CN106716273B - Multi-rotor unmanned aerial vehicle and its control method - Google Patents
Multi-rotor unmanned aerial vehicle and its control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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Abstract
A kind of multi-rotor unmanned aerial vehicle, including：First rotor wing unmanned aerial vehicle (1a), including the first rack (19a), multiple first rotor assemblies (111a) in first rack；Second rotor wing unmanned aerial vehicle (1b), including the second rack (19b), multiple second rotor assemblies (111b) in second rack；Fixed mechanism (1c), for first rack (19a) and second rack (19b) to be fixed together；First rotor wing unmanned aerial vehicle (1a) or second rotor wing unmanned aerial vehicle (1b) further include master controller, control model for choosing the multi-rotor unmanned aerial vehicle after docking according to the docking mode of first rotor wing unmanned aerial vehicle (1a) and the second rotor wing unmanned aerial vehicle (1b) controls the multiple first rotor assemblies (111a) and the multiple second rotor assemblies (111b).The present invention also provides a kind of control methods of multi-rotor unmanned aerial vehicle.
Description
Technical field
The present invention relates to a kind of multi-rotor unmanned aerial vehicle and its control methods, belong to unmanned vehicle manufacturing technology field.
Background technology
UAV abbreviation unmanned plane (UAV) is to utilize radio robot and the presetting apparatus provided for oneself
The not manned aircraft manipulated.The rapid development of accumulation and economy by technology for many years, the application scenarios of present unmanned plane
It is more and more, such as take photo by plane, crops monitoring, vegetation protection, self-timer, express transportation, disaster relief, observation wild animal, supervise
Control infectious disease, mapping, news report, electric inspection process and movies-making etc..
But the load capacity of existing rotary wind type unmanned plane is limited, although can be by way of increasing rotor
Increase the load capacity of unmanned plane, for example, the load capacity of quadrotor formula unmanned plane may be relatively small, ten rotary wind types nobody
The load capacity of machine is relatively large.But the multi-rotor unmanned aerial vehicle cost of heavy load ability is higher, and smaller scope of application,
Thus significantly limit the application scenarios of unmanned plane.
Invention content
A kind of multi-rotor unmanned aerial vehicle of present invention offer and its control method, it is negative to solve rotary wind type unmanned plane in the prior art
The limited technical problem of loading capability.
According to one embodiment of present invention, a kind of control method of multi-rotor unmanned aerial vehicle is provided, is included the following steps：
Determine the docking mode of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle；
According to the docking mode, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen；And
According to the control model of the multi-rotor unmanned aerial vehicle after the docking of selection, control respectively first rotor nobody
Machine and second rotor wing unmanned aerial vehicle.
According to another embodiment of the present invention, a kind of multi-rotor unmanned aerial vehicle is provided, including：
First rotor wing unmanned aerial vehicle, including the first rack, multiple first rotor assemblies in first rack；
Second rotor wing unmanned aerial vehicle, including the second rack, multiple second rotor assemblies in second rack；
Fixed mechanism, for first rack and second rack to be fixed together；
First rotor wing unmanned aerial vehicle or second rotor wing unmanned aerial vehicle further include master controller, for according to described first
The docking mode of rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle chooses the control model of the multi-rotor unmanned aerial vehicle after docking, controls institute
State multiple first rotor assemblies and the multiple second rotor assemblies.
Multi-rotor unmanned aerial vehicle and its control method provided by the invention, by by the first rotor wing unmanned aerial vehicle and the second rotor without
It is man-machine to be docked, and corresponding control model chosen according to docking mode come control the first rotor wing unmanned aerial vehicle and the second rotor without
Man-machine, the rotor quantity of the multi-rotor unmanned aerial vehicle after docking increases so that and lifting capacity and drawing force improve significantly, from
And it can solve the problems, such as example to need heavy-duty, lift existing for single unmanned plane.
Description of the drawings
Fig. 1 is the flow chart of the control method for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 1 provides；
Fig. 2 is the system structure diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 4 provides；
Fig. 3 is a kind of simplified structure diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 8 provides；
Fig. 4 is the multi-rotor unmanned aerial vehicle another kind simplified structure diagram that the embodiment of the present invention 8 provides；
Fig. 5 is a kind of simplified structure diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 9 provides；
Fig. 6 is another simplified structure diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 9 provides；
Fig. 7 is the flow chart for the multi-rotor unmanned aerial vehicle aerial automatic butt method automatically that the embodiment of the present invention 11 provides；
Fig. 8 is a kind of structural schematic diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 12 provides；
Fig. 9 is another structural schematic diagram for the multi-rotor unmanned aerial vehicle that the embodiment of the present invention 12 provides；
Figure 10 is the structural schematic diagram for the first rotor wing unmanned aerial vehicle for having removed tripod that the embodiment of the present invention 23 provides；
Figure 11 is the structural schematic diagram for the second rotor wing unmanned aerial vehicle for having removed GPS module that the embodiment of the present invention 23 provides.
Specific implementation mode
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Firstly the need of explanation, the term " first " in following embodiment, " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
Embodiment 1
The embodiment of the present invention 1 provides a kind of control method of multi-rotor unmanned aerial vehicle.Fig. 1 is more rotors provided in this embodiment
The flow chart of the control method of unmanned plane.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, for control multiple unmanned planes carry out docking and to docking after
Unmanned plane controlled.The control method includes the following steps：
S101, the docking mode for determining the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle.
Specifically, the docking mode of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are not made specifically in the present embodiment
It limits.Such as in the mode being fixedly connected, it may be used and be detachably connected or non-dismountable connection.Also, in this implementation
In example, it is detachably connected or non-dismountable connection can selects arbitrary mode in the prior art.In another example in abutting direction
On, it can be docked, can also be docked radially in the axial direction, can also be docked obliquely.
For example, two quadrotor drones can be detachably connected in the axial direction, to form one
Eight rotor wing unmanned aerial vehicles of the double-deck rotor.Alternatively, can also be by a quadrotor drone and six rotor wing unmanned aerial vehicles in axial direction
It is above non-dismountable to link together, to form ten rotor wing unmanned aerial vehicles of the double-deck rotor.Alternatively, two four can also be revolved
Wing unmanned plane is removably attachable to together, form eight rotor wing unmanned aerial vehicles of a single layer rotor in radial directions.
It should be pointed out that the first rotor wing unmanned aerial vehicle and being fixedly connected for the second rotor wing unmanned aerial vehicle can pass through connector
Connection, for example connected by the fixed mechanism of flexible connecting member, gripper or sliding and position limiting structure etc.Alternatively,
Can be that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle are directly connected to, for example, the first rotor wing unmanned aerial vehicle and the second rotor without
The mutually matched threaded hole of man-machine upper setting and screw rod realize directly threaded connection.
S102, according to the docking mode, choose the control model of the multi-rotor unmanned aerial vehicle after docking.
Specifically, according to different docking modes, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen, for example, can
To select the control model of the multi-rotor unmanned aerial vehicle after docking according to the quantity in the direction of docking, rotor.For example, when two four
When rotor wing unmanned aerial vehicle docks one eight rotor wing unmanned aerial vehicle of composition in the axial direction, the control of pervious quadrotor drone can be selected
Pattern can also select the control model prepared exclusively for double-deck eight rotor wing unmanned aerial vehicles.
S103, according to the control model of the multi-rotor unmanned aerial vehicle after the docking of selection, control first rotation respectively
Wing unmanned plane and second rotor wing unmanned aerial vehicle.
Specifically, after the control model for choosing multi-rotor unmanned aerial vehicle after docking well, then it can be according to the control model
To control the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle respectively.For example, when two frame quadrotor drones are right in the axial direction
When connecing into the unmanned plane of eight rotors, the control model after the docking of selection can control the first rotor wing unmanned aerial vehicle according to original
The mode come works, and controls the second rotor wing unmanned aerial vehicle and work according to new mode.Furthermore, it is understood that can be the first rotation of control
The rotor that the rotor of wing unmanned plane rotates clockwise and controls the second rotor wing unmanned aerial vehicle rotates counterclockwise.It is of course also possible to be control
It makes the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle rotates in clockwise direction.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by by the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Docked, and corresponding control model chosen according to docking mode come control the first rotor wing unmanned aerial vehicle and the second rotor nobody
Machine, the rotor quantity and battery capacity of the multi-rotor unmanned aerial vehicle after docking are improved so that cruising ability, lifting capacity and
Drawing force improves significantly, so as to solve for example to need heavy-duty, lift or length existing for single unmanned plane
The problem of time continues a journey.
Embodiment 2
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
The control method of this implementation be on the basis of embodiment 1, it is further comprising the steps of：
Establish the communication connection of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
One chosen in first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is used as host, for according to choosing
The control model of multi-rotor unmanned aerial vehicle after the docking selected, controls the host and slave respectively.
Specifically, the mode for establishing the communication connection of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle can be wired company
Connect can also be wirelessly connected, such as can be arranged on the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle it is mutually matched
Communication terminal and connector, or can also be that radio communication mold is set on the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle
Block, for example can be wifi module, bluetooth module；Or it can also be that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle pass through
Data exchange unit connects.
Further, after the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle communicate to connect, can by master controller come
One of them is chosen as host, another is as slave, thus by host come according to more rotations after the docking of above-mentioned selection
The control model of wing unmanned plane controls host and slave respectively.More specifically, master controller can be the first rotor wing unmanned aerial vehicle
Controller, can also be the controller of the second rotor wing unmanned aerial vehicle, or can also be independently of the first rotor wing unmanned aerial vehicle and second
Controller except rotor wing unmanned aerial vehicle.
Further, when the control signal of host breaks down, former slave can be chosen to be new host by master controller,
And set original host to new slave, to ensure the safe to use of the multi-rotor unmanned aerial vehicle after docking.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment controls principal and subordinate simultaneously by the way that slave is arranged, and by host
Machine works, and the control to the multi-rotor unmanned aerial vehicle after docking can be realized on the basis of not increasing excessive hardware, to
Simplify structure, save cost and improve the reliability of control.
Embodiment 3
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
The control method of the present embodiment is on the basis of embodiment 1 or 2, by the control of the multi-rotor unmanned aerial vehicle after docking
Mode setting is to include：Coaxial control model, different axis control model.
Wherein, coaxial control model refers to that the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle dock in the axial direction, and
And two rotors up and down of the multi-rotor unmanned aerial vehicle after docking are on the same axis, for example, the rotor of two frame quadrotor drones
It is superimposed together completely.Different axis control model refers to the rotor of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle in radial direction
It is staggered, for example, two frame unmanned planes are docked in radial direction, alternatively, two frame unmanned planes dock in the axial direction, but the two
Rotor but radial direction bias certain distance.It should be noted that different axis control model further includes the first rotor wing unmanned aerial vehicle
The case where axis different with the rotor part coaxial parts of the second rotor wing unmanned aerial vehicle, for example, a frame quadrotor drone and a frame six rotation
Wing unmanned plane or eight rotor wing unmanned aerial vehicle of a frame dock in the axial direction after multi-rotor unmanned aerial vehicle, wherein quadrotor drone and
There is the case where overlapping in the rotor part of six rotor wing unmanned aerial vehicles.
It more specifically, can be with coaxial two rotors of the multi-rotor unmanned aerial vehicle after control combination when coaxial control model
Direction of rotation is opposite.It, can be with symmetrically arranged two rotors of the multi-rotor unmanned aerial vehicle after control combination when different axis control model
Direction of rotation it is opposite or identical.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment is adopted by the rotor distribution situation to the unmanned plane after docking
It takes different control models to be controlled, there is stronger specific aim, be conducive to the flight advantage for playing the unmanned plane after docking,
The flight efficiency of unmanned plane after docking is improved, such as improves its flying height or lifting capacity.
Embodiment 4
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.Fig. 2 be more rotors provided in this embodiment nobody
The system structure diagram of machine.
As shown in Fig. 2, the control method of the present embodiment is changed in the above examples 1-3 on the basis of any embodiment
Become the dynamical system control model of the first rotor wing unmanned aerial vehicle 1a after docking, the second rotor wing unmanned aerial vehicle 1b.Such as, thus it is possible to vary the
The control model of the dynamical system 11a of one rotor wing unmanned aerial vehicle 1a, or the dynamical system of the second rotor wing unmanned aerial vehicle 1b can also be changed
The control mode of system 11b, or the dynamical system of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also be changed simultaneously
The control model of system 11a, 11b.
Specifically, the control model of dynamical system 11a, 11b may include the difference of electron speed regulator, motor, rotor
The control mode of working condition, such as may include the size, frequency and period of electron speed regulator output voltage, electronic speed regulation
The angle of inclination etc. of the signal output mode of device, the Control Cooling (direction of rotation, rotating speed, acceleration etc.) of motor, rotor.Cause
And it can be by changing dynamical system 11a, 11b difference controlling party in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The combination of formula, to generate different drawing forces, course change mode and response speed and the performance of different load forces.
Preferably, the control model of dynamical system 11a, 11b may include the rotating speed of rotor, rotor direction at least
It is a kind of.Steering by controlling the rotating speed or rotor of rotor can simplify operation, and provide and drawing force and load force and
The more intuitive control mode of response speed.
Below for being controlled after two frame quadrotor drones are docked in the axial direction, briefly introduces and how to change
The control model of dynamical system 11a, 11b of first rotor wing unmanned aerial vehicle 1a, the second rotor wing unmanned aerial vehicle 1b：
A kind of situation is individually to change the maximum (top) speed of rotor in dynamical system.Such as can be by a frame quadrotor without
The maximum (top) speed of man-machine middle rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed, and rotor is most in the second frame unmanned plane
Big rotating speed keeps third maximum (top) speed constant；Can also be by the maximum (top) speed of rotor in a frame quadrotor drone by first most
Big adjustment of rotational speed is the second maximum (top) speed, while the maximum (top) speed of rotor in the second frame unmanned plane being adjusted by third maximum (top) speed
For the 4th maximum (top) speed.
The second situation is individually to change the steering of rotor in dynamical system.Such as can be by a frame quadrotor nobody
The steering of rotor is turned to by first and is adjusted to the second steering in machine, and the steering of rotor keeps third to turn in the second frame unmanned plane
It is constant；Can also be to turn to the steering of rotor in a frame quadrotor drone by first to be adjusted to the second steering, while by the
The steering of rotor is adjusted to the 4th steering by third steering in two frame unmanned planes.
The third situation is to change simultaneously the maximum (top) speed of rotor and steering in dynamical system.Such as can be by a frame
The maximum (top) speed of rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed in quadrotor drone, and by the steering of its rotor
It is turned to by first and is adjusted to the second steering, and the maximum (top) speed of rotor and steering keep third maximum respectively in the second frame unmanned plane
Rotating speed and third turn to constant.Alternatively, can also be that the maximum (top) speed of rotor in a frame quadrotor drone is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and the steering of its rotor is turned to by first and is adjusted to the second steering, while by the second frame
The maximum (top) speed of rotor is adjusted to the 4th maximum (top) speed by third maximum (top) speed in unmanned plane, and by the steering of its rotor by third
Steering is adjusted to the 4th steering.Alternatively, can also be the maximum (top) speed of rotor in a frame quadrotor drone by the first maximum
Adjustment of rotational speed is the second maximum (top) speed, and keeps its steering constant, while keeping the maximum (top) speed of rotor in the second frame unmanned plane
It is constant, and be turned around being adjusted to the 4th steering by third steering.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle in multi-rotor unmanned aerial vehicle
1a, the second rotor wing unmanned aerial vehicle 1b both change simultaneously the working condition that can obtain different dynamical systems, and then can
Different drawing forces and bearing capacity are obtained to adapt to the demand of different application occasion, greatly extends the applied field of unmanned plane
Scape.
Embodiment 5
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
With continued reference to FIG. 2, the control method of the present embodiment is the basis of any embodiment in above-described embodiment 1-4
On, the working condition of power supply 13a, 13b in the multi-rotor unmanned aerial vehicle after docking are improved, to adapt to the multi-rotor unmanned aerial vehicle chosen
Control model.Such as, thus it is possible to vary the control model of the power supply 13a of the first rotor wing unmanned aerial vehicle 1a, or second can also be changed
The control model of the power supply 13b of rotor wing unmanned aerial vehicle 1b, or the first rotor wing unmanned aerial vehicle 1a and the second rotor can also be changed simultaneously
Power supply 13a, 13b control model of unmanned plane 1b.
Specifically, power supply control model may include power supply in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The power supply order of 13a, 13b, mode, power-on time and the power supply volume size of power supply.By control dock after more rotors without
The working condition of man-machine middle power supply can provide suitable work electricity in different application environments for the unmanned plane after docking
Stream, to ensure that the unmanned plane after docking can keep good load capacity, drawing force and cruise duration to meet corresponding work
Make demand.
In a kind of optional embodiment, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
13b is simultaneously the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b power supplies, to be the first rotor wing unmanned aerial vehicle 1a and second
Rotor wing unmanned aerial vehicle 1b provides maximum electricity guarantee, to meet the applied field that such as short time needs big drawing force or high load
Scape.For example, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a is the first rotor wing unmanned aerial vehicle 1a power supplies, the electricity of the second rotor wing unmanned aerial vehicle 1b
Source 13b is the second rotor wing unmanned aerial vehicle 1b power supplies；Alternatively, the power supply 13b of the first rotor wing unmanned aerial vehicle 1a is the second rotor wing unmanned aerial vehicle 1b
The power supply 13b of power supply, the second rotor wing unmanned aerial vehicle 1b is the first rotor wing unmanned aerial vehicle 1a power supplies.
In second of optional embodiment, choose in the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
One is used as main power source, another is used as from power supply, to meet the needs of the application scenarios of continuation of the journey for a long time.For example, by the first rotation
The power supply 13a of wing unmanned plane 1a powers as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
Or using the power supply 13b of the second rotor wing unmanned aerial vehicle 1b as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b power supplies.Further, when the electricity of main power source exhausts or power supply trouble, then original is chosen to be new main electricity from power supply
Former main power source is simultaneously set as new from power supply by source, to ensure the multi-rotor unmanned aerial vehicle powered stable after docking, improves its peace
Quan Xing.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
The working condition of the power supply of machine 1b is controlled, so as to obtain a variety of powering modes, such as the continuation of the journey pattern of longer time,
To adapt to the needs of different operating scene.
Embodiment 6
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
With continued reference to FIG. 2, the control method of the present embodiment is the basis of any embodiment in above-described embodiment 1-5
On, improve the working condition of sensor 15a, 15b in the multi-rotor unmanned aerial vehicle after docking, with adapt to more rotors of the selection without
Man-machine control model.Such as, thus it is possible to vary the control model of the sensor 15a of the first rotor wing unmanned aerial vehicle 1a, or can also
Change the control model of the sensor 15b of the second rotor wing unmanned aerial vehicle 1b, or the first rotor wing unmanned aerial vehicle 1a can also be changed simultaneously
With sensor 15a, 15b control model of the second rotor wing unmanned aerial vehicle 1b.
Specifically, the working condition of sensor 15a, 15b include opening quantity, opening type, the opening time, open frequency
Rate.For example, the sensor 15a of the first rotor wing unmanned aerial vehicle 1a can be all turned on, part is opened or Close All；Second rotor
The sensor 15b of unmanned plane 1b can also be all turned on, and part is opened or Close All.By to the first rotor wing unmanned aerial vehicle 1a
With the control of sensor 15a, 15b working condition in the second rotor wing unmanned aerial vehicle 1b, it can make the multi-rotor unmanned aerial vehicle after docking
Sensor 15a, 15b formation be turned on and off, work independently or the operating mode of redundancy.
For example, the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a can be opened, the super of the second rotor wing unmanned aerial vehicle 1b is closed
Sonic sensor can also open the ultrasonic sensor of the second rotor wing unmanned aerial vehicle 1b, close the super of the first rotor wing unmanned aerial vehicle 1a
Sonic sensor can also open the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b simultaneously.Together
Reason, the other sensors in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also be controlled in the manner described above,
Such as barometer and binocular avoidance.
Further, when the same sensor only one in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened
When, sensor that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are opened preferably at least with dock before first
The sensor that rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b are opened is identical, to ensure docking after more rotors without
It is man-machine can sensing capability do not reduce.
When the same sensor in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened or is opened into
At few two, then this kind of sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be formed redundant state or
Complementary state.Wherein, it is identical information that redundant state, which both refers to detection, such as detection is pressure information, to
One sensor constitutes the redundancy of another sensor, and it is another that can use the information detected by a sensor at this time
Sensor is corrected.And complementary state refers to then two sensors having complementary functions of being realized, for example, the first rotor wing unmanned aerial vehicle
The camera of 1a forward and the camera of the second rotor wing unmanned aerial vehicle 1b backward, so as to so that docking after unmanned plane have 360 °
Shooting ability without dead angle, that is, having expanded the function of the unmanned plane after docking.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
Different sensor combinations modes may be implemented in the control of sensor in machine 1b, realizes more functions, different to meet
Work requirements are to adapt to more workplaces.
Embodiment 7
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
On the basis of the control method of the present embodiment is any embodiment in above-described embodiment 1-6, the first rotor is improved
Unmanned plane 1a's and the second rotor wing unmanned aerial vehicle 1b is fixedly connected with mode.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are detachably connected on by fixed mechanism
Together.
Specifically, the prior art may be used in the first rotor wing unmanned aerial vehicle 1a and the second being detachably connected for rotor wing unmanned aerial vehicle 1b
In arbitrary detachable connection, such as can be bolted, pin joint, key connection and it is certain riveting etc..Preferably,
One rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is detachably connected by the way of clamping, such as can be first
Clamp is set on rotor wing unmanned aerial vehicle 1a, setting and the mutually matched bayonet of the clamp on the second rotor wing unmanned aerial vehicle 1b.Pass through card
The mode connect, which connects the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, can make connection structure fairly simple, while also easily
In progress docking operation.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment connects by using the docking mode being detachably connected
One rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can so that unmanned plane is more flexible, in application scenes in this way
Single rotary wind type unmanned plane can be directly used, the multi-rotor unmanned aerial vehicle after docking can be used in application scenes.
Embodiment 8
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.Fig. 3 be more rotors provided in this embodiment nobody
A kind of simplified structure diagram of machine；Fig. 4 is multi-rotor unmanned aerial vehicle another kind simplified structure diagram provided in this embodiment.
As shown in Figure 3 and Figure 4, on the basis of the control method of the present embodiment is any embodiment in embodiment 1-7, change
Into the abutting direction of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are fixedly connected in the axial direction,
So that the multi-rotor unmanned aerial vehicle after docking has smaller radial dimension and obtains preferable synergistic effect.
Specifically, can according to the actual application, such as the selection for sensor 15a, 15b working condition, or
According to unmanned plane top surface, either bottom surface is arranged the complexity of connection structure or selects first according to the complexity of control
The specific fixed form of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
As shown in figure 3, in the first optional embodiment, it can be by the top surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.Such docking mode can utilize the rotations of the first rotor wing unmanned aerial vehicle 1a and second simultaneously
The camera of wing unmanned plane 1b, to obtain better shooting effect.
It, can be by the bottom surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in second of optional embodiment
The bottom surface of 1b is fixedly connected.Such docking mode can be to avoid tripod to docking influence, reduce the difficulty of docking.
It, can be by the top surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in the third optional embodiment
The bottom surface of 1b is fixedly connected.It, can be with when such case is suitble to the first rotor wing unmanned aerial vehicle 1a to be located at below the second rotor wing unmanned aerial vehicle 1b
Reduce control difficulty.
As shown in figure 4, in the 4th kind of optional embodiment, it can be by the bottom surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.It is especially carried out in the air in docking without being overturn to unmanned plane in this way
When automatic butt, the quality of docking can be improved.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor nobody
The selection of machine 1b interfaces can obtain better function, or reduce the difficulty of docking, improve the quality of docking, Huo Zhejian
The operation for changing docking, to extend the application demand of the multi-rotor unmanned aerial vehicle after docking to the greatest extent.
Embodiment 9
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.Fig. 5 be more rotors provided in this embodiment nobody
A kind of simplified structure diagram of machine；Fig. 6 is another simplified structure diagram of multi-rotor unmanned aerial vehicle provided in this embodiment.
As seen in figures 3-6, on the basis of the control method of the present embodiment is any embodiment in above-described embodiment 1-8,
The relative position for improving the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b rotors, to obtain different drawing forces.
It, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in a kind of optional embodiment
Rotor be superimposed together in the axial direction.For example, as shown in Figure 4 and Figure 5, the rotor of two frame quadrotor drones is superimposed on
Eight rotor wing unmanned aerial vehicles that a upper layer and lower layer overlaps are formed together.Also, it is found after a large amount of tests of inventor,
It can make the drawing force of unmanned plane after the rotor of first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are superimposed together
50% or so are improved, so that the higher that the multi-rotor unmanned aerial vehicle after docking can fly.
It, can be by the rotor and the second rotor wing unmanned aerial vehicle of the first rotor wing unmanned aerial vehicle 1a in another optional embodiment
The rotor of 1b is biased in radial direction to be arranged.For example, as shown in Figure 3 and Figure 6, by the rotor stagger mode of two frame quadrotor drones
Eight rotor wing unmanned aerial vehicles to interlock at a levels.Also, by inventor it is a large amount of test after find, by the first rotor nobody
The rotor of machine 1a and the second rotor wing unmanned aerial vehicle 1b can so that the drawing force of unmanned plane improves 70%-80% after being interleaved together left
The right side, so that the higher that the multi-rotor unmanned aerial vehicle after docking can fly, and carry more articles.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by controlling the first rotor wing unmanned aerial vehicle 1a rotors and the second rotation
The relative position of wing unmanned plane 1b rotors, can generate different drawing forces, to adapt to the different operating of the unmanned plane after docking
Environment and job requirement.
Embodiment 10
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.
Fig. 3-5 is please referred to, on the basis of the control method of the present embodiment is any embodiment in above-described embodiment 1-9,
The rotor of the rotor of first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b is rotated into 180 degree around radial direction.For example, please join
Read Fig. 3 and Fig. 5, by the rotor of the second rotor wing unmanned aerial vehicle 1b around carrying out rotation 180 degree so that the first rotor wing unmanned aerial vehicle 1a and
The rotor of second rotor wing unmanned aerial vehicle 1b can form synergistic effect, to improve the work effect of the multi-rotor unmanned aerial vehicle after docking
Rate.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by change the first rotor wing unmanned aerial vehicle 1a and the second rotor without
The both forward and reverse directions of man-machine 1b rotors can make the unmanned plane after docking generate different drawing forces, after improving docking
The adaptability of multi-rotor unmanned aerial vehicle.
Embodiment 11
The present embodiment provides a kind of control methods of multi-rotor unmanned aerial vehicle.Fig. 7 be more rotors provided in this embodiment nobody
The flow chart of machine aerial automatic butt method automatically.
As shown in fig. 7, on the basis of the control method of the present embodiment is any embodiment in above-described embodiment 1-10, control
Make the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b automatic butt in the air.
Specifically, the method for control the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b automatic butts in the air can be with
Using existing arbitrary aircraft automatic butt method, such as automatic butt method used by tanker aircraft may be used.
Further, as shown in fig. 7, in a kind of optional embodiment, following steps may be used and carry out automatic butt：
S1011, the current location information for obtaining the first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle.
Specifically, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be obtained by GPS, triones navigation system
Current Ubiety, can also pass through radar obtain the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b current location
Relationship can also obtain the current of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b by other methods in the prior art
Position relationship.
S1012, according to the current location information, control first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
Corresponding position up and down is moved to, and course axis essentially coincides.
Specifically, can be moved to by main controller controls the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b pair
Position is answered, and the angle for adjusting the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b makes it be essentially coincided with course axis；?
Can respectively by the controller of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b control the first rotor wing unmanned aerial vehicle 1a and
Second rotor wing unmanned aerial vehicle 1b moves to corresponding position, and adjusts the angle of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It is set to be essentially coincided with course axis.
S1013, according to the docking mode, adjust first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle
Course angle, until the differential seat angle of course angle and the course angle of second rotor wing unmanned aerial vehicle of first rotor wing unmanned aerial vehicle is
Preset value.
Specifically, can by the course angle of the first rotor wing unmanned aerial vehicle of main controller controls 1a, the second rotor wing unmanned aerial vehicle 1b,
Can also respectively be controlled by the controller of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b the first rotor wing unmanned aerial vehicle 1a,
The course angle of second rotor wing unmanned aerial vehicle 1b.
In addition, by by the differential seat angle of the course angle of the first rotor wing unmanned aerial vehicle 1a and the course angle of the second rotor wing unmanned aerial vehicle 1b
Control can form working efficiency of the interference to the multi-rotor unmanned aerial vehicle after docking within preset value to avoid the deviation of course angle
It has an impact, to ensure that the multi-rotor unmanned aerial vehicle after docking can preferably work.
S1014, the automatic locking machine that first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle load is controlled
First rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle are fixed together by structure.
Specifically, automatic locking mechanism can be mechanical arm, the first rotor wing unmanned aerial vehicle 1a can be drawn by the mechanical arm
It is pulled to the first rotor wing unmanned aerial vehicle 1a to the second rotor wing unmanned aerial vehicle 1b, or by the second rotor wing unmanned aerial vehicle 1b, and is finally fixedly connected
Together.For example, when the first rotor wing unmanned aerial vehicle 1a is pulled to the second rotor wing unmanned aerial vehicle 1b by mechanical arm, the first rotor wing unmanned aerial vehicle 1a
Clamp be aligned the second rotor wing unmanned aerial vehicle 1b bayonet and be fastened togather, to realize the first rotor wing unmanned aerial vehicle 1a and second rotation
The fixation of wing unmanned plane 1b.Certainly, automatic locking mechanism can also be clamp or buckle etc..
In addition it is also necessary to explanation, in the automatic butt mistake of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The component of Cheng Zhong, two frame unmanned plane interfaces can carry out in auto-folder or automatic accomodation to accommodating chamber, to avoid docking
Structure on face influences the docking of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.For example, when the first rotor wing unmanned aerial vehicle
When the bottom surface of 1a and the top surface of the second rotor wing unmanned aerial vehicle 1b are docked, the tripod of the first rotor wing unmanned aerial vehicle 1a can be carried out folding or
Person shrinks back in the rack of the first rotor wing unmanned aerial vehicle 1a, and the GPS module of the second rotor wing unmanned aerial vehicle 1b is folded or received
In the rack of the second rotor wing unmanned aerial vehicle 1b of retracting.It is understood that when by operator couple the first rotor wing unmanned aerial vehicle 1a and second
When rotor wing unmanned aerial vehicle 1b is docked, the component of the interface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also
Auto-folder or contraction；Or these components can also be removed by operator, to realize the first rotor wing unmanned aerial vehicle 1a
With the docking operation of the second rotor wing unmanned aerial vehicle 1b.
The control method of the multi-rotor unmanned aerial vehicle of the present embodiment, by control the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b automatic butts can improve the cooperative ability of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, especially can
It is enough to play a significant role under certain special occasions, such as when a frame unmanned plane breaks down in the air, for example, electric power is insufficient
When, the unmanned plane of failure can be taken back safely ground by way of automatic butt.For another example, when a frame unmanned plane needs
It improves flying height and the drawing force of its own to be not sufficient to meet this when requiring, by automatic with another frame unmanned plane in the air
Docking, so as to improve drawing force to obtain higher flying height.
Embodiment 12
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.Fig. 8 is a kind of knot of multi-rotor unmanned aerial vehicle provided in this embodiment
Structure schematic diagram；Fig. 9 is another structural schematic diagram of multi-rotor unmanned aerial vehicle provided in this embodiment.
As shown in FIG. 8 and 9, multi-rotor unmanned aerial vehicle provided in this embodiment, including：First rotor wing unmanned aerial vehicle 1a, the second rotation
Wing unmanned plane 1b and fixed mechanism 1c.Wherein, the first rotor wing unmanned aerial vehicle 1a, including the first rack 19a, be mounted on first machine
Multiple first rotor assemblies 111a on frame 19a.Second rotor wing unmanned aerial vehicle 1b, including the second rack 19b, be mounted on second machine
Multiple second rotor assemblies 111b on frame 19b.Fixed mechanism 1c, for fixing and connecting the first rack 19a and the second rack 19b
It is connected together.
Also, the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b further include master controller, for according to the first rotation
The docking mode of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b choose the control model of the multi-rotor unmanned aerial vehicle after docking, control
Above-mentioned multiple first rotor assemblies 111a and the multiple second rotor assemblies 111b.
Specifically, the first rotor assemblies 111a of the first rotor wing unmanned aerial vehicle 1a can be four, six or eight etc.,
That is, the first rotor wing unmanned aerial vehicle 1a can be quadrotor drone, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles etc..Similarly,
The second rotor assemblies 111b of second rotor wing unmanned aerial vehicle 1b can also be four, six or eight etc., that is, the second rotor without
Man-machine 1b can be quadrotor drone, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles etc..
Fixed mechanism 1c can be the arbitrary existing mechanism for being fixedly connected with the first rack 19a and the second rack 19b,
Such as rivet, screw, key or snap-arms, manipulator etc..Fixed mechanism 1c can be only set on the first rack 19a, can also
It is only set to the second rack 19b, alternatively, the first rack 19a and the second rack 19b are equipped with fixed mechanism 1c.
The docking mode of first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are not especially limited in the present embodiment.Example
Such as in the mode being fixedly connected, it may be used and be detachably connected or non-dismountable connection.Also, in the present embodiment, may be used
Dismantling connection or non-dismountable connection can select arbitrary mode in the prior art.It, can be in another example in abutting direction
It is docked, can also be docked radially in the axial direction, can also be docked obliquely.It for example, can be with
Two quadrotor drones are detachably connected in the axial direction, to formed the double-deck rotor eight rotors nobody
Machine.Alternatively, can also by a quadrotor drone and six rotor wing unmanned aerial vehicles are non-dismountable in the axial direction links together,
To form ten rotor wing unmanned aerial vehicles of the double-deck rotor.Alternatively, can also be by two quadrotor drones in radial directions
It is removably attachable to together, form eight rotor wing unmanned aerial vehicles of a single layer rotor.
In addition, when choosing the control model of the multi-rotor unmanned aerial vehicle after docking, can according to the first rotor wing unmanned aerial vehicle 1a and
The abutting direction of second rotor wing unmanned aerial vehicle 1b, rotor quantity select the control model of the multi-rotor unmanned aerial vehicle after docking.For example,
When two quadrotor drones in the axial direction dock composition one eight rotor wing unmanned aerial vehicle when, can select pervious quadrotor nobody
The control model of machine can also select the control model prepared exclusively for double-deck eight rotor wing unmanned aerial vehicles.
After the control model of multi-rotor unmanned aerial vehicle after choosing good docking, master controller can be according to the control model
Control above-mentioned multiple first rotor assemblies 111a and multiple second rotor assemblies 111b.For example, when two frame quadrotor drones exist
Axial direction docking into eight rotors unmanned plane when, the control model after the docking of selection can control the first rotor without
Multiple first rotor assemblies 111a of man-machine 1a work according to original mode, and control multiple rotations of the second rotor wing unmanned aerial vehicle 1b
Wing component works according to new mode.Furthermore, it is understood that master controller can be the rotor controlled in the first rotor assemblies 111a
The rotor for rotating clockwise and controlling in the second rotor assemblies 111b rotates counterclockwise.It is of course also possible to be main controller controls
Rotor in first rotor assemblies 111a and the second rotor assemblies 111b rotates in clockwise direction.
In addition, it should also be noted that, the multi-rotor unmanned aerial vehicle after docking at least further includes a combined support 1d, for this to be more
The landing of rotor wing unmanned aerial vehicle.Specifically, this combined support 1d is located at the downside of the multi-rotor unmanned aerial vehicle after docking, can fly
In the rack for being folded or being shunk back in the process the multi-rotor unmanned aerial vehicle after docking.Furthermore, it is understood that this combined support 1d
It can be the tripod 1d of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b that are not removed when docking, can also be basis
The relative position of first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b after docking and be located at downside by main controller controls
Expansion is constituted in first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b.Further, more rotors after docking nobody
Machine can also have two couples of tripod 1d, to realize landing when overturning.
The multi-rotor unmanned aerial vehicle of the present embodiment, by carrying out pair the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It connects, and corresponding control model by master controller is chosen according to docking mode to control multiple first rotor assemblies 111a and multiple
Second rotor assemblies 111b, the rotor quantity and battery capacity of the multi-rotor unmanned aerial vehicle after docking are improved so that continuation of the journey
Ability, lifting capacity and drawing force improve significantly, so as to solve for example to need to carry greatly existing for single unmanned plane
The problem of weight, lift or continuation of the journey for a long time.
Embodiment 13
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
Referring to Fig. 2, on the basis of embodiment 12, the first rotor wing unmanned aerial vehicle 1a further includes for controlling multiple first rotations
The first controller of one or more 17a of wing component 111a；Second rotor wing unmanned aerial vehicle 1b further includes for controlling multiple second rotations
One or more second controller 17b of wing component 111b；Master controller is used in the first rotor wing unmanned aerial vehicle 1a and the second rotor
It when unmanned plane 1b docking, while being communicated to connect with the first controller 17a and second controller 17b, and according to the more of selection
The control model of rotor wing unmanned aerial vehicle controls multiple first rotor assemblies by the first controller 17a and second controller 17b
111a and multiple second rotor assemblies 111b.
Specifically, the first controller 17a of the first rotor wing unmanned aerial vehicle 1a can be the flight control of the first rotor wing unmanned aerial vehicle 1a
Device processed, the second controller 17b of the second rotor wing unmanned aerial vehicle 1b can also be the flight controller of the second rotor wing unmanned aerial vehicle 1b.
Master controller and the mode of the communication connection of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be had
Line connection can also be wireless connection, such as can be in master controller, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle
Mutually matched communication terminal and connector are set on 1b, or can also be in master controller, the first rotor wing unmanned aerial vehicle 1a and
Wireless communication module is set on two rotor wing unmanned aerial vehicle 1b, for example can be wifi module, bluetooth module.
In a kind of optional embodiment, master controller can be separately provided different from the first rotor wing unmanned aerial vehicle 1a
And second rotor wing unmanned aerial vehicle 1b flight controller independent control, dedicated for more rotor unmanned aircrafts to docking
It is controlled.For example, one piece of flight control panel can be added in the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
Either increase corresponding control module on the flight control panel of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b, or
Person can also be is arranged corresponding control program, control module in earth station, or can also be that phase is arranged in remote controler
The control module answered and by switching push button to realize switching.It can simplify in this way and carry out control mould between non-dock in docking
The switching of formula, relatively simple convenience.
In another optional embodiment, master controller can be the first rotor wing unmanned aerial vehicle 1a flight controller or
The flight controller of the second rotor wing unmanned aerial vehicle of person 1b.Circuit structure can be simplified in this way, save cost.
The multi-rotor unmanned aerial vehicle of the present embodiment controls the first controller 17a and second controller by master controller respectively
17b is realized to the control of the first rotor assemblies 111a and the second rotor assemblies 111b, can improve control efficiency, and at certain
It may be implemented to control at a distance in the case of a little, such as when master controller is arranged in earth station.
Embodiment 14
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
The multi-rotor unmanned aerial vehicle of the present embodiment is to choose the first rotor by master controller on the basis of embodiment 12 or 13
One in unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b is used as host, for according to the multi-rotor unmanned aerial vehicle after the docking of selection
Control model, control host and slave respectively.
Specifically, master controller can select the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in a conventional manner
One in 1b is used as host, and using another as slave, details are not described herein.
Further, when the control signal of host breaks down, former slave can be chosen to be new host by master controller,
And set original host to new slave, to ensure the safe to use of the multi-rotor unmanned aerial vehicle after docking.
The multi-rotor unmanned aerial vehicle of the present embodiment by the way that slave is arranged, and controls slave simultaneously by host and works,
The control to the multi-rotor unmanned aerial vehicle after docking can be realized on the basis of not increasing excessive hardware, to simplify structure, section
Cost-saving and the reliability for improving control.
Embodiment 15
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the basis of any embodiment in embodiment 12-14
On, set the control model of the multi-rotor unmanned aerial vehicle after docking to include：Coaxial control model, different axis control model.
Wherein, coaxial control model refers to that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are right in the axial direction
It connects, also, two rotors up and down of the multi-rotor unmanned aerial vehicle after docking are on the same axis, for example, two frame quadrotor drones
Rotor be superimposed together completely.Different axis control model refers to the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It is staggered in radial direction, for example, two frame unmanned planes are docked in radial direction, alternatively, two frame unmanned planes are right in the axial direction
It connects, but the rotor of the two but biases certain distance in radial direction.It should be noted that different axis control model further includes first
The case where rotor part coaxial parts of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b different axis, for example, a frame quadrotor without
Man-machine and six rotor wing unmanned aerial vehicle of a frame or eight rotor wing unmanned aerial vehicle of a frame dock in the axial direction after multi-rotor unmanned aerial vehicle, wherein
There is the case where overlapping in the rotor part of quadrotor drone and six rotor wing unmanned aerial vehicles.
It more specifically, can be with coaxial two rotors of the multi-rotor unmanned aerial vehicle after control combination when coaxial control model
Direction of rotation is opposite.It, can be with symmetrically arranged two rotors of the multi-rotor unmanned aerial vehicle after control combination when different axis control model
Direction of rotation it is opposite or identical.
The multi-rotor unmanned aerial vehicle of the present embodiment takes different controls by the rotor distribution situation to the unmanned plane after docking
Molding formula is controlled, and has stronger specific aim, is conducive to the flight advantage for playing the unmanned plane after docking, after improving docking
The flight efficiency of unmanned plane, such as improve its flying height or lifting capacity.
Embodiment 16
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is on any embodiment basis of above-described embodiment 12-15
On, change the dynamical system control model of the first rotor wing unmanned aerial vehicle 1a after docking, the second rotor wing unmanned aerial vehicle 1b, for example, can be with
Change the control model of the dynamical system 11a of the first rotor wing unmanned aerial vehicle 1a, or can also change the second rotor wing unmanned aerial vehicle 1b's
The control model of dynamical system 11b, or can also change simultaneously the first rotor wing unmanned aerial vehicle 1a's and the second rotor wing unmanned aerial vehicle 1b
Dynamical system 11a, 11b control model.
Specifically, the control model of dynamical system may include electron speed regulator, motor and rotor different working condition
Control mode, such as may include the size, frequency and period of electron speed regulator output voltage, the signal of electron speed regulator
The angle of inclination etc. of output mode, the Control Cooling (direction of rotation, rotating speed, acceleration etc.) of motor, rotor.Therefore, it is possible to
By the group for changing dynamical system 11a, 11b different control modes in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It closes, to generate different drawing forces, course change mode and response speed and the performance of different load forces.
Preferably, the control model of dynamical system may include at least one of the direction of the rotating speed of rotor, rotor.It is logical
Operation can be simplified by crossing the steering of the rotating speed or rotor of control rotor, and be provided and drawing force and load force and response speed
More intuitive control mode.
Below for being controlled after two frame quadrotor drones are docked in the axial direction, briefly introduces and how to change
The control model of dynamical system 11a, 11b of first rotor wing unmanned aerial vehicle 1a, the second rotor wing unmanned aerial vehicle 1b：
A kind of situation is individually to change the maximum (top) speed of rotor in dynamical system.Such as can be by a frame quadrotor without
The maximum (top) speed of man-machine middle rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed, and rotor is most in the second frame unmanned plane
Big rotating speed keeps third maximum (top) speed constant；Can also be by the maximum (top) speed of rotor in a frame quadrotor drone by first most
Big adjustment of rotational speed is the second maximum (top) speed, while the maximum (top) speed of rotor in the second frame unmanned plane being adjusted by third maximum (top) speed
For the 4th maximum (top) speed.
The second situation is individually to change the steering of rotor in dynamical system.Such as can be by a frame quadrotor nobody
The steering of rotor is turned to by first and is adjusted to the second steering in machine, and the steering of rotor keeps third to turn in the second frame unmanned plane
It is constant；Can also be to turn to the steering of rotor in a frame quadrotor drone by first to be adjusted to the second steering, while by the
The steering of rotor is adjusted to the 4th steering by third steering in two frame unmanned planes.
The third situation is to change simultaneously the maximum (top) speed of rotor and steering in dynamical system.Such as can be by a frame
The maximum (top) speed of rotor is adjusted to the second maximum (top) speed by the first maximum (top) speed in quadrotor drone, and by the steering of its rotor
It is turned to by first and is adjusted to the second steering, and the maximum (top) speed of rotor and steering keep third maximum respectively in the second frame unmanned plane
Rotating speed and third turn to constant.Alternatively, can also be that the maximum (top) speed of rotor in a frame quadrotor drone is maximum by first
Adjustment of rotational speed is the second maximum (top) speed, and the steering of its rotor is turned to by first and is adjusted to the second steering, while by the second frame
The maximum (top) speed of rotor is adjusted to the 4th maximum (top) speed by third maximum (top) speed in unmanned plane, and by the steering of its rotor by third
Steering is adjusted to the 4th steering.Alternatively, can also be the maximum (top) speed of rotor in a frame quadrotor drone by the first maximum
Adjustment of rotational speed is the second maximum (top) speed, and keeps its steering constant, while keeping the maximum (top) speed of rotor in the second frame unmanned plane
It is constant, and be turned around being adjusted to the 4th steering by third steering.
The multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a in multi-rotor unmanned aerial vehicle, the second rotation
Wing unmanned plane 1b both is changed simultaneously and can be obtained different power system operational states, and then can obtain different drawings
Stretch and bearing capacity greatly extend the application scenarios of unmanned plane to adapt to the demand of different application occasion.
Embodiment 17
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the base of any embodiment in above-described embodiment 12-16
On plinth, the working condition of power supply in the multi-rotor unmanned aerial vehicle after docking is improved, to adapt to the control for the multi-rotor unmanned aerial vehicle chosen
Pattern.Such as, thus it is possible to vary the power supply 13a of the first rotor wing unmanned aerial vehicle 1a, control model, or can also change the second rotor without
The power supply 13b control models of man-machine 1b, or the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also be changed simultaneously
Power supply 13a, 13b control model.
Specifically, power supply control model may include power supply in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Power supply order, power supply mode, power-on time and power supply volume size.By controlling power supply in the multi-rotor unmanned aerial vehicle after docking
Working condition can provide suitable operating current, to ensure to dock in different application environments for the unmanned plane after docking
Unmanned plane afterwards can keep good load capacity, drawing force and cruise duration to meet corresponding work requirements.
In a kind of optional embodiment, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
13b is simultaneously the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b power supplies, to be the first rotor wing unmanned aerial vehicle 1a and second
Rotor wing unmanned aerial vehicle 1b provides maximum power supply guarantee, to meet the applied field that such as short time needs big drawing force or high load
Scape.For example, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a is the first rotor wing unmanned aerial vehicle 1a power supplies, the electricity of the second rotor wing unmanned aerial vehicle 1b
Source 13b is the second rotor wing unmanned aerial vehicle 1b power supplies；Alternatively, the power supply 13a of the first rotor wing unmanned aerial vehicle 1a is the second rotor wing unmanned aerial vehicle 1b
The power supply 13b of power supply, the second rotor wing unmanned aerial vehicle 1b is the first rotor wing unmanned aerial vehicle 1a power supplies.
In second of optional embodiment, choose in the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b
One is used as main power source, another is used as from power supply, to meet the needs of the application scenarios of continuation of the journey for a long time.For example, by the first rotation
The power supply 13a of wing unmanned plane 1a powers as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b,
Or using the power supply 13b of the second rotor wing unmanned aerial vehicle 1b as main power source and simultaneously for the first rotor wing unmanned aerial vehicle 1a and the second rotor without
Man-machine 1b power supplies.Further, when the electricity of main power source exhausts or power supply trouble, then original is chosen to be new main electricity from power supply
Former main power source is simultaneously set as new from power supply by source, to ensure the multi-rotor unmanned aerial vehicle powered stable after docking, improves its peace
Quan Xing.
The multi-rotor unmanned aerial vehicle of the present embodiment passes through the power supply to the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
Working condition controlled, so as to obtain a variety of powering modes, such as the continuation of the journey pattern of longer time, to adapt to difference
The needs of operative scenario.
Embodiment 18
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
With continued reference to Fig. 2, the multi-rotor unmanned aerial vehicle of the present embodiment is the base of any embodiment in above-described embodiment 12-17
On plinth, the working condition of sensor in the multi-rotor unmanned aerial vehicle after docking is improved, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.Such as, thus it is possible to vary the sensor 15a control models of the first rotor wing unmanned aerial vehicle 1a, or can also be changed
The sensor 15b control models of two rotor wing unmanned aerial vehicle 1b, or the rotations of the first rotor wing unmanned aerial vehicle 1a and second can also be changed simultaneously
Sensor 15a, 15b control model of wing unmanned plane 1b.
Specifically, the working condition of sensor includes opening quantity, opening type, opening time, open frequency.For example,
The sensor 15a of first rotor wing unmanned aerial vehicle 1a can be all turned on, and part is opened or Close All；Second rotor wing unmanned aerial vehicle 1b
Sensor 15b can also be all turned on, part open or Close All.By being revolved to the first rotor wing unmanned aerial vehicle 1a and second
The control of sensor 15a, 15b working condition in wing unmanned plane 1b can make the sensor of the multi-rotor unmanned aerial vehicle after docking
Formation is turned on and off, and is worked independently or the multiple-working mode of redundancy.
For example, the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a can be opened, the super of the second rotor wing unmanned aerial vehicle 1b is closed
Sonic sensor can also open the ultrasonic sensor of the second rotor wing unmanned aerial vehicle 1b, close the super of the first rotor wing unmanned aerial vehicle 1a
Sonic sensor can also open the ultrasonic sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b simultaneously.Together
Reason, the other sensors in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can also be controlled in the manner described above,
Such as barometer and camera.
Further, when the same sensor only one in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened
When, sensor that the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are opened preferably at least with dock before first
The sensor that rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b are opened is identical, to ensure docking after more rotors without
It is man-machine can sensing capability do not reduce.
When the same sensor in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is opened or is opened into
At few two, then this kind of sensor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be formed redundant state or
Complementary state.Wherein, it is identical information that redundant state, which both refers to detection, such as detection is pressure information, to
One sensor constitutes the redundancy of another sensor, and it is another that can use the information detected by a sensor at this time
Sensor is corrected.And complementary state refers to then two sensors having complementary functions of being realized, for example, the first rotor wing unmanned aerial vehicle
Camera from the camera of 1a to the first two the second rotor wing unmanned aerial vehicle 1b backward, so as to so that docking after unmanned plane have 360 °
Shooting ability without dead angle, that is, having expanded the function of the unmanned plane after docking.
The multi-rotor unmanned aerial vehicle of the present embodiment, by being sensed in the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The control of device may be implemented different sensor combinations modes, realize more functions, to meet different work requirements with
Adapt to more workplaces.
Embodiment 19
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
The multi-rotor unmanned aerial vehicle of the present embodiment is to improve first on the basis of any one of embodiment 12-18 embodiment
Rotor wing unmanned aerial vehicle 1a's and the second rotor wing unmanned aerial vehicle 1b is fixedly connected with mode.
In the present embodiment, the first rack 111a and the second rack 111b are detachably connected by fixed mechanism 1c.
Specifically, arbitrary detachable connection in the prior art, which may be used, in fixed mechanism 1c fixes the first rack
111a and the second rack 111b, for example, can be bolted, pin joint, key connection and it is certain riveting etc..Preferably, fixed machine
Structure 1c is detachably connected the first rack 111a and the second rack 111b by the way of clamping, for example, fixed mechanism 1c can be
The clamp and setting and the mutually matched bayonet of the clamp on the second rack 111b being arranged on first rack 111a.Fixed machine
Structure 1c connects the first rack 111a and the second rack 111b by way of clamping, relatively simple for structure, while being also easy to carry out
Docking operation.
The multi-rotor unmanned aerial vehicle of the present embodiment, by using the docking mode being detachably connected connect the first rotor nobody
Machine 1a and the second rotor wing unmanned aerial vehicle 1b can so that unmanned plane is more flexible, can directly make in application scenes in this way
With single rotary wind type unmanned plane, the multi-rotor unmanned aerial vehicle after docking can be used in application scenes.
Embodiment 20
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
- 6, Fig. 8 and Fig. 9 is please referred to Fig.3, the multi-rotor unmanned aerial vehicle of the present embodiment is any in above-described embodiment 12-19
On the basis of embodiment, the abutting direction of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are improved.
In the present embodiment, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are fixedly connected in the axial direction,
So that the multi-rotor unmanned aerial vehicle after docking has smaller radial dimension and obtains preferable synergistic effect.
Specifically, can according to the actual application, such as the selection for sensor 15a, 15b working condition, or
According to unmanned plane top surface, either bottom surface is arranged the complexity of connection structure or selects first according to the complexity of control
The specific fixed form of rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.
As shown in figure 3, in the first optional embodiment, it can be by the top surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.Such docking mode can utilize the rotations of the first rotor wing unmanned aerial vehicle 1a and second simultaneously
The camera of wing unmanned plane 1b, to obtain better shooting effect.
It, can be by the bottom surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in second of optional embodiment
The bottom surface of 1b is fixedly connected.Such docking mode can be to avoid tripod 1d to docking influence, reduce the difficulty of docking.
It, can be by the top surface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle in the third optional embodiment
The bottom surface of 1b is fixedly connected.It, can be with when such case is suitble to the first rotor wing unmanned aerial vehicle 1a to be located at below the second rotor wing unmanned aerial vehicle 1b
Reduce control difficulty.
As shown in figure 4, in the 4th kind of optional embodiment, it can be by the bottom surface and second of the first rotor wing unmanned aerial vehicle 1a
The top surface of rotor wing unmanned aerial vehicle 1b is fixedly connected.It is especially carried out in the air in docking without being overturn to unmanned plane in this way
When automatic butt, the quality of docking can be improved.
The multi-rotor unmanned aerial vehicle of the present embodiment, by the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b interfaces
Selection, better function can be obtained, or reduce the difficulty of docking, improve the quality of docking, or simplify the behaviour of docking
Make, to extend the application demand of the multi-rotor unmanned aerial vehicle after docking to the greatest extent.
Embodiment 21
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
Please continue to refer to Fig. 3-6, Fig. 8 and Fig. 9, the multi-rotor unmanned aerial vehicle of the present embodiment is in above-described embodiment 12-20
On the basis of any embodiment, the rotor for improving the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b is improved, to obtain
Obtain different drawing forces.
It, can be by the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in a kind of optional embodiment
Rotor be superimposed together in the axial direction.For example, as shown in Fig. 4, Fig. 5 or Fig. 8, by the rotor of two frame quadrotor drones
It is superimposed together to form eight rotor wing unmanned aerial vehicles that a upper layer and lower layer overlaps.Also, by a large amount of tests of inventor
After find, can make unmanned plane after the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b are superimposed together
Drawing force improves 50% or so, so that the higher that the multi-rotor unmanned aerial vehicle after docking can fly.
It, can be by the rotor and the second rotor wing unmanned aerial vehicle of the first rotor wing unmanned aerial vehicle 1a in another optional embodiment
The rotor of 1b is biased in radial direction to be arranged.For example, as shown in Fig. 3, Fig. 6 or Fig. 9, by the rotor of two frame quadrotor drones
It is staggered to form eight rotor wing unmanned aerial vehicles that a levels are interlocked.Also, it is found after a large amount of tests of inventor, by the first rotation
The rotor of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b can make the drawing force of unmanned plane improve 70%- after being interleaved together
80% or so, so that the higher that the multi-rotor unmanned aerial vehicle after docking can fly, and carry more articles.
The multi-rotor unmanned aerial vehicle of the present embodiment, by making the first rotor wing unmanned aerial vehicle 1a rotors and the second rotor wing unmanned aerial vehicle 1b
Rotor is in different relative positions, so as to generate different drawing forces, to adapt to the different works of the unmanned plane after docking
Make environment and job requirement.
Embodiment 22
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.
Fig. 3, Fig. 5, Fig. 8 and Fig. 9 are referred to, the multi-rotor unmanned aerial vehicle of the present embodiment is appointed in above-described embodiment 12-21
On the basis of one embodiment, the rotor of the rotor of the first rotor wing unmanned aerial vehicle 1a or the second rotor wing unmanned aerial vehicle 1b are revolved around radial direction
Turnback.For example, as shown in Fig. 3, Fig. 5, Fig. 8 and Fig. 9, by the rotor of the second rotor wing unmanned aerial vehicle 1b around carrying out rotation 180 degree,
So that the rotor of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can form synergistic effect, to improve docking
The working efficiency of multi-rotor unmanned aerial vehicle afterwards.
The multi-rotor unmanned aerial vehicle of the present embodiment, by changing the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b rotors
Relative direction, can make docking after unmanned plane generate different drawing forces, to improve docking after more rotors nobody
The adaptability of machine.
Embodiment 23
The present embodiment provides a kind of multi-rotor unmanned aerial vehicles.Figure 10 is the first rotation provided in this embodiment for having removed tripod 1d
The structural schematic diagram of wing unmanned plane；Figure 11 is the structure of the second rotor wing unmanned aerial vehicle provided in this embodiment for having removed GPS module
Schematic diagram.
On the basis of the multi-rotor unmanned aerial vehicle of the present embodiment is any embodiment in above-described embodiment 12-22, the master
Controller includes：Position adjusting type modules, course angle adjustment module and automatic locking module.
Wherein, position adjusting type modules, for controlling first rotor wing unmanned aerial vehicle according to the current location information got
1a and the second rotor wing unmanned aerial vehicle 1b moves to corresponding position up and down, and course axis essentially coincides.
Specifically, the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b can be obtained by GPS, triones navigation system
Current Ubiety, can also pass through radar obtain the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b current location
Relationship can also obtain the current of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b by other methods in the prior art
Position relationship.
Meanwhile position adjusting type modules control the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b moves to corresponding position
It sets, and the angle for adjusting the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b makes it be essentially coincided with course axis.More specifically
, position adjusting type modules can be a module in the main controller being separately provided, and can also be one in selected host
Module, or can also be the module in the first controller 17a and second controller 17b.
Course angle adjusts module, for adjusting the first rotor wing unmanned aerial vehicle 1a and/or described according to the docking mode
The course angle of second rotor wing unmanned aerial vehicle 1b, until the course angle of the first rotor wing unmanned aerial vehicle 1a and second rotor wing unmanned aerial vehicle
The differential seat angle of the course angle of 1b is preset value.
Specifically, course angle adjustment module can be a module in the main controller being separately provided, can also be selected
Host in a module, or can also be the module in the first controller 17a and second controller 17b.
In addition, by by the differential seat angle of the course angle of the first rotor wing unmanned aerial vehicle 1a and the course angle of the second rotor wing unmanned aerial vehicle 1b
Control can form working efficiency of the interference to the multi-rotor unmanned aerial vehicle after docking within preset value to avoid the deviation of course angle
It has an impact, to ensure that the multi-rotor unmanned aerial vehicle after docking can preferably work.
First rack is detachably fixed by automatic locking module for controlling the fixed mechanism 1c with the second rack
Together.
Specifically, fixed mechanism 1c can be mechanical arm, the first rotor wing unmanned aerial vehicle 1a can be pulled to by the mechanical arm
Second rotor wing unmanned aerial vehicle 1b, or the second rotor wing unmanned aerial vehicle 1b is pulled to the first rotor wing unmanned aerial vehicle 1a, and finally by the first rack
Together with being detachably fixed with the second rack.For example, when the first rotor wing unmanned aerial vehicle 1a is pulled to the second rotor wing unmanned aerial vehicle by mechanical arm
When 1b, the clamp being arranged in the first rack is directed at the bayonet being arranged in the second rack and is fastened togather, to realize the first rotation
The fixation of wing unmanned plane 1a and the second rotor wing unmanned aerial vehicle 1b.
In addition it is also necessary to explanation, in the automatic butt mistake of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
The component of Cheng Zhong, two frame unmanned plane interfaces can carry out in auto-folder or automatic accomodation to accommodating chamber, to avoid docking
Structure on face influences the docking of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b.For example, when the first rotor wing unmanned aerial vehicle
When the bottom surface of 1a and the top surface of the second rotor wing unmanned aerial vehicle 1b are docked, the tripod 1d of the first rotor wing unmanned aerial vehicle 1a can be folded
Or shrink back in the rack of the first rotor wing unmanned aerial vehicle 1a, and the GPS module 151a of the second rotor wing unmanned aerial vehicle 1b is folded
Or it shrinks back in the rack of the second rotor wing unmanned aerial vehicle 1b.It is understood that when by the first rotor wing unmanned aerial vehicle of operator couple 1a
When being docked with the second rotor wing unmanned aerial vehicle 1b, the component of the interface of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b
It can also auto-folder or contraction；Or these components can also be removed by operator, with realize the first rotor without
The docking operation of man-machine 1a and the second rotor wing unmanned aerial vehicle 1b, specifically refer to Figure 10 and Figure 11.
The multi-rotor unmanned aerial vehicle of the present embodiment, by controlling the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b in sky
Middle automatic butt can improve the cooperative ability of the first rotor wing unmanned aerial vehicle 1a and the second rotor wing unmanned aerial vehicle 1b, especially can be
It plays a significant role under certain special occasions, such as when a frame unmanned plane breaks down in the air, for example, when electric power deficiency,
The unmanned plane of failure can be taken back safely ground by way of automatic butt.For another example, when frame unmanned plane needs carry
High flying height and the drawing force of its own are not sufficient to meet this when requiring, by automatically right with another frame unmanned plane in the air
It connects, so as to improve drawing force to obtain higher flying height.
Technical solution, technical characteristic in above each embodiment in the case that with this it is conflicting can be independent, or
Person is combined, as long as without departing from the cognitive range of those skilled in the art, belongs to the equivalent reality in the application protection domain
Apply example.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, the apparatus embodiments described above are merely exemplary, for example, the module or list
Member division, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be by some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that computer disposal
Device (processor) performs all or part of the steps of the method described in the various embodiments of the present invention.And storage medium packet above-mentioned
It includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), the various media that can store program code such as disk or CD.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (38)
1. a kind of control method of multi-rotor unmanned aerial vehicle, which is characterized in that include the following steps：
Determine the docking mode of the first rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle；
According to the docking mode, the control model of the multi-rotor unmanned aerial vehicle after docking is chosen；And
According to the control model of the multi-rotor unmanned aerial vehicle after the docking of selection, control respectively first rotor wing unmanned aerial vehicle with
Second rotor wing unmanned aerial vehicle；
The dynamical system control model for changing first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle, to adapt to
State the control model of the multi-rotor unmanned aerial vehicle of selection.
2. control method according to claim 1, which is characterized in that the control method further includes：
Establish the communication connection of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
One chosen in first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is used as host, for according to selection
The control model of multi-rotor unmanned aerial vehicle after the docking controls the host and slave respectively.
3. control method according to claim 1, which is characterized in that the control mould of the multi-rotor unmanned aerial vehicle after the docking
Formula includes：Coaxial control model, different axis control model.
4. control method according to claim 1, which is characterized in that the dynamical system control model include it is following at least
It is a kind of：The direction of rotation of rotor, the acceleration of rotor.
5. control method according to claim 1, which is characterized in that change first rotor wing unmanned aerial vehicle and/or described
The power supply control model of second rotor wing unmanned aerial vehicle, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
6. control method according to claim 5, which is characterized in that in the multi-rotor unmanned aerial vehicle in the selection
Control model when, the power supply of the power supply of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is powered simultaneously；
Alternatively, one of power supply of the power supply of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle is as master
Power supply, another is as stand-by power supply.
7. control method according to claim 1, which is characterized in that change first rotor wing unmanned aerial vehicle and/or described
The sensor control model of second rotor wing unmanned aerial vehicle, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
8. control method according to claim 7, which is characterized in that the sensor control model includes following at least one
Kind：It is turned on and off, works independently or redundancy.
9. according to claim 1-8 any one of them control methods, which is characterized in that first rotor wing unmanned aerial vehicle and second
The docking mode of rotor wing unmanned aerial vehicle is to be detachably connected.
10. control method according to claim 9, which is characterized in that described to be detachably connected as being clamped.
11. according to claim 1-8 any one of them control methods, which is characterized in that first rotor wing unmanned aerial vehicle and
Two rotor wing unmanned aerial vehicles are fixedly connected in the axial direction.
12. control method according to claim 11, which is characterized in that the top surface of first rotor wing unmanned aerial vehicle with it is described
The top surface of second rotor wing unmanned aerial vehicle is fixedly connected or the bottom surface of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
Bottom surface be fixedly connected.
13. control method according to claim 11, which is characterized in that the bottom surface of first rotor wing unmanned aerial vehicle with it is described
The top surface of second rotor wing unmanned aerial vehicle is fixedly connected or the top surface of first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
Bottom surface be fixedly connected.
14. according to claim 1-8 any one of them control methods, which is characterized in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing and second rotor wing unmanned aerial vehicle is superimposed together in the axial direction.
15. according to claim 1-8 any one of them control methods, which is characterized in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing and second rotor wing unmanned aerial vehicle is biased in radial direction to be arranged.
16. according to claim 1-8 any one of them control methods, which is characterized in that the rotation of first rotor wing unmanned aerial vehicle
The rotor of the wing or second rotor wing unmanned aerial vehicle rotates 180 degree around radial direction.
17. according to claim 1-8 any one of them control methods, which is characterized in that first rotor wing unmanned aerial vehicle and institute
State the second rotor wing unmanned aerial vehicle automatic butt in the air.
18. control method according to claim 17, which is characterized in that the step of automatic butt includes：
Obtain the current location information of the first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle；
According to the current location information, controls first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle moves to up and down
Corresponding position, and course axis essentially coincides；
According to the docking mode, the course angle of first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle is adjusted, directly
Differential seat angle to the course angle of the course angle and second rotor wing unmanned aerial vehicle of first rotor wing unmanned aerial vehicle is preset value；
The automatic locking mechanism that first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle load is controlled, by described the
One rotor wing unmanned aerial vehicle is fixed together with second rotor wing unmanned aerial vehicle.
19. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that including：
First rotor wing unmanned aerial vehicle, including the first rack, multiple first rotor assemblies in first rack；
Second rotor wing unmanned aerial vehicle, including the second rack, multiple second rotor assemblies in second rack；
Fixed mechanism, for first rack and second rack to be fixed together；
Wherein, first rotor wing unmanned aerial vehicle or second rotor wing unmanned aerial vehicle further include master controller, for according to described the
The docking mode of one rotor wing unmanned aerial vehicle and the second rotor wing unmanned aerial vehicle chooses the control model of the multi-rotor unmanned aerial vehicle after docking, control
The multiple first rotor assemblies and the multiple second rotor assemblies；
The master controller changes the dynamical system control mould of first rotor wing unmanned aerial vehicle and/or second rotor wing unmanned aerial vehicle
Formula, to adapt to the control model of the multi-rotor unmanned aerial vehicle of the selection.
20. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that
First rotor wing unmanned aerial vehicle further includes being controlled for controlling the one or more first of the multiple first rotor assemblies
Device；
Second rotor wing unmanned aerial vehicle further includes being controlled for controlling the one or more second of the multiple second rotor assemblies
Device；
The master controller be used for when first rotor wing unmanned aerial vehicle is docked with second rotor wing unmanned aerial vehicle, while with it is described
First controller and second controller communication connection, and passed through according to the control model of the multi-rotor unmanned aerial vehicle of the selection
First controller and second controller control the multiple first rotor assemblies and the multiple second rotor assemblies.
21. multi-rotor unmanned aerial vehicle according to claim 20, which is characterized in that the master controller is first rotor
The flight controller of unmanned plane or second rotor wing unmanned aerial vehicle；
Alternatively, the master controller is the flight control different from first rotor wing unmanned aerial vehicle and second rotor wing unmanned aerial vehicle
The independent control of device processed.
22. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that the master controller chooses first rotation
One in wing unmanned plane and second rotor wing unmanned aerial vehicle is used as host, for according to more rotors after the docking of selection
The control model of unmanned plane controls the host and slave respectively.
23. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that multi-rotor unmanned aerial vehicle after the docking
Control model includes：Coaxial control model, different axis control model.
24. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that the dynamical system control model includes such as
Lower at least one：The direction of rotation of rotor, the acceleration of rotor.
25. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that the master controller changes first rotation
The power supply control model of wing unmanned plane and/or second rotor wing unmanned aerial vehicle, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.
26. multi-rotor unmanned aerial vehicle according to claim 25, which is characterized in that the first rotation described in the main controller controls
The power supply of the power supply of wing unmanned plane and second rotor wing unmanned aerial vehicle is powered simultaneously；
Alternatively, the power supply of the power supply of the first rotor wing unmanned aerial vehicle described in the main controller controls and second rotor wing unmanned aerial vehicle
One of be used as main power source, another is as stand-by power supply.
27. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that the master controller changes first rotation
The sensor control model of wing unmanned plane and/or second rotor wing unmanned aerial vehicle, to adapt to the multi-rotor unmanned aerial vehicle of the selection
Control model.
28. multi-rotor unmanned aerial vehicle according to claim 27, which is characterized in that the sensor control model includes as follows
It is at least one：It is turned on and off, works independently or redundancy.
29. multi-rotor unmanned aerial vehicle according to claim 19, which is characterized in that described to be fixedly connected as being detachably connected.
30. multi-rotor unmanned aerial vehicle according to claim 29, which is characterized in that described to be detachably connected as being clamped.
31. according to claim 19-28 any one of them multi-rotor unmanned aerial vehicles, which is characterized in that first rotor nobody
Machine and the second rotor wing unmanned aerial vehicle are fixedly connected in the axial direction.
32. multi-rotor unmanned aerial vehicle according to claim 31, which is characterized in that the top surface of first rotor wing unmanned aerial vehicle with
The top surface of second rotor wing unmanned aerial vehicle be fixedly connected or the bottom surface of first rotor wing unmanned aerial vehicle and second rotor without
Man-machine bottom surface is fixedly connected.
33. multi-rotor unmanned aerial vehicle according to claim 31, which is characterized in that the bottom surface of first rotor wing unmanned aerial vehicle with
The top surface of second rotor wing unmanned aerial vehicle be fixedly connected or the top surface of first rotor wing unmanned aerial vehicle and second rotor without
Man-machine bottom surface is fixedly connected.
34. according to claim 19-28 any one of them multi-rotor unmanned aerial vehicles, which is characterized in that first rotor nobody
The rotor of the rotor of machine and second rotor wing unmanned aerial vehicle is superimposed together in the axial direction.
35. according to claim 19-28 any one of them multi-rotor unmanned aerial vehicles, which is characterized in that first rotor nobody
The rotor of the rotor of machine and second rotor wing unmanned aerial vehicle is biased in radial direction to be arranged.
36. according to claim 19-28 any one of them multi-rotor unmanned aerial vehicles, which is characterized in that first rotor nobody
The rotor of the rotor of machine or second rotor wing unmanned aerial vehicle rotates 180 degree around radial direction.
37. according to claim 19-28 any one of them multi-rotor unmanned aerial vehicles, which is characterized in that the master controller is used for
The fixed mechanism is controlled in the air to be fixed together the first rack and the second rack.
38. according to the multi-rotor unmanned aerial vehicle described in claim 37, which is characterized in that the master controller includes：Position adjusts
Module, course angle adjustment module and automatic locking module；
The position adjusting type modules, for controlling first rotor wing unmanned aerial vehicle and described according to the current location information that gets
Second rotor wing unmanned aerial vehicle moves to corresponding position up and down, and course axis essentially coincides；
The course angle adjusts module, for adjusting first rotor wing unmanned aerial vehicle and/or described the according to the docking mode
The course angle of two rotor wing unmanned aerial vehicles, until the course of the course angle and second rotor wing unmanned aerial vehicle of first rotor wing unmanned aerial vehicle
The differential seat angle at angle is preset value；
First rack is fixed together by automatic locking module for controlling the fixed mechanism with the second rack.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092124 WO2018018518A1 (en) | 2016-07-28 | 2016-07-28 | Multi-rotor unmanned aerial vehicle and control method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106716273A CN106716273A (en) | 2017-05-24 |
| CN106716273B true CN106716273B (en) | 2018-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680002498.2A Active CN106716273B (en) | 2016-07-28 | 2016-07-28 | Multi-rotor unmanned aerial vehicle and its control method |
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| Country | Link |
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| CN (1) | CN106716273B (en) |
| WO (1) | WO2018018518A1 (en) |
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| CN106882384A (en) * | 2017-03-10 | 2017-06-23 | 佛山市神风航空科技有限公司 | The landing mode and its device of a kind of aircraft |
| TWI678320B (en) * | 2017-09-15 | 2019-12-01 | 緯創資通股份有限公司 | Air charging uav unit and charging uav and functional uav thereof |
| CN107651178A (en) * | 2017-09-18 | 2018-02-02 | 佛山市神风航空科技有限公司 | One kind combination multi-rotor aerocraft |
| CN107651179A (en) * | 2017-09-18 | 2018-02-02 | 佛山市神风航空科技有限公司 | A kind of multi-rotor aerocraft of energy long-distance flight |
| CN107697276A (en) * | 2017-09-18 | 2018-02-16 | 佛山市神风航空科技有限公司 | A kind of method and device for increasing multi-rotor aerocraft flying distance |
| CN107571992A (en) * | 2017-09-18 | 2018-01-12 | 佛山市神风航空科技有限公司 | A kind of device for increasing multi-rotor aerocraft flying distance |
| CN107651177A (en) * | 2017-09-18 | 2018-02-02 | 佛山市神风航空科技有限公司 | A kind of device for increasing multi-rotor unmanned aerial vehicle flying distance |
| CN107640314A (en) * | 2017-09-18 | 2018-01-30 | 佛山市神风航空科技有限公司 | A kind of device for increasing multi-rotor aerocraft flying distance |
| CN107618665A (en) * | 2017-09-18 | 2018-01-23 | 佛山市神风航空科技有限公司 | A kind of method and device for increasing multi-rotor aerocraft flying distance |
| CN107628240A (en) * | 2017-09-18 | 2018-01-26 | 佛山市神风航空科技有限公司 | A kind of method and device for extending multi-rotor aerocraft flying distance |
| CN107640315A (en) * | 2017-09-18 | 2018-01-30 | 佛山市神风航空科技有限公司 | A kind of device for increasing multi-rotor aerocraft flying distance |
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- 2016-07-28 WO PCT/CN2016/092124 patent/WO2018018518A1/en active Application Filing
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| WO2018018518A1 (en) | 2018-02-01 |
| CN106716273A (en) | 2017-05-24 |
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