A multi-rotor unmanned aerial vehicle and a control method

Abstract

The present invention discloses a multi-rotor drone, comprising a rotor assembly and a fuselage, wherein the rotor assembly is mounted on the fuselage. The fuselage includes multiple rack assemblies, each of which includes at least two rack rods, which are cross-connected at a cross connection point. The cross connection point divides the rack rods into a long axis segment and a short axis segment. The long axis segments and short axis segments of the multiple rack assemblies are sequentially connected to form an annular polygonal structure with a hollow interior. At least two adjacent rack assemblies in the annular polygonal structure are connected by a locking assembly. The rack assembly is provided with at least one deformation actuator, which is simultaneously connected to two adjacent rack assemblies and is used to adjust the distance between the long axis segment connection points and the short axis segment connection points of the two adjacent rack assemblies to enable the locking assembly to be opened and closed. The present invention also discloses a control method for the multi-rotor drone. The present invention has the advantages of a simple structure, an expandable and retractable fuselage, and a wider range of applications.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a multi-rotor UAV and a control method thereof. Background Art

[0002] Multi-rotor drones (UAVs) are widely used in production, daily life, and the military due to their low cost and flexible motion control. Currently, the vast majority of multi-rotor drones use a fixed-configuration body structure, with accessory systems such as batteries, sensors, and flight control systems centrally located in the center of the body for easy center-of-gravity adjustment and configuration.

[0003] Currently, drones are widely used in a variety of fields, including reconnaissance, surveillance, inspection, and aerial photography. In some specialized applications, such as monitoring in oil fields and warehouses, multi-rotor drones are required to horizontally embrace a pole-like target structure and maintain a secure attachment for extended periods of time. This conserves energy and power while facilitating the onboard payload's specific operational functions. However, traditional multi-rotor drone configurations, where the battery and other accessory systems are placed in the center of the drone, are unable to effectively embrace the pole-like target. Simply distributing the battery and other accessory systems around a fixed drone body allows the drone to "loop" around one end of the pole-like target, but it fails to achieve a "closed" grip between the drone and the pole. Furthermore, even if the battery and other accessory systems are distributed around the fixed drone body, leaving space in the middle of the drone, if the pole-like target is very long or obstructed at both ends by other obstacles, the drone cannot "loop" around the pole's ends, much less achieve a "closed" grip between the drone and the target. Summary of the Invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a multi-rotor drone and a control method with a simple structure, an expandable or retractable body, and the ability to meet the needs of special application scenarios.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] 18. The multi-rotor drone as claimed in claim 17, wherein the rotor assembly is mounted on the body and the body comprises a plurality of frame assemblies, the frame assemblies comprising at least two frame rods, the two frame rods being cross-connected, the cross connection point dividing the frame rods into a long axis section and a short axis section, the long axis sections and the short axis sections of the plurality of frame assemblies being connected in sequence to form an annular polygonal structure having a hollow interior, at least two adjacent frames assemblies in the annular polygonal structure being connected by a locking assembly; at least one deformation driver is provided on the frame assembly, the deformation driver being connected to two adjacent frames assemblies at the same time for adjusting the distance between the long axis section connection point and the short axis section connection point of the two adjacent frames assemblies to realize the opening and closing of the locking assembly.

[0007] As a further improvement of the present invention: the number of rack components constituting the annular polygonal structure is greater than three.

[0008] As a further improvement of the present invention: the deformation driver includes a driving cylinder and a driving rod, the driving cylinder is arranged at the connection point of the long axis sections of two adjacent groups of frame assemblies, and the driving rod is arranged at the connection point of the short axis sections of two adjacent groups of frame assemblies, and the driving cylinder is used to drive the driving rod to perform telescopic linear motion to adjust the distance between the connection point of the long axis sections and the connection point of the short axis sections of the two adjacent groups of frame assemblies.

[0009] As a further improvement of the present invention: the deformation driver includes a driving cylinder and a driving rod, the driving cylinder is arranged at the short axis connection point of two adjacent groups of frame assemblies, and the driving rod is arranged at the long axis connection point of two adjacent groups of frame assemblies, and the driving cylinder is used to drive the driving rod to perform telescopic linear motion to adjust the distance between the long axis connection point and the short axis connection point of the two adjacent groups of frame assemblies.

[0010] As a further improvement of the present invention: the locking assembly includes a lock slot and a lock head that cooperate with each other, and the lock slot and the lock head are respectively arranged on the long axis section and / or short axis section of two adjacent groups of frame assemblies.

[0011] As a further improvement of the present invention: the locking assembly is an electromagnetic lock or a mechanical lock.

[0012] As a further improvement of the present invention: the rack rod is a straight rod structure or a curved structure.

[0013] As a further improvement of the present invention: the two rack rods of the rack assembly are hingedly connected.

[0014] As a further improvement of the present invention: the deformation driver is any one or more of a linear motor, an electromagnet, a pneumatic cylinder, a steering gear, and a ball screw.

[0015] The present invention also provides a multi-rotor drone control method, comprising the following steps:

[0016] S1: Receive unlocking signal;

[0017] S2: Controlling the deformation actuator to lengthen the distance between the long shaft connection point and the short shaft connection point of the two sets of adjacent rack assemblies until the locking assembly is opened;

[0018] S3: Control the multi-rotor drone to surround the target object;

[0019] S4: receiving the lock signal;

[0020] S5: Control the deformation driver to shorten the distance between the long shaft segment connection point and the short shaft segment connection point of the two sets of adjacent rack components until the locking component is closed.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] 1. The multi-rotor drone of the present invention has a body composed of a plurality of groups of frame assemblies forming a ring-shaped polygonal structure, each frame assembly including two cross-connected frame rods, the cross connection point dividing the frame rod into a long axis section and a short axis section, the long axis sections and the short axis sections of the plurality of frame assemblies are respectively connected in sequence to form an internal hollow ring-shaped polygonal structure, and the short axis sections of the frame rods are connected in sequence to form a smaller ring structure, which is conducive to the multi-rotor drone to better "hold" a rod-shaped target object; the long axis sections of the frame rods are connected in sequence, and the connection points of each long axis section are relatively far away from the internal hollow structure of the drone. The long axis sections are used for arranging the rotor assembly, which can ensure that the rotor assembly will not interfere with the rod-shaped target object while the multi-rotor drone "holds" the rod-shaped target object, can better protect the rotor assembly, and improve the safety of the drone during use.

[0023] 2. The multi-rotor drone of the present invention comprises two adjacent sets of frame assemblies each equipped with a locking assembly and two adjacent sets of frame assemblies equipped with a deformable actuator. When a target object is obstructed at both ends, or when the target object's size is smaller than or even larger than the size of the space left in the center of the drone, the deformable actuator can be manipulated to adjust the spacing between the major and minor axis connection points of the two adjacent sets of frame assemblies to unlock the locking assembly. The frame assemblies unfold from a closed ring structure to an open state, and the multi-rotor drone can use the opened gap to align with, approach, and embrace the target object. After the drone embraces the target object, the deformable actuator can be manipulated to adjust the spacing between the major and minor axis connection points of the two adjacent sets of frame assemblies to unlock the locking assembly, thereby completing the drone's function of embracing the target object. The multi-rotor drone of the present invention can change its body shape in real time during flight according to the specific conditions of the target object, making it more adaptable to integration with rod-shaped targets, thereby enabling various special mission functions of the multi-rotor drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the frame assembly after being closed in the first specific embodiment of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the unfolded rack assembly in the first specific embodiment of the present invention.

[0026] Figure 3 It is a schematic structural diagram of the rack assembly of the present invention after being unfolded in the first specific embodiment.

[0027] Figure 4 It is a schematic diagram of the state when the present invention is used to surround a target object.

[0028] Legend:

[0029] 1. Rotor assembly; 2. Frame assembly; 21. Frame rod; 211. Long axis segment; 212. Short axis segment; 3. Locking assembly; 31. Lock slot; 32. Lock head; 4. Deformation drive; 41. Drive cylinder; 42. Drive rod. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1

[0032] like Figures 1 to 4As shown, this embodiment discloses a multi-rotor drone, including a rotor assembly 1 and a body, the rotor assembly 1 is installed on the body, the body includes multiple groups of frame assemblies 2, the frame assembly 2 includes at least two frame rods 21, the two frame rods 21 are cross-connected in a hinged manner, and the cross connection point divides the frame rod 21 into a long axis segment 211 and a short axis segment 212, the long axis segments 211 and the short axis segments 212 of the multiple groups of frame assemblies 2 are respectively connected in sequence to form an annular polygonal structure with a hollow interior, and at least two adjacent groups of frame assemblies 2 in the annular polygonal structure are connected by a locking assembly 3; at least one deformation driver 4 is provided on the frame assembly 2, and the deformation driver 4 is simultaneously connected to two adjacent groups of frame assemblies 2, for adjusting the distance between the connection points of the long axis segments 211 and the short axis segments 212 of the two adjacent groups of frame assemblies 2 to realize the opening and closing of the locking assembly 3.

[0033] In this embodiment, the number of the frame components 2 constituting the machine body is four. In other embodiments, the number of the frame components 2 constituting the machine body may be greater than three, such as six or eight.

[0034] In this embodiment, the rotor assembly 1 is installed at the connection point of the long axis section 211 of two adjacent sets of frame assemblies 2, and the battery, sensor, flight control system and other components are dispersedly installed on the frame assembly 2. It should be noted that the number and installation position of the rotor assembly 1 can be adjusted according to actual needs, and the position of the battery, sensor, flight control system and other components is not limited. The distribution of each component can determine its specific position according to the center of gravity balance requirements to ensure the flight stability of the drone.

[0035] In this embodiment, the rack rod 21 is a straight rod-shaped structure. In other embodiments, the shape of the rack rod 21 may be different, such as an arc shape or various curved shapes.

[0036] The multi-rotor drone in this embodiment has a body composed of multiple groups of frame assemblies 2 forming an annular polygonal structure, each frame assembly 2 includes two cross-connected frame rods 21, and the cross connection point divides the frame rod 21 into a long axis section 211 and a short axis section 212. The long axis sections 211 and short axis sections 212 of multiple groups of frame assemblies 2 are connected in sequence to form an internal hollow annular polygonal structure, and the short axis sections 212 of the frame rods 21 are connected in sequence to form a smaller annular structure, which is conducive to the multi-rotor drone to better "hold" a rod-shaped target object; the long axis sections 211 of the frame rods 21 are connected in sequence, and the connection points of each long axis section 211 are relatively far away from the internal hollow structure of the drone. The long axis section 211 is used to arrange the rotor assembly 1, which can ensure that the rotor assembly 1 will not interfere with the rod-shaped target object while the multi-rotor drone "holds" the rod-shaped target object, can better protect the rotor assembly 1, and improve the safety of the drone during use.

[0037] In this embodiment, the deformation actuator 4 includes a drive cylinder 41 and a drive rod 42. The drive cylinder 41 is disposed at the connection point between the long shaft sections 211 of two adjacent sets of frame assemblies 2, and the drive rod 42 is disposed at the connection point between the short shaft sections 212 of two adjacent sets of frame assemblies 2. The drive cylinder 41 is used to drive the drive rod 42 to perform telescopic linear motion to adjust the distance between the connection point between the long shaft sections 211 and the short shaft sections 212 of the two adjacent sets of frame assemblies 2. It will be appreciated that the positions of the drive cylinder 41 and the drive rod 42 can be interchanged, i.e., the drive cylinder 41 can be disposed at the connection point between the short shaft sections 212 of two adjacent sets of frame assemblies 2, and the drive rod 42 can be disposed at the connection point between the long shaft sections 211 of two adjacent sets of frame assemblies 2. The number of deformation actuators 4 can also be provided in accordance with the number of units.

[0038] Considering the structure and weight balance of the drone, in this embodiment, the deformation actuator 4 and the locking assembly 3 are symmetrically arranged on the drone body. The deformation actuator 4 is used to provide linear motion and can be any of a linear motor, electromagnet, pneumatic cylinder, servo, or ball screw.

[0039] In this embodiment, the locking assembly 3 includes a cooperating lock slot 31 and a lock head 32. The lock slot 31 and lock head 32 are installed in pairs on the frame assembly 2. Specifically, the lock slot 31 and lock head 32 are installed at the ends of the long shaft segments 211 of two adjacent sets of frame assemblies 2, respectively, and the lock slot 31 and lock head 32 are installed at the ends of the short shaft segments 212 of two adjacent sets of frame assemblies 2, respectively. It will be understood that the positions of the lock slot 31 and lock head 32 are interchangeable, and they only need to be installed in pairs on the long shaft segments 211 or the short shaft segments 212 of two adjacent sets of frame assemblies 2, or on both the long shaft segments 211 and the short shaft segments 212. The locking assembly 3 can be any one or more of an electromagnetic lock, a mechanical lock, and so on.

[0040] When the multi-rotor drone of this embodiment needs to pass through a rod-shaped target object to form an "embracing" effect, if the size of the target object is smaller than the size of the empty space in the middle of the drone, and at least one end of the target object is unobstructed, the rotor drone can fly in a closed ring structure to encircle the target object to achieve "embracing" the target object. When both ends of the target object are obstructed, or the size of the target object is smaller than or even larger than the size of the space left in the middle of the drone, the deformation actuator 4 can be manipulated to adjust the distance between the connection points of the long axis segments 211 and the short axis segments 212 of the two adjacent sets of frame assemblies 2 to open the locking assembly 3. That is, the connection points of the long axis segments 211 and the short axis segments 212 of the two adjacent sets of frame assemblies 2 are disconnected, and the frame assemblies 2 are unfolded from the closed ring structure to the open state. The multi-rotor drone can use the opened gap to align with, approach, and surround the target object. After the drone surrounds the target object, the deformation actuator 4 is manipulated to adjust the distance between the connection points of the long axis segments 211 and the short axis segments 212 of the two adjacent sets of frame assemblies 2 to close the locking assembly 3, thereby completing the drone's function of surrounding the target object. The body shape of the multi-rotor drone of this embodiment can change in real time according to the specific conditions of the target object during flight, and can better adapt to the integration of rod-shaped target objects, thereby realizing various special mission functions of the multi-rotor drone.

[0041] Example 2

[0042] This embodiment discloses a multi-rotor drone control method, comprising the following steps:

[0043] S1: Receive unlocking signal;

[0044] S2: Control the deformation driver 4 to move, so that the distance between the connection points of the long shaft segments 211 and the connection points of the short shaft segments 212 of the two adjacent rack assemblies 2 is lengthened by the deformation driver 4 until the locking assembly 3 is opened;

[0045] S3: Control the multi-rotor drone to surround the target object;

[0046] S4: receiving the lock signal;

[0047] S5: Control the deformation driver 4 to operate, so that the distance between the connection points of the long shaft segments 211 and the connection points of the short shaft segments 212 of the two groups of adjacent frame components 2 is shortened by the deformation driver 4 until the locking component 3 is closed.

[0048] Working principle: During normal flight, the multi-rotor UAV adopts a closed annular polygonal configuration for flight. When both ends of the target object are blocked, or the size of the target object is smaller than or even larger than the size of the space left in the middle of the UAV, when the UAV approaches the target, the ground station sends an unlocking command through the relevant signal fed back by the camera or radar component mounted on the UAV, or the flight system automatically sends an unlocking command based on the feedback signal. After receiving the unlocking command, the flight control system sends an unlocking control signal to the deformation driver 4. The drive cylinder 41 of the deformation driver 4 drives the drive rod 42 to extend, increasing the connection point of the long axis segment 211 and the short axis segment 212 of the two adjacent sets of frame components 2 The distance between the points is reduced until the locking component 3 is opened, and the frame component 2 is expanded from a closed ring structure state to an open state. The multi-rotor UAV can use the opened gap to align with, approach and embrace the target object. When the UAV "embraces" the target object, the ground station issues a locking command or the flight system automatically issues a locking command based on the feedback signal. After receiving the locking command, the flight control system sends a locking control signal to the deformation driver 4. The drive cylinder 41 of the deformation driver 4 drives the drive rod 42 to contract, reducing the distance between the connection points of the long axis segment 211 and the short axis segment 212 of the two adjacent groups of frame components 2 until the locking component 3 is closed, that is, the multi-rotor UAV completes embracing the target object.

[0049] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A multi-rotor drone, comprising a rotor assembly (1) and a body, wherein the rotor assembly (1) is mounted on the body, and is characterized in that: The machine body comprises a plurality of groups of frame assemblies (2), wherein the frame assemblies (2) comprise at least two frame rods (21), the two frame rods (21) being cross-connected, and the cross-connection point dividing the frame rods (21) into a long axis section (211) and a short axis section (212), the long axis sections (211) of the plurality of groups of frame assemblies (2) being connected in sequence, and the short axis sections (212) of the plurality of groups of frame assemblies (2) being connected in sequence, thereby forming an annular polygonal structure with a hollow interior, wherein at least two adjacent groups of frame assemblies (2) in the annular polygonal structure are connected via a locking assembly (3); and at least one deformation driver (4) is provided on the frame assembly (2), and the deformation driver (4) is simultaneously connected to the two adjacent groups of frame assemblies (2) and is used to adjust the distance between the connection points of the long axis sections (211) and the connection points of the short axis sections (212) of the two adjacent groups of frame assemblies (2) to realize the opening and closing of the locking assembly (3).

2. The multi-rotor UAV according to claim 1, characterized in that: The number of the frame components (2) constituting the annular polygonal structure is greater than three.

3. The multi-rotor UAV according to claim 1, characterized in that: The deformation driver (4) comprises a drive cylinder (41) and a drive rod (42), wherein the drive cylinder (41) is arranged at a connection point of the long axis sections (211) of two adjacent sets of frame assemblies (2), and the drive rod (42) is arranged at a connection point of the short axis sections (212) of the two adjacent sets of frame assemblies (2), and the drive cylinder (41) is used to drive the drive rod (42) to perform telescopic linear motion to adjust the distance between the connection point of the long axis sections (211) and the connection point of the short axis sections (212) of the two adjacent sets of frame assemblies (2).

4. The multi-rotor UAV according to claim 1, characterized in that: The deformation driver (4) comprises a drive cylinder (41) and a drive rod (42), wherein the drive cylinder (41) is arranged at a connection point of the short axis sections (212) of two adjacent sets of frame assemblies (2), and the drive rod (42) is arranged at a connection point of the long axis sections (211) of the two adjacent sets of frame assemblies (2), and the drive cylinder (41) is used to drive the drive rod (42) to perform telescopic linear motion to adjust the distance between the connection point of the long axis sections (211) and the connection point of the short axis sections (212) of the two adjacent sets of frame assemblies (2).

5. The multi-rotor UAV according to claim 1, characterized in that: The locking assembly (3) comprises a locking slot (31) and a locking head (32) that cooperate with each other, wherein the locking slot (31) and the locking head (32) are respectively arranged on the long axis section (211) and / or the short axis section (212) of two groups of adjacent frame assemblies (2).

6. The multi-rotor UAV according to claim 5, characterized in that: The locking assembly (3) is an electromagnetic lock or a mechanical lock.

7. The multi-rotor UAV according to any one of claims 1 to 6, characterized in that: The frame rod (21) is a straight rod structure or a curved structure.

8. The multi-rotor UAV according to any one of claims 1 to 6, characterized in that: The two frame rods (21) of the frame assembly (2) are hingedly connected.

9. The multi-rotor UAV according to any one of claims 1 to 6, characterized in that: The deformation driver (4) is any one or more of a linear motor, an electromagnet, a pneumatic cylinder, a steering gear, and a ball screw.

10. A multi-rotor drone control method, characterized in that: The steps include: S1: Receive unlocking signal; S2: controlling the deformation driver (4) to move, so that the distance between the connection point of the long axis section (211) and the connection point of the short axis section (212) of two sets of adjacent frame components (2) is lengthened by the deformation driver (4) until the locking component (3) is opened; S3: Control the multi-rotor drone to surround the target object; S4: receiving the lock signal; S5: Controlling the deformation driver (4) to move, so that the distance between the connection points of the long axis segments (211) and the connection points of the short axis segments (212) of the two sets of adjacent frame components (2) is shortened by the deformation driver (4) until the locking component (3) is closed.

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