WO2018018518A1 - Véhicule aérien sans pilote à plusieurs rotors et procédé de commande de celui-ci - Google Patents

Véhicule aérien sans pilote à plusieurs rotors et procédé de commande de celui-ci 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
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PCT/CN2016/092124
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English (en)
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
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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 CN201680002498.2A priority Critical patent/CN106716273B/zh
Priority to PCT/CN2016/092124 priority patent/WO2018018518A1/fr
Publication of WO2018018518A1 publication Critical patent/WO2018018518A1/fr

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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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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

L'invention concerne un véhicule aérien sans pilote à plusieurs rotors, comprenant : un premier véhicule aérien sans pilote à rotor (1a), comprenant un premier bâti (19a) et une pluralité de premiers ensembles de rotor (111a) montés sur le premier bâti ; un deuxième véhicule aérien sans pilote à rotor (1b), comprenant un deuxième bâti (19b) et une pluralité de deuxièmes ensembles de rotor (111b) montés sur le deuxième bâti ; et un mécanisme de fixation (1c) permettant de relier fixement le premier bâti (19a) au deuxième bâti (19b), où le premier véhicule aérien sans pilote à rotor (1a) ou le deuxième véhicule aérien sans pilote à rotor (1b) comprend aussi un contrôleur principal permettant de sélectionner un mode de commande d'un véhicule aérien sans pilote à plusieurs rotors abouté selon un procédé d'aboutement du premier véhicule aérien sans pilote à rotor (1a) et du deuxième véhicule aérien sans pilote à rotor (1b) de façon à commander la pluralité de premiers ensembles de rotor (111a) et la pluralité de deuxièmes ensembles de rotor (111b). L'invention concerne également un procédé de commande du véhicule aérien sans pilote à plusieurs rotors.
PCT/CN2016/092124 2016-07-28 2016-07-28 Véhicule aérien sans pilote à plusieurs rotors et procédé de commande de celui-ci WO2018018518A1 (fr)

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