CN113511332A - Combined multi-rotor unmanned aerial vehicle system and control method thereof - Google Patents

Abstract

The application relates to a combined multi-rotor unmanned aerial vehicle system and a control method thereof, wherein the combined multi-rotor unmanned aerial vehicle system comprises at least two unmanned aerial vehicle units which are distributed at intervals along the vertical direction and at least one group of fixing components for fixing the unmanned aerial vehicle units; the fixing assembly is arranged between two adjacent unmanned aerial vehicle units so as to maintain the distance between each propeller of any unmanned aerial vehicle unit and each propeller of other unmanned aerial vehicle units; the fixed subassembly is used for carrying out spacing connecting piece to two adjacent unmanned aerial vehicle units including a plurality of, and each connecting piece is the circumference around the line between two adjacent unmanned aerial vehicle units and distributes. Make up a plurality of unmanned aerial vehicle units through the connecting piece fixedly, form the structure of stromatolite formula in vertical direction, constitute many rotor unmanned aerial vehicle systems of combination formula for the load capacity of many rotor unmanned aerial vehicle systems of combination formula is several times of original single unmanned aerial vehicle unit load capacity.

Description

Combined multi-rotor unmanned aerial vehicle system and control method thereof

Technical Field

The application relates to the field of multi-rotor unmanned aerial vehicle technology, in particular to a combined multi-rotor unmanned aerial vehicle system and a control method thereof.

Background

At present, along with the rapid development of the unmanned aerial vehicle industry, in the fields of short-distance transportation delivery, forest fire control, urban fire control, emergency rescue and the like, a multi-rotor unmanned aerial vehicle can be frequently selected for use to carry out material transportation delivery. Many rotor unmanned aerial vehicle is an unmanned vehicles who has a plurality of rotors, and many rotors provide the lift through the rotation of rotor, and through changing the relative speed between the different rotors, can change the size of the propulsive force of single rotor to change many rotor unmanned aerial vehicle's orbit. Many rotor unmanned aerial vehicle because small and exquisite portable, expand advantages such as quick, low cost, environmental suitability are good, the wide application is in the short distance field of throwing into of transporting.

In the related art, as the multi-rotor unmanned aerial vehicle disclosed in the chinese patent application with the publication number CN211336467U, the multi-rotor unmanned aerial vehicle provided by the application has the lift engine for providing the lift force for the multi-rotor unmanned aerial vehicle and the steering engine for controlling the flight direction of the multi-rotor unmanned aerial vehicle, and the lift engine and the steering engine work independently, so that the lift engine and the steering engine both work continuously at the optimal rotation speed, that is, the lift engine can provide the maximum lift force for the multi-rotor unmanned aerial vehicle, and the steering engine can provide the maximum control force for the unmanned aerial vehicle.

To above-mentioned technical scheme, the inventor thinks many rotor unmanned aerial vehicle's loading capacity is less, generally is applicable to the short distance of small-size article and transports, but, along with unmanned aerial vehicle trade rapid development, many rotor unmanned aerial vehicle are in the demand in fields such as short distance transportation delivery, fire rescue more and more urgent, and the loading capacity demand to many rotor unmanned aerial vehicle also is bigger and bigger, consequently needs provide a many rotor unmanned aerial vehicle that the load capacity is stronger.

Disclosure of Invention

The utility model aims at providing a modular many rotor unmanned aerial vehicle system has the characteristics that improve the load-carrying capacity.

The above object of the present invention is achieved by the following technical solutions:

a combined multi-rotor unmanned aerial vehicle system comprises at least two unmanned aerial vehicle units which are distributed at intervals along the vertical direction and at least one group of fixing components for fixing the unmanned aerial vehicle units;

the fixing assembly is arranged between two adjacent unmanned aerial vehicle units so as to maintain the distance between each propeller of any one unmanned aerial vehicle unit and each propeller of other unmanned aerial vehicle units;

fixed subassembly is used for adjacent two including a plurality of the unmanned aerial vehicle unit carries out spacing connecting piece, each the connecting piece centers on adjacent two line between the unmanned aerial vehicle unit is the circumference and distributes.

Through adopting above-mentioned technical scheme, it is fixed to make up a plurality of unmanned aerial vehicle units through the connecting piece, forms the structure of stromatolite formula in vertical direction, constitutes many rotor unmanned aerial vehicle systems of combination formula for the load-carrying capacity of many rotor unmanned aerial vehicle systems of combination formula is several times of original single unmanned aerial vehicle unit load-carrying capacity. The connecting piece is the circumference and distributes, makes each connecting piece more stable to the fixed of each unmanned aerial vehicle unit and support, improves the structural stability of many rotor unmanned aerial vehicle systems of combination formula.

Optionally, one of the propellers of each drone unit forms a propeller queue, and each propeller queue is circumferentially distributed around each drone unit; and the rotating shafts of the propellers positioned on the same propeller queue pass through the same vertical straight line.

Through adopting above-mentioned technical scheme, when each unmanned aerial vehicle unit flies in coordination, be located and leave the distance between each screw of same propeller array to reduce the aerodynamic force interference between the screw on two adjacent unmanned aerial vehicle units, reduce the loss of efficiency, promote the duration of combination formula many rotor unmanned aerial vehicle system. On the other hand, the axis of two upper and lower screws can make two screws change in reaching power balance through same vertical straight line to make the flight of combination formula many rotor unmanned aerial vehicle system more balanced

Optionally, the connection is parallel to the axis of the propeller.

By adopting the technical scheme, each connecting piece is parallel to the axis of the propeller, so that the connecting piece can be suitable for each horn after rotating 180 degrees, and the applicability of the connecting piece to the horns at different positions is improved.

Optionally, both ends of the connecting piece all are provided with and are used for right the horn of unmanned aerial vehicle unit carries out spacing portion, spacing portion with the connection can be dismantled to the horn.

By adopting the technical scheme, when a user needs to disassemble the connecting piece and the unmanned aerial vehicle unit, the limiting part corresponding to the connecting piece and the arm corresponding to the unmanned aerial vehicle unit can be disassembled; when the user needs fixed connection spare and unmanned aerial vehicle unit, can be fixed with the horn equipment that spacing portion that the connecting piece corresponds and unmanned aerial vehicle unit correspond.

Optionally, the connecting piece is arranged between the machine arms corresponding to the two adjacent propellers in the same propeller queue.

Through adopting above-mentioned technical scheme, each connecting piece all has the supporting role to each horn, makes and can keep the distance more steadily between each screw.

Optionally, the limiting part is provided with a limiting groove for accommodating the horn and a locking part for preventing the horn from separating from the limiting groove, and the locking part is detachably connected with the limiting part.

By adopting the technical scheme, when a user needs to disassemble the unmanned aerial vehicle unit in a combined state, each locking part on each arm of the unmanned aerial vehicle unit can be opened, and then each arm is taken out from the limiting part; when the user need recombine a plurality of unmanned aerial vehicle units, can place each horn of unmanned aerial vehicle unit in each spacing portion, then with each locking portion again with each spacing locking of portion.

Optionally, the length of the connector can be varied to vary the spacing between two of the drone units adjacent the connector.

Through adopting above-mentioned technical scheme, design adjacent two interval formula between the unmanned aerial vehicle unit, the user need compromise aerodynamic's loss rate and the whole volume of many rotor unmanned aerial vehicle systems of combination formula, and need change adjacent two when the user during interval between the unmanned aerial vehicle unit, the connecting piece of removable different length.

Optionally, the unmanned aerial vehicle unit further comprises supporting legs capable of supporting the fixed objects to support the unmanned aerial vehicle unit, the unmanned aerial vehicle unit is provided with an installation position detachably connected with the supporting legs, and the supporting legs are arranged on the installation position of the unmanned aerial vehicle unit located at the lowest position.

Through adopting above-mentioned technical scheme, many rotor unmanned aerial vehicle systems of combination formula can stand steadily on if ground, place fixture such as platform through the supporting legs. The installation is located the supporting legs and can dismantle the connection to make when arbitrary unmanned aerial vehicle unit is located the below, all can install the supporting legs.

Another object of the present application is to provide a control method for a combined multi-rotor unmanned aerial vehicle system, which is applied to any one of the above combined multi-rotor unmanned aerial vehicle systems, the method comprising:

the unmanned aerial vehicle unit acquires a mode selection instruction in real time and selects a flight control mode according to the acquired mode selection instruction; the flight control mode comprises a single flight control mode and a multi-flight control mode;

if the flight control mode is determined to be the multi-flight control mode, each unmanned aerial vehicle unit in the multi-flight control mode acquires a flight control instruction in real time and flies cooperatively according to the acquired flight control instruction;

and if the flight control mode is determined to be the single-flight control mode, the unmanned aerial vehicle unit in the single-flight control mode acquires the flight control command in real time, and independently executes the flight action according to the acquired flight control command.

Optionally, in a specific method in which each unmanned aerial vehicle unit in the multi-flight control mode acquires a flight control instruction in real time and flies in cooperation with the acquired flight control instruction, the method includes:

the unmanned aerial vehicle unit in the multi-flight control mode acquires a distribution instruction in real time, and determines a master control unit and a slave unit according to the acquired distribution instruction; wherein, all the slave units are corresponding to and only provided with one master control unit;

the master control unit establishes communication with all the slave units corresponding to the master control unit;

the master control unit acquires flight control instructions in real time and sends the flight control instructions to all corresponding slave units;

the master control unit and the slave unit execute flight tasks according to the acquired flight control instructions.

Drawings

Fig. 1 is a schematic structural diagram of a combined multi-rotor drone system according to an embodiment of the present application.

Fig. 2 is a graph of simulation results of the efficiency degradation of a combined multi-rotor drone system due to aerodynamic interference.

Fig. 3 is a schematic structural view of the connecting member, the position limiting portion and the locking portion, wherein the position limiting portion and the locking portion are in a locked state.

Fig. 4 is a flow chart schematic of a control method of the combined multi-rotor drone system.

In the figure, 1, an unmanned aerial vehicle unit; 11. a propeller; 12. a horn; 13. an installation position; 2. a fixing assembly; 3. a connecting member; 4. a limiting part; 41. mounting the cylinder; 42. a limiting groove; 43. a locking portion; 5. supporting legs; 51. a connecting portion; 52. a ground supporting part.

Detailed Description

At present, many rotor unmanned aerial vehicle have the wide application in the short distance material of commissioning of emergent trade, but many rotor unmanned aerial vehicle's work efficiency is subject to the load capacity of self. In order to improve the load-carrying capacity of multi-rotor unmanned aerial vehicles, various technologies have emerged on the market, and most importantly, the number and the size of power units of the unmanned aerial vehicles are increased, namely, the size and the number of propellers are increased. The existing multi-rotor load-carrying unmanned aerial vehicle is mainly in a coaxial double-propeller mode with 12 rotors/16 rotors, and the mode is characterized by being compact in structure, but the distance between two adjacent double propellers is small, the efficiency loss of the propellers is large, and the endurance time is greatly reduced. In addition, this kind of many rotors load unmanned aerial vehicle weight and volume are all great, and be difficult for the dismouting to take, need use bigger delivery vehicle, have reduced the adaptability to the mobility application of emergent trade.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.

Embodiments of the present application are described in further detail below with reference to figures 1-4 of the specification.

Example one

The embodiment of the application provides a modular many rotor unmanned aerial vehicle system.

Referring to fig. 1, the combined multi-rotor unmanned aerial vehicle system comprises at least two unmanned aerial vehicle units 1 and at least one group of fixed assemblies 2, wherein each unmanned aerial vehicle unit 1 is distributed along the vertical direction; fixed subassembly 2 is installed between two adjacent unmanned aerial vehicle units 1 to make each unmanned aerial vehicle unit 1 relatively fixed, thereby constitute the unmanned aerial vehicle system of stromatolite combination formula. It will be appreciated that the overall load carrying and wind resistance of the stacked modular drone system is several times that of a single drone unit 1 and is therefore suitable for the commissioning of heavier weight objects. In the present embodiment, the number of drone units 1 is twice the number of fixed components 2, and the number of drone units 1 is 2; the drone unit 1 is preferably a multi-rotor drone, wherein the number of the arms 12 of the drone unit 1 may be 4, 6, 8, 12, in this embodiment, a hexarotor drone is used as an example.

Referring to fig. 1, when each drone unit 1 flies in coordination, aerodynamic interference occurs between the propellers 11 on two adjacent drone units 1, resulting in a loss of flight efficiency to the drone unit 1, in particular to the drone unit 1 located below. In order to reduce aerodynamic interference, thereby reduce efficiency loss, leave safe interval between two adjacent unmanned aerial vehicle units 1, so that the interval sets up between each unmanned aerial vehicle unit 1, still made between two adjacent unmanned aerial vehicle units 1 still form the installation space that can supply fixed subassembly 2 to install.

Referring to fig. 1, further, in order to make it easier for the propellers 11 on each drone unit 1 to achieve power balance or torque balance during flight, the propellers 11 on adjacent drone units 1 are distributed in a uniform manner such that one propeller 11 on any drone unit 1 is coaxial with one of the propellers 11 on each of the other drone units 1.

Referring to fig. 1, specifically, the rotating shaft passes through two propellers 11 in the same vertical straight line to form a group of propeller arrays, and forms 6 groups of propeller arrays. Each screw array is the circumference around arbitrary unmanned aerial vehicle unit 1 and distributes, and two screws 11 in the screw array set up along vertical direction interval to make all screws 11 be circumference stromatolite formula and distribute, make two-layer screw 11 change in about making on the one hand and reach power balance, so that the flight of the many rotor unmanned aerial vehicle system of combination formula is more balanced, and aerodynamic force between two-layer screw 11 about on the other hand can reduce interferes, promotes the duration of the many rotor unmanned aerial vehicle system of combination formula.

Referring to fig. 1 and 2, an example of efficiency degradation calculations due to aerodynamic interference for a combined multi-rotor drone system, derived from simulation calculations, is provided in this embodiment:

wherein, the unmanned aerial vehicle units 1 are all 32in six-rotor unmanned aerial vehicles, and a curve a is a power difference when the distance between an upper layer of propeller 11 and a lower layer of propeller 11 is 0.5 m; curve b is the power difference when the distance between the upper and lower propellers 11 is 1.0 meter.

When the rotating speed of the propeller 11 is 2000 rpm and the distance between the upper and lower two layers of propellers 11 is 1.0 meter, the efficiency of the propeller 11 is reduced by about 28 percent, and the whole efficiency is reduced as follows: 100% ̶ (100% + 72%)/2 = 14%;

when the rotating speed of the propeller 11 is 2000 rpm and the distance between the upper propeller 11 and the lower propeller 11 is 0.5 m, the efficiency of the propeller 11 is reduced by about 29.5 percent, and the whole efficiency is reduced as follows: 100% ̶ (100% + 70.5%)/2 = 14.75%.

When the rotating speed of the propeller 11 is 3000 r/min and the distance between the upper and lower two layers of propellers 11 is 0.5 m, the efficiency of the propeller 11 is reduced by about 30 percent, and the whole efficiency is reduced as follows: 100% ̶ (100% + 70%)/2 = 15%.

According to actual test, the error between the theoretical simulation result and the actual test is within 10%.

Referring to fig. 1, it is noted that, since the specifications of the unmanned aerial vehicle units 1 in this embodiment are the same, the distance between the upper and lower propellers 11 is the same as the safety distance. Theoretically, when the safe interval is big enough, the aerodynamic loss between two adjacent unmanned aerial vehicle units 1 is close to being 0, makes the time of endurance of combination formula many rotor unmanned aerial vehicle system and the time of endurance of single unmanned aerial vehicle unit 1 be close unanimous. However, as the safety interval increases, the overall size of the combined multi-rotor drone system also increases. Therefore, when designing the safety interval of the combined multi-rotor unmanned aerial vehicle system, the requirements of small aerodynamic loss and small overall volume are considered, and the system is reasonably designed according to the rotating speed of the propeller 11.

Referring to fig. 1, specifically, unmanned aerial vehicle unit 1 all embeds has control module and communication module, communication module and control module electric connection, and wherein accessible each communication module establishes communication connection between each unmanned aerial vehicle unit 1. In this embodiment, each drone unit 1 has an independent power system, and each drone unit 1 is compatible with a plurality of flight control modules, wherein the flight control modules include a single flight control mode and a multi-flight control mode. In the single flight control mode, the unmanned aerial vehicle unit 1 can be used as an independent unmanned aerial vehicle to normally execute flight tasks; under the many flight control mode, the unmanned aerial vehicle unit 1 of constituteing combination formula many rotor unmanned aerial vehicle system transmits the flight control instruction each other through communication module between, realizes a plurality of unmanned aerial vehicle unit 1 flight in coordination.

Referring to fig. 1, a user may control the corresponding drone unit 1 to switch different flight control modes through a remote control device configured to the drone unit 1; when the unmanned aerial vehicle unit 1 flies normally and independently, switching to a single flight control mode; when each unmanned aerial vehicle unit 1 needs to fly cooperatively, the mode is switched to the multi-flight control mode. Preferably, the fixing component 2 is detachably connected with each unmanned aerial vehicle unit 1, so that each unmanned aerial vehicle unit 1 can be quickly disassembled and assembled, namely, after the unmanned aerial vehicle units are disassembled, the combined multi-rotor unmanned aerial vehicle system forms a plurality of unmanned aerial vehicle units 1 which work independently; after the equipment, a plurality of alone unmanned aerial vehicle units 1 constitute many rotor unmanned aerial vehicle systems of combination formula.

Referring to fig. 1, each set of fixing components 2 comprises a plurality of connecting pieces 3 which are integrally in a round rod shape, and the connecting pieces 3 are circumferentially distributed around a connecting line passing through the geometric centers of any two unmanned aerial vehicle units 1; each connecting piece 3 makes the relative fixation of two unmanned aerial vehicle units 1 through connecting each horn 12 of two adjacent unmanned aerial vehicle units 1. It can be understood that, the safe interval size of two adjacent unmanned aerial vehicle units 1 has been decided to the length size of connecting piece 3, consequently, when the user need use the many rotor unmanned aerial vehicle systems of combination formula of different safe intervals, original connecting piece 3 of detachable is on the basis of keeping original unmanned aerial vehicle unit 1, change correspond length connecting piece 3 can, the person of facilitating the use adjusts safe interval.

Referring to fig. 1, preferably, the quantity of connecting piece 3 is unanimous with the quantity of horn 12 of unmanned aerial vehicle unit 1, and the distribution of each connecting piece 3 is unanimous with the distribution of each horn 12 to each horn 12 that makes unmanned aerial vehicle unit 1 all can be connected with one of them connecting piece 3, thereby makes same propeller alignment and all have a connecting piece 3 as the support between two adjacent propellers 11 at least, makes the flight of combination formula many rotor unmanned aerial vehicle system safe and stable more.

Referring to fig. 1 and 3, in particular, each link 3 is parallel to the axis of the propeller 11, so that any one link 3 is commonly used for each horn 12, and the link 3 can be applied to each horn 12 after being rotated 180 °. The two ends of the connecting piece 3 are provided with limiting parts 4, the two limiting parts 4 are symmetrically distributed, and the limiting parts 4 are integrally formed with mounting cylinders 41 for the connecting piece 3 to be inserted and fixedly connected; the fixing means of the mounting tube 41 to the end of the connecting member 3 may be welding, bolting, screwing or interference fit, and in this embodiment welding is preferred. The one side that installation section of thick bamboo 41 was kept away from to spacing portion 4 is the arc bending and is formed with spacing recess 42, and the notch of spacing recess 42 deviates from connecting piece 3, and horn 12 can hold in spacing recess 42.

Referring to fig. 1 and 3, one end of the limiting portion 4 is a movable end, the movable end is connected with a locking portion 43 for preventing the horn 12 from being separated from the limiting groove 42, the locking portion 43 is integrally arc-shaped, and the locking portion 43 can be matched with the limiting portion 4 to form an annular structure for hooping the horn 12, so that the connecting member 3 and the horn 12 are relatively fixed. The movable end and the end of the locking part 43 may be detachably connected or hinged, and in this embodiment, the movable end is preferably hinged; the end of the limiting part 4 away from the movable end and the end of the locking part 43 may be detachably connected by bolting, clamping, or interference fit, and in this embodiment, bolting is preferred. Further, an annular mounting groove (not shown in the figure) for embedding the limiting part 4 and the locking part 43 is further concavely arranged at one end of the machine arm 12 far away from the propeller 11.

Referring to fig. 1 and 3, when a plurality of unmanned aerial vehicle units 1 constitute a combination formula multi-rotor unmanned aerial vehicle system, each spacing portion 4 and each locking portion 43 support respectively in each horn 12 to maintain the structural stability of combination formula multi-rotor unmanned aerial vehicle system. When a user needs to disassemble the unmanned aerial vehicle unit 1 in the combined state, each locking part 43 on each arm 12 of the unmanned aerial vehicle unit 1 can be opened, and then each arm 12 is taken out from the limiting part 4; when the user needs to recombine a plurality of drone units 1, each horn 12 of the drone unit 1 may be placed into each of the limiting portions 4, and then each of the locking portions 43 is locked with each of the limiting portions 4 again.

Referring to fig. 1, the quick assembly between different unmanned aerial vehicle units 1 and the quick disassembly of the combined multi-rotor unmanned aerial vehicle system can be realized by using each detachably mounted connecting piece 3. The user can be disassembled with it and be a plurality of independent unmanned aerial vehicle units 1 when transportation combination formula many rotor unmanned aerial vehicle system, saves the transportation space, conveniently carries.

Referring to fig. 1, in order to make the combined multi-rotor unmanned aerial vehicle system stand on the fixed objects such as the ground and the placing table more stably, the unmanned aerial vehicle unit 1 located at the bottom can be detachably connected with two supporting legs 5. The two supporting feet 5 are symmetrically arranged, each supporting foot 5 consists of a pair of connecting parts 51 and a supporting ground part 52, and the supporting ground parts 52 are parallel to the horizontal plane; the connecting part 51 is integrally bent, and two ends of the connecting part 51 are respectively connected to the ground supporting part 52 and the unmanned aerial vehicle unit 1; each of the connecting portions 51 provided on the same drone unit 1 forms an overall arched support structure.

Referring to fig. 1, preferably, the lower portion of each unmanned aerial vehicle unit 1 is provided with an installation position 13 for the connection piece 3 to be inserted, so that when any unmanned aerial vehicle unit 1 is in a combined state and at the lowest position, the supporting leg 5 can be installed through the installation position 13. The fixing mode of the mounting position 13 between the connecting parts 51 can be bolt connection, clamping connection or pin connection, and bolt connection is preferred in the embodiment.

Referring to fig. 1, for ease of understanding, two sets of combined multi-rotor drone systems meeting the design requirements are taken as examples below:

the design requirements of the first one are as follows: when the load of combination formula many rotor unmanned aerial vehicle system was 30kg, duration more than or equal to 30 min.

If it is determined that the number of drone units 1 is 2, a single drone unit 1 may carry at least 15kg of load and the endurance time is greater than 30min when 15kg of load is carried. The unmanned aerial vehicle unit 1 can select the existing KWT-X6L-15 type six-rotor unmanned aerial vehicle.

The flight control system of the unmanned aerial vehicle unit 1 is transformed to be compatible with a multi-flight control mode, and communication among the unmanned aerial vehicle units 1 is established to realize logic control of the combined multi-rotor unmanned aerial vehicle system.

Considering the aerodynamic force between the upper and lower two-layer screw 11 and considering the volume after each unmanned aerial vehicle unit 1 makes up, design safe interval can be designed to 50cm ~100 cm.

The unmanned aerial vehicle units 1 are fixed by the connecting pieces 3, and the supporting legs 5 are installed in the installation positions 13 of the lowermost unmanned aerial vehicle unit 1.

The design requirements of the first one are as follows: when the load of combination formula many rotor unmanned aerial vehicle system was 50kg, duration more than or equal to 30 min.

If it is determined that the number of drone units 1 is 2, a single drone unit 1 may be loaded at least 25kg and the endurance time is greater than 30min when loaded 25 kg. The unmanned aerial vehicle unit 1 can select the existing KWT-X8L-25 eight-rotor unmanned aerial vehicle.

The flight control system of the unmanned aerial vehicle unit 1 is transformed to be compatible with a multi-flight control mode, and communication among the unmanned aerial vehicle units 1 is established to realize logic control of the combined multi-rotor unmanned aerial vehicle system.

Considering the aerodynamic force between the upper and lower two-layer screw 11 to and considering the volume behind each unmanned aerial vehicle unit 1 combination, design safe interval can be designed to 60cm ~80 cm.

The unmanned aerial vehicle units 1 are fixed by the connecting pieces 3, and the supporting legs 5 are installed in the installation positions 13 of the lowermost unmanned aerial vehicle unit 1.

The first embodiment of the application: make up a plurality of unmanned aerial vehicle units 1 fixedly through connecting piece 3, form the structure of stromatolite formula in vertical direction, constitute many rotor unmanned aerial vehicle systems of combination formula for the load carrying capacity of many rotor unmanned aerial vehicle systems of combination formula is several times of original single unmanned aerial vehicle unit 1 load carrying capacity. Wherein, unmanned aerial vehicle unit 1's stromatolite quantity can design according to the in-service use scene to make the load capacity of many rotor unmanned aerial vehicle systems of combination formula obtain more abundant utilization.

Utilize the nature of connecting piece 3 dismantlement installation, can realize disassembling fast or make up fast between a plurality of unmanned aerial vehicle units 1, the person of facilitating the use builds the many rotor unmanned aerial vehicle systems of combination formula of different stromatolite quantity on the one hand, and on the other hand person of facilitating the use carries, is adapted to the demand that expandes fast in the service environment to do not increase entire system's horizontal plane size. Because each unmanned aerial vehicle unit 1 all has independent driving system to compatible different flight control module, consequently unmanned aerial vehicle unit 1 can also regard as solitary unmanned aerial vehicle unit 1 to carry out the task after disassembling.

Example two:

the embodiment of the application discloses a control method of a combined multi-rotor unmanned aerial vehicle system.

Referring to fig. 4, the control method of the combined multi-rotor drone system includes the following specific steps:

and S1, the unmanned aerial vehicle unit acquires the mode selection instruction in real time and selects the flight control mode according to the acquired mode selection instruction.

The mode selection instruction can be sent by remote control equipment configured by the unmanned aerial vehicle unit, and the unmanned aerial vehicle unit can select a flight control mode according to the mode selection instruction after receiving the mode selection instruction. The flight control mode comprises a single flight control mode and a multi-flight control mode, and under the single flight control mode, a single unmanned aerial vehicle unit independently executes flight tasks and is suitable for a working environment with a low load requirement; under the multi-flight control mode, a plurality of unmanned aerial vehicle units in the same mode can cooperatively execute flight tasks, and the multi-flight control mode is suitable for a working environment with a large load requirement. When many rotor unmanned aerial vehicle systems of combination formula are in normal operating condition, each unmanned aerial vehicle unit in many rotor unmanned aerial vehicle systems of combination formula should select for use many flight control mode.

S2, judging whether the flight control mode is a single flight control mode, if so, executing S3; otherwise, go to S4.

The flight control instruction is used for controlling each propeller of the unmanned aerial vehicle unit to accelerate/decelerate so that the unmanned aerial vehicle unit can complete the flight actions of pitching forward, pitching backward, rolling rightward, rolling leftward, course right turn, course left turn, ascending, descending and the like.

In the single flight control mode, each unmanned aerial vehicle unit independently carries out the flight task of the unmanned aerial vehicle unit; under the multi-flight control mode, a plurality of unmanned aerial vehicle units fly in coordination.

And S3, acquiring the flight control command in real time by the unmanned aerial vehicle unit in the single flight control mode, and independently executing the flight action according to the acquired flight control command.

Wherein, the remote control equipment that user's accessible and unmanned aerial vehicle unit communication are connected sends the flight control instruction, and the unmanned aerial vehicle unit receives the flight control instruction after, makes corresponding flight action in order to carry out the flight task.

And S4, each unmanned aerial vehicle unit in the multi-flight control mode acquires flight control instructions in real time and flies cooperatively according to the acquired flight control instructions.

Wherein, the remote control equipment that user's accessible is connected with unmanned aerial vehicle unit communication sends the flight control instruction, and after a plurality of unmanned aerial vehicle units received corresponding flight control instruction, corresponding flight action was made in order to fly in coordination.

And S41, the unmanned aerial vehicle unit in the multi-flight control mode acquires the distribution instruction in real time, and determines the master control unit and the slave unit according to the acquired distribution instruction.

Wherein, in forming each unmanned aerial vehicle unit of same many rotor unmanned aerial vehicle systems of combination formula, one of them unmanned aerial vehicle unit is the master control unit, and other each unmanned aerial vehicle unit is the slave unit, and all slave units all correspond and have just one master control unit. The allocation instructions are used to specify the master/slave unit in each drone unit. The user accessible sends the distribution instruction with the remote control equipment that unmanned aerial vehicle unit communication is connected, and the unmanned aerial vehicle unit is as the master control unit or as the slave unit who binds mutually with the master control unit according to the distribution instruction that self received.

And S42, communication is established between the master unit and all the slave units corresponding to the master unit.

After each slave unit is bound with the main control unit, communication is established between the slave unit and the main control unit so as to transmit signals mutually.

And S43, the main control unit acquires the flight control command in real time and sends the flight control command to all corresponding slave units.

Wherein, the user can send out a flight control command through a remote control device which is in communication connection with the main control unit; and after receiving the flight control instruction, the main control unit sends the flight control instruction to each bound slave unit. It can be understood that the user can control the whole combined type multi-rotor unmanned aerial vehicle system to carry out flight tasks by operating one remote control device.

And S44, the master control unit and the slave unit execute the flight mission according to the acquired flight control command.

After the master control unit and the slave unit receive the flight control instruction, the master control unit and the slave unit execute flight action together to realize cooperative flight.

The implementation principle of the second embodiment of the present application is as follows: each unmanned aerial vehicle unit of the combined multi-rotor unmanned aerial vehicle system supports a single flight control mode and also supports a multi-flight control mode. In the single flight control mode, a single unmanned aerial vehicle unit independently executes flight tasks, and the single unmanned aerial vehicle unit is suitable for a working environment with low load requirement; under the control mode flies more, a plurality of unmanned aerial vehicle units that are in with the mode can carry out the flight task in coordination, are applicable to the great operational environment of loading capacity requirement, and the user can switch different flight control modes according to actual demand.

Claims (10)

1. A modular many rotor unmanned aerial vehicle system, its characterized in that: the unmanned aerial vehicle comprises at least two unmanned aerial vehicle units (1) which are distributed at intervals in the vertical direction and at least one group of fixing assemblies (2) for fixing the unmanned aerial vehicle units (1);

the fixing component (2) is arranged between two adjacent unmanned aerial vehicle units (1) so as to maintain the distance between each propeller (11) of any one unmanned aerial vehicle unit (1) and each propeller (11) of other unmanned aerial vehicle units (1);

fixed subassembly (2) are used for adjacent two including a plurality of unmanned aerial vehicle unit (1) carries out spacing connecting piece (3), each connecting piece (3) are around adjacent two line between unmanned aerial vehicle unit (1) is the circumference and distributes.

2. The modular multi-rotor drone system of claim 1, wherein: one of the propellers (11) of each unmanned aerial vehicle unit (1) forms a propeller queue, and the propeller queues are circumferentially distributed around each unmanned aerial vehicle unit (1); the rotating shafts of the propellers (11) positioned on the same propeller queue pass through the same vertical straight line.

3. The combined multi-rotor drone system according to any one of claims 1 or 2, characterized in that: the connecting piece (3) is parallel to the axis of the propeller (11).

4. The modular multi-rotor drone system of claim 1, wherein: the both ends of connecting piece (3) all are provided with and are used for right horn (12) of unmanned aerial vehicle unit (1) carry out spacing portion (4), spacing portion (4) with the connection can be dismantled in horn (12).

5. The modular multi-rotor drone system according to any one of claims 3 or 4, characterized in that: the connecting piece (3) is arranged between the machine arms (12) corresponding to the two adjacent propellers (11) in the same propeller queue.

6. The modular multi-rotor drone system of claim 1, wherein: spacing portion (4) are provided with the confession spacing recess (42) that horn (12) held and are used for preventing horn (12) break away from locking portion (43) of spacing recess (42), locking portion (43) with spacing portion (4) can be dismantled and be connected.

7. The modular multi-rotor drone system of claim 1, wherein: the length of the connector (3) can be changed to change the spacing between two adjacent drone units (1) of the connector (3).

8. The modular multi-rotor drone system of claim 1, wherein: still including can contradict the fixture in order to support each supporting legs (5) of unmanned aerial vehicle unit (1), unmanned aerial vehicle unit (1) be provided with supporting legs (5) can dismantle installation position (13) of connection, supporting legs (5) set up in being located the below on installation position (13) of unmanned aerial vehicle unit (1).

9. A control method for a combined multi-rotor drone system, characterized in that it is applied to a combined multi-rotor drone system according to any one of claims 1 to 8, said method comprising:

the unmanned aerial vehicle unit (1) acquires a mode selection instruction in real time, and selects a flight control mode according to the acquired mode selection instruction; the flight control mode comprises a single flight control mode and a multi-flight control mode;

if the flight control mode is determined to be the multi-flight control mode, each unmanned aerial vehicle unit (1) in the multi-flight control mode acquires a flight control instruction in real time and flies cooperatively according to the acquired flight control instruction;

and if the flight control mode is determined to be the single-flight control mode, the unmanned aerial vehicle unit (1) in the single-flight control mode acquires the flight control command in real time, and independently executes the flight action according to the acquired flight control command.

10. The method of claim 9, wherein: the specific method for acquiring the flight control instruction in real time by each unmanned aerial vehicle unit (1) in the multi-flight control mode and cooperatively flying according to the acquired flight control instruction comprises the following steps:

the unmanned aerial vehicle unit (1) in the multi-flight control mode acquires a distribution instruction in real time, and determines a master control unit and a slave unit according to the acquired distribution instruction; wherein, all the slave units are corresponding to and only provided with one master control unit;

the master control unit establishes communication with all the slave units corresponding to the master control unit;

the master control unit acquires flight control instructions in real time and sends the flight control instructions to all corresponding slave units;

the master control unit and the slave unit execute flight tasks according to the acquired flight control instructions.

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