CN106716273A - A multirotor unmanned aerial vehicle and a controlling method thereof - Google Patents
A multirotor unmanned aerial vehicle and a controlling method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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Abstract
A multirotor unmanned aerial vehicle includes a first-rotor unmanned aerial vehicle (1a) comprising a first rack (19a) and a plurality of first rotor assemblies (111a) mounted on the first rack; a second-rotor unmanned aerial vehicle (1b) comprising a second rack (19b) and a plurality of first rotor assemblies (111b) mounted on the second rack; and a fixing mechanism (1c) used for connecting and fixing the first rack (19a) to the second rack (19b). The first-rotor unmanned aerial vehicle (1a) or the second-rotor unmanned aerial vehicle (1b) also comprises a main controller used for selecting a control mode for the multirotor unmanned aerial vehicle after abutting according to the manner of abutting the first-rotor unmanned aerial vehicle (1a) and the second-rotor unmanned aerial vehicle (1b), and controlling the plurality of first rotor assemblies (111a) and the plurality of first rotor assemblies (111b). A controlling method of the multirotor unmanned aerial vehicle is also provided.
Description
Technical field
The present invention relates to a kind of multi-rotor unmanned aerial vehicle and its control method, belong to unmanned vehicle manufacturing technology field.
Background technology
UAV abbreviation unmanned plane (UAV), is using radio robot and the presetting apparatus provided for oneself
The not manned aircraft for manipulating.By the accumulation of technology for many years and developing rapidly for economy, the application scenarios of present unmanned plane
It is more and more, for example take photo by plane, crops monitoring, vegetation protection, auto heterodyne, express transportation, disaster relief, observation wild animal, prison
Control infectious disease, mapping, news report, electric inspection process and movies-making etc..
But, the load capacity of existing rotary wind type unmanned plane is limited, although can be by way of increasing rotor
To increase the load capacity of unmanned plane, for example, four rotary wind type unmanned planes load capacity may it is relatively small, ten rotary wind types nobody
The load capacity of machine is relatively large.But, the multi-rotor unmanned aerial vehicle of heavy load ability is relatively costly, and the scope of application is smaller,
Thus significantly limit the application scenarios of unmanned plane.
The content of the invention
The present invention provides a kind of multi-rotor unmanned aerial vehicle and its control method, is born with solving rotary wind type unmanned plane in the prior art
The limited technical problem of loading capability.
According to one embodiment of present invention, there is provided a kind of control method of multi-rotor unmanned aerial vehicle, comprise the following steps：
Determine the docking mode of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle；
According to the docking mode, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen；And,
According to selection the docking after multi-rotor unmanned aerial vehicle control model, control respectively first rotor nobody
Machine and second rotor wing unmanned aerial vehicle.
According to another embodiment of the present invention, there is provided a kind of multi-rotor unmanned aerial vehicle, including：
First rotor wing unmanned aerial vehicle, including the first frame, multiple first rotor assemblies in first frame；
Second rotor wing unmanned aerial vehicle, including the second frame, multiple second rotor assemblies in second frame；
Fixed mechanism, for first frame to be fixed together with second frame；
First rotor wing unmanned aerial vehicle or second rotor wing unmanned aerial vehicle also include master controller, for according to described first
The docking mode of rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle chooses the control model of the multi-rotor unmanned aerial vehicle after docking, controls institute
State multiple first rotor assemblies and the multiple second rotor assemblies.
Multi-rotor unmanned aerial vehicle and its control method that the present invention is provided, by by the first rotor wing unmanned aerial vehicle and the second rotor without
It is man-machine to be docked, and corresponding control model is chosen according to docking mode come control the first rotor wing unmanned aerial vehicle and the second rotor without
Man-machine, the rotor quantity of the multi-rotor unmanned aerial vehicle after docking increases so that lifting capacity and tensile force improve significantly, from
And can solve the problem that the problem for for example needing heavy－duty, lift that single unmanned plane is present.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 1 is provided；
Fig. 2 is the system structure diagram of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 4 is provided；
Fig. 3 is a kind of simplified structural representation of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 8 is provided；
Fig. 4 is another simplified structural representation of multi-rotor unmanned aerial vehicle that the embodiment of the present invention 8 is provided；
Fig. 5 is a kind of simplified structural representation of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 9 is provided；
Fig. 6 is that the another kind of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 9 is provided simplifies structural representation；
Fig. 7 is the flow chart of the automatic aerial automatic butt method of multi-rotor unmanned aerial vehicle that the embodiment of the present invention 11 is provided；
Fig. 8 is a kind of structural representation of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 12 is provided；
Fig. 9 is another structural representation of the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 12 is provided；
Figure 10 is the structural representation of the first rotor wing unmanned aerial vehicle for having removed foot stool that the embodiment of the present invention 23 is provided；
Figure 11 is the structural representation of the second rotor wing unmanned aerial vehicle for having removed GPS module that the embodiment of the present invention 23 is provided.
Specific embodiment
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Firstly the need of explanation, the term " first " in following examples, " second " are only used for describing purpose, and can not
It is interpreted as indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise expressly limited specifically.
Embodiment 1
The embodiment of the present invention 1 provides a kind of control method of multi-rotor unmanned aerial vehicle.Many rotors that Fig. 1 is provided for the present embodiment
The flow chart of the control method of unmanned plane.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, for control multiple unmanned planes to be docked and to docking after
Unmanned plane be controlled.The control method is comprised the following steps：
S101, the docking mode for determining the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle.
Specifically, the docking mode of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is not made specifically in the present embodiment
Limit.For example in the mode being fixedly connected, can use and be detachably connected or non-dismountable connection.Also, in this implementation
In example, it is detachably connected or non-dismountable connection can be from any mode of the prior art.Again for example in abutting direction
On, can be docked in the axial direction, it is also possible to diametrically docked, can also be docked obliquely.
For example, two four rotor wing unmanned aerial vehicles can be in the axial direction detachably connected, so as to form one
Eight rotor wing unmanned aerial vehicles of double-deck rotor.Or, it is also possible to by four rotor wing unmanned aerial vehicles and six rotor wing unmanned aerial vehicles in axial direction
It is above non-dismountable to link together, so as to form ten rotor wing unmanned aerial vehicles of double-deck rotor.Or, can also be by two four rotations
Wing unmanned plane is removably attachable to together, form eight rotor wing unmanned aerial vehicles of individual layer rotor in radial directions.
It is pointed out that the first rotor wing unmanned aerial vehicle and being fixedly connected for the second rotor wing unmanned aerial vehicle can be by connector
Connection, such as connected by the fixed mechanism of flexible connecting member, gripper or slip and position limiting structure etc.Or,
Can be that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are directly connected to, for example the first rotor wing unmanned aerial vehicle and the second rotor without
The man-machine upper screwed hole and screw rod for setting mutual cooperation is realized directly being threadedly coupled.
S102, according to the docking mode, choose the control model of the multi-rotor unmanned aerial vehicle after docking.
Specifically, according to different docking modes, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen, for example, can
The control model of the multi-rotor unmanned aerial vehicle after docking is selected with the direction according to docking, the quantity of rotor.For example, when two four
When rotor wing unmanned aerial vehicle docks one eight rotor wing unmanned aerial vehicle of composition in the axial direction, the control of four rotor wing unmanned aerial vehicles before can selecting
Pattern, it is also possible to the control model that selection prepares exclusively for double-deck eight rotor wing unmanned aerial vehicle.
S103, the control model according to the multi-rotor unmanned aerial vehicle after the docking of selection, control first rotation respectively
Wing unmanned plane and second rotor wing unmanned aerial vehicle.
Specifically, after the control model of multi-rotor unmanned aerial vehicle after good docking is chosen, then can be according to the control model
To control the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle respectively.For example, when the rotor wing unmanned aerial vehicle of two frame four is in axial direction pair
When connecing the unmanned plane for forming eight rotor, the control model after the docking of selection can control the first rotor wing unmanned aerial vehicle according to original
The mode come works, and controls the second rotor wing unmanned aerial vehicle to be worked according to new mode.Furthermore, it is understood that can be that control first is revolved
The rotor dextrorotation of wing unmanned plane transfers to control the rotor rotate counterclockwise of the second rotor wing unmanned aerial vehicle.It is of course also possible to be control
Make the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle rotates in clockwise direction.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by by the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Docked, and corresponding control model is chosen according to docking mode come control the first rotor wing unmanned aerial vehicle and the second rotor nobody
Machine, the rotor quantity and battery capacity of the multi-rotor unmanned aerial vehicle after docking are improved so that endurance, lifting capacity and
Tensile force improves significantly such that it is able to which solve single unmanned plane presence for example needs heavy－duty, lift or length
The problem of time continuation of the journey.
Embodiment 2
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
The control method of this implementation be on the basis of embodiment 1, it is further comprising the steps of：
Set up the communication connection of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
One in first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is chosen as main frame, for according to choosing
The control model of the multi-rotor unmanned aerial vehicle after the docking selected, controls the main frame and slave respectively.
Specifically, the mode for setting up the communication connection of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle can be wired company
It can also be wireless connection to connect, for example, can be to set to cooperate on the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Communication terminal and joint, or can also be that radio communication mold is set on the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Block, such as can be wifi module, bluetooth module；Or can also be that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle pass through
Data exchange unit is connected.
Further, after the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are communicated to connect, can by master controller come
One of them is chosen as main frame, another as slave, so as to by main frame come according to many rotations after the docking of above-mentioned selection
Control model difference control main frame and the slave of wing unmanned plane.More specifically, master controller can be the first rotor wing unmanned aerial vehicle
The controller of controller, or the second rotor wing unmanned aerial vehicle, or can also be independently of the first rotor wing unmanned aerial vehicle and second
Controller outside rotor wing unmanned aerial vehicle.
Further, when the control signal of main frame breaks down, former slave can be chosen to be new main frame by master controller,
And original host is set to new slave, so as to ensure that using for the multi-rotor unmanned aerial vehicle after docking is safe.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by setting slave, and controls principal and subordinate simultaneously by main frame
Machine is operated, and the control to the multi-rotor unmanned aerial vehicle after docking can be realized on the basis of excessive hardware is not increased, so that
Simplify structure, reliability that is cost-effective and improving control.
Embodiment 3
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
The control method of the present embodiment is on the basis of embodiment 1 or 2, by the control of the multi-rotor unmanned aerial vehicle after docking
Pattern is set to include：Coaxial control model, different axle control model.
Wherein, coaxial control model refers to that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are docked in axial direction, and
And, two rotors up and down of the multi-rotor unmanned aerial vehicle after docking on the same axis, for example, the rotor of the rotor wing unmanned aerial vehicle of two frame four
It is superimposed together completely.Different axle control model refers to the rotor of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle in radial direction
It is staggered, for example, two frame unmanned planes are docked in radial direction, or, two frame unmanned planes are docked in axial direction, but the two
Rotor but radial direction bias certain distance.It should be noted that different axle control model also includes the first rotor wing unmanned aerial vehicle
With the situation of the rotor part different axle of coaxial parts of the second rotor wing unmanned aerial vehicle, for example, the rotor wing unmanned aerial vehicle of a frame four and a frame six revolve
The multi-rotor unmanned aerial vehicle of wing unmanned plane or the rotor wing unmanned aerial vehicle of a frame eight after axial direction docking, wherein four rotor wing unmanned aerial vehicles and
There is the situation of overlap the rotor part of six rotor wing unmanned aerial vehicles.
More specifically, during coaxial control model, can be with coaxial two rotors of the multi-rotor unmanned aerial vehicle after control combination
Direction of rotation is opposite.During different axle control model, can be with symmetrically arranged two rotors of the multi-rotor unmanned aerial vehicle after control combination
Direction of rotation it is opposite or identical.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, the rotor distribution situation of the unmanned plane after to docking is adopted
Take different control models to be controlled, with stronger specific aim, be conducive to playing the flight advantage of the unmanned plane after docking,
The flight efficiency of unmanned plane after docking is improved, for example, improves its flying height or lifting capacity.
Embodiment 4
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.Many rotors that Fig. 2 is provided for the present embodiment nobody
The system structure diagram of machine.
As shown in Fig. 2 the control method of the present embodiment is on the basis of any embodiment in above-described embodiment 1-3, change
Become the first rotor wing unmanned aerial vehicle 1a, the dynamical system control model of the second rotor wing unmanned aerial vehicle 1b after docking.For example, thus it is possible to vary the
The control model of the dynamical system 11a of one rotor wing unmanned aerial vehicle 1a, or the dynamical system of the second rotor wing unmanned aerial vehicle 1b can also be changed
The control mode of system 11b, or the dynamical system that can also simultaneously change the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The control model of system 11a, 11b.
Specifically, the control model of dynamical system 11a, 11b can include electron speed regulator, motor, the difference of rotor
The control mode of working condition, for example, can include size, frequency and the cycle of electron speed regulator output voltage, electronic speed regulation
The signal output pattern of device, Control Cooling (direction of rotation, rotating speed, acceleration etc.), the angle of inclination of rotor of motor etc..Cause
And, can be by dynamical system 11a, 11b difference controlling party in change the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The combination of formula, so as to produce different tensile forces, course change mode and response speed and different load forces to show.
Preferably, the control model of dynamical system 11a, 11b can include rotor rotating speed, the direction of rotor at least
It is a kind of.Can simplify operation by controlling the steering of the rotating speed or rotor of rotor, and provide with tensile force and load force and
Response speed more intuitively control mode.
Below so that the rotor wing unmanned aerial vehicle of two frame four is controlled after axial direction docking as an example, briefly introduce and how to change
The control model of the first rotor wing unmanned aerial vehicle 1a, dynamical system 11a, 11b of the second rotor wing unmanned aerial vehicle 1b：
A kind of situation is individually to change the maximum (top) speed of rotor in dynamical system.For example can be by the rotor of a frame four without
The maximum (top) speed of man-machine middle rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed, and rotor is most in the second frame unmanned plane
Big rotating speed keeps the 3rd maximum (top) speed constant；Can also be by the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four by first most
Big adjustment of rotational speed is the second maximum (top) speed, while the maximum (top) speed of rotor in the second frame unmanned plane is adjusted by the 3rd maximum (top) speed
It is the 4th maximum (top) speed.
Second situation is individually to change the steering of rotor in dynamical system.For example can be by the rotor of a frame four nobody
The steering of rotor is turned to by first and is adjusted to the second steering in machine, and the steering of rotor keeps the 3rd to turn in the second frame unmanned plane
It is constant；Can also turn to the steering of rotor in the rotor wing unmanned aerial vehicle of a frame four by first to be adjusted to the second steering, while by the
The steering of rotor is turned to by the 3rd and is adjusted to the 4th steering in two frame unmanned planes.
The third situation is, while changing maximum (top) speed and the steering of rotor in dynamical system.For example can be by a frame
The maximum (top) speed of rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed in four rotor wing unmanned aerial vehicles, and by the steering of its rotor
Turned to by first and be adjusted to the second steering, and the maximum (top) speed of rotor and steering keep the 3rd maximum respectively in the second frame unmanned plane
Rotating speed and the 3rd steering are constant.Or it is, or the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and the steering of its rotor is turned to by first is adjusted to the second steering, while by the second frame
The maximum (top) speed of rotor is adjusted to the 4th maximum (top) speed by the 3rd maximum (top) speed in unmanned plane, and by the steering of its rotor by the 3rd
Steering is adjusted to the 4th steering.Or, can also be that the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and keeps its steering constant, while keeping the maximum (top) speed of rotor in the second frame unmanned plane
It is constant, and be turned around being adjusted to the 4th steering by the 3rd steering.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle in multi-rotor unmanned aerial vehicle
1a, the second rotor wing unmanned aerial vehicle 1b change the two and can obtain the working condition of different dynamical systems simultaneously, and then can
Different tensile force and bearing capacity are obtained to adapt to the demand of different application occasion, the applied field of unmanned plane is greatly extended
Scape.
Embodiment 5
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
Please continue to refer to Fig. 2, the control method of the present embodiment is the basis of any embodiment in above-described embodiment 1-4
On, the working condition of power supply 13a, 13b in the multi-rotor unmanned aerial vehicle after docking is improved, with the multi-rotor unmanned aerial vehicle for adapting to choose
Control model.For example, thus it is possible to vary the control model of the power supply 13a of the first rotor wing unmanned aerial vehicle 1a, or second can also be changed
The control model of the power supply 13b of rotor wing unmanned aerial vehicle 1b, or can also simultaneously change the first rotor wing unmanned aerial vehicle 1a and the second rotor
Power supply 13a, 13b control model of unmanned plane 1b.
Specifically, power supply pattern can include power supply in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The power supply order of 13a, 13b, the mode of power supply, power-on time and delivery size.By control docking after many rotors without
The working condition of man-machine middle power supply, can be in different applied environments for the unmanned plane after docking provides suitable work electricity
Stream, to ensure that the unmanned plane after docking can keep good load capacity, tensile force and cruising time to meet corresponding work
Make demand.
In a kind of optional implementation method, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
13b powers for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b simultaneously, so as to be the first rotor wing unmanned aerial vehicle 1a and second
Rotor wing unmanned aerial vehicle 1b provides maximum electricity guarantee, to meet such as big tensile force of short time needs or the applied field of high capacity
Scape.For example, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a powers for the first rotor wing unmanned aerial vehicle 1a, the electricity of the second rotor wing unmanned aerial vehicle 1b
Source 13b powers for the second rotor wing unmanned aerial vehicle 1b；Or, the power supply 13b of the first rotor wing unmanned aerial vehicle 1a is the second rotor wing unmanned aerial vehicle 1b
Power supply, the power supply 13b of the second rotor wing unmanned aerial vehicle 1b powers for the first rotor wing unmanned aerial vehicle 1a.
In second optional implementation method, in selection the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
One as main power source, another as from power supply, to meet the needs of the application scenarios of continuation of the journey for a long time.For example, first is revolved
The power supply 13a of wing unmanned plane 1a powers as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
Or using the power supply 13b of the second rotor wing unmanned aerial vehicle 1b as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b powers.Further, when the electricity of main power source exhausts or during power supply trouble, then original is chosen to be into new main electricity from power supply
Source and former main power source is set to it is new from power supply, so as to ensure that the multi-rotor unmanned aerial vehicle after docking is powered stabilization, improves its peace
Quan Xing.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
The working condition of the power supply of machine 1b is controlled such that it is able to obtain various powering modes, the continuation of the journey pattern of such as longer time,
The need for adapt to different operating scene.
Embodiment 6
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
Please continue to refer to Fig. 2, the control method of the present embodiment is the basis of any embodiment in above-described embodiment 1-5
On, improve the working condition of sensor 15a, 15b in the multi-rotor unmanned aerial vehicle after docking, with adapt to many rotors of the selection without
Man-machine control model.For example, thus it is possible to vary the control model of the sensor 15a of the first rotor wing unmanned aerial vehicle 1a, or can also
Change the control model of the sensor 15b of the second rotor wing unmanned aerial vehicle 1b, or can also simultaneously change the first rotor wing unmanned aerial vehicle 1a
With sensor 15a, 15b control model of the second rotor wing unmanned aerial vehicle 1b.
Specifically, the working condition of sensor 15a, 15b includes opening quantity, opens species, opening time, opens frequency
Rate.For example, the sensor 15a of the first rotor wing unmanned aerial vehicle 1a can be all turned on, part is opened or Close All；Second rotor
The sensor 15b of unmanned plane 1b can also be all turned on, and part is opened or Close All.By to the first rotor wing unmanned aerial vehicle 1a
With the control of sensor 15a, 15b working condition in the second rotor wing unmanned aerial vehicle 1b, the multi-rotor unmanned aerial vehicle after docking can be caused
Sensor 15a, 15b formed be turned on and off, work independently or redundancy mode of operation.
For example, the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a can be opened, the super of the second rotor wing unmanned aerial vehicle 1b is closed
Sonic sensor, can also open the ultrasonic sensor of the second rotor wing unmanned aerial vehicle 1b, close the super of the first rotor wing unmanned aerial vehicle 1a
Sonic sensor, can also simultaneously open the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.Together
Reason, it is also possible to control the other sensors in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in the manner described above,
Such as barometer and binocular avoidance.
Further, when the same sensor only one in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened
When, the kind of sensor that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are opened preferably at least with dock before first
The kind of sensor that rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b are opened is identical, thus ensure docking after many rotors without
It is man-machine can perception do not reduce.
When the same sensor in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened or is opened into
When few two, then this kind of sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be formed redundant state or
Complementary state.Wherein, redundant state refers to that the two detection is identical information, and such as detection is pressure information, so that
One sensor constitutes the redundancy of another sensor, can the use of the information detected by a sensor be now another
Sensor is corrected.And complementary state refers to then two sensors having complementary functions of being realized, for example, the first rotor wing unmanned aerial vehicle
The camera of 1a forward and the camera of the second rotor wing unmanned aerial vehicle 1b backward, such that it is able to make the unmanned plane after docking have 360 °
Shooting ability without dead angle, that is, the function of the unmanned plane expanded after docking.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
The control of sensor in machine 1b, it is possible to achieve different sensor combinations modes, realizes more functions, different so as to meet
Work requirements are adapting to more workplaces.
Embodiment 7
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
The control method of the present embodiment is on the basis of any embodiment in above-described embodiment 1-6, to improve the first rotor
Unmanned plane 1a's and the second rotor wing unmanned aerial vehicle 1b is fixedly connected mode.
In the present embodiment, be detachably connected on for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b by fixed mechanism
Together.
Specifically, being detachably connected for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can use prior art
In be arbitrarily detachably connected mode, can be for example bolt connection, pin joint, be bonded connect and some riveting etc..Preferably,
One rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are detachably connected by the way of clamping, for example can be first
Dop is set on rotor wing unmanned aerial vehicle 1a, the bayonet socket cooperated with the dop is set on the second rotor wing unmanned aerial vehicle 1b.By card
The mode for connecing connects the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can make attachment structure fairly simple, while also easy
In carrying out docking operation.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, is connected by using the docking mode being detachably connected
One rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, can so cause that unmanned plane is more flexible, in application scenes
Single rotary wind type unmanned plane can be directly used, can be using the multi-rotor unmanned aerial vehicle after docking in application scenes.
Embodiment 8
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.Many rotors that Fig. 3 is provided for the present embodiment nobody
A kind of simplified structural representation of machine；Fig. 4 simplifies structural representation for the multi-rotor unmanned aerial vehicle another kind that the present embodiment is provided.
As shown in Figure 3 and Figure 4, the control method of the present embodiment is on the basis of any embodiment in embodiment 1-7, to change
Enter the abutting direction of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are fixedly connected in axial direction,
So that the multi-rotor unmanned aerial vehicle after docking has smaller radial dimension and obtains preferably cooperative effect.
Specifically, can according to practical application needs, such as the selection of sensor 15a, 15b working condition, or
The complexity of attachment structure is set according to unmanned plane top surface or bottom surface, or first is selected according to the complexity of control
The specific fixed form of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
As shown in figure 3, in the first optional implementation method, can be by the top surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.Such docking mode can simultaneously using the rotations of the first rotor wing unmanned aerial vehicle 1a and second
The camera of wing unmanned plane 1b, so as to obtain more preferable shooting effect.
In second optional implementation method, can be by the bottom surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The bottom surface of 1b is fixedly connected.Such docking mode can avoid influence of the foot stool to docking, and reduce the difficulty of docking.
In the third optional implementation method, can be by the top surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The bottom surface of 1b is fixedly connected.When such case is adapted to the first rotor wing unmanned aerial vehicle 1a and is located at the second rotor wing unmanned aerial vehicle 1b lower sections, can be with
Reduce control difficulty.
As shown in figure 4, in the 4th kind of optional implementation method, can be by the bottom surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.So especially carried out in the air without being overturn to unmanned plane in docking
During automatic butt, the quality of docking can be improved.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
The selection of machine 1b interfaces, can obtain more preferable function, or reduce the difficulty docked, and improve the quality of docking, Huo Zhejian
Change the operation of docking, so that the farthest application demand of the multi-rotor unmanned aerial vehicle after extension docking.
Embodiment 9
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.Many rotors that Fig. 5 is provided for the present embodiment nobody
A kind of simplified structural representation of machine；The another kind of the multi-rotor unmanned aerial vehicle that Fig. 6 is provided for the present embodiment simplifies structural representation.
As seen in figures 3-6, the control method of the present embodiment be on the basis of any embodiment in above-described embodiment 1-8,
The relative position of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b rotors is improved, to obtain different tensile forces.
In a kind of optional implementation method, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Rotor be superimposed together in axial direction.For example, as shown in Figure 4 and Figure 5, the rotor of the rotor wing unmanned aerial vehicle of two frame four is superimposed on
About one two superimposed, eight rotor wing unmanned aerial vehicles together are formed together.Also, by being found after a large amount of tests of inventor,
The tensile force of unmanned plane can be caused after the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is superimposed together
50% or so is improved, and then it is higher to enable that the multi-rotor unmanned aerial vehicle after docking flies.
In another optional implementation method, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The rotor of 1b is biased in radial direction and set.For example, as shown in Figure 3 and Figure 6, by the rotor stagger mode of the rotor wing unmanned aerial vehicle of two frame four
Into eight rotor wing unmanned aerial vehicles that a levels are interlocked.Also, by after a large amount of tests of inventor find, by the first rotor nobody
The rotor of machine 1a and the second rotor wing unmanned aerial vehicle 1b can cause that the tensile force of unmanned plane improves 70%-80% after being interleaved together left
The right side, and then it is higher to enable that the multi-rotor unmanned aerial vehicle after docking flies, and carry more articles.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by controlling the first rotor wing unmanned aerial vehicle 1a rotors and the second rotation
The relative position of wing unmanned plane 1b rotors, can produce different tensile forces, to adapt to the different operating of the unmanned plane after docking
Environment and job requirement.
Embodiment 10
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.
Refer to Fig. 3-5, the control method of the present embodiment be on the basis of any embodiment in above-described embodiment 1-9,
The rotor of the rotor of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b is rotated into 180 degree around radial direction.For example, please join
Read Fig. 3 and Fig. 5, by the rotor of the second rotor wing unmanned aerial vehicle 1b around carrying out rotation 180 degree so that the first rotor wing unmanned aerial vehicle 1a and
The rotor of the second rotor wing unmanned aerial vehicle 1b can form cooperative effect, so as to improve the work effect of the multi-rotor unmanned aerial vehicle after docking
Rate.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by change the first rotor wing unmanned aerial vehicle 1a and the second rotor without
The both forward and reverse directions of man-machine 1b rotors, can cause that the unmanned plane after docking produces different tensile forces, so that after improving docking
The adaptability of multi-rotor unmanned aerial vehicle.
Embodiment 11
The present embodiment provides a kind of control method of multi-rotor unmanned aerial vehicle.Fig. 7 be the present embodiment provide many rotors nobody
The flow chart of the automatic aerial automatic butt method of machine.
As shown in fig. 7, the control method of the present embodiment is on the basis of any embodiment in above-described embodiment 1-10, control
Make the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b automatic butt in the air.
Specifically, the method for control the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b automatic butts in the air can be with
Using existing any aircraft automatic butt method, such as the automatic butt method that can be used using tanker aircraft.
Further, as shown in fig. 7, in a kind of optional implementation method, automatic butt can be carried out using following steps：
S1011, the current location information for obtaining the first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle.
Specifically, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be obtained by GPS, triones navigation system
Current Ubiety, it is also possible to by radar obtain the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b current location
Relation, can also obtain the first rotor wing unmanned aerial vehicle 1a current with the second rotor wing unmanned aerial vehicle 1b by other method in the prior art
Position relationship.
S1012, according to the current location information, control first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
Upper and lower correspondence position is moved to, and course axle is essentially coincided.
Specifically, can be moved to by main controller controls the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b it is right
Position is answered, and adjusting the angle of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b makes it be essentially coincided with course axle；
Can respectively by the controller of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b control the first rotor wing unmanned aerial vehicle 1a and
Second rotor wing unmanned aerial vehicle 1b moves to correspondence position, and adjusts the angle of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It is set to be essentially coincided with course axle.
S1013, according to the docking mode, adjust first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle
Course angle, until the course angle of first rotor wing unmanned aerial vehicle is with the differential seat angle of the course angle of second rotor wing unmanned aerial vehicle
Preset value.
Specifically, can by the first rotor wing unmanned aerial vehicle of main controller controls 1a, the course angle of the second rotor wing unmanned aerial vehicle 1b,
Can also by the controller of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b control respectively the first rotor wing unmanned aerial vehicle 1a,
The course angle of the second rotor wing unmanned aerial vehicle 1b.
Additionally, by by the differential seat angle of the course angle of the first rotor wing unmanned aerial vehicle 1a and the course angle of the second rotor wing unmanned aerial vehicle 1b
Control can avoid the deviation of course angle from forming operating efficiency of the interference to the multi-rotor unmanned aerial vehicle after docking within preset value
Influence is produced, so as to ensure that the multi-rotor unmanned aerial vehicle after docking can preferably work.
S1014, the automatic locking machine for controlling first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle loading
Structure, first rotor wing unmanned aerial vehicle is fixed together with second rotor wing unmanned aerial vehicle.
Specifically, automatic locking mechanism can be mechanical arm, the first rotor wing unmanned aerial vehicle 1a can be drawn by the mechanical arm
To the second rotor wing unmanned aerial vehicle 1b, or the second rotor wing unmanned aerial vehicle 1b is pulled to the first rotor wing unmanned aerial vehicle 1a, and be finally fixedly connected
Together.For example, when the first rotor wing unmanned aerial vehicle 1a is pulled to the second rotor wing unmanned aerial vehicle 1b by mechanical arm, the first rotor wing unmanned aerial vehicle 1a
Dop be aligned the second rotor wing unmanned aerial vehicle 1b bayonet socket and be fastened togather, so as to realize the first rotor wing unmanned aerial vehicle 1a and second rotation
The fixation of wing unmanned plane 1b.Certainly, automatic locking mechanism can also be dop or buckle etc..
In addition it is also necessary to explanation, in the first rotor wing unmanned aerial vehicle 1a and the automatic butt mistake of the second rotor wing unmanned aerial vehicle 1b
Cheng Zhong, the part of two frame unmanned plane interfaces can carry out auto-folder or automatic accomodation in accommodating chamber, to avoid docking
The docking of structure influence the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b on face.For example, when the first rotor wing unmanned aerial vehicle
When the top surface of the bottom surface of 1a and the second rotor wing unmanned aerial vehicle 1b is docked, the foot stool of the first rotor wing unmanned aerial vehicle 1a can be folded or
Person is shunk back in the frame of the first rotor wing unmanned aerial vehicle 1a, and the GPS module of the second rotor wing unmanned aerial vehicle 1b is folded or received
In the frame of the second rotor wing unmanned aerial vehicle 1b of retracting.It is understood that working as by operator to the first rotor wing unmanned aerial vehicle 1a and second
When rotor wing unmanned aerial vehicle 1b is docked, the part of the interface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also
Auto-folder or contraction；Or these parts can also be removed by operator, to realize the first rotor wing unmanned aerial vehicle 1a
With the docking operation of the second rotor wing unmanned aerial vehicle 1b.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by control the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b automatic butts, can improve the cooperative ability of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, especially can
Enough to be played a significant role under some special occasions, such as when a frame unmanned plane breaks down in the air, such as, electric power is not enough
When, the unmanned plane that failure can be will appear from by way of automatic butt takes back safely ground.And for example, when a frame unmanned plane needs
Improve flying height and the tensile force of its own to e insufficient to meet this when requiring, by automatic with another frame unmanned plane in the air
Docking, such that it is able to the flying height for improving tensile force to obtain higher.
Embodiment 12
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.A kind of knot of the multi-rotor unmanned aerial vehicle that Fig. 8 is provided for the present embodiment
Structure schematic diagram；Another structural representation of the multi-rotor unmanned aerial vehicle that Fig. 9 is provided for the present embodiment.
As shown in FIG. 8 and 9, the multi-rotor unmanned aerial vehicle that the present embodiment is provided, including：First rotor wing unmanned aerial vehicle 1a, the second rotation
Wing unmanned plane 1b and fixed mechanism 1c.Wherein, the first rotor wing unmanned aerial vehicle 1a, including the first frame 19a, installed in first machine
Multiple first rotor assemblies 111a on frame 19a.Second rotor wing unmanned aerial vehicle 1b, including the second frame 19b, installed in second machine
Multiple second rotor assemblies 111b on frame 19b.Fixed mechanism 1c, connects for the first frame 19a and the second frame 19b to be fixed
It is connected together.
Also, the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b also include master controller, for according to the first rotation
The docking mode of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b chooses the control model of the multi-rotor unmanned aerial vehicle after docking, control
Above-mentioned multiple first rotor assemblies 111a and the multiple second rotor assemblies 111b.
Specifically, the first rotor assemblies 111a of the first rotor wing unmanned aerial vehicle 1a can be four, six or eight etc.,
That is, the first rotor wing unmanned aerial vehicle 1a can be four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles etc..Similarly,
The second rotor assemblies 111b of the second rotor wing unmanned aerial vehicle 1b can also be four, six or eight etc., that is, the second rotor without
Man-machine 1b can be four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles etc..
Fixed mechanism 1c, can be any existing mechanism for being fixedly connected the first frame 19a and the second frame 19b,
Such as rivet, screw, key or snap-arms, manipulator etc..Fixed mechanism 1c can only on the first frame 19a, it is also possible to
The second frame 19b is only located at, or, the first frame 19a and the second frame 19b are equipped with fixed mechanism 1c.
The docking mode of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is not especially limited in the present embodiment.Example
Such as in the mode being fixedly connected, can use and be detachably connected or non-dismountable connection.Also, in the present embodiment, may be used
Dismounting connection or non-dismountable connection can be from any modes of the prior art.Again for example in abutting direction, can be with
Docked in the axial direction, it is also possible to diametrically docked, can also be docked obliquely.For example, can be with
Two four rotor wing unmanned aerial vehicles are detachably connected in the axial direction, thus formed eight rotors of double-deck rotor nobody
Machine.Or, it is also possible to link together four rotor wing unmanned aerial vehicles and six rotor wing unmanned aerial vehicle are non-dismountable in the axial direction,
So as to form ten rotor wing unmanned aerial vehicles of double-deck rotor.Or, can also be by two four rotor wing unmanned aerial vehicles in radial directions
It is removably attachable to together, form eight rotor wing unmanned aerial vehicles of individual layer rotor.
Additionally, when choosing the control model of the multi-rotor unmanned aerial vehicle after docking, can according to the first rotor wing unmanned aerial vehicle 1a and
The abutting direction of the second rotor wing unmanned aerial vehicle 1b, rotor quantity select the control model of the multi-rotor unmanned aerial vehicle after docking.For example,
When two four rotor wing unmanned aerial vehicles dock in the axial direction composition one eight rotor wing unmanned aerial vehicle when, can select before four rotors nobody
The control model of machine, it is also possible to the control model that selection prepares exclusively for double-deck eight rotor wing unmanned aerial vehicle.
After the control model of multi-rotor unmanned aerial vehicle after good docking is chosen, master controller just can be according to the control model
Control above-mentioned multiple first rotor assemblies 111a and multiple second rotor assemblies 111b.For example, when the rotor wing unmanned aerial vehicle of two frame four exists
When axial direction docking forms the unmanned plane of eight rotor, the control model after the docking of selection can control the first rotor without
Multiple first rotor assemblies 111a of man-machine 1a work according to original mode, and control multiple rotations of the second rotor wing unmanned aerial vehicle 1b
Wing component works according to new mode.Furthermore, it is understood that master controller can control the rotor in the first rotor assemblies 111a
Dextrorotation transfers to control the rotor rotate counterclockwise in the second rotor assemblies 111b.It is of course also possible to be main controller controls
Rotor in first rotor assemblies 111a and the second rotor assemblies 111b rotates in clockwise direction.
In addition, also, it should be noted that the multi-rotor unmanned aerial vehicle after docking at least also includes a combined support 1d, it is many for this
The landing of rotor wing unmanned aerial vehicle.Specifically, this combined support 1d is located at the downside of the multi-rotor unmanned aerial vehicle after docking, it can be in flight
During folded or shunk back docking after multi-rotor unmanned aerial vehicle frame in.Furthermore, it is understood that this combined support 1d
When can be docking the foot stool 1d of the first rotor wing unmanned aerial vehicle 1a for not removing or the second rotor wing unmanned aerial vehicle 1b, or according to
The relative position of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b after docking and be located at downside by main controller controls
Launch what is constituted in first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b.Further, many rotors after docking nobody
Machine can also have two couples of foot stool 1d, even if so as to can also realize landing when overturning.
The multi-rotor unmanned aerial vehicle of the present embodiment is right by the way that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b carried out
Connect, and corresponding control model by master controller chosen according to docking mode and control multiple first rotor assemblies 111a and multiple
Second rotor assemblies 111b, the rotor quantity and battery capacity of the multi-rotor unmanned aerial vehicle after docking are improved so that continuation of the journey
Ability, lifting capacity and tensile force improve significantly such that it is able to which solve single unmanned plane presence for example needs big load
Weight, lift or the problem continued a journey for a long time.
Embodiment 13
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
Fig. 2 is referred to, on the basis of embodiment 12, the first rotor wing unmanned aerial vehicle 1a is also included for controlling multiple first to revolve
One or more first controller 17a of wing component 111a；Second rotor wing unmanned aerial vehicle 1b is also included for controlling multiple second to revolve
One or more second controllers 17b of wing component 111b；Master controller is used in the first rotor wing unmanned aerial vehicle 1a and the second rotor
When unmanned plane 1b is docked, while communicated to connect with the first controller 17a and second controller 17b, and it is many according to what is chosen
The control model of rotor wing unmanned aerial vehicle controls multiple first rotor assemblies by the first controller 17a and second controller 17b
111a and multiple second rotor assemblies 111b.
Specifically, the first controller 17a of the first rotor wing unmanned aerial vehicle 1a can be the flight control of the first rotor wing unmanned aerial vehicle 1a
Device processed, the second controller 17b of the second rotor wing unmanned aerial vehicle 1b can also be the flight controller of the second rotor wing unmanned aerial vehicle 1b.
Master controller can have with the mode of the communication connection of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Line connection can also be wireless connection, for example, can be in master controller, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The communication terminal and joint of mutual cooperation are set on 1b, or can also be in master controller, the first rotor wing unmanned aerial vehicle 1a and
Wireless communication module is set on two rotor wing unmanned aerial vehicle 1b, such as can be wifi module, bluetooth module.
In a kind of optional implementation method, master controller can be separately provided different from the first rotor wing unmanned aerial vehicle 1a
And second rotor wing unmanned aerial vehicle 1b flight controller independent control, dedicated for dock many rotor unmanned aircrafts
It is controlled.For example, one piece of flight control panel can be added in the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
Or increase corresponding control module on the flight control panel of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b, or
Person can also be and corresponding control program, control module are set in earth station, or can also be that phase is set in remote control
The control module answered and by switching push button realizing switching.Can so simplify and be controlled mould between non-docking in docking
The switching of formula, relatively simple convenience.
In another optional implementation method, master controller can be the first rotor wing unmanned aerial vehicle 1a flight controller or
The flight controller of the second rotor wing unmanned aerial vehicle of person 1b.Circuit structure can so be simplified, it is cost-effective.
The multi-rotor unmanned aerial vehicle of the present embodiment, the first controller 17a and second controller are controlled by master controller respectively
17b realizes the control to the first rotor assemblies 111a and the second rotor assemblies 111b, it is possible to increase control efficiency, and at certain
Control at a distance can be realized in the case of a little, such as when master controller is arranged on earth station.
Embodiment 14
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
The multi-rotor unmanned aerial vehicle of the present embodiment is on the basis of embodiment 12 or 13, the first rotor to be chosen by master controller
One in unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b as main frame, for the multi-rotor unmanned aerial vehicle after the docking according to selection
Control model, respectively control main frame and slave.
Specifically, master controller can in a conventional manner select the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
One in 1b, using another as slave, will not be repeated here as main frame.
Further, when the control signal of main frame breaks down, former slave can be chosen to be new main frame by master controller,
And original host is set to new slave, so as to ensure that using for the multi-rotor unmanned aerial vehicle after docking is safe.
The multi-rotor unmanned aerial vehicle of the present embodiment, by setting slave, and is controlled slave to be operated simultaneously by main frame,
The control to the multi-rotor unmanned aerial vehicle after docking can be realized on the basis of excessive hardware is not increased, so as to simplify structure, section
Simultaneously improve the reliability of control in cost-saving.
Embodiment 15
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the basis of any embodiment in embodiment 12-14
On, the control model of the multi-rotor unmanned aerial vehicle after docking is set to include：Coaxial control model, different axle control model.
Wherein, coaxial control model refers to the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in axial direction pair
Connect, also, docking after multi-rotor unmanned aerial vehicle two rotors up and down on the same axis, for example, the rotor wing unmanned aerial vehicle of two frame four
Rotor be superimposed together completely.Different axle control model refers to the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It is staggered in radial direction, for example, two frame unmanned planes are docked in radial direction, or, two frame unmanned planes are in axial direction pair
Connect, but the rotor of the two but biases certain distance in radial direction.It should be noted that different axle control model also includes first
The situation of the rotor part different axle of coaxial parts of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, for example, the rotor of a frame four without
The multi-rotor unmanned aerial vehicle of the man-machine and rotor wing unmanned aerial vehicle of a frame six or the rotor wing unmanned aerial vehicle of a frame eight after axial direction docking, wherein
There is the situation of overlap the rotor part of four rotor wing unmanned aerial vehicles and six rotor wing unmanned aerial vehicles.
More specifically, during coaxial control model, can be with coaxial two rotors of the multi-rotor unmanned aerial vehicle after control combination
Direction of rotation is opposite.During different axle control model, can be with symmetrically arranged two rotors of the multi-rotor unmanned aerial vehicle after control combination
Direction of rotation it is opposite or identical.
The multi-rotor unmanned aerial vehicle of the present embodiment, the rotor distribution situation of the unmanned plane after to docking takes different controls
Molding formula is controlled, and with stronger specific aim, is conducive to playing the flight advantage of the unmanned plane after docking, after improving docking
The flight efficiency of unmanned plane, for example, improve its flying height or lifting capacity.
Embodiment 16
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is on any embodiment basis of above-described embodiment 12-15
On, change the first rotor wing unmanned aerial vehicle 1a, the dynamical system control model of the second rotor wing unmanned aerial vehicle 1b after docking, for example, can be with
Change the control model of the dynamical system 11a of the first rotor wing unmanned aerial vehicle 1a, or can also change the second rotor wing unmanned aerial vehicle 1b's
The control model of dynamical system 11b, or can also simultaneously change the first rotor wing unmanned aerial vehicle 1a's and the second rotor wing unmanned aerial vehicle 1b
Dynamical system 11a, 11b control model.
Specifically, the control model of dynamical system can include electron speed regulator, motor and rotor different working condition
Control mode, can for example include the size of electron speed regulator output voltage, frequency and cycle, the signal of electron speed regulator
Output mode, Control Cooling (direction of rotation, rotating speed, acceleration etc.), the angle of inclination of rotor of motor etc..Therefore, it is possible to
By the group for changing dynamical system 11a, 11b different control modes in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Close, so as to produce different tensile forces, course change mode and response speed and different load forces to show.
Preferably, the control model of dynamical system can include at least one in rotating speed, the direction of rotor of rotor.It is logical
Crossing the steering of the rotating speed or rotor of control rotor can simplify operation, and provide and tensile force and load force and response speed
More intuitively control mode.
Below so that the rotor wing unmanned aerial vehicle of two frame four is controlled after axial direction docking as an example, briefly introduce and how to change
The control model of the first rotor wing unmanned aerial vehicle 1a, dynamical system 11a, 11b of the second rotor wing unmanned aerial vehicle 1b：
A kind of situation is individually to change the maximum (top) speed of rotor in dynamical system.For example can be by the rotor of a frame four without
The maximum (top) speed of man-machine middle rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed, and rotor is most in the second frame unmanned plane
Big rotating speed keeps the 3rd maximum (top) speed constant；Can also be by the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four by first most
Big adjustment of rotational speed is the second maximum (top) speed, while the maximum (top) speed of rotor in the second frame unmanned plane is adjusted by the 3rd maximum (top) speed
It is the 4th maximum (top) speed.
Second situation is individually to change the steering of rotor in dynamical system.For example can be by the rotor of a frame four nobody
The steering of rotor is turned to by first and is adjusted to the second steering in machine, and the steering of rotor keeps the 3rd to turn in the second frame unmanned plane
It is constant；Can also turn to the steering of rotor in the rotor wing unmanned aerial vehicle of a frame four by first to be adjusted to the second steering, while by the
The steering of rotor is turned to by the 3rd and is adjusted to the 4th steering in two frame unmanned planes.
The third situation is, while changing maximum (top) speed and the steering of rotor in dynamical system.For example can be by a frame
The maximum (top) speed of rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed in four rotor wing unmanned aerial vehicles, and by the steering of its rotor
Turned to by first and be adjusted to the second steering, and the maximum (top) speed of rotor and steering keep the 3rd maximum respectively in the second frame unmanned plane
Rotating speed and the 3rd steering are constant.Or it is, or the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and the steering of its rotor is turned to by first is adjusted to the second steering, while by the second frame
The maximum (top) speed of rotor is adjusted to the 4th maximum (top) speed by the 3rd maximum (top) speed in unmanned plane, and by the steering of its rotor by the 3rd
Steering is adjusted to the 4th steering.Or, can also be that the maximum (top) speed of rotor in the rotor wing unmanned aerial vehicle of a frame four is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and keeps its steering constant, while keeping the maximum (top) speed of rotor in the second frame unmanned plane
It is constant, and be turned around being adjusted to the 4th steering by the 3rd steering.
The multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a in multi-rotor unmanned aerial vehicle, the second rotation
The two can obtain different power system operational states for wing unmanned plane 1b or simultaneously change, and then be obtained in that different drawings
Stretch and bearing capacity greatly extend the application scenarios of unmanned plane to adapt to the demand of different application occasion.
Embodiment 17
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the base of any embodiment in above-described embodiment 12-16
On plinth, the working condition of power supply in the multi-rotor unmanned aerial vehicle after docking is improved, to adapt to the control of the multi-rotor unmanned aerial vehicle chosen
Pattern.For example, thus it is possible to vary power supply 13a, the control model of the first rotor wing unmanned aerial vehicle 1a, or can also change the second rotor without
The power supply 13b control models of man-machine 1b, or can also simultaneously change the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Power supply 13a, 13b control model.
Specifically, power supply pattern can be including power supply in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Power supply order, power supply mode, power-on time and delivery size.By power supply in the multi-rotor unmanned aerial vehicle after controlling docking
Working condition, can be in different applied environments for the unmanned plane after docking provides suitable operating current, to ensure docking
Unmanned plane afterwards can keep good load capacity, tensile force and cruising time to meet corresponding work requirements.
In a kind of optional implementation method, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
13b powers for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b simultaneously, so as to be the first rotor wing unmanned aerial vehicle 1a and second
Rotor wing unmanned aerial vehicle 1b provides maximum power supply guarantee, to meet such as big tensile force of short time needs or the applied field of high capacity
Scape.For example, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a powers for the first rotor wing unmanned aerial vehicle 1a, the electricity of the second rotor wing unmanned aerial vehicle 1b
Source 13b powers for the second rotor wing unmanned aerial vehicle 1b；Or, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a is the second rotor wing unmanned aerial vehicle 1b
Power supply, the power supply 13b of the second rotor wing unmanned aerial vehicle 1b powers for the first rotor wing unmanned aerial vehicle 1a.
In second optional implementation method, in selection the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
One as main power source, another as from power supply, to meet the needs of the application scenarios of continuation of the journey for a long time.For example, first is revolved
The power supply 13a of wing unmanned plane 1a powers as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
Or using the power supply 13b of the second rotor wing unmanned aerial vehicle 1b as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b powers.Further, when the electricity of main power source exhausts or during power supply trouble, then original is chosen to be into new main electricity from power supply
Source and former main power source is set to it is new from power supply, so as to ensure that the multi-rotor unmanned aerial vehicle after docking is powered stabilization, improves its peace
Quan Xing.
The multi-rotor unmanned aerial vehicle of the present embodiment, by the power supply to the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Working condition be controlled such that it is able to obtain various powering modes, the continuation of the journey pattern of such as longer time, to adapt to difference
The need for operative scenario.
Embodiment 18
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the base of any embodiment in above-described embodiment 12-17
On plinth, the working condition of sensor in the multi-rotor unmanned aerial vehicle after docking is improved, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.For example, thus it is possible to vary the sensor 15a control models of the first rotor wing unmanned aerial vehicle 1a, or can also be changed
The sensor 15b control models of two rotor wing unmanned aerial vehicle 1b, or can also simultaneously change the rotations of the first rotor wing unmanned aerial vehicle 1a and second
Sensor 15a, 15b control model of wing unmanned plane 1b.
Specifically, the working condition of sensor includes opening quantity, opens species, opening time, open frequency.For example,
The sensor 15a of the first rotor wing unmanned aerial vehicle 1a can be all turned on, and part is opened or Close All；Second rotor wing unmanned aerial vehicle 1b
Sensor 15b can also be all turned on, part open or Close All.Revolved by the first rotor wing unmanned aerial vehicle 1a and second
The control of sensor 15a, 15b working condition in wing unmanned plane 1b, can cause the sensor of the multi-rotor unmanned aerial vehicle after docking
Formation is turned on and off, work independently or redundancy multiple-working mode.
For example, the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a can be opened, the super of the second rotor wing unmanned aerial vehicle 1b is closed
Sonic sensor, can also open the ultrasonic sensor of the second rotor wing unmanned aerial vehicle 1b, close the super of the first rotor wing unmanned aerial vehicle 1a
Sonic sensor, can also simultaneously open the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.Together
Reason, it is also possible to control the other sensors in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in the manner described above,
Such as barometer and camera.
Further, when the same sensor only one in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened
When, the kind of sensor that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are opened preferably at least with dock before first
The kind of sensor that rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b are opened is identical, thus ensure docking after many rotors without
It is man-machine can perception do not reduce.
When the same sensor in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened or is opened into
When few two, then this kind of sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be formed redundant state or
Complementary state.Wherein, redundant state refers to that the two detection is identical information, and such as detection is pressure information, so that
One sensor constitutes the redundancy of another sensor, can the use of the information detected by a sensor be now another
Sensor is corrected.And complementary state refers to then two sensors having complementary functions of being realized, for example, the first rotor wing unmanned aerial vehicle
Camera from the camera of 1a to the first two the second rotor wing unmanned aerial vehicle 1b backward, such that it is able to make the unmanned plane after docking have 360 °
Shooting ability without dead angle, that is, the function of the unmanned plane expanded after docking.
The multi-rotor unmanned aerial vehicle of the present embodiment, by being sensed in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The control of device, it is possible to achieve different sensor combinations modes, realizes more functions, so as to meet different work requirements with
Adapt to more workplaces.
Embodiment 19
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
The multi-rotor unmanned aerial vehicle of the present embodiment is on the basis of any one of embodiment 12-18 embodiment, to improve first
Rotor wing unmanned aerial vehicle 1a's and the second rotor wing unmanned aerial vehicle 1b is fixedly connected mode.
In the present embodiment, be detachably connected for the first frame 111a and the second frame 111b by fixed mechanism 1c.
Specifically, fixed mechanism 1c can fix the first frame using mode is arbitrarily detachably connected in the prior art
111a and the second frame 111b can be for example bolt connection, pin joint, be bonded connect and some riveting etc..Preferably, fixed machine
Structure 1c is detachably connected the first frame 111a and the second frame 111b by the way of clamping, such as fixed mechanism 1c can be
The dop of setting and the bayonet socket that setting cooperates with the dop on the second frame 111b on first frame 111a.Fixed machine
Structure 1c connects the first frame 111a and the second frame 111b by way of clamping, relatively simple for structure, while being also easy to carry out
Docking operation.
The multi-rotor unmanned aerial vehicle of the present embodiment, connected by using the docking mode being detachably connected the first rotor nobody
Machine 1a and the second rotor wing unmanned aerial vehicle 1b, can so cause that unmanned plane is more flexible, can directly make in application scenes
With single rotary wind type unmanned plane, the multi-rotor unmanned aerial vehicle after can using docking in application scenes.
Embodiment 20
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
Fig. 3-6, Fig. 8 and Fig. 9 are refer to, the multi-rotor unmanned aerial vehicle of the present embodiment is any in above-described embodiment 12-19
On the basis of embodiment, the abutting direction of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is improved.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are fixedly connected in axial direction,
So that the multi-rotor unmanned aerial vehicle after docking has smaller radial dimension and obtains preferably cooperative effect.
Specifically, can according to practical application needs, such as the selection of sensor 15a, 15b working condition, or
The complexity of attachment structure is set according to unmanned plane top surface or bottom surface, or first is selected according to the complexity of control
The specific fixed form of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
As shown in figure 3, in the first optional implementation method, can be by the top surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.Such docking mode can simultaneously using the rotations of the first rotor wing unmanned aerial vehicle 1a and second
The camera of wing unmanned plane 1b, so as to obtain more preferable shooting effect.
In second optional implementation method, can be by the bottom surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The bottom surface of 1b is fixedly connected.Such docking mode can avoid influences of the foot stool 1d to docking, and reduce the difficulty of docking.
In the third optional implementation method, can be by the top surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The bottom surface of 1b is fixedly connected.When such case is adapted to the first rotor wing unmanned aerial vehicle 1a and is located at the second rotor wing unmanned aerial vehicle 1b lower sections, can be with
Reduce control difficulty.
As shown in figure 4, in the 4th kind of optional implementation method, can be by the bottom surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.So especially carried out in the air without being overturn to unmanned plane in docking
During automatic butt, the quality of docking can be improved.
The multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b interfaces
Selection, can obtain more preferable function, or reduce the difficulty of docking, improve the quality of docking, or the behaviour for simplifying docking
Make, so that the farthest application demand of the multi-rotor unmanned aerial vehicle after extension docking.
Embodiment 21
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
Please continue to refer to Fig. 3-6, Fig. 8 and Fig. 9, the multi-rotor unmanned aerial vehicle of the present embodiment is in above-described embodiment 12-20
On the basis of any embodiment, the rotor for improving the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is improved, to obtain
Obtain different tensile forces.
In a kind of optional implementation method, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Rotor be superimposed together in axial direction.For example, as shown in Fig. 4, Fig. 5 or Fig. 8, by the rotor of the rotor wing unmanned aerial vehicle of two frame four
It is superimposed together to form about one two superimposed, eight rotor wing unmanned aerial vehicles together.Also, by a large amount of tests of inventor
After find, can cause unmanned plane after the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is superimposed together
Tensile force improves 50% or so, and then it is higher to enable that the multi-rotor unmanned aerial vehicle after docking flies.
In another optional implementation method, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
The rotor of 1b is biased in radial direction and set.For example, as shown in Fig. 3, Fig. 6 or Fig. 9, by the rotor of the rotor wing unmanned aerial vehicle of two frame four
It is staggered to form eight rotor wing unmanned aerial vehicles that a levels are interlocked.Also, by being found after a large amount of tests of inventor, by the first rotation
The rotor of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b can cause that the tensile force of unmanned plane improves 70%- after being interleaved together
80% or so, and then it is higher to enable that the multi-rotor unmanned aerial vehicle after docking flies, and carry more articles.
The multi-rotor unmanned aerial vehicle of the present embodiment, by making the first rotor wing unmanned aerial vehicle 1a rotors and the second rotor wing unmanned aerial vehicle 1b
Rotor is in different relative positions, such that it is able to produce different tensile forces, to adapt to the different works of the unmanned plane after docking
Make environment and job requirement.
Embodiment 22
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.
Fig. 3, Fig. 5, Fig. 8 and Fig. 9 are referred to, the multi-rotor unmanned aerial vehicle of the present embodiment is appointed in above-described embodiment 12-21
On the basis of one embodiment, the rotor of the rotor of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b is revolved around radial direction
Turnback.For example, as shown in Fig. 3, Fig. 5, Fig. 8 and Fig. 9, by the rotor of the second rotor wing unmanned aerial vehicle 1b around carrying out rotation 180 degree,
So that the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can form cooperative effect, so as to improve docking
The operating efficiency of multi-rotor unmanned aerial vehicle afterwards.
The multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b rotors
Relative direction, can cause that the unmanned plane after docking produces different tensile forces, thus improve many rotors after docking nobody
The adaptability of machine.
Embodiment 23
The present embodiment provides a kind of multi-rotor unmanned aerial vehicle.The first rotation for having removed foot stool 1d that Figure 10 is provided for the present embodiment
The structural representation of wing unmanned plane；The structure of the second rotor wing unmanned aerial vehicle for having removed GPS module that Figure 11 is provided for the present embodiment
Schematic diagram.
The multi-rotor unmanned aerial vehicle of the present embodiment is the master on the basis of any embodiment in above-described embodiment 12-22
Controller includes：Position adjusting type modules, course angle adjusting module and automatic locking module.
Wherein, position adjusting type modules, for controlling first rotor wing unmanned aerial vehicle according to the current location information for getting
1a and the second rotor wing unmanned aerial vehicle 1b move to upper and lower correspondence position, and course axle is essentially coincided.
Specifically, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be obtained by GPS, triones navigation system
Current Ubiety, it is also possible to by radar obtain the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b current location
Relation, can also obtain the first rotor wing unmanned aerial vehicle 1a current with the second rotor wing unmanned aerial vehicle 1b by other method in the prior art
Position relationship.
Meanwhile, position adjusting type modules control the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b moves to correspondence position
Put, and adjusting the angle of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b makes it be essentially coincided with course axle.More specifically
, position adjusting type modules can be in a module, or selected main frame in the main controller being separately provided
Module, or can also be the module in the first controller 17a and second controller 17b.
Course angle adjusting module, for adjusting the first rotor wing unmanned aerial vehicle 1a and/or described according to the docking mode
The course angle of the second rotor wing unmanned aerial vehicle 1b, until the course angle of the first rotor wing unmanned aerial vehicle 1a and second rotor wing unmanned aerial vehicle
The differential seat angle of the course angle of 1b is preset value.
Specifically, course angle adjusting module can be a module in the main controller being separately provided, or selected
Main frame in a module, or can also be the module in the first controller 17a and second controller 17b.
Additionally, by by the differential seat angle of the course angle of the first rotor wing unmanned aerial vehicle 1a and the course angle of the second rotor wing unmanned aerial vehicle 1b
Control can avoid the deviation of course angle from forming operating efficiency of the interference to the multi-rotor unmanned aerial vehicle after docking within preset value
Influence is produced, so as to ensure that the multi-rotor unmanned aerial vehicle after docking can preferably work.
Automatic locking module, for controlling the fixed mechanism 1c to be detachably fixed first frame and the second frame
Together.
Specifically, fixed mechanism 1c can be mechanical arm, the first rotor wing unmanned aerial vehicle 1a can be pulled to by the mechanical arm
Second rotor wing unmanned aerial vehicle 1b, or the second rotor wing unmanned aerial vehicle 1b is pulled to the first rotor wing unmanned aerial vehicle 1a, and most the first frame at last
Together with being detachably fixed with the second frame.For example, when the first rotor wing unmanned aerial vehicle 1a is pulled to the second rotor wing unmanned aerial vehicle by mechanical arm
During 1b, in the first frame set dop be aligned the second frame on set bayonet socket and be fastened togather, so as to realize the first rotation
The fixation of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b.
In addition it is also necessary to explanation, in the first rotor wing unmanned aerial vehicle 1a and the automatic butt mistake of the second rotor wing unmanned aerial vehicle 1b
Cheng Zhong, the part of two frame unmanned plane interfaces can carry out auto-folder or automatic accomodation in accommodating chamber, to avoid docking
The docking of structure influence the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b on face.For example, when the first rotor wing unmanned aerial vehicle
When the top surface of the bottom surface of 1a and the second rotor wing unmanned aerial vehicle 1b is docked, the foot stool 1d of the first rotor wing unmanned aerial vehicle 1a can be folded
Or in shrinking back the frame of the first rotor wing unmanned aerial vehicle 1a, and the GPS module 151a of the second rotor wing unmanned aerial vehicle 1b is folded
Or in shrinking back the frame of the second rotor wing unmanned aerial vehicle 1b.It is understood that working as by operator to the first rotor wing unmanned aerial vehicle 1a
When being docked with the second rotor wing unmanned aerial vehicle 1b, the part of the interface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Can also auto-folder or contraction；Or these parts can also be removed by operator, with realize the first rotor without
The docking operation of man-machine 1a and the second rotor wing unmanned aerial vehicle 1b, specifically refers to Figure 10 and Figure 11.
The multi-rotor unmanned aerial vehicle of the present embodiment, by controlling the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in sky
Middle automatic butt, can improve the cooperative ability of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, especially can be
Played a significant role under some special occasions, such as when a frame unmanned plane breaks down in the air, such as, and when electric power is not enough,
The unmanned plane that can will appear from failure by way of automatic butt takes back safely ground.And for example, when a frame unmanned plane needs to carry
Flying height high and the tensile force of its own e insufficient to meet this when requiring, by automatically right with another frame unmanned plane in the air
Connect, such that it is able to the flying height for improving tensile force to obtain higher.
More than technical scheme in each embodiment, technical characteristic with this it is afoul in the case of can be independent, or
Person is combined, as long as without departing from the cognitive range of those skilled in the art, belonging to the equivalent reality in the application protection domain
Apply example.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list
The division of unit, only a kind of division of logic function can have other dividing mode when actually realizing, such as multiple units or
Component can be combined or be desirably integrated into another system, or some features can be ignored, or not performed.It is another, show
The coupling each other shown or discuss or direct-coupling or communication connection can be by some interfaces, between device or unit
Connect coupling or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that computer disposal
Device (processor) performs all or part of step of each embodiment methods described of the invention.And foregoing storage medium bag
Include：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc. are various can be with the medium of store program codes.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (40)
1. a kind of control method of multi-rotor unmanned aerial vehicle, it is characterised in that comprise the following steps：
Determine the docking mode of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle；
According to the docking mode, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen；And,
According to selection the docking after multi-rotor unmanned aerial vehicle control model, control respectively first rotor wing unmanned aerial vehicle with
Second rotor wing unmanned aerial vehicle.
2. control method according to claim 1, it is characterised in that the control method also includes：
Set up the communication connection of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
One in first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is chosen as main frame, for according to selection
The control model of the multi-rotor unmanned aerial vehicle after the docking, controls the main frame and slave respectively.
3. control method according to claim 1, it is characterised in that the control mould of the multi-rotor unmanned aerial vehicle after the docking
Formula includes：Coaxial control model, different axle control model.
4. control method according to claim 1, it is characterised in that change first rotor wing unmanned aerial vehicle and/or described
The dynamical system control model of the second rotor wing unmanned aerial vehicle, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
5. control method according to claim 4, it is characterised in that the dynamical system control model include it is following at least
It is a kind of：The direction of rotation of rotor, the acceleration of rotor.
6. control method according to claim 1, it is characterised in that change first rotor wing unmanned aerial vehicle and/or described
The power supply pattern of the second rotor wing unmanned aerial vehicle, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
7. control method according to claim 6, it is characterised in that in the multi-rotor unmanned aerial vehicle in the selection
Control model when, the power supply of the power supply of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is powered simultaneously；
Or, one of conduct of the power supply of the power supply of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is main
Power supply, another is used as stand-by power supply.
8. control method according to claim 1, it is characterised in that change first rotor wing unmanned aerial vehicle and/or described
The sensor control model of the second rotor wing unmanned aerial vehicle, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
9. control method according to claim 8, it is characterised in that the sensor control model includes following at least
Kind：It is turned on and off, works independently or redundancy.
10. the control method according to claim any one of 1-9, it is characterised in that first rotor wing unmanned aerial vehicle and
The docking mode of two rotor wing unmanned aerial vehicles is to be detachably connected.
11. control methods according to claim 10, it is characterised in that described to be detachably connected as clamping.
12. control method according to claim any one of 1-9, it is characterised in that first rotor wing unmanned aerial vehicle and
Two rotor wing unmanned aerial vehicles are fixedly connected in axial direction.
13. control methods according to claim 12, it is characterised in that the top surface of first rotor wing unmanned aerial vehicle with it is described
The top surface of the second rotor wing unmanned aerial vehicle is fixedly connected, or first rotor wing unmanned aerial vehicle bottom surface and second rotor wing unmanned aerial vehicle
Bottom surface be fixedly connected.
14. control methods according to claim 12, it is characterised in that the bottom surface of first rotor wing unmanned aerial vehicle with it is described
The top surface of the second rotor wing unmanned aerial vehicle is fixedly connected, or first rotor wing unmanned aerial vehicle top surface and second rotor wing unmanned aerial vehicle
Bottom surface be fixedly connected.
15. control method according to claim any one of 1-9, it is characterised in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing and second rotor wing unmanned aerial vehicle is superimposed together in axial direction.
16. control method according to claim any one of 1-9, it is characterised in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing and second rotor wing unmanned aerial vehicle is biased in radial direction and set.
17. control method according to claim any one of 1-9, it is characterised in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing or second rotor wing unmanned aerial vehicle rotates 180 degree around radial direction.
18. control method according to claim any one of 1-9, it is characterised in that first rotor wing unmanned aerial vehicle and institute
State the second rotor wing unmanned aerial vehicle automatic butt in the air.
19. control methods according to claim 18, it is characterised in that include the step of the automatic butt：
Obtain the current location information of the first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
According to the current location information, first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is controlled to move to up and down
Correspondence position, and course axle essentially coincides；
According to the docking mode, the course angle of first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle is adjusted, directly
The differential seat angle of course angle and the course angle of second rotor wing unmanned aerial vehicle to first rotor wing unmanned aerial vehicle is preset value；
The automatic locking mechanism for controlling first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle to load, by described the
One rotor wing unmanned aerial vehicle is fixed together with second rotor wing unmanned aerial vehicle.
A kind of 20. multi-rotor unmanned aerial vehicles, it is characterised in that including：
First rotor wing unmanned aerial vehicle, including the first frame, multiple first rotor assemblies in first frame；
Second rotor wing unmanned aerial vehicle, including the second frame, multiple second rotor assemblies in second frame；
Fixed mechanism, for first frame to be fixed together with second frame；
Wherein, first rotor wing unmanned aerial vehicle or second rotor wing unmanned aerial vehicle also include master controller, for according to described the
The docking mode of one rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle chooses the control model of the multi-rotor unmanned aerial vehicle after docking, control
The multiple first rotor assemblies and the multiple second rotor assemblies.
21. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that
First rotor wing unmanned aerial vehicle also includes one or more first controls for controlling the multiple first rotor assemblies
Device；
Second rotor wing unmanned aerial vehicle also includes one or more second controls for controlling the multiple second rotor assemblies
Device；
The master controller be used for when first rotor wing unmanned aerial vehicle is docked with second rotor wing unmanned aerial vehicle, while with it is described
First controller and second controller are communicated to connect, and are passed through according to the control model of the multi-rotor unmanned aerial vehicle of the selection
First controller and second controller control the multiple first rotor assemblies and the multiple second rotor assemblies.
22. multi-rotor unmanned aerial vehicles according to claim 21, it is characterised in that the master controller is first rotor
The flight controller of unmanned plane or second rotor wing unmanned aerial vehicle；
Or, the master controller is the flight control different from first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
The independent control of device processed.
23. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that the master controller chooses first rotation
One in wing unmanned plane and second rotor wing unmanned aerial vehicle as main frame, for many rotors after the docking according to selection
The control model of unmanned plane, controls the main frame and slave respectively.
24. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that multi-rotor unmanned aerial vehicle after the docking
Control model includes：Coaxial control model, different axle control model.
25. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that the master controller changes first rotation
The dynamical system control model of wing unmanned plane and/or second rotor wing unmanned aerial vehicle, with adapt to the selection many rotors nobody
The control model of machine.
26. multi-rotor unmanned aerial vehicles according to claim 25, it is characterised in that the dynamical system control model is included such as
Lower at least one：The direction of rotation of rotor, the acceleration of rotor.
27. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that the master controller changes first rotation
The power supply pattern of wing unmanned plane and/or second rotor wing unmanned aerial vehicle, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.
28. multi-rotor unmanned aerial vehicles according to claim 27, it is characterised in that the first rotation described in the main controller controls
The power supply of the power supply of wing unmanned plane and second rotor wing unmanned aerial vehicle is powered simultaneously；
Or, the power supply of the power supply of the first rotor wing unmanned aerial vehicle described in the main controller controls and second rotor wing unmanned aerial vehicle
One of them as main power source, another is used as stand-by power supply.
29. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that the master controller changes first rotation
The sensor control model of wing unmanned plane and/or second rotor wing unmanned aerial vehicle, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.
30. multi-rotor unmanned aerial vehicles according to claim 29, it is characterised in that the sensor control model includes as follows
It is at least one：It is turned on and off, works independently or redundancy.
31. multi-rotor unmanned aerial vehicles according to claim 20, it is characterised in that described to be fixedly connected as being detachably connected.
32. multi-rotor unmanned aerial vehicles according to claim 31, it is characterised in that described to be detachably connected as clamping.
33. multi-rotor unmanned aerial vehicle according to claim any one of 20-30, it is characterised in that first rotor nobody
Machine and the second rotor wing unmanned aerial vehicle are fixedly connected in axial direction.
34. multi-rotor unmanned aerial vehicles according to claim 33, it is characterised in that the top surface of first rotor wing unmanned aerial vehicle with
The top surface of second rotor wing unmanned aerial vehicle is fixedly connected, or first rotor wing unmanned aerial vehicle bottom surface and second rotor without
Man-machine bottom surface is fixedly connected.
35. multi-rotor unmanned aerial vehicles according to claim 33, it is characterised in that the bottom surface of first rotor wing unmanned aerial vehicle with
The top surface of second rotor wing unmanned aerial vehicle is fixedly connected, or first rotor wing unmanned aerial vehicle top surface and second rotor without
Man-machine bottom surface is fixedly connected.
36. multi-rotor unmanned aerial vehicle according to claim any one of 20-30, it is characterised in that first rotor nobody
The rotor of the rotor of machine and second rotor wing unmanned aerial vehicle is superimposed together in axial direction.
37. multi-rotor unmanned aerial vehicle according to claim any one of 20-30, it is characterised in that first rotor nobody
The rotor of the rotor of machine and second rotor wing unmanned aerial vehicle is biased in radial direction and set.
38. multi-rotor unmanned aerial vehicle according to claim any one of 20-30, it is characterised in that first rotor nobody
The rotor of the rotor of machine or second rotor wing unmanned aerial vehicle rotates 180 degree around radial direction.
39. multi-rotor unmanned aerial vehicle according to claim any one of 20-30, it is characterised in that the master controller is used for
The fixed mechanism is controlled in the air to be fixed together the first frame and the second frame.
40. multi-rotor unmanned aerial vehicle according to claim 39, it is characterised in that the master controller includes：Position adjustment
Module, course angle adjusting module and automatic locking module；
The position adjusting type modules, for controlling first rotor wing unmanned aerial vehicle and described according to the current location information that gets
Second rotor wing unmanned aerial vehicle moves to upper and lower correspondence position, and course axle is essentially coincided；
The course angle adjusting module, for adjusting first rotor wing unmanned aerial vehicle and/or described the according to the docking mode
The course angle of two rotor wing unmanned aerial vehicles, until the course of the course angle of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
The differential seat angle at angle is preset value；
Automatic locking module, for controlling the fixed mechanism to be fixed together first frame and the second frame.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092124 WO2018018518A1 (en) | 2016-07-28 | 2016-07-28 | Multi-rotor unmanned aerial vehicle and control method therefor |
Publications (2)
| Publication Number | Publication Date |
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| CN106716273A true CN106716273A (en) | 2017-05-24 |
| CN106716273B CN106716273B (en) | 2018-11-06 |
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| Publication number | Publication date |
|---|---|
| CN106716273B (en) | 2018-11-06 |
| WO2018018518A1 (en) | 2018-02-01 |
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