CN112977793A - Combined multi-rotor unmanned aerial vehicle and control method thereof - Google Patents

Abstract

The application relates to a combined multi-rotor unmanned aerial vehicle and a control method thereof, wherein the combined multi-rotor unmanned aerial vehicle comprises a rack and at least two unmanned aerial vehicle units, the rack is provided with at least two installation positions for installing the unmanned aerial vehicle units, and the installation positions are provided with at least three fixing assemblies for fixing the arms of the unmanned aerial vehicle units. Make up a plurality of unmanned aerial vehicle units in the frame, form the cluster application structure of combination formula, the mode of this kind of combination constitutes the many rotor unmanned aerial vehicle of tandem that the load capacity multiplies through making up a plurality of unmanned aerial vehicle units that the load capacity is little and small, and then reaches the effect that improves bearing capacity. The compatible single flight control mode of unmanned aerial vehicle unit and the many flight control mode, each unmanned aerial vehicle unit both can regard as solitary unmanned aerial vehicle to use, also can regard as many rotor unmanned aerial vehicle's of combination formula subassembly to fly after forming fast, and is very nimble. This application has the effect that improves bearing capacity.

Description

Combined multi-rotor unmanned aerial vehicle and control method thereof

Technical Field

The application relates to the field of multi-rotor unmanned aerial vehicles, in particular to a combined multi-rotor unmanned aerial vehicle and a control method thereof.

Background

Many rotor unmanned aerial vehicle is one kind can be controlled by radio remote control equipment, perhaps by the aircraft of self program control manipulation, and many rotor unmanned aerial vehicle do not generally set up the cockpit, but install equipments such as autopilot, program control device, information acquisition device. The multi-rotor unmanned aerial vehicle has the advantages of being small, portable, rapid in unfolding, low in cost, good in environmental adaptability and the like, and becomes a first-choice technology in emergency industries such as emergency rescue, forest fire protection, urban fire protection and emergency rescue.

In the related art, the foldable eight-rotor unmanned aerial vehicle disclosed in the chinese invention application with application publication No. CN106477024A includes a motor, a propeller, a horn, a body upper shell, a body lower shell, a battery box, and an electric regulation box. The upper shell of the machine body is hermetically connected with the lower shell of the machine body and is a smooth streamline curved surface; eight arms are connected to the fuselage epitheca, and motor, screw and electricity are transferred to the outer end of horn and are boxed.

To above-mentioned technical scheme, the inventor thinks that many rotor unmanned aerial vehicle generally the loading capacity is less, can only be used for the transportation of small-size article. In recent years, along with the rapid development of the unmanned aerial vehicle industry, people are more urgent to the demand of unmanned aerial vehicle load capacity demand, and therefore need provide an unmanned aerial vehicle that load capacity is strong.

Disclosure of Invention

The utility model aims at providing a modular many rotor unmanned aerial vehicle, has the effect that improves the load-carrying capacity, and the above-mentioned invention purpose of this application can be realized through following technical scheme:

a combined multi-rotor unmanned aerial vehicle comprises a rack and at least two unmanned aerial vehicle units, wherein the rack is provided with at least two installation positions for installing the unmanned aerial vehicle units, and the installation positions are provided with at least three fixing assemblies for fixing arms of the unmanned aerial vehicle units; the fixing assembly comprises a bottom supporting ring, a limiting ring connected to the bottom supporting ring and a locking mechanism capable of enabling the bottom supporting ring and the limiting ring to keep fixed, and a limiting space for accommodating the machine arm can be formed between the bottom supporting ring and the limiting ring.

By adopting the technical scheme, a limiting space can be formed between the bottom supporting ring and the limiting ring, and the locking mechanism can keep the bottom supporting ring and the limiting ring relatively fixed. When arbitrary unmanned aerial vehicle unit and one of them installation position installation, the at least three horn of unmanned aerial vehicle unit can hold in spacing space, and under locking mechanism's fixed action, the backing ring is fixed relatively with the spacing ring to prevent each horn and break away from spacing space, thereby make unmanned aerial vehicle unit stably fixable in the frame. Because a plurality of unmanned aerial vehicle units are fixable to be installed on each installation position of frame, a plurality of unmanned aerial vehicle units of combination formula multi-rotor unmanned aerial vehicle can assemble simultaneously, and when combination formula multi-rotor unmanned aerial vehicle carries out the flight instruction, a plurality of unmanned aerial vehicle units carry out the flight action in coordination, and then increase substantially the holistic load-carrying capacity of combination formula multi-rotor unmanned aerial vehicle.

Optionally, a clamping block is arranged on one side of the end part of the limiting ring, which is far away from the limiting space; the locking mechanism comprises a pressing handle and a connecting piece, the pressing handle and the bottom support ring are respectively hinged at two ends of the connecting piece,

the pressing handle is provided with a locking part which can abut against the clamping block to fix the limiting ring and a pressing rod part which can abut against the limiting ring to limit the rotation of the locking part, and a hinge point of the pressing handle is positioned between the locking part and the pressing rod part;

when the bottom supporting ring and the limiting ring are in a locking state, the pressure rod portion abuts against the limiting ring, the locking portion abuts against the clamping block, and a contact point between the locking portion and the clamping block is located on one side, away from the limiting space, of a connecting line between hinge points at two ends of the connecting piece.

Through adopting above-mentioned technical scheme, when collet ring and spacing ring are in lock state, the one side that spacing space was kept away from to the spacing ring of depression bar portion conflict, the one side that the bottom bracket ring was kept away from to the fixture block is contradicted to locking portion, because depression bar portion and locking portion form lever structure through articulated mode, if the spacing ring has the trend of disengaging the collet ring, then the fixture block contradicts locking portion, make locking portion have the trend of taking place the pivoted, and because the contact point between locking portion and the fixture block is located one side that spacing space was kept away from to the line between the pin joint at connecting piece both ends, the rotation of locking portion needs depression bar portion to rotate towards the direction that is close the spacing ring, and because the rotation of spacing ring restriction depression bar portion, thereby make pressure handle and spacing ring relatively fixed, make collet ring and spacing ring keep lock state. When the user need open spacing space, can break off with the fingers and thumb and press the handle so that depression bar portion rotates towards the direction of keeping away from the spacing ring, at this in-process, press handle and collet ring can take place relative rotation with the connecting piece respectively to make locking portion can break away from the fixture block. Locking/unblock mode between spacing ring and the collet ring is simple and convenient, makes the dismantlement between unmanned aerial vehicle unit and the frame more nimble, and the user can break down frame and each unmanned aerial vehicle unit earlier when carrying many rotor unmanned aerial vehicle of combination formula, assembles again when using, and the user carries in the direction more.

Optionally, the pressing rod portion is provided with a protruding block capable of abutting against the limiting ring in a locking state, and a distance is reserved between the protruding block and the connecting piece.

Through adopting above-mentioned technical scheme, depression bar portion accessible lug is contradicted the spacing ring, makes the spacing ring change in with the effect of production of force between the depression bar portion.

Optionally, the limiting ring and the connecting piece are respectively hinged to two ends of the bottom support ring.

Through adopting above-mentioned technical scheme, break pressure handle off with the fingers and thumb when the user, make spacing ring and collet ring relieve the lock state after, the spacing ring is opened to the mode that the user accessible rotated the spacing ring, waits to rotate the spacing ring to original position again when the user need lock the spacing ring again, and is more convenient.

Optionally, one end of the pressing rod part, which is far away from the locking part, is provided with a stress end, and the stress end bends towards the direction close to the limiting ring.

By adopting the technical scheme, a user can apply force to the pressing handle through the stress end so as to rotate the pressing handle.

Optionally, the limiting ring is provided with a reinforcing member capable of supporting the fixture block, and two ends of the fixture block are respectively connected with the limiting ring and the reinforcing member; and a distance is reserved between one surface of the clamping block, which is far away from the locking part, and the surface of the reinforcing part.

Through adopting above-mentioned technical scheme, the reinforcement has the effect of consolidating the support to the fixture block, reduces the risk that the fixture block takes place to damage after long-time atress. When the user breaks the pressure handle off with the fingers and thumb, locking portion conflict fixture block can make the fixture block take place slight deformation, leaves the distance between fixture block and the reinforcement and forms a through-hole structure, increases the deformation scope of fixture block to make the user change in and break the pressure handle off with the fingers and thumb.

Optionally, the locking portion can be contradicted one end of fixture block is provided with the smooth surface.

Through adopting above-mentioned technical scheme, when the user breaks the locking portion off with the fingers and thumb, the expansion end of locking portion can continue to contradict with the fixture block, and the wearing and tearing between the reducible locking portion tip of smooth surface and the fixture block surface to make the user change in and break the pressure handle off with the fingers and thumb.

Optionally, an arc-shaped surface is arranged on one side of the bottom support ring close to the limiting space, and an opening of the arc-shaped surface deviates from the rack; the bottom support ring is provided with a positioning column in the vertical direction, and the machine arm is provided with a positioning hole for the positioning column to be inserted.

Through adopting above-mentioned technical scheme, the user can put into the arcwall face of base ring with the support arm of unmanned aerial vehicle unit after opening the spacing ring to make reference column and locating hole joint, make each support arm and each base ring accomplish the location, then lock each spacing ring again.

Optionally, the frame includes that at least two are used for the bearing each the support frame of unmanned aerial vehicle unit to and be used for connecting adjacent two the link of support frame, each the support frame and each unmanned aerial vehicle unit one-to-one, each the support frame all includes at least four support vertical poles and a plurality of adjacent two of connecting that set up along vertical direction support the support horizontal pole of vertical pole, each end support ring all set up in the tip of supporting the horizontal pole, the position of each end support ring is corresponding with the position that each supported the vertical pole.

Through adopting above-mentioned technical scheme, the user can set up the quantity of support frame according to the quantity of unmanned aerial vehicle unit to make between two adjacent support frames through link fixed connection in order to form complete frame, make the frame whole more nimble changeable. Each support vertical pole of support frame is fixed through each support horizontal pole, and each supports the vertical pole simultaneously and still has the reinforced effect of support to each end filler ring, makes the support of frame to unmanned aerial vehicle unit more stable.

The second purpose of the application is to provide a control method of the combined multi-rotor unmanned aerial vehicle, which has the effect of improving the load capacity, and the second purpose of the invention is realized by the following technical scheme:

a control method of a combined multi-rotor unmanned aerial vehicle can control any one of the combined multi-rotor unmanned aerial vehicles, each unmanned aerial vehicle unit comprises a main control unit and at least one slave unit, and the control method comprises the following steps:

acquiring a control instruction, and determining a flight mode according to the control instruction, wherein the flight mode comprises a single flight control mode and a multi-flight control mode;

if the flight mode is determined to be the multi-flight control mode, then,

acquiring a pairing instruction, determining a master control unit and slave units according to the pairing instruction, and establishing communication between the master control unit and all the slave units;

the method comprises the steps of acquiring flight instructions in real time, executing flight actions according to the flight instructions, outputting the flight instructions to all slave units after the master control unit acquires the flight instructions, and executing the flight actions by the aid of the master control unit and the slave units in a coordinated mode.

Through adopting above-mentioned technical scheme, the control mode is flown with many to compatible single flight control mode of unmanned aerial vehicle unit, and when the unmanned aerial vehicle unit was in single flight control mode, each unmanned aerial vehicle unit all carried out independent flight. When a user combines all the unmanned aerial vehicle units into a combined multi-rotor unmanned aerial vehicle, the master control unit and the slave units can be determined, and communication between the master control unit and all the slave units is established; after the main control unit acquires the flight instruction, the main control unit can output the flight instruction to all slave units, so that the main control unit and the slave units cooperatively execute flight action, a plurality of unmanned aerial vehicle units cooperatively fly, and the integral load capacity of the combined multi-rotor unmanned aerial vehicle is greatly improved.

Drawings

Fig. 1 is a front view of a modular multi-rotor drone of an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a drone unit.

Fig. 3 is a schematic view of the pressing handle in a locked state.

Fig. 4 is a schematic view of one of the states of the press handle in the unlocked state.

Fig. 5 is a schematic view of one state of the press handle when the press handle is switched from the unlocking state to the locking state.

Fig. 6 is a flow chart diagram of a control method of a combined multi-rotor drone.

Description of reference numerals:

1. a frame; 11. an installation position; 2. an unmanned aerial vehicle unit; 21. a horn; 3. a fixing assembly; 31. a bottom ring; 311. a fixed tube; 312. an arc-shaped surface; 313. a connecting portion; 314. a positioning column; 315. a connecting pipe; 32. a limiting ring; 321. a clamping block; 323. a reinforcement; 33. a limiting space; 4. a locking mechanism; 41. a connecting member; 42. pressing the handle; 421. a locking portion; 422. pressing the rod part; 423. a bump; 424. a force-bearing end; 43. a connecting shaft; 5. a support frame; 51. supporting the longitudinal rod; 52. a support rail; 53. a base rail; 6. a connecting frame; 61. reinforcing the frame; 611. a reinforcing bar set; 62. a connecting rod.

Detailed Description

At present, many rotor unmanned aerial vehicle is the first-selected technique of emergent trade because small and exquisite portable, expand advantages such as quick, low cost, environmental suitability are good, but the weight capacity is little always many rotor unmanned aerial vehicle's technological short slab. In order to improve the load-carrying capacity of multi-rotor unmanned aerial vehicles, various technologies have emerged on the market, and most importantly, the number and the size of power units of the unmanned aerial vehicles are increased, namely, the size and the number of propellers are increased. The existing multi-rotor load-carrying unmanned aerial vehicle is mainly in a coaxial double-propeller mode with 12/16 rotors, and the mode is characterized by being compact in structure, but the distance between two adjacent double propellers is small, the efficiency loss of the propellers is large, and the endurance time is greatly reduced. In addition, this kind of many rotors load unmanned aerial vehicle weight and volume are all great, and be difficult for the dismouting to take, need use bigger delivery vehicle, have reduced the adaptability to the mobility application of emergent trade.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.

Embodiments of the present invention are described in further detail below with reference to figures 1-6 of the specification.

Example 1

The embodiment of the application discloses modular many rotor unmanned aerial vehicle.

Referring to fig. 1, many rotor unmanned aerial vehicle of combination formula is provided with the installation position 11 of a plurality of and 2 one-to-one of each unmanned aerial vehicle unit including frame 1 and two at least unmanned aerial vehicle units 2 of demountable installation in frame 1, and frame 1 wholly is the rectangle, and the length direction interval distribution of frame 1 is followed to each installation position 11. Each unmanned aerial vehicle unit 2 all installs on the installation position 11 rather than corresponding, through the combination between frame 1 and a plurality of unmanned aerial vehicle unit 2, can constitute the many rotor unmanned aerial vehicle of combination formula that the load capacity multiplies, and when many rotor unmanned aerial vehicle of combination formula carried out the flight instruction, each unmanned aerial vehicle unit 2 flies in coordination. In the implementation, the length direction of the rack 1 is arranged along the transverse direction, and each unmanned aerial vehicle unit 2 forms a transverse combined multi-rotor unmanned aerial vehicle on the rack 1; in other embodiments, the length direction of the frame 1 may also be arranged along the longitudinal direction, so that the individual drone units 2 form a tandem combined multi-rotor drone on the frame 1.

Referring to fig. 1 and 2, in order to fix the unmanned aerial vehicle unit 2, each installation site 11 is provided with four fixed components 3, and the unmanned aerial vehicle unit 2 can be limited and fixed from multiple directions in the manner of fixing multiple arms 21 of the unmanned aerial vehicle unit 2 by the fixed components 3, so as to maintain the connection stability of the unmanned aerial vehicle unit 2 and the frame 1. In this embodiment, a straight line passing through the geometric center of the drone unit 2 and perpendicular to the length direction of the rack 1 is defined as a reference line a, the arms 21 of the drone unit 2 are symmetrically disposed on two sides of the reference line a, and the four fixing assemblies 3 are disposed on the four arms 21 closest to the reference line a. It will be appreciated that when the combined multi-rotor drone is of the tandem type, the reference line a is parallel to the forward/backward direction of the drone unit 2; when the combined type multi-rotor unmanned aerial vehicle is in a tandem type, the datum line a is perpendicular to the advancing/retreating direction of the unmanned aerial vehicle unit 2.

Referring to fig. 2 and 3, specifically, each fixing component 3 includes a bottom support ring 31, a limiting ring 32 and a locking mechanism 4, wherein the limiting ring 32 and the bottom support ring 31 can be matched with each other, and when the limiting ring 32 and the bottom support ring 31 are combined, an annular structure distributed around the horn 21 can be formed; the locking mechanism 4 is used for switching the fixing state between the limiting ring 32 and the bottom support ring 31, in the locking state, the locking mechanism 4 can enable the limiting ring 32 and the bottom support ring 31 to be relatively fixed, and in the unlocking state, the limiting ring 32 and the bottom support ring 31 can be relatively movable.

Referring to fig. 1 and 3, the bottom of the bottom support ring 31 is integrally formed with a fixing tube 311 fixedly connected with the frame 1, the top of the bottom support ring 31 is bent to form an arc-shaped surface 312, and an arc opening of the arc-shaped surface 312 faces upwards to depart from the frame 1. The whole semicircle that is of spacing ring 32 is cyclic annular, and the one end at one end and the collet ring 31 top of spacing ring 32 are articulated, and when spacing ring 32 rotated the arc opening of spacing ring 32 and the arc opening state of closing each other of arcwall face 312, it is the circular shape spacing space 33 to form the cross-section between spacing ring 32 and the collet ring 31 to supply horn 21 to hold.

Referring to fig. 3, in order to cooperate with the locking mechanism 4, a latch 321 is integrally formed at the movable end of the limiting ring 32, and the latch 321 protrudes away from the limiting space 33. The locking mechanism 4 comprises a connecting piece 41 and a pressing handle 42, wherein the connecting piece 41 is used for connecting the pressing handle 42 and the bottom support ring 31, the connecting piece 41 is integrally bent in an arc shape, the number of the connecting pieces 41 is 2, and the two connecting pieces 41 are respectively hinged on two sides of the pressing handle 42 through connecting shafts 43, so that the pressing handle 42 can rotate between the two connecting pieces 41. One end of the top of the bottom support ring 31 is hinged with the limiting ring 32, the other end is integrally formed with a connecting part 313, and one ends of the two connecting pieces 41 far away from the pressing handle 42 are respectively hinged on two sides of the connecting part 313, so that two ends of the connecting pieces 41 are respectively hinged with the bottom support ring 31 and the pressing handle 42.

Referring to fig. 3, in particular, the pressing handle 42 includes a locking portion 421 for engaging with the latch 321, and a pressing rod portion 422 for engaging with the limiting ring 32, a folded angle is formed between the locking portion 421 and the pressing rod portion 422, the locking portion 421 and the pressing rod portion 422 are integrally formed, and the connecting shaft 43 is located between the locking portion 421 and the pressing rod portion 422, so that the locking portion 421 and the pressing rod portion 422 form a lever structure through the connecting shaft 43. A convex block 423 for abutting against the limit ring 32 is further convexly arranged on one side of the rod pressing part 422, and a distance is reserved between the convex block 423 and the connecting shaft 43.

Referring to fig. 3, in order to position and fix the latch 321, the length of the locking portion 421 is smaller than that of the connection member 41, so that a distance is always kept between one end of the locking portion 421 away from the connection shaft 43 and the surface of the connection portion 313. In the locking state, a limiting space 33 is formed between the bottom support ring 31 and the limiting ring 32, the latch 321 is located in the space between the locking portion 421 and the connecting portion 313, the movable end of the locking portion 421 abuts against one surface of the latch 321 far away from the connecting portion 313, and the rod portion 422 abuts against one surface of the limiting ring 32 far away from the limiting space 33 through the protrusion 423.

Referring to fig. 1 and 3, the horn 21 can be accommodated in the spacing space 33, and when the horn 21 has a tendency to separate from the spacing space 33, the spacing ring 32 and the fixture block 321 have a tendency to turn upward to be away from the bottom bracket ring 31; at this time, the locking portion 421 is acted by the latch 321, the movable end of the locking portion 421 will have a tendency of turning towards a direction away from the spacing space 33, under the action of the connecting shaft 43, the projection 423 has a tendency to turn toward the direction approaching the spacing space 33, thereby causing the protrusion 423 to tightly abut against the retainer ring 32 to prevent the retainer ring 32 from turning over, which means that the turning over of the retainer ring 32 will drive the turning over of the pressure rod 422, and the turning of the rod pressing part 422 can prevent the limiting ring 32 from turning over, so as to form a locking mode that the limiting ring 32 and the rod pressing part 422 are relatively limited, thereby the position limiting ring 32 and the bottom support ring 31 can keep a relatively fixed state, and in the locking mode, along with the greater tendency of the position limiting ring 32 to overturn, the greater the force of the pressure lever part 422 for preventing the position limiting ring 32 from overturning, so that the locking between the bottom support ring 31 and the limiting ring 32 can also be applied to the environment with severe shaking.

Referring to fig. 3, in the locked state, in order to make the movable end of the locking portion 421 always have a tendency of turning towards the direction away from the limiting space 33 after the locking portion 421 is acted by the force of the latch 321, the contact point between the locking portion 421 and the latch 321 is located at the side of the shortest connecting line b between the hinge points at the two ends of the connecting member 41 away from the limiting space 33.

Referring to fig. 4, when the user needs to open the retainer ring 32, the pressing handle 42 is pressed to turn the pressing rod portion 422 in a direction away from the retainer ring 32, and at this time, the locking portion 421 and the connecting member 41 rotate relatively, and the connecting member 41 and the connecting portion 313 rotate relatively, so that the movable end of the locking portion 421 turns in a direction close to the retainer ring 32 until the locking portion 421 is separated from the latch 321, thereby switching to the unlocking state.

Referring to fig. 5, when the user needs to lock the position-limiting ring 32, the locking portion 421 may abut against the locking block 321, and then the pressing handle 42 is pressed to turn the pressing rod portion 422 toward the position-limiting ring 32 until the protrusion 423 abuts against the position-limiting ring 32 through interference fit, so as to switch to the locking state.

Referring to fig. 4, in the process of switching between the locked state and the unlocked state, the user is required to break the pressing handle 42 or push the pressing handle 42, so as to facilitate the user to apply force to the pressing handle 42, a force-bearing end 424 is integrally formed at one end of the pressing rod portion 422 away from the locking portion 421, and the force-bearing end 424 is integrally bent toward the direction approaching the retainer ring 32. In order to prevent the end of the locking portion 421 from wearing against the surface of the latch 321 and facilitate the user to open the pressing handle 42, a smooth surface is provided on the side of the locking portion 421 away from the connecting shaft 43.

Referring to fig. 4, in this embodiment, when the locking state and the unlocking state are switched to each other, the latch 321 is deformed by the force of the locking portion 421, in order to reduce the risk that the latch 321 is damaged after being stressed for a long time, the limiting ring 32 is further integrally formed with a reinforcing member 323 for supporting the reinforcing latch 321, the reinforcing member 323 is integrally located on one side of the latch 321 away from the locking portion 421, one end of the reinforcing member 323 is fixedly connected to the limiting ring 32, the other end of the reinforcing member 323 is fixedly connected to one end of the latch 321 away from the limiting ring 32, and an included angle is formed between two ends of the reinforcing member 323, so that a distance is left between the surface of the reinforcing member 323 and one side of the latch 321 away from the locking portion 421, so as to form a through. Reinforcing member 323 can support the one end that spacing ring 32 was kept away from to fixture block 321 on the one hand, reduces fixture block 321 and takes place irreversible deformation or the risk of serious damage, and on the other hand accessible through-hole structure increases the deformable range of fixture block 321, makes things convenient for the switching each other between locking state and the unblock state.

Referring to fig. 2 and 4, further, a positioning column 314 is fixedly disposed on the arc-shaped surface 312 of the bottom support ring 31, the positioning column 314 is disposed in a vertical direction, and the horn 21 is provided with a positioning hole (not shown in the figure) for inserting into the positioning column 314. The user is when installing unmanned aerial vehicle unit 2, can overturn earlier and open spacing ring 32, and the upset is opened connecting piece 41 and is pressed 42, then from last to placing each horn 21 down and insert in each collet ring 31 that corresponds, accomplish the location to unmanned aerial vehicle unit 2, then each spacing ring 32 overturns, make each horn 21 hold in the spacing space 33 that corresponds, then promote each in proper order again and press 42 each spacing ring 32 of locking, make unmanned aerial vehicle unit 2 fix in frame 1 completely. Similarly, when the user needs to detach the unmanned aerial vehicle unit 2, each pressing handle 42 can be broken off, the limiting of each limiting ring 32 on each horn 21 is released, and then the unmanned aerial vehicle unit 2 can be taken out.

Referring to fig. 2 and 3, utilize the setting of pressure handle 42, locking/unblock mode between spacing ring 32 and the collet ring 31 is more simple and convenient, each unit machine of the many rotor unmanned aerial vehicle of combination formula all can be disassembled fast, carry or carry out the flight as solitary unmanned aerial vehicle unit 2, improve the person of facilitating the use and carry, and the user can select unmanned aerial vehicle unit 2 to carry out the flight task alone according to the practical application scene, perhaps make each unmanned aerial vehicle unit 2 fly in coordination, improve the suitability of the many rotor unmanned aerial vehicle of combination formula to the use scene.

Referring to fig. 1, specifically, each unmanned aerial vehicle unit 2 in this embodiment is provided with a control module and a communication module electrically connected to the control module, and the unmanned aerial vehicle unit 2 is compatible with a single flight control mode and a multi-flight control mode, and in the single flight control mode, the unmanned aerial vehicle unit 2 can be used as an independent unmanned aerial vehicle to normally execute a flight task; under the mode of controlling flies more, can realize the communication and transmit flight instruction each other between each unmanned aerial vehicle unit 2 to realize the collaborative flight of many unmanned aerial vehicle unit 2.

Referring to fig. 1, a frame 1 includes at least two support frames 5 and a connecting frame 6 disposed between two adjacent support frames 5, where the support frames 5 are used to support unmanned aerial vehicle units 2, and each support frame 5 corresponds to each unmanned aerial vehicle unit 2 one to one; a connecting frame 6 is fixedly connected between two adjacent supporting frames 5, so that each supporting piece is relatively fixed.

Referring to fig. 1, each supporting frame 5 includes four vertical supporting rods 51, four horizontal supporting rods 52, and four base horizontal rods 53. The four supporting transverse rods 52 are fixedly connected to form an integral rectangular hollow frame body and form a mounting position 11, and the top end of each supporting longitudinal rod 51 is connected to the node of two adjacent supporting transverse rods 52; the four base cross bars 53 are also fixedly connected to form an overall rectangular hollow frame, and the lower ends of the supporting longitudinal bars 51 are connected to the nodes of the two adjacent base cross bars 53. In the present embodiment, the supporting longitudinal rods 51, the supporting transverse rods 52 and the base transverse rods 53 are detachably and fixedly connected through the adaptive lean pipe joints.

Referring to fig. 1 and 3, each base ring 31 is respectively arranged at four corners of the installation position 11, a fixing pipe 311 of each base ring 31 is bolted with a connecting pipe 315 fixed on the installation position 11, and each connecting pipe 315 corresponds to each supporting vertical rod 51, so that each base ring 31 is located right above each supporting vertical rod 51, and the supporting strength of the frame 1 to the unmanned aerial vehicle unit 2 is enhanced. In this embodiment, the connection pipe 315, the supporting longitudinal rod 51 and the supporting transverse rod 52 are detachably and fixedly connected through a fitting fine pipe joint.

Referring to fig. 1, specifically, each of the connection frames 6 includes a reinforcing frame 61 and connection rods 62 symmetrically disposed at both sides of the reinforcing frame 61, wherein the reinforcing frame 61 is rectangular as a whole, four sides of the reinforcing frame 61 are provided with a reinforcing rod group 611, and a plane formed between the reinforcing rod groups 611 is disposed in a vertical direction. Each reinforcing rod group 611 is composed of two reinforcing rods, the two reinforcing rods are fixedly connected through a clamping piece, and two ends of the reinforcing rod on any side are respectively and fixedly connected with one end of the reinforcing rod on the two adjacent sides.

Referring to fig. 1, further, four connecting bars 62 are perpendicular to a plane formed between the respective reinforcing bar groups 611, and the respective connecting bars 62 are in one-to-one correspondence with four corners of the reinforcing frame 61. One end of the connecting rod 62 is fixedly connected to the reinforcement frame 61 closest thereto, and the other end of the connecting rod 62 is fixedly connected to the support frame 5 closest thereto. In the embodiment, the connecting rod 62 and the reinforcing rod, and the connecting rod 62, the supporting longitudinal rod 51 and the supporting transverse rod 52 are detachably and fixedly connected through the matched lean pipe joints.

Referring to fig. 1, the user can set up the quantity of support frame 5 according to the quantity of unmanned aerial vehicle unit 2, and the overall dimension of frame 1, the user can synthesize the design according to the size of unmanned aerial vehicle unit 2 and the size of screw, like the distance between two adjacent installation positions 11, the user can design according to unmanned aerial vehicle unit 2's the biggest expansion size.

Referring to fig. 1, because many rotor unmanned aerial vehicle of combination formula have a plurality of unmanned aerial vehicle units 2, many rotor unmanned aerial vehicle's of combination formula load capacity is almost the load capacity sum of each unmanned aerial vehicle unit 2, and the designer can be according to the quantity of going to select unmanned aerial vehicle unit 2 to the ability demand to the load when designing the many rotor unmanned aerial vehicle of combination formula to select the suitable unmanned aerial vehicle model.

Referring to fig. 1, in addition, when many rotor unmanned aerial vehicle of combination formula fly, if the propeller of adjacent unmanned aerial vehicle unit 2 is too close easy to take place aerodynamic interference, consequently the designer still need be according to unmanned aerial vehicle unit 2's maximum expansion size to consider the distance between two adjacent installation positions 11, not only must compromise the requirement that the whole volume of frame 1 is little, also must consider the aerodynamic loss that two adjacent unmanned aerial vehicle unit 2 arouse. Wherein the distance between two adjacent mounting positions 11 is determined by the length of the connecting frame 6.

With reference to fig. 1, for the sake of understanding, the following takes as an example a combined multi-rotor drone with two drone units 2:

the target load of the combined multi-rotor unmanned aerial vehicle is 50kg, and the target endurance time is 30 minutes.

Selecting an existing KWT-X8L-25 eight-rotor unmanned aerial vehicle as an unmanned aerial vehicle unit 2 (when the unmanned aerial vehicle is loaded with 25kg, the cruising ability of the unmanned aerial vehicle is more than 30 minutes);

modifying an internal control system of the unmanned aerial vehicle unit 2, adding a control mode when the double unmanned aerial vehicle units 2 fly cooperatively, enabling the unmanned aerial vehicle unit 2 to be compatible with a single-flight control mode and a multi-flight control mode, and enabling the two unmanned aerial vehicle units 2 to establish communication and receive signals so as to realize logic control;

according to the quantity of unmanned aerial vehicle unit 2, the quantity and the size of design support frame 5 to set up the length of connecting piece 41.

The motors driving the propellers to rotate on one of the drone units 2 are defined as a1, a2, A3, a4, a5, a6, a7, A8; the motors on the other drone unit 2 that drive the rotation of the propellers are defined as B1, B2, B3, B4, B5, B6, B7, B8.

Constitute many rotor unmanned aerial vehicle of combination formula when two unmanned aerial vehicle units 2 to make unmanned aerial vehicle unit 2 switch to the mode of flying at most after, the many rotor unmanned aerial vehicle of combination formula carries out the control logic of flight action and is:

if the flying action is pitching forward, then,

a1 a2 A3 A8B 1B 2B 3B 8 decelerates;

a 4a 5 a6 a 7B 4B 5B 6B 7 accelerates;

if the flying action is pitching backward, then,

a1 a2 A3 A8B 1B 2B 3B 8 accelerates;

a 4a 5 a6 a 7B 4B 5B 6B 7 decelerates;

if the flying motion is a roll-to-right motion, then,

a2 A3 a 4a 5 acceleration;

a1 a6 a7 A8B 2B 3B 4B 5 is unchanged;

B1B 6B 7B 8 decelerates;

if the flying motion is roll left, then,

a2 A3 a 4a 5 decelerates;

a1 a6 a7 A8B 2B 3B 4B 5 is unchanged;

B1B 6B 7B 8 acceleration;

if the flying action is a right turn, then,

a3 a 5B 1B 7 acceleration;

a1 a6 a7 A8B 2B 3B 4B 5 is unchanged;

a2 a 4B 6B 8 decelerates;

if the flying action is left turn, then,

a3 a 5B 1B 7 decelerates;

a1 a6 a7 A8B 2B 3B 4B 5 is unchanged;

a2 a 4B 6B 8 acceleration;

if the flying action is ascending, all motors are accelerated;

if the flight is descending, all motors are decelerated.

The embodiment of the application provides a modular many rotor unmanned aerial vehicle's implementation principle does: make up a plurality of unmanned aerial vehicle units 2 in frame 1, form the cluster application structure of combination formula, the mode of this kind of combination constitutes the many rotor unmanned aerial vehicle of tandem formula that the load capacity multiplies through making up a plurality of unmanned aerial vehicle units 2 that the loading capacity is little and small, and then reaches the effect that improves bearing capacity.

The unmanned aerial vehicle unit 2 and the frame 1 can be rapidly combined or disassembled, so that the transportation space required by a user in the process of transporting the combined multi-rotor unmanned aerial vehicle is saved, the combined multi-rotor unmanned aerial vehicle is convenient to carry, and the mobility requirement of the emergency industry can be met on the basis of improving the carrying capacity.

Through the modification to 2 control system of ordinary unmanned aerial vehicle unit, make 2 compatible single flight control modes of unmanned aerial vehicle unit and the many flight control modes, each unmanned aerial vehicle unit 2 both can regard as solitary unmanned aerial vehicle to use, also can regard as many rotor unmanned aerial vehicle's of combination formula subassembly to fly after forming fast, and is very nimble.

Frame 1 is whole to be formed through the concatenation of detachable shaft-like structure, has reduced the holistic design cost of frame and cost of maintenance, and the designer can synthesize the design according to the size of unmanned aerial vehicle unit 2, the size of screw to in rapid Assembly and disassemble for basic principle, improve and carry the ability, the demand that adapts to expand fast.

Example 2

The embodiment of the application discloses a control method of a combined multi-rotor unmanned aerial vehicle.

Referring to fig. 6, the control method of the combined multi-rotor drone includes the following specific steps:

and S01, acquiring a control command, and determining the flight mode according to the control command.

The flight modes comprise a single flight control mode and a multi-flight control mode, the control instruction can be sent by a remote control terminal in communication connection with the unmanned aerial vehicle unit 2, and the flight modes can be switched according to the content of the control instruction after the unmanned aerial vehicle unit 2 obtains the control instruction.

S02, judging whether the flight mode is a single flight control mode, if so, executing S03; otherwise, S04 is executed.

In the single flight control mode, the unmanned aerial vehicle unit 2 independently executes a flight instruction; under the multi-flight control mode, all unmanned aerial vehicle units 2 of the combined multi-rotor unmanned aerial vehicle cooperatively execute flight instructions.

And S03, acquiring a flight instruction in real time, and executing a flight action according to the flight instruction.

Wherein, the flight instruction can be sent by each remote control terminal with 2 communication connection of each unmanned aerial vehicle unit, and unmanned aerial vehicle unit 2 obtains the flight instruction after, carries out corresponding flight action.

S04, obtaining the pairing instruction, determining the master control unit and the slave unit according to the pairing instruction, establishing communication between the master control unit and all the slave units, and executing S05.

Wherein, each unmanned aerial vehicle unit 2 has a master control unit therein, and all unmanned aerial vehicle units 2 except for the master control unit are slave units. All the unmanned aerial vehicle units 2 can be master control units or slave units, when the unmanned aerial vehicle units 2 are switched to a multi-flight control mode, the unmanned aerial vehicle units 2 determine whether to become the master control units or the slave units according to the obtained pairing instructions, and when all the slave units are paired with the master control unit, all the slave units establish communication with the master control unit.

And S05, acquiring a flight instruction in real time, and executing a flight action according to the flight instruction.

The flight instruction is sent by a remote control terminal in communication connection with the main control unit, and the main control unit can output the flight instruction to all the slave units after acquiring the flight instruction, so that all the slave units can cooperatively execute flight action with the main control unit.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. The utility model provides a modular many rotor unmanned aerial vehicle which characterized in that: the unmanned aerial vehicle comprises a rack (1) and at least two unmanned aerial vehicle units (2), wherein the rack (1) is provided with at least two installation positions (11) for installing the unmanned aerial vehicle units (2), and the installation positions (11) are provided with at least three fixing components (3) for fixing a machine arm (21) of the unmanned aerial vehicle units (2); the fixing component (3) comprises a bottom support ring (31), a limiting ring (32) connected to the bottom support ring (31), and a locking mechanism (4) capable of enabling the bottom support ring (31) and the limiting ring (32) to be fixed, wherein a limiting space (33) for accommodating the machine arm (21) can be formed between the bottom support ring (31) and the limiting ring (32).

2. The modular multi-rotor drone of claim 1, wherein: a clamping block (321) is arranged on one side, away from the limiting space (33), of the end part of the limiting ring (32); the locking mechanism (4) comprises a pressing handle (42) and a connecting piece (41), the pressing handle (42) and the bottom supporting ring (31) are respectively hinged at two ends of the connecting piece (41),

the pressing handle (42) is provided with a locking part (421) which can abut against the clamping block (321) to fix the limiting ring (32) and a pressing rod part (422) which can abut against the limiting ring (32) to limit the rotation of the locking part (421), and a hinge point of the pressing handle (42) is positioned between the locking part (421) and the pressing rod part (422);

when the bottom support ring (31) and the limiting ring (32) are in a locking state, the pressing rod part (422) abuts against the limiting ring (32), the locking part (421) abuts against the clamping block (321), and a contact point between the locking part (421) and the clamping block (321) is located on one side, away from the limiting space (33), of the connecting line between hinge points at two ends of the connecting piece (41).

3. The modular multi-rotor drone of claim 2, wherein: the pressing rod part (422) is provided with a lug (423) capable of abutting against the limiting ring (32) in a locking state, and a distance is reserved between the lug (423) and the connecting piece (41).

4. The modular multi-rotor drone of claim 2, wherein: the limiting ring (32) and the connecting piece (41) are respectively hinged to two ends of the bottom supporting ring (31).

5. The modular multi-rotor drone of claim 2, wherein: one end, far away from locking portion (421), of pressure lever part (422) is provided with stress end (424), stress end (424) are towards being close to the direction of spacing ring (32) is buckled.

6. The modular multi-rotor drone of claim 2, wherein: the limiting ring (32) is provided with a reinforcing member (323) capable of supporting the clamping block (321), and two ends of the clamping block (321) are respectively connected with the limiting ring (32) and the reinforcing member (323); and a distance is reserved between one surface of the clamping block (321) far away from the locking part (421) and the surface of the reinforcing member (323).

7. The modular multi-rotor drone of claim 2, wherein: one end of the locking part (421) capable of abutting against the clamping block (321) is provided with a round sliding surface.

8. The modular multi-rotor drone of claim 2, wherein: an arc-shaped surface (312) is arranged on one side, close to the limiting space (33), of the bottom supporting ring (31), and an opening of the arc-shaped surface (312) deviates from the rack (1); the bottom supporting ring (31) is provided with a positioning column (314) arranged in the vertical direction, and the machine arm (21) is provided with a positioning hole for the insertion of the positioning column (314).

9. The modular multi-rotor drone of claim 1, wherein: frame (1) includes that at least two are used for the bearing each support frame (5) of unmanned aerial vehicle unit (2) to and be used for connecting adjacent two link (6) of support frame (5), each support frame (5) and each unmanned aerial vehicle unit (2) one-to-one, each support frame (5) all including at least four support vertical pole (51) and a plurality of connection adjacent two that set up along vertical direction support horizontal pole (52) of vertical pole (51), each end filler ring (31) all set up in the tip of supporting horizontal pole (52), the position of each end filler ring (31) is corresponding with the position that each supported vertical pole (51).

10. A control method for a combined multi-rotor drone, for use in a combined multi-rotor drone according to any one of claims 1 to 9, each of said drone units (2) comprising a master unit and at least one slave unit, said control method comprising:

acquiring a control instruction, and determining a flight mode according to the control instruction, wherein the flight mode comprises a single flight control mode and a multi-flight control mode;

if the flight mode is determined to be the multi-flight control mode, then,

acquiring a pairing instruction, determining a master control unit and slave units according to the pairing instruction, and establishing communication between the master control unit and all the slave units;

the method comprises the steps of acquiring flight instructions in real time, executing flight actions according to the flight instructions, outputting the flight instructions to all slave units after the master control unit acquires the flight instructions, and executing the flight actions by the aid of the master control unit and the slave units in a coordinated mode.

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