CN211468766U - Novel many rotor unmanned aerial vehicle and unmanned aerial vehicle external member - Google Patents

Abstract

The invention discloses a novel multi-rotor unmanned aerial vehicle and an unmanned aerial vehicle kit, comprising a frame and a horizontal rotor assembly arranged on the frame. The plane where the components are located is parallel to the horizontal plane, and a side-rotor assembly for controlling the horizontal movement of the drone is also provided on the frame. When the drone is in a horizontal stationary state, the side-rotor component includes a plurality of side-standing rotors component, the angle between the plane where the propeller component is located and the horizontal plane is 45°~135°, so that the attitude change and translation movement of the drone can be independently controlled, that is, the adjustment of the horizontal rotor component is used to control the difference of the drone Flight attitude, including pitch, roll and heading, and adjustment of flight height, while the adjustment of the side-rotor component is used to control the horizontal movement of the drone, decouple the attitude movement and translation movement of the aircraft, and realize 6 drones. The degree of freedom can be adjusted at the same time, and the corresponding remote control solution with more than 4 degrees of freedom is provided.

Description

A new type of multi-rotor UAV and UAV kit

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a novel multi-rotor unmanned aerial vehicle and an unmanned aerial vehicle kit.

Background technique

A multi-rotor UAV is a special unmanned helicopter with four or more rotor shafts. It is rotated by the motor on each shaft to drive the rotor, thereby generating lift and thrust. The collective pitch of the rotors is fixed, not variable like a typical helicopter. By changing the relative rotational speed between different rotors, the magnitude of the single-axis propulsion force can be changed, thereby controlling the trajectory of the aircraft.

Traditional multi-rotor UAVs generally only have 4, 6 or 8 symmetrically arranged horizontal propellers. The attitude (rotation) motion and translational motion of the UAV are coupled, and the flight attitude of the UAV cannot be realized. (such as rotation, pitch, flip, etc. attitude) and independent control of horizontal translation movement. Similarly, the matching remote control can only control the drone with four degrees of freedom at most. If the remote control is used to control the UAV's heading, roll, pitch, and altitude, the horizontal movement will move freely according to the current three rotation angles. If the remote control is used to control the UAV's heading angle, height and two horizontal movements, then the roll angle and pitch angle can no longer be independently controlled. In fact, the aircraft's flight control system is adjusted by adjusting the roll angle and pitch angle. to influence and control horizontal movement. That is, horizontal motion and rotational motion are coupled together, that is, there is a causal relationship, just like speed and displacement, they cannot be controlled independently at the same time. This also inspired the present invention, that is, to design a drone that can adjust all 6 degrees of freedom at the same time in flight, enriching the flight mode of the drone, and at the same time design a corresponding remote controller to achieve multiple Independent adjustment of up to 6 degrees of freedom.

SUMMARY OF THE INVENTION

The present invention aims to overcome at least one defect of the above-mentioned prior art, and provides a novel multi-rotor unmanned aerial vehicle, so as to achieve the purpose of independent control of the attitude movement and translation movement of the unmanned aerial vehicle.

The present invention also provides a remote controller for controlling the drone of the present invention, by setting two two-dimensional joysticks and up to two one-dimensional joysticks to control the drone with more than four degrees of freedom Multi-dimensional flight to achieve independent adjustment of UAV attitude movement and translation movement.

The technical solution adopted by the present invention is to provide a new type of multi-rotor unmanned aerial vehicle, comprising a frame and a horizontal rotor assembly arranged on the frame. The plane where the component is located is parallel to the horizontal plane, and it is characterized in that the frame is also provided with a side vertical rotor assembly for controlling the horizontal movement of the drone. It includes a plurality of side-standing propeller assemblies, and the included angle between the plane where the propeller assemblies are located and the horizontal plane is 45°-135°, so that the attitude change and translational movement of the UAV can be independently controlled. Preferably, the angle is 90 degrees, that is, it is perpendicular to the horizontal plane, and the posture motion is the rotational motion.

Further, the side vertical rotor assembly includes a first side vertical rotor assembly and a second side vertical rotor assembly, and when the drone is in a horizontal stationary state, between the first cantilever (311) and the second cantilever (321) The included angle of the projection on the horizontal plane is α, where 0°<α<180°.

Preferably, the α is 45°˜135°, and more preferably, the α is 90°.

Further, the unmanned aerial vehicle also includes a casing, and the casing is provided with a first air duct and a second air duct, and the first air duct and the second air duct intersect to form an "X"-shaped air duct structure. , the first side vertical rotor assembly is arranged in the first air duct, the second side vertical rotor assembly is arranged in the second air duct, when the first side vertical rotor assembly and the second side vertical rotor assembly work, " An alternating ventilation airflow is formed in the X"-shaped air duct structure. The horizontal rotor assembly is in a ten-shaped cross structure through the horizontal cantilever, runs through the casing, and forms a "m" shape with the "X"-shaped air duct structure of the casing. staggered structure.

Preferably, the side upright rotor assembly further includes a central fixing plate, the first side upright rotor assembly includes a first cantilever, a first propeller assembly fixed on the distal end of the first cantilever, the second side upright The rotor assembly includes a second cantilever arm and a second propeller assembly fixed on the distal end of the second cantilever arm, the central fixing plate is integrally formed with the proximal ends of the first cantilever arm and the second cantilever arm, the first cantilever arm and the proximal ends of the second cantilever arm are integrally formed. The included angle between the second cantilevers is α, where 0°<α<180°. Preferably, the α is 45°˜135°, and more preferably, the α is 90°.

Further, the first propeller assembly includes a first motor holder, a first motor mounted on the first motor holder, and a first vertical propeller driven and rotated by the first motor, and the second rotor. The paddle assembly includes a second motor holder, a second motor mounted on the second motor holder, and a second vertical propeller driven and rotated by the second motor, the first motor holder and the first cantilever arm The distal end of the second cantilever is integrally formed, and the second motor fixing seat is integrally formed with the distal end of the second cantilever.

Further, the horizontal rotor assembly includes a plurality of horizontal cantilevers and a plurality of horizontal propeller assemblies matched with the horizontal cantilevers, and the horizontal propeller assembly includes a multi-directional joint, a third motor, and a The horizontal propeller, the upper side of the multi-directional joint is provided with a plurality of first interfaces, the third motor is fixed to the first interface, and the side of the multi-directional joint close to the central axis of the drone is also provided with a second interface an interface and a fourth interface, the horizontal cantilever is detachably connected with the second interface and the fourth interface; the lower end of the multi-directional joint is also provided with a third interface, and the multi-directional joint is far away from the central axis of the drone A fourth interface is also provided on one side of the horizontal rotor assembly, and the horizontal rotor assembly further includes a landing gear and a protective bracket, and the landing gear is fixedly installed on the third interface. The middle of the horizontal cantilever of the present invention is hollow, the protection bracket is connected to the horizontal cantilever through a carbon fiber rod, and the carbon fiber rod (90) can be inserted into the hollow interior of the horizontal cantilever to be fixed to the frame.

More specifically, the multi-directional joint includes a fixed disk, the third motor is fixedly mounted on the upper side of the fixed disk, and the middle of the bottom surface of the fixed disk is provided with a first engaging component, and A second engaging element and a third engaging element are arranged on both sides of the fixed disk and are symmetrical with the first engaging element as the central axis, and a third interface is formed in the middle of the first engaging element , the middle parts of the second and third engaging components form a second interface and a fourth interface respectively, the second and third engaging components are similar in structure, with a U-shape as a whole, and the upper end is open. Close to each other, the upper end is provided with a transverse threaded hole, and a threaded member or other fasteners can be used to realize the snapping of the close-fitting mouth section.

Further, the horizontal rotor assembly includes a first horizontal rotor assembly, a second horizontal rotor assembly, a third horizontal rotor assembly and a fourth horizontal rotor assembly; the upper side of the central fixing plate is provided with a first clamping position, and set a second card position and a third card position on both sides of the first card position;

The first horizontal rotor assembly includes a first cantilever bracket and a first horizontal rotor assembly fixed with the distal end of the first cantilever bracket, and the second horizontal rotor assembly includes a second cantilever bracket and is fixed with the distal end of the second cantilever bracket. The second horizontal rotor assembly, the third horizontal rotor assembly includes a third cantilever bracket and a third horizontal propeller assembly fixed with the distal end of the third cantilever bracket, the fourth horizontal rotor assembly includes a fourth cantilever bracket and the fourth horizontal propeller assembly fixed with the distal end of the fourth cantilever bracket;

The proximal end of the first cantilever bracket is integrally connected with the proximal end of the third cantilever bracket, and is fixed on the first clamping position;

The proximal end of the second cantilever bracket is fixed in the second clamping position, and the proximal end of the third cantilever bracket is fixed on the third clamping position; The horizontal cantilever in the card position is clamped and fixed.

The first horizontal rotor assembly, the second horizontal rotor assembly, the third horizontal rotor assembly and the fourth horizontal rotor assembly form a "cross"-shaped horizontal rotor structure or an "X"-shaped horizontal rotor structure. Traditional drones can have 4, 6, 8, or more propellers. There are cross-type, X-type, and approximate axis pair distributions. All configurations can be applied to the present invention instead of the arrangement of four horizontal rotors in the present invention.

In addition to the above-mentioned integrated connection method, the first cantilever bracket and the third cantilever bracket can also adopt similar structures similar to the second cantilever bracket and the fourth cantilever bracket, that is, the middle is disconnected, and the fixing plates are respectively engaged with the central fixing plate. The fixing method is flexible and diverse. Similarly, the second cantilever bracket and the fourth cantilever bracket can also be connected in an integrated manner, similar to the integrated connection of the first cantilever bracket and the third cantilever bracket pointed out in the present invention.

And the first cantilever bracket, the third cantilever bracket, the second cantilever bracket and the fourth cantilever bracket of the present invention are preferably made of carbon fiber rods, and their shapes can be either circular carbon fiber rods or square carbon fiber rods, and the corresponding clamping shape can be realized. Matching can be done. Similarly, the shape of the interface position of the multi-directional joint can also be adaptively adjusted according to the shape of the carbon fiber rod.

The present invention also provides a flight control method for a novel multi-rotor UAV, which is realized by using the UAV. Man-machine independent adjustment of six degrees of freedom.

The four horizontal rotor assemblies in the present invention can be used as a cross-shaped configuration or an X-shaped configuration without any influence, that is, the direction of the nose can be set arbitrarily. The four rotor assemblies are divided into two groups, wherein the corresponding ones are regarded as one group. The differential component of the rotational speed of the two rotor assemblies in each group (that is, the difference in the lift provided by the horizontal rotor assemblies in each group) affects the inclination of the aircraft in this axis direction. In this way, the respective difference between the two rotor assemblies, Determines the pitch and roll angles. Then the difference between the two sets of rotor assemblies determines the twisting of the aircraft, that is, the heading angle. Then the projection of the common-mode components of the two groups (that is, all) of the rotor components in the vertical and horizontal direction determines the force in the vertical direction. After this force and gravity are combined, it is the final force of the aircraft in the horizontal direction, which in turn affects the height. change of direction. The projection of the force of the two sets of side rotor assemblies in the horizontal direction affects the movement of the aircraft in the horizontal direction. Because the forces of the two side rotor assemblies can be independently adjusted, and further, the force components in the X and Y directions of the horizontal plane can be independently adjusted, the horizontal motion of the aircraft can be adjusted independently. The force component of the projection of the two side rotor assemblies in the vertical direction, as a disturbance, is cancelled by the force in the vertical horizontal plane of the aircraft. The control method of the drone flying overhead is as follows: adjusting the rotational speed of the two lateral rotors to control the movement in the horizontal direction. The average speed of the horizontal rotor assembly is then adjusted to control the movement in the altitude direction and to counteract the effects of gravity and the side stand propellers. Then the wing components are divided into two groups, the difference between the two groups determines the heading, and the difference within each group determines the pitch and roll (the definition of pitch and roll depends on the definition of the nose, how to set the nose It doesn't really matter)

Further, the present invention also provides a novel multi-rotor UAV kit, the UAV kit further includes a remote control, and the remote control is provided with two two-dimensional joysticks and two one-dimensional joysticks. One of the two-dimensional joysticks gives commands for the horizontal translation movement of the drone, and the other two-dimensional joystick and two one-dimensional joysticks give commands for the rotation and height movement of the drone. A joystick gives all commands for translation and rotation; the translation includes horizontal flight and up and down height adjustment; the rotation includes pitch, roll, and heading angle adjustment; so as to achieve unmanned Independent control of machine rotational and translational movements. The roll angle can be set to 0 by default, which saves a one-dimensional joystick.

The remote controller is provided with two two-dimensional joysticks and two one-dimensional joysticks (six degrees of freedom in total), through which the drone's translational motion (horizontal flight and altitude speed) and rotation are given Commands for motion (pitch, roll and yaw). Achieve independent control of UAV rotation and translation movement. One of the 2D joysticks is used to give speed commands for two horizontal translation movements. The remaining two 2D sticks and two 1D sticks are used to give the following commands: 1. Altitude velocity, 2. Yaw velocity, 3. Pitch velocity or angle, 4. Roll angular velocity or angle. The combination can be set arbitrarily. If the joystick controls the angle, then the joystick should be used that does not automatically return to the center, that is, the offset of the joystick directly corresponds to the ideal angle setting. If the joystick controls the angular velocity, then the joystick can use automatic centering (that is, if there is no external force, the joystick returns to center, and the corresponding angular velocity is 0) or it can not use automatic centering, but it is all at the midpoint. Explain that the angular velocity is 0. The translational movement is all about controlling the speed. The roll angle can be set to 0 by default, which saves a one-dimensional joystick.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The present invention simultaneously sets the horizontal rotor assembly and the side vertical rotor assembly, and realizes the independent control of the flying attitude and the horizontal movement of the drone, and the adjustment of the horizontal rotor assembly is used to control the different flying attitudes of the drone, including pitch, The adjustment of roll, heading and flight height, while the adjustment of the side-rotor component is used to control the horizontal movement of the drone, decouple the attitude of the aircraft from the horizontal movement, and realize the simultaneous adjustment of the six degrees of freedom of the drone. Moreover, the present invention also provides a corresponding remote control solution with more than 4 degrees of freedom.

(2) The rotation speed adjustment of the side vertical rotor assembly includes not only the size but also the direction, that is, each side vertical rotor assembly can control the forward and reverse rotation. The present invention can form forces in different directions by adjusting the rotation direction and rotational speed of the propellers on the first side vertical rotor assembly and the second side vertical rotor assembly, so as to propel the unmanned aerial vehicle to a specified direction Horizontal flight, and 0°<α<180°, so that the direction of the horizontal force can be adjusted between 0 and 360°, thereby realizing the full-angle adjustment of the drone in the horizontal direction.

(3) In the present invention, the "X" type air duct structure is arranged, and the "X" type horizontal rotor assembly structure is penetrated through the inside of the frame, so that the UAV as a whole presents a "m"-shaped staggered structure, which is convenient for the wind inlet of the side vertical rotor. It is isolated from the airflow formed by the outlet airflow and the horizontal rotor to reduce mutual influence.

(4) The integrated design of the side vertical rotor assembly and the central connecting piece of the present invention makes the structure more stable, reduces the arrangement of the relevant connecting pieces, and is more portable.

(5) The design of the multi-directional joint of the present invention facilitates the overall disassembly and assembly of multiple components, and facilitates assembly and later maintenance. The multi-directional joint can connect the motor, horizontal cantilever, landing gear rod at the same time, reducing the number of connecting parts.

(4) The present invention provides an optional protective bracket connected to the interior of the hollow horizontal cantilever, which can avoid hitting objects and damaging the propeller, or rotating the propeller and injuring people, thereby improving the safety of the drone. And the protection bracket is arc-shaped, and the horizontal cantilever runs through the side of the casing in a concave arc, so that the arc of the protection bracket and the concave arc of the casing form an approximately circular protection zone. , better protect the propeller, and reduce the risk of personnel misoperation.

(5) The present invention adopts a hollow casing, which is convenient for the heat dissipation inside the whole UAV, and utilizes the air inlet and outlet airflow of the side vertical rotor to further accelerate the heat dissipation speed of the UAV control board and increase the stability of the electronic system. performance, making the drone operation more stable.

Description of drawings

FIG. 1 is a schematic view of the top view structure of the UAV frame of the present invention.

FIG. 2 is a schematic diagram of the three-dimensional structure of the UAV frame of the present invention.

FIG. 3 is a schematic view of the overall top view structure of the UAV of the present invention.

FIG. 4 is a schematic structural diagram of the central fixing plate of the present invention.

FIG. 5 is a schematic diagram of the overall upside-down three-dimensional structure of the UAV of the present invention.

FIG. 6 is a schematic diagram of the three-dimensional structure of the multidirectional joint of the present invention.

FIG. 7 is another top-view structural schematic diagram of the UAV frame of the present invention.

8 is a top view of the vertical rotor assembly on both sides of the UAV of the present invention with an included angle α of 60°.

9 is a top view of the vertical rotor assembly on both sides of the UAV of the present invention with an included angle α of 120°.

10 is a top view of the included angle γ between the propeller and the horizontal plane of the UAV rotor assembly of the present invention at 60°.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and do not limit the protection scope of the present invention.

Example 1

A new type of multi-rotor unmanned aerial vehicle, comprising a frame 1 and a horizontal rotor assembly 2 arranged on the frame 1. In the horizontal stationary state of the unmanned aerial vehicle, the plane and the horizontal plane where the horizontal rotor assembly 2 is located are In parallel, the frame 1 is also provided with a side vertical rotor assembly 3 for controlling the horizontal movement of the drone. In the stationary state of the drone, the side vertical rotor assembly 3 includes a plurality of side vertical rotors The paddle assembly, the angle between the plane where the propeller assembly is located and the horizontal plane is 45°-135°, so that the attitude change and translation movement of the drone can be independently controlled. Preferably, in this embodiment, the included angle between the plane where the propeller assembly is located and the horizontal plane is 90°.

The horizontal rotor assembly 2 is the main power element for the take-off and landing of the drone. By adjusting the rotational speed of the horizontal rotor The setting is to allow the drone's flight attitude and horizontal motion to achieve independent control, that is, the adjustment of the horizontal rotor assembly 2 is used to control the different flight attitudes of the drone, including pitch, roll and heading and the adjustment of the flight height, while the side stand The adjustment of the rotor assembly 3 is used to control the horizontal motion of the UAV, decouple the attitude drive and horizontal motion of the aircraft, and realize the simultaneous adjustment of different dimensions of the UAV.

As shown in FIG. 2 , the side vertical rotor assembly 3 includes a first side vertical rotor assembly 31 and a second side vertical rotor assembly 32 , and the space between the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 The included angle is α, and the α is 90°.

The present invention provides two side-standing first side vertical rotor assemblies 31 and second side vertical rotor assemblies 32, the angle between the two is 90°, when the multi-rotor UAV maintains a horizontal attitude, the first side vertical rotor assembly 32 The side vertical rotor assembly 31 and the second side vertical rotor assembly 32 are respectively perpendicular to the horizontal plane, the air flow formed by the rotation of the propellers of the two is parallel to the horizontal plane, and the air flow formed by the rotation of the propeller of the horizontal rotor assembly 2 is perpendicular to the horizontal plane. Therefore, either The airflow between them will not interfere with each other, which further ensures the stability of the drone flight.

As shown in FIG. 3 , the UAV further includes a casing 4 , and the casing 4 is provided with a first air duct 10 and a second air duct 20 . The first air duct 10 and the second air duct 20 Crossed to form an "X"-shaped air duct structure, the first side vertical rotor assembly 31 is arranged in the first air duct 10 , and as shown in FIG. 1 , the second side vertical rotor assembly 32 is arranged in the second air duct 20 , when the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 work, the "X"-shaped air duct structure forms an alternating ventilation airflow, and the horizontal rotor assembly 2 forms a "cross" shape through the horizontal cantilever 21. The cross-shaped structure runs through the casing 4 and forms a "m"-shaped cross structure with the "X"-shaped air duct structure of the casing 4 .

The top of the casing can be provided with a movable skylight, and after the assembly is completed, a corresponding casing can be installed or sealed with the casing to ensure that the X-row air duct is a closed structure at the upper and lower parts as a whole.

The unmanned aerial vehicle of the present invention is provided with a hollow casing 4, and an "X"-shaped air duct structure is provided inside. "-shaped cross airflow, the horizontal rotor assembly 2 is in a "cross"-shaped cross structure, and runs through the casing 4, so that the overall top view of the UAV presents a "m"-shaped staggered structure, so that the advance of the side vertical rotor is The wind and outlet air flow are isolated from the air flow formed by the horizontal rotor, reducing mutual influence.

The UAV control main board of the present invention is installed inside the casing, the present invention adopts a hollow casing, which is convenient for the heat dissipation inside the entire UAV, and utilizes the air inlet and outlet airflow of the side vertical rotor to further accelerate the unmanned aerial vehicle. The machine controls the heat dissipation speed of the motherboard, making the drone run more stably.

As shown in FIG. 2 and FIG. 4 , the side vertical rotor assembly 3 further includes a central fixing plate 33 , and the first side vertical rotor assembly 31 includes a first cantilever 311 , a first cantilever 311 , a first cantilever fixed at the distal end of the first cantilever 311 . A propeller assembly 312; the second side upright rotor assembly 32 includes a second cantilever 321 and a second propeller assembly 322 fixed at the distal end of the second cantilever 321, the central fixing plate 33 and the first The proximal ends of the cantilever 311 and the second cantilever 321 are integrally formed, and the included angle between the first cantilever 311 and the second cantilever 321 is α, where α is 90°.

As shown in FIG. 4 , the first propeller assembly 312 includes a first motor holder 100 , a first motor 101 mounted on the first motor holder 100 , and a first vertical motor 101 driven to rotate by the first motor 101 . The propeller 102, the second propeller assembly 322 includes a second motor holder 200, a second motor 201 mounted on the second motor holder 200, and a second vertical propeller driven and rotated by the second motor 201 202 , the first motor fixing base 100 is integrally formed with the distal end of the first cantilever 311 , and the second motor fixing base 200 is integrally formed with the distal end of the second cantilever 321 .

As shown in FIG. 3 , the horizontal rotor assembly 2 includes a plurality of horizontal cantilevers 21 and a plurality of horizontal propeller assemblies 22 matched with the horizontal cantilevers 21 , and as shown in FIG. 5 , the horizontal propeller assemblies 22 include multi-directional joints 221 , the third motor 222 and the horizontal propeller 223 arranged on the upper end of the third motor 222, as shown in FIG. Fixed on the first interface 30, the side of the multi-directional joint 221 close to the central axis of the drone is also provided with a second interface 40, and the side of the multi-directional joint 221 away from the central axis of the drone is also provided with a fourth An interface 60 , the horizontal cantilever 21 is detachably connected to the second interface 40 and the fourth interface 60 .

The lower end of the multi-directional joint 221 is further provided with a third interface 50. As shown in FIG. 5, the horizontal rotor assembly 2 further includes a landing gear 70 and a protective bracket 80. The landing gear 70 is fixedly installed on the third interface. The interface 50 , the protective bracket 80 is fixedly installed inside the hollow horizontal cantilever 21 through the carbon fiber rod 90 .

The protection bracket 80 mainly prevents the propeller from being damaged by hitting an object, or the propeller rotating and injuring a person, thereby improving the safety of the drone. The protective bracket is in an arc shape, and the horizontal cantilever 21 runs through the side surface of the casing 4 in a concave arc shape, so that the arc shape of the protective bracket 80 and the concave arc shape of the casing 4 form an approximate circle. Protect the propeller better and reduce the risk of misoperation by personnel; the landing gear is made of carbon fiber rod, and the protection bracket can be fixed by the carbon fiber rod and the multi-directional joint 221, which can reduce the risk of unmanned operation. machine quality and reduce energy consumption.

5 and 6 , the multi-directional joint 221 includes a fixed disk 300 , the third motor 222 is fixedly installed on the upper side of the fixed disk 300 , and the middle of the bottom surface of the fixed disk 300 A first engaging element 400 is provided, and a second engaging element 500 and a third engaging element 600 are arranged on both sides of the fixed disk 300 and are symmetrical with the first engaging element 400 as the central axis A third interface 50 is formed in the middle of the first engaging component 400, and a second interface 40 and a fourth interface 60 are formed on the outer sides of the second engaging component 500 and the third engaging component 600, respectively.

As shown in FIG. 7 , the horizontal rotor assembly 2 includes a first horizontal rotor assembly 23 , a second horizontal rotor assembly 24 , a third horizontal rotor assembly 25 and a fourth horizontal rotor assembly 26 ; the upper side of the central fixing plate 33 a first card position 331, and a second card position 332 and a third card position 333 arranged on both sides of the first card position 331;

The present invention facilitates the installation and disassembly of multiple rotor assemblies through the arrangement of multiple clamping positions, and also facilitates maintenance and replacement of components, thereby improving the overall service life of the drone.

The first horizontal rotor assembly 23 includes a first cantilever bracket 231 and a first horizontal rotor assembly 232 fixed to the distal end of the first cantilever bracket 231, and the second horizontal rotor assembly 24 includes a second cantilever bracket 241 and the first horizontal rotor assembly 241. Two cantilever brackets 241 and a second horizontal propeller assembly 242 fixed at the distal end of the cantilever bracket 241. The third horizontal rotor assembly 25 includes a third cantilever bracket 251 and a third horizontal propeller assembly 252 fixed to the distal end of the third cantilever bracket 251. The fourth horizontal rotor assembly 26 includes a fourth cantilever bracket 261 and a fourth horizontal rotor assembly 262 fixed with the distal end of the fourth cantilever bracket 261;

The proximal end of the first cantilever bracket 231 is integrally connected with the proximal end of the third cantilever bracket 251, and is fixed on the first clamping position 331;

The proximal end of the second cantilever bracket 241 is fixed in the second locking position 332 , and the proximal end of the third cantilever bracket 251 is fixed on the third locking position 333 ;

The first horizontal rotor assembly 23 , the second horizontal rotor assembly 24 , the third horizontal rotor assembly 25 and the fourth horizontal rotor assembly 26 form a “cross”-shaped horizontal rotor structure or an “X”-shaped horizontal rotor structure.

Example 2

As shown in FIG. 8 , the difference between this embodiment and Embodiment 1 is that the angle between the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 is α, and the α is 60° .

Example 3

As shown in FIG. 9 , the difference between this embodiment and Embodiment 1 is that the angle between the first side vertical rotor assembly 31 and the second side vertical rotor assembly 32 is α, 180°-α=β , β is 60°.

Example 4

As shown in FIG. 10 , the difference between this embodiment and Embodiment 1 is that the included angle γ between the plane where the propeller assembly is located and the horizontal plane is 60°.

Example 5

This embodiment provides a flight control method for a novel multi-rotor UAV, which is realized by using the UAV described in any one of Embodiments 1 to 4. The control method is: by adjusting the horizontal rotor assembly 2 and all the The side vertical rotor assembly 3 realizes the independent adjustment of the six degrees of freedom of the UAV.

Example 6

This embodiment provides a remote controller for controlling any of the drones in Embodiments 1 to 4. The remote controller is provided with two two-dimensional joysticks and two one-dimensional joysticks (a total of six degrees of freedom). ), the command of the translational motion of the drone is given by the one-dimensional rocker, the command of the rotary motion of the drone is given by the two-dimensional rocker, and the translational motion includes a horizontal flight motion and an up-down height adjustment motion; The rotation movement includes pitch movement, roll movement and heading angle adjustment movement; thus, independent control of the rotation and translation movement of the drone is realized. Preferably, the one-dimensional rocker of the roll angle can be set to 0, so that one one-dimensional rocker can be saved.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (9)

1. A novel multi-rotor unmanned aerial vehicle, comprising a frame (1) and a horizontal rotor assembly (2) arranged on the frame (1). The plane where the horizontal rotor assembly (2) is located is parallel to the horizontal plane, and it is characterized in that the frame (1) is further provided with a side vertical rotor assembly (3) for controlling the horizontal movement of the drone, and the horizontal rotor assembly (3) is arranged on the frame (1). In a calm state, the side-standing rotor assembly (3) includes a plurality of side-standing propeller assemblies, and the included angle between the plane where the propeller assemblies are located and the horizontal plane is 45°~135°, so that the unmanned aerial vehicle is The attitude changes and translational movements of the control are independently controlled. 2. The novel multi-rotor UAV according to claim 1, wherein the side vertical rotor assembly (3) comprises a first side vertical rotor assembly (31) and a second side vertical rotor assembly (32), The included angle between the first side vertical rotor assembly (31) and the second side vertical rotor assembly (32) is α, where 0°<α<180°. 3. The novel multi-rotor UAV according to claim 2, characterized in that the UAV further comprises a casing (4), and a first air duct (10) is provided in the casing (4). and the second air duct (20), the first air duct (10) and the second air duct (20) intersect to form an "X"-shaped air duct structure, and the first side vertical rotor assembly (31) is arranged in the In an air duct (10), the second side vertical rotor assembly (32) is arranged in the second air duct (20), the first side vertical rotor assembly (31) and the second side vertical rotor assembly (32) ) during operation, an alternating ventilation airflow is formed in the "X"-shaped air duct structure, and the horizontal rotor assembly (2) has an "X"-shaped cross structure, which runs through the casing (4) and is connected to the "X" type of the casing (4). The X"-shaped air duct structure constitutes a "m"-shaped staggered structure. 4. The novel multi-rotor UAV according to claim 2, characterized in that the side vertical rotor assembly (3) further comprises a central fixing plate (33), and the first side vertical rotor assembly (31) comprises A first cantilever (311), a first propeller assembly (312) fixed on the distal end of the first cantilever (311), and the second side upright rotor assembly (32) includes a second cantilever (321) and a the second propeller assembly (322) at the distal end of the second cantilever (321), the central fixing plate (33) is integrally formed with the proximal ends of the first cantilever (311) and the second cantilever (321), When the drone is in a horizontal stationary state, the included angle of the projection on the horizontal plane between the first cantilever (311) and the second cantilever (321) is α, where 0°<α<180°. 5. The novel multi-rotor UAV according to claim 4, wherein the first propeller assembly (312) comprises a first motor fixing seat (100), which is installed on the first motor fixing seat (100). 100) on the first motor (101) and the first vertical propeller (102) driven and rotated by the first motor (101), the second propeller assembly (322) includes a second motor fixing seat (200), A second motor (201) mounted on the second motor holder (200) and a second vertical propeller (202) driven and rotated by the second motor (201), the first motor holder (100) The distal end of the first cantilever (311) is integrally formed, and the second motor fixing seat (200) is integrally formed with the distal end of the second cantilever (321). 6. The novel multi-rotor unmanned aerial vehicle according to claim 1, wherein the horizontal rotor assembly (2) comprises a plurality of horizontal cantilevers (21) and a plurality of horizontal propellers matched with the horizontal cantilevers (21). An assembly (22), the horizontal propeller assembly (22) includes a multi-directional joint (221), a third motor (222) and a horizontal propeller (223) arranged on the upper end of the third motor (222), the The upper side of the multi-directional joint (221) is provided with a plurality of first interfaces (30), the third motor (222) is fixed to the first interface (30), and the multi-directional joint (221) is close to the drone One side of the shaft is further provided with a second interface (40), the side of the multi-directional joint (221) away from the central axis of the drone is further provided with a fourth interface (60), and the horizontal cantilever (21) is connected to the The second interface (40) and the fourth interface (60) are detachably connected; the lower end of the multi-directional joint (221) is further provided with a third interface (50), and the horizontal rotor assembly (2) further includes a starter A landing gear (70) and a protective bracket (80), the landing gear (70) is fixedly mounted on the third interface (50), and the protective bracket (80) is inserted into the horizontal cantilever (21) through a carbon fiber rod (90) The hollow interior is fixed. 7. The novel multi-rotor UAV according to claim 6, wherein the multi-directional joint (221) comprises a fixed disc (300), and the third motor (222) is fixedly installed on the fixed disc (300). On the upper side of the disc (300), the middle of the bottom surface of the fixed disc (300) is provided with a first engaging component (400), and is provided on both sides of the fixed disc (300), and so is The first engaging component (400) is a second engaging component (500) and a third engaging component (600) that are symmetrical about the central axis, and a third interface (50) is formed in the middle of the first engaging component (400). ), a second interface (40) and a fourth interface (60) are respectively formed in the middle of the second engaging component (500) and the third engaging component (600). 8. The novel multi-rotor UAV according to claim 4, characterized in that the horizontal rotor assembly (2) comprises a first horizontal rotor assembly (23), a second horizontal rotor assembly (24), a third horizontal rotor assembly (24), and a The rotor assembly (25) and the fourth horizontal rotor assembly (26); the upper side of the central fixing plate (33) is provided with a first clamping position (331), and is provided on both sides of the first clamping position (331) The second card position (332) and the third card position (333); The first horizontal rotor assembly (23) includes a first cantilever bracket (231) and a first horizontal rotor assembly (232) fixed to the distal end of the first cantilever bracket (231). The second horizontal rotor assembly (24) ) comprising a second cantilever bracket (241) and a second horizontal propeller assembly (242) fixed with the distal end of the second cantilever bracket (241), the third horizontal rotor assembly (25) comprising a third cantilever bracket (251) and a third horizontal propeller assembly (252) fixed to the distal end of the third cantilever bracket (251), the fourth horizontal rotor assembly (26) comprising a fourth cantilever bracket (261) and a fourth cantilever bracket (261) a distally fixed fourth horizontal propeller assembly (262); The proximal end of the first cantilever bracket (231) is integrally connected with the proximal end of the third cantilever bracket (251), and is fixed on the first clamping position (331); The proximal end of the second cantilever bracket (241) is fixed in the second clamping position (332), and the proximal end of the third cantilever bracket (251) is fixed on the third clamping position (333); The first horizontal rotor assembly (23), the second horizontal rotor assembly (24), the third horizontal rotor assembly (25) and the fourth horizontal rotor assembly (26) form a "cross"-shaped horizontal rotor structure or "" X" type horizontal rotor structure. 9. A novel multi-rotor drone kit, comprising the drone described in any one of claims 1 to 8, wherein the drone kit also includes a remote controller, and the remote controller is provided with Two two-dimensional joysticks and two one-dimensional joysticks, through one of the two-dimensional joysticks, the command for the horizontal translation movement of the drone is given, and the other one of the two-dimensional joysticks and two one-dimensional joysticks Give the command of the UAV's rotational movement and height movement, and realize the six joysticks to give all the commands of translation movement and rotation movement; the translation movement includes the horizontal flight movement and the up and down height adjustment movement; the rotation movement includes pitching Movement, roll movement, and heading angle adjustment movement; thus realizing independent control of UAV rotation and translation movement.

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