WO2018018518A1 - Multi-rotor unmanned aerial vehicle and control method therefor - Google Patents

Multi-rotor unmanned aerial vehicle and control method therefor Download PDF

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Publication number
WO2018018518A1
WO2018018518A1 PCT/CN2016/092124 CN2016092124W WO2018018518A1 WO 2018018518 A1 WO2018018518 A1 WO 2018018518A1 CN 2016092124 W CN2016092124 W CN 2016092124W WO 2018018518 A1 WO2018018518 A1 WO 2018018518A1
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WO
WIPO (PCT)
Prior art keywords
rotor
drone
rotor drone
control mode
uav
Prior art date
Application number
PCT/CN2016/092124
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French (fr)
Chinese (zh)
Inventor
陈翔宇
陈汉平
周琦
王铭熙
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/092124 priority Critical patent/WO2018018518A1/en
Priority to CN201680002498.2A priority patent/CN106716273B/en
Publication of WO2018018518A1 publication Critical patent/WO2018018518A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the invention relates to a multi-rotor unmanned aerial vehicle and a control method thereof, and belongs to the technical field of manufacturing an unmanned aerial vehicle.
  • the drone referred to as the UAV
  • the drone is a non-manned aircraft maneuvered using radio remote control equipment and self-contained program control devices.
  • UAVs After years of technology accumulation and rapid economic development, there are more and more application scenarios for UAVs, such as aerial photography, crop monitoring, vegetation protection, self-timer, express transportation, disaster relief, observation of wildlife, monitoring of infectious diseases, mapping , news reports, power inspections, and film and television shooting.
  • the load capacity of existing rotary-wing UAVs is limited, although the load capacity of the UAV can be increased by adding a rotor.
  • the load capacity of a four-rotor UAV may be relatively small.
  • Rotor-type drones have relatively large load capacities.
  • the multi-rotor UAV with high load capacity is costly and has a small application range, which greatly limits the application scenarios of the drone.
  • the invention provides a multi-rotor UAV and a control method thereof, so as to solve the technical problem that the rotary wing UAV has limited load capacity in the prior art.
  • a method for controlling a multi-rotor UAV including the following steps:
  • the first rotor drone and the second rotor drone are respectively controlled according to the selected control mode of the docked multi-rotor drone.
  • a multi-rotor drone including:
  • a first rotor drone comprising a first frame, a plurality of first rotor assemblies mounted on the first frame;
  • a second rotor drone comprising a second frame, a plurality of second rotor assemblies mounted on the second frame;
  • a fixing mechanism for fixedly connecting the first frame and the second frame
  • the first rotor drone or the second rotor drone further includes a main controller, configured to select the docked multi-rotor according to the docking manner of the first rotor drone and the second rotor drone A control mode of the drone that controls the plurality of first rotor assemblies and the plurality of second rotor assemblies.
  • the multi-rotor UAV and the control method thereof are provided by docking a first rotor drone and a second rotor drone, and selecting a corresponding control mode according to the docking mode to control the first rotor drone and The second rotor drone, the number of rotors of the docked multi-rotor UAV increased, which significantly improved the load capacity and the tensile force, so that it can solve the existence of a single drone, for example, requiring a large load and a large lift. problem.
  • FIG. 1 is a flowchart of a method for controlling a multi-rotor UAV according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural diagram of a system of a multi-rotor UAV according to Embodiment 4 of the present invention.
  • FIG. 3 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 8 of the present invention.
  • FIG. 4 is a schematic diagram showing another simplified structure of a multi-rotor UAV according to Embodiment 8 of the present invention.
  • FIG. 5 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 9 of the present invention.
  • FIG. 6 is a schematic diagram showing another simplified structure of a multi-rotor UAV according to Embodiment 9 of the present invention.
  • FIG. 7 is a flowchart of an automatic airborne automatic docking method for a multi-rotor UAV according to Embodiment 11 of the present invention.
  • FIG. 8 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 12 of the present invention.
  • FIG. 9 is another schematic structural diagram of a multi-rotor UAV according to Embodiment 12 of the present invention.
  • FIG. 10 is a schematic structural view of a first rotor unmanned aerial vehicle with a tripod removed according to Embodiment 23 of the present invention
  • FIG. 11 is a schematic structural diagram of a second rotor unmanned aerial vehicle with a GPS module removed according to Embodiment 23 of the present invention.
  • first and second in the following embodiments are used for the purpose of description only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • Embodiment 1 of the present invention provides a control method for a multi-rotor UAV.
  • FIG. 1 is a flowchart of a method for controlling a multi-rotor UAV according to an embodiment of the present invention.
  • the control method of the multi-rotor UAV of the embodiment is used for controlling a plurality of drones to perform docking and controlling the docked drones.
  • the control method includes the following steps:
  • the manner of docking the first rotor drone 1a and the second rotor drone 1b is not specifically limited in this embodiment.
  • a detachable connection or a non-detachable connection may be employed in a fixed connection manner.
  • the detachable connection or the non-detachable connection may be selected in any manner in the prior art.
  • the butting direction the butting may be performed in the axial direction, the butting may be performed in the radial direction, or the butting may be performed in the oblique direction.
  • two quadrotor drones can be detachably coupled together in the axial direction to form a two-rotor eight-rotor drone.
  • a quadrotor drone and a six-rotor drone may be non-detachably coupled axially to form a double-rotor, ten-rotor drone.
  • two quadrotor drones can be detachably coupled together in a radial direction to form a single-rotor eight-rotor drone.
  • first rotor drone and the second rotor drone may be connected by a connecting member, such as a flexible connecting member, a mechanical claw or a fixing mechanism such as a sliding and limiting structure.
  • first rotor drone and the second rotor drone may be directly connected, for example, a screw hole and a screw thread are provided on the first rotor drone and the second rotor drone. Direct thread connection.
  • the control mode of the docked multi-rotor UAV is selected.
  • the control mode of the docked multi-rotor UAV can be selected according to the direction of the docking and the number of rotors. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor UAV, the control mode of the previous quadrotor UAV can be selected, or it can be specially prepared for the double-decker eight-rotor UAV. Control mode.
  • the first rotor drone and the second rotor drone may be respectively controlled according to the control mode.
  • the selected docking control mode can control the first rotor drone to operate in the original manner, and the control The two-rotor drone works in a new way.
  • the rotor of the second rotor drone can be controlled to rotate counterclockwise by controlling the clockwise rotation of the rotor of the first rotor drone.
  • the control method of the multi-rotor UAV of the embodiment controls the first rotor drone and the first by connecting the first rotor drone and the second rotor drone, and selecting a corresponding control mode according to the docking mode
  • the two-rotor UAV has improved the number of rotors and battery capacity of the multi-rotor UAV after docking, which has improved the endurance, load capacity and tensile force, thus solving the existence of a single UAV.
  • the problem of heavy load, large lift or long battery life is required.
  • This embodiment provides a control method for a multi-rotor UAV.
  • control method of the present implementation is based on Embodiment 1, and further includes the following steps:
  • the manner of establishing the communication connection between the first rotor drone and the second rotor drone can be It may be a wired connection or a wireless connection, for example, it may be a cooperative communication terminal and a joint provided on the first rotor drone and the second rotor drone, or may be a first rotor drone and a second rotor
  • the wireless communication module is set on the drone, such as a wifi module or a Bluetooth module; or the first rotor drone and the second rotor drone are connected through a data exchanger.
  • one of the master controllers may be selected as the master and the other as the slave, thereby performing the docking according to the above selection by the host.
  • the control mode of the rotorcraft drone controls the master and slave respectively.
  • the main controller may be a controller of the first rotor drone or a controller of the second rotor drone, or may be independent of the first rotor drone and the second rotor Controller outside the machine.
  • the main controller can select the original slave as the new master and set the original master as the new slave, thereby ensuring the safe use of the docked multi-rotor drone.
  • the multi-rotor drone can be realized on the basis of not adding too much hardware. Control, which simplifies structure, saves costs and increases control reliability.
  • This embodiment provides a control method for a multi-rotor UAV.
  • control method of this embodiment is based on Embodiment 1 or 2, and the control mode of the docked multi-rotor UAV is set to include: a coaxial control mode and an off-axis control mode.
  • the coaxial control mode means that the first rotor drone and the second rotor drone are docked in the axial direction, and the upper and lower rotors of the docked multi-rotor drone are on the same axis, for example, two The rotors of the four-rotor drones are completely stacked together.
  • the different-axis control mode means that the rotors of the first rotor drone and the second rotor drone are staggered in the radial direction, for example, two drones are docked in the radial direction, or two drones are on the shaft. Butt in the direction, but the rotors of the two are offset by a certain distance in the radial direction.
  • the different-axis control mode further includes the case where the coaxial part of the rotor part of the first rotor drone and the second rotor drone is different, for example, a quadrotor UAV and a six-rotor A multi-rotor drone that is docked in the axial direction by a man-machine or an eight-rotor drone, in which the rotor portions of the four-rotor UAV and the six-rotor UAV overlap.
  • the coaxial two of the combined multi-rotor UAV can be controlled.
  • the rotation of the rotors is reversed.
  • the rotational directions of the two rotors that can control the symmetrical arrangement of the combined multi-rotor UAV can be controlled to be opposite or the same.
  • the control method of the multi-rotor UAV of the present embodiment controls the rotor distribution of the docked drone by adopting different control modes, which is more targeted and is beneficial to the docking of the drone.
  • the advantage of flight is to improve the flight efficiency of the docked drone, such as increasing its flying height or load capacity.
  • FIG. 2 is a schematic structural diagram of a system of a multi-rotor UAV provided by the embodiment.
  • the control method of this embodiment is based on any of the foregoing embodiments 1-3, and the power of the docked first rotor drone 1a and the second rotor drone 1b is changed.
  • System control mode For example, the control mode of the power system 11a of the first rotor drone 1a may be changed, or the control mode of the power system 11b of the second rotor drone 1b may be changed, or the first rotor drone 1a may be simultaneously changed. And the control mode of the power systems 11a, 11b of the second rotor drone 1b.
  • control modes of the power systems 11a, 11b may include electronic speed governors, motors, and control modes of different operating states of the rotors, for example, may include the magnitude, frequency, and period of the output voltage of the electronic governor, and the electronic governor Signal output mode, motor control type (rotation direction, speed, acceleration, etc.), angle of inclination of the rotor, etc.
  • control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b By changing the combination of different control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b, different tensile forces, heading changes and response speeds, and different loads can be generated. Performance.
  • control mode of the power system 11a, 11b may include at least one of the rotational speed of the rotor, the direction of the rotor.
  • the speed of the rotor or the steering of the rotor By controlling the speed of the rotor or the steering of the rotor, the operation can be simplified and a more intuitive control of the tensile and load forces as well as the response speed can be provided.
  • the following is an example of controlling the two quadrotor UAVs in the axial direction after docking, and briefly describes how to change the control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b:
  • the maximum speed of the rotor in the powertrain is changed individually.
  • the maximum speed of the rotor in a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and The maximum speed of the rotor in the two drones remains the same as the third maximum speed; or the maximum speed of the rotor in a four-rotor drone is adjusted from the first maximum speed to the second maximum speed, and the second The maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed.
  • the second case is to individually change the steering of the rotor in the powertrain.
  • the steering of the rotor in one quadrotor UAV can be adjusted from the first steering to the second steering, and the steering of the rotor in the second drone keeps the third steering unchanged;
  • the steering of the rotor in the rotor drone is adjusted from the first steering to the second steering, while the steering of the rotor in the second drone is adjusted from the third steering to the fourth steering.
  • the third case is to simultaneously change the maximum speed and steering of the rotor in the powertrain.
  • the maximum speed of the rotor of a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the steering of the rotor is adjusted from the first direction to the second direction, and the second one is unmanned.
  • the maximum speed and steering of the rotor in the machine are maintained at the third maximum speed and the third direction, respectively.
  • the maximum speed of the rotor of a quadrotor UAV is adjusted from the first maximum speed to the second maximum speed, and adjust the steering of the rotor from the first steering to the second steering, and at the same time
  • the maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed, and the steering of the rotor is adjusted from the third direction to the fourth direction.
  • the control method of the multi-rotor UAV of the embodiment can obtain different working states of the power system by changing the first rotor drone 1a, the second rotor drone 1b or both of the multi-rotor drones.
  • different tensile forces and bearing capacities can be obtained to meet the needs of different applications, which greatly expands the application scenarios of the drone.
  • This embodiment provides a control method for a multi-rotor UAV.
  • the control method of the embodiment is based on any of the foregoing embodiments 1-4, and the working states of the power supplies 13a and 13b in the docked multi-rotor UAV are improved to suit the selection.
  • the control mode of the multi-rotor drone For example, the control mode of the power source 13a of the first rotor drone 1a may be changed, or the control mode of the power source 13b of the second rotor drone 1b may also be changed. Alternatively, it is also possible to change the control modes of the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b at the same time.
  • the power control mode may include a power supply sequence of the power supplies 13a, 13b in the first rotor drone 1a and the second rotor drone 1b, a power supply mode, a power supply time, and a power supply amount.
  • the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b simultaneously supply power to the first rotor drone 1a and the second rotor drone 1b, thereby
  • the first rotor drone 1a and the second rotor drone 1b are provided with maximum power supply protection to meet, for example, an application scenario requiring a large tensile force or a high load for a short period of time.
  • the power source 13a of the first rotor drone 1a supplies power to the first rotor drone 1a
  • the power source 13b of the second rotor drone 1b supplies power to the second rotor drone 1b
  • the first rotor drone The power source 13b of 1a supplies power to the second rotor drone 1b
  • the power source 13b of the second rotor drone 1b supplies power to the first rotor drone 1a.
  • one of the first rotor drone 1a or the second rotor drone 1b is selected as the main power source, and the other is used as the slave power source to adapt to the application scenario requiring long-term battery life.
  • the power source 13a of the first rotor drone 1a is used as the main power source while supplying power to the first rotor drone 1a and the second rotor drone 1b, or the power source 13b of the second rotor drone 1b is used as the main The power supply simultaneously supplies power to the first rotor drone 1a and the second rotor drone 1b.
  • the original slave power source is selected as the new master power source and the original master power source is set as the new slave power source, thereby ensuring stable power supply of the multi-rotor drone after docking, and improving Its security.
  • various power supply modes can be obtained, for example, longer time.
  • the endurance mode to suit the needs of different work scenarios.
  • This embodiment provides a control method for a multi-rotor UAV.
  • the control method of this embodiment is based on any of the foregoing embodiments 1-5, and the working states of the sensors 15a and 15b in the docked multi-rotor UAV are improved to suit the application.
  • the control mode of the multi-rotor drone selected as described.
  • the control mode of the sensor 15a of the first rotor drone 1a may be changed, or the control mode of the sensor 15b of the second rotor drone 1b may be changed, or the first rotor drone 1a and the first may be simultaneously changed.
  • the sensors 15a, 15b of the second rotor drone 1b control the mode.
  • the working states of the sensors 15a, 15b include the number of opening, the type of opening, the opening time, and the opening frequency.
  • the sensor 15a of the first rotor drone 1a may be fully open, partially open or fully closed; the sensor 15b of the second rotor drone 1b may also be fully open, partially open or fully closed.
  • the sensors 15a, 15b of the docked multi-rotor drone can be turned on or off, working alone or Redundant mode of operation.
  • the ultrasonic sensor of the first rotor drone 1a can be turned on, the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned off, and the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned on, and the first rotorless drone 1a can be turned off.
  • the ultrasonic sensor can also simultaneously turn on the ultrasonic sensors of the first rotor drone 1a and the second rotor drone 1b.
  • other sensors in the first rotor drone 1a and the second rotor drone 1b such as barometers and binocular obstacle avoidance, can also be controlled in the manner described above.
  • the first rotor drone 1a and the second rotor drone 1b have the best type of sensors At least the same type of sensor as that of the first rotor drone 1a or the second rotor drone 1b before the docking, so as to ensure that the perceived capability of the docked multi-rotor drone is not reduced.
  • the redundant state refers to the same information detected by the two, for example, the detected air pressure information, so that one sensor constitutes redundancy of another sensor, and the information detected by one sensor can be used as another sensor. Make corrections.
  • the complementary state refers to the complementary functions achieved by the two sensors. For example, the camera of the first rotor drone 1a is forward and the camera of the second rotor drone 1b is backward, so that the docked drone can be made. It has a shooting ability of 360° without dead angle, that is, it expands the function of the docked drone.
  • control method of the multi-rotor UAV of the embodiment by controlling the sensors in the first rotor drone 1a and the second rotor drone 1b, different sensor combinations can be realized, and more implementations can be realized. The ability to meet different job requirements to accommodate more work situations.
  • This embodiment provides a control method for a multi-rotor UAV.
  • the control method of this embodiment is based on any of the above embodiments 1-6 to improve the fixed connection manner of the first rotor drone 1a and the second rotor drone 1b.
  • the fixing mechanism detachably connects the first rotor drone 1a and the second rotor drone 1b.
  • the detachable connection of the first rotor drone 1a and the second rotor drone 1b may be any detachable connection method in the prior art, such as bolting, pinning, keying, and some riveting. Wait.
  • the first rotor drone 1a and the second rotor drone 1b are detachably coupled together by a snapping manner, for example, a chuck can be provided on the first rotor drone 1a, and the second rotor is unmanned A bayonet that cooperates with the chuck is disposed on the machine 1b. Connecting the first rotor drone 1a and the second rotor drone 1b by snapping together can make the connection structure relatively simple and also easy to perform the docking operation.
  • the control method of the multi-rotor UAV of the present embodiment connects the first rotor drone 1a and the second rotor drone 1b by using a detachable connection docking manner, which can make the drone more flexible, in some
  • a single rotor-type drone can be used directly in the application scenario, and the docked multi-rotor drone can be used in some application scenarios.
  • FIG. 3 is a schematic diagram of a simplified structure of the multi-rotor UAV provided by the embodiment
  • FIG. 4 is a schematic diagram of another simplified structure of the multi-rotor UAV provided by the embodiment.
  • control method of the present embodiment is based on any of the embodiments 1-7, improving the docking direction of the first rotor drone 1a and the second rotor drone 1b. .
  • the first rotor drone 1a and the second rotor drone 1b are fixedly coupled in the axial direction, so that the docked multi-rotor drone has a smaller radial size and is better. Synergistic effect.
  • the connection structure may be according to actual application requirements, such as working states of the sensors 15a, 15b. Selecting, or setting the connection structure according to the difficulty of the top or bottom surface of the drone, or selecting the specific fixing manner of the first rotor drone 1a and the second rotor drone 1b according to the difficulty of control.
  • the top surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b.
  • Such a docking method can simultaneously utilize the cameras of the first rotor drone 1a and the second rotor drone 1b, thereby obtaining a better shooting effect.
  • the bottom surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b.
  • Such a docking method can avoid the influence of the tripod on the docking and reduce the difficulty of docking.
  • the top surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. In this case, when the first rotor drone 1a is located below the second rotor drone 1b, the control difficulty can be reduced.
  • the bottom surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. In this way, it is not necessary to flip the drone when docking, especially when the docking is performed in the air, the quality of the docking can be improved.
  • FIG. 5 is a schematic diagram of a simplified structure of a multi-rotor UAV according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of another simplified structure of the multi-rotor UAV provided by the embodiment.
  • the control method of this embodiment is based on any of the foregoing embodiments 1-8, and the relative relationship between the first rotor unmanned aerial vehicle 1a and the second rotary airplane unmanned aerial vehicle 1b rotor is improved. Position to get different stretching forces.
  • the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be stacked together in the axial direction.
  • the rotors of two four-rotor UAVs are stacked together to form an eight-rotor with two layers overlapping one another. machine.
  • stacking the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 50%, thereby The docked multi-rotor drone can fly higher.
  • the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be offset in a radial direction.
  • the rotors of two four-rotor UAVs are interleaved to form an eight-rotor UAV that is staggered in the upper and lower layers.
  • the intertwining of the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 70%-80%.
  • the docked multi-rotor drone can fly higher and carry more items.
  • the control method of the multi-rotor UAV of the present embodiment can generate different tensile forces by controlling the relative positions of the first rotor unmanned aerial vehicle 1a rotor and the second rotary wing unmanned aerial vehicle 1b rotor to adapt to the after docking. Different working environments and work requirements for man and machine.
  • This embodiment provides a control method for a multi-rotor UAV.
  • the control method of this embodiment is based on any of the foregoing embodiments 1-9, and the rotor of the first rotor drone 1a or the rotor of the second rotor drone 1b Rotate 180 degrees in the radial direction.
  • the rotor of the second rotor drone 1b is rotated by 180 degrees, so that the rotors of the first rotor drone 1a and the second rotor drone 1b can form a synergistic effect. Thereby improving the working efficiency of the docked multi-rotor drone.
  • the control method of the multi-rotor UAV of the embodiment can change the forward and reverse directions of the rotors of the first rotor unmanned aerial vehicle 1a and the second rotorcraft unmanned aerial vehicle 1b, so that the docked unmanned aerial vehicles can generate different tensile forces. Therefore, the adaptability of the docked multi-rotor drone is improved.
  • FIG. 7 is a flowchart of an automatic airborne automatic docking method for a multi-rotor UAV according to the embodiment.
  • control method of this embodiment controls the first rotor drone 1a and the second rotor drone 1b to automatically dock in the air on the basis of any of the above embodiments 1-10.
  • the first rotor drone 1a and the second rotor drone 1b are automatically docked in the air.
  • the method can adopt the existing automatic docking method of any aircraft, for example, the automatic docking method adopted by the aerial tanker can be adopted.
  • S1011 Acquire current position information of the first rotor drone and the second rotor drone.
  • the current positional relationship between the first rotor unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle 1b can be obtained by using GPS or Beidou navigation system, and the first rotary wing unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle can also be obtained by radar.
  • the current positional relationship between the first rotor drone 1a and the second rotor drone 1b can also be obtained by other methods in the prior art.
  • the first rotor drone 1a and the second rotor drone 1b can be controlled to move to corresponding positions by the main controller, and the angles of the first rotor drone 1a and the second rotor drone 1b are adjusted to be Basically coincident with the heading axis; the first rotor drone 1a and the second rotor drone 1b can also be controlled to move to corresponding positions by the controllers of the first rotor drone 1a and the second rotor drone 1b, respectively, and The angles of the first rotor drone 1a and the second rotor drone 1b are adjusted to substantially coincide with the heading axis.
  • the head angles of the first rotor drone 1a and the second rotor drone 1b may be controlled by the main controller, or may be controlled by the controllers of the first rotor drone 1a and the second rotor drone 1b, respectively.
  • the heading angles of the first rotor drone 1a and the second rotor drone 1b are controlled.
  • the automatic locking mechanism may be a mechanical arm through which the first rotor can be The man machine 1a is pulled to the second rotor drone 1b, or the second rotor drone 1b is pulled to the first rotor drone 1a, and finally fixedly coupled together.
  • the robot arm pulls the first rotor drone 1a to the second rotor drone 1b
  • the chuck of the first rotor drone 1a is aligned with the bayonet of the second rotor drone 1b and is engaged with Together, the fixing of the first rotor drone 1a and the second rotor drone 1b is thereby achieved.
  • the automatic locking mechanism can also be a chuck or a buckle.
  • the components of the docking surfaces of the two drones can be automatically folded or automatically stored in the accommodating cavity.
  • the tripod of the first rotor drone 1a can be folded or contracted back to the first rotor drone.
  • the GPS module of the second rotor drone 1b is folded or retracted back into the rack of the second rotor drone 1b.
  • first rotor drone 1a and the second rotor drone 1b are docked by the operator, the components of the mating surfaces of the first rotor drone 1a and the second rotor drone 1b are also The components can be automatically folded or shrunk; or the components can be removed by the operator to achieve the docking operation of the first rotor drone 1a and the second rotor drone 1b.
  • the control method of the multi-rotor UAV of the present embodiment can improve the first rotor drone 1a and the second rotor drone 1b by controlling the first rotor drone 1a and the second rotor drone 1b to automatically dock.
  • the synergy ability especially in certain special occasions, such as when a drone fails in the air, for example, when the power is insufficient, the faulty drone can be safely connected by means of automatic docking. Bring back to the ground.
  • Another example is that when a drone needs to increase the flying height and its own tensile force is not enough to meet the requirement, it can be increased by stretching the air directly with another drone. High flying height.
  • FIG. 8 is a schematic structural diagram of a multi-rotor UAV provided by the embodiment
  • FIG. 9 is another schematic structural view of the multi-rotor UAV provided by the embodiment.
  • the multi-rotor UAV provided by this embodiment includes: a first rotor drone 1a, a second rotor drone 1b, and a fixing mechanism 1c.
  • the first rotor drone 1a includes a first frame 19a and a plurality of first rotor assemblies 111a mounted on the first frame 19a.
  • Second The rotor drone 1b includes a second frame 19b, and a plurality of second rotor assemblies 111b mounted on the second frame 19b.
  • the fixing mechanism 1c is for fixedly connecting the first frame 19a and the second frame 19b.
  • the first rotor drone 1a or the second rotor drone 1b further includes a main controller for selecting the docked multi-rotor according to the docking manner of the first rotor drone 1a and the second rotor drone 1b.
  • the control mode of the drone controls the plurality of first rotor assemblies 111a and the plurality of second rotor assemblies 111b.
  • the first rotor assembly 111a of the first rotor drone 1a may be four, six or eight, etc., that is, the first rotor drone 1a may be a quadrotor drone or a six-rotor. Man-machine or eight-rotor drones.
  • the second rotor assembly 111b of the second rotor drone 1b may also be four, six or eight, etc., that is, the second rotor drone 1b may be a quadrotor drone or a six-rotor. Man-machine or eight-rotor drones.
  • the fixing mechanism 1c may be any existing mechanism for fixedly connecting the first frame 19a and the second frame 19b, such as rivets, screws, keys or snap arms, robots, and the like.
  • the fixing mechanism 1c may be provided only on the first frame 19a, or may be provided only in the second frame 19b, or the first frame 19a and the second frame 19b may be provided with a fixing mechanism 1c.
  • the manner of docking the first rotor drone 1a and the second rotor drone 1b is not specifically limited in this embodiment.
  • a detachable connection or a non-detachable connection may be employed in a fixed connection manner.
  • the detachable connection or the non-detachable connection may be selected in any manner in the prior art.
  • the butting direction the butting may be performed in the axial direction, the butting may be performed in the radial direction, or the butting may be performed in the oblique direction.
  • two quadrotor drones can be detachably coupled together in the axial direction to form a two-rotor eight-rotor drone.
  • a quadrotor drone and a six-rotor drone may be non-detachably coupled axially to form a double-rotor, ten-rotor drone.
  • two quadrotor drones can be detachably coupled together in a radial direction to form a single-rotor eight-rotor drone.
  • the docking multi-rotor UAV can be selected according to the docking direction of the first rotor drone 1a and the second rotor drone 1b and the number of rotors. Control mode. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor UAV, the control mode of the previous quadrotor UAV can be selected, or it can be specially prepared for the double-decker eight-rotor UAV. Control mode.
  • the main controller can control the plurality of first rotor assemblies 111a and the plurality of second rotor assemblies 111b according to the control mode.
  • the selected docking control mode can control the plurality of first rotor assemblies 111a of the first rotor drone 1a.
  • the plurality of rotor assemblies controlling the second rotor drone 1b operate in a new manner.
  • the main controller may control the clockwise rotation of the rotor in the first rotor assembly 111a to control the counterclockwise rotation of the rotor in the second rotor assembly 111b.
  • the main controller controls the rotors in the first rotor assembly 111a and the second rotor assembly 111b to rotate in a clockwise direction.
  • the docked multi-rotor UAV further includes at least one set of tripods 1d for taking off and landing of the multi-rotor drone.
  • the set of tripods 1d are located on the underside of the docked multi-rotor drone, which can be folded or retracted into the frame of the docked multi-rotor drone during flight.
  • the set of tripods 1d may be the first rotorless drone 1a or the second rotorless drone 1b's tripod 1d that is not removed when docked, or may be based on the docked first rotorless drone 1a.
  • the relative position of the second rotor drone 1b is controlled by the main controller to control the first rotor drone 1a or the second rotor drone 1b located on the lower side. Further, the docked multi-rotor drone can also have two pairs of tripods 1d, so that landing can be achieved even if the flipping occurs.
  • the multi-rotor UAV of the present embodiment controls the plurality of first rotors by docking the first rotor drone 1a and the second rotor drone 1b, and selecting a corresponding control mode by the main controller according to the docking mode.
  • the component 111a and the plurality of second rotor assemblies 111b, the number of rotors and the battery capacity of the docked multi-rotor UAV are improved, so that the endurance, load capacity and tensile force are significantly improved, thereby solving a single Man-machines, for example, require large loads, large lifts, or long battery life.
  • This embodiment provides a multi-rotor drone.
  • the first rotor drone 1a further includes one or more first controllers 17a for controlling the plurality of first rotor assemblies 111a; the second rotor drones 1b Also included is one or more second controllers 17b for controlling the plurality of second rotor assemblies 111b; the main controller is for simultaneously and first when the first rotor drone 1a is docked with the second rotor drone 1b Control
  • the controller 17a and the second controller 17b are communicatively coupled, and control the plurality of first rotor assemblies 111a and the plurality of second rotors through the first controller 17a and the second controller 17b according to the selected control mode of the multi-rotor drone Component 111b.
  • the first controller 17a of the first rotor drone 1a may be the flight controller of the first rotor drone 1a
  • the second controller 17b of the second rotor drone 1b may also be the second rotor. Flight controller of man machine 1b.
  • the communication connection between the main controller and the first rotor drone 1a and the second rotor drone 1b may be a wired connection or a wireless connection, for example, in the main controller, the first rotor drone 1a, and
  • the second rotor drone 1b is provided with a cooperative communication terminal and a joint, or a wireless communication module may be disposed on the main controller, the first rotor drone 1a and the second rotor drone 1b, for example, Wifi module, Bluetooth module.
  • the main controller may be a separate controller separately provided from the flight controllers of the first rotor drone 1a and the second rotor drone 1b, specifically for docking Multi-rotor unmanned aerial vehicles are controlled.
  • a flight control panel may be added to the first rotor drone 1a or the second rotor drone 1b or may be added to the flight control panel of the first rotor drone 1a or the second rotor drone 1b.
  • the control module may also be a corresponding control program or control module set in the ground station, or a corresponding control module may be set in the remote controller and switched by switching buttons. This simplifies the switching of control modes between docking and non-docking, which is relatively simple and convenient.
  • the main controller may be the flight controller of the first rotor drone 1a or the flight controller of the second rotor drone 1b. This simplifies the circuit structure and saves costs.
  • the first controller 17a and the second controller 17b are respectively controlled by the main controller to control the first rotor assembly 111a and the second rotor assembly 111b, thereby improving control efficiency, and Remote control can be achieved in some cases, such as when the primary controller is set up at a ground station.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the embodiment is based on the embodiment 12 or 13 and is selected by the main controller.
  • One of the first rotor drone 1a and the second rotor drone 1b is taken as a host for controlling the master and the slave respectively according to the control mode of the selected docked multi-rotor drone.
  • the main controller may select one of the first rotor drone 1a and the second rotor drone 1b as a host in a conventional manner, and the other as a slave, and details are not described herein again.
  • the main controller can select the original slave as the new master and set the original master as the new slave, thereby ensuring the safe use of the docked multi-rotor drone.
  • the multi-rotor UAV of the embodiment can control the multi-rotor UAV after docking by setting the master-slave and controlling the master-slave to work at the same time. This simplifies the structure, saves costs and increases the reliability of the control.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the embodiments 12-14, and the control mode of the docked multi-rotor UAV is set to include: coaxial control mode. , different axis control mode.
  • the coaxial control mode means that the first rotor drone 1a and the second rotor drone 1b are docked in the axial direction, and the upper and lower rotors of the docked multi-rotor drone are on the same axis, for example The rotors of the two quadrotor drones are completely superposed.
  • the different-axis control mode means that the rotors of the first rotor drone 1a and the second rotor drone 1b are staggered in the radial direction, for example, two drones are docked in the radial direction, or two drones Docking in the axial direction, but the rotors of the two are offset by a certain distance in the radial direction.
  • the different-axis control mode further includes a case where the coaxial portions of the rotor portions of the first rotor drone 1a and the second rotor drone 1b are different axes, for example, a quad-rotor drone and a six-rotor A multi-rotor drone that is docked in the axial direction by a rotary wing drone or an eight-rotor drone, in which the rotor portions of the four-rotor UAV and the six-rotor UAV overlap.
  • the coaxial two rotors of the combined multi-rotor UAV can be controlled to rotate in opposite directions.
  • the rotational directions of the two rotors that can control the symmetrical arrangement of the combined multi-rotor UAV can be controlled to be opposite or the same.
  • the multi-rotor UAV of the embodiment adopts the distribution of the rotor of the docked drone Different control modes are controlled, which is more targeted, which is beneficial to the flight advantage of the docked drone and improve the flight efficiency of the docked drone, such as increasing its flying height or load capacity.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the embodiments of the above embodiments 12-15, and the first rotorless drone 1a and the second rotorless drone 1b are changed.
  • the power system control mode may change the control mode of the power system 11a of the first rotor drone 1a, or may also change the control mode of the power system 11b of the second rotor drone 1b, or may also change the first The power systems 11a, 11b of the rotor drone 1a and the second rotor drone 1b control the mode.
  • control mode of the power system may include electronic speed governor, motor and rotor control modes of different working states, for example, may include the magnitude, frequency, and period of the output voltage of the electronic governor, and the signal output mode of the electronic governor , the type of control of the motor (rotation direction, speed, acceleration, etc.), the angle of inclination of the rotor, and so on.
  • control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b By changing the combination of different control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b, different tensile forces, heading changes and response speeds, and different loads can be generated. Performance.
  • control mode of the power system may include at least one of a rotational speed of the rotor, a direction of the rotor.
  • a rotational speed of the rotor By controlling the speed of the rotor or the steering of the rotor, the operation can be simplified and a more intuitive control of the tensile and load forces as well as the response speed can be provided.
  • the following is an example of controlling the two quadrotor UAVs in the axial direction after docking, and briefly describes how to change the control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b:
  • the maximum speed of the rotor in the powertrain is changed individually.
  • the maximum speed of the rotor in one quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the maximum speed of the rotor in the second drone remains the third maximum speed;
  • the maximum speed of the rotor of a quadrotor UAV is adjusted from the first maximum speed to the second maximum speed, and the maximum speed of the rotor in the second drone is adjusted from the third maximum speed to the fourth maximum speed.
  • the second case is to individually change the steering of the rotor in the powertrain.
  • it can be a four
  • the steering of the rotor in the rotorcraft is adjusted from the first steering to the second steering, while the steering of the rotor in the second drone keeps the third steering unchanged; it can also be the rotor of a quadrotor.
  • the steering is adjusted from the first steering to the second steering while the steering of the rotor in the second drone is adjusted from the third steering to the fourth steering.
  • the third case is to simultaneously change the maximum speed and steering of the rotor in the powertrain.
  • the maximum speed of the rotor of a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the steering of the rotor is adjusted from the first direction to the second direction, and the second one is unmanned.
  • the maximum speed and steering of the rotor in the machine are maintained at the third maximum speed and the third direction, respectively.
  • the maximum speed of the rotor of a quadrotor UAV is adjusted from the first maximum speed to the second maximum speed, and adjust the steering of the rotor from the first steering to the second steering, and at the same time
  • the maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed, and the steering of the rotor is adjusted from the third direction to the fourth direction.
  • the multi-rotor UAV of the embodiment can obtain different power system working states by changing the first rotor drone 1a, the second rotor drone 1b or both of the multi-rotor drones, thereby obtaining Different tensile forces and bearing capacities are adapted to the needs of different applications, greatly expanding the application scenarios of the drone.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-16, and improves the working state of the power supply in the docked multi-rotor UAV to adapt to the selected Multi-rotor drone control mode.
  • the power source 13a of the first rotor drone 1a, the control mode, or the power source 13b control mode of the second rotor drone 1b may be changed, or the first rotor drone 1a and the second may be simultaneously changed.
  • the power supply 13a, 13b of the rotor drone 1b controls the mode.
  • the power control mode may include a power supply sequence, a power supply mode, a power supply time, and a power supply amount of the power source in the first rotor drone 1a and the second rotor drone 1b.
  • the working state of the power supply in the multi-rotor UAV can provide suitable working current for the docked drone in different application environments to ensure that the docked drone can maintain good load capacity and tensile force. And battery life to meet the corresponding work needs.
  • the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b simultaneously supply power to the first rotor drone 1a and the second rotor drone 1b, thereby
  • the first rotor drone 1a and the second rotor drone 1b are provided with maximum power supply protection to meet, for example, an application scenario requiring a large tensile force or a high load for a short period of time.
  • the power source 13a of the first rotor drone 1a supplies power to the first rotor drone 1a
  • the power source 13b of the second rotor drone 1b supplies power to the second rotor drone 1b
  • the first rotor drone The power source 13a of 1a supplies power to the second rotor drone 1b
  • the power source 13b of the second rotor drone 1b supplies power to the first rotor drone 1a.
  • one of the first rotor drone 1a or the second rotor drone 1b is selected as the main power source, and the other is used as the slave power source to adapt to the application scenario requiring long-term battery life.
  • the power source 13a of the first rotor drone 1a is used as the main power source while supplying power to the first rotor drone 1a and the second rotor drone 1b, or the power source 13b of the second rotor drone 1b is used as the main The power supply simultaneously supplies power to the first rotor drone 1a and the second rotor drone 1b.
  • the original slave power source is selected as the new master power source and the original master power source is set as the new slave power source, thereby ensuring stable power supply of the multi-rotor drone after docking, and improving Its security.
  • the multi-rotor UAV of the present embodiment by controlling the operating states of the power sources of the first rotor drone 1a and the second rotor drone 1b, it is possible to obtain various power supply modes, such as a longer time battery mode. To adapt to the needs of different work scenarios.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-17, and improves the working state of the sensor in the docked multi-rotor UAV to adapt to the The control mode of the selected multi-rotor drone.
  • the sensor 15a control mode of the first rotor drone 1a may be changed, or the sensor 15b control mode of the second rotor drone 1b may be changed, or the first rotor drone 1a and the second rotor may be simultaneously changed.
  • the sensors 15a, 15b of the drone 1b control the mode.
  • the working state of the sensor includes the number of opening, the type of opening, the opening time, and the opening frequency.
  • the sensor 15a of the first rotor drone 1a may be fully open, partially open or fully closed; the sensor 15b of the second rotor drone 1b may also be fully open, partially open or fully closed.
  • the sensors of the docked multi-rotor drone can be turned on or off, working alone or redundantly. A variety of work modes.
  • the ultrasonic sensor of the first rotor drone 1a can be turned on, the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned off, and the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned on, and the first rotorless drone 1a can be turned off.
  • the ultrasonic sensor can also simultaneously turn on the ultrasonic sensors of the first rotor drone 1a and the second rotor drone 1b.
  • other sensors in the first rotor drone 1a and the second rotor drone 1b such as a barometer and a camera, can also be controlled in the manner described above.
  • the first rotor drone 1a and the second rotor drone 1b have the best type of sensors At least the same type of sensor as that of the first rotor drone 1a or the second rotor drone 1b before the docking, so as to ensure that the perceived capability of the docked multi-rotor drone is not reduced.
  • the redundant state refers to the same information detected by the two, for example, the detected air pressure information, so that one sensor constitutes redundancy of another sensor, and the information detected by one sensor can be used as another sensor. Make corrections.
  • the complementary state refers to the complementary functions achieved by the two sensors. For example, the camera of the first rotor drone 1a forwards the camera of the second rotor drone 1b backward, so that the docked drone can be made. It has a shooting ability of 360° without dead angle, that is, it expands the function of the docked drone.
  • the multi-rotor UAV of the present embodiment can realize different sensor combinations and realize more functions by controlling the sensors in the first rotor drone 1a and the second rotor drone 1b, thereby satisfying different functions. Work needs to adapt to more workplaces.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on the embodiment of any of Embodiments 12-18, and improves the fixed connection manner of the first rotor drone 1a and the second rotor drone 1b.
  • the fixing mechanism 1c detachably connects the first frame 111a and the second frame 111b together.
  • the fixing mechanism 1c can fix the first frame 111a and the second frame 111b by any detachable connection method in the prior art, and may be, for example, a bolt connection, a pin connection, a key connection, and some riveting.
  • the fixing mechanism 1c is detachably connected to the first frame 111a and the second frame 111b by a snapping manner.
  • the fixing mechanism 1c may be a chuck disposed on the first frame 111a and the second frame 111b.
  • a bayonet that cooperates with the card head is disposed on the top.
  • the fixing mechanism 1c is connected to the first frame 111a and the second frame 111b by means of snapping, and the structure is relatively simple, and the docking operation is also easy.
  • the multi-rotor UAV of the present embodiment connects the first rotor drone 1a and the second rotor drone 1b by using a detachable connection docking manner, which can make the drone more flexible, in some application scenarios.
  • a single rotor-type drone can be used directly, and in some applications, a docked multi-rotor drone can be used.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-19, and the first rotor drone 1a and the second are improved.
  • the first rotor drone 1a and the second rotor drone 1b are fixedly coupled in the axial direction, so that the docked multi-rotor drone has a smaller radial size and is better. Synergistic effect.
  • the specific fixing manner of the human machine 1a and the second rotor drone 1b may be selected according to actual application requirements, such as the selection of the working states of the sensors 15a, 15b, or the difficulty of setting the connection structure according to the top or bottom surface of the drone, or selecting the first rotor according to the difficulty of the control.
  • the specific fixing manner of the human machine 1a and the second rotor drone 1b may be selected according to actual application requirements, such as the selection of the working states of the sensors 15a, 15b, or the difficulty of setting the connection structure according to the top or bottom surface of the drone, or selecting the first rotor according to the difficulty of the control.
  • the specific fixing manner of the human machine 1a and the second rotor drone 1b may be selected according to actual application requirements, such as the selection of the working states of the sensors 15a, 15b, or the difficulty of setting the connection structure according to the top or bottom surface of the drone, or selecting the first rotor according to the difficulty of the control.
  • the top surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b.
  • Such a docking method can simultaneously utilize the A camera of a rotor drone 1a and a second rotor drone 1b, thereby obtaining a better shooting effect.
  • the bottom surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b.
  • Such a docking manner can avoid the influence of the tripod 1d on the docking and reduce the difficulty of docking.
  • the top surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. In this case, when the first rotor drone 1a is located below the second rotor drone 1b, the control difficulty can be reduced.
  • the bottom surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. In this way, it is not necessary to flip the drone when docking, especially when the docking is performed in the air, the quality of the docking can be improved.
  • the multi-rotor UAV of the present embodiment can obtain better functions by selecting the abutting faces of the first rotor drone 1a and the second rotor drone 1b, or reduce the difficulty of docking and improve the quality of docking. Or simplify the docking operation to maximize the application requirements of the docked multi-rotor drone.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-20, and the first rotor drone 1a and the first The rotor of the second rotor drone 1b is modified to obtain different tensile forces.
  • the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be stacked together in the axial direction.
  • the rotors of the two quadrotor drones are stacked to form an eight-rotor drone that overlaps the upper and lower layers.
  • stacking the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 50%, thereby The docked multi-rotor drone can fly higher.
  • the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be offset in a radial direction.
  • the rotors of the two four-rotor UAVs are interlaced to form an eight-rotor UAV that is staggered in the upper and lower layers.
  • the first rotor drone 1a and the second rotor drone 1b The intertwined rotors can increase the stretch force of the drone by about 70%-80%, which allows the docked multi-rotor drone to fly higher and carry more items.
  • This embodiment provides a multi-rotor drone.
  • the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-21, and the rotor of the first rotor drone 1a is used. Or the rotor of the second rotor drone 1b is rotated 180 degrees in the radial direction. For example, as shown in FIGS. 3, 5, 8, and 9, the rotor of the second rotor drone 1b is rotated 180 degrees so that the first rotor drone 1a and the second rotor drone 1b The rotors create a synergistic effect that increases the efficiency of the docked multi-rotor drone.
  • the docked unmanned aerial vehicles can generate different tensile forces, thereby improving docking.
  • FIG. 10 is a schematic structural view of a first rotor unmanned aerial vehicle with a tripod 1d removed according to the embodiment
  • FIG. 11 is a schematic structural view of a second rotorless drone with a GPS module removed according to the embodiment.
  • the multi-rotor UAV of the embodiment is based on any one of the embodiments 12-22, wherein the main controller comprises: a position adjustment module, a heading angle adjustment module, and an automatic locking module.
  • the position adjustment module is configured to control the first rotor drone 1a and the second rotor drone 1b to move to upper and lower corresponding positions according to the acquired current position information, and the heading axes substantially coincide.
  • the current positional relationship between the first rotor unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle 1b can be obtained by using GPS or Beidou navigation system, and the first rotary wing unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle can also be obtained by radar.
  • the current positional relationship of 1b can also be obtained by other methods in the prior art.
  • the current positional relationship between the rotor drone 1a and the second rotor drone 1b can be obtained by using GPS or Beidou navigation system, and the first rotary wing unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle can also be obtained by radar.
  • the current positional relationship of 1b can also be obtained by other methods in the prior art.
  • the current positional relationship between the rotor drone 1a and the second rotor drone 1b can be obtained by other methods in the prior art.
  • the position adjustment module controls the first rotor drone 1a and the second rotor drone 1b to move to the corresponding positions, and adjusts the angles of the first rotor drone 1a and the second rotor drone 1b to the heading axis.
  • the position adjustment module may be one of the separately set main controllers, or may be one of the selected hosts, or may be a module in the first controller 17a and the second controller 17b. .
  • a heading angle adjustment module configured to adjust a heading angle of the first rotor drone 1a or/and the second rotor drone 1b according to the docking manner until a heading of the first rotor drone 1a
  • the angular difference between the angle and the heading angle of the second rotor drone 1b is a preset value.
  • the heading angle adjustment module may be one of the separately set main controllers, or may be one of the selected hosts, or may be a module in the first controller 17a and the second controller 17b. .
  • An automatic locking module for controlling the fixing mechanism 1c to detachably fix the first frame and the second frame together.
  • the fixing mechanism 1c may be a mechanical arm through which the first rotor drone 1a can be pulled to the second rotor drone 1b, or the second rotor drone 1b can be pulled to the first rotor Machine 1a, and finally the first frame and the second frame are detachably fixed together.
  • the robot arm pulls the first rotor drone 1a to the second rotor drone 1b
  • the chucks provided on the first frame are aligned with the tabs provided on the second frame and are engaged together.
  • the fixing of the first rotor drone 1a and the second rotor drone 1b is achieved.
  • the components of the docking surfaces of the two drones can be automatically folded or automatically stored in the accommodating cavity.
  • the stand 1d of the first rotor drone 1a can be folded or contracted back to the first rotor.
  • the GPS module 151a of the second rotor drone 1b is folded Or shrink back into the frame of the second rotor drone 1b.
  • first rotor drone 1a and the second rotor drone 1b are docked by the operator, the components of the mating surfaces of the first rotor drone 1a and the second rotor drone 1b are also The components can be automatically folded or shrunk; or the components can be removed by the operator to achieve the docking operation of the first rotor drone 1a and the second rotor drone 1b, as shown in FIG. 10 and FIG.
  • the multi-rotor UAV of the present embodiment can improve the first rotor drone 1a and the second rotor drone 1b by controlling the first rotor drone 1a and the second rotor drone 1b to automatically dock in the air. Synergies, especially in certain special occasions, such as when a drone fails in the air, for example, when there is insufficient power, the faulty drone seat belt can be automatically docked. Back to the ground. Another example is that when a drone needs to increase the flying height and its own tensile force is not enough to meet the requirement, it can be increased by stretching the air directly with another drone. High flying height.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or a software function list. The realization of the form of the yuan.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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Abstract

Disclosed is a multi-rotor unmanned aerial vehicle, comprising: a first rotor unmanned aerial vehicle (1a), comprising a first rack (19a) and a plurality of first rotor assemblies (111a) mounted on the first rack; a second rotor unmanned aerial vehicle (1b), comprising a second rack (19b) and a plurality of second rotor assemblies (111b) mounted on the second rack; and a fixing mechanism (1c) for fixedly connecting the first rack (19a) with the second rack (19b), wherein the first rotor unmanned aerial vehicle (1a) or the second rotor unmanned aerial vehicle (1b) further comprises a main controller for selecting a control mode of a butted multi-rotor unmanned aerial vehicle according to a method for butting the first rotor unmanned aerial vehicle (1a) and the second rotor unmanned aerial vehicle (1b) so as to control the plurality of first rotor assemblies (111a) and the plurality of second rotor assemblies (111b). Also provided is a method for controlling the multi-rotor unmanned aerial vehicle.

Description

多旋翼无人机及其控制方法Multi-rotor unmanned aerial vehicle and control method thereof 技术领域Technical field
本发明涉及一种多旋翼无人机及其控制方法，属于无人飞行器制造技术领域。The invention relates to a multi-rotor unmanned aerial vehicle and a control method thereof, and belongs to the technical field of manufacturing an unmanned aerial vehicle.
背景技术Background technique
无人驾驶飞机简称无人机(UAV)，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。经过多年技术的积累以及经济的飞速发展，现在的无人机的应用场景越来越多，例如航拍、农作物监控、植被保护、自拍、快递运输、灾难救援、观测野生动物、监控传染病、测绘、新闻报道、电力巡检、及影视拍摄等。The drone, referred to as the UAV, is a non-manned aircraft maneuvered using radio remote control equipment and self-contained program control devices. After years of technology accumulation and rapid economic development, there are more and more application scenarios for UAVs, such as aerial photography, crop monitoring, vegetation protection, self-timer, express transportation, disaster relief, observation of wildlife, monitoring of infectious diseases, mapping , news reports, power inspections, and film and television shooting.
但是，现有的旋翼式无人机的负载能力是有限的，虽然可以通过增加旋翼的方式来增加无人机的负载能力，例如，四旋翼式无人机的负载能力可能相对较小，十旋翼式无人机的负载能力相对较大。但是，大负载能力的多旋翼无人机成本较高，并且适用范围较小，这样就极大的限制了无人机的应用场景。However, the load capacity of existing rotary-wing UAVs is limited, although the load capacity of the UAV can be increased by adding a rotor. For example, the load capacity of a four-rotor UAV may be relatively small. Rotor-type drones have relatively large load capacities. However, the multi-rotor UAV with high load capacity is costly and has a small application range, which greatly limits the application scenarios of the drone.
发明内容Summary of the invention
本发明提供一种多旋翼无人机及其控制方法，以解决现有技术中旋翼式无人机负载能力有限的技术问题。The invention provides a multi-rotor UAV and a control method thereof, so as to solve the technical problem that the rotary wing UAV has limited load capacity in the prior art.
根据本发明的一个实施例，提供一种多旋翼无人机的控制方法，包括以下步骤：According to an embodiment of the present invention, a method for controlling a multi-rotor UAV is provided, including the following steps:
确定第一旋翼无人机与第二旋翼无人机的对接方式；Determining the docking mode of the first rotor drone and the second rotor drone;
根据所述对接方式，选取对接后的多旋翼无人机的控制模式；以及，According to the docking mode, selecting a control mode of the docked multi-rotor UAV; and,
按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述第一旋翼无人机与所述第二旋翼无人机。The first rotor drone and the second rotor drone are respectively controlled according to the selected control mode of the docked multi-rotor drone.
根据本发明的另一实施例，提供一种多旋翼无人机，包括： According to another embodiment of the present invention, a multi-rotor drone is provided, including:
第一旋翼无人机，包括第一机架、安装在所述第一机架上的多个第一旋翼组件；a first rotor drone comprising a first frame, a plurality of first rotor assemblies mounted on the first frame;
第二旋翼无人机，包括第二机架、安装在所述第二机架上的多个第二旋翼组件；a second rotor drone comprising a second frame, a plurality of second rotor assemblies mounted on the second frame;
固定机构，用于将所述第一机架与所述第二机架固定连接在一起；a fixing mechanism for fixedly connecting the first frame and the second frame;
所述第一旋翼无人机或所述第二旋翼无人机还包括主控制器，用于根据所述第一旋翼无人机和第二旋翼无人机的对接方式选取对接后的多旋翼无人机的控制模式，控制所述多个第一旋翼组件以及所述多个第二旋翼组件。The first rotor drone or the second rotor drone further includes a main controller, configured to select the docked multi-rotor according to the docking manner of the first rotor drone and the second rotor drone A control mode of the drone that controls the plurality of first rotor assemblies and the plurality of second rotor assemblies.
本发明提供的多旋翼无人机及其控制方法，通过将第一旋翼无人机和第二旋翼无人机进行对接，并根据对接方式选取相应的控制模式来控制第一旋翼无人机和第二旋翼无人机，对接后的多旋翼无人机的旋翼数量增加，使得载重能力和拉伸力均有明显的改善，从而能够解决单个无人机存在的例如需要大载重、大升力的问题。The multi-rotor UAV and the control method thereof are provided by docking a first rotor drone and a second rotor drone, and selecting a corresponding control mode according to the docking mode to control the first rotor drone and The second rotor drone, the number of rotors of the docked multi-rotor UAV increased, which significantly improved the load capacity and the tensile force, so that it can solve the existence of a single drone, for example, requiring a large load and a large lift. problem.
附图说明DRAWINGS
图1为本发明实施例1提供的多旋翼无人机的控制方法的流程图；1 is a flowchart of a method for controlling a multi-rotor UAV according to Embodiment 1 of the present invention;
图2为本发明实施例4提供的多旋翼无人机的***结构示意图；2 is a schematic structural diagram of a system of a multi-rotor UAV according to Embodiment 4 of the present invention;
图3为本发明实施例8提供的多旋翼无人机的一种简化结构示意图；3 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 8 of the present invention;
图4为本发明实施例8提供的多旋翼无人机另一种简化结构示意图；4 is a schematic diagram showing another simplified structure of a multi-rotor UAV according to Embodiment 8 of the present invention;
图5为本发明实施例9提供的多旋翼无人机的一种简化结构示意图；5 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 9 of the present invention;
图6为本发明实施例9提供的多旋翼无人机的另一种简化结构示意图；6 is a schematic diagram showing another simplified structure of a multi-rotor UAV according to Embodiment 9 of the present invention;
图7是本发明实施例11提供的多旋翼无人机自动空中自动对接方法的流程图；7 is a flowchart of an automatic airborne automatic docking method for a multi-rotor UAV according to Embodiment 11 of the present invention;
图8为本发明实施例12提供的多旋翼无人机的一种结构示意图；8 is a schematic structural diagram of a multi-rotor UAV according to Embodiment 12 of the present invention;
图9为本发明实施例12提供的多旋翼无人机的另一种结构示意图；9 is another schematic structural diagram of a multi-rotor UAV according to Embodiment 12 of the present invention;
图10为本发明实施例23提供的拆除了脚架的第一旋翼无人机的结构示意图；10 is a schematic structural view of a first rotor unmanned aerial vehicle with a tripod removed according to Embodiment 23 of the present invention;
图11为本发明实施例23提供的拆除了GPS模块的第二旋翼无人机的结构示意图。 FIG. 11 is a schematic structural diagram of a second rotor unmanned aerial vehicle with a GPS module removed according to Embodiment 23 of the present invention.
具体实施方式detailed description
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.
首先需要说明的是，以下实施例中的术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。It should be noted that the terms "first" and "second" in the following embodiments are used for the purpose of description only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.
实施例1Example 1
本发明实施例1提供一种多旋翼无人机的控制方法。图1为本实施例提供的多旋翼无人机的控制方法的流程图。Embodiment 1 of the present invention provides a control method for a multi-rotor UAV. FIG. 1 is a flowchart of a method for controlling a multi-rotor UAV according to an embodiment of the present invention.
本实施例的多旋翼无人机的控制方法，用于控制多个无人机进行对接并对对接后的无人机进行控制。该控制方法包括以下步骤：The control method of the multi-rotor UAV of the embodiment is used for controlling a plurality of drones to perform docking and controlling the docked drones. The control method includes the following steps:
S101、确定第一旋翼无人机与第二旋翼无人机的对接方式。S101. Determine a docking manner of the first rotor drone and the second rotor drone.
具体的，第一旋翼无人机1a和第二旋翼无人机1b的对接方式在本实施例不作具体限定。例如在固定连接的方式上，可以采用可拆卸连接或者不可拆卸连接。并且，在本实施例中，可拆卸连接或者不可拆卸连接可以选用任意现有技术中的方式。又例如在对接方向上，可以在轴向上进行对接，也可以在径向上进行对接，还可以在斜向上进行对接。Specifically, the manner of docking the first rotor drone 1a and the second rotor drone 1b is not specifically limited in this embodiment. For example, in a fixed connection manner, a detachable connection or a non-detachable connection may be employed. Moreover, in the present embodiment, the detachable connection or the non-detachable connection may be selected in any manner in the prior art. Further, for example, in the butting direction, the butting may be performed in the axial direction, the butting may be performed in the radial direction, or the butting may be performed in the oblique direction.
举例来说，可以将两个四旋翼无人机在轴向上可拆卸连接在一起，从而形成一个双层旋翼的八旋翼无人机。或者，也可以将一个四旋翼无人机和一个六旋翼无人机在轴向上不可拆卸连接在一起，从而形成一个双层旋翼的十旋翼无人机。或者，还可以将两个四旋翼无人机在径向方向上可拆卸的连接在一起，形成一个单层旋翼的八旋翼无人机。For example, two quadrotor drones can be detachably coupled together in the axial direction to form a two-rotor eight-rotor drone. Alternatively, a quadrotor drone and a six-rotor drone may be non-detachably coupled axially to form a double-rotor, ten-rotor drone. Alternatively, two quadrotor drones can be detachably coupled together in a radial direction to form a single-rotor eight-rotor drone.
需要指出的是，第一旋翼无人机和第二旋翼无人机的固定连接可以是通过连接件连接，比如通过柔性连接件、机械爪或者滑动及限位结构之类的固定机构来连接。或者，也可以是第一旋翼无人机和第二旋翼无人机直接连接，例如在第一旋翼无人机和第二旋翼无人机上设置相互配合的螺纹孔和螺杆实 现直接螺纹连接。It should be noted that the fixed connection of the first rotor drone and the second rotor drone may be connected by a connecting member, such as a flexible connecting member, a mechanical claw or a fixing mechanism such as a sliding and limiting structure. Alternatively, the first rotor drone and the second rotor drone may be directly connected, for example, a screw hole and a screw thread are provided on the first rotor drone and the second rotor drone. Direct thread connection.
S102、根据所述对接方式，选取对接后的多旋翼无人机的控制模式。S102. Select a control mode of the docked multi-rotor UAV according to the docking mode.
具体的，按照不同的对接方式，选取对接后的多旋翼无人机的控制模式，例如，可以根据对接的方向、旋翼的数量来选择对接后的多旋翼无人机的控制模式。例如，当两个四旋翼无人机在轴向上对接组成一个八旋翼无人机时，可以选择以前的四旋翼无人机的控制模式，也可以选择专门为双层八旋翼无人机准备的控制模式。Specifically, according to different docking modes, the control mode of the docked multi-rotor UAV is selected. For example, the control mode of the docked multi-rotor UAV can be selected according to the direction of the docking and the number of rotors. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor UAV, the control mode of the previous quadrotor UAV can be selected, or it can be specially prepared for the double-decker eight-rotor UAV. Control mode.
S103、按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述第一旋翼无人机与所述第二旋翼无人机。S103. Control the first rotor drone and the second rotor drone separately according to the selected control mode of the docked multi-rotor drone.
具体的，当选取好对接后的多旋翼无人机的控制模式后，则可以根据该控制模式来分别控制第一旋翼无人机和第二旋翼无人机。例如，当两架四旋翼无人机在轴向方向对接而成一个八旋翼的无人机时，选取的对接后的控制模式可以控制第一旋翼无人机按照原来的方式工作，而控制第二旋翼无人机按照新的方式工作。进一步来说，可以是控制第一旋翼无人机的旋翼顺时针旋转而控制第二旋翼无人机的旋翼逆时针旋转。当然，也可以是控制第一旋翼无人机和第二旋翼无人机均按照顺时针的方向旋转。Specifically, when the control mode of the docked multi-rotor UAV is selected, the first rotor drone and the second rotor drone may be respectively controlled according to the control mode. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor drone, the selected docking control mode can control the first rotor drone to operate in the original manner, and the control The two-rotor drone works in a new way. Further, the rotor of the second rotor drone can be controlled to rotate counterclockwise by controlling the clockwise rotation of the rotor of the first rotor drone. Of course, it is also possible to control both the first rotor drone and the second rotor drone to rotate in a clockwise direction.
本实施例的多旋翼无人机的控制方法，通过将第一旋翼无人机和第二旋翼无人机进行对接，并根据对接方式选取相应的控制模式来控制第一旋翼无人机和第二旋翼无人机，对接后的多旋翼无人机的旋翼数量和电池容量均得以提高，使得续航能力、载重能力和拉伸力均有明显的改善，从而能够解决单个无人机存在的例如需要大载重、大升力或者长时间续航的问题。The control method of the multi-rotor UAV of the embodiment controls the first rotor drone and the first by connecting the first rotor drone and the second rotor drone, and selecting a corresponding control mode according to the docking mode The two-rotor UAV has improved the number of rotors and battery capacity of the multi-rotor UAV after docking, which has improved the endurance, load capacity and tensile force, thus solving the existence of a single UAV. The problem of heavy load, large lift or long battery life is required.
实施例2Example 2
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
本实施的控制方法是在实施例1的基础上，还包括以下步骤：The control method of the present implementation is based on Embodiment 1, and further includes the following steps:
建立所述第一旋翼无人机和所述第二旋翼无人机的通信连接；Establishing a communication connection between the first rotor drone and the second rotor drone;
选取所述第一旋翼无人机和所述第二旋翼无人机中的一个作为主机，用于按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述主机和从机。Selecting one of the first rotor drone and the second rotor drone as a host for respectively controlling the host and the slave according to the selected control mode of the docked multi-rotor drone machine.
具体的，建立第一旋翼无人机和第二旋翼无人机的通信连接的方式可以 是有线连接也可以是无线连接，例如可以是在第一旋翼无人机和第二旋翼无人机上设置相互配合的通信端子和接头，或者也可以是在第一旋翼无人机和第二旋翼无人机上设置无线通信模块，比如可以是wifi模块、蓝牙模块；或者还可以是第一旋翼无人机和第二旋翼无人机通过数据交换器连接。Specifically, the manner of establishing the communication connection between the first rotor drone and the second rotor drone can be It may be a wired connection or a wireless connection, for example, it may be a cooperative communication terminal and a joint provided on the first rotor drone and the second rotor drone, or may be a first rotor drone and a second rotor The wireless communication module is set on the drone, such as a wifi module or a Bluetooth module; or the first rotor drone and the second rotor drone are connected through a data exchanger.
进一步，当第一旋翼无人机和第二旋翼无人机通信连接后，可以通过主控制器来选取其中一个作为主机，另一个作为从机，从而通过主机来按照上述选择的对接后的多旋翼无人机的控制模式分别控制主机和从机。更具体的，主控制器可以是第一旋翼无人机的控制器，也可以是第二旋翼无人机的控制器，或者还可以是独立于第一旋翼无人机和第二旋翼无人机之外的控制器。Further, when the first rotor drone and the second rotor drone are communicatively connected, one of the master controllers may be selected as the master and the other as the slave, thereby performing the docking according to the above selection by the host. The control mode of the rotorcraft drone controls the master and slave respectively. More specifically, the main controller may be a controller of the first rotor drone or a controller of the second rotor drone, or may be independent of the first rotor drone and the second rotor Controller outside the machine.
进一步，当主机的控制信号出现故障时，主控制器可以将原从机选定为新的主机，并将原主机设置为新的从机，从而保障对接后的多旋翼无人机的使用安全。Further, when the control signal of the host fails, the main controller can select the original slave as the new master and set the original master as the new slave, thereby ensuring the safe use of the docked multi-rotor drone. .
本实施例的多旋翼无人机的控制方法，通过设置主从机，并由主机同时控制主从机进行工作，可以在不增加过多硬件的基础上实现对对接后的多旋翼无人机的控制，从而简化结构、节省成本并提高控制的可靠性。In the control method of the multi-rotor UAV of the present embodiment, by setting the master-slave machine and controlling the master-slave machine to work at the same time, the multi-rotor drone can be realized on the basis of not adding too much hardware. Control, which simplifies structure, saves costs and increases control reliability.
实施例3Example 3
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
本实施例的控制方法是在实施例1或2的基础上，将对接后的多旋翼无人机的控制模式设置为包括：同轴控制模式，异轴控制模式。The control method of this embodiment is based on Embodiment 1 or 2, and the control mode of the docked multi-rotor UAV is set to include: a coaxial control mode and an off-axis control mode.
其中，同轴控制模式是指第一旋翼无人机和第二旋翼无人机在轴向方向对接，并且，对接后的多旋翼无人机的上下两个旋翼在同一轴线上，例如，两架四旋翼无人机的旋翼完全叠合在一起。异轴控制模式是指第一旋翼无人机和第二旋翼无人机的旋翼在径向方向交错设置，例如，两架无人机在径向方向对接，或者，两架无人机在轴向方向对接，但是二者的旋翼却在径向方向偏置一定距离。需要说明的是，异轴控制模式还包括第一旋翼无人机和第二旋翼无人机的旋翼部分同轴部分异轴的情况，例如，一架四旋翼无人机和一架六旋翼无人机或者一架八旋翼无人机在轴向方向对接后的多旋翼无人机，其中四旋翼无人机和六旋翼无人机的旋翼部分有重叠的情况。Wherein, the coaxial control mode means that the first rotor drone and the second rotor drone are docked in the axial direction, and the upper and lower rotors of the docked multi-rotor drone are on the same axis, for example, two The rotors of the four-rotor drones are completely stacked together. The different-axis control mode means that the rotors of the first rotor drone and the second rotor drone are staggered in the radial direction, for example, two drones are docked in the radial direction, or two drones are on the shaft. Butt in the direction, but the rotors of the two are offset by a certain distance in the radial direction. It should be noted that the different-axis control mode further includes the case where the coaxial part of the rotor part of the first rotor drone and the second rotor drone is different, for example, a quadrotor UAV and a six-rotor A multi-rotor drone that is docked in the axial direction by a man-machine or an eight-rotor drone, in which the rotor portions of the four-rotor UAV and the six-rotor UAV overlap.
更具体的，同轴控制模式时，可以控制组合后的多旋翼无人机的同轴两 个旋翼的旋转方向相反。异轴控制模式时，可以控制组合后的多旋翼无人机的对称设置的两个旋翼的旋转方向相反或相同。More specifically, in the coaxial control mode, the coaxial two of the combined multi-rotor UAV can be controlled. The rotation of the rotors is reversed. In the different axis control mode, the rotational directions of the two rotors that can control the symmetrical arrangement of the combined multi-rotor UAV can be controlled to be opposite or the same.
本实施例的多旋翼无人机的控制方法，通过对对接后的无人机的旋翼分布情况采取不同的控制模式进行控制，具有更强的针对性，有利于发挥对接后的无人机的飞行优势，提高对接后无人机的飞行效率，例如提高其飞行高度或者载重能力。The control method of the multi-rotor UAV of the present embodiment controls the rotor distribution of the docked drone by adopting different control modes, which is more targeted and is beneficial to the docking of the drone. The advantage of flight is to improve the flight efficiency of the docked drone, such as increasing its flying height or load capacity.
实施例4Example 4
本实施例提供一种多旋翼无人机的控制方法。图2为本实施例提供的多旋翼无人机的***结构示意图。This embodiment provides a control method for a multi-rotor UAV. FIG. 2 is a schematic structural diagram of a system of a multi-rotor UAV provided by the embodiment.
如图2所示，本实施例的控制方法是在上述实施例1-3中任一实施例的基础上，改变对接后的第一旋翼无人机1a、第二旋翼无人机1b的动力***控制模式。例如，可以改变第一旋翼无人机1a的动力***11a的控制模式，或者也可以改变第二旋翼无人机1b的动力***11b的控制方式，或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的动力***11a、11b的控制模式。As shown in FIG. 2, the control method of this embodiment is based on any of the foregoing embodiments 1-3, and the power of the docked first rotor drone 1a and the second rotor drone 1b is changed. System control mode. For example, the control mode of the power system 11a of the first rotor drone 1a may be changed, or the control mode of the power system 11b of the second rotor drone 1b may be changed, or the first rotor drone 1a may be simultaneously changed. And the control mode of the power systems 11a, 11b of the second rotor drone 1b.
具体的，动力***11a、11b的控制模式可以包括电子调速器、电动机、旋翼的不同工作状态的控制方式，例如可以包括电子调速器输出电压的大小、频率、及周期，电子调速器的信号输出模式、电动机的控制类型(旋转方向、转速、加速度等)、旋翼的倾斜角度等。因而，可以通过改变第一旋翼无人机1a和第二旋翼无人机1b中动力***11a、11b不同控制方式的组合，从而产生不同的拉伸力、航向改变方式及响应速度以及不同的负载力表现。Specifically, the control modes of the power systems 11a, 11b may include electronic speed governors, motors, and control modes of different operating states of the rotors, for example, may include the magnitude, frequency, and period of the output voltage of the electronic governor, and the electronic governor Signal output mode, motor control type (rotation direction, speed, acceleration, etc.), angle of inclination of the rotor, etc. Thus, by changing the combination of different control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b, different tensile forces, heading changes and response speeds, and different loads can be generated. Performance.
优选地，动力***11a、11b的控制模式可以包括旋翼的转速、旋翼的方向中的至少一种。通过控制旋翼的转速或者旋翼的转向可以简化操作，并提供与拉伸力和负载力以及响应速度更加直观的控制方式。Preferably, the control mode of the power system 11a, 11b may include at least one of the rotational speed of the rotor, the direction of the rotor. By controlling the speed of the rotor or the steering of the rotor, the operation can be simplified and a more intuitive control of the tensile and load forces as well as the response speed can be provided.
以下以两架四旋翼无人机在轴向方向对接以后进行控制为例，简要介绍如何改变第一旋翼无人机1a、第二旋翼无人机1b的动力***11a、11b的控制模式：The following is an example of controlling the two quadrotor UAVs in the axial direction after docking, and briefly describes how to change the control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b:
一种情况是，单独改变动力***中旋翼的最大转速。例如可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，而第 二架无人机中旋翼的最大转速保持第三最大转速不变；也可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，同时将第二架无人机中旋翼的最大转速由第三最大转速调整为第四最大转速。In one case, the maximum speed of the rotor in the powertrain is changed individually. For example, the maximum speed of the rotor in a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and The maximum speed of the rotor in the two drones remains the same as the third maximum speed; or the maximum speed of the rotor in a four-rotor drone is adjusted from the first maximum speed to the second maximum speed, and the second The maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed.
第二种情况是，单独改变动力***中旋翼的转向。例如可以是将一架四旋翼无人机中旋翼的转向由第一转向调整为第二转向，而第二架无人机中旋翼的转向保持第三转向不变；也可以是将一架四旋翼无人机中旋翼的转向由第一转向调整为第二转向，同时将第二架无人机中旋翼的转向由第三转向调整为第四转向。The second case is to individually change the steering of the rotor in the powertrain. For example, the steering of the rotor in one quadrotor UAV can be adjusted from the first steering to the second steering, and the steering of the rotor in the second drone keeps the third steering unchanged; The steering of the rotor in the rotor drone is adjusted from the first steering to the second steering, while the steering of the rotor in the second drone is adjusted from the third steering to the fourth steering.
第三种情况是，同时改变动力***中旋翼的最大转速和转向。例如可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并将其旋翼的转向由第一转向调整为第二转向，而第二架无人机中旋翼的最大转速和转向分别保持第三最大转速和第三转向不变。或者，也可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并将其旋翼的转向由第一转向调整为第二转向，同时将第二架无人机中旋翼的最大转速由第三最大转速调整为第四最大转速，并将其旋翼的转向由第三转向调整为第四转向。或者，还可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并保持其转向不变，同时保持第二架无人机中旋翼的最大转速不变，并将其转向由第三转向调整为第四转向。The third case is to simultaneously change the maximum speed and steering of the rotor in the powertrain. For example, the maximum speed of the rotor of a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the steering of the rotor is adjusted from the first direction to the second direction, and the second one is unmanned. The maximum speed and steering of the rotor in the machine are maintained at the third maximum speed and the third direction, respectively. Alternatively, it is also possible to adjust the maximum speed of the rotor of a quadrotor UAV from the first maximum speed to the second maximum speed, and adjust the steering of the rotor from the first steering to the second steering, and at the same time The maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed, and the steering of the rotor is adjusted from the third direction to the fourth direction. Alternatively, it is also possible to adjust the maximum speed of the rotor of a quadrotor UAV from the first maximum speed to the second maximum speed and keep the steering constant while maintaining the maximum speed of the rotor in the second drone. It does not change and turns it from a third turn to a fourth turn.
本实施例的多旋翼无人机的控制方法，通过改变多旋翼无人机中第一旋翼无人机1a、第二旋翼无人机1b或者同时改变二者可以获得不同的动力***的工作状态，进而能够获得不同的拉伸力以及承载力以适应不同应用场合的需求，极大的扩展了无人机的应用场景。The control method of the multi-rotor UAV of the embodiment can obtain different working states of the power system by changing the first rotor drone 1a, the second rotor drone 1b or both of the multi-rotor drones. In turn, different tensile forces and bearing capacities can be obtained to meet the needs of different applications, which greatly expands the application scenarios of the drone.
实施例5Example 5
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
请继续参考图2，本实施例的控制方法是在上述实施例1-4中任一实施例的基础上，改进对接后的多旋翼无人机中电源13a、13b的工作状态，以适应选取的多旋翼无人机的控制模式。例如，可以改变第一旋翼无人机1a的电源13a的控制模式，或者也可以改变第二旋翼无人机1b的电源13b的控制模式， 或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的电源13a、13b控制模式。With reference to FIG. 2, the control method of the embodiment is based on any of the foregoing embodiments 1-4, and the working states of the power supplies 13a and 13b in the docked multi-rotor UAV are improved to suit the selection. The control mode of the multi-rotor drone. For example, the control mode of the power source 13a of the first rotor drone 1a may be changed, or the control mode of the power source 13b of the second rotor drone 1b may also be changed. Alternatively, it is also possible to change the control modes of the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b at the same time.
具体的，电源控制模式可以包括第一旋翼无人机1a和第二旋翼无人机1b中电源13a、13b的供电顺序，供电的方式、供电时间以及供电量大小。通过控制对接后的多旋翼无人机中电源的工作状态，可以在不同的应用环境中为对接后的无人机提供适宜的工作电流，以保证对接后的无人机能够保持良好的负载能力、拉伸力和续航时间以满足相应的工作需求。Specifically, the power control mode may include a power supply sequence of the power supplies 13a, 13b in the first rotor drone 1a and the second rotor drone 1b, a power supply mode, a power supply time, and a power supply amount. By controlling the working state of the power supply in the docked multi-rotor UAV, it is possible to provide suitable working current for the docked drone in different application environments to ensure that the docked drone can maintain good load capacity. , tensile force and battery life to meet the corresponding work needs.
在一种可选的实施方式中，第一旋翼无人机1a和第二旋翼无人机1b的电源13a、13b同时为第一旋翼无人机1a和第二旋翼无人机1b供电，从而为第一旋翼无人机1a和第二旋翼无人机1b提供最大的电量保障，以满足例如短时间需要大拉伸力或者高负载的应用场景。例如，第一旋翼无人机1a的电源13a为第一旋翼无人机1a供电，第二旋翼无人机1b的电源13b为第二旋翼无人机1b供电；或者，第一旋翼无人机1a的电源13b为第二旋翼无人机1b供电，第二旋翼无人机1b的电源13b为第一旋翼无人机1a供电。In an optional embodiment, the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b simultaneously supply power to the first rotor drone 1a and the second rotor drone 1b, thereby The first rotor drone 1a and the second rotor drone 1b are provided with maximum power supply protection to meet, for example, an application scenario requiring a large tensile force or a high load for a short period of time. For example, the power source 13a of the first rotor drone 1a supplies power to the first rotor drone 1a, and the power source 13b of the second rotor drone 1b supplies power to the second rotor drone 1b; or, the first rotor drone The power source 13b of 1a supplies power to the second rotor drone 1b, and the power source 13b of the second rotor drone 1b supplies power to the first rotor drone 1a.
在第二种可选的实施方式中，选取第一旋翼无人机1a或者第二旋翼无人机1b中的一个作为主电源，另一个作为从电源，以适应需要长时间续航的应用场景。例如，将第一旋翼无人机1a的电源13a作为主电源并同时为第一旋翼无人机1a和第二旋翼无人机1b供电，或者将第二旋翼无人机1b的电源13b作为主电源并同时为第一旋翼无人机1a和第二旋翼无人机1b供电。进一步，当主电源的电量耗尽或者供电故障时，则将原从电源选定为新的主电源并将原主电源设置为新的从电源，从而保证对接后的多旋翼无人机供电稳定，提高其安全性。In the second alternative embodiment, one of the first rotor drone 1a or the second rotor drone 1b is selected as the main power source, and the other is used as the slave power source to adapt to the application scenario requiring long-term battery life. For example, the power source 13a of the first rotor drone 1a is used as the main power source while supplying power to the first rotor drone 1a and the second rotor drone 1b, or the power source 13b of the second rotor drone 1b is used as the main The power supply simultaneously supplies power to the first rotor drone 1a and the second rotor drone 1b. Further, when the main power source is exhausted or the power supply is faulty, the original slave power source is selected as the new master power source and the original master power source is set as the new slave power source, thereby ensuring stable power supply of the multi-rotor drone after docking, and improving Its security.
本实施例的多旋翼无人机的控制方法，通过对第一旋翼无人机1a和第二旋翼无人机1b的电源的工作状态进行控制，从而能够获得多种供电模式，例如更长时间的续航模式，以适应不同工作场景的需要。In the control method of the multi-rotor UAV of the present embodiment, by controlling the operating states of the power sources of the first rotor drone 1a and the second rotor drone 1b, various power supply modes can be obtained, for example, longer time. The endurance mode to suit the needs of different work scenarios.
实施例6Example 6
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
请继续参考图2，本实施例的控制方法是在上述实施例1-5中任一实施例的基础上，改进对接后的多旋翼无人机中传感器15a、15b的工作状态，以适 应所述选取的多旋翼无人机的控制模式。例如，可以改变第一旋翼无人机1a的传感器15a的控制模式，或者也可以改变第二旋翼无人机1b的传感器15b的控制模式，或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的传感器15a、15b控制模式。With reference to FIG. 2, the control method of this embodiment is based on any of the foregoing embodiments 1-5, and the working states of the sensors 15a and 15b in the docked multi-rotor UAV are improved to suit the application. The control mode of the multi-rotor drone selected as described. For example, the control mode of the sensor 15a of the first rotor drone 1a may be changed, or the control mode of the sensor 15b of the second rotor drone 1b may be changed, or the first rotor drone 1a and the first may be simultaneously changed. The sensors 15a, 15b of the second rotor drone 1b control the mode.
具体的，传感器15a、15b的工作状态包括开启数量、开启种类、开启时间、开启频率。例如，第一旋翼无人机1a的传感器15a可以全部开启，部分开启或者全部关闭；第二旋翼无人机1b的传感器15b也可以全部开启，部分开启或者全部关闭。经过对第一旋翼无人机1a和第二旋翼无人机1b中传感器15a、15b工作状态的控制，可以使得对接后的多旋翼无人机的传感器15a、15b形成开启或关闭，单独工作或冗余的工作模式。Specifically, the working states of the sensors 15a, 15b include the number of opening, the type of opening, the opening time, and the opening frequency. For example, the sensor 15a of the first rotor drone 1a may be fully open, partially open or fully closed; the sensor 15b of the second rotor drone 1b may also be fully open, partially open or fully closed. By controlling the working states of the sensors 15a, 15b in the first rotor drone 1a and the second rotor drone 1b, the sensors 15a, 15b of the docked multi-rotor drone can be turned on or off, working alone or Redundant mode of operation.
例如，可以开启第一旋翼无人机1a的超声波传感器，关闭第二旋翼无人机1b的超声波传感器，亦可以开启第二旋翼无人机1b的超声波传感器，关闭第一旋翼无人机1a的超声波传感器，还可以同时开启第一旋翼无人机1a和第二旋翼无人机1b的超声波传感器。同理的，也可以按照上述方式控制第一旋翼无人机1a和第二旋翼无人机1b中的其他传感器，例如气压计和双目避障。For example, the ultrasonic sensor of the first rotor drone 1a can be turned on, the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned off, and the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned on, and the first rotorless drone 1a can be turned off. The ultrasonic sensor can also simultaneously turn on the ultrasonic sensors of the first rotor drone 1a and the second rotor drone 1b. Similarly, other sensors in the first rotor drone 1a and the second rotor drone 1b, such as barometers and binocular obstacle avoidance, can also be controlled in the manner described above.
进一步，当第一旋翼无人机1a和第二旋翼无人机1b中的同一种传感器仅一个开启时，第一旋翼无人机1a和第二旋翼无人机1b所开启的传感器种类最好至少与对接前的第一旋翼无人机1a或第二旋翼无人机1b所开启的传感器种类相同，从而保证对接后的多旋翼无人机能够的感知能力不降低。Further, when only one of the same sensors in the first rotor drone 1a and the second rotor drone 1b is turned on, the first rotor drone 1a and the second rotor drone 1b have the best type of sensors At least the same type of sensor as that of the first rotor drone 1a or the second rotor drone 1b before the docking, so as to ensure that the perceived capability of the docked multi-rotor drone is not reduced.
当第一旋翼无人机1a和第二旋翼无人机1b中的同一种传感器均开启或者开启至少两个时，则第一旋翼无人机1a和第二旋翼无人机1b的该种传感器可以形成冗余状态或者互补状态。其中，冗余状态是指二者检测的是相同的信息，例如检测的均为气压信息，从而一个传感器构成另一个传感器的冗余，此时可以使用一个传感器所检测到的信息为另一个传感器进行校正。而互补状态则是指两个传感器所实现的功能互补，例如，第一旋翼无人机1a的摄像头向前而第二旋翼无人机1b的摄像头向后，从而可以使对接后的无人机具有360°无死角的拍摄能力，也即，拓展了对接后的无人机的功能。When the same sensor in the first rotor drone 1a and the second rotor drone 1b is turned on or turned on at least two, the sensors of the first rotor drone 1a and the second rotor drone 1b A redundant state or a complementary state can be formed. The redundant state refers to the same information detected by the two, for example, the detected air pressure information, so that one sensor constitutes redundancy of another sensor, and the information detected by one sensor can be used as another sensor. Make corrections. The complementary state refers to the complementary functions achieved by the two sensors. For example, the camera of the first rotor drone 1a is forward and the camera of the second rotor drone 1b is backward, so that the docked drone can be made. It has a shooting ability of 360° without dead angle, that is, it expands the function of the docked drone.
本实施例的多旋翼无人机的控制方法，通过对第一旋翼无人机1a和第二旋翼无人机1b中传感器的控制，可以实现不同的传感器组合方式，实现更多 的功能，从而满足不同的工作需求以适应更多的工作场合。In the control method of the multi-rotor UAV of the embodiment, by controlling the sensors in the first rotor drone 1a and the second rotor drone 1b, different sensor combinations can be realized, and more implementations can be realized. The ability to meet different job requirements to accommodate more work situations.
实施例7Example 7
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
本实施例的控制方法是在上述实施例1-6中任一实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b的固定连接方式。The control method of this embodiment is based on any of the above embodiments 1-6 to improve the fixed connection manner of the first rotor drone 1a and the second rotor drone 1b.
在本实施例中，固定机构将第一旋翼无人机1a和第二旋翼无人机1b可拆卸连接在一起。In the present embodiment, the fixing mechanism detachably connects the first rotor drone 1a and the second rotor drone 1b.
具体的，第一旋翼无人机1a和第二旋翼无人机1b的可拆卸连接可以采用现有技术中任意的可拆卸连接方式，例如可以是螺栓连接、销接、键连接以及某些铆接等。优选地，第一旋翼无人机1a和第二旋翼无人机1b采用卡接的方式可拆卸连接在一起，例如可以在第一旋翼无人机1a上设置卡头，在第二旋翼无人机1b上设置与该卡头相互配合的卡口。通过卡接的方式连接第一旋翼无人机1a和第二旋翼无人机1b可以使连接结构比较简单，同时也易于进行对接操作。Specifically, the detachable connection of the first rotor drone 1a and the second rotor drone 1b may be any detachable connection method in the prior art, such as bolting, pinning, keying, and some riveting. Wait. Preferably, the first rotor drone 1a and the second rotor drone 1b are detachably coupled together by a snapping manner, for example, a chuck can be provided on the first rotor drone 1a, and the second rotor is unmanned A bayonet that cooperates with the chuck is disposed on the machine 1b. Connecting the first rotor drone 1a and the second rotor drone 1b by snapping together can make the connection structure relatively simple and also easy to perform the docking operation.
本实施例的多旋翼无人机的控制方法，通过使用可拆卸连接的对接方式来连接第一旋翼无人机1a和第二旋翼无人机1b，这样可以使得无人机更加灵活，在一些应用场景中可以直接使用单一的旋翼式无人机，在一些应用场景中可以使用对接后的多旋翼无人机。The control method of the multi-rotor UAV of the present embodiment connects the first rotor drone 1a and the second rotor drone 1b by using a detachable connection docking manner, which can make the drone more flexible, in some A single rotor-type drone can be used directly in the application scenario, and the docked multi-rotor drone can be used in some application scenarios.
实施例8Example 8
本实施例提供一种多旋翼无人机的控制方法。图3为本实施例提供的多旋翼无人机的一种简化结构示意图；图4为本实施例提供的多旋翼无人机另一种简化结构示意图。This embodiment provides a control method for a multi-rotor UAV. FIG. 3 is a schematic diagram of a simplified structure of the multi-rotor UAV provided by the embodiment; FIG. 4 is a schematic diagram of another simplified structure of the multi-rotor UAV provided by the embodiment.
如图3和图4所示，本实施例的控制方法是在实施例1-7中任一实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b的对接方向。As shown in FIG. 3 and FIG. 4, the control method of the present embodiment is based on any of the embodiments 1-7, improving the docking direction of the first rotor drone 1a and the second rotor drone 1b. .
在本实施例中，将第一旋翼无人机1a和第二旋翼无人机1b在轴向方向固定连接，以使对接后的多旋翼无人机具有更小的径向尺寸并获得较佳的协同效应。In the present embodiment, the first rotor drone 1a and the second rotor drone 1b are fixedly coupled in the axial direction, so that the docked multi-rotor drone has a smaller radial size and is better. Synergistic effect.
具体的，可以根据实际应用需要，比如对于传感器15a、15b工作状态的 选择，或者根据无人机顶面或者底面设置连接结构的难易程度，或者根据控制的难易程度来选择第一旋翼无人机1a和第二旋翼无人机1b的具体固定方式。Specifically, it may be according to actual application requirements, such as working states of the sensors 15a, 15b. Selecting, or setting the connection structure according to the difficulty of the top or bottom surface of the drone, or selecting the specific fixing manner of the first rotor drone 1a and the second rotor drone 1b according to the difficulty of control.
如图3所示，在第一种可选的实施方式中，可以将第一旋翼无人机1a的顶面与第二旋翼无人机1b的顶面固定连接。这样的对接方式可以同时利用第一旋翼无人机1a和第二旋翼无人机1b的摄像头，从而获得更好的拍摄效果。As shown in FIG. 3, in the first alternative embodiment, the top surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. Such a docking method can simultaneously utilize the cameras of the first rotor drone 1a and the second rotor drone 1b, thereby obtaining a better shooting effect.
在第二种可选的实施方式中，可以将第一旋翼无人机1a的底面与第二旋翼无人机1b的底面固定连接。这样的对接方式可以避免脚架对对接的影响，减小对接的难度。In a second alternative embodiment, the bottom surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. Such a docking method can avoid the influence of the tripod on the docking and reduce the difficulty of docking.
在第三种可选的实施方式中，可以将第一旋翼无人机1a的顶面与第二旋翼无人机1b的底面固定连接。这种情况适合第一旋翼无人机1a位于第二旋翼无人机1b下方时，可以减少控制难度。In a third alternative embodiment, the top surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. In this case, when the first rotor drone 1a is located below the second rotor drone 1b, the control difficulty can be reduced.
如图4所示，在第四种可选的实施方式中，可以将第一旋翼无人机1a的底面与第二旋翼无人机1b的顶面固定连接。这样在对接时无需对无人机进行翻转，尤其是在空中进行自动对接时，可以提高对接的质量。As shown in FIG. 4, in a fourth alternative embodiment, the bottom surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. In this way, it is not necessary to flip the drone when docking, especially when the docking is performed in the air, the quality of the docking can be improved.
本实施例的多旋翼无人机的控制方法，通过对第一旋翼无人机1a和第二旋翼无人机1b对接面的选择，可以得到更好的功能，或者降低对接的难度，提高对接的质量，或者简化对接的操作，从而最大程度的扩展对接后的多旋翼无人机的应用需求。In the control method of the multi-rotor UAV of the embodiment, by selecting the interface of the first rotor drone 1a and the second rotor drone 1b, better functions can be obtained, or the difficulty of docking can be reduced, and docking can be improved. The quality, or simplified docking operation, to maximize the application requirements of the docked multi-rotor drone.
实施例9Example 9
本实施例提供一种多旋翼无人机的控制方法。图5为本实施例提供的多旋翼无人机的一种简化结构示意图；图6为本实施例提供的多旋翼无人机的另一种简化结构示意图。This embodiment provides a control method for a multi-rotor UAV. FIG. 5 is a schematic diagram of a simplified structure of a multi-rotor UAV according to an embodiment of the present invention; FIG. 6 is a schematic diagram of another simplified structure of the multi-rotor UAV provided by the embodiment.
如图3-6所示，本实施例的控制方法是在上述实施例1-8中任一实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b旋翼的相对位置，以获得不同的拉伸力。As shown in FIG. 3-6, the control method of this embodiment is based on any of the foregoing embodiments 1-8, and the relative relationship between the first rotor unmanned aerial vehicle 1a and the second rotary airplane unmanned aerial vehicle 1b rotor is improved. Position to get different stretching forces.
在一种可选的实施方式中，可以将第一旋翼无人机1a的旋翼和第二旋翼无人机1b的旋翼在轴向方向叠合在一起。例如，如图4和图5所示，将两架四旋翼无人机的旋翼叠合在一起形成一个上下两层重叠在一起的八旋翼无人 机。并且，经过发明人的大量测试后发现，将第一旋翼无人机1a和第二旋翼无人机1b的旋翼叠合在一起后可以使得无人机的拉伸力提高50％左右，进而使得对接后的多旋翼无人机能够飞的更高。In an alternative embodiment, the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be stacked together in the axial direction. For example, as shown in Figures 4 and 5, the rotors of two four-rotor UAVs are stacked together to form an eight-rotor with two layers overlapping one another. machine. Moreover, after extensive testing by the inventors, it is found that stacking the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 50%, thereby The docked multi-rotor drone can fly higher.
在另一种可选的实施方式中，可以将第一旋翼无人机1a的旋翼和第二旋翼无人机1b的旋翼在径向方向偏置设置。例如，如图3和图6所示，将两架四旋翼无人机的旋翼交错形成一个上下层交错的八旋翼无人机。并且，经过发明人的大量测试后发现，将第一旋翼无人机1a和第二旋翼无人机1b的旋翼交错在一起后可以使得无人机的拉伸力提高70％-80％左右，进而使得对接后的多旋翼无人机能够飞的更高，以及搭载更多的物品。In another alternative embodiment, the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be offset in a radial direction. For example, as shown in Figures 3 and 6, the rotors of two four-rotor UAVs are interleaved to form an eight-rotor UAV that is staggered in the upper and lower layers. Moreover, after extensive testing by the inventors, it is found that the intertwining of the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 70%-80%. In turn, the docked multi-rotor drone can fly higher and carry more items.
本实施例的多旋翼无人机的控制方法，通过控制第一旋翼无人机1a旋翼和第二旋翼无人机1b旋翼的相对位置，可以产生不同的拉伸力，以适应对接后的无人机的不同工作环境和工作要求。The control method of the multi-rotor UAV of the present embodiment can generate different tensile forces by controlling the relative positions of the first rotor unmanned aerial vehicle 1a rotor and the second rotary wing unmanned aerial vehicle 1b rotor to adapt to the after docking. Different working environments and work requirements for man and machine.
实施例10Example 10
本实施例提供一种多旋翼无人机的控制方法。This embodiment provides a control method for a multi-rotor UAV.
请参阅图3-5，本实施例的控制方法是在上述实施例1-9中任一实施例的基础上，将第一旋翼无人机1a的旋翼或第二旋翼无人机1b的旋翼绕径向方向旋转180度。例如，请参阅图3和图5，将第二旋翼无人机1b的旋翼绕进行旋转180度，从而使得第一旋翼无人机1a和第二旋翼无人机1b的旋翼能够形成协同效应，从而提高对接后的多旋翼无人机的工作效率。Referring to FIG. 3-5, the control method of this embodiment is based on any of the foregoing embodiments 1-9, and the rotor of the first rotor drone 1a or the rotor of the second rotor drone 1b Rotate 180 degrees in the radial direction. For example, referring to FIG. 3 and FIG. 5, the rotor of the second rotor drone 1b is rotated by 180 degrees, so that the rotors of the first rotor drone 1a and the second rotor drone 1b can form a synergistic effect. Thereby improving the working efficiency of the docked multi-rotor drone.
本实施例的多旋翼无人机的控制方法，通过改变第一旋翼无人机1a和第二旋翼无人机1b旋翼的正反方向，可以使得对接后的无人机产生不同的拉伸力，从而提高对接后的多旋翼无人机的适应性。The control method of the multi-rotor UAV of the embodiment can change the forward and reverse directions of the rotors of the first rotor unmanned aerial vehicle 1a and the second rotorcraft unmanned aerial vehicle 1b, so that the docked unmanned aerial vehicles can generate different tensile forces. Therefore, the adaptability of the docked multi-rotor drone is improved.
实施例11Example 11
本实施例提供一种多旋翼无人机的控制方法。图7是本实施例提供的多旋翼无人机自动空中自动对接方法的流程图。This embodiment provides a control method for a multi-rotor UAV. FIG. 7 is a flowchart of an automatic airborne automatic docking method for a multi-rotor UAV according to the embodiment.
如图7所示，本实施例的控制方法是在上述实施例1-10中任一实施例的基础上，控制第一旋翼无人机1a与第二旋翼无人机1b在空中自动对接。As shown in FIG. 7, the control method of this embodiment controls the first rotor drone 1a and the second rotor drone 1b to automatically dock in the air on the basis of any of the above embodiments 1-10.
具体的，控制第一旋翼无人机1a和第二旋翼无人机1b在空中自动对接 的方法可以采用现有的任意飞行器自动对接方法，例如可以采用空中加油机所采用的自动对接方法。Specifically, the first rotor drone 1a and the second rotor drone 1b are automatically docked in the air. The method can adopt the existing automatic docking method of any aircraft, for example, the automatic docking method adopted by the aerial tanker can be adopted.
进一步，如图7所示，在一种可选的实施方式中，可以采用如下步骤进行自动对接：Further, as shown in FIG. 7, in an optional implementation manner, the following steps may be used for automatic docking:
S1011、获取第一旋翼无人机与所述第二旋翼无人机的当前位置信息。S1011: Acquire current position information of the first rotor drone and the second rotor drone.
具体的，可以通过GPS、北斗导航***获取第一旋翼无人机1a与第二旋翼无人机1b的当前位置关系，也可以通过雷达获取第一旋翼无人机1a与第二旋翼无人机1b的当前位置关系，还可以通过现有技术中其他方法获取第一旋翼无人机1a与第二旋翼无人机1b的当前位置关系。Specifically, the current positional relationship between the first rotor unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle 1b can be obtained by using GPS or Beidou navigation system, and the first rotary wing unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle can also be obtained by radar. For the current positional relationship of 1b, the current positional relationship between the first rotor drone 1a and the second rotor drone 1b can also be obtained by other methods in the prior art.
S1012、根据所述当前位置信息，控制所述第一旋翼无人机及所述第二旋翼无人机运动至上下对应位置，并且航向轴基本重合。S1012, according to the current position information, controlling the first rotor drone and the second rotor drone to move to upper and lower corresponding positions, and the heading axes substantially coincide.
具体的，可以通过主控制器控制第一旋翼无人机1a和第二旋翼无人机1b运动至对应位置，并调整第一旋翼无人机1a和第二旋翼无人机1b的角度使其与航向轴基本重合；也可以分别通过第一旋翼无人机1a和第二旋翼无人机1b的控制器控制第一旋翼无人机1a和第二旋翼无人机1b运动至对应位置，并调整第一旋翼无人机1a和第二旋翼无人机1b的角度使其与航向轴基本重合。Specifically, the first rotor drone 1a and the second rotor drone 1b can be controlled to move to corresponding positions by the main controller, and the angles of the first rotor drone 1a and the second rotor drone 1b are adjusted to be Basically coincident with the heading axis; the first rotor drone 1a and the second rotor drone 1b can also be controlled to move to corresponding positions by the controllers of the first rotor drone 1a and the second rotor drone 1b, respectively, and The angles of the first rotor drone 1a and the second rotor drone 1b are adjusted to substantially coincide with the heading axis.
S1013、根据所述对接方式，调节所述第一旋翼无人机或/及所述第二旋翼无人机的航向角，直至所述第一旋翼无人机的航向角与所述第二旋翼无人机的航向角的角度差为预设值。S1013. Adjust a heading angle of the first rotor drone or/and the second rotor drone according to the docking manner until a heading angle of the first rotor drone and the second rotor The angle difference of the heading angle of the drone is a preset value.
具体的，可以通过主控制器控制第一旋翼无人机1a、第二旋翼无人机1b的航向角，也可以通过第一旋翼无人机1a和第二旋翼无人机1b的控制器分别控制第一旋翼无人机1a、第二旋翼无人机1b的航向角。Specifically, the head angles of the first rotor drone 1a and the second rotor drone 1b may be controlled by the main controller, or may be controlled by the controllers of the first rotor drone 1a and the second rotor drone 1b, respectively. The heading angles of the first rotor drone 1a and the second rotor drone 1b are controlled.
此外，通过将第一旋翼无人机1a的航向角和第二旋翼无人机1b的航向角的角度差控制在预设值以内，可以避免航向角的偏差形成干扰对对接后的多旋翼无人机的工作效率产生影响，从而保证对接后的多旋翼无人机能够更好的工作。In addition, by controlling the angle difference between the heading angle of the first rotor drone 1a and the heading angle of the second rotor drone 1b within a preset value, it is possible to avoid the deviation of the heading angle from forming interference and the multi-rotor after the docking. The efficiency of the man-machine is influential, thus ensuring that the multi-rotor drone after docking can work better.
S1014、控制所述第一旋翼无人机或/及所述第二旋翼无人机装载的自动锁定机构，将所述第一旋翼无人机与所述第二旋翼无人机固定连接在一起。S1014. Control an automatic locking mechanism loaded by the first rotor drone or/and the second rotor drone to fix the first rotor drone to the second rotor drone .
具体的，自动锁定机构可以是机械臂，通过该机械臂可以将第一旋翼无 人机1a拉至第二旋翼无人机1b，或者将第二旋翼无人机1b拉至第一旋翼无人机1a，并最终固定连接在一起。例如，当机械臂将第一旋翼无人机1a拉至第二旋翼无人机1b时，第一旋翼无人机1a的卡头对准第二旋翼无人机1b的卡口并卡合在一起，从而实现第一旋翼无人机1a和第二旋翼无人机1b的固定。当然，自动锁定机构也可以是卡头或者卡扣等。Specifically, the automatic locking mechanism may be a mechanical arm through which the first rotor can be The man machine 1a is pulled to the second rotor drone 1b, or the second rotor drone 1b is pulled to the first rotor drone 1a, and finally fixedly coupled together. For example, when the robot arm pulls the first rotor drone 1a to the second rotor drone 1b, the chuck of the first rotor drone 1a is aligned with the bayonet of the second rotor drone 1b and is engaged with Together, the fixing of the first rotor drone 1a and the second rotor drone 1b is thereby achieved. Of course, the automatic locking mechanism can also be a chuck or a buckle.
此外，还需要说明的是，在第一旋翼无人机1a和第二旋翼无人机1b的自动对接过程中，两架无人机对接面的部件可以进行自动折叠或者自动收纳到容纳腔中，以避免对接面上的结构影响第一旋翼无人机1a和第二旋翼无人机1b的对接。例如，当第一旋翼无人机1a的底面和第二旋翼无人机1b的顶面对接时，可以将第一旋翼无人机1a的脚架进行折叠或者收缩回第一旋翼无人机1a的机架中，并将第二旋翼无人机1b的GPS模块进行折叠或者收缩回第二旋翼无人机1b的机架中。可以理解的是，当由操作者对第一旋翼无人机1a和第二旋翼无人机1b进行对接时，第一旋翼无人机1a和第二旋翼无人机1b的对接面的部件也可以自动折叠或者收缩；或者也可以由操作者对这些部件进行拆除，以实现第一旋翼无人机1a和第二旋翼无人机1b的对接操作。In addition, it should be noted that in the automatic docking process of the first rotor drone 1a and the second rotor drone 1b, the components of the docking surfaces of the two drones can be automatically folded or automatically stored in the accommodating cavity. To avoid the structure on the docking surface affecting the docking of the first rotor drone 1a and the second rotor drone 1b. For example, when the bottom surface of the first rotor drone 1a and the top of the second rotor drone 1b face each other, the tripod of the first rotor drone 1a can be folded or contracted back to the first rotor drone. In the rack of 1a, the GPS module of the second rotor drone 1b is folded or retracted back into the rack of the second rotor drone 1b. It can be understood that when the first rotor drone 1a and the second rotor drone 1b are docked by the operator, the components of the mating surfaces of the first rotor drone 1a and the second rotor drone 1b are also The components can be automatically folded or shrunk; or the components can be removed by the operator to achieve the docking operation of the first rotor drone 1a and the second rotor drone 1b.
本实施例的多旋翼无人机的控制方法，通过控制第一旋翼无人机1a和第二旋翼无人机1b自动对接，可以提高第一旋翼无人机1a和第二旋翼无人机1b的协同能力，尤其是能够在某些特殊场合下发挥重要作用，例如当一架无人机在空中出现故障时，比如，电力不足时，通过自动对接的方式可以将出现故障的无人机安全带回地面。又如，当一架无人机需要提高飞行高度而其自身的拉伸力并不足以满足该要求时，通过在空中与另一架无人机自动对接，从而可以提高拉伸力以获得更高的飞行高度。The control method of the multi-rotor UAV of the present embodiment can improve the first rotor drone 1a and the second rotor drone 1b by controlling the first rotor drone 1a and the second rotor drone 1b to automatically dock. The synergy ability, especially in certain special occasions, such as when a drone fails in the air, for example, when the power is insufficient, the faulty drone can be safely connected by means of automatic docking. Bring back to the ground. Another example is that when a drone needs to increase the flying height and its own tensile force is not enough to meet the requirement, it can be increased by stretching the air directly with another drone. High flying height.
实施例12Example 12
本实施例提供一种多旋翼无人机。图8为本实施例提供的多旋翼无人机的一种结构示意图；图9为本实施例提供的多旋翼无人机的另一种结构示意图。This embodiment provides a multi-rotor drone. FIG. 8 is a schematic structural diagram of a multi-rotor UAV provided by the embodiment; FIG. 9 is another schematic structural view of the multi-rotor UAV provided by the embodiment.
如图8和9所示，本实施例提供的多旋翼无人机，包括：第一旋翼无人机1a、第二旋翼无人机1b以及固定机构1c。其中，第一旋翼无人机1a，包括第一机架19a、安装在该第一机架19a上的多个第一旋翼组件111a。第二 旋翼无人机1b，包括第二机架19b、安装在该第二机架19b上的多个第二旋翼组件111b。固定机构1c，用于将第一机架19a与第二机架19b固定连接在一起。As shown in FIG. 8 and 9, the multi-rotor UAV provided by this embodiment includes: a first rotor drone 1a, a second rotor drone 1b, and a fixing mechanism 1c. The first rotor drone 1a includes a first frame 19a and a plurality of first rotor assemblies 111a mounted on the first frame 19a. Second The rotor drone 1b includes a second frame 19b, and a plurality of second rotor assemblies 111b mounted on the second frame 19b. The fixing mechanism 1c is for fixedly connecting the first frame 19a and the second frame 19b.
并且，第一旋翼无人机1a或第二旋翼无人机1b还包括主控制器，用于根据第一旋翼无人机1a和第二旋翼无人机1b的对接方式选取对接后的多旋翼无人机的控制模式，控制上述多个第一旋翼组件111a以及所述多个第二旋翼组件111b。Moreover, the first rotor drone 1a or the second rotor drone 1b further includes a main controller for selecting the docked multi-rotor according to the docking manner of the first rotor drone 1a and the second rotor drone 1b. The control mode of the drone controls the plurality of first rotor assemblies 111a and the plurality of second rotor assemblies 111b.
具体来说，第一旋翼无人机1a的第一旋翼组件111a可以是四个、六个或者八个等，也即，第一旋翼无人机1a可以是四旋翼无人机、六旋翼无人机或者八旋翼无人机等。同理，第二旋翼无人机1b的第二旋翼组件111b也可以是四个、六个或者八个等，也即，第二旋翼无人机1b可以是四旋翼无人机、六旋翼无人机或者八旋翼无人机等。Specifically, the first rotor assembly 111a of the first rotor drone 1a may be four, six or eight, etc., that is, the first rotor drone 1a may be a quadrotor drone or a six-rotor. Man-machine or eight-rotor drones. Similarly, the second rotor assembly 111b of the second rotor drone 1b may also be four, six or eight, etc., that is, the second rotor drone 1b may be a quadrotor drone or a six-rotor. Man-machine or eight-rotor drones.
固定机构1c，可以是用于固定连接第一机架19a和第二机架19b的任意现有机构，例如铆钉、螺钉、键或者卡接臂、机械手等。固定机构1c可以仅设于第一机架19a上，也可以仅设于第二机架19b，或者，第一机架19a和第二机架19b均设有固定机构1c。The fixing mechanism 1c may be any existing mechanism for fixedly connecting the first frame 19a and the second frame 19b, such as rivets, screws, keys or snap arms, robots, and the like. The fixing mechanism 1c may be provided only on the first frame 19a, or may be provided only in the second frame 19b, or the first frame 19a and the second frame 19b may be provided with a fixing mechanism 1c.
第一旋翼无人机1a和第二旋翼无人机1b的对接方式在本实施例不作具体限定。例如在固定连接的方式上，可以采用可拆卸连接或者不可拆卸连接。并且，在本实施例中，可拆卸连接或者不可拆卸连接可以选用任意现有技术中的方式。又例如在对接方向上，可以在轴向上进行对接，也可以在径向上进行对接，还可以在斜向上进行对接。举例来说，可以将两个四旋翼无人机在轴向上可拆卸连接在一起，从而形成一个双层旋翼的八旋翼无人机。或者，也可以将一个四旋翼无人机和一个六旋翼无人机在轴向上不可拆卸连接在一起，从而形成一个双层旋翼的十旋翼无人机。或者，还可以将两个四旋翼无人机在径向方向上可拆卸的连接在一起，形成一个单层旋翼的八旋翼无人机。The manner of docking the first rotor drone 1a and the second rotor drone 1b is not specifically limited in this embodiment. For example, in a fixed connection manner, a detachable connection or a non-detachable connection may be employed. Moreover, in the present embodiment, the detachable connection or the non-detachable connection may be selected in any manner in the prior art. Further, for example, in the butting direction, the butting may be performed in the axial direction, the butting may be performed in the radial direction, or the butting may be performed in the oblique direction. For example, two quadrotor drones can be detachably coupled together in the axial direction to form a two-rotor eight-rotor drone. Alternatively, a quadrotor drone and a six-rotor drone may be non-detachably coupled axially to form a double-rotor, ten-rotor drone. Alternatively, two quadrotor drones can be detachably coupled together in a radial direction to form a single-rotor eight-rotor drone.
此外，选取对接后的多旋翼无人机的控制模式时，可以根据第一旋翼无人机1a和第二旋翼无人机1b的对接方向、旋翼数量来选择对接后的多旋翼无人机的控制模式。例如，当两个四旋翼无人机在轴向上对接组成一个八旋翼无人机时，可以选择以前的四旋翼无人机的控制模式，也可以选择专门为双层八旋翼无人机准备的控制模式。 In addition, when the control mode of the docked multi-rotor UAV is selected, the docking multi-rotor UAV can be selected according to the docking direction of the first rotor drone 1a and the second rotor drone 1b and the number of rotors. Control mode. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor UAV, the control mode of the previous quadrotor UAV can be selected, or it can be specially prepared for the double-decker eight-rotor UAV. Control mode.
当选取好对接后的多旋翼无人机的控制模式后，主控制器就可以根据该控制模式控制上述多个第一旋翼组件111a和多个第二旋翼组件111b。例如，当两架四旋翼无人机在轴向方向对接而成一个八旋翼的无人机时，选取的对接后的控制模式可以控制第一旋翼无人机1a的多个第一旋翼组件111a按照原来的方式工作，而控制第二旋翼无人机1b的多个旋翼组件按照新的方式工作。进一步来说，主控制器可以是控制第一旋翼组件111a中的旋翼顺时针旋转而控制第二旋翼组件111b中的旋翼逆时针旋转。当然，也可以是主控制器控制第一旋翼组件111a和第二旋翼组件111b中的旋翼均按照顺时针的方向旋转。After selecting the control mode of the docked multi-rotor UAV, the main controller can control the plurality of first rotor assemblies 111a and the plurality of second rotor assemblies 111b according to the control mode. For example, when two quadrotor UAVs are docked in the axial direction to form an eight-rotor drone, the selected docking control mode can control the plurality of first rotor assemblies 111a of the first rotor drone 1a. Working in the original manner, the plurality of rotor assemblies controlling the second rotor drone 1b operate in a new manner. Further, the main controller may control the clockwise rotation of the rotor in the first rotor assembly 111a to control the counterclockwise rotation of the rotor in the second rotor assembly 111b. Of course, it is also possible that the main controller controls the rotors in the first rotor assembly 111a and the second rotor assembly 111b to rotate in a clockwise direction.
另外，还需要说明的是，对接后的多旋翼无人机至少还包括一组脚架1d，用于该多旋翼无人机的起降。具体的，这组脚架1d位于对接后的多旋翼无人机的下侧，其可以在飞行过程中进行折叠或者收缩回对接后的多旋翼无人机的机架中。进一步来说，这一组脚架1d可以是对接时未拆除的第一旋翼无人机1a或者第二旋翼无人机1b的脚架1d，也可以是根据对接后第一旋翼无人机1a和第二旋翼无人机1b的相对位置而由主控制器控制位于下侧的第一旋翼无人机1a或者第二旋翼无人机1b中展开构成的。再进一步，对接后的多旋翼无人机也可以有两对脚架1d，从而在即使发生翻转时也能实现起降。In addition, it should be noted that the docked multi-rotor UAV further includes at least one set of tripods 1d for taking off and landing of the multi-rotor drone. Specifically, the set of tripods 1d are located on the underside of the docked multi-rotor drone, which can be folded or retracted into the frame of the docked multi-rotor drone during flight. Further, the set of tripods 1d may be the first rotorless drone 1a or the second rotorless drone 1b's tripod 1d that is not removed when docked, or may be based on the docked first rotorless drone 1a. The relative position of the second rotor drone 1b is controlled by the main controller to control the first rotor drone 1a or the second rotor drone 1b located on the lower side. Further, the docked multi-rotor drone can also have two pairs of tripods 1d, so that landing can be achieved even if the flipping occurs.
本实施例的多旋翼无人机，通过将第一旋翼无人机1a和第二旋翼无人机1b进行对接，并根据对接方式由主控制器选取相应的控制模式来控制多个第一旋翼组件111a和多个第二旋翼组件111b，对接后的多旋翼无人机的旋翼数量和电池容量均得以提高，使得续航能力、载重能力和拉伸力均有明显的改善，从而能够解决单个无人机存在的例如需要大载重、大升力或者长时间续航的问题。The multi-rotor UAV of the present embodiment controls the plurality of first rotors by docking the first rotor drone 1a and the second rotor drone 1b, and selecting a corresponding control mode by the main controller according to the docking mode. The component 111a and the plurality of second rotor assemblies 111b, the number of rotors and the battery capacity of the docked multi-rotor UAV are improved, so that the endurance, load capacity and tensile force are significantly improved, thereby solving a single Man-machines, for example, require large loads, large lifts, or long battery life.
实施例13Example 13
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
请参阅图2，在实施例12的基础上，第一旋翼无人机1a还包括用于控制多个第一旋翼组件111a的一个或多个第一控制器17a；第二旋翼无人机1b还包括用于控制多个第二旋翼组件111b的一个或多个第二控制器17b；主控制器用于在第一旋翼无人机1a与第二旋翼无人机1b对接时，同时与第一控 制器17a以及第二控制器17b通信连接，并且根据选取的多旋翼无人机的控制模式通过第一控制器17a以及第二控制器17b控制多个第一旋翼组件111a以及多个第二旋翼组件111b。Referring to FIG. 2, on the basis of Embodiment 12, the first rotor drone 1a further includes one or more first controllers 17a for controlling the plurality of first rotor assemblies 111a; the second rotor drones 1b Also included is one or more second controllers 17b for controlling the plurality of second rotor assemblies 111b; the main controller is for simultaneously and first when the first rotor drone 1a is docked with the second rotor drone 1b Control The controller 17a and the second controller 17b are communicatively coupled, and control the plurality of first rotor assemblies 111a and the plurality of second rotors through the first controller 17a and the second controller 17b according to the selected control mode of the multi-rotor drone Component 111b.
具体的，第一旋翼无人机1a的第一控制器17a可以是第一旋翼无人机1a的飞行控制器，第二旋翼无人机1b的第二控制器17b也可以是第二旋翼无人机1b的飞行控制器。Specifically, the first controller 17a of the first rotor drone 1a may be the flight controller of the first rotor drone 1a, and the second controller 17b of the second rotor drone 1b may also be the second rotor. Flight controller of man machine 1b.
主控制器与第一旋翼无人机1a和第二旋翼无人机1b的通信连接的方式可以是有线连接也可以是无线连接，例如可以是在主控制器、第一旋翼无人机1a和第二旋翼无人机1b上设置相互配合的通信端子和接头，或者也可以是在主控制器、第一旋翼无人机1a和第二旋翼无人机1b上设置无线通信模块，比如可以是wifi模块、蓝牙模块。The communication connection between the main controller and the first rotor drone 1a and the second rotor drone 1b may be a wired connection or a wireless connection, for example, in the main controller, the first rotor drone 1a, and The second rotor drone 1b is provided with a cooperative communication terminal and a joint, or a wireless communication module may be disposed on the main controller, the first rotor drone 1a and the second rotor drone 1b, for example, Wifi module, Bluetooth module.
在一种可选的实施方式中，主控制器可以是单独设置的不同于第一旋翼无人机1a以及第二旋翼无人机1b的飞行控制器的独立控制器，专门用于对对接的多旋翼无人飞行器进行控制。例如，可以在第一旋翼无人机1a或者第二旋翼无人机1b中加设一块飞行控制板或者在第一旋翼无人机1a或者第二旋翼无人机1b的飞行控制板上增加相应的控制模块，或者还可以是在地面站中设置相应的控制程序、控制模块，或者也可以是在遥控器中设置相应的控制模块并通过切换按钮以实现切换。这样可以简化在对接与非对接之间进行控制模式的切换，相对比较简单方便。In an optional embodiment, the main controller may be a separate controller separately provided from the flight controllers of the first rotor drone 1a and the second rotor drone 1b, specifically for docking Multi-rotor unmanned aerial vehicles are controlled. For example, a flight control panel may be added to the first rotor drone 1a or the second rotor drone 1b or may be added to the flight control panel of the first rotor drone 1a or the second rotor drone 1b. The control module may also be a corresponding control program or control module set in the ground station, or a corresponding control module may be set in the remote controller and switched by switching buttons. This simplifies the switching of control modes between docking and non-docking, which is relatively simple and convenient.
在另一种可选的实施方式中，主控制器可以是第一旋翼无人机1a的飞行控制器或者第二旋翼无人机1b的飞行控制器。这样可以简化电路结构，节省成本。In another alternative embodiment, the main controller may be the flight controller of the first rotor drone 1a or the flight controller of the second rotor drone 1b. This simplifies the circuit structure and saves costs.
本实施例的多旋翼无人机，通过主控制器分别控制第一控制器17a和第二控制器17b来实现对第一旋翼组件111a和第二旋翼组件111b的控制，能够提高控制效率，而且在某些情况下可以实现远距离的控制，例如当主控制器设置在地面站时。In the multi-rotor UAV of the present embodiment, the first controller 17a and the second controller 17b are respectively controlled by the main controller to control the first rotor assembly 111a and the second rotor assembly 111b, thereby improving control efficiency, and Remote control can be achieved in some cases, such as when the primary controller is set up at a ground station.
实施例14Example 14
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
本实施例的多旋翼无人机是在实施例12或13的基础上，由主控制器选 取第一旋翼无人机1a和第二旋翼无人机1b中的一个作为主机，用于按照选择的对接后的多旋翼无人机的控制模式，分别控制主机和从机。The multi-rotor UAV of the embodiment is based on the embodiment 12 or 13 and is selected by the main controller. One of the first rotor drone 1a and the second rotor drone 1b is taken as a host for controlling the master and the slave respectively according to the control mode of the selected docked multi-rotor drone.
具体的，主控制器可以按照常规的方式选择第一旋翼无人机1a和第二旋翼无人机1b中的一个作为主机，将另一个作为从机，在此不再赘述。Specifically, the main controller may select one of the first rotor drone 1a and the second rotor drone 1b as a host in a conventional manner, and the other as a slave, and details are not described herein again.
进一步，当主机的控制信号出现故障时，主控制器可以将原从机选定为新的主机，并将原主机设置为新的从机，从而保障对接后的多旋翼无人机的使用安全。Further, when the control signal of the host fails, the main controller can select the original slave as the new master and set the original master as the new slave, thereby ensuring the safe use of the docked multi-rotor drone. .
本实施例的多旋翼无人机，通过设置主从机，并由主机同时控制主从机进行工作，可以在不增加过多硬件的基础上实现对对接后的多旋翼无人机的控制，从而简化结构、节省成本并提高控制的可靠性。The multi-rotor UAV of the embodiment can control the multi-rotor UAV after docking by setting the master-slave and controlling the master-slave to work at the same time. This simplifies the structure, saves costs and increases the reliability of the control.
实施例15Example 15
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
继续参考图2，本实施例的多旋翼无人机是在实施例12-14中任一实施例的基础上，将对接后的多旋翼无人机的控制模式设置为包括：同轴控制模式，异轴控制模式。With reference to FIG. 2, the multi-rotor UAV of the present embodiment is based on any of the embodiments 12-14, and the control mode of the docked multi-rotor UAV is set to include: coaxial control mode. , different axis control mode.
其中，同轴控制模式是指第一旋翼无人机1a和第二旋翼无人机1b在轴向方向对接，并且，对接后的多旋翼无人机的上下两个旋翼在同一轴线上，例如，两架四旋翼无人机的旋翼完全叠合在一起。异轴控制模式是指第一旋翼无人机1a和第二旋翼无人机1b的旋翼在径向方向交错设置，例如，两架无人机在径向方向对接，或者，两架无人机在轴向方向对接，但是二者的旋翼却在径向方向偏置一定距离。需要说明的是，异轴控制模式还包括第一旋翼无人机1a和第二旋翼无人机1b的旋翼部分同轴部分异轴的情况，例如，一架四旋翼无人机和一架六旋翼无人机或者一架八旋翼无人机在轴向方向对接后的多旋翼无人机，其中四旋翼无人机和六旋翼无人机的旋翼部分有重叠的情况。Wherein, the coaxial control mode means that the first rotor drone 1a and the second rotor drone 1b are docked in the axial direction, and the upper and lower rotors of the docked multi-rotor drone are on the same axis, for example The rotors of the two quadrotor drones are completely superposed. The different-axis control mode means that the rotors of the first rotor drone 1a and the second rotor drone 1b are staggered in the radial direction, for example, two drones are docked in the radial direction, or two drones Docking in the axial direction, but the rotors of the two are offset by a certain distance in the radial direction. It should be noted that the different-axis control mode further includes a case where the coaxial portions of the rotor portions of the first rotor drone 1a and the second rotor drone 1b are different axes, for example, a quad-rotor drone and a six-rotor A multi-rotor drone that is docked in the axial direction by a rotary wing drone or an eight-rotor drone, in which the rotor portions of the four-rotor UAV and the six-rotor UAV overlap.
更具体的，同轴控制模式时，可以控制组合后的多旋翼无人机的同轴两个旋翼的旋转方向相反。异轴控制模式时，可以控制组合后的多旋翼无人机的对称设置的两个旋翼的旋转方向相反或相同。More specifically, in the coaxial control mode, the coaxial two rotors of the combined multi-rotor UAV can be controlled to rotate in opposite directions. In the different axis control mode, the rotational directions of the two rotors that can control the symmetrical arrangement of the combined multi-rotor UAV can be controlled to be opposite or the same.
本实施例的多旋翼无人机，通过对对接后的无人机的旋翼分布情况采取 不同的控制模式进行控制，具有更强的针对性，有利于发挥对接后的无人机的飞行优势，提高对接后无人机的飞行效率，例如提高其飞行高度或者载重能力。The multi-rotor UAV of the embodiment adopts the distribution of the rotor of the docked drone Different control modes are controlled, which is more targeted, which is beneficial to the flight advantage of the docked drone and improve the flight efficiency of the docked drone, such as increasing its flying height or load capacity.
实施例16Example 16
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
继续参考图2，本实施例的多旋翼无人机是在上述实施例12-15的任一实施例基础上，改变对接后的第一旋翼无人机1a、第二旋翼无人机1b的动力***控制模式，例如，可以改变第一旋翼无人机1a的动力***11a的控制模式，或者也可以改变第二旋翼无人机1b的动力***11b的控制模式，或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的动力***11a、11b控制模式。With reference to FIG. 2, the multi-rotor UAV of the present embodiment is based on any of the embodiments of the above embodiments 12-15, and the first rotorless drone 1a and the second rotorless drone 1b are changed. The power system control mode, for example, may change the control mode of the power system 11a of the first rotor drone 1a, or may also change the control mode of the power system 11b of the second rotor drone 1b, or may also change the first The power systems 11a, 11b of the rotor drone 1a and the second rotor drone 1b control the mode.
具体的，动力***的控制模式可以包括电子调速器、电动机和旋翼不同工作状态的控制方式，例如可以包括电子调速器输出电压的大小、频率、及周期，电子调速器的信号输出模式、电动机的控制类型(旋转方向、转速、加速度等)、旋翼的倾斜角度等。因而，可以通过改变第一旋翼无人机1a和第二旋翼无人机1b中动力***11a、11b不同控制方式的组合，从而产生不同的拉伸力、航向改变方式及响应速度以及不同的负载力表现。Specifically, the control mode of the power system may include electronic speed governor, motor and rotor control modes of different working states, for example, may include the magnitude, frequency, and period of the output voltage of the electronic governor, and the signal output mode of the electronic governor , the type of control of the motor (rotation direction, speed, acceleration, etc.), the angle of inclination of the rotor, and so on. Thus, by changing the combination of different control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b, different tensile forces, heading changes and response speeds, and different loads can be generated. Performance.
优选地，动力***的控制模式可以包括旋翼的转速、旋翼的方向中的至少一种。通过控制旋翼的转速或者旋翼的转向可以简化操作，并提供与拉伸力和负载力以及响应速度更加直观的控制方式。Preferably, the control mode of the power system may include at least one of a rotational speed of the rotor, a direction of the rotor. By controlling the speed of the rotor or the steering of the rotor, the operation can be simplified and a more intuitive control of the tensile and load forces as well as the response speed can be provided.
以下以两架四旋翼无人机在轴向方向对接以后进行控制为例，简要介绍如何改变第一旋翼无人机1a、第二旋翼无人机1b的动力***11a、11b的控制模式：The following is an example of controlling the two quadrotor UAVs in the axial direction after docking, and briefly describes how to change the control modes of the power systems 11a, 11b of the first rotor drone 1a and the second rotor drone 1b:
一种情况是，单独改变动力***中旋翼的最大转速。例如可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，而第二架无人机中旋翼的最大转速保持第三最大转速不变；也可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，同时将第二架无人机中旋翼的最大转速由第三最大转速调整为第四最大转速。In one case, the maximum speed of the rotor in the powertrain is changed individually. For example, the maximum speed of the rotor in one quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the maximum speed of the rotor in the second drone remains the third maximum speed; The maximum speed of the rotor of a quadrotor UAV is adjusted from the first maximum speed to the second maximum speed, and the maximum speed of the rotor in the second drone is adjusted from the third maximum speed to the fourth maximum speed. .
第二种情况是，单独改变动力***中旋翼的转向。例如可以是将一架四 旋翼无人机中旋翼的转向由第一转向调整为第二转向，而第二架无人机中旋翼的转向保持第三转向不变；也可以是将一架四旋翼无人机中旋翼的转向由第一转向调整为第二转向，同时将第二架无人机中旋翼的转向由第三转向调整为第四转向。The second case is to individually change the steering of the rotor in the powertrain. For example, it can be a four The steering of the rotor in the rotorcraft is adjusted from the first steering to the second steering, while the steering of the rotor in the second drone keeps the third steering unchanged; it can also be the rotor of a quadrotor. The steering is adjusted from the first steering to the second steering while the steering of the rotor in the second drone is adjusted from the third steering to the fourth steering.
第三种情况是，同时改变动力***中旋翼的最大转速和转向。例如可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并将其旋翼的转向由第一转向调整为第二转向，而第二架无人机中旋翼的最大转速和转向分别保持第三最大转速和第三转向不变。或者，也可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并将其旋翼的转向由第一转向调整为第二转向，同时将第二架无人机中旋翼的最大转速由第三最大转速调整为第四最大转速，并将其旋翼的转向由第三转向调整为第四转向。或者，还可以是将一架四旋翼无人机中旋翼的最大转速由第一最大转速调整为第二最大转速，并保持其转向不变，同时保持第二架无人机中旋翼的最大转速不变，并将其转向由第三转向调整为第四转向。The third case is to simultaneously change the maximum speed and steering of the rotor in the powertrain. For example, the maximum speed of the rotor of a quadrotor UAV can be adjusted from the first maximum speed to the second maximum speed, and the steering of the rotor is adjusted from the first direction to the second direction, and the second one is unmanned. The maximum speed and steering of the rotor in the machine are maintained at the third maximum speed and the third direction, respectively. Alternatively, it is also possible to adjust the maximum speed of the rotor of a quadrotor UAV from the first maximum speed to the second maximum speed, and adjust the steering of the rotor from the first steering to the second steering, and at the same time The maximum speed of the rotor in the drone is adjusted from the third maximum speed to the fourth maximum speed, and the steering of the rotor is adjusted from the third direction to the fourth direction. Alternatively, it is also possible to adjust the maximum speed of the rotor of a quadrotor UAV from the first maximum speed to the second maximum speed and keep the steering constant while maintaining the maximum speed of the rotor in the second drone. It does not change and turns it from a third turn to a fourth turn.
本实施例的多旋翼无人机，通过改变多旋翼无人机中第一旋翼无人机1a、第二旋翼无人机1b或者同时改变二者可以获得不同的动力***工作状态，进而能够获得不同的拉伸力以及承载力以适应不同应用场合的需求，极大的扩展了无人机的应用场景。The multi-rotor UAV of the embodiment can obtain different power system working states by changing the first rotor drone 1a, the second rotor drone 1b or both of the multi-rotor drones, thereby obtaining Different tensile forces and bearing capacities are adapted to the needs of different applications, greatly expanding the application scenarios of the drone.
实施例17Example 17
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
继续参考图2，本实施例的多旋翼无人机是在上述实施例12-16中任一实施例的基础上，改进对接后的多旋翼无人机中电源的工作状态，以适应选取的多旋翼无人机的控制模式。例如，可以改变第一旋翼无人机1a的电源13a、控制模式，或者也可以改变第二旋翼无人机1b的电源13b控制模式，或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的电源13a、13b控制模式。With reference to FIG. 2, the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-16, and improves the working state of the power supply in the docked multi-rotor UAV to adapt to the selected Multi-rotor drone control mode. For example, the power source 13a of the first rotor drone 1a, the control mode, or the power source 13b control mode of the second rotor drone 1b may be changed, or the first rotor drone 1a and the second may be simultaneously changed. The power supply 13a, 13b of the rotor drone 1b controls the mode.
具体的，电源控制模式可以包括第一旋翼无人机1a和第二旋翼无人机1b中电源的供电顺序，供电方式、供电时间以及供电量大小。通过控制对接后 的多旋翼无人机中电源的工作状态，可以在不同的应用环境中为对接后的无人机提供适宜的工作电流，以保证对接后的无人机能够保持良好的负载能力、拉伸力和续航时间以满足相应的工作需求。Specifically, the power control mode may include a power supply sequence, a power supply mode, a power supply time, and a power supply amount of the power source in the first rotor drone 1a and the second rotor drone 1b. After controlling the docking The working state of the power supply in the multi-rotor UAV can provide suitable working current for the docked drone in different application environments to ensure that the docked drone can maintain good load capacity and tensile force. And battery life to meet the corresponding work needs.
在一种可选的实施方式中，第一旋翼无人机1a和第二旋翼无人机1b的电源13a、13b同时为第一旋翼无人机1a和第二旋翼无人机1b供电，从而为第一旋翼无人机1a和第二旋翼无人机1b提供最大的电源保障，以满足例如短时间需要大拉伸力或者高负载的应用场景。例如，第一旋翼无人机1a的电源13a为第一旋翼无人机1a供电，第二旋翼无人机1b的电源13b为第二旋翼无人机1b供电；或者，第一旋翼无人机1a的电源13a为第二旋翼无人机1b供电，第二旋翼无人机1b的电源13b为第一旋翼无人机1a供电。In an optional embodiment, the power sources 13a, 13b of the first rotor drone 1a and the second rotor drone 1b simultaneously supply power to the first rotor drone 1a and the second rotor drone 1b, thereby The first rotor drone 1a and the second rotor drone 1b are provided with maximum power supply protection to meet, for example, an application scenario requiring a large tensile force or a high load for a short period of time. For example, the power source 13a of the first rotor drone 1a supplies power to the first rotor drone 1a, and the power source 13b of the second rotor drone 1b supplies power to the second rotor drone 1b; or, the first rotor drone The power source 13a of 1a supplies power to the second rotor drone 1b, and the power source 13b of the second rotor drone 1b supplies power to the first rotor drone 1a.
在第二种可选的实施方式中，选取第一旋翼无人机1a或者第二旋翼无人机1b中的一个作为主电源，另一个作为从电源，以适应需要长时间续航的应用场景。例如，将第一旋翼无人机1a的电源13a作为主电源并同时为第一旋翼无人机1a和第二旋翼无人机1b供电，或者将第二旋翼无人机1b的电源13b作为主电源并同时为第一旋翼无人机1a和第二旋翼无人机1b供电。进一步，当主电源的电量耗尽或者供电故障时，则将原从电源选定为新的主电源并将原主电源设置为新的从电源，从而保证对接后的多旋翼无人机供电稳定，提高其安全性。In the second alternative embodiment, one of the first rotor drone 1a or the second rotor drone 1b is selected as the main power source, and the other is used as the slave power source to adapt to the application scenario requiring long-term battery life. For example, the power source 13a of the first rotor drone 1a is used as the main power source while supplying power to the first rotor drone 1a and the second rotor drone 1b, or the power source 13b of the second rotor drone 1b is used as the main The power supply simultaneously supplies power to the first rotor drone 1a and the second rotor drone 1b. Further, when the main power source is exhausted or the power supply is faulty, the original slave power source is selected as the new master power source and the original master power source is set as the new slave power source, thereby ensuring stable power supply of the multi-rotor drone after docking, and improving Its security.
本实施例的多旋翼无人机，通过对第一旋翼无人机1a和第二旋翼无人机1b的电源的工作状态进行控制，从而能够获得多种供电模式，例如更长时间的续航模式，以适应不同工作场景的需要。In the multi-rotor UAV of the present embodiment, by controlling the operating states of the power sources of the first rotor drone 1a and the second rotor drone 1b, it is possible to obtain various power supply modes, such as a longer time battery mode. To adapt to the needs of different work scenarios.
实施例18Example 18
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
继续参考图2，本实施例的多旋翼无人机是在上述实施例12-17中任一实施例的基础上，改进对接后的多旋翼无人机中传感器的工作状态，以适应所述选取的多旋翼无人机的控制模式。例如，可以改变第一旋翼无人机1a的传感器15a控制模式，或者也可以改变第二旋翼无人机1b的传感器15b控制模式，或者还可以同时改变第一旋翼无人机1a和第二旋翼无人机1b的传感器15a、15b控制模式。 With continued reference to FIG. 2, the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-17, and improves the working state of the sensor in the docked multi-rotor UAV to adapt to the The control mode of the selected multi-rotor drone. For example, the sensor 15a control mode of the first rotor drone 1a may be changed, or the sensor 15b control mode of the second rotor drone 1b may be changed, or the first rotor drone 1a and the second rotor may be simultaneously changed. The sensors 15a, 15b of the drone 1b control the mode.
具体的，传感器的工作状态包括开启数量、开启种类、开启时间、开启频率。例如，第一旋翼无人机1a的传感器15a可以全部开启，部分开启或者全部关闭；第二旋翼无人机1b的传感器15b也可以全部开启，部分开启或者全部关闭。经过对第一旋翼无人机1a和第二旋翼无人机1b中传感器15a、15b工作状态的控制，可以使得对接后的多旋翼无人机的传感器形成开启或关闭，单独工作或冗余的多种工作模式。Specifically, the working state of the sensor includes the number of opening, the type of opening, the opening time, and the opening frequency. For example, the sensor 15a of the first rotor drone 1a may be fully open, partially open or fully closed; the sensor 15b of the second rotor drone 1b may also be fully open, partially open or fully closed. By controlling the working states of the sensors 15a, 15b in the first rotor drone 1a and the second rotor drone 1b, the sensors of the docked multi-rotor drone can be turned on or off, working alone or redundantly. A variety of work modes.
例如，可以开启第一旋翼无人机1a的超声波传感器，关闭第二旋翼无人机1b的超声波传感器，亦可以开启第二旋翼无人机1b的超声波传感器，关闭第一旋翼无人机1a的超声波传感器，还可以同时开启第一旋翼无人机1a和第二旋翼无人机1b的超声波传感器。同理的，也可以按照上述方式控制第一旋翼无人机1a和第二旋翼无人机1b中的其他传感器，例如气压计和摄像头。For example, the ultrasonic sensor of the first rotor drone 1a can be turned on, the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned off, and the ultrasonic sensor of the second rotor unmanned aerial vehicle 1b can be turned on, and the first rotorless drone 1a can be turned off. The ultrasonic sensor can also simultaneously turn on the ultrasonic sensors of the first rotor drone 1a and the second rotor drone 1b. Similarly, other sensors in the first rotor drone 1a and the second rotor drone 1b, such as a barometer and a camera, can also be controlled in the manner described above.
进一步，当第一旋翼无人机1a和第二旋翼无人机1b中的同一种传感器仅一个开启时，第一旋翼无人机1a和第二旋翼无人机1b所开启的传感器种类最好至少与对接前的第一旋翼无人机1a或第二旋翼无人机1b所开启的传感器种类相同，从而保证对接后的多旋翼无人机能够的感知能力不降低。Further, when only one of the same sensors in the first rotor drone 1a and the second rotor drone 1b is turned on, the first rotor drone 1a and the second rotor drone 1b have the best type of sensors At least the same type of sensor as that of the first rotor drone 1a or the second rotor drone 1b before the docking, so as to ensure that the perceived capability of the docked multi-rotor drone is not reduced.
当第一旋翼无人机1a和第二旋翼无人机1b中的同一种传感器均开启或者开启至少两个时，则第一旋翼无人机1a和第二旋翼无人机1b的该种传感器可以形成冗余状态或者互补状态。其中，冗余状态是指二者检测的是相同的信息，例如检测的均为气压信息，从而一个传感器构成另一个传感器的冗余，此时可以使用一个传感器所检测到的信息为另一个传感器进行校正。而互补状态则是指两个传感器所实现的功能互补，例如，第一旋翼无人机1a的摄像头向前二第二旋翼无人机1b的摄像头向后，从而可以使对接后的无人机具有360°无死角的拍摄能力，也即，拓展了对接后的无人机的功能。When the same sensor in the first rotor drone 1a and the second rotor drone 1b is turned on or turned on at least two, the sensors of the first rotor drone 1a and the second rotor drone 1b A redundant state or a complementary state can be formed. The redundant state refers to the same information detected by the two, for example, the detected air pressure information, so that one sensor constitutes redundancy of another sensor, and the information detected by one sensor can be used as another sensor. Make corrections. The complementary state refers to the complementary functions achieved by the two sensors. For example, the camera of the first rotor drone 1a forwards the camera of the second rotor drone 1b backward, so that the docked drone can be made. It has a shooting ability of 360° without dead angle, that is, it expands the function of the docked drone.
本实施例的多旋翼无人机，通过对第一旋翼无人机1a和第二旋翼无人机1b中传感器的控制，可以实现不同的传感器组合方式，实现更多的功能，从而满足不同的工作需求以适应更多的工作场合。The multi-rotor UAV of the present embodiment can realize different sensor combinations and realize more functions by controlling the sensors in the first rotor drone 1a and the second rotor drone 1b, thereby satisfying different functions. Work needs to adapt to more workplaces.
实施例19Example 19
本实施例提供一种多旋翼无人机。 This embodiment provides a multi-rotor drone.
本实施例的多旋翼无人机是在实施例12-18中任一项实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b的固定连接方式。The multi-rotor UAV of the present embodiment is based on the embodiment of any of Embodiments 12-18, and improves the fixed connection manner of the first rotor drone 1a and the second rotor drone 1b.
在本实施例中，固定机构1c将第一机架111a和第二机架111b可拆卸连接在一起。In the present embodiment, the fixing mechanism 1c detachably connects the first frame 111a and the second frame 111b together.
具体的，固定机构1c可以采用现有技术中任意的可拆卸连接方式固定第一机架111a和第二机架111b，例如可以是螺栓连接、销接、键连接以及某些铆接等。优选地，固定机构1c采用卡接的方式可拆卸连接第一机架111a和第二机架111b，例如固定机构1c可以是在第一机架111a上设置的卡头以及在第二机架111b上设置与该卡头相互配合的卡口。固定机构1c通过卡接的方式连接第一机架111a和第二机架111b，结构比较简单，同时也易于进行对接操作。Specifically, the fixing mechanism 1c can fix the first frame 111a and the second frame 111b by any detachable connection method in the prior art, and may be, for example, a bolt connection, a pin connection, a key connection, and some riveting. Preferably, the fixing mechanism 1c is detachably connected to the first frame 111a and the second frame 111b by a snapping manner. For example, the fixing mechanism 1c may be a chuck disposed on the first frame 111a and the second frame 111b. A bayonet that cooperates with the card head is disposed on the top. The fixing mechanism 1c is connected to the first frame 111a and the second frame 111b by means of snapping, and the structure is relatively simple, and the docking operation is also easy.
本实施例的多旋翼无人机，通过使用可拆卸连接的对接方式来连接第一旋翼无人机1a和第二旋翼无人机1b，这样可以使得无人机更加灵活，在一些应用场景中可以直接使用单一的旋翼式无人机，在一些应用场景中可以使用对接后的多旋翼无人机。The multi-rotor UAV of the present embodiment connects the first rotor drone 1a and the second rotor drone 1b by using a detachable connection docking manner, which can make the drone more flexible, in some application scenarios. A single rotor-type drone can be used directly, and in some applications, a docked multi-rotor drone can be used.
实施例20Example 20
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
请参考图3-6、图8和图9，本实施例的多旋翼无人机是在上述实施例12-19中任一实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b的对接方向。Referring to FIG. 3-6, FIG. 8 and FIG. 9, the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-19, and the first rotor drone 1a and the second are improved. The docking direction of the rotor drone 1b.
在本实施例中，将第一旋翼无人机1a和第二旋翼无人机1b在轴向方向固定连接，以使对接后的多旋翼无人机具有更小的径向尺寸并获得较佳的协同效应。In the present embodiment, the first rotor drone 1a and the second rotor drone 1b are fixedly coupled in the axial direction, so that the docked multi-rotor drone has a smaller radial size and is better. Synergistic effect.
具体的，可以根据实际应用需要，比如对于传感器15a、15b工作状态的选择，或者根据无人机顶面或者底面设置连接结构的难易程度，或者根据控制的难易程度来选择第一旋翼无人机1a和第二旋翼无人机1b的具体固定方式。Specifically, it may be selected according to actual application requirements, such as the selection of the working states of the sensors 15a, 15b, or the difficulty of setting the connection structure according to the top or bottom surface of the drone, or selecting the first rotor according to the difficulty of the control. The specific fixing manner of the human machine 1a and the second rotor drone 1b.
如图3所示，在第一种可选的实施方式中，可以将第一旋翼无人机1a的顶面与第二旋翼无人机1b的顶面固定连接。这样的对接方式可以同时利用第 一旋翼无人机1a和第二旋翼无人机1b的摄像头，从而获得更好的拍摄效果。As shown in FIG. 3, in the first alternative embodiment, the top surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. Such a docking method can simultaneously utilize the A camera of a rotor drone 1a and a second rotor drone 1b, thereby obtaining a better shooting effect.
在第二种可选的实施方式中，可以将第一旋翼无人机1a的底面与第二旋翼无人机1b的底面固定连接。这样的对接方式可以避免脚架1d对对接的影响，减小对接的难度。In a second alternative embodiment, the bottom surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. Such a docking manner can avoid the influence of the tripod 1d on the docking and reduce the difficulty of docking.
在第三种可选的实施方式中，可以将第一旋翼无人机1a的顶面与第二旋翼无人机1b的底面固定连接。这种情况适合第一旋翼无人机1a位于第二旋翼无人机1b下方时，可以减少控制难度。In a third alternative embodiment, the top surface of the first rotor drone 1a can be fixedly coupled to the bottom surface of the second rotor drone 1b. In this case, when the first rotor drone 1a is located below the second rotor drone 1b, the control difficulty can be reduced.
如图4所示，在第四种可选的实施方式中，可以将第一旋翼无人机1a的底面与第二旋翼无人机1b的顶面固定连接。这样在对接时无需对无人机进行翻转，尤其是在空中进行自动对接时，可以提高对接的质量。As shown in FIG. 4, in a fourth alternative embodiment, the bottom surface of the first rotor drone 1a can be fixedly coupled to the top surface of the second rotor drone 1b. In this way, it is not necessary to flip the drone when docking, especially when the docking is performed in the air, the quality of the docking can be improved.
本实施例的多旋翼无人机，通过对第一旋翼无人机1a和第二旋翼无人机1b对接面的选择，可以得到更好的功能，或者降低对接的难度，提高对接的质量，或者简化对接的操作，从而最大程度的扩展对接后的多旋翼无人机的应用需求。The multi-rotor UAV of the present embodiment can obtain better functions by selecting the abutting faces of the first rotor drone 1a and the second rotor drone 1b, or reduce the difficulty of docking and improve the quality of docking. Or simplify the docking operation to maximize the application requirements of the docked multi-rotor drone.
实施例21Example 21
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
请继续参考图3-6、图8和图9，本实施例的多旋翼无人机是在上述实施例12-20中任一实施例的基础上，改进第一旋翼无人机1a和第二旋翼无人机1b的旋翼进行改进，以获得不同的拉伸力。With reference to FIG. 3-6, FIG. 8 and FIG. 9, the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-20, and the first rotor drone 1a and the first The rotor of the second rotor drone 1b is modified to obtain different tensile forces.
在一种可选的实施方式中，可以将第一旋翼无人机1a的旋翼和第二旋翼无人机1b的旋翼在轴向方向叠合在一起。例如，如图4、图5或者图8所示，将两架四旋翼无人机的旋翼叠合在一起形成一个上下两层重叠在一起的八旋翼无人机。并且，经过发明人的大量测试后发现，将第一旋翼无人机1a和第二旋翼无人机1b的旋翼叠合在一起后可以使得无人机的拉伸力提高50％左右，进而使得对接后的多旋翼无人机能够飞的更高。In an alternative embodiment, the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be stacked together in the axial direction. For example, as shown in FIG. 4, FIG. 5 or FIG. 8, the rotors of the two quadrotor drones are stacked to form an eight-rotor drone that overlaps the upper and lower layers. Moreover, after extensive testing by the inventors, it is found that stacking the rotors of the first rotor drone 1a and the second rotor drone 1b can increase the tensile force of the drone by about 50%, thereby The docked multi-rotor drone can fly higher.
在另一种可选的实施方式中，可以将第一旋翼无人机1a的旋翼和第二旋翼无人机1b的旋翼在径向方向偏置设置。例如，如图3、图6或者图9所示，将两架四旋翼无人机的旋翼交错形成一个上下层交错的八旋翼无人机。并且，经过发明人的大量测试后发现，将第一旋翼无人机1a和第二旋翼无人机1b 的旋翼交错在一起后可以使得无人机的拉伸力提高70％-80％左右，进而使得对接后的多旋翼无人机能够飞的更高，以及搭载更多的物品。In another alternative embodiment, the rotor of the first rotor drone 1a and the rotor of the second rotor drone 1b may be offset in a radial direction. For example, as shown in FIG. 3, FIG. 6, or FIG. 9, the rotors of the two four-rotor UAVs are interlaced to form an eight-rotor UAV that is staggered in the upper and lower layers. Moreover, after extensive testing by the inventors, it was found that the first rotor drone 1a and the second rotor drone 1b The intertwined rotors can increase the stretch force of the drone by about 70%-80%, which allows the docked multi-rotor drone to fly higher and carry more items.
本实施例的多旋翼无人机，通过使第一旋翼无人机1a旋翼和第二旋翼无人机1b的旋翼处于不同的相对位置，从而可以产生不同的拉伸力，以适应对接后的无人机的不同工作环境和工作要求。In the multi-rotor UAV of the embodiment, by making the rotors of the first rotor drone 1a rotor and the second rotor drone 1b at different relative positions, different tensile forces can be generated to adapt to the docking Different working environments and work requirements of drones.
实施例22Example 22
本实施例提供一种多旋翼无人机。This embodiment provides a multi-rotor drone.
请参见图3、图5、图8和图9，本实施例的多旋翼无人机是在上述实施例12-21中任一实施例的基础上，将第一旋翼无人机1a的旋翼或第二旋翼无人机1b的旋翼绕径向方向旋转180度。例如，如图3、图5、图8和图9所示，将第二旋翼无人机1b的旋翼绕进行旋转180度，从而使得第一旋翼无人机1a和第二旋翼无人机1b的旋翼能够形成协同效应，从而提高对接后的多旋翼无人机的工作效率。Referring to FIG. 3, FIG. 5, FIG. 8 and FIG. 9, the multi-rotor UAV of the present embodiment is based on any of the above embodiments 12-21, and the rotor of the first rotor drone 1a is used. Or the rotor of the second rotor drone 1b is rotated 180 degrees in the radial direction. For example, as shown in FIGS. 3, 5, 8, and 9, the rotor of the second rotor drone 1b is rotated 180 degrees so that the first rotor drone 1a and the second rotor drone 1b The rotors create a synergistic effect that increases the efficiency of the docked multi-rotor drone.
本实施例的多旋翼无人机，通过改变第一旋翼无人机1a和第二旋翼无人机1b旋翼的相对方向，可以使得对接后的无人机产生不同的拉伸力，从而提高对接后的多旋翼无人机的适应性。In the multi-rotor UAV of the embodiment, by changing the relative directions of the rotors of the first rotor unmanned aerial vehicle 1a and the second rotorcraft unmanned aerial vehicle 1b, the docked unmanned aerial vehicles can generate different tensile forces, thereby improving docking. The adaptability of the rear multi-rotor drone.
实施例23Example 23
本实施例提供一种多旋翼无人机。图10为本实施例提供的拆除了脚架1d的第一旋翼无人机的结构示意图；图11为本实施例提供的拆除了GPS模块的第二旋翼无人机的结构示意图。This embodiment provides a multi-rotor drone. FIG. 10 is a schematic structural view of a first rotor unmanned aerial vehicle with a tripod 1d removed according to the embodiment; FIG. 11 is a schematic structural view of a second rotorless drone with a GPS module removed according to the embodiment.
本实施例的多旋翼无人机是在上述实施例12-22中任一实施例的基础上，所述主控制器包括：位置调整模块、航向角调整模块以及自动锁定模块。The multi-rotor UAV of the embodiment is based on any one of the embodiments 12-22, wherein the main controller comprises: a position adjustment module, a heading angle adjustment module, and an automatic locking module.
其中，位置调整模块，用于根据获取到的当前位置信息控制所述第一旋翼无人机1a及所述第二旋翼无人机1b运动至上下对应位置，并且航向轴基本重合。The position adjustment module is configured to control the first rotor drone 1a and the second rotor drone 1b to move to upper and lower corresponding positions according to the acquired current position information, and the heading axes substantially coincide.
具体的，可以通过GPS、北斗导航***获取第一旋翼无人机1a与第二旋翼无人机1b的当前位置关系，也可以通过雷达获取第一旋翼无人机1a与第二旋翼无人机1b的当前位置关系，还可以通过现有技术中其他方法获取第一 旋翼无人机1a与第二旋翼无人机1b的当前位置关系。Specifically, the current positional relationship between the first rotor unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle 1b can be obtained by using GPS or Beidou navigation system, and the first rotary wing unmanned aerial vehicle 1a and the second rotary wing unmanned aerial vehicle can also be obtained by radar. The current positional relationship of 1b can also be obtained by other methods in the prior art. The current positional relationship between the rotor drone 1a and the second rotor drone 1b.
同时，位置调整模块控制第一旋翼无人机1a和第二旋翼无人机1b运动至对应位置，并调整第一旋翼无人机1a和第二旋翼无人机1b的角度使其与航向轴基本重合。更具体的，位置调整模块可以是单独设置的主控器中的一个模块，也可以是选定的主机中的一个模块，或者还可以是第一控制器17a和第二控制器17b中的模块。At the same time, the position adjustment module controls the first rotor drone 1a and the second rotor drone 1b to move to the corresponding positions, and adjusts the angles of the first rotor drone 1a and the second rotor drone 1b to the heading axis. Basically coincident. More specifically, the position adjustment module may be one of the separately set main controllers, or may be one of the selected hosts, or may be a module in the first controller 17a and the second controller 17b. .
航向角调整模块，用于根据所述对接方式调节所述第一旋翼无人机1a或/及所述第二旋翼无人机1b的航向角，直至所述第一旋翼无人机1a的航向角与所述第二旋翼无人机1b的航向角的角度差为预设值。a heading angle adjustment module, configured to adjust a heading angle of the first rotor drone 1a or/and the second rotor drone 1b according to the docking manner until a heading of the first rotor drone 1a The angular difference between the angle and the heading angle of the second rotor drone 1b is a preset value.
具体的，航向角调整模块可以是单独设置的主控器中的一个模块，也可以是选定的主机中的一个模块，或者还可以是第一控制器17a和第二控制器17b中的模块。Specifically, the heading angle adjustment module may be one of the separately set main controllers, or may be one of the selected hosts, or may be a module in the first controller 17a and the second controller 17b. .
此外，通过将第一旋翼无人机1a的航向角和第二旋翼无人机1b的航向角的角度差控制在预设值以内，可以避免航向角的偏差形成干扰对对接后的多旋翼无人机的工作效率产生影响，从而保证对接后的多旋翼无人机能够更好的工作。In addition, by controlling the angle difference between the heading angle of the first rotor drone 1a and the heading angle of the second rotor drone 1b within a preset value, it is possible to avoid the deviation of the heading angle from forming interference and the multi-rotor after the docking. The efficiency of the man-machine is influential, thus ensuring that the multi-rotor drone after docking can work better.
自动锁定模块，用于控制所述固定机构1c将所述第一机架与第二机架可拆卸固定在一起。An automatic locking module for controlling the fixing mechanism 1c to detachably fix the first frame and the second frame together.
具体的，固定机构1c可以是机械臂，通过该机械臂可以将第一旋翼无人机1a拉至第二旋翼无人机1b，或者将第二旋翼无人机1b拉至第一旋翼无人机1a，并最终将第一机架和第二机架可拆卸固定在一起。例如，当机械臂将第一旋翼无人机1a拉至第二旋翼无人机1b时，第一机架上设置的卡头对准第二机架上设置的卡口并卡合在一起，从而实现第一旋翼无人机1a和第二旋翼无人机1b的固定。Specifically, the fixing mechanism 1c may be a mechanical arm through which the first rotor drone 1a can be pulled to the second rotor drone 1b, or the second rotor drone 1b can be pulled to the first rotor Machine 1a, and finally the first frame and the second frame are detachably fixed together. For example, when the robot arm pulls the first rotor drone 1a to the second rotor drone 1b, the chucks provided on the first frame are aligned with the tabs provided on the second frame and are engaged together. Thereby, the fixing of the first rotor drone 1a and the second rotor drone 1b is achieved.
此外，还需要说明的是，在第一旋翼无人机1a和第二旋翼无人机1b的自动对接过程中，两架无人机对接面的部件可以进行自动折叠或者自动收纳到容纳腔中，以避免对接面上的结构影响第一旋翼无人机1a和第二旋翼无人机1b的对接。例如，当第一旋翼无人机1a的底面和第二旋翼无人机1b的顶面对接时，可以将第一旋翼无人机1a的脚架1d进行折叠或者收缩回第一旋翼无人机1a的机架中，并将第二旋翼无人机1b的GPS模块151a进行折叠 或者收缩回第二旋翼无人机1b的机架中。可以理解的是，当由操作者对第一旋翼无人机1a和第二旋翼无人机1b进行对接时，第一旋翼无人机1a和第二旋翼无人机1b的对接面的部件也可以自动折叠或者收缩；或者也可以由操作者对这些部件进行拆除，以实现第一旋翼无人机1a和第二旋翼无人机1b的对接操作，具体请参见图10和图11。In addition, it should be noted that in the automatic docking process of the first rotor drone 1a and the second rotor drone 1b, the components of the docking surfaces of the two drones can be automatically folded or automatically stored in the accommodating cavity. To avoid the structure on the docking surface affecting the docking of the first rotor drone 1a and the second rotor drone 1b. For example, when the bottom surface of the first rotor drone 1a and the top of the second rotor drone 1b face each other, the stand 1d of the first rotor drone 1a can be folded or contracted back to the first rotor. In the rack of the machine 1a, the GPS module 151a of the second rotor drone 1b is folded Or shrink back into the frame of the second rotor drone 1b. It can be understood that when the first rotor drone 1a and the second rotor drone 1b are docked by the operator, the components of the mating surfaces of the first rotor drone 1a and the second rotor drone 1b are also The components can be automatically folded or shrunk; or the components can be removed by the operator to achieve the docking operation of the first rotor drone 1a and the second rotor drone 1b, as shown in FIG. 10 and FIG.
本实施例的多旋翼无人机，通过控制第一旋翼无人机1a和第二旋翼无人机1b在空中自动对接，可以提高第一旋翼无人机1a和第二旋翼无人机1b的协同能力，尤其是能够在某些特殊场合下发挥重要作用，例如当一架无人机在空中出现故障时，比如，电力不足时，通过自动对接的方式可以将出现故障的无人机安全带回地面。又如，当一架无人机需要提高飞行高度而其自身的拉伸力并不足以满足该要求时，通过在空中与另一架无人机自动对接，从而可以提高拉伸力以获得更高的飞行高度。The multi-rotor UAV of the present embodiment can improve the first rotor drone 1a and the second rotor drone 1b by controlling the first rotor drone 1a and the second rotor drone 1b to automatically dock in the air. Synergies, especially in certain special occasions, such as when a drone fails in the air, for example, when there is insufficient power, the faulty drone seat belt can be automatically docked. Back to the ground. Another example is that when a drone needs to increase the flying height and its own tensile force is not enough to meet the requirement, it can be increased by stretching the air directly with another drone. High flying height.
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。The technical solutions and technical features in the above various embodiments may be separate or combined in the case of conflicting with the present invention, and are equivalent embodiments within the scope of the present application as long as they do not exceed the cognitive scope of those skilled in the art. .
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单 元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or a software function list. The realization of the form of the yuan.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (40)

  1. 一种多旋翼无人机的控制方法，其特征在于，包括以下步骤：A control method for a multi-rotor UAV is characterized in that it comprises the following steps:
    确定第一旋翼无人机与第二旋翼无人机的对接方式；Determining the docking mode of the first rotor drone and the second rotor drone;
    根据所述对接方式，选取对接后的多旋翼无人机的控制模式；以及，According to the docking mode, selecting a control mode of the docked multi-rotor UAV; and,
    按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述第一旋翼无人机与所述第二旋翼无人机。The first rotor drone and the second rotor drone are respectively controlled according to the selected control mode of the docked multi-rotor drone.
  2. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括：The control method according to claim 1, wherein the control method further comprises:
    建立所述第一旋翼无人机和所述第二旋翼无人机的通信连接；Establishing a communication connection between the first rotor drone and the second rotor drone;
    选取所述第一旋翼无人机和所述第二旋翼无人机中的一个作为主机，用于按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述主机和从机。Selecting one of the first rotor drone and the second rotor drone as a host for respectively controlling the host and the slave according to the selected control mode of the docked multi-rotor drone machine.
  3. 根据权利要求1所述的控制方法，其特征在于，所述对接后的多旋翼无人机的控制模式包括：同轴控制模式，异轴控制模式。The control method according to claim 1, wherein the control mode of the docked multi-rotor UAV comprises: a coaxial control mode and an off-axis control mode.
  4. 根据权利要求1所述的控制方法，其特征在于，改变所述第一旋翼无人机或/及所述第二旋翼无人机的动力***控制模式，以适应所述选取的多旋翼无人机的控制模式。The control method according to claim 1, wherein a power system control mode of said first rotor drone or/and said second rotor drone is changed to accommodate said selected multi-rotor Machine control mode.
  5. 根据权利要求4所述的控制方法，其特征在于，所述动力***控制模式包括如下至少一种：旋翼的旋转方向，旋翼的加速度。The control method according to claim 4, wherein the power system control mode comprises at least one of: a rotation direction of the rotor, an acceleration of the rotor.
  6. 根据权利要求1所述的控制方法，其特征在于，改变所述第一旋翼无人机或/及所述第二旋翼无人机的电源控制模式，以适应所述选取的多旋翼无人机的控制模式。The control method according to claim 1, wherein the power control mode of the first rotor drone or/and the second rotor drone is changed to adapt to the selected multi-rotor drone Control mode.
  7. 根据权利要求6所述的控制方法，其特征在于，在处于所述选取的所述多旋翼无人机的控制模式时，所述第一旋翼无人机的电源以及所述第二旋翼无人机的电源同时供电；The control method according to claim 6, wherein the power of the first rotor drone and the second rotor are unmanned when in the selected control mode of the multi-rotor drone The power of the machine is powered at the same time;
    或者，所述第一旋翼无人机的电源以及所述第二旋翼无人机的电源的其中一个作为主电源，另外一个作为备用电源。Alternatively, one of the power source of the first rotor drone and the power source of the second rotor drone is used as a main power source, and the other is used as a backup power source.
  8. 根据权利要求1所述的控制方法，其特征在于，改变所述第一旋翼无人机或/及所述第二旋翼无人机的传感器控制模式，以适应所述选取的多旋翼无人机的控制模式。The control method according to claim 1, wherein the sensor control mode of the first rotor drone or/and the second rotor drone is changed to adapt to the selected multi-rotor drone Control mode.
  9. 根据权利要求8所述的控制方法，其特征在于，所述传感器控制模式 包括如下至少一种：开启或关闭，单独工作或冗余。The control method according to claim 8, wherein said sensor control mode It includes at least one of the following: on or off, working alone or redundant.
  10. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机和第二旋翼无人机的对接方式为可拆卸连接。The control method according to any one of claims 1 to 9, wherein the docking manner of the first rotor drone and the second rotor drone is detachable.
  11. 根据权利要求10所述的控制方法，其特征在于，所述可拆卸连接为卡接。The control method according to claim 10, wherein the detachable connection is a snap connection.
  12. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机和第二旋翼无人机在轴向方向固定连接。The control method according to any one of claims 1 to 9, wherein the first rotor drone and the second rotor drone are fixedly coupled in the axial direction.
  13. 根据权利要求12所述的控制方法，其特征在于，所述第一旋翼无人机的顶面与所述第二旋翼无人机的顶面固定连接，或者所述第一旋翼无人机的底面与所述第二旋翼无人机的底面固定连接。The control method according to claim 12, wherein a top surface of the first rotor drone is fixedly coupled to a top surface of the second rotor drone or a first rotor drone The bottom surface is fixedly connected to the bottom surface of the second rotor drone.
  14. 根据权利要求12所述的控制方法，其特征在于，所述第一旋翼无人机的底面与所述第二旋翼无人机的顶面固定连接，或者所述第一旋翼无人机的顶面与所述第二旋翼无人机的底面固定连接。The control method according to claim 12, wherein a bottom surface of the first rotor drone is fixedly connected to a top surface of the second rotor drone or a top of the first rotor drone The surface is fixedly connected to the bottom surface of the second rotor drone.
  15. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机的旋翼和所述第二旋翼无人机的旋翼在轴向方向叠合在一起。The control method according to any one of claims 1 to 9, characterized in that the rotor of the first rotor drone and the rotor of the second rotor drone are superposed in the axial direction.
  16. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机的旋翼和所述第二旋翼无人机的旋翼在径向方向偏置设置。The control method according to any one of claims 1 to 9, wherein the rotor of the first rotor drone and the rotor of the second rotor drone are offset in a radial direction.
  17. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机的旋翼或所述第二旋翼无人机的旋翼绕径向方向旋转180度。The control method according to any one of claims 1 to 9, characterized in that the rotor of the first rotor drone or the rotor of the second rotor drone is rotated by 180 degrees in the radial direction.
  18. 根据权利要求1-9任一项所述的控制方法，其特征在于，所述第一旋翼无人机与所述第二旋翼无人机在空中自动对接。The control method according to any one of claims 1 to 9, wherein the first rotor drone and the second rotor drone are automatically docked in the air.
  19. 根据权利要求18所述的控制方法，其特征在于，所述自动对接的步骤包括：The control method according to claim 18, wherein the step of automatically docking comprises:
    获取第一旋翼无人机与所述第二旋翼无人机的当前位置信息；Obtaining current position information of the first rotor drone and the second rotor drone;
    根据所述当前位置信息，控制所述第一旋翼无人机及所述第二旋翼无人机运动至上下对应位置，并且航向轴基本重合；Controlling, according to the current position information, the first rotor drone and the second rotor drone to move to upper and lower corresponding positions, and the heading axes substantially coincide;
    根据所述对接方式，调节所述第一旋翼无人机或/及所述第二旋翼无人机的航向角，直至所述第一旋翼无人机的航向角与所述第二旋翼无人机的航向角的角度差为预设值；Adjusting a heading angle of the first rotor drone or/and the second rotor drone according to the docking manner until a heading angle of the first rotor drone and the second rotor The angle difference of the heading angle of the machine is a preset value;
    控制所述第一旋翼无人机或/及所述第二旋翼无人机装载的自动锁定机 构，将所述第一旋翼无人机与所述第二旋翼无人机固定连接在一起。Controlling the first rotor drone or/and the second rotor drone loading automatic locking machine The first rotor drone is fixedly coupled to the second rotor drone.
  20. 一种多旋翼无人机，其特征在于，包括：A multi-rotor drone, characterized in that it comprises:
    第一旋翼无人机，包括第一机架、安装在所述第一机架上的多个第一旋翼组件；a first rotor drone comprising a first frame, a plurality of first rotor assemblies mounted on the first frame;
    第二旋翼无人机，包括第二机架、安装在所述第二机架上的多个第二旋翼组件；a second rotor drone comprising a second frame, a plurality of second rotor assemblies mounted on the second frame;
    固定机构，用于将所述第一机架与所述第二机架固定连接在一起；a fixing mechanism for fixedly connecting the first frame and the second frame;
    其中，所述第一旋翼无人机或所述第二旋翼无人机还包括主控制器，用于根据所述第一旋翼无人机和第二旋翼无人机的对接方式选取对接后的多旋翼无人机的控制模式，控制所述多个第一旋翼组件以及所述多个第二旋翼组件。Wherein the first rotor drone or the second rotor drone further includes a main controller, configured to select the docked pair according to the docking manner of the first rotor drone and the second rotor drone A control mode of the multi-rotor drone that controls the plurality of first rotor assemblies and the plurality of second rotor assemblies.
  21. 根据权利要求20所述的多旋翼无人机，其特征在于，A multi-rotor drone according to claim 20, wherein
    所述第一旋翼无人机还包括用于控制所述多个第一旋翼组件的一个或多个第一控制器；The first rotor drone further includes one or more first controllers for controlling the plurality of first rotor assemblies;
    所述第二旋翼无人机还包括用于控制所述多个第二旋翼组件的一个或多个第二控制器；The second rotor drone further includes one or more second controllers for controlling the plurality of second rotor assemblies;
    所述主控制器用于在所述第一旋翼无人机与所述第二旋翼无人机对接时，同时与所述第一控制器以及第二控制器通信连接，并且根据所述选取的多旋翼无人机的控制模式通过所述第一控制器以及第二控制器控制所述多个第一旋翼组件以及所述多个第二旋翼组件。The main controller is configured to simultaneously communicate with the first controller and the second controller when the first rotor drone is docked with the second rotor drone, and according to the selected The control mode of the rotor drone controls the plurality of first rotor assemblies and the plurality of second rotor assemblies by the first controller and the second controller.
  22. 根据权利要求21所述的多旋翼无人机，其特征在于，所述主控制器为所述第一旋翼无人机或所述第二旋翼无人机的飞行控制器；The multi-rotor UAV according to claim 21, wherein said main controller is a flight controller of said first rotor drone or said second rotor drone;
    或者，所述主控制器为不同于所述第一旋翼无人机以及所述第二旋翼无人机的飞行控制器的独立控制器。Alternatively, the primary controller is a separate controller that is different from the flight controller of the first rotor drone and the second rotor drone.
  23. 根据权利要求20所述的多旋翼无人机，其特征在于，所述主控制器选取所述第一旋翼无人机和所述第二旋翼无人机中的一个作为主机，用于按照选择的所述对接后的多旋翼无人机的控制模式，分别控制所述主机和从机。The multi-rotor UAV according to claim 20, wherein said main controller selects one of said first rotor drone and said second rotor drone as a host for selection The control mode of the docked multi-rotor UAV controls the master and the slave respectively.
  24. 根据权利要求20所述的多旋翼无人机，其特征在于，所述对接后的多旋翼无人机的控制模式包括：同轴控制模式，异轴控制模式。The multi-rotor UAV according to claim 20, wherein the control mode of the docked multi-rotor UAV comprises: a coaxial control mode and an off-axis control mode.
  25. 根据权利要求20所述的多旋翼无人机，其特征在于，所述主控制器 改变所述第一旋翼无人机或/及所述第二旋翼无人机的动力***控制模式，以适应所述选取的多旋翼无人机的控制模式。A multi-rotor drone according to claim 20, wherein said main controller The power system control mode of the first rotor drone or/and the second rotor drone is changed to adapt to the control mode of the selected multi-rotor drone.
  26. 根据权利要求25所述的多旋翼无人机，其特征在于，所述动力***控制模式包括如下至少一种：旋翼的旋转方向，旋翼的加速度。The multi-rotor drone according to claim 25, wherein said power system control mode comprises at least one of: a direction of rotation of the rotor, an acceleration of the rotor.
  27. 根据权利要求20所述的多旋翼无人机，其特征在于，所述主控制器改变所述第一旋翼无人机或/及所述第二旋翼无人机的电源控制模式，以适应所述选取的多旋翼无人机的控制模式。The multi-rotor UAV according to claim 20, wherein said main controller changes a power control mode of said first rotor drone or/and said second rotor drone to adapt to The control mode of the selected multi-rotor drone.
  28. 根据权利要求27所述的多旋翼无人机，其特征在于，所述主控制器控制所述第一旋翼无人机的电源以及所述第二旋翼无人机的电源同时供电；The multi-rotor UAV according to claim 27, wherein said main controller controls power supply of said first rotor drone and power supply of said second rotor drone simultaneously;
    或者，所述主控制器控制所述第一旋翼无人机的电源以及所述第二旋翼无人机的电源的其中一个作为主电源，另外一个作为备用电源。Alternatively, the main controller controls one of the power source of the first rotor drone and the power source of the second rotor drone as a main power source, and the other as a backup power source.
  29. 根据权利要求20所述的多旋翼无人机，其特征在于，所述主控制器改变所述第一旋翼无人机或/及所述第二旋翼无人机的传感器控制模式，以适应所述选取的多旋翼无人机的控制模式。The multi-rotor UAV according to claim 20, wherein said main controller changes a sensor control mode of said first rotor drone or/and said second rotor drone to adapt to The control mode of the selected multi-rotor drone.
  30. 根据权利要求29所述的多旋翼无人机，其特征在于，所述传感器控制模式包括如下至少一种：开启或关闭，单独工作或冗余。The multi-rotor drone according to claim 29, wherein said sensor control mode comprises at least one of: on or off, working alone or redundant.
  31. 根据权利要求20所述的多旋翼无人机，其特征在于，所述固定连接为可拆卸连接。The multi-rotor drone according to claim 20, wherein said fixed connection is a detachable connection.
  32. 根据权利要求31所述的多旋翼无人机，其特征在于，所述可拆卸连接为卡接。The multi-rotor drone according to claim 31, wherein said detachable connection is a snap fit.
  33. 根据权利要求20-30任一项所述的多旋翼无人机，其特征在于，所述第一旋翼无人机和第二旋翼无人机在轴向方向固定连接。A multi-rotor drone according to any one of claims 20-30, wherein the first rotor drone and the second rotor drone are fixedly coupled in the axial direction.
  34. 根据权利要求33所述的多旋翼无人机，其特征在于，所述第一旋翼无人机的顶面与所述第二旋翼无人机的顶面固定连接，或者所述第一旋翼无人机的底面与所述第二旋翼无人机的底面固定连接。The multi-rotor UAV according to claim 33, wherein a top surface of the first rotor drone is fixedly coupled to a top surface of the second rotor drone, or the first rotor has no The bottom surface of the human machine is fixedly connected to the bottom surface of the second rotor drone.
  35. 根据权利要求33所述的多旋翼无人机，其特征在于，所述第一旋翼无人机的底面与所述第二旋翼无人机的顶面固定连接，或者所述第一旋翼无人机的顶面与所述第二旋翼无人机的底面固定连接。The multi-rotor UAV according to claim 33, wherein a bottom surface of the first rotor drone is fixedly coupled to a top surface of the second rotor drone, or the first rotor is unmanned The top surface of the machine is fixedly connected to the bottom surface of the second rotor drone.
  36. 根据权利要求20-30任一项所述的多旋翼无人机，其特征在于，所述第一旋翼无人机的旋翼和所述第二旋翼无人机的旋翼在轴向方向叠合在一 起。The multi-rotor UAV according to any one of claims 20 to 30, wherein the rotor of the first rotor drone and the rotor of the second rotor drone are superposed in the axial direction One Start.
  37. 根据权利要求20-30任一项所述的多旋翼无人机，其特征在于，所述第一旋翼无人机的旋翼和所述第二旋翼无人机的旋翼在径向方向偏置设置。The multi-rotor UAV according to any one of claims 20-30, wherein the rotor of the first rotor drone and the rotor of the second rotor drone are offset in a radial direction .
  38. 根据权利要求20-30任一项所述的多旋翼无人机，其特征在于，所述第一旋翼无人机的旋翼或所述第二旋翼无人机的旋翼绕径向方向旋转180度。The multi-rotor UAV according to any one of claims 20-30, wherein the rotor of the first rotor drone or the rotor of the second rotor drone rotates 180 degrees in a radial direction .
  39. 根据权利要求20-30任一项所述的多旋翼无人机，其特征在于，所述主控制器用于控制所述固定机构在空中将第一机架和第二机架固定连接在一起。The multi-rotor UAV according to any one of claims 20-30, wherein the main controller is configured to control the fixing mechanism to fixedly connect the first frame and the second frame together in the air.
  40. 根据权利要求39所述的多旋翼无人机，其特征在于，所述主控制器包括：位置调整模块、航向角调整模块以及自动锁定模块；The multi-rotor UAV according to claim 39, wherein the main controller comprises: a position adjustment module, a heading angle adjustment module, and an automatic locking module;
    所述位置调整模块，用于根据获取到的当前位置信息控制所述第一旋翼无人机及所述第二旋翼无人机运动至上下对应位置，并且航向轴基本重合；The position adjustment module is configured to control the movement of the first rotor drone and the second rotor drone to the upper and lower corresponding positions according to the obtained current position information, and the heading axes are substantially coincident;
    所述航向角调整模块，用于根据所述对接方式调节所述第一旋翼无人机或/及所述第二旋翼无人机的航向角，直至所述第一旋翼无人机的航向角与所述第二旋翼无人机的航向角的角度差为预设值；The heading angle adjustment module is configured to adjust a heading angle of the first rotor drone or/and the second rotor drone according to the docking manner until a heading angle of the first rotor drone An angle difference from a heading angle of the second rotor drone is a preset value;
    自动锁定模块，用于控制所述固定机构将所述第一机架与第二机架固定连接在一起。 An automatic locking module is configured to control the fixing mechanism to fixedly connect the first frame and the second frame together.
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