CN211336467U - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN211336467U CN211336467U CN202020021979.1U CN202020021979U CN211336467U CN 211336467 U CN211336467 U CN 211336467U CN 202020021979 U CN202020021979 U CN 202020021979U CN 211336467 U CN211336467 U CN 211336467U
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Abstract
The utility model belongs to the technical field of the unmanned air vehicle technique and specifically relates to a many rotor unmanned aerial vehicle is related to. The application provides a many rotor unmanned aerial vehicle is used for providing the lift engine of lift for many rotor unmanned aerial vehicle and is used for controlling the engine that turns to of many rotor unmanned aerial vehicle flight direction through setting up on the horn, the lift engine with turn to the engine autonomous working, make the lift engine with turn to the engine and all last work with best rotational speed, the lift engine can provide many rotor unmanned aerial vehicle maximum lift promptly, turn to the engine and can provide unmanned aerial vehicle maximum control power, thereby many rotor unmanned aerial vehicle's flight performance has been improved. In addition, the lift force engine and the steering engine reduce frequent rotating speed changing processes, and the service life and the reliability of the engine are improved.
Description
Technical Field
The utility model belongs to the technical field of the unmanned air vehicle technique and specifically relates to a many rotor unmanned aerial vehicle is related to.
Background
Present many rotor unmanned aerial vehicle is when flying for the rotatory engine of drive rotor participates in drive and control simultaneously, and the engine still need control unmanned aerial vehicle's flight direction when providing lift for unmanned aerial vehicle promptly, makes the biggest available load of engine receive the restriction, and each engine can't last work with best rotational speed, influences many rotor unmanned aerial vehicle's flight performance. In addition, the engine fault of the unmanned aerial vehicle can occur in the flying process, and the engine fault directly influences the flying performance of the unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
An object of this application is to provide a many rotor unmanned aerial vehicle to improve many rotor unmanned aerial vehicle's flight performance.
The application provides a multi-rotor unmanned aerial vehicle which comprises a vehicle body and a plurality of arms;
each horn is provided with an engine, and each engine is provided with a rotor wing;
wherein part of the engines are lift engines and part of the engines are steering engines; the lift engine is used for providing lift, and the steering engine is used for changing the flight direction.
In the above technical solution, preferably, the boom on which the lift engine is mounted is a lift boom, the boom on which the steering engine is mounted is a steering boom, the number of the lift booms and the number of the steering booms are both multiple, the multiple lift booms are symmetrically arranged on two sides of the fuselage with the first axis of the fuselage as a symmetry axis, and the multiple steering booms are symmetrically arranged on two sides of the fuselage with the second axis of the fuselage as a symmetry axis;
in any of the above technical solutions, preferably, the lift arms and the steering arms disposed on one side of the fuselage corresponding to the first axis are located on two sides of the lift arms when viewed along the second axis of the fuselage.
In any of the above technical solutions, preferably, the lift arms located at two sides of the body are coaxially arranged in a one-to-one correspondence, and the steering arms located at two sides of the body are coaxially arranged in a one-to-one correspondence.
In any one of the above aspects, preferably, an arm length of the boom to which the lift engine is attached is shorter than an arm length of the boom to which the steering engine is attached.
In any one of the above technical solutions, preferably, the lift engine is an oil-driven engine, and the steering engine is an electric engine.
In any one of the above technical solutions, preferably, the horn is provided with a folding joint so that the horn can be folded toward the fuselage.
In any one of the above technical solutions, preferably, the number of the booms is six, wherein the lift engines are arranged on two booms, and the steering engines are arranged on four booms.
In any one of the above technical solutions, preferably, the airframe is provided with an avionics module.
In any one of the above technical solutions, preferably, the aircraft further includes an undercarriage, the undercarriage is disposed below the fuselage, and each of the arms is connected to the undercarriage.
Compared with the prior art, the beneficial effects of the utility model are that:
the application provides a many rotor unmanned aerial vehicle is used for providing the lift engine of lift for many rotor unmanned aerial vehicle and is used for controlling the engine that turns to of many rotor unmanned aerial vehicle flight direction through setting up on the horn, the lift engine with turn to the engine autonomous working, make the lift engine with turn to the engine and all last work with best rotational speed, the lift engine can provide many rotor unmanned aerial vehicle maximum lift promptly, turn to the engine and can provide unmanned aerial vehicle maximum control power, thereby many rotor unmanned aerial vehicle's flight performance has been improved. In addition, the lift force engine and the steering engine reduce frequent rotating speed changing processes, and the service life and the reliability of the engine are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a multi-rotor unmanned aerial vehicle at a first viewing angle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention in a state where arms are folded;
fig. 3 is a schematic structural diagram of a multi-rotor drone at a second viewing angle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a control scheme of a multi-rotor drone according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another control scheme of a multi-rotor drone according to an embodiment of the present invention;
fig. 6 is a schematic diagram of another control scheme of the multi-rotor unmanned aerial vehicle provided by the embodiment of the utility model.
Reference numerals:
1-fuselage, 11-first axis, 12-second axis, 2-lift horn, 21-lift engine, 3-steering horn, 31-steering engine, 4-folding joint, 5-avionic module, 6-battery, 7-undercarriage, 8-rotor.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention.
The components of the embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A multi-rotor drone and a control method according to some embodiments of the present invention are described below with reference to fig. 1 to 6.
Example one
Referring to fig. 1-3 shown, the application provides a many rotor unmanned aerial vehicle, including fuselage 1 and many horn, install the engine on each horn respectively, install rotor 8 on each engine respectively, rotor 8 through the engine drive on the horn corresponds rotates to realize many rotor unmanned aerial vehicle's flight.
Wherein, for solving many rotor unmanned aerial vehicle's among the prior art engine and participating in drive and control simultaneously, consider that the engine participates in the required power surplus of control, the maximum available load of engine can receive the restriction, and each engine can't be with best rotational speed continuous work, and then influences many rotor unmanned aerial vehicle's flight performance's problem. According to the embodiment of the application, a part of engines on the horn are set as the lift force engines 21, the rotating speed of the lift force engines 21 is constant, and the lift force engines are only used for providing lift force for the unmanned aerial vehicle, so that the flying stability of the unmanned aerial vehicle is ensured; and set up another part engine on the horn into turning to engine 31, the rotational speed that turns to engine 31 can change, and it can change the rotational speed according to many rotor unmanned aerial vehicle flight direction and environment etc. at the flight in-process to control unmanned aerial vehicle's flight direction and stability.
Therefore, the embodiment of this application can improve unmanned aerial vehicle's flight performance through set up the lift engine 21 that is used for providing unmanned aerial vehicle lift and the engine 31 that turns to that is used for controlling unmanned aerial vehicle flight direction on many rotor unmanned aerial vehicle. In addition, lift engine 21 and the engine 31 independent work that turns to for lift engine 21 and the engine 31 that turns to all last work with best rotational speed, lift engine 21 can provide the unmanned aerial vehicle maximum lift promptly, turns to the engine 31 and can provide the unmanned aerial vehicle maximum control power, thereby has improved many rotor unmanned aerial vehicle's flight performance. Moreover, the lift engine 21 and the steering engine 31 reduce frequent rotating speed changing processes, and the service life and the reliability of the engines are improved.
In the embodiment of the present application, preferably, in order to obtain a larger available load for the multi-rotor drone, the lift engine 21 may select an engine with a power greater than that of the steering engine 31.
Further preferably, the lift engine 21 is an oil-driven engine, and the steering engine 31 is an electric engine. Because the power-weight ratio of the oil-driven engine is large, the power of the lift-increasing engine 21 can be provided on the premise of certain weight of the engine. The response speed of the steering motor 31 can be increased because the response speed of the electric motor is high.
In addition, it should be noted that, the lift engine 21 and the steering engine 31 can also select the same type and specification of engine to increase the commonality of many rotor unmanned aerial vehicle's structure, reduce the maintenance degree of difficulty. And in different shelves, can adopt the engine of different positions as lift engine 21 and steering engine 31, namely to same many rotor unmanned aerial vehicle, in first shelf, the engine that is located the first position is as lift engine, and in the second shelf, the engine that is located the first position can be set for lift engine or steering engine through the system according to the flight demand, consequently to different shelves, same engine can be at lift engine and steering engine switching, avoid the great condition of loss of single form flight to the engine, thereby make the life of each engine can both obtain improving.
In addition, the arm length that the embodiment of this application set up the lift horn is shorter than the arm length (not shown in the figure) that turns to the horn, and the shortening of the arm length of lift horn can improve the intensity of lift horn on the one hand, and on the other hand can alleviate many rotor unmanned aerial vehicle's overall structure weight.
In addition, for further guaranteeing the stability of many rotor unmanned aerial vehicle flights, see that fig. 1 to fig. 3 show, the embodiment of this application sets up the horn of installing lift engine 21 for lift horn 2, the quantity of lift horn 2 is many, many lift horns 2 use the first axis 11 of fuselage 1 to set up in the both sides of fuselage 1 as symmetry axis symmetry, it is preceding to use the square that many rotor unmanned aerial vehicle gos forward, the left and right directions of the corresponding fuselage of direction of first axis 11, lift engine 21 distributes in the front and back both sides of fuselage 1 promptly, therefore lift engine 21 and the rotor 8 that corresponds can provide lift in the front and back both sides of fuselage 1, the stability of many rotor unmanned aerial vehicle flights has been guaranteed.
In addition, for the improvement turn to engine 31 and the rotor 8 that corresponds more stable to many rotor unmanned aerial vehicle's flight control, the embodiment of this application set up the horn of installing and turning to engine 31 for turning to horn 3, the quantity that turns to horn 3 is many, and many turn to horn 3 with the second axis 12 of fuselage 1 sets up for symmetry axis symmetry in the both sides of fuselage 1, the direction of second axis 12 corresponds the fore-and-aft direction of fuselage 1, and second axis 12 is perpendicular with first axis 11, turns to engine 31 promptly and distributes in the left and right sides of fuselage 1, consequently turns to engine 31 and the rotor 8 that corresponds and can provide the control power in the left and right sides of fuselage 1, can control many rotor unmanned aerial vehicle's transform direction sooner, has also guaranteed many rotor unmanned aerial vehicle flight control's stability.
In addition, set up in the lift horn 2 that fuselage 1 corresponds one side of first axis 11 and turn to horn 3, follow the direction observation of fuselage 1's second axis 12, turn to horn 3 and be located the both sides of distributing in lift horn 2 for turn to horn 3 and be more sensitive to many rotor unmanned aerial vehicle's the direction of control of flying about. Therein, described in connection with fig. 3, as shown in fig. 3, on one side of the first axis 11 there is a single lift arm 2 and two steering arms 3, i.e. the single lift arm 2 and the two steering arms 3 are arranged on the upper side of the first axis 11, of which three arms the lift arm 2 is located in a middle position, viewed in the direction of the second axis 12 of the fuselage 1, and the two steering arms 3 are located on both sides of the lift arm 2.
Furthermore, the lift arms 2 on either side of the first axis 11 of the fuselage 1 are coaxially arranged in a one-to-one correspondence, and the steering arms 3 on either side of the second axis 12 of the fuselage 1 are coaxially arranged in a one-to-one correspondence. Referring to fig. 1 to 3, the drawings of the embodiment of the present application show a configuration in which the arms of the multi-rotor unmanned aerial vehicle are provided, for example, in six (however, the number is not limited thereto, and may be an eight configuration as needed), and as described above, in the case where the number of the plurality of arms is six, the six arms are assumed to be a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm which are sequentially provided in the circumferential direction, the first arm and the fourth arm are diagonally provided and have collinear axes, the second arm and the fifth arm are diagonally provided and have collinear axes, and the third arm and the sixth arm are diagonally provided and have collinear axes. The first machine arm and the fourth machine arm are lift machine arms 2, and lift engines 21 are arranged on the two machine arms; the second, third, fifth and sixth booms are steering booms 3, and steering motors 31 are provided on the four booms.
In addition, as shown in fig. 1 and fig. 2, a folding joint 4 is arranged on the horn corresponding to the middle of the horn, the folding joint 4 is arranged to make the horn foldable, and since the rotor 8 is generally arranged at the end of the horn far away from the fuselage 1, the folding joint 4 can make the part of the horn corresponding to the outside of the folding joint 4 and the rotor 8 on the horn foldable to the side near the fuselage 1. And when many rotor unmanned aerial vehicle park, can reduce shared space after unmanned aerial vehicle's horn is folding.
It should be noted that the folding joint 4 for folding on the arm is a structural member in the prior art, for example, similar to the structure on a folding bicycle, a folding baby carriage, etc., and therefore, the specific structure of the folding joint 4 will not be described in detail.
Furthermore, in the embodiment, as shown in fig. 1, an avionics module 5 and a battery 6 are provided on the fuselage 1, both the avionics module 5 and the battery 6 being provided at a central location on the fuselage 1, the avionics module 5 being used to control the flight of the multi-rotor drone, and the battery 6 being used to power the avionics module 5. The undercarriage 7 is arranged below the machine body 1, the machine arms are respectively connected with the undercarriage 7, and the undercarriage 7 is used for stably supporting the machine body 1 and the machine arms.
Example two
The embodiment of the application also provides a control method of the multi-rotor unmanned aerial vehicle, so that stable flight of the unmanned aerial vehicle is realized.
Specifically, referring to fig. 4, the multi-rotor unmanned aerial vehicle includes a fuselage and a plurality of booms, each of the booms is respectively provided with an engine, a part of the engines is a lift engine 21, and a part of the engines is a steering engine 31, for example, in the embodiment shown in fig. 4, the multi-rotor unmanned aerial vehicle includes six booms, six engines are correspondingly arranged on the six booms, two of the six booms are the lift engines 21, four of the six booms are the steering engines 31, the rotating speed of the lift engines 21 is constant, so as to provide stable lift for the multi-rotor unmanned aerial vehicle, and the rotating speed of the steering engines 31 can be changed, so as to change the flight direction of the multi-rotor. Lift engine 21 and the independent work of engine 31 that turns to guaranteed that lift engine 21 can both last the work with best rotational speed with the engine 31 that turns to, and lift engine 21 can produce the maximum lift to many rotor unmanned aerial vehicle.
In the embodiment of this application, preferably, many rotor unmanned aerial vehicle's lift engine 21 on two arms of coaxial setting rotates the opposite direction, and consequently the torque that the engine produced on two lift arms 2 of coaxial setting can at least partially offset each other to reduced two lift arms 2's of coaxial setting atress, strengthened the stability of many rotor unmanned aerial vehicle flight, improved many rotor unmanned aerial vehicle's life-span. Further, since the turning direction of the steering engine 31 on the two coaxially disposed steering arms 3 needs to be changed according to the flight condition of the multi-rotor drone, the turning direction of the steering engine 31 is not particularly limited, and fig. 4 schematically shows one turning direction of the steering engine 31, but the turning direction of the steering engine 31 is not limited thereto.
EXAMPLE III
The embodiment of the application also provides a control method of the multi-rotor unmanned aerial vehicle, so that the fault condition that each engine of the multi-rotor unmanned aerial vehicle possibly occurs can be met, and the normal flight or the stable landing of the multi-rotor unmanned aerial vehicle can be ensured.
When many rotor unmanned aerial vehicle's controller detected one or more engine and broke down, control all the other corresponding adjustment of engine and direction of rotation and/or rotational speed to guarantee unmanned aerial vehicle's normal flight or steady landing.
It should be noted that the engine with a fault means that the engine cannot rotate or the rotating speed cannot be regulated, and when the engine with a fault cannot rotate, the engine of the multi-rotor unmanned aerial vehicle is controlled according to the following control method; when the engine with the fault is incapable of being regulated and controlled by the rotating speed, the controller of the multi-rotor unmanned aerial vehicle firstly controls the engine with the fault to stop rotating, and then controls the engine of the multi-rotor unmanned aerial vehicle according to the following control method.
Referring to fig. 5 and 6, a possible engine failure situation of a multi-rotor drone and a corresponding control method are specifically described by taking a six-rotor drone as an example, wherein a cross mark represents an engine failure, and a prohibition symbol represents engine shutdown.
Referring to fig. 5, when the engine of the multi-rotor unmanned aerial vehicle that breaks down is the lift engine 21, the lift engine 21 disposed coaxially with the lift engine 21 that breaks down stops working, and the steering engine 31 increases the rotation speed, so that the multi-rotor unmanned aerial vehicle can fly normally or land smoothly.
Referring to fig. 6, when the engine with the fault of the multi-rotor drone is the steering engine 31, the steering engine 31 symmetrically arranged with the steering engine 31 with the fault about the second axis of the fuselage stops working, and all the rest of the engines adjust the rotating speed, so that the multi-rotor drone stably lands.
Specifically, taking the six-rotor drone shown in fig. 6 as an example, lift adjustment amounts of the remaining engines when the steering engine 31 fails are specifically described, and the rotation speed adjustment amount of the engine can be calculated through the lift adjustment amount.
The six booms are assumed to be the first engine, the second engine, the third engine, the fourth engine, the fifth engine and the sixth engine on the six booms sequentially arranged along the circumferential direction, the first engine and the fourth engine are the lift force engine 21, and the second engine, the third engine, the fifth engine and the sixth engine are the steering engine 31.
When one of the steering motors 31 (second motor) of the six-rotor drone shown in fig. 6 fails, the steering motor 31 (sixth motor) disposed symmetrically with the failed steering motor 31 about the second axis of the fuselage stops working, and the lift adjustment of the remaining four motors, specifically the lift adjustment of the first motor, is adjusted to T1The lift of the fourth engine is adjusted to T2The lift of the fifth engine is adjusted to T3The lift of the third engine is adjusted to T4。
Wherein, T1＝0.5×G-0.33×T4；
T2＝0.5×G-T4；
T3＝0.33×T4；
T4≤T4max。
G is total weight, T this moment of many rotor unmanned aerial vehicle in the above-mentioned formula4maxThe maximum lift that the third engine can generate.
In addition, for guaranteeing many rotor unmanned aerial vehicle's steady descending, each engine lift all does not exceed the maximum lift that its can produce.
A possible engine failure situation of a multi-rotor drone and the corresponding engine control method are described above with reference to fig. 5 and 6, however it should be noted that concepts similar to those described above fall within the scope of protection of the present application.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A multi-rotor unmanned aerial vehicle is characterized by comprising a vehicle body and a plurality of arms;
each horn is provided with an engine, and each engine is provided with a rotor wing;
wherein part of the engines are lift engines and part of the engines are steering engines; the lift engine is used for providing lift, and the steering engine is used for changing the flight direction.
2. The multi-rotor unmanned aerial vehicle of claim 1, wherein the booms on which the lift engines are mounted are lift booms, the booms on which the steering engines are mounted are steering booms, the number of lift booms and the number of steering booms are multiple, the lift booms are symmetrically disposed on both sides of the fuselage with the first axis of the fuselage as a symmetry axis, and the multiple steering booms are symmetrically disposed on both sides of the fuselage with the second axis of the fuselage as a symmetry axis.
3. A multi-rotor unmanned aerial vehicle as recited in claim 2, wherein the lift arms and the steering arms disposed on a side of the fuselage corresponding to the first axis are positioned on opposite sides of the lift arms as viewed along the second axis of the fuselage.
4. A multi-rotor drone according to claim 3, wherein the lift arms on either side of the first axis of the fuselage are coaxially arranged in a one-to-one correspondence, and the steering arms on either side of the second axis of the fuselage are coaxially arranged in a one-to-one correspondence.
5. A multi-rotor drone according to claim 1, wherein the arms on which the lift engine is mounted have a shorter arm length than the arms on which the steering engine is mounted.
6. The multi-rotor drone of claim 1, wherein the lift engine is an oil-powered engine and the steering engine is an electric engine.
7. A multi-rotor drone according to claim 1, wherein the horn is provided with a folding joint to enable the horn to fold towards the fuselage side.
8. A multi-rotor unmanned aerial vehicle as claimed in any one of claims 1-7, wherein the number of arms is six, wherein the lift engines are provided on two arms and the steering engines are provided on four arms.
9. A multi-rotor drone according to any one of claims 1 to 7, wherein an avionics module is provided on the fuselage.
10. A multi-rotor drone according to any one of claims 1 to 7, further comprising landing gear disposed beneath the fuselage, each arm being connected to the landing gear.
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| CN111086642A (en) * | 2020-01-06 | 2020-05-01 | 尚良仲毅(沈阳)高新科技有限公司 | Multi-rotor unmanned aerial vehicle and control method |
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| CN111086642A (en) * | 2020-01-06 | 2020-05-01 | 尚良仲毅(沈阳)高新科技有限公司 | Multi-rotor unmanned aerial vehicle and control method |
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