CN205916328U - Multi -rotor unmanned aerial vehicle - Google Patents
Multi -rotor unmanned aerial vehicle Download PDFInfo
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- CN205916328U CN205916328U CN201620816460.6U CN201620816460U CN205916328U CN 205916328 U CN205916328 U CN 205916328U CN 201620816460 U CN201620816460 U CN 201620816460U CN 205916328 U CN205916328 U CN 205916328U
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Abstract
The utility model provides a multi -rotor unmanned aerial vehicle, includes: a rotor unmanned aerial vehicle includes first frame, installs a plurality of first rotor subassembly in first frame, the 2nd rotor unmanned aerial vehicle includes the second frame, installs a plurality of second rotor subassemblies in the second frame, fixed establishment for can dismantle first frame and second frame and link together, a rotor unmanned aerial vehicle or the 2nd rotor unmanned aerial vehicle still include main control unit for choose the control model to the multi -rotor unmanned aerial vehicle of carried forward, control according to a rotor unmanned aerial vehicle and the 2nd rotor unmanned aerial vehicle's butt joint mode a plurality of first rotor subassemblies and a plurality of second rotor subassemblies, and the multi -rotor unmanned aerial vehicle to the carried forward includes a set of foot rest at least. The utility model provides a multi -rotor unmanned aerial vehicle and control method can improve unmanned aerial vehicle's lifting capacity and tensile force.
Description
Technical field
This utility model is related to a kind of many rotor wing unmanned aerial vehicles, belongs 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 manipulating.Through the accumulation of technology for many years and developing rapidly of economy, the application scenarios of present unmanned plane
More and more, for example take photo by plane, crops monitoring, vegetation protection, auto heterodyne, express transportation, disaster relief, observe 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, the load capacity of four rotary wind type unmanned planes may be relatively small, and ten rotary wind types are unmanned
The load capacity of machine is relatively large.But, many rotor wing unmanned aerial vehicles of heavy load ability are relatively costly, and the scope of application is less,
Thus significantly limit the application scenarios of unmanned plane.
Utility model content
This utility model provides a kind of many rotor wing unmanned aerial vehicles, is had with solving rotary wind type unmanned plane load capacity in prior art
The technical problem of limit.
This utility model provides a kind of many rotor wing unmanned aerial vehicles, comprising: the first rotor wing unmanned aerial vehicle, including the first frame, installation
Multiple first rotor assemblies in described first frame；Second rotor wing unmanned aerial vehicle, including the second frame, is arranged on described second
Multiple second rotor assemblies in frame；Fixed mechanism, for being detachably connected described first frame with described second frame
Together；Described first rotor wing unmanned aerial vehicle or described 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 many rotor wing unmanned aerial vehicles after docking, controls institute
State multiple first rotor assemblies and the plurality of second rotor assemblies；And, the many rotor wing unmanned aerial vehicles after described docking at least wrap
Include a combined support.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described first rotor wing unmanned aerial vehicle also includes the plurality of for controlling
One or more first controllers of the first rotor assemblies；Described second rotor wing unmanned aerial vehicle is also included for controlling the plurality of
One or more second controllers of two rotor assemblies；Described master controller is used in described first rotor wing unmanned aerial vehicle and described the
During two rotor wing unmanned aerial vehicle docking, communicate to connect with described first controller and second controller simultaneously, and according to described choosing
The control model of the many rotor wing unmanned aerial vehicles taking passes through described first controller and second controller controls the plurality of first rotation
Wing assembly and the plurality of second rotor assemblies.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller is described first rotor wing unmanned aerial vehicle or described the
The flight controller of two rotor wing unmanned aerial vehicles；Or, described master controller is different from described first rotor wing unmanned aerial vehicle and described
The independent control of the flight controller of the second rotor wing unmanned aerial vehicle.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described first rotor wing unmanned aerial vehicle and described chosen by described master controller
One of second rotor wing unmanned aerial vehicle as main frame, for the control mould according to the many rotor wing unmanned aerial vehicles after the described docking selecting
Formula, controls described main frame and slave respectively.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the control model of the many rotor wing unmanned aerial vehicles after described docking includes:
Coaxial control model, different axle control model.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller change described first rotor wing unmanned aerial vehicle and/or
The dynamical system control model of described second rotor wing unmanned aerial vehicle, to adapt to the control model of many rotor wing unmanned aerial vehicles of described selection.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described dynamical system control model includes following at least one: rotation
The direction of rotation of the wing, the acceleration of rotor.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller change described first rotor wing unmanned aerial vehicle and/or
The power supply pattern of described second rotor wing unmanned aerial vehicle, to adapt to the control model of many rotor wing unmanned aerial vehicles of described selection.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the power supply of the first rotor wing unmanned aerial vehicle described in described main controller controls
And the power supply of described second rotor wing unmanned aerial vehicle powers simultaneously；Or, the first rotor wing unmanned aerial vehicle described in described main controller controls
Power supply and described second rotor wing unmanned aerial vehicle power supply one of as main power source, another one is as stand-by power supply.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller change described first rotor wing unmanned aerial vehicle and/or
The sensor control model of described second rotor wing unmanned aerial vehicle, to adapt to the control model of many rotor wing unmanned aerial vehicles of described selection.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described sensor control model includes following at least one: opens
Or close, work independently or redundancy.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described is detachably connected as clamping.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are in axial direction
Direction is detachably connected.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the top surface of described first rotor wing unmanned aerial vehicle is with described second rotor no
Man-machine top surface is detachably connected, or the bottom surface of the bottom surface of described first rotor wing unmanned aerial vehicle and described second rotor wing unmanned aerial vehicle can
Dismounting connects.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the bottom surface of described first rotor wing unmanned aerial vehicle is with described second rotor no
Man-machine top surface is detachably connected, or the bottom surface of the top surface of described first rotor wing unmanned aerial vehicle and described second rotor wing unmanned aerial vehicle can
Dismounting connects.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the rotor of described first rotor wing unmanned aerial vehicle and described second rotor are no
Man-machine rotor is superimposed together in axial direction.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the rotor of described first rotor wing unmanned aerial vehicle and described second rotor are no
Man-machine rotor biases setting in radial direction.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, the rotor of described first rotor wing unmanned aerial vehicle or described second rotor are no
Man-machine rotor rotates 180 degree around radial direction.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller is used for controlling described fixed mechanism in the air will
First frame and the second frame are detachably connected.
The improvement further of above-mentioned many rotor wing unmanned aerial vehicles, described master controller includes: position adjusting type modules, course angle adjustment
Module and automatic locking module；Described position adjusting type modules, for controlling described the according to the current location information that gets
One rotor wing unmanned aerial vehicle and described second rotor wing unmanned aerial vehicle move to upper and lower correspondence position, and course axle essentially coincides；Described boat
To angle adjusting module, for unmanned according to described docking mode described first rotor wing unmanned aerial vehicle of regulation and/or described second rotor
The course angle of machine, until the differential seat angle of the course angle of the course angle of described first rotor wing unmanned aerial vehicle and described second rotor wing unmanned aerial vehicle
For preset value；Automatically locking module, for controlling described fixed mechanism to be fixedly connected on described first frame and the second frame
Together.
Many rotor wing unmanned aerial vehicles that this utility model provides, by carrying out the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Docking, and the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are controlled according to the corresponding control model of docking mode selection, right
The rotor quantity of the many rotor wing unmanned aerial vehicles after connecing increase so that lifting capacity and tensile force all improve significantly such that it is able to
Solve the problems, such as single unmanned plane presence for example needs heavy－duty, lift, and the first rotor wing unmanned aerial vehicle and the second rotor
After unmanned plane separates, can be used alone again.
Brief description
A kind of structural representation of many rotor wing unmanned aerial vehicles that Fig. 1 provides for this utility model embodiment 1；
Another kind of structural representation of many rotor wing unmanned aerial vehicles that Fig. 2 provides for this utility model embodiment 1；
The system structure diagram of many rotor wing unmanned aerial vehicles that Fig. 3 provides for this utility model embodiment 2；
The a kind of of many rotor wing unmanned aerial vehicles that Fig. 4 provides for this utility model embodiment 9 simplifies structural representation；
Many rotor wing unmanned aerial vehicles another kind of simplification structural representation that Fig. 5 provides for this utility model embodiment 9；
The a kind of of many rotor wing unmanned aerial vehicles that Fig. 6 provides for this utility model embodiment 10 simplifies structural representation；
The another kind of of many rotor wing unmanned aerial vehicles that Fig. 7 provides for this utility model embodiment 10 simplifies structural representation；
The structural representation of the first rotor wing unmanned aerial vehicle having removed foot rest that Fig. 8 provides for this utility model embodiment 12；
The structural representation of the second rotor wing unmanned aerial vehicle having removed gps module that Fig. 9 provides for this utility model embodiment 12
Figure.
Specific embodiment
Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case of not conflicting, under
Feature in the embodiment stated 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 imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " the
One ", the feature of " second " can be expressed or implicitly include at least one this feature.In describing the invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise expressly limited specifically.
Embodiment 1
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.A kind of knot of many rotor wing unmanned aerial vehicles that Fig. 1 provides for the present embodiment
Structure schematic diagram；Another kind of structural representation of many rotor wing unmanned aerial vehicles that Fig. 2 provides for the present embodiment.
As illustrated in fig. 1 and 2, many rotor wing unmanned aerial vehicles that the present embodiment provides, comprising: the 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, is arranged on this first machine
Multiple first rotor assemblies 111a on frame 19a.Second rotor wing unmanned aerial vehicle 1b, including the second frame 19b, is arranged on this second machine
Multiple second rotor assemblies 111b on frame 19b.Fixed mechanism 1c, for connecting fixing to the first frame 19a and the second frame 19b
It is connected together.
And, the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b also includes 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 many rotor wing unmanned aerial vehicles after docking, controls
Above-mentioned multiple first rotor assemblies 111a and the plurality of second rotor assemblies 111b.
Specifically, 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..In the same manner,
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 is no
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, could be for being fixedly connected the arbitrarily existing mechanism of the first frame 19a and the second frame 19b,
Such as rivet, screw, key or snap-arms, mechanical hand etc..Fixed mechanism 1c can only in the first frame 19a it is also possible to
Only located at the second frame 19b, 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
As in the mode being fixedly connected, can adopt and be detachably connected or non-dismountable connection.And, in the present embodiment, may be used
Dismounting connects or non-dismountable connection can be to select mode arbitrarily of the prior art.Again for example in abutting direction, permissible
Docked in the axial direction it is also possible to diametrically be docked, can also be docked obliquely.For example, permissible
Two four rotor wing unmanned aerial vehicles are detachably connected in the axial direction, thus eight rotors forming a double-deck rotor are unmanned
Machine.Or it is also possible to link together non-dismountable in the axial direction to four rotor wing unmanned aerial vehicles and six rotor wing unmanned aerial vehicle,
Thus forming ten rotor wing unmanned aerial vehicles of a double-deck rotor.Or, can also by two four rotor wing unmanned aerial vehicles in radial directions
It is removably attachable to form eight rotor wing unmanned aerial vehicles of a monolayer rotor together.
Additionally, when choosing the control model of many rotor wing unmanned aerial vehicles 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 come to select dock after many rotor wing unmanned aerial vehicles control model.For example,
When two four rotor wing unmanned aerial vehicles dock one eight rotor wing unmanned aerial vehicle of composition in the axial direction, four rotors before can selecting are unmanned
The control model of machine is it is also possible to select the control model preparing exclusively for double-deck eight rotor wing unmanned aerial vehicles.
After the control model of many rotor wing unmanned aerial vehicles after choosing good docking, master controller just can be according to this control model
Control above-mentioned multiple first rotor assemblies 111a and multiple second rotor assemblies 111b.For example, when two frame four rotor wing unmanned aerial vehicle exists
When axial direction docking forms the unmanned plane of eight rotors, the control model after the docking of selection can control the first rotor no
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 assembly works according to new mode.Furthermore, it is understood that master controller can be the rotor controlling 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 all rotates in clockwise direction.
In addition, also, it should be noted the many rotor wing unmanned aerial vehicles after docking at least also include a combined support 1d, many for this
The landing of rotor wing unmanned aerial vehicle.Specifically, this combined support 1d is located at the downside of the many rotor wing unmanned aerial vehicles after docking, and it can be in flight
During folded or shunk back in the frame of many rotor wing unmanned aerial vehicles after docking.Furthermore, it is understood that this combined support 1d
Can be during docking the foot rest 1d of the first rotor wing unmanned aerial vehicle 1a of 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 composition in first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b.Further, the many rotors after docking are unmanned
Machine can also have two couples of foot rest 1d, even if thus also enabling landing when there is upset.
Many rotor wing unmanned aerial vehicles of the present embodiment, right by carrying out the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Connect, and corresponding control model is chosen by master controller according to docking mode and control multiple first rotor assemblies 111a and multiple
Second rotor assemblies 111b, the rotor quantity of the many rotor wing unmanned aerial vehicles after docking and battery capacity are all improved so that continuing a journey
Ability, lifting capacity and tensile force all improve significantly such that it is able to for example needing of solving that single unmanned plane exists carries greatly
The problem of weight, lift or long-time continuation of the journey.
Embodiment 2
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.The system knot of many rotor wing unmanned aerial vehicles that Fig. 3 provides for the present embodiment
Structure schematic diagram.
Refer to Fig. 3, on the basis of embodiment 12, the first rotor wing unmanned aerial vehicle 1a is also included for controlling multiple first rotations
One or more first controller 17a of wing assembly 111a；Second rotor wing unmanned aerial vehicle 1b is also included for controlling multiple second rotations
One or more second controller 17b of wing assembly 111b；Master controller is used in the first rotor wing unmanned aerial vehicle 1a and the second rotor
During unmanned plane 1b docking, communicate to connect with the first controller 17a and second controller 17b simultaneously, and many according to choose
The control model of rotor wing unmanned aerial vehicle is passed through the first controller 17a and second controller 17b and is controlled multiple first rotor assemblies
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 be to have with the mode of the first rotor wing unmanned aerial vehicle 1a and the communication connection of the second rotor wing unmanned aerial vehicle 1b
It can also be wireless connection that line connects, 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 cooperating and joint are arranged on 1b, or can also be in master controller, the first rotor wing unmanned aerial vehicle 1a and
On two rotor wing unmanned aerial vehicle 1b, wireless communication module is set, can be such as wifi module, bluetooth module.
In a kind of optional embodiment, 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 docking many rotor unmanned aircrafts
It is controlled.For example, it is possible to add one piece of flight panel 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 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 arranges corresponding control program, control module in earth station, or can also be setting phase in remote control
The control module answered simultaneously is realized switching by switching push button.So can simplify and be controlled mould in docking between non-docking
The switching of formula, relatively simple convenience.
In another kind of optional embodiment, master controller can be the first rotor wing unmanned aerial vehicle 1a flight controller or
The flight controller of person the second rotor wing unmanned aerial vehicle 1b.So circuit structure can be simplified, cost-effective.
Many rotor wing unmanned aerial vehicles of the present embodiment, control the first controller 17a and second controller respectively by master controller
17b is realizing the control to the first rotor assemblies 111a and the second rotor assemblies 111b, it is possible to increase control efficiency, and at certain
Can realize controlling at a distance, such as when master controller is arranged on earth station in the case of a little.
Embodiment 3
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
Many rotor wing unmanned aerial vehicles of the present embodiment are on the basis of embodiment 1 or 2, choose the first rotor no by master controller
One of man-machine 1a and the second rotor wing unmanned aerial vehicle 1b as main frame, for according to the many rotor wing unmanned aerial vehicles after the docking selecting
Control model, control main frame and slave respectively.
Specifically, master controller can select the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in a conventional manner
One of 1b, as main frame, using another as slave, will not be described here.
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, thus ensure the use safety of the many rotor wing unmanned aerial vehicles after docking.
Many rotor wing unmanned aerial vehicles of the present embodiment, by arranging slave, and control slave to be operated by main frame simultaneously,
The control to the many rotor wing unmanned aerial vehicles after docking can be realized on the basis of not increasing excessive hardware, thus simplifying structure, section
The reliability of control is simultaneously improved in cost-saving.
Embodiment 4
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
With continued reference to Fig. 3, on the basis of many rotor wing unmanned aerial vehicles of the present embodiment are any embodiment in embodiment 1-3,
The control model of the many rotor wing unmanned aerial vehicles after docking is set to include: coaxially 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, and, two rotors up and down of the many rotor wing unmanned aerial vehicles after docking are on the same axis, for example, two frame four rotor wing unmanned aerial vehicle
Rotor be superimposed together completely.Different axle control model refers to the first rotor wing unmanned aerial vehicle 1a and the rotor of the second rotor wing unmanned aerial vehicle 1b
It is crisscross arranged in radial direction, for example, two frame unmanned planes dock 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 different axle of rotor part coaxial parts of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, for example, a frame four rotor is no
Many rotor wing unmanned aerial vehicles man-machine and that a frame six rotor wing unmanned aerial vehicle or a frame eight rotor wing unmanned aerial vehicle are after axial direction docking, wherein
The rotor part of four rotor wing unmanned aerial vehicles and six rotor wing unmanned aerial vehicles has the situation of overlap.
More specifically, during coaxial control model, can be with coaxial two rotors of the many rotor wing unmanned aerial vehicles after control combination
Direction of rotation is contrary.During different axle control model, can be with symmetrically arranged two rotors of the many rotor wing unmanned aerial vehicles after control combination
Direction of rotation contrary or identical.
Many rotor wing unmanned aerial vehicles of the present embodiment, take different controls by the rotor distribution situation to the unmanned plane after docking
Molding formula is controlled, and has higher specific aim, and the flight advantage of the unmanned plane after being conducive to playing docking, after improving docking
The flight efficiency of unmanned plane, for example, improve its flying height or lifting capacity.
Embodiment 5
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
With continued reference to Fig. 3, many rotor wing unmanned aerial vehicles of the present embodiment are any embodiment bases in above-described embodiment 1-4
On, change the first rotor wing unmanned aerial vehicle 1a after docking, the dynamical system control model of the second rotor wing unmanned aerial vehicle 1b, described to adapt to
The control model of the many rotor wing unmanned aerial vehicles chosen.For example, it is possible to change the control of dynamical system 11a of the first rotor wing unmanned aerial vehicle 1a
Pattern, or the control model of dynamical system 11b of the second rotor wing unmanned aerial vehicle 1b can also be changed, or can also change simultaneously
First rotor wing unmanned aerial vehicle 1a and dynamical system 11a, the 11b control model of the second rotor wing unmanned aerial vehicle 1b.
Specifically, the control model of dynamical system can include electron speed regulator, motor and rotor different working condition
Control mode, for example can include size, frequency and the cycle of electron speed regulator output voltage, the signal of electron speed regulator
Output mode, the Control Cooling (direction of rotation, rotating speed, acceleration etc.) of motor, angle of inclination of rotor etc..Therefore, it is possible to
By changing the group of 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, thus producing different tensile forces, course change mode and response speed and the performance of different carrying.
Preferably, the control model of dynamical system can include at least one in the direction of the rotating speed of rotor, rotor.Logical
Cross and control the rotating speed of rotor or the steering of rotor can simplify operation, and provide and tensile force and carrying and response speed
More intuitively control mode.
Below so that two frame four rotor wing unmanned aerial vehicle is controlled after axial direction docking as a example, how brief introduction changes
First rotor wing unmanned aerial vehicle 1a, the control model of 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.Can be for example by a frame four rotor no
The maximum (top) speed of man-machine middle rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed, and in the second frame unmanned plane rotor is
Big rotating speed keeps the 3rd maximum (top) speed constant；Can also be by the maximum (top) speed of rotor in a frame four rotor wing unmanned aerial vehicle by first
Big adjustment of rotational speed is the second maximum (top) speed, is adjusted the maximum (top) speed of rotor in the second frame unmanned plane by the 3rd maximum (top) speed simultaneously
For the 4th maximum (top) speed.
Second situation is individually to change the steering of rotor in dynamical system.Can be for example that a frame four rotor is unmanned
In machine, the steering of rotor is turned to by first and is adjusted to the second steering, and in the second frame unmanned plane, the steering of rotor keeps the 3rd steering
Constant；Can also be to be turned to the steering of rotor in a frame four rotor wing unmanned aerial vehicle by first to be adjusted to the second steering, simultaneously by the
In two frame unmanned planes, the steering of rotor is turned to by the 3rd and is adjusted to the 4th steering.
The third situation is to change the maximum (top) speed of rotor and steering in dynamical system simultaneously.Can be for example by a frame
In four rotor wing unmanned aerial vehicles, the maximum (top) speed of rotor is adjusted to the second maximum (top) speed, and the steering by its rotor by the first maximum (top) speed
Turned to by first and be adjusted to the second steering, and in the second frame unmanned plane, the maximum (top) speed of rotor and steering keep the 3rd maximum respectively
Rotating speed and the 3rd turns to constant.Or it is or the maximum (top) speed of rotor in a frame four rotor wing unmanned aerial vehicle is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and the steering of its rotor is adjusted to the second steering by the first steering, simultaneously by the second frame
In unmanned plane, the maximum (top) speed of rotor is adjusted to the 4th maximum (top) speed by the 3rd maximum (top) speed, 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 a frame four rotor wing unmanned aerial vehicle is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and keeps its steering constant, keeps the maximum (top) speed of rotor in the second frame unmanned plane simultaneously
Constant, and be turned around being adjusted to the 4th steering by the 3rd steering.
Many rotor wing unmanned aerial vehicles of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a in many rotor wing unmanned aerial vehicles, the second rotation
Wing unmanned plane 1b or simultaneously both changes can obtain different power system operational states, and then are obtained in that different drawing
Stretch and bearing capacity, to adapt to the demand of different application occasion, greatly extend the application scenarios of unmanned plane.
Embodiment 6
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
With continued reference to Fig. 3, many rotor wing unmanned aerial vehicles of the present embodiment are the bases of any embodiment in above-described embodiment 1-5
On, improve the working condition of power supply in the many rotor wing unmanned aerial vehicles after docking, to adapt to the control mould of the many rotor wing unmanned aerial vehicles chosen
Formula.For example, it is possible to change the power supply 13a of the first rotor wing unmanned aerial vehicle 1a, control model, or it is unmanned to change the second rotor
The power supply 13b control model of machine 1b, or can also change the first rotor wing unmanned aerial vehicle 1a's and the second rotor wing unmanned aerial vehicle 1b simultaneously
Power supply 13a, 13b control model.
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
Power supply order, power supply mode, power-on time and delivery size.By controlling power supply in the many rotor wing unmanned aerial vehicles after docking
Working condition, can provide suitable operating current for the unmanned plane after docking, to ensure to dock in different applied environments
Unmanned plane afterwards can keep good load capacity, tensile force and cruising time to meet corresponding work requirements.
In a kind of optional embodiment, 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, thus being the first rotor wing unmanned aerial vehicle 1a and second
Rotor wing unmanned aerial vehicle 1b provides maximum power supply guarantee, to meet the applied field of the such as big tensile force of short time needs or 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 the optional embodiment of second, choose in 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 long-time continuation of the journey.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 the power supply 13b of the second rotor wing unmanned aerial vehicle 1b is as main power source and simultaneously the first rotor wing unmanned aerial vehicle 1a and the second rotor no
Man-machine 1b powers.Further, when the electricity of main power source exhausts or during power supply trouble, is then chosen to be new main electricity from power supply by former
Source and by former main power source be set to new from power supply, thus the many rotor wing unmanned aerial vehicles after ensureing to dock are powered stable, improve its peace
Quan Xing.
Many rotor wing unmanned aerial vehicles 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 multiple powering modes, the continuation of the journey pattern of such as longer time, to adapt to difference
The needs of operative scenario.
Embodiment 7
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
With continued reference to Fig. 3, many rotor wing unmanned aerial vehicles of the present embodiment are the bases of any embodiment in above-described embodiment 1-6
On, improve the working condition of sensor in the many rotor wing unmanned aerial vehicles after docking, to adapt to many rotor wing unmanned aerial vehicles of described selection
Control model.For example, it is possible to change the sensor 15a control model of the first rotor wing unmanned aerial vehicle 1a, or second can also be changed
The sensor 15b control model of rotor wing unmanned aerial vehicle 1b, or the first rotor wing unmanned aerial vehicle 1a and the second rotor can also be changed simultaneously
Sensor 15a, 15b control model of 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.Through to the first rotor wing unmanned aerial vehicle 1a and second rotation
The control of sensor 15a, 15b working condition in wing unmanned plane 1b, so that the sensor of the many rotor wing unmanned aerial vehicles after docking
Formation is turned on and off, work independently or redundancy multiple-working mode.
For example, it is possible to open the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a, close the super of the second rotor wing unmanned aerial vehicle 1b
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 open the first rotor wing unmanned aerial vehicle 1a and the ultrasonic sensor of the second rotor wing unmanned aerial vehicle 1b simultaneously.With
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 photographic head.
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 is 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 is opened is identical, thus the many rotors after ensureing to dock are no
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 all 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 refer to the two detection be identical information, such as detection be pressure information, thus
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 then refers to that what two sensors were realized has complementary functions, for example, the first rotor wing unmanned aerial vehicle
Photographic head from the photographic head 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 °
The shooting ability at no dead angle, that is, expanded the function of the unmanned plane after docking.
Many rotor wing unmanned aerial vehicles of the present embodiment, by sensing 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, thus meet different work requirements with
Adapt to more workplaces.
Embodiment 8
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
Many rotor wing unmanned aerial vehicles of the present embodiment are on the basis of any one of embodiment 1-7 embodiment, improve the first rotation
Wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b is fixedly connected mode.
In the present embodiment, the first frame 111a and the second frame 111b are detachably connected by fixed mechanism 1c.
Specifically, fixed mechanism 1c can be to fix the first frame using being arbitrarily detachably connected mode in prior art
111a and the second frame 111b, can be for example bolt connection, pin joint, bonded and some riveting etc..Preferably, fixing 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 the setting and bayonet socket that cooperated with this dop is arranged on the second frame 111b in first frame 111a.Fixing machine
Structure 1c connects the first frame 111a and the second frame 111b by way of clamping, relatively simple for structure, is also easy to carry out simultaneously
Docking operation.
Many rotor wing unmanned aerial vehicles of the present embodiment, it is unmanned that the docking mode by using being detachably connected to connect the first rotor
Machine 1a and the second rotor wing unmanned aerial vehicle 1b, so so that unmanned plane is more flexible, can directly make in application scenes
With single rotary wind type unmanned plane, application scenes can use the many rotor wing unmanned aerial vehicles after docking.
Embodiment 9
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.A kind of letter of many rotor wing unmanned aerial vehicles that Fig. 4 provides for the present embodiment
Change structural representation；Many rotor wing unmanned aerial vehicles another kind of simplification structural representation that Fig. 5 provides for the present embodiment.
Refer to Fig. 4 and Fig. 5, and please continue to refer to Fig. 1 and Fig. 2, many rotor wing unmanned aerial vehicles of the present embodiment are in above-mentioned reality
On the basis of applying any embodiment in a 12-19, improve the docking side of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
To.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is fixedly connected in axial direction,
So that the many rotor wing unmanned aerial vehicles after docking have less radial dimension and obtain 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 selects first according to the complexity controlling
Rotor wing unmanned aerial vehicle 1a and the concrete fixed form of the second rotor wing unmanned aerial vehicle 1b.
As shown in figure 4, in the first optional embodiment, 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 utilize the first rotor wing unmanned aerial vehicle 1a and second rotation simultaneously
The photographic head of wing unmanned plane 1b, thus obtain more preferable shooting effect.
In the optional embodiment of second, 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 the impact to docking for the foot rest 1d, reduces the difficulty of docking.
In the third optional embodiment, 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 the suitable first rotor wing unmanned aerial vehicle 1a of this situation is located at below the second rotor wing unmanned aerial vehicle 1b, permissible
Reduce and control difficulty.
As shown in Figure 1, Figure 2 with shown in Fig. 5, in the 4th kind of optional embodiment, can be by the first rotor wing unmanned aerial vehicle 1a's
Bottom surface is fixedly connected with the top surface of the second rotor wing unmanned aerial vehicle 1b.So unmanned plane need not be overturn in docking, especially
The quality of docking when carrying out automatic butt in the air, can be improved.
Many rotor wing unmanned aerial vehicles of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b interface
Selection, can obtain more preferable function, or reduce the difficulty of docking, improve the quality of docking, or the behaviour simplifying docking
Make, thus the application demand of the many rotor wing unmanned aerial vehicles after farthest extension is docked.
Embodiment 10
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.A kind of letter of many rotor wing unmanned aerial vehicles that Fig. 6 provides for the present embodiment
Change structural representation；The another kind of of many rotor wing unmanned aerial vehicles that Fig. 7 provides for the present embodiment simplifies structural representation.
Refer to Fig. 6 and Fig. 7, and please continue to refer to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, many rotor wing unmanned aerial vehicles of the present embodiment are
On the basis of any embodiment in above-described embodiment 12-20, improve the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Rotor improve, to obtain different tensile forces.
In a kind of optional embodiment, 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. 1, Fig. 5 or Fig. 6, by the rotor of two frame four rotor wing unmanned aerial vehicle
Be superimposed together eight rotor wing unmanned aerial vehicles forming about one two superimposed together.And, a large amount of tests through inventor
After find, so that 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 improve 50% about, and then enable docking after many rotor wing unmanned aerial vehicles fly higher.
In another kind of optional embodiment, 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 biases setting in radial direction.For example, as shown in Fig. 2, Fig. 4 or Fig. 7, by the rotor of two frame four rotor wing unmanned aerial vehicle
It is staggered to form eight rotor wing unmanned aerial vehicles that levels are interlocked.And, find after a large amount of tests of inventor, first is revolved
So that the tensile force of unmanned plane improves 70%- after the rotor of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b is interleaved together
80% about, so enable dock after many rotor wing unmanned aerial vehicles fly higher, and carry more article.
Many rotor wing unmanned aerial vehicles of the present embodiment, by making the first rotor wing unmanned aerial vehicle 1a rotor 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 11
The present embodiment provides a kind of many rotor wing unmanned aerial vehicles.
Please continue to refer to Fig. 1, Fig. 2, Fig. 4 and Fig. 6, many rotor wing unmanned aerial vehicles of the present embodiment are in above-described embodiment 12-21
On the basis of middle any embodiment, by the rotor of the rotor of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b around radial direction side
To rotation 180 degree.For example, as shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 6, by the rotor of the second rotor wing unmanned aerial vehicle 1b around carrying out rotating 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, thus improving
The work efficiency of the many rotor wing unmanned aerial vehicles after docking.
Many rotor wing unmanned aerial vehicles of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b rotor
Relative direction so that the unmanned plane after docking produces different tensile forces, thus it is unmanned to improve the many rotors after docking
The adaptability of machine.
Embodiment 12
The present embodiment provides the first rotor having removed foot rest 1d that a kind of many rotor wing unmanned aerial vehicles Fig. 8 provides for the present embodiment
The structural representation of unmanned plane；The structural representation of the second rotor wing unmanned aerial vehicle having removed gps module that Fig. 9 provides for the present embodiment
Figure.
On the basis of many rotor wing unmanned aerial vehicles of the present embodiment are any embodiment in above-described embodiment 12-22, described master
Controller includes: position adjusting type modules, course angle adjusting module and automatic locking module.
Wherein, position adjusting type modules, for controlling described first rotor wing unmanned aerial vehicle according to the current location information getting
1a and described second rotor wing unmanned aerial vehicle 1b moves to upper and lower correspondence position, and course axle essentially coincides.
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 current of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b by additive method in 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 to move to corresponding position
Putting, and adjust the angle of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b makes it essentially coincide with course axle.More specifically
, position adjusting type modules can be one of the main controller that is separately provided one of module or selected main frame
Module, or can also be the module in the first controller 17a and second controller 17b.
Course angle adjusting module, for adjusting described first rotor wing unmanned aerial vehicle 1a and/or described according to described docking mode
The course angle of the second rotor wing unmanned aerial vehicle 1b, until the course angle of described first rotor wing unmanned aerial vehicle 1a and described 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 one of the main controller that is separately provided module or select
One of main frame module, or can also be the module in the first controller 17a and second controller 17b.
Additionally, passing through 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 within preset value, the deviation of course angle can be avoided to form the work efficiency to the many rotor wing unmanned aerial vehicles after docking for the interference
Produce impact, thus the many rotor wing unmanned aerial vehicles after ensureing to dock can preferably work.
Automatically locking module, for controlling described fixed mechanism 1c to be detachably fixed described first frame and the second frame
Together.
Specifically, fixed mechanism 1c can be mechanical arm, can be pulled to the first rotor wing unmanned aerial vehicle 1a by this 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 the first frame the most 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, the dop of setting is directed at the bayonet socket arrange in the second frame and is fastened togather, thus realizing the first rotation
Wing unmanned plane 1a and the fixation of the second rotor wing unmanned aerial vehicle 1b.
In addition it is also necessary to explanation, in the automatic butt mistake of the first rotor wing unmanned aerial vehicle 1a and 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 on face and the second rotor wing unmanned aerial vehicle 1b.For example, when the first rotor wing unmanned aerial vehicle
During the top surface docking of the bottom surface of 1a and the second rotor wing unmanned aerial vehicle 1b, the foot rest 1d of the first rotor wing unmanned aerial vehicle 1a can be folded
Or shrink back in the frame of the first rotor wing unmanned aerial vehicle 1a, and gps module 151a of the second rotor wing unmanned aerial vehicle 1b is folded
Or shrink back in 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 by operator, these parts can also be removed, to realize the first rotor no
Man-machine 1a and the docking operation of the second rotor wing unmanned aerial vehicle 1b, specifically refer to Fig. 8 and Fig. 9.
Many rotor wing unmanned aerial vehicles 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 first rotor wing unmanned aerial vehicle 1a and the cooperative ability of the second rotor wing unmanned aerial vehicle 1b, especially can be
Play a significant role under some special occasions, such as when a frame unmanned plane breaks down in the air, such as, when electric power is not enough,
The unmanned plane that fault can be will appear from by way of automatic butt takes back safely ground.And for example, when a frame unmanned plane needs to carry
High flying height 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 improve tensile force to obtain higher flying height.
Technical scheme in each embodiment above, technical characteristic all can be independent in the case of afoul with basis, 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.
It should be understood that disclosed relevant apparatus and method, Ke Yitong in several embodiments provided by the present invention
Cross other modes to realize.For example, device embodiment described above is only schematically, for example, described module or list
The division of unit, only a kind of division of logic function, actual can have other dividing mode when realizing, for example multiple units or
Assembly can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown
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 described unit illustrating as separating component can be or may not be physically separate, show as unit
The part 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.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be to 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 described integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art being contributed or all or part of this technical scheme can be in the form of software products
Embody, this computer software product is stored in a storage medium, including some instructions with so that computer disposal
Device (processor) executes all or part of step of each embodiment methods described of the present invention.And aforesaid storage medium bag
Include: u disk, portable hard drive, read only memory (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.
The foregoing is only embodiments of the invention, not thereby limit the present invention the scope of the claims, every using this
Equivalent structure or equivalent flow conversion that bright description 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 is noted that various embodiments above, only in order to technical scheme to be described, is not intended to limit；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that: its according to
So the technical scheme described in foregoing embodiments can be modified, or wherein some or all of technical characteristic is entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (19)
1. a kind of many rotor wing unmanned aerial vehicles are it is characterised in that include:
First rotor wing unmanned aerial vehicle, including the first frame, multiple first rotor assemblies being arranged in described first frame；
Second rotor wing unmanned aerial vehicle, including the second frame, multiple second rotor assemblies being arranged in described second frame；
Fixed mechanism, for being detachably connected described first frame with described second frame；
Wherein, described first rotor wing unmanned aerial vehicle or described second rotor wing unmanned aerial vehicle also include master controller, for according to described
The docking mode of one rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle chooses the control model of the many rotor wing unmanned aerial vehicles after docking, controls
Many rotor wing unmanned aerial vehicles after the plurality of first rotor assemblies and the plurality of second rotor assemblies, and described docking are at least
Including a combined support.
2. many rotor wing unmanned aerial vehicles according to claim 1 it is characterised in that
Described first rotor wing unmanned aerial vehicle also includes one or more first controls for controlling the plurality of first rotor assemblies
Device；
Described second rotor wing unmanned aerial vehicle also includes one or more second controls for controlling the plurality of second rotor assemblies
Device；
Described master controller be used for when described first rotor wing unmanned aerial vehicle is docked with described second rotor wing unmanned aerial vehicle, simultaneously with described
First controller and second controller communication connection, and passed through according to the control model of many rotor wing unmanned aerial vehicles of described selection
Described first controller and second controller control the plurality of first rotor assemblies and the plurality of second rotor assemblies.
3. many rotor wing unmanned aerial vehicles according to claim 2 it is characterised in that described master controller be described first rotor no
The flight controller of man-machine or described second rotor wing unmanned aerial vehicle；
Or, described master controller is the flight control different from described first rotor wing unmanned aerial vehicle and described second rotor wing unmanned aerial vehicle
The independent control of device processed.
4. many rotor wing unmanned aerial vehicles according to claim 1 are it is characterised in that described first rotor chosen by described master controller
One of unmanned plane and described second rotor wing unmanned aerial vehicle as main frame, for according to the many rotors after the described docking selecting no
Man-machine control model, controls described main frame and slave respectively.
5. many rotor wing unmanned aerial vehicles according to claim 1 are it is characterised in that the control of many rotor wing unmanned aerial vehicles after described docking
Molding formula includes: coaxial control model, different axle control model.
6. many rotor wing unmanned aerial vehicles according to claim 1 are it is characterised in that described master controller changes described first rotor
Unmanned plane and/or the dynamical system control model of described second rotor wing unmanned aerial vehicle, to adapt to many rotor wing unmanned aerial vehicles of described selection
Control model.
7. many rotor wing unmanned aerial vehicles according to claim 6 it is characterised in that described dynamical system control model include as follows
At least one: the direction of rotation of rotor, the acceleration of rotor.
8. many rotor wing unmanned aerial vehicles according to claim 1 are it is characterised in that described master controller changes described first rotor
Unmanned plane and/or the power supply pattern of described second rotor wing unmanned aerial vehicle, to adapt to the control of many rotor wing unmanned aerial vehicles of described selection
Molding formula.
9. many rotor wing unmanned aerial vehicles according to claim 8 are it is characterised in that the first rotor described in described main controller controls
The power supply of the power supply of unmanned plane and described 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 described main controller controls and described second rotor wing unmanned aerial vehicle
One of as main power source, another one is as stand-by power supply.
10. many rotor wing unmanned aerial vehicles according to claim 1 are it is characterised in that described master controller changes described first rotation
Wing unmanned plane and/or the sensor control model of described second rotor wing unmanned aerial vehicle, to adapt to many rotor wing unmanned aerial vehicles of described selection
Control model.
11. many rotor wing unmanned aerial vehicles according to claim 10 it is characterised in that described sensor control model include as follows
At least one: to be turned on and off, work independently or redundancy.
The 12. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described be detachably connected as card
Connect.
13. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described first rotor wing unmanned aerial vehicle
It is detachably connected in axial direction with the second rotor wing unmanned aerial vehicle.
14. many rotor wing unmanned aerial vehicles according to claim 13 it is characterised in that the top surface of described first rotor wing unmanned aerial vehicle with
The top surface of described second rotor wing unmanned aerial vehicle is detachably connected, or the bottom surface of described first rotor wing unmanned aerial vehicle and described second rotor
The bottom surface of unmanned plane is detachably connected.
15. many rotor wing unmanned aerial vehicles according to claim 13 it is characterised in that the bottom surface of described first rotor wing unmanned aerial vehicle with
The top surface of described second rotor wing unmanned aerial vehicle is detachably connected, or the top surface of described first rotor wing unmanned aerial vehicle and described second rotor
The bottom surface of unmanned plane is detachably connected.
16. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described first rotor wing unmanned aerial vehicle
Rotor and the rotor of described second rotor wing unmanned aerial vehicle be superimposed together in axial direction.
17. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described first rotor wing unmanned aerial vehicle
Rotor and described second rotor wing unmanned aerial vehicle rotor radial direction bias setting.
18. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described first rotor wing unmanned aerial vehicle
Rotor or the rotor of described second rotor wing unmanned aerial vehicle rotate 180 degree around radial direction.
The 19. many rotor wing unmanned aerial vehicles according to any one of claim 1-11 are it is characterised in that described master controller is used for controlling
Make described fixed mechanism in the air the first frame and the second frame to be detachably connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620816460.6U CN205916328U (en) | 2016-07-28 | 2016-07-28 | Multi -rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620816460.6U CN205916328U (en) | 2016-07-28 | 2016-07-28 | Multi -rotor unmanned aerial vehicle |
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| CN205916328U true CN205916328U (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620816460.6U Expired - Fee Related CN205916328U (en) | 2016-07-28 | 2016-07-28 | Multi -rotor unmanned aerial vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484638A (en) * | 2018-12-24 | 2019-03-19 | 西安达纳森物联科技有限公司 | A kind of Y type alternating expression unmanned plane horn folded piece |
| WO2019164554A1 (en) * | 2018-02-20 | 2019-08-29 | Global Energy Transmission, Co. | Rotor assembly with overlapping rotors |
| CN111498097A (en) * | 2020-05-06 | 2020-08-07 | 中航金城无人***有限公司 | Six rotor unmanned aerial vehicle |
| CN112829931A (en) * | 2021-03-11 | 2021-05-25 | 迪威弗智能装备集团有限公司 | High-altitude large-load dry powder fire extinguishing unmanned aerial vehicle |
| CN116812185A (en) * | 2023-07-04 | 2023-09-29 | 深圳技术大学 | Eight-axis unmanned aerial vehicle for camera monitoring |
-
2016
- 2016-07-28 CN CN201620816460.6U patent/CN205916328U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019164554A1 (en) * | 2018-02-20 | 2019-08-29 | Global Energy Transmission, Co. | Rotor assembly with overlapping rotors |
| CN109484638A (en) * | 2018-12-24 | 2019-03-19 | 西安达纳森物联科技有限公司 | A kind of Y type alternating expression unmanned plane horn folded piece |
| CN109484638B (en) * | 2018-12-24 | 2024-04-30 | 西安达纳森物联科技有限公司 | Y-shaped staggered unmanned aerial vehicle arm folding piece |
| CN111498097A (en) * | 2020-05-06 | 2020-08-07 | 中航金城无人***有限公司 | Six rotor unmanned aerial vehicle |
| CN111498097B (en) * | 2020-05-06 | 2021-07-16 | 中航金城无人***有限公司 | Six rotor unmanned aerial vehicle |
| CN112829931A (en) * | 2021-03-11 | 2021-05-25 | 迪威弗智能装备集团有限公司 | High-altitude large-load dry powder fire extinguishing unmanned aerial vehicle |
| CN116812185A (en) * | 2023-07-04 | 2023-09-29 | 深圳技术大学 | Eight-axis unmanned aerial vehicle for camera monitoring |
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