CN113859532A - Honeycomb cluster multi-rotor unmanned aerial vehicle structure and control method thereof - Google Patents
Honeycomb cluster multi-rotor unmanned aerial vehicle structure and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
- B64C37/02—Flying units formed by separate aircraft
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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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
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Abstract
The invention relates to a honeycomb cluster multi-rotor unmanned aerial vehicle structure and a control method thereof, wherein the honeycomb cluster multi-rotor unmanned aerial vehicle structure comprises a plurality of unmanned aerial vehicle bodies, each unmanned aerial vehicle body is erected with a frame, the frame is polygonal and surrounds the outer side of the unmanned aerial vehicle body, and the inner side of the frame is connected with the unmanned aerial vehicle body through a connecting rod; the frame is also provided with a fixing mechanism, and the fixing mechanism is used for detachably connecting the frames, so that the unmanned aerial vehicle bodies are mutually combined and fly synchronously. When one unmanned aerial vehicle breaks down, the control right and the real-time flight data are transferred, and whether the power failure is lower than the power redundancy setting or not is judged, so that a return flight program is executed or a preset air route task is continued. According to the invention, multiple individual unmanned aerial vehicles with the same performance can be mutually overlapped, so that the flight performance is improved, the loading capacity, the endurance time and the fault tolerance of a redundant system can be improved, and the research and development period and the cost are greatly reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight, in particular to a honeycomb type cluster multi-rotor unmanned aerial vehicle structure and a control method thereof.
Background
Currently, in the multi-rotor drone industry, the individual flight performance, including rotor number, flight time, load carrying capacity, has been determined substantially at the beginning of the design, completing a fixed flight mission. Such independent individual multi-rotor drones have the following disadvantages:
1. when different task carriers are changed or longer flight time needs to be improved, another multi-rotor unmanned aerial vehicle individual with flight performance needs to be redesigned, so that the research and development cost including capital cost, time and labor cost is greatly increased;
2. when an individual unmanned aerial vehicle executing a flight task breaks down in a preparation stage or a flight stage, such as the problems of insufficient electric quantity, damage of a motor or a propeller, failure of a GPS (global positioning system) and the like, the operation of body replacement, emergency return or in-situ forced landing is required, and the flight task is forced to be interrupted;
3. many rotor unmanned aerial vehicle of big load all is bigger than the ratio usually, and mechanical structure is also more complicated, and long distance transport all can improve transportation and storage cost.
Disclosure of Invention
In order to solve the problems existing in the prior art, one of the objectives of the present invention is to provide a honeycomb type cluster multi-rotor unmanned aerial vehicle structure, which can make multiple unmanned aerial vehicles with completely the same performance form a new whole through the connection of mechanical structures, and the transportation and storage costs are also reduced due to the detachable and combined mechanical structure; the mechanical structure is simple, and effective and appropriate storage is facilitated. The second purpose of the invention is to provide a control method of a honeycomb cluster multi-rotor unmanned aerial vehicle, which completes a flight task by controlling a plurality of unmanned aerial vehicles to be mutually overlapped, realizes the improvement of flight performance, improves the loading capacity, the endurance time and the fault tolerance rate of a redundant system, and greatly reduces the research and development period and the cost.
The honeycomb type cluster multi-rotor unmanned aerial vehicle structure comprises a plurality of unmanned aerial vehicle bodies, wherein a frame is erected on each unmanned aerial vehicle body, the frame is polygonal and surrounds the outer side of each unmanned aerial vehicle body, and the inner side of each frame is connected with the unmanned aerial vehicle body through a connecting rod; still be equipped with fixed establishment on the frame, fixed establishment is used for making each can dismantle the connection between the frame to make many unmanned aerial vehicle body mutually the combination and synchronous flight.
In one embodiment, the frame is a regular hexagon, when a plurality of the unmanned aerial vehicle bodies are combined with each other, one unmanned aerial vehicle body is taken as a center, the other unmanned aerial vehicle bodies are symmetrically arranged around the center, and every two frames are connected by aligning one side.
In one embodiment, the fixing mechanism includes a screw hole provided on the frame and a bolt for passing through the screw hole, and the screw hole is correspondingly provided at two ends of each side of the frame.
In one embodiment, the fixing mechanism includes an upper cover and a lower cover detachably connected to each other, the upper cover and the lower cover are fastened to corners of the frames and form through holes in three directions, and the through holes are adapted to thicknesses of the two frames after being spliced.
In one embodiment, the upper cover body and the lower cover body are provided with protective layers at the positions where the upper cover body and the lower cover body are contacted with the frame.
In one embodiment, the number of the connecting rods on each unmanned aerial vehicle body is 6, and the connecting rods are connected to the middle points of the edges of the frame.
In one embodiment, there are 4 rotors of unmanned aerial vehicle body and symmetry respectively in 4 among them the bottom of connecting rod.
A control method of a honeycomb cluster multi-rotor unmanned aerial vehicle comprises the structure of the honeycomb cluster multi-rotor unmanned aerial vehicle and comprises the following steps:
s1, confirming the flight mode of the unmanned aerial vehicle, and respectively setting the unmanned aerial vehicle participating in the flight as at least one host and a plurality of slave machines;
s2, setting a flight route and respectively sending an air route task and GPS positioning data to the master machine and the slave machine;
s3, the host normally executes a preset route task and shares real-time flight data to at least one slave;
s4, when one unmanned aerial vehicle breaks down and loses power, judging whether the main machine breaks down or not, and if not, entering the next step; if so, all the unmanned aerial vehicles hover and perform control right switching, and the master transfers all the control rights to one of the slave machines receiving the real-time flight data in the step S3;
s5, the unmanned aerial vehicle obtaining the control right serves as a host, whether the power failure is larger than the power redundancy setting is judged, and if not, a return flight procedure is executed immediately; if yes, the preset air route task is continuously executed according to the GPS positioning data of the user, and the step S3 is repeated.
In one embodiment, in step S4, if the drone that has failed and lost power is located at the edge, another drone that is disposed with central symmetry of the drone suspends power output, and when step S5 is executed, the power output of the two drones is lost during the process of determining whether the power failure is greater than the power redundancy setting.
In one embodiment, in the step S5, the method for determining whether the power failure is greater than the power redundancy setting includes the following steps:
when some part of individuals lose power, whether the remaining power can enable all unmanned aerial vehicles participating in flight to complete the remaining preset route tasks or not is judged;
whether the rate of remaining power loss is sufficient to complete the remaining pre-determined route mission.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. according to the invention, through the connection of the mechanical structures, a plurality of unmanned aerial vehicles with the same performance form a new whole, and the transportation and storage cost is reduced due to the detachable and combined mechanical structure; the mechanical structure is simple, and effective and appropriate storage is facilitated.
2. According to the unmanned aerial vehicle, one unmanned aerial vehicle body is located at the center, and the other unmanned aerial vehicles are symmetrically arranged around the unmanned aerial vehicle, so that the symmetry of stress and the whole unmanned aerial vehicle can be rapidly stabilized after an emergency situation. The frame mainly adopts regular hexagonal shape, refers to honeycomb structure, and after firm the connection between each frame, has comparatively stable atress structure, is difficult for causing connection failure or control skew because of jolting of flight air current etc. can provide flight power jointly and realize the synchronous flight of many unmanned aerial vehicle bodies.
3. According to the invention, a plurality of individual unmanned aerial vehicles with the same performance can be mutually overlapped, so that the flight performance is improved, and the loading capacity, the endurance time and the fault tolerance of a redundant system can be improved; when the task carriers with different weights and different requirements are mounted, the flight task can be completed by directly obtaining how many unmanned aerial vehicle bodies are required to be combined through data calculation, and the research and development period and the cost are greatly reduced. But also can be disassembled and assembled, thereby reducing the transportation cost and the storage space.
4. The control method provided by the invention ensures the stability of the whole flight, and the whole unmanned aerial vehicle cannot fall off due to unbalance of the unmanned aerial vehicle in one direction in the flight process. Meanwhile, after the unmanned aerial vehicle loses power due to faults, the remaining unmanned aerial vehicles have enough kinetic energy and the like to complete tasks and return to the air, so that the losses of the unmanned aerial vehicle and goods are reduced.
Drawings
Fig. 1 is a bottom view of a single drone body of the present invention;
FIG. 2 is a side view of the upper and lower covers of the present invention;
fig. 3 is a schematic structural diagram of one combination mode of a plurality of unmanned aerial vehicle bodies of the invention;
fig. 4 is a schematic structural diagram of another combination of the multiple unmanned aerial vehicle bodies of the invention;
fig. 5 is a flow chart of a method of controlling a cellular cluster multi-rotor drone according to the present invention.
Description of reference numerals: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, 2-a frame, 3-a connecting rod, 4-a bolt, 5-an upper cover body and 6-a lower cover body.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through an intermediary, so to speak, the two elements are connected internally. The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art. The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1-4, the honeycomb cluster multi-rotor unmanned aerial vehicle structure of the invention comprises a plurality of unmanned aerial vehicle bodies 1, wherein each unmanned aerial vehicle body 1 is erected with a frame 2, the frame 2 is polygonal and surrounds the outer side of the unmanned aerial vehicle body 1, and the inner side of the frame 2 is connected with the unmanned aerial vehicle body 1 through a connecting rod 3; still be equipped with fixed establishment on the frame 2, fixed establishment is used for making and can dismantle the connection between each frame 2 to make the combination of many unmanned aerial vehicle bodies 1 and synchronous flight each other. According to the invention, through the connection of the mechanical structures, a plurality of unmanned aerial vehicles with completely the same performance form a new whole, and the transportation and storage cost is also reduced due to the detachable and combined mechanical structure; the mechanical structure is simple, and effective and appropriate storage is facilitated.
In the use of the unmanned aerial vehicle, the applicant notices that when the currently used unmanned aerial vehicle carries out flight tasks such as long-distance transportation and high-altitude shooting, the work is generally completed by only adopting one unmanned aerial vehicle, and due to long-time work, the problems of faults and the like easily occur in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle can only be forced to return to the home and then another unmanned aerial vehicle is dispatched to execute the task again, and part of important information can be omitted or the task cannot be completed in time in the process of handing over. In the invention, the polygonal frame 2 is erected, and the periphery of the unmanned aerial vehicle body 1 forms a detachably connected frame 2 structure, so that the unmanned aerial vehicle bodies 1 can be combined through the fixing mechanism to enable a plurality of unmanned aerial vehicle bodies 1 to fly together to complete some main work, and once one unmanned aerial vehicle body fails, the other unmanned aerial vehicle body can immediately access the control right to continue to execute a flight task.
In one of them embodiment, frame 2 is regular hexagon, and when a plurality of unmanned aerial vehicle bodies 1 combined each other, with one of them unmanned aerial vehicle body 1 as the center, other a plurality of unmanned aerial vehicle bodies 1 around this central symmetrical arrangement, and align with one of them limit between every two frame 2 and connect. The combination mode of the unmanned aerial vehicle is mainly as shown in fig. 3 and 4, one unmanned aerial vehicle body 1 is located at the center, and other unmanned aerial vehicles are symmetrically arranged around the unmanned aerial vehicle, so that the symmetry of stress and the whole unmanned aerial vehicle can be rapidly stabilized after an emergency situation. Its frame 2 mainly adopts regular hexagon's shape, refers to honeycomb structure, and after each frame 2 was connected firmly, had comparatively stable atress structure, is difficult for causing connection failure or control skew because of jolting of flight air current etc. can provide flight power jointly and realize the synchronous flight of many unmanned aerial vehicle bodies 1. In addition, a plurality of unmanned aerial vehicle bodies 1 of the invention can also be combined in other manners, for example, a single unmanned aerial vehicle body 1 works, or three unmanned aerial vehicle bodies 1 are connected to fly together, even on the basis of fig. 4, a circle of unmanned aerial vehicle body 1 can be added on the periphery. The regular hexagonal frame 2 provides more possibilities for combining multiple unmanned aerial vehicles, and simultaneously, the unmanned aerial vehicles are easy to symmetrically arrange to ensure the stability of the flying.
In one embodiment, the fixing mechanism includes screw holes provided on the frame 2 and bolts 4 for passing through the screw holes, and the screw holes are correspondingly provided at two ends of each side of the frame 2. The fixing mechanism is connected in a bolt 4 mode, assembly and disassembly are convenient, one end of the bolt 4 can be left on one of the frames 2, the thickness of the frame 2 can be utilized to hide the bolt, the bolt does not protrude out of the edge of the frame 2, and the possibility of scraping and the like is reduced. When connecting, the frames 2 are connected by using one edge as an alignment edge. In addition, the fixing mechanism can also be arranged to comprise an upper cover body 5 and a lower cover body 6 which are detachably connected, the upper cover body 5 and the lower cover body 6 are mutually buckled at the corners of the frames 2, through holes in three directions are formed, and the through holes are matched with the thicknesses of the two frames 2 after being spliced. Go up lid 5 and lower lid 6 and set up recess and arch through the junction and go up the lower cover and close to the both ends on the limit that two frames 2 of through-hole straining that utilize to reserve, frame 2's corner promptly also can realize dismouting fast, but the connected mode of above-mentioned bolt 4 of synchronous fit moreover makes and connects more stably between each unmanned aerial vehicle body 1. And the place that upper cover body 5 and lower cover body 6 contacted with frame 2 all is equipped with the protective layer, and the buffer layer generally adopts materials such as flexible glue, avoids often assembling and disassembling in-process to cause wearing and tearing to frame 2.
In one embodiment, the number of the connecting rods 3 on each unmanned aerial vehicle body 1 is 6, and the connecting rods 3 are connected to the middle points of the sides of the frame 2. Connecting rod 3 is used for relative unmanned aerial vehicle body 1 and fixed frame 2's position, and the mid point on frame 2's limit is connected and is not influenced above-mentioned fixed establishment's dismouting, guarantees the shear stress requirement of connecting simultaneously. The rotor of unmanned aerial vehicle body 1 has 4 and the symmetry respectively in wherein 4 connecting rod 3's bottom. The multi-rotor unmanned aerial vehicle is designed according to actual needs, and in the multiple unmanned aerial vehicle bodies 1 which can be assembled in the invention, the rotors can be directly designed and installed on the connecting rods 3, so that the manufacturing materials of the unmanned aerial vehicle are saved, and the self weight of the unmanned aerial vehicle bodies 1 is reduced.
As shown in fig. 5, the method for controlling a honeycomb cluster multi-rotor drone includes the above structure of a honeycomb cluster multi-rotor drone, and includes the following steps:
s1, confirming the flight mode of the unmanned aerial vehicle, and respectively setting the unmanned aerial vehicle participating in the flight as at least one host and a plurality of slave machines;
s2, setting a flight route and respectively sending the route task and the GPS positioning data to the host and the slave;
s3, the host normally executes a preset route task and shares real-time flight data to at least one slave;
s4, when one unmanned aerial vehicle breaks down and loses power, judging whether the main machine breaks down or not, and if not, entering the next step; if so, hovering all the unmanned aerial vehicles and switching the control right, and transferring all the control right to one of the slave machines receiving the real-time flight data in the step S3 by the host machine;
s5, the unmanned aerial vehicle obtaining the control right serves as a host, whether the power failure is larger than the power redundancy setting is judged, and if not, a return flight procedure is executed immediately; if yes, the preset air route task is continuously executed according to the GPS positioning data of the user, and the step S3 is repeated.
The method can mutually superpose a plurality of individual unmanned aerial vehicles with the same performance, the improvement of the flight performance is realized, the unmanned aerial vehicles are like a carriage pulled by one horse originally, and the method can quickly form the same carriage pulled by a plurality of horses through expansion. The loading capacity, the endurance time and the fault tolerance rate of the redundant system can be improved; when carrying task carriers with different weights and different requirements, the flight task can be completed by directly obtaining how many unmanned aerial vehicle bodies 1 are required to be combined through data calculation, and the research and development period and the cost are greatly reduced. But also can be disassembled and assembled, thereby reducing the transportation cost and the storage space.
When in use and design, the invention is mainly divided into hardware and software, and the hardware mainly comprises: the performance parameters of the honeycomb type unmanned individual are as follows: the effective lift force is 2 times or more of the dead weight, namely, another honeycomb type unmanned machine can be hung at least to finish 20 minutes of flight; the honeycomb unmanned aerial vehicle comprises a hexagonal outer framework structure, wherein each honeycomb unmanned aerial vehicle can be physically connected through the hexagonal outer framework structure to form an unmanned aerial vehicle group structure with a symmetrical appearance; ad hoc communication local area network: the method is used for data interaction and control instruction transmission between the honeycomb unmanned aerial vehicles. The software mainly comprises: the complete flight control procedure of the honeycomb type unmanned machine: including individual multi-rotor mode, honeycomb four-rotor mode, honeycomb six-rotor mode, etc.; master-slave data redundancy backup: when the unmanned aerial vehicle at the central position is set as the host, all unmanned aerial vehicles adjacent to the host are set as slaves in sequence, and the slaves in sequence share the flight parameters of the host in real time; setting the function of the machine length/auxiliary machine length: the unmanned aerial vehicle set as the captain has the highest control authority of the honeycomb cluster, the unmanned aerial vehicle set as the deputy captain is standby, and the deputy captain sequentially replaces to execute the highest control authority according to the set sequence after the deputy captain fails.
In addition, in step S4, if the unmanned aerial vehicle that has failed and lost power is located at the edge, the other unmanned aerial vehicle that is arranged with central symmetry by the unmanned aerial vehicle also suspends power output, and when step S5 is executed, it is determined whether the power failure is greater than the power redundancy setting, and the power output of the two unmanned aerial vehicles is lost. Thereby guarantee the stability of whole flight, can not be at the flight in-process, because the unmanned aerial vehicle unbalance in one of them orientation leads to whole dropping.
In step S5, the method of determining whether the power failure is greater than the power redundancy setting includes the steps of: when a certain part of individuals lose power, whether the rest power can enable all unmanned aerial vehicles participating in flying to complete the rest preset route task or not is judged; whether the rate of remaining power loss is sufficient to complete the remaining pre-determined route mission. The above-mentioned two processes of judging are carried out at least to this place to guarantee that there is unmanned aerial vehicle to lose the power because of the trouble after, remaining unmanned aerial vehicle has completion tasks such as sufficient kinetic energy and returns to navigate, in order to reduce the loss of unmanned aerial vehicle and goods.
As shown in fig. 4 and 5, the following is one embodiment of the present invention:
assuming that the self-weight of the honeycomb unmanned aerial vehicle during takeoff is 1kg, the effective mounting weight is 1kg, and the conventional flight time is 20 minutes.
Determining the flight mode of the unmanned aerial vehicle: for example, the mission vehicle weighs 2kg and the flight time is 10 minutes. To meet the weight requirements of the task vehicle, a honeycomb six-rotor mode was selected. In the mode, 7 honeycomb unmanned aerial vehicles form a six-rotor mode, wherein 1 is a main machine, 6 are adjacent auxiliary machines, the theoretical mounting weight can reach 7kg, and the weight of a task carrier is met.
Setting power redundancy: assuming one of the slaves loses power in the six-rotor mode, the slave opposite the slave that lost power may also suspend power take off in order to maintain flight stability in the honeycomb cluster. At the moment, 5 unmanned aerial vehicles are left to output power individually, the effective load is reduced to 5kg, and the overall mounting weight of the honeycomb cluster is increased to 4kg (2 kg of external hanging vehicle and 1kg of self weight of 2 unpowered auxiliary machines). After the power system is adjusted, the effective load of the honeycomb cluster is still larger than the mounted weight, and the honeycomb cluster can be kept to fly stably.
Assemble honeycomb unmanned aerial vehicle of six rotor modes: the hexagonal frames 2 are mutually attached, and the edges of each frame 2 are provided with integrally formed fixing bolt holes which are screwed and fixed through bolts 4. Constitute a six rotor structures of honeycomb with 7 honeycomb unmanned aerial vehicle. The task carrier is mounted on the joint of the frame 2, so that the weight can be uniformly distributed on the frame 2.
And setting a master slave machine, setting the unmanned aerial vehicle at the center of the honeycomb as a master machine, and sequentially setting 6 adjacent unmanned aerial vehicles at the periphery as No. 1-6 slave machines. Under a normal state, the host machine controls the honeycomb unmanned aerial vehicle group in a honeycomb six-rotor mode and sends a power adjusting instruction to the flight control chip of the No. 1-6 slave machines. Meanwhile, the No. 1 slave computer and the No. 2 slave computer enter an auxiliary computer long mode, and receive the flight data of the main computer through the Ad hoc local area network. The slave machines 3-6 are in standby mode. GPS positioning modules of No. 1-6 slave machines receive positioning data respectively, but do not participate in host positioning.
Master-slave control right switching logic: assume that when a host fails, the cell cluster enters hover. The master gives control of the cell cluster to the slave No. 1 and completely exits the control mode of the 'cell six-rotor mode'. The No. 1 slave machine is connected with the control right of the honeycomb cluster to continuously complete the set flight mission. The slave No. 2 enters the auxiliary airplane long mode and starts to receive the flight parameters sent by the slave No. 1. The above steps are repeated for a plurality of control right handovers.
When the flying task is successfully completed and the honeycomb cluster falls, the task carrier can be disassembled by using a disassembling tool. And then dismantle the fixing bolt 4 of frame 2, make honeycomb group split become 7 independent unmanned aerial vehicle bodies 1. After the completion split, independent unmanned aerial vehicle body 1 just can disperse and deposit and transport.
In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present application.
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The honeycomb type cluster multi-rotor unmanned aerial vehicle structure is characterized by comprising a plurality of unmanned aerial vehicle bodies (1), wherein a frame (2) is erected on each unmanned aerial vehicle body (1), the frame (2) is polygonal and surrounds the outer side of each unmanned aerial vehicle body (1), and the inner side of each frame (2) is connected with the unmanned aerial vehicle body (1) through a connecting rod (3); still be equipped with fixed establishment on frame (2), fixed establishment is used for making each can dismantle the connection between frame (2) to make many unmanned aerial vehicle body (1) make up each other and synchronous flight.
2. The structure of a honeycomb cluster multi-rotor unmanned aerial vehicle according to claim 1, wherein the frames (2) are regular hexagons, and when a plurality of unmanned aerial vehicle bodies (1) are combined with each other, one unmanned aerial vehicle body (1) is taken as a center, and the other unmanned aerial vehicle bodies (1) are symmetrically arranged around the center, and every two frames (2) are connected with one side aligned.
3. The structure of the honeycomb cluster multi-rotor unmanned aerial vehicle of claim 2, wherein the fixing mechanism comprises screw holes formed in the frame (2) and bolts (4) inserted into the screw holes, and the screw holes are correspondingly formed in two ends of each edge of the frame (2).
4. The structure of the honeycomb cluster multi-rotor unmanned aerial vehicle of claim 2, wherein the fixing mechanism comprises an upper cover body (5) and a lower cover body (6) which are detachably connected, the upper cover body (5) and the lower cover body (6) are fastened to each other at the corners of the frame (2) and form through holes in three directions, and the through holes are matched with the thicknesses of the two frames (2) after being spliced.
5. A structure of a honeycomb cluster multi-rotor unmanned aerial vehicle according to claim 3, wherein protective layers are provided at the places where the upper cover (5) and the lower cover (6) contact the frame (2).
6. The structure of claim 2, wherein the number of connecting rods (3) per drone body (1) is 6, and the connecting rods (3) are connected at the midpoint of the sides of the frame (2).
7. The structure of the honeycomb cluster multi-rotor unmanned aerial vehicle of claim 6, wherein the unmanned aerial vehicle body (1) has 4 rotors and is symmetrical to the bottom of 4 connecting rods (3).
8. Method for controlling a honeycomb cluster multi-rotor drone, characterized in that it comprises a structure according to any one of claims 2 to 7 and comprises the following steps:
s1, confirming the flight mode of the unmanned aerial vehicle, and respectively setting the unmanned aerial vehicle participating in flight as at least one host and a plurality of slave machines;
s2, setting a flight route and respectively sending an air route task and GPS positioning data to the master machine and the slave machine;
s3, the host normally executes a preset route task and shares real-time flight data to at least one slave;
s4, when one unmanned aerial vehicle breaks down and loses power, judging whether the main machine breaks down, and if not, entering the next step; if so, all the unmanned aerial vehicles hover and perform control right switching, and the master transfers all the control rights to one of the slave machines receiving the real-time flight data in the step S3;
s5, the unmanned aerial vehicle obtaining the control right serves as a host, whether the power failure is larger than the power redundancy setting is judged, and if not, a return flight procedure is executed immediately; if yes, the preset route task is continuously executed according to the GPS positioning data of the user, and the step S3 is repeated.
9. The method of controlling a cellular cluster multi-rotor drone according to claim 8, wherein in the step S4, if the drone that has failed and lost power is located at the edge, another drone that is disposed in a central symmetry with the drone also suspends power output, and in the step S5, it is determined whether the power failure is greater than the power redundancy setting, and the power output of the two drones is lost for calculation.
10. The method of controlling a cellular cluster multi-rotor drone of claim 9, wherein in step S5, the method of determining whether the power failure is greater than the power redundancy setting includes the steps of:
when some part of individuals lose power, whether the remaining power can enable all unmanned aerial vehicles participating in flying to complete the remaining preset route tasks or not is judged;
whether the rate of remaining power loss is sufficient to complete the remaining pre-determined route mission.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116062202A (en) * | 2023-03-20 | 2023-05-05 | 北京瀚科智翔科技发展有限公司 | Combined coaxial double-rotor unmanned aerial vehicle system |
| WO2023169556A1 (en) * | 2022-03-10 | 2023-09-14 | 广东逸动科技有限公司 | Vehicle, multi-drive force control system thereof, control method, and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023169556A1 (en) * | 2022-03-10 | 2023-09-14 | 广东逸动科技有限公司 | Vehicle, multi-drive force control system thereof, control method, and storage medium |
| CN116062202A (en) * | 2023-03-20 | 2023-05-05 | 北京瀚科智翔科技发展有限公司 | Combined coaxial double-rotor unmanned aerial vehicle system |
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