CN108995815A - A kind of cross-arranging type multi-rotor unmanned aerial vehicle - Google Patents
A kind of cross-arranging type multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN108995815A CN108995815A CN201811046956.XA CN201811046956A CN108995815A CN 108995815 A CN108995815 A CN 108995815A CN 201811046956 A CN201811046956 A CN 201811046956A CN 108995815 A CN108995815 A CN 108995815A
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- 239000007921 spray Substances 0.000 claims abstract description 39
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000011068 loading method Methods 0.000 claims abstract description 32
- 239000003814 drug Substances 0.000 claims abstract description 17
- 230000011664 signaling Effects 0.000 claims description 10
- 230000005662 electromechanics Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 238000011217 control strategy Methods 0.000 description 8
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention proposes a kind of cross-arranging type multi-rotor unmanned aerial vehicles, it include: host and slave, the host is connected with slave by modular subs, and the host and slave include flight control system, rotor power device, rack, battery, section board, medicine-chest, loading pump and spray head.This unmanned plane is suitable for several work situation, the slave quantity that can need to assemble according to working area and operating environment selection, improve the flexibility of operation, save cost, a winged hand also may be implemented in this way while controlling the purpose of multiple unmanned planes, promote the operating efficiency for flying hand, and compared to the bee colony control model of a control multimachine, the cost of flight control system can also be saved, the pump design of slave multiple medicine, so that the spray pressure of all spray heads is more greatly more evenly, plant protection operation effect is improved.
Description
Technical field
The invention belongs to plant protection drone product technical field, especially a kind of cross-arranging type multi-rotor unmanned aerial vehicle.
Background technique
In plant protection industry, single-rotor helicopter and coaxial double-rotor helicopter are compared, more rotors are in convenience and economy
On, there is the unrivaled advantage of other unmanned planes.But due to the difference of the crops of various regions and operating environment, required plant
The specification for protecting unmanned plane is also not quite similar.For plant protection practitioner, have it is a with scalability, adapt to a variety of works
The unmanned plane of industry environment is very necessary.
In entitled " a kind of the wide cut plant protection drone and driving method of the more rotors of cross-arranging type ", application No. is
" 2017104785739 ", date of publication are in the patent on the 5th of September in 2017, and used technical solution includes rack, posture control
Mechanism and pesticide spraying system processed.The attitude coutrol mechanism includes lithium battery, flight controller, electron speed regulator and rotor group
Part；The lithium battery provides power for the flight controller, electron speed regulator and rotor assemblies of wide cut plant protection drone, according to
Demand can be equipped with muti-piece, and grouping is distributed in frame central region；The flight controller is fixed on frame central region, automatically
The various flight parameters of wide cut plant protection drone are acquired, export rudder door, throttle commands for electron speed regulator；The electronic speed regulation
Device is fixed on frame central region, receives flight controller output signal, controls speed and the direction of rotor assemblies, and then control
The posture of wide cut plant protection drone and track；The rotor assemblies include transverse axis motor, transverse axis rotor, longitudinal axis
Line motor, longitudinal axis rotor, motor support base and electric machine support；The rotor assemblies share 2n, and n is more than or equal to 2, each
Rotor assemblies have identical size and hardware parameter, wherein 2 are located on stands longitudinal axis, symmetrically fix about transverse axis
In the rear and front end of rack, on the one hand provide lift for the lifting of wide cut plant protection drone, on the other hand control wide cut plant protection nobody
Machine along operating direction advance and stopping；Remaining 2n-2 are located on rack transverse axis, every survey symmetrical about longitudinal axis
N-1 rotor assemblies are uniformly distributed, are on the one hand jointly that plant protection drone takes off, adjusts flight with rotor assemblies on longitudinal axis
Height provides lift, and wide cut plant protection drone is on the other hand driven to carry out pose adjustment, and control unmanned plane completes a course line
Transverse shifting after operation changes operation navigation channel.This invention is more rotor assemblies unmanned planes, and rotor assemblies are distributed in rack
Front and rear, left and right is exactly a molding unmanned plane, cannot arbitrarily adjust the size of unmanned plane according to demand after design is completed,
Therefore several work environment is not adapted to, limit its application.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of cross-arranging type multi-rotor unmanned aerial vehicles.
Specific technical solution is as follows:
A kind of cross-arranging type multi-rotor unmanned aerial vehicle characterized by comprising host and slave, the host and slave pass through
Modular subs (7) connection；
The host includes host core flight control system (19), host rotor power device (11), main frame
(12), cell host (18), host section board (13), host medicine-chest (14), host loading pump (15) and host spray head (16)；
The slave include slave embedded programmable singlechip control panel (29), slave rotor power device (21), from
Machine rack (22) pumps (25) and slave spray head from machine battery (28), slave section board (23), slave medicine-chest (24), slave loading
(26)；
The modular subs (7) include power interface, signaling interface and switch with medicament channel；
The host core flight control system (19), host rotor power device (11), cell host (18), host point
Battery plate (13), host medicine-chest (14), host loading pump (15) and host spray head (16) are arranged on main frame (12)；
The slave embedded programmable singlechip control panel (29), slave rotor power device (21), from machine battery
(28), slave section board (23), slave medicine-chest (24), slave loading pump (25) and slave spray head (26) are arranged in slave rack
(22) on；
The host core flight control system (19) is controlled by signaling interface and slave embedded programmable single-chip microcontroller
Plate (29) receives or transmission information；
The host section board (13) is connected with slave section board (23) by power interface, by cell host (18) with from
Machine battery (28) is in parallel；
The host medicine-chest (14) passes through host loading pump (15), medicament channel switch and slave loading pump (25) and slave
Medicine-chest (24) connection.
Preferably, the host core flight control system (19) includes control mainboard, receiver, GPS module, gyroscope
And pitot meter.
Preferably, the slave embedded programmable singlechip control panel (29) is Arduino UNO, Arduino
Any one in mega2560 and STM32.
Preferably, the host rotor power device (11) and slave rotor power device (21) include motor, electronics
Governor and propeller.
Preferably, the main frame (12) and slave rack (22) include girder (33), equipment frame (32), power dress
Set fixed frame (31) and main beam connections (34).
Preferably, the quantity of the power device fixed frame (31) is the even number more than or equal to 4.
Preferably, the quantity of the slave is more than or equal to 1.
Preferably, the host spray head (16) and slave spray head (26) are arranged on main beam connections (34).
Preferably, the quantity of the power device fixed frame (31) be equal to host rotor power device (11) quantity with from
The sum of the quantity of machine rotor power device (21).
Compared with the existing technology, a kind of cross-arranging type multi-rotor unmanned aerial vehicle of the present invention has the advantage that
A kind of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention is suitable for several work situation, can be according to working area
The slave quantity that assembles is needed with operating environment selection, the flexibility of operation is improved, saves cost, it in this way can also be with
It realizes that a winged hand controls the purpose of multiple unmanned planes simultaneously, promotes the operating efficiency for flying hand, and compared to the bee of a control multimachine
Group control mode can also save the cost of flight control system, slave multiple medicine pump design, so that the spray pressure of all spray heads
Power more greatly more evenly, improves plant protection operation effect.
Detailed description of the invention
Fig. 1 is a kind of modularization fuselage schematic diagram of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention；
Fig. 2 is a kind of modularization fuselage side schematic view of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention；
Fig. 3 is that a kind of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention carries out spliced schematic diagram；
Fig. 4 is a kind of control strategy schematic diagram of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention；
Fig. 5 is a kind of operation schematic diagram of host of cross-arranging type multi-rotor unmanned aerial vehicle and slave communication proposed by the present invention.
Description of symbols:
11 13 host section board of host rotor power 12 main frame of device, 14 host medicine-chest
15 host loadings pump 16 host spray head, 7 modular subs, 18 cell host
19 host core flight control system, 21 slave rotor power device, 22 slave rack
23 slave section board, 24 slave medicine-chest, 25 slave loading pumps 26 slave spray heads
28 from 29 slave embedded programmable singlechip control panel of machine battery
31 power device fixed frame, 32 equipment frame, 33 girder, 34 main beam connections
Specific embodiment
Below in conjunction with the specific embodiment technical solution that present invention be described in more detail.It should be appreciated that being described herein as
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element there must be specific side, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be and be directly connected to, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 be a kind of modularization fuselage schematic diagram of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention, comprising: host and
Slave, the host and slave are connected by modular subs (7)；The host includes host core flight control system
(19), host rotor power device (11), main frame (12), cell host (18), host section board (13), host medicine-chest
(14), host loading pump (15) and host spray head (16), the host core flight control system (19) include control mainboard, connect
Receipts machine, GPS module, gyroscope and pitot meter, the host rotor power device (11) includes motor, electron speed regulator and spiral
Paddle, the main frame (12) include girder (33), equipment frame (32), power device fixed frame (31) and main beam connections
(34), the host spray head (16) is arranged on main beam connections (34)；The slave includes slave embedded programmable monolithic
Machine control panel (29), slave rotor power device (21), slave rack (22), from machine battery (28), slave section board (23), from
Machine medicine-chest (24), slave loading pump (25) and slave spray head (26), the slave rotor power device (21) includes motor, electronics
Governor and propeller, the slave rack (22) include girder (33), equipment frame (32), power device fixed frame (31) and master
Beam connection (34), the slave spray head (16) are arranged on main beam connections (34)；The modular subs (7) include power supply
Interface, signaling interface and with medicament channel switch；The host core flight control system (19), host rotor power device
(11), cell host (18), host section board (13), host medicine-chest (14), host loading pump (15) and host spray head (16) are set
It sets on main frame (12)；The slave embedded programmable singlechip control panel (29), slave rotor power device (21),
From machine battery (28), slave section board (23), slave medicine-chest (24), slave loading pump (25) and slave spray head (26) be arranged from
In machine rack (22)；The host core flight control system (19) passes through signaling interface and slave embedded programmable single-chip microcontroller
Control panel (29) receives or transmission information；The host section board (13) is connected with slave section board (23) by power interface,
Cell host (18) is in parallel with from machine battery (28)；The host medicine-chest (14) pumps (15), medicament channel by host loading
Switch is connected to slave loading pump (25) and slave medicine-chest (24).
The slave embedded programmable singlechip control panel (29) be Arduino UNO, Arduino mega2560 and
Any one in STM32.The quantity of the slave is more than or equal to 1, and the slave of installation how much quantity is determined according to operating environment.
The quantity of the power device fixed frame (31) is the even number more than or equal to 4.
The quantity of the power device fixed frame (31) is equal to the quantity and slave rotor of host rotor power device (11)
The sum of the quantity of power device (21), the quantity of host rotor power device (11) are power device fixed frame (31) on host
Quantity, the quantity of slave rotor power device (21) are the quantity of power device fixed frame (31) on slave.
The invention proposes a kind of cross-arranging type multi-rotor unmanned aerial vehicle, such unmanned plane can separate operaton also pass through modularization
Connector is spliced to meet different operation assignments demand.Such unmanned plane takes the control strategy of " the more slaves of a host ", can
Automatic identification slave quantity and installation site, and control strategy is adjusted accordingly, only need a set of core control for being mounted on host
System processed achieves that a control multimachine, can greatly save economic cost.
Such more rotor plant protection drones of cross-arranging type are made of N number of modularization fuselage, wherein being equipped with core flight control
System is host, remaining is slave, is connected between slave and host by modular subs (7).
Modularization fuselage is by M rotor power device, rack, core flight control system (or embedded control panel), electricity
Pond, section board, modular subs, loading pump, medicine-chest, spray head are constituted；
The core flight control system includes control mainboard, receiver, GPS module, gyroscope, pitot meter etc.；
The slave control panel be common embedded programmable singlechip control panel, such as Arduino UNO,
Arduino mega2560, STM32 etc.；
The rotor power device includes motor, electron speed regulator and propeller；
The rack includes girder, equipment frame, power device fixed frame and main beam connections, wherein power device fixed frame
Quantity be M；
The M is the even number more than or equal to 4；
Power interface, signaling interface (be divided into and send and receive two interfaces) and medicament are installed on the fast disassembly type connector
Channel switch, host can by this connector by host power supply and slave power sources in parallel, realize slave to communicating and pass through medicine
Agent channel switch realizes that the medicament of slave is shared；
The power sources in parallel of slave may be implemented in the section board；
The control signal that the loading of the unmanned machine host and slave pumps is identical, this control signal is supplied by signal relay plate
It is pumped to slave loading；
After the connection of fast disassembly type connector finishes, medicament channel switch can automatically open the unmanned plane, realize principal and subordinate
The medicament of machine is shared；
When unmanned plane only has a host operation, control method is identical with common multi-rotor unmanned aerial vehicle, works as one side
When having slave access, host can send request signal by the signal transmission interface at modular subs (7), and pass through module
Change the signal receiving interface at connector (7) and receive the slave number n signal that slave is sent, is adjusted and controlled according to side slave number
Strategy；Its slave interface having the same sends and receives interface also by the signal of two sides and carries out sending and receiving for signal.
Specific implementation strategy are as follows: after the completion of the access of all slaves, start unmanned plane, the signal of unmanned machine host two sides
Transmission interface can slave outward send request signal and return to " n=0 " signal if outside is not connected to slave；If flanking outside
There is slave, then after slave receives signal, will continue to send request signal to next stage slave outward, so repeat, directly
To certain level-one, side is not connected to new slave from the outside.When detecting that outside is not connected to slave, then " n=0 " signal is returned to upper one
Grade slave, after upper level slave is connected to this signal, adds 1 for n value, and " n=1 " signal is reached upper level slave again, so weight
It is multiple, until host is connected to slave number n signal.
When host is connected to slave number n signal, control strategy is adjusted according to two sides slave number n, since slave is main
Difference is in flight control system, and the quality of flight control system proportion very little in operating mass unloden, therefore is believed that slave quality is close
Patibhaga-nimitta etc..Accordingly, the no matter external how many slaves of deducibility, center of gravity are able to maintain always in the geometrically symmetric face of complete machine.Its is heavy
Heart positional distance host center of gravity D=wheelbase L* (n-m+1)/2, right side is positive, and left side is negative.
Its control strategy are as follows: using the lateral symmetry face of its position of centre of gravity and longitudinally asymmetric face as boundary, by unmanned plane all rotors
Be divided into four regions (X, Y, Z, I), the rotor rotation direction in each region and revolving speed are identical among these, flight each stage all
Rotor in each region is considered as a rotor group to control, concatenated multiple rotors are considered as 4 rotor groups, it is total
Body control strategy is no different with common quadrotor.
Specific embodiment
As shown in Figures 2 and 3, a kind of cross-arranging type multi-rotor unmanned aerial vehicle, comprising: host and slave, the host and slave
It is connected by modular subs (7)；The host includes host core flight control system (19), host rotor power device
(11), main frame (12), cell host (18), host section board (13), host medicine-chest (14), host loading pump (15) and master
Machine spray head (16) composition, the host core flight control system (19) includes control mainboard, receiver, GPS module, gyroscope
And pitot meter, the host rotor power device (11) include motor, electron speed regulator and propeller, the main frame (12)
Including girder (33), equipment frame (32), power device fixed frame (31) and main beam connections (34), the host spray head (16) is set
It sets on main beam connections (34)；The slave includes that slave embedded programmable singlechip control panel (29), slave rotor are dynamic
Power device (21), slave rack (22) are pumped from machine battery (28), slave section board (23), slave medicine-chest (24), slave loading
(25) it is formed with slave spray head (26), the slave rotor power device (21) includes motor, electron speed regulator and propeller, institute
Stating slave rack (22) includes girder (33), equipment frame (32), power device fixed frame (31) and main beam connections (34), described
Host spray head (16) is arranged on main beam connections (34)；The modular subs (7) include power interface, signaling interface and and
Medicament channel switch；The host core flight control system (19), host rotor power device (11), cell host (18),
Host section board (13), host medicine-chest (14), host loading pump (15) and host spray head (16) are arranged on main frame (12)；
The slave embedded programmable singlechip control panel (29), slave rotor power device (21) divide from machine battery (28), slave
Battery plate (23), slave medicine-chest (24), slave loading pump (25) and slave spray head (26) are arranged on slave rack (22)；The master
Machine core flight control system (19) is received or is passed by signaling interface and slave embedded programmable singlechip control panel (29)
Defeated information；The host section board (13) is connected with slave section board (23) by power interface, by cell host (18) with from
Machine battery (28) is in parallel；The host medicine-chest (14) is pumped by host loading pump (15), medicament channel switch with slave loading
(25) it is connected to slave medicine-chest (24).
Fig. 3 is 1 host, and the quantity of the cross-arranging type multi-rotor unmanned aerial vehicle of 2 slaves, host rotor power device (11) is
It 4, is separately positioned on power device fixed frame (31), slave rotor power device (21) distributed 4 on each slave
It is a, it is separately positioned on power device fixed frame (31).No matter slave rotor power device (21) or host rotor power dress
(11) are set, include motor, electron speed regulator and propeller.Host core flight control system (19) is arranged in cell host
(18) on, it is arranged on equipment frame (32), host section board (13) is also disposed on equipment frame (32), passes through modular subs
(7) power interface on is connect with slave section board (23), realizes that cell host (18) are in parallel with from machine battery (28).Slave
Embedded programmable singlechip control panel (29) is also disposed on machine battery (28), and the two is arranged in equipment frame (32) simultaneously
On.Host core flight control system (19) includes control mainboard, receiver, GPS module, gyroscope and pitot meter, and slave is embedding
Entering formula programmable single chip computer control panel (29) is STM32.Host core flight control system (19) passes through in modular subs (7)
Signaling interface connect with STM32, realize control of the host to slave.After the completion of the access of all slaves, start unmanned plane, nothing
The signal transmission interface of man-machine host two sides can slave outward send request signal and returned if outside is not connected to slave
" n=0 " signal；If outside is connected to slave, after slave receives signal, it will continue to outward send next stage slave and ask
It asks signal, so repeats, until side is not connected to new slave to certain level-one from the outside.When detecting that outside is not connected to slave, then return
It returns after " n=0 " signal gives upper level slave, upper level slave to be connected to this signal, n value is added 1, and " n=1 " signal is reached again
Upper level slave so repeats, until host is connected to slave number n signal, as shown in figure 5, in this way, host can receive
The quantity of two sides slave.Left and right sides slave each 1, since slave main difference is in flight control system, and the quality of flight control system
The proportion very little in operating mass unloden, therefore it is believed that slave quality is approximately equal.Accordingly, deducibility it is no matter external how much from
Machine, center of gravity are able to maintain always in the geometrically symmetric face of complete machine.Its position of centre of gravity is apart from host center of gravity D=wheelbase L* (n-m+
1)/2, right side is positive, and left side is negative.Wherein, n is the quantity of slave, and m is the quantity of power device fixed frame.
As shown in figure 4, its control strategy are as follows: using the lateral symmetry face of its position of centre of gravity and longitudinally asymmetric face as boundary, by nothing
Man-machine all rotors are divided into four regions (X, Y, Z, I), and the rotor rotation direction in each region and revolving speed are identical among these, in flight
Rotor in each region is all considered as a rotor group to control by each stage, and concatenated multiple rotors are considered as 4
Rotor group, overall control strategy are no different with common quadrotor.
When slave is connected on host by modular subs (7), host medicine-chest (14) pumps (15), medicine by host loading
Agent channel switch is connected to slave loading pump (25) and slave medicine-chest (24), realizes that slave medicine-chest and host medicine-chest share pesticide
Purpose is spread pesticide to farmland, sprays all in this way by host spray head (16) and slave spray head (26) when needing to spray insecticide
More greatly more evenly, plant protection operation effect can be improved in the spray pressure of head.
Host is consistent with device and equipment that slave includes, and only the controller of host is machine core flight control system
(19), all action of all hosts and slave of control.
In conclusion a kind of cross-arranging type multi-rotor unmanned aerial vehicle proposed by the present invention, is suitable for several work situation, it can basis
The slave quantity that working area and operating environment selection need to assemble, improves the flexibility of operation, cost is saved, using this side
Formula also may be implemented a winged hand while control the purpose of multiple unmanned planes, promote the operating efficiency for flying hand, and compared to a control
The bee colony control model of multimachine can also save the cost of flight control system, slave multiple medicine pump design, so that all spray heads
Spray pressure more it is big more evenly, improve plant protection operation effect.
Above embodiment is the preferred embodiment of the present invention, is not intended to limit patent protection model of the invention
It encloses.Those skilled in the art belonging to any present invention, in the premise for not departing from spirit and scope disclosed in this invention
Under, the transformation of the equivalent structure and equivalent steps that done to the contents of the present invention each falls within claimed the scope of the patents
Within.
Claims (9)
1. a kind of cross-arranging type multi-rotor unmanned aerial vehicle characterized by comprising host and slave, the host and slave pass through mould
Block connector (7) connection；
The host includes host core flight control system (19), host rotor power device (11), main frame (12), master
Machine battery (18), host section board (13), host medicine-chest (14), host loading pump (15) and host spray head (16)；
The slave includes slave embedded programmable singlechip control panel (29), slave rotor power device (21), slave machine
Frame (22) pumps (25) and slave spray head (26) from machine battery (28), slave section board (23), slave medicine-chest (24), slave loading；
The modular subs (7) include power interface, signaling interface and switch with medicament channel；
The host core flight control system (19), host rotor power device (11), cell host (18), host section board
(13), host medicine-chest (14), host loading pump (15) and host spray head (16) are arranged on main frame (12)；
The slave embedded programmable singlechip control panel (29), slave rotor power device (21), from machine battery (28), from
Machine section board (23), slave medicine-chest (24), slave loading pump (25) and slave spray head (26) are arranged on slave rack (22)；
The host core flight control system (19) passes through signaling interface and slave embedded programmable singlechip control panel
(29) receive or transmit information；
The host section board (13) is connected with slave section board (23) by power interface, by cell host (18) with from electromechanics
Pond (28) is in parallel；
The host medicine-chest (14) passes through host loading pump (15), medicament channel switch and slave loading pump (25) and slave medicine-chest
(24) it is connected to.
2. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the host core flight control
System (19) processed includes control mainboard, receiver, GPS module, gyroscope and pitot meter.
3. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the slave is embedded to be compiled
Journey singlechip control panel (29) is any one in Arduino UNO, Arduino mega2560 and STM32.
4. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the host rotor power dress
Setting (11) and slave rotor power device (21) includes motor, electron speed regulator and propeller.
5. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the main frame (12) and
Slave rack (22) includes girder (33), equipment frame (32), power device fixed frame (31) and main beam connections (34).
6. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 5, which is characterized in that the power device fixed frame
(31) quantity is the even number more than or equal to 4.
7. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the quantity of the slave is greater than
Equal to 1.
8. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 1 or 5, which is characterized in that the host spray head
(16) it is arranged on main beam connections (34) with slave spray head (26).
9. a kind of cross-arranging type multi-rotor unmanned aerial vehicle according to claim 4 or 6, which is characterized in that the power device is solid
The quantity for determining frame (31) is equal to the quantity of host rotor power device (11) and the sum of the quantity of slave rotor power device (21).
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| CN201811046956.XA CN108995815A (en) | 2018-09-08 | 2018-09-08 | A kind of cross-arranging type multi-rotor unmanned aerial vehicle |
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| CN201811046956.XA CN108995815A (en) | 2018-09-08 | 2018-09-08 | A kind of cross-arranging type multi-rotor unmanned aerial vehicle |
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| CN112520028A (en) * | 2020-12-01 | 2021-03-19 | 邵阳学院 | Kitchen sanitation environment removes supervisory equipment |
| CN112977793A (en) * | 2021-04-19 | 2021-06-18 | 深圳市科卫泰实业发展有限公司 | Combined multi-rotor unmanned aerial vehicle and control method thereof |
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