CN117980230A

CN117980230A - Multi-rotor unmanned aerial vehicle

Info

Publication number: CN117980230A
Application number: CN202180102577.1A
Authority: CN
Inventors: 赵进; 舒展; 李日照; 周乐; 高翔
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2024-05-03
Also published as: WO2023082292A1

Abstract

A multi-rotor unmanned aerial vehicle, comprising: a central body (10); landing frame (11) below the central body (10); two pairs of the machine arms (12) are respectively connected with the central body (10) in a rotating way so as to realize the unfolding state and the folding state of the machine arms (12); a plurality of rotor devices (13) respectively mounted on the two pairs of horn arms (12), the rotor devices (13) being used for providing flying power; wherein the central body (10) is obliquely arranged relative to the landing plane of the land frame (11); in the unfolded state, the arm (12) is unfolded radially relative to the central body (10); in the folded state, each pair of the arms (12) is in an up-down folded state, the arm (12) connected to the lower side of the central body (10) is located below, and the arm (12) connected to the higher side of the central body (10) is located above. The multi-rotor unmanned aerial vehicle is low in overall height after being folded, small in size and convenient to carry, transport and store.

Description

Multi-rotor unmanned aerial vehicle

Technical Field

The application relates to the technical field of aircrafts, in particular to a multi-rotor unmanned aircraft.

Background

For convenience in carrying, transporting and storing, the multi-rotor unmanned aerial vehicle generally needs to be designed into a foldable form, i.e. the horn of the multi-rotor unmanned aerial vehicle is foldable. When the horn is unfolded, the rotor wing device on the horn can be used for providing flying power, and when the horn is folded, the whole size of the multi-rotor unmanned aerial vehicle is reduced.

However, in the prior art, after the horn of the multi-rotor unmanned aerial vehicle is folded, in order to avoid the mutual interference of rotor wing devices on the horn, the overall height of the multi-rotor unmanned aerial vehicle is still higher. Moreover, in flight conditions, the rotor devices and functional components (e.g., the sprinkler) on the rear horn are extremely susceptible to the incoming flow of the rotor devices on the front horn, greatly affecting the flight quality (e.g., the aerodynamic effects) and the functional component's operational effects (e.g., the sprinkler's sprinkler effects) of the multi-rotor unmanned aerial vehicle. In addition, because in the prior art, front and back rotor wing device load is very unbalanced, rotor wing device's control degree of difficulty and damage cost are all higher.

Content of the application

The embodiment of the application provides a multi-rotor unmanned aerial vehicle, which aims to solve the problem that the height of the existing multi-rotor unmanned aerial vehicle is still higher after being folded in the prior art, and at least one of the problems that the flying quality (such as pneumatic effect) and the working effect of functional components of the existing multi-rotor unmanned aerial vehicle are limited, and the control difficulty and the damage cost of a rotor device are higher.

In a first aspect, an embodiment of the present application provides a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle comprising:

A central body;

A landing frame positioned below the central body;

The two pairs of the arms are respectively connected with the central body in a rotating way so as to realize the unfolding state and the folding state of the arms;

The rotor wing devices are respectively arranged on the two pairs of the horn, and are used for providing flying power;

wherein the central body is obliquely arranged relative to the landing plane of the landing frame;

In the unfolding state, the horn is unfolded radially relative to the central body;

In the folded state, each pair of the arms is in an up-down folded state, the arm connected to the lower side of the central body is located below, and the arm connected to the upper side of the central body is located above.

In the embodiment of the application, because the central body of the multi-rotor unmanned aerial vehicle is obliquely arranged relative to the landing plane of the landing frame, the horn connected to the lower side of the central body is positioned below and the horn connected to the higher side of the central body is positioned above under the condition that the horn is in a folded state, so that the upper and lower staggered-layer folding of the horn is realized, and interference between the folded horns can be avoided. Therefore, the multi-rotor unmanned aerial vehicle is low in overall height after being folded, small in size and convenient to carry, transport and store.

In a second aspect, embodiments of the present application further provide a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle comprising:

A central body;

a front horn mechanically coupled to a front end portion of the center body;

a rear horn mechanically coupled to a rear end of the center body;

A plurality of rotor wing devices respectively mounted on the front horn and the rear horn, the rotor wing devices being for providing flying power;

a spraying device positioned below the rotor wing device on the rear horn,

When the multi-rotor unmanned aerial vehicle flies towards the aircraft nose direction, the bottom height of the rotor device on the front horn is lower than that of the rotor device on the rear horn.

In the embodiment of the application, when the unmanned aerial vehicle is in a flying state, the bottom height of the rotor wing device on the front horn is lower than the bottom height of the rotor wing device on the rear horn, so that the front rotor wing device and the rear rotor wing device can correspondingly have height difference to realize staggered arrangement, and the wind flow of the rotor wing device on the front horn and the wind flow of the rotor wing device on the rear horn can be mutually independent and do not influence each other so as to improve the flying quality of the multi-rotor unmanned aerial vehicle, such as pneumatic effect. Moreover, the influence of the wind flow of the rotor wing device on the front horn on the spraying amplitude of the spraying device on the rear horn can be avoided, and the spraying quality of the spraying device is improved.

Optionally, when the multi-rotor unmanned aerial vehicle flies towards the nose direction, the bottom height of the rotor device on the front horn is smaller than the bottom height of the spraying device on the rear horn.

Optionally, the central body comprises a frame, and the frame is provided with a containing part for containing functional components of the multi-rotor unmanned aerial vehicle, and the functional components can be detachably inserted into the containing part.

Optionally, the rotor assembly is a coaxial dual rotor assembly.

Optionally, the coaxial dual proprotor device comprises:

the motor seat is fixedly connected with the horn;

The driving mechanism is arranged on the motor base, the top of the driving mechanism is provided with an upper blade, the bottom of the driving mechanism is provided with a lower blade, the paddle plane of the upper paddle is parallel to the paddle plane of the lower paddle, and the rotating speeds of the upper paddle and the lower paddle are equal and the rotating directions of the upper paddle and the lower paddle are opposite.

Optionally, in the folded state, the gap between the upper and lower booms is a first gap capable of accommodating a portion of the lower coaxial twin proprotor device above the boom to which it is connected and a portion of the upper coaxial twin proprotor device below the boom to which it is connected;

Or in case the multi-rotor unmanned aerial vehicle is in windless hover, the paddle plane of the upper blade and the paddle plane of the lower blade are both arranged obliquely to a first horizontal plane, such that the sum of the tensile forces of the upper blade and the lower blade provides at least part of the yaw force of the unmanned aerial vehicle, wherein the first horizontal plane is a plane substantially perpendicular to the direction of gravity;

Or the drive mechanism comprises: the first motor is arranged at the top of the motor base, and the second motor is arranged at the bottom of the motor base; the first motor is connected with the upper blade to drive the upper blade to rotate, and the second motor is connected with the lower blade to drive the lower blade to rotate;

Or the drive mechanism comprises: the transmission mechanism is provided with a first output end and a second output end, the rotating speed of the first output end and the rotating speed of the second output end are equal and the rotating directions are opposite, the first output end is connected with the upper blade so as to drive the upper blade to rotate, and the second output end is rotated with the lower blade so as to drive the lower blade to rotate.

Optionally, in the deployed state, the coaxial dual-rotor device on the front horn is a front rotor device and the rotor device on the rear horn is a rear rotor device; wherein,

The top of the motor cabinet of the front rotor wing device inclines towards the machine head direction, and the top of the motor cabinet of the rear rotor wing device inclines towards the machine tail direction.

Optionally, the angle that the top of the motor cabinet of front rotor device was oriented towards the aircraft nose direction slope is first angle, the angle that the top of the motor cabinet of back rotor device was oriented towards the tail direction slope is the second angle, first angle with the second angle equals.

Optionally, the first angle and the second angle are both 5-15 degrees.

Optionally, the front rotor device and the rear rotor device are coaxial dual-rotor devices, and the paddle planes of the upper paddles and the paddle planes of the lower paddles of the front rotor device and the rear rotor device are all substantially perpendicular to the axial direction of the motor mount.

Optionally, the front rotor device and the rear rotor device are coaxial double-rotor devices, and the rotational speeds of the driving mechanisms of the front rotor device and the rear rotor device are the same.

Optionally, the front rotor device and the rear rotor device are coaxial double-rotor devices, and a distance between a tip of an upper blade of the front rotor device and a corresponding horn of the rear rotor device is smaller than a distance between a tip of a lower blade and a corresponding horn.

Optionally, the center body is located at a front end of a head of the multi-rotor unmanned aerial vehicle, and is located lower than a rear end of a tail of the multi-rotor unmanned aerial vehicle.

Optionally, the central body has a tilt angle with respect to a horizontal plane when the multi-rotor unmanned aerial vehicle is in a flying state that is greater than a tilt angle with respect to a horizontal plane when the multi-rotor unmanned aerial vehicle is in a hover state in a windless environment.

Optionally, one of the arms of each pair is connected to the front end of the central body, and the other is connected to the rear end of the central body;

In the folded state, among the pair of arms, the arm connected to the front end portion of the center body is located below and the arm connected to the rear end portion of the center body is located above.

Optionally, in the flying state, the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body than to the rear end of the central body.

Optionally, in the folded state, the horn is disposed obliquely with respect to a landing plane of the landing gear.

Optionally, each pair of horn comprises a front horn positioned at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn positioned at a nose portion of the multi-rotor unmanned aerial vehicle,

In the folded state, the front horn and the rear horn form a Z shape together with the central body.

Optionally, each pair of horn includes being located the preceding horn at many rotor unmanned aerial vehicle's aircraft nose position and being located many rotor unmanned aerial vehicle's aircraft nose position's back horn, under the expansion state, preceding horn with back horn is the upper and lower arrangement setting.

Optionally, in the deployed state, the front horn has a first height, the rear horn has a second height, and the first height is lower than the second height.

Optionally, in the deployed state, both the front horn and the rear horn are lifted upwards.

Optionally, the front horn and the rear horn are lifted at the same angle.

Optionally, the angle at which the front and rear arms are lifted upwards is 5-10 degrees, preferably 6 degrees.

Optionally, an organic arm connection structure is arranged on the central body, and the organic arm connection structure is connected to the organic arm so as to rotationally connect the organic arm to the central body; wherein,

The horn connecting structure is a space folding shaft.

Optionally, the multi-rotor unmanned aerial vehicle further comprises a spraying device, and the spraying device is connected below the horn of the tail part of the central body.

Optionally, the spraying device comprises a spray rod, wherein the spray rod is perpendicular to the axial direction of the horn; wherein,

In the deployed state, the boom extends obliquely from a distal arm toward an outer side of the center body.

Optionally, the head of the central body is also provided with a visual sensor;

The distance between the rotor devices connected to the front end portion of the center body is greater than the distance between the rotor devices connected to the rear end portion of the center body.

Optionally, each pair of horn includes being located many rotor unmanned aerial vehicle's aircraft nose position's preceding horn and be located many rotor unmanned aerial vehicle's tail position's back horn, two contained angle between the preceding horn is greater than two contained angle between the back horn.

Optionally, the connection line of the rotation axes of the rotor devices is trapezoid.

In a third aspect, an embodiment of the present application further provides a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle including:

A central body;

a front horn mechanically coupled to a front end portion of the center body;

a rear horn mechanically coupled to a rear end of the center body;

When the multi-rotor unmanned aerial vehicle flies towards the aircraft nose direction, the gravity center of the multi-rotor unmanned aerial vehicle leans forward along the aircraft nose direction, so that the power of a rotor wing device mounted on the front horn and the power of a rotor wing device mounted on the rear horn are balanced.

In the embodiment of the application, the power of the rotor wing device arranged on the front horn and the power of the rotor wing device arranged on the rear horn are balanced, so that the control difficulty of the rotor wing device and the damage cost of the rear rotor wing device are greatly reduced.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 schematically illustrates a structural schematic of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application in an extended state;

FIG. 2 schematically illustrates a schematic structural view of the multi-rotor unmanned aircraft of FIG. 1 at another angle;

FIG. 3 schematically illustrates a schematic structural view of a further angle of the multi-rotor unmanned aircraft illustrated in FIG. 1;

fig. 4 schematically illustrates a structural schematic view of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application in a folded state;

FIG. 5 schematically illustrates a schematic structural view of the multi-rotor unmanned aircraft of FIG. 4 at another angle;

FIG. 6 schematically illustrates a schematic structural view of the multi-rotor unmanned aircraft of FIG. 4 at yet another angle;

FIG. 7 schematically illustrates an airflow schematic of a prior art multi-rotor unmanned aircraft;

figure 8 schematically illustrates an airflow schematic of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;

Figure 9 schematically illustrates a schematic structural view of another multi-rotor unmanned aircraft in accordance with an embodiment of the present application;

Fig. 10 schematically illustrates a schematic structural view of a horn and rotor assembly of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;

FIG. 11 schematically illustrates a schematic layout of a rotor assembly of a multi-rotor unmanned aerial vehicle in accordance with an embodiment of the present application in a windless hover;

figure 12 schematically illustrates a structural schematic of the multi-rotor unmanned aircraft of figure 2 in flight;

Figure 13 schematically illustrates a structural schematic of a rotor assembly and horn of the present application;

FIG. 14 schematically illustrates a connection structure of a horn and a center body according to an embodiment of the present application;

FIG. 15 schematically illustrates a rotational process of the horn of FIG. 14;

Figure 16 schematically illustrates a schematic top view of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;

Reference numerals illustrate: 10-central body, 101-transverse roller, 102-heading shaft, 11-landing frame, 12-horn, 13-rotor device, 131-motor base, 132-driving mechanism, 1321-first motor, 1322-second motor, 133-first paddle, 134-lower paddle, 14-spraying device, 141-spray boom, 15-vision sensor, 16-space folding shaft, 17-functional component, A-first horizontal plane.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The features of the application "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

The embodiment of the application provides a multi-rotor unmanned aerial vehicle, which can be used for various multi-rotor unmanned aerial vehicles needing to be folded, such as an agricultural plant protection unmanned aerial vehicle. Mapping unmanned aerial vehicle, etc. In the embodiment of the application, the multi-rotor unmanned aerial vehicle is taken as an agricultural plant protection unmanned aerial vehicle as an example for explanation.

Referring to fig. 1, a schematic structural view of a multi-rotor unmanned aerial vehicle in an unfolded state according to an embodiment of the present application is shown, referring to fig. 2, a schematic structural view of another angle of the multi-rotor unmanned aerial vehicle shown in fig. 1 is shown, referring to fig. 3, a schematic structural view of another angle of the multi-rotor unmanned aerial vehicle shown in fig. 1 is shown, referring to fig. 4, a schematic structural view of a multi-rotor unmanned aerial vehicle in a folded state according to an embodiment of the present application is shown, referring to fig. 5, a schematic structural view of another angle of the multi-rotor unmanned aerial vehicle shown in fig. 4 is shown, and a schematic structural view of another angle of the multi-rotor unmanned aerial vehicle shown in fig. 4 is shown, referring to fig. 6.

Specifically, as shown in fig. 1-2 and fig. 4-5, the multi-rotor unmanned aerial vehicle may include: a central body 10; landing gear 11, locate under the central body 10; two pairs of arms 12 are respectively connected to the central body 10 in a rotating manner so as to realize an unfolding state and a folding state of the arms 12; a plurality of rotor devices 13 mounted on the two pairs of horn arms 12, respectively, the rotor devices 13 being operable to provide flying power; wherein the central body 10 is arranged obliquely relative to the landing plane of the landing gear 11; in the deployed state, the horn 12 is radially deployed with respect to the central body 10; in the folded state, each pair of arms 12 is folded up and down, and the arm 12 connected to the lower side of the central body 10 is located below, and the arm 12 connected to the upper side of the central body 10 is located above.

In the embodiment of the application, because the central body 10 of the multi-rotor unmanned aerial vehicle is obliquely arranged relative to the landing plane of the land frame 11, the horn 12 connected to the lower side of the central body 10 is positioned below and the horn 12 connected to the higher side of the central body 10 is positioned above under the condition that the horn 12 is in a folded state, so that the upper and lower staggered folding of the horn 12 is realized, and interference between the folded horns 12 can be avoided. Therefore, the multi-rotor unmanned aerial vehicle is low in overall height after being folded, small in size and convenient to carry, transport and store.

The embodiment of the application also provides another multi-rotor unmanned aerial vehicle, as shown in fig. 2, which comprises: a central body 10; a front arm mechanically coupled to the front end portion of the center body 10; a rear horn mechanically coupled to the rear end portion of the center body 10; a plurality of rotor devices 13 mounted on the front and rear arms, respectively, the rotor devices 13 being operable to provide flight power; and the spraying device 14 is positioned below the rotor wing device 13 on the rear horn, wherein the bottom height of the rotor wing device 13 on the front horn is lower than the bottom height of the rotor wing device 13 on the rear horn when the multi-rotor unmanned aerial vehicle flies towards the nose direction.

In the embodiment of the application, when the unmanned aerial vehicle is in a flying state, the bottom height of the rotor wing device 13 on the front horn is lower than the bottom height of the rotor wing device 13 on the rear horn, so that the front and rear rotor wing devices can have height differences correspondingly, and staggered arrangement is realized.

As shown in fig. 7, in the prior art, since the heights of the front rotor device and the rear rotor device are identical, the wind flow F1 generated by the front rotor device and the wind flow F2 generated by the rear rotor device may have an intersection area F3, and the intersection area F3 may overlap with the spraying area S1 of the spraying device 14, which affects the spraying quality of the spraying device 14. As shown in fig. 8, in the multi-rotor unmanned aerial vehicle according to the embodiment of the present application, since the wind flow F1 generated by the front rotor device and the wind flow F2 generated by the rear rotor device may be independent from each other, there is no crossing area, and the wind flow F1 generated by the front rotor device and the spraying area S1 of the spraying device 14 may not overlap. Thus, the wind flow F1 of the rotor device 13 on the front horn and the wind flow F2 of the rotor device 13 on the rear horn can be independent of each other and do not affect each other, so as to improve the flight quality, such as aerodynamic effect, of the multi-rotor unmanned aerial vehicle. Moreover, the influence of the wind flow of the rotor wing device 13 on the front arm on the spraying width of the spraying device 14 on the rear arm can be avoided, and the spraying quality of the spraying device 14 can be improved.

Optionally, when the multi-rotor unmanned aerial vehicle flies toward the nose, the bottom height of the rotor device 13 on the front horn is smaller than the bottom height of the sprinkler device 14 on the rear horn. In this way, the wind flow of the rotor device 13 on the front arm will be located below the spraying device 14, so as to avoid the wind flow of the rotor device 13 on the front arm from affecting the spraying width of the spraying device 14, thereby further improving the spraying effect of the spraying device 14.

In this embodiment of the present application, the altitude may specifically be a vertical altitude from a landing plane of the landing gear 11 to a top of the multi-rotor unmanned aerial vehicle when the multi-rotor unmanned aerial vehicle is placed on a horizontal plane.

In the embodiment of the present application, as shown in fig. 9, the central body 10 specifically includes a frame, where the frame may be provided with a receiving portion, and the receiving portion may be used to receive a functional component 17 of the multi-rotor unmanned aerial vehicle, and the functional component 17 may be detachably inserted into the receiving portion. By way of example, the functional component 17 may include, but is not limited to, at least one of a battery, a water tank.

Specifically, the frame may be used as a structural body of the multi-rotor unmanned aerial vehicle, and is used for supporting structural members such as the horn 12, the fuselage, and functional components such as the water tank and the battery. The structure of the frame can be set according to actual conditions. For example, in the embodiment of the present application, as shown in fig. 1, in the case where the multi-rotor unmanned aerial vehicle includes 4 horn 12 and 4 rotor devices 13, the horn may be a rectangular horn, and the horn 12 may be mounted to a corner position of the rectangular horn.

Alternatively, rotor assembly 13 is a coaxial dual-rotor assembly. The load of the unmanned aerial vehicle can be greatly improved due to the coaxial double-oar rotor wing device. In the case where rotor assembly 13 is a coaxial dual-rotor assembly, the load carrying capacity of the multi-rotor unmanned aerial vehicle may be increased without substantially increasing the size of the multi-rotor unmanned aerial vehicle. For example, in the case that the multi-rotor unmanned aerial vehicle is an agricultural plant protection unmanned aerial vehicle, the drug carrying capacity of the multi-rotor unmanned aerial vehicle can be greatly improved by adopting the double-pitch coaxial rotor device 13. Or in the case that the multi-rotor unmanned aerial vehicle is a logistics unmanned aerial vehicle, the cargo carrying capacity of the multi-rotor unmanned aerial vehicle can be greatly improved by adopting the double-oar coaxial rotor wing device 13.

Optionally, in some embodiments, as shown in fig. 2 and 8, the coaxial dual proprotor apparatus may specifically include: the motor base 131, the motor base 131 is fixedly connected with the horn 12; the driving mechanism 132 is arranged on the motor base 131, an upper blade 133 is arranged at the top of the driving mechanism 132, a lower blade 134 is arranged at the bottom of the driving mechanism 132, the blade plane of the upper blade 133 is parallel to the blade plane of the lower blade 134, and the rotating speed of the upper blade 133 is equal to and opposite to that of the lower blade 134.

Specifically, in the case that the upper blade 133 and the lower blade 134 of the coaxial dual-rotor device are turned in opposite directions, the lift forces generated when the upper blade 133 and the lower blade 134 are turned can be synthesized, so that the carrying capacity of the multi-rotor unmanned aerial vehicle is further improved. And the rotational speeds of the upper blade 133 and the lower blade 134 are equal, so that the rotational control of the lower blade 134 of the upper blade 133 is simpler, and thus, the reliable control of the upper blade 133 and the lower blade 134 can be realized.

For example, in the same coaxial dual rotor arrangement, upper blade 133 may rotate clockwise, lower blade 134 may rotate counter-clockwise, or upper blade 133 may rotate counter-clockwise, lower blade 134 may rotate clockwise, as embodiments of the application are not limited in this regard.

Alternatively, as shown in fig. 4-5, in the folded state, the gap between upper horn 12 and lower horn 12 is a first gap capable of accommodating the portion of the lower coaxial dual-rotor device above the horn 12 to which it is connected and the portion of the upper coaxial dual-rotor device below the horn 12 to which it is connected. In this way, damage caused by interference between the lower coaxial twin-rotor device and the upper coaxial twin-rotor device in the folded state can be avoided, and the service life of the coaxial twin-rotor device can be prolonged.

For example, in the folded state, if the coaxial twin-rotor device connected to the front horn is located below and the coaxial twin-rotor device connected to the rear horn is located above, the first gap is required to accommodate the upper blade, the first motor 1321, and the portion of the motor mount 131 of the coaxial twin-rotor device connected to the front horn above the front horn, and the lower blade 134, the second motor 1322, and the portion of the motor mount 131 of the coaxial twin-rotor device connected to the rear horn below the rear horn.

Referring to fig. 10, a schematic structural diagram of a horn and a rotor device of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application is shown, and referring to fig. 11, a schematic placement diagram of the rotor device of the multi-rotor unmanned aerial vehicle according to an embodiment of the present application in a windless hovering condition is shown. As shown in fig. 11, in the case of the multi-rotor unmanned aerial vehicle in a windless hover, the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 are both inclined to a first horizontal plane, which is a plane substantially perpendicular to the direction of gravity, such that the sum of the tensile forces of the upper blade 133 and the lower blade 134 provides at least part of the yaw force of the unmanned aerial vehicle.

It should be noted that, the yaw axis is defined in the axis of the machine body, the machine body coordinate system is a right-hand system in the application, the X axis is defined as the front-back direction of the machine body, the Z axis is the up-down direction of the machine body from the front to the back, the Y axis is the left-right direction of the machine body from the bottom to the top, and the specific pointing is obtained according to the XZ plane. The yaw axis of the unmanned aerial vehicle is a Z axis in a machine body coordinate system, the normal plane of the yaw axis of the unmanned aerial vehicle is an XY plane perpendicular to the Z axis, and the machine body shafting is fixedly connected with the machine body and does not change along with the flight state. When the unmanned aerial vehicle is in a windless hovering state, the gravity direction of the unmanned aerial vehicle coincides with the yaw axis direction of the unmanned aerial vehicle and the Z axis direction in the machine body coordinate system, the XY plane is parallel to the horizontal plane, namely, when the unmanned aerial vehicle is in the windless hovering state, the normal plane of the yaw axis of the unmanned aerial vehicle is parallel to the horizontal plane, and when the unmanned aerial vehicle is in a cruising flight state, the normal plane of the yaw axis of the unmanned aerial vehicle can have an inclination angle relative to the horizontal plane 0. It is to be understood that the unmanned aerial vehicle windless hover state referred to herein may correspond approximately to a take-off or landing state of the unmanned aerial vehicle on flat ground.

As shown in fig. 118, in the case that the multi-rotor unmanned aerial vehicle is in windless hover, the inclination angle between the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 and the first horizontal plane a is θ. Rotation of the upper blade 133 may produce a pulling force P1 perpendicular to the blade plane of the upper blade 133 and rotation of the lower blade 134 may produce a pulling force P2 perpendicular to the blade plane of the lower blade 134. Wherein the pulling force P1 can be decomposed into a lifting force P11 perpendicular to the first horizontal plane a and a yaw force P1yaw parallel to the first horizontal plane a, and the pulling force P2 can be decomposed into a lifting force P21 perpendicular to the first horizontal plane a and a yaw force P2yaw parallel to the first horizontal plane a.

As shown in fig. 11, in the case that the paddle plane of the upper blade 133 and the paddle plane of the lower blade 134 are parallel, and the rotational speeds of the upper blade 133 and the lower blade 134 are equal and the directions are opposite, the yaw force Pyaw of the multi-rotor unmanned aerial vehicle can be provided only by the tensile force component generated by the rotation of the upper blade 133 and the lower blade 134, that is:

Pyaw =p1yaw+p2yaw= (p1+p2) ×sin (θ) (equation one)

In the embodiment of the application, under the condition that the multi-rotor unmanned aerial vehicle is in windless suspension, the paddle plane of the upper paddle 133 and the paddle plane of the lower paddle 134 are both obliquely arranged with the first horizontal plane, so that the sum of the tensile forces of the upper paddle 133 and the lower paddle 134 can be realized to provide at least part of yaw force of the unmanned aerial vehicle, and better yaw attitude control performance is realized.

In an alternative embodiment of the present application, the driving mechanism 132 may specifically include: the first motor 1321 is arranged at the top of the motor base 131, and the second motor 1322 is arranged at the bottom of the motor base 131; the first motor 1321 is connected to the upper blade 133 to drive the upper blade 133 to rotate, and the second motor 1322 is connected to the lower blade 134 to drive the lower blade 134 to rotate.

In some embodiments, the peak torque requirements of both the first motor 1321 and the second motor 1322 may be lower because the independent first motor 1321 is used to drive the upper blade 133 to rotate and the independent second motor 1322 is used to drive the lower blade 134 to rotate.

In other alternative embodiments of the present application, the driving mechanism 132 may specifically include: the motor comprises a third motor and a transmission mechanism connected with the output end of the third motor, wherein a first output end and a second output end are arranged on the transmission mechanism, the rotation speed of the first output end and the rotation speed of the second output end are equal and opposite, the first output end is connected with an upper blade 133 to drive the upper blade 133 to rotate, and the second output end and a lower blade 134 to rotate to drive the lower blade 134 to rotate.

In some embodiments, by connecting a transmission mechanism to the output end of the third motor, the transmission mechanism can reverse half of the power output by the third motor, so as to output at the first output end and the second output end at equal rotation speeds and opposite rotation directions. By connecting the upper blade 133 to the first output end and the lower blade 134 to the second output end, the upper blade 133 and the lower blade 134 can be driven to rotate at equal rotational speeds and in opposite directions. Thus, only one motor is required to drive the upper blade 133 and the lower blade 134 to rotate simultaneously, and the rotation speeds are equal and the directions are opposite.

In particular, the transmission mechanism may be formed by a gear set, and the embodiment of the present application may not be limited to a specific form of the transmission mechanism.

In the embodiment of the present application, in the deployed state, the coaxial dual-rotor device on the front horn is a front rotor device, and the rotor device 13 on the rear horn is a rear rotor device. As shown in fig. 2, the right horn 12 is a front horn, the left horn 12 is a rear horn, and correspondingly, the coaxial dual-rotor device on the front horn is a front rotor device, and the coaxial dual-rotor device on the rear horn is a rear rotor device.

Referring to fig. 12, a schematic structural view of the multi-rotor unmanned aircraft of fig. 2 in flight is shown. As shown in fig. 12, when the multi-rotor unmanned aerial vehicle flies in the nose direction (direction indicated by arrow in the figure), the top of the motor base 131 of the front rotor device (rotor device 13 on the right in the figure) is inclined in the nose direction (right in the figure), and the top of the motor base 131 of the rear rotor device (rotor device 13 on the left in the figure) is inclined in the tail direction (left in the figure).

As shown in fig. 12, in the case where the rotational speeds of the blades of the front rotor device and the rear rotor device are the same, the tension P3 generated by the rotation of the blades of the front rotor device is equal to the tension P4 generated by the rotation of the blades of the rear rotor device. Wherein, the pulling force P4 generated by the rotation of the blades of the rear rotor device is basically vertical upwards, and the pulling force P3 generated by the rotation of the blades of the front rotor device can be decomposed into a horizontal direction P3f and a vertical direction P3u. Since p3=p4, P4> P3u, that is, the lift force P4 of the rear rotor device in the vertical direction is greater than the component force P3u of the front rotor device in the vertical direction, and the component force P3f of the front rotor device in the horizontal direction can provide forward flight power to meet the flight condition. Like this, through with the top of preceding rotor device's motor cabinet 131 is inclined towards the aircraft nose direction, the top of back rotor device's motor cabinet 131 is inclined towards the tail direction, can make many rotor unmanned vehicles can be basically equal when satisfying the flight operating mode, can make the load of preceding rotor device keep balanced around, greatly reduces rotor device 13's the control degree of difficulty and reduce back rotor device's damage cost. In the traditional scheme, according to the flight condition, the vertical pulling force of the rear propeller is larger than that of the front propeller, that is, the rotating speed of the rear propeller is far larger than that of the front propeller, so that the flight can be ensured, and the loads of the front motor and the rear motor in the traditional scheme are extremely unbalanced.

Optionally, the angle of inclination of the top of the motor base 131 of the front rotor device towards the nose direction is a first angle, the angle of inclination of the top of the motor base 131 of the rear rotor device towards the tail direction is a second angle, and the first angle is equal to the second angle, so as to further reduce the control difficulty of the blade rotation speed of the front rotor device and the rear rotor device.

It should be noted that, in practical applications, the first angle and the second angle may be different. For example, the first angle may be greater than the second angle, or the second angle may be greater than the first angle. The magnitude of the first angle and the second angle in the embodiments of the present application may not be specifically limited.

By way of example, the first angle and the second angle are both any one of 5-15 degrees, so that the rotational speeds of the blades of the front and rear rotor devices can be substantially the same, and the multi-rotor unmanned aerial vehicle can also maintain good flight stability.

Alternatively, both the front rotor assembly and the rear rotor assembly are coaxial dual-bladed rotor assemblies, with the blade planes of the upper blades 133 and the lower blades 134 of both the front rotor assembly and the rear rotor assembly being substantially perpendicular to the axial direction of motor mount 131. In this way, it is possible to facilitate setting the blade plane of the upper blade 133 and the blade plane of the lower blade 134 to be substantially parallel with reference to the motor mount 131 in the axial direction, and to improve the assembly efficiency of the rotor device 13.

Optionally, the front rotor device and the rear rotor device are coaxial double-pitch rotor devices, and the rotational speeds of the front rotor device and the driving mechanism 132 of the rear rotor device are the same, so that the rotational speeds of the blades of the front rotor device and the rear rotor device can be substantially consistent, the difficulty in controlling rotation of the front rotor device and the rear rotor device is reduced, and the rotation stability of the front rotor device and the rear rotor device is improved.

In some embodiments, the nose position and flight direction of the multi-rotor unmanned aerial vehicle are opposite to the nose position and flight direction of the multi-rotor unmanned aerial vehicle in the embodiment shown in fig. 9 (shown by the arrows in fig. 9). In this embodiment, the front arm is connected to the upper part of the frame 10, and the rear arm is connected to the lower part of the frame 10, that is, the upper part of the frame 10 is the nose and the lower part is the tail. In this embodiment, the nose may be tilted forward and the tail may be raised relative to the nose in order to meet the flight conditions while the multi-rotor unmanned aerial vehicle is in flight, so that the frame 10 may be substantially parallel to the horizontal plane, thereby balancing the load (e.g., cargo box) of the multi-rotor unmanned aerial vehicle. For example, the multi-rotor unmanned aerial vehicle is a logistics unmanned aerial vehicle. In the flight state, the load of the logistics unmanned aerial vehicle is kept balanced, and the logistics unmanned aerial vehicle is favorable for carrying cargoes.

Referring to fig. 13, a schematic diagram of a rotor assembly and a horn according to the present application is shown, wherein the front rotor assembly and the rear rotor assembly are coaxial dual-bladed rotor assemblies, and the distance between the tips of the upper blades 133 of the front rotor assembly and the rear rotor assembly and the corresponding horn 12 is smaller than the distance between the tips of the lower blades 134 and the corresponding horn 12, as shown in fig. 13.

As shown in fig. 13, the distance between the tip of the upper blade 133 and the corresponding horn 12 is D1, and the distance between the tip of the lower blade 134 and the corresponding horn 12 is D2, with D1 being smaller than D2. In practical application, in the process of blade rotation, the blade can both upwards and downwards produce and wave, and the volume of waving upwards can be greater than the volume of waving downwards. Therefore, by designing the distance D1 between the tip of the upper blade 133 and the corresponding horn 12 to be smaller than the distance D2 between the tip of the lower blade 134 and the corresponding horn 12, damage caused by collision of the tip of the lower blade 134 with the corresponding horn 12 can be avoided, and the safety in use of the blades and the horn 12 can be improved.

In some alternative embodiments of the application, the central body 10 is located at the forward end of the head of the multi-rotor unmanned aerial vehicle below the aft end of the tail of the multi-rotor unmanned aerial vehicle, such that the forward end of the central body 10 is inclined toward. In this way, when the multi-rotor unmanned aerial vehicle is in a flight state, the wind resistance of the central body 10 can be reduced, and the windward area of the central body 10 can be increased, so that the optimization of the flight aerodynamic efficiency of the multi-rotor unmanned aerial vehicle is facilitated.

Specifically, the angle of inclination of the central body 10 with respect to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a flying state is greater than the angle of inclination with respect to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a hovering state in a windless environment. In this way, when the multi-rotor unmanned aerial vehicle hovers in a windless environment, the functional components can be reliably placed in the accommodation space of the central body 10 due to the small inclination angle of the central body 10 relative to the horizontal plane. For example, in the case where the inclination angle of the center body 10 with respect to the horizontal plane is small, it is possible to facilitate the placement reliability of the functional components such as the water tank, the battery, and the like on the center body 10.

In the embodiment of the present application, one of the pair of arms 12 is connected to the front end portion of the central body 10, and the other is connected to the rear end portion of the central body 10; in the folded state, the horn 12 connected to the front end portion of the center body 10 is located below and the horn 12 connected to the rear end portion of the center body 10 is located above in each pair of the horns 12.

In practical applications, in each pair of arms 12, a front arm is connected to the front end portion of the center body 10, and a rear arm is connected to the rear end portion of the center body 10. Since the front end portion of the center body 10 is lower in height than the rear end portion, the front horn is correspondingly lower in height than the rear horn. Under the folded state, through will preceding horn is folding to the below of back horn can make preceding horn and back horn can realize folding under the less angle's of upset condition, folding efficiency is higher, moreover, folding back many rotor unmanned vehicles's overall height is lower.

In the embodiment of the present application, in the flying state, the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body 10 than to the rear end of the central body 10. In practical applications, since the front end of the central body 10 is lower than the rear end, when the central body 10 is connected with a water tank, the liquid in the water tank will flow toward the front end of the central body 10 under the action of gravity, so that the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body 10.

The embodiment of the application also provides another multi-rotor unmanned aerial vehicle, which comprises: a central body 10; a front arm mechanically coupled to the front end portion of the center body 10; a rear horn mechanically coupled to the rear end portion of the center body 10; a plurality of rotor devices 13 mounted on the front and rear arms, respectively, the rotor devices 13 being operable to provide flight power; wherein, when the multi-rotor unmanned aerial vehicle flies toward the nose direction, the center of gravity of the multi-rotor unmanned aerial vehicle moves forward along the nose direction, so that the power of the rotor device 13 mounted on the front horn and the power of the rotor device 13 mounted on the rear horn are balanced. In the traditional scheme, because the gravity center of the unmanned aerial vehicle is not obviously changed under the flying state, in order to meet the flying condition, the power output of the rear propeller is far greater than that of the front propeller, that is, the rotating speed of the rear propeller is far greater than that of the front propeller, so that the flying can be ensured, the loads of the front motor and the rear motor in the traditional scheme are extremely unbalanced, and the rear motor is easy to overheat and easy to damage.

In a specific application, in the case where the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the front end of the central body 10, since the moment arm of the rear rotor device is greater than that of the front rotor device, the power requirement of the rear rotor device is reduced, which is advantageous for optimizing the aerodynamic efficiency of the multi-rotor unmanned aerial vehicle.

As shown in fig. 5, in the folded state, the horn 12 is disposed obliquely with respect to the landing plane of the land frame 11. By providing the horn 12 obliquely with respect to the landing plane of the land frame 11, the front and rear horns can be folded up and down with a small difference in height between the front and rear ends of the center body 10. In this way, the height difference between the front end part and the rear end part of the central body 10 can be made smaller, and the inclination angle of the central body 10 relative to the landing plane of the landing frame 11 is smaller, which is beneficial to improving the overall structural stability of the multi-rotor unmanned aerial vehicle.

In this embodiment of the present application, each pair of horn 12 may specifically include a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a nose portion of the multi-rotor unmanned aerial vehicle, where in the folded state, the front horn and the rear horn form a "Z" together with the central body 10.

As shown in fig. 5, in the folded state, in each pair of the horn 12, the front horn, the central body 10 and the rear horn may be connected to form a "Z" shape, so as to form a compact folded state, so as to further reduce the overall height of the folded multi-rotor unmanned aerial vehicle, thereby facilitating carrying, transporting and storing of the multi-rotor unmanned aerial vehicle.

In the embodiment of the present application, each pair of horn 12 includes a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a nose portion of the multi-rotor unmanned aerial vehicle, and in the deployed state, the front horn and the rear horn are arranged up and down, so as to avoid the interaction between the wind flow of the rotor wing device 13 on the front horn and the wind flow of the rotor wing device 13 on the rear horn, and improve the flight quality of the multi-rotor unmanned aerial vehicle.

Optionally, in the deployed state, the height of the front horn is a first height, the height of the rear horn is a second height, and the first height is lower than the second height, so that the height of the front rotor device on the front horn is correspondingly lower than the height of the rear rotor device on the rear horn, and the staggered arrangement of the front rotor device and the rear rotor device is realized. Like this, when many rotor unmanned vehicles are in the state of flight, can reduce the wind flow of preceding rotor device is right the inflow influence of back rotor device has increased back rotor device's aerodynamic efficiency to, can promote many rotor unmanned vehicles's flight quality.

In the embodiment of the present application, in the deployed state, both the front arm and the rear arm are lifted upward to increase the distance between the rotor device 13 and the ground. In practical application, the multi-rotor unmanned aerial vehicle according to the embodiment of the application adopts a double-rotor coaxial rotor device, and the distance between the rotor device 13 and the ground is relatively high, so that the distance between the bottom of the rotor device 13 and the ground is relatively small when the horn 12 is in the unfolded state. In particular, for the rotor device 13 on the horn 12 with a low height, due to the small distance from the ground, in the case that the multi-rotor unmanned aerial vehicle takes off or lands on uneven ground, the rotor device 13 may land, or when the multi-rotor unmanned aerial vehicle takes off, the ground effect is very easy to generate, and the aerodynamic efficiency of the multi-rotor unmanned aerial vehicle is affected.

In a specific application, in the unfolded state, the distance between the rotor wing device 13 and the ground can be increased by lifting the front horn and the rear horn upwards, and the rotor wing device 13 is prevented from landing, so that the aerodynamic efficiency and the flight safety of the multi-rotor unmanned aerial vehicle are improved.

In some optional embodiments of the present application, the angle of the front horn and the rear horn raised upwards is the same, so that the connection structure of the front horn and the rear horn at the central body 10 can be shared, and the misloading of the front horn and the rear horn is reduced, thereby improving the assembly efficiency of the multi-rotor unmanned aerial vehicle.

Illustratively, the angle at which the front and rear arms are raised upward is 5-10 degrees, preferably 6 degrees, to increase the ground clearance of the front and rear rotor assemblies.

It should be noted that, the angle of the front horn and the rear horn raised upwards may be 5 degrees, 8 degrees, or 10 degrees, etc., and the angle of the front horn and the rear horn raised upwards may be different, and the embodiment of the present application does not specifically limit the angle of the front horn and the rear horn raised upwards.

In the embodiment of the application, a horn connecting structure is arranged on the central body 10 and is connected with the horn 12 so as to rotationally connect the horn 12 to the central body 10; wherein, horn connection structure is space folding axle.

Referring to fig. 14, a schematic diagram of a connection structure between a horn and a center body according to an embodiment of the present application is shown, and referring to fig. 15, a schematic diagram of a turning process of the horn shown in fig. 14 is shown. As shown in fig. 14, the space folding axis 16 may be disposed obliquely with respect to the pitch axis (direction perpendicular to the paper surface), the roll axis 101, and the heading axis 102 of the multi-rotor unmanned aerial vehicle, and the space folding axis 16 may be disposed obliquely with respect to the corresponding horn 12. Deployment, folding and lifting of the horn 12 can be achieved by rotation of the horn 12 about the spatial folding axis 16.

As shown in fig. 14, the left arm 12 is a rear arm, and the right arm 12 is a front arm. The rear horn is rotatable about a left side spatial fold axis 16 to achieve an extended position when the rear horn is rotated to the position shown at A1 and a folded position when the rear horn is rotated to the position shown at A2. The front horn is rotatable about a right side spatial fold axis 16 to achieve an extended position when the front horn is rotated to the position shown at B1 and a folded position when the front horn is rotated to the position shown at B2.

In the embodiment of the present application, since the space folding axis 16 is disposed obliquely with respect to the pitch axis (direction perpendicular to the paper surface), the roll axis 101, the heading axis 102 and the corresponding horn 12 of the multi-rotor unmanned aerial vehicle, when the rear horn rotates around the rotation axis 16 to switch between the unfolded state and the folded state, the track of the rear horn can be shown as an oblique sector area shown in fig. 12. When the rear horn rotates to one end point position C1 of the inclined fan-shaped area, the rear horn can be unfolded and lifted, and when the rear horn rotates to the other end point position C2 of the inclined fan-shaped area, the rear horn can be unfolded and lifted. In some embodiments of the present application, the multi-rotor unmanned aerial vehicle may further comprise a sprinkler 14, wherein the sprinkler 14 is connected below the horn 12 at the tail of the central body 10. Because the height of the rear horn at the tail part of the central body 10 is higher than that of the front horn at the head part of the central body 10, the spraying device 14 is arranged below the rear horn, so that the distance between the spraying device 14 and the ground is higher, the spraying device 14 is prevented from touching the ground, the influence of the wind flow of the rotor wing device 13 on the front horn on the spraying device 14 on the rear horn can be avoided, and the spraying quality of the spraying device 14 is improved.

In a particular application, the spraying device 14 may include a spray bar 141, the spray bar 141 being perpendicular to the axial direction of the horn 12; wherein in the unfolded state, the bottom of the spray bar 141 is inclined to extend toward a direction away from the central body 10 to form an everted structure. Like this, not only can further promote the height of spray lance 141 apart from ground, avoid spray lance 141 to touch the ground, moreover, can also avoid spray lance 141 to beat wet at the in-process that sprays many rotor unmanned vehicles's fuselage improves many rotor unmanned vehicles's safety in utilization.

Referring to fig. 16, a schematic top view of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application is shown, and as shown in fig. 16, the head of the central body 10 is further provided with a vision sensor 15; the distance L1 between the rotor devices 13 connected to the front end portion of the center body 10 is greater than the distance L2 between the rotor devices 13 connected to the rear end portion of the center body 10.

In particular, during the flight of the multi-rotor unmanned aerial vehicle, the vision sensor 15 may be used to obtain a visual image of the direction of advance, so as to assist the flight of the multi-rotor unmanned aerial vehicle. For example, the vision sensor 15 may be disposed at the front end of the central body 10, or may be disposed on the arm 12 connected to the front end of the central body 10, and the specific position of the vision sensor 15 may not be limited in the embodiment of the present application.

In the embodiment of the present application, since the distance L1 between the rotor devices 13 connected to the front end portion of the center body 10 is greater than the distance L2 between the rotor devices 13 connected to the rear end portion of the center body 10, the shielding of the vision sensor 15 by the front rotor devices can be reduced, the angle of view of the vision sensor 15 can be increased, and thus, the photographing range of the vision sensor 15 can be increased.

In some embodiments of the present application, each pair of horn 12 includes a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a tail portion of the multi-rotor unmanned aerial vehicle, and an angle between the two front horns is larger than an angle between the two rear horns, so as to further increase the angle of view of the vision sensor 15, thereby increasing the photographing range of the vision sensor 15.

As shown in fig. 16, the connection line of the rotation axes of the plurality of rotor devices 13 may be trapezoidal such that a distance L1 connecting the two front rotor devices is greater than a distance L2 between the two rear rotor devices and such that an angle between the two front arms is greater than an angle between the two rear arms to increase the angle of view of the vision sensor 15, whereby the photographing range of the vision sensor 15 may be increased.

In summary, the multi-rotor unmanned aerial vehicle according to the embodiment of the application at least can include the following advantages:

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Furthermore, it is noted that the word examples "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A multi-rotor unmanned aerial vehicle, characterized in that the multi-rotor unmanned aerial vehicle comprises:

A central body;

A landing frame positioned below the central body;

The two pairs of the arms are respectively connected with the central body in a rotating way so as to realize the unfolding state and the folding state of the arms;

The rotor wing devices are respectively arranged on the two pairs of the horn, and are used for providing flying power;

wherein the central body is obliquely arranged relative to the landing plane of the landing frame;

In the unfolding state, the horn is unfolded radially relative to the central body;

In the folded state, each pair of the arms is in an up-down folded state, the arm connected to the lower side of the central body is located below, and the arm connected to the upper side of the central body is located above.
A multi-rotor unmanned aerial vehicle, characterized in that the multi-rotor unmanned aerial vehicle comprises:

A central body;

a front horn mechanically coupled to a front end portion of the center body;

a rear horn mechanically coupled to a rear end of the center body;

A plurality of rotor wing devices respectively mounted on the front horn and the rear horn, the rotor wing devices being for providing flying power;

a spraying device positioned below the rotor wing device on the rear horn,

When the multi-rotor unmanned aerial vehicle flies towards the aircraft nose direction, the bottom height of the rotor device on the front horn is lower than that of the rotor device on the rear horn.
The multi-rotor unmanned aerial vehicle of claim 2, wherein the bottom height of the rotor assembly on the front horn is less than the bottom height of the sprinkler on the rear horn when the multi-rotor unmanned aerial vehicle is flying in the nose direction.
A multi-rotor unmanned aerial vehicle according to claim 1 or 2, and wherein the central body comprises a frame provided with a receptacle for receiving a functional component of the multi-rotor unmanned aerial vehicle, the functional component being removably insertable into the receptacle.
A multi-rotor unmanned aerial vehicle according to claim 1 or claim 2, wherein the rotor arrangement is a coaxial twin-rotor arrangement.
The multi-rotor unmanned aerial vehicle of claim 5, wherein the coaxial dual-rotor arrangement comprises:

the motor seat is fixedly connected with the horn;

The driving mechanism is arranged on the motor base, the top of the driving mechanism is provided with an upper blade, the bottom of the driving mechanism is provided with a lower blade, the paddle plane of the upper paddle is parallel to the paddle plane of the lower paddle, and the rotating speeds of the upper paddle and the lower paddle are equal and the rotating directions of the upper paddle and the lower paddle are opposite.
The multi-rotor unmanned aerial vehicle of claim 6, wherein in the folded state, the gap between the upper horn and the lower horn is a first gap capable of accommodating a portion of the lower coaxial twin-rotor device above the horn to which it is connected and a portion of the upper coaxial twin-rotor device below the horn to which it is connected;

or in case the multi-rotor unmanned aerial vehicle is in windless hover, the paddle plane of the upper blade and the paddle plane of the lower blade are both arranged obliquely to a first horizontal plane, such that the sum of the tensile forces of the upper blade and the lower blade provides at least part of the yaw force of the unmanned aerial vehicle, wherein the first horizontal plane is a plane substantially perpendicular to the direction of gravity;

Or the drive mechanism comprises: the first motor is arranged at the top of the motor base, and the second motor is arranged at the bottom of the motor base; the first motor is connected with the upper blade to drive the upper blade to rotate, and the second motor is connected with the lower blade to drive the lower blade to rotate;

Or the drive mechanism comprises: the transmission mechanism is provided with a first output end and a second output end, the rotating speed of the first output end and the rotating speed of the second output end are equal and the rotating directions are opposite, the first output end is connected with the upper blade so as to drive the upper blade to rotate, and the second output end is rotated with the lower blade so as to drive the lower blade to rotate.
A multi-rotor unmanned aerial vehicle according to claim 1 or claim 2, wherein in the deployed state the coaxial twin-rotor arrangement on the front horn is a front rotor arrangement and the rotor arrangement on the rear horn is a rear rotor arrangement; wherein,

The top of the motor cabinet of the front rotor wing device inclines towards the machine head direction, and the top of the motor cabinet of the rear rotor wing device inclines towards the machine tail direction.
The multi-rotor unmanned aerial vehicle of claim 8, wherein the angle at which the top of the motor mount of the front rotor assembly is tilted toward the nose direction is a first angle, the angle at which the top of the motor mount of the rear rotor assembly is tilted toward the tail direction is a second angle, and the first angle and the second angle are equal.
The multi-rotor unmanned aerial vehicle of claim 9, wherein the first angle and the second angle are each 5-15 degrees.
The multi-rotor unmanned aerial vehicle of claim 10, wherein the front rotor assembly and the rear rotor assembly are coaxial dual-rotor assemblies, and wherein the pitch plane of the upper blades and the pitch plane of the lower blades of the front rotor assembly and the rear rotor assembly are both substantially perpendicular to the axial direction of the motor mount.
The multi-rotor unmanned aerial vehicle of claim 10, wherein the front rotor assembly and the rear rotor assembly are both coaxial dual-rotor assemblies, and the rotational speeds of the drive mechanisms of the front rotor assembly and the rear rotor assembly are the same.
The multi-rotor unmanned aerial vehicle of claim 8, wherein the front rotor assembly and the rear rotor assembly are both coaxial dual-rotor assemblies, and wherein the distance between the tips of the upper blades of the front rotor assembly and the rear rotor assembly and the corresponding horn is less than the distance between the tips of the lower blades and the corresponding horn.
The multi-rotor unmanned aerial vehicle of claim 1, wherein the center body is located at a forward end of a head of the multi-rotor unmanned aerial vehicle lower than a rear end of a tail of the multi-rotor unmanned aerial vehicle.
The multi-rotor unmanned aerial vehicle of claim 14, wherein the angle of inclination of the central body with respect to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a flight state is greater than the angle of inclination with respect to the horizontal plane when the multi-rotor unmanned aerial vehicle is in a hover state in an airless environment.
The multi-rotor unmanned aerial vehicle of claim 14, wherein one of each pair of the horn is connected to the forward end of the central body and the other is connected to the aft end of the central body;

In the folded state, among the pair of arms, the arm connected to the front end portion of the center body is located below and the arm connected to the rear end portion of the center body is located above.
The multi-rotor unmanned aerial vehicle of claim 14, wherein in the flight state, the center of gravity of the multi-rotor unmanned aerial vehicle is closer to the forward end of the central body than to the aft end of the central body.
The multi-rotor unmanned aerial vehicle of claim 14, wherein in the folded state the horn is disposed obliquely relative to a landing plane of the landing gear.
The multi-rotor unmanned aerial vehicle of claim 18, wherein each pair of the horn comprises a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a nose portion of the multi-rotor unmanned aerial vehicle,

In the folded state, the front horn and the rear horn form a Z shape together with the central body.
The multi-rotor unmanned aerial vehicle of claim 14, wherein each pair of horn comprises a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a nose portion of the multi-rotor unmanned aerial vehicle, the front and rear horns being arranged in an up-and-down arrangement in the deployed state.
The multi-rotor unmanned aerial vehicle of claim 20, wherein in the deployed state, the front horn has a first height and the rear horn has a second height, the first height being lower than the second height.
The multi-rotor unmanned aerial vehicle of claim 20, wherein in the deployed state, both the front horn and the rear horn are lifted upward.
The multi-rotor unmanned aerial vehicle of claim 20, wherein the angle at which the front horn is lifted upward is the same as the rear horn.
A multi-rotor unmanned aerial vehicle according to claim 23, wherein the angle at which the front and rear arms are lifted upwards is 5-10 degrees, preferably 6 degrees.
The multi-rotor unmanned aerial vehicle of claim 1, wherein an horn connection is provided on the central body, the horn connection being connected to the horn to rotatably connect the horn to the central body; wherein,

The horn connecting structure is a space folding shaft.
The multi-rotor unmanned aerial vehicle of claim 1, further comprising a sprinkler connected below the horn of the aft portion of the center body.
The multi-rotor unmanned aerial vehicle of claim 26, wherein the spray device comprises a boom that is perpendicular to the axial direction of the horn; wherein,

In the deployed state, the boom extends obliquely from a distal arm toward an outer side of the center body.
The multi-rotor unmanned aerial vehicle of claim 1, wherein the head of the central body is further provided with a vision sensor;

The distance between the rotor devices connected to the front end portion of the center body is greater than the distance between the rotor devices connected to the rear end portion of the center body.
The multi-rotor unmanned aerial vehicle of claim 28, wherein each pair of the horn comprises a front horn located at a nose portion of the multi-rotor unmanned aerial vehicle and a rear horn located at a tail portion of the multi-rotor unmanned aerial vehicle, an angle between two of the front horns being greater than an angle between two of the rear horns.
The multi-rotor unmanned aerial vehicle of claim 29, wherein the line of rotation axes of the plurality of rotor assemblies is trapezoidal.
A multi-rotor unmanned aerial vehicle, characterized in that the multi-rotor unmanned aerial vehicle comprises:

A central body;

a front horn mechanically coupled to a front end portion of the center body;

a rear horn mechanically coupled to a rear end of the center body;

A plurality of rotor wing devices respectively mounted on the front horn and the rear horn, the rotor wing devices being for providing flying power;

when the multi-rotor unmanned aerial vehicle flies towards the direction of the aircraft nose, the gravity center of the multi-rotor unmanned aerial vehicle leans forward along the direction of the aircraft nose, so that the power of a rotor device mounted on the front horn and the power of a rotor device mounted on the rear horn are balanced.