) and a fourth interface (60) are formed in the middle of the second clamping component (500) and the third clamping component (600) respectively.
2. A new multi-rotor drone according to claim 1, wherein the edgewise rotor assembly (3) comprises a first edgewise rotor assembly (31) and a second edgewise rotor assembly (32), the angle between the first and second edgewise rotor assemblies (31, 32) being α, wherein 0 ° < α < 180 °.
3. The novel multi-rotor unmanned aerial vehicle as claimed in claim 2, wherein the unmanned aerial vehicle further comprises a housing (4), a first air duct (10) and a second air duct (20) are arranged in the housing (4), the first air duct (10) and the second air duct (20) are crossed to form an "X" type air duct structure, the first side vertical rotor assembly (31) is arranged in the first air duct (10), the second side vertical rotor assembly (32) is arranged in the second air duct (20), the first side vertical rotor assembly (31) and the second side vertical rotor assembly (32) form a cross ventilation airflow in the "X" type air duct structure when working, and the horizontal rotor assembly (2) is an "X" type cross structure and penetrates through the housing (4) to form a "m" type cross structure with the "X" type structure of the housing (4).
4. The novel multi-rotor unmanned aerial vehicle of claim 2, wherein the side-standing rotor assembly (3) further comprises a central fixing plate (33), the first side-standing rotor assembly (31) comprises a first cantilever (311), a first propeller assembly (312) fixed at a distal end of the first cantilever (311), the second side-standing rotor assembly (32) comprises a second cantilever (321) and a second propeller assembly (322) fixed at a distal end of the second cantilever (321), the central fixing plate (33) is integrally formed with proximal ends of the first cantilever (311) and the second cantilever (321), and an included angle in a projection between the first cantilever (311) and the second cantilever (321) in a horizontal plane is α in a horizontal standing state of the unmanned aerial vehicle, wherein 0 ° < α < 180 °.
5. The novel multi-rotor unmanned aerial vehicle of claim 4, wherein the first propeller assembly (312) comprises a first motor fixing base (100), a first motor (101) mounted on the first motor fixing base (100) and a first vertical propeller (102) driven by the first motor (101) to rotate, the second propeller assembly (322) comprises a second motor fixing base (200), a second motor (201) mounted on the second motor fixing base (200) and a second vertical propeller (202) driven by the second motor (201) to rotate, the first motor fixing base (100) is integrally formed with the distal end of the first boom (311), and the second motor fixing base (200) is integrally formed with the distal end of the second boom (321).
6. The new multi-rotor drone according to claim 4, characterized in that the horizontal rotor assembly (2) comprises a first horizontal rotor assembly (23), a second horizontal rotor assembly (24), a third horizontal rotor assembly (25) and a fourth horizontal rotor assembly (26); a first clamping position (331), a second clamping position (332) and a third clamping position (333) which are arranged at two sides of the first clamping position (331) are arranged at the upper side of the central fixing plate (33);
the first horizontal rotor assembly (23) comprises a first boom support (231) and a first horizontal rotor assembly (232) fixed to a distal end of the first boom support (231), the second horizontal rotor assembly (24) comprises a second boom support (241) and a second horizontal rotor assembly (242) fixed to a distal end of the second boom support (241), the third horizontal rotor assembly (25) comprises a third boom support (251) and a third horizontal rotor assembly (252) fixed to a distal end of the third boom support (251), and the fourth horizontal rotor assembly (26) comprises a fourth boom support (261) and a fourth horizontal rotor assembly (262) fixed to a distal end of the fourth boom support (261);
the near end of the first cantilever support (231) is integrally connected with the near end of the third cantilever support (251) and is fixed on the first clamping position (331);
the proximal end of the second cantilever support (241) is fixed in a second clamping position (332), and the proximal end of the third cantilever support (251) is fixed on a third clamping position (333);
so that the first horizontal rotor assembly (23), the second horizontal rotor assembly (24), the third horizontal rotor assembly (25) and the fourth horizontal rotor assembly (26) form a cross-shaped horizontal rotor structure or an X-shaped horizontal rotor structure.
7. A flight control method of a novel multi-rotor unmanned aerial vehicle, which is realized by the unmanned aerial vehicle of any one of claims 1 to 6, and is characterized in that the control method comprises the following steps: through adjusting respectively horizontal rotor subassembly (2) with incline upright rotor subassembly (3), realize the independent regulation of six degrees of freedom of unmanned aerial vehicle.
8. A novel multi-rotor unmanned aerial vehicle suite comprises the unmanned aerial vehicle as claimed in any one of claims 1 to 6, and is characterized by further comprising a remote controller, wherein two-dimensional rockers and two one-dimensional rockers are arranged on the remote controller, one of the two-dimensional rockers gives a command of horizontal translation motion of the unmanned aerial vehicle, the other two-dimensional rocker and the two one-dimensional rockers give a command of rotation motion and height motion of the unmanned aerial vehicle, and six rockers give commands of all translation motion and rotation motion; the translational motion comprises horizontal flying motion and up-and-down height adjusting motion; the rotation motion comprises pitching motion, rolling motion and course angle adjusting motion; thereby realize unmanned aerial vehicle rotation and translational motion's independent control.
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| KR101767943B1 (en) * | 2015-05-08 | 2017-08-17 | 광주과학기술원 | Multirotor type Unmanned Aerial Vehicle Available for Adjusting Direction of Thrust |
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| CN203528812U (en) * | 2013-09-06 | 2014-04-09 | 天津云友科技有限公司 | Foldable four-rotor aircraft |
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