Multicopter

Abstract

A multi-rotor aircraft (1) includes a controller; a ring frame (11) including at least two supports (111) and at least two connecting units (112), with adjacent supports (111) being movably connected to each other via the connecting units (112); at least two first rotor units (12) respectively disposed on the ring frame (11) and electrically connected to the controller for providing lift for flight; and at least two drive components (13) respectively disposed on the ring frame (11) and electrically connected to the controller for driving adjacent supports (111) to move away from or closer to each other during flight of the multi-rotor aircraft to expand or shrink the enclosed area of ​​the ring frame (11). This device uses a ring frame (11) consisting of at least two supports (111) and at least two connecting units. The at least two supports (111) can move toward each other under the drive of at least two drive components (13) to reduce the enclosed area of ​​the ring frame, thereby effectively solving the technical problem that large multi-rotor aircraft need a large take-off and landing area.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, and more specifically, relates to a multi-rotor aircraft. Background Technology

[0002] Currently, large multi-rotor aircraft are increasingly being used in the civilian sector. However, their use is limited by the large area they require for takeoff and landing. If an automated storage and retrieval system is used to house these large multi-rotor aircraft—meaning the aircraft takes off and lands on the system and is automatically stored and recharged—a significantly larger system would be needed. This would drastically increase the design and manufacturing costs of the system, as well as the difficulty of transportation and installation. Summary of the Invention

[0003] Based on this, the present invention provides a multi-rotor aircraft, including but not limited to solving the technical problem that large multi-rotor aircraft require a large area for take-off and landing.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A multi-rotor aircraft, comprising:

[0006] Controller;

[0007] A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units;

[0008] At least two first rotor units, each mounted on the annular frame and electrically connected to the controller, are used to provide lift for the multi-rotor aircraft; and

[0009] At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame.

[0010] Details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects, and advantages of the invention will become apparent from the specification, drawings, and claims. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a three-dimensional schematic diagram of the multi-rotor aircraft in its folded state, as provided in Embodiments 1, 2 and 5 of the present invention.

[0013] Figure 2 This is a three-dimensional schematic diagram of the multi-rotor aircraft in its deployed state, as provided in Embodiments 1, 2 and 5 of the present invention.

[0014] Figure 3 for Figure 2 An enlarged schematic diagram of part A in the middle;

[0015] Figure 4 This is a three-dimensional schematic diagram of another multi-rotor aircraft in a folded state according to Embodiment 1 of the present invention, wherein the first rotor unit and the second rotor unit are disposed on the connecting unit;

[0016] Figure 5 for Figure 4 A three-dimensional schematic diagram of a multi-rotor aircraft in its deployed state;

[0017] Figure 6 This is a three-dimensional schematic diagram of another multi-rotor aircraft in its folded state, as provided in Embodiment 1 of the present invention, wherein the ring frame is triangular;

[0018] Figure 7 for Figure 6 A three-dimensional schematic diagram of a multi-rotor aircraft in its deployed state;

[0019] Figure 8 This is a three-dimensional schematic diagram of the multi-rotor aircraft in its folded state according to Embodiment 3 of the present invention;

[0020] Figure 9 This is a three-dimensional schematic diagram of the multi-rotor aircraft in its deployed state according to Embodiment 3 of the present invention;

[0021] Figure 10 for Figure 9 Enlarged schematic diagram of part B;

[0022] Figure 11 These are three-dimensional schematic diagrams of the multi-rotor aircraft in its folded-up state, as provided in Embodiments 4 and 5 of the present invention.

[0023] Figure 12 This is a three-dimensional schematic diagram of a multi-rotor aircraft capturing a drone in its deployed state, as provided in Embodiment 4 of the present invention.

[0024] Figure 13 This is a three-dimensional schematic diagram of the multi-rotor aircraft after capturing the drone, as provided in Embodiments 4 and 5 of the present invention. Detailed Implementation

[0025] To make the purpose, technical solution, and advantages of the invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0026] Example 1:

[0027] Please see Figures 1 to 3 The multi-rotor aircraft 1 includes a controller (not shown), a ring frame 11, at least two first rotor units 12, and at least two drive components 13. The controller is a conventional flight controller in the art and is mounted on the ring frame 11. The ring frame 11 includes at least two supports 111 and at least two connecting units 112. Adjacent supports 111 are movably connected through at least one connecting unit 112. At least two first rotor units 12 are respectively mounted on the ring frame 11, that is, the first rotor units 12 can be mounted on the supports 111 or on the connecting units 112, and the first rotor units 12 are electrically connected to the controller to provide lift for the multi-rotor aircraft 1. At least two drive components 13 are respectively mounted on the ring frame 11 and are electrically connected to the controller to drive adjacent supports 111 to move away from or towards each other during flight of the multi-rotor aircraft 1, thereby expanding or shrinking the enclosed area of ​​the ring frame 11. It is understood that the multirotor aircraft 1 also includes a power supply assembly (not shown), which is mounted on the ring frame 11 and electrically connected to the controller. This power supply assembly provides power to the controller, the first rotor unit 12, and the drive assembly 13. Here, the power supply assembly is a conventional battery module. Optionally, when the multirotor aircraft 1 is flying forward, the thrust of the first rotor unit 12 also provides the driving force for forward flight. It should also be noted that, depending on its actual function, the drive assembly 13 in this invention can also be referred to as the execution assembly 13.

[0028] Further, please refer to Figure 3In the illustrated embodiment, each drive assembly 13 includes a second rotor unit 130 and an elastic element (not shown). The second rotor unit 130 is mounted on a bracket 111 or a connecting unit 130 and is electrically connected to a controller to provide a driving force that moves two adjacent brackets 111 away from each other. Specifically, the tension of the second rotor unit 130 is directed towards the outside of the annular frame 11 or is inclined relative to the outside of the annular frame 11. The opposite ends of the elastic element are respectively connected to two adjacent brackets 111, or respectively connected to a bracket 111 and a connecting unit 112 connected to the bracket 111. The elastic force of the elastic element is used to drive the two adjacent brackets 111 closer to each other. In addition, when the connecting unit 112 itself is telescopic, the opposite ends of the elastic element can be respectively mounted on the connecting unit 112 so that the connecting unit 112 has a tendency to retract. Preferably, the elastic element is a spring, and the number of springs provided is unlimited. When two adjacent supports 111 are closest to each other, the spring is at its shortest length. When the second rotor unit 130 starts and increases its pulling force, the two adjacent supports 111 move away from each other in opposite directions, causing the distance between them to gradually increase, thereby significantly expanding the enclosing area of ​​the annular frame 11. The spring is stretched accordingly until the support 111 reaches its maximum mechanical movement stroke relative to the connecting unit 112, or until the pulling force of the second rotor unit 130 and the elastic force of the spring reach equilibrium. At this time, the second rotor unit 130 maintains a certain pulling force output to maintain the phase... When two adjacent supports 111 are far apart, it's easy to understand that the controller can adjust the tension of the second rotor unit 130 to make the two adjacent supports 111 move away from each other at different distances, thereby adjusting the enclosing area of ​​the annular frame 11 to different degrees of expansion. When the second rotor unit 130 reduces its tension or stops rotating, the two adjacent supports 111 move closer together under the elastic force of the spring, causing the distance between them to gradually decrease until the annular frame 11 returns to its minimum enclosing area. At this point, the elastic force of the spring can be non-zero to maintain the two adjacent supports 111 at the closest possible distance. In this way, through the second rotor unit 130 and the elastic element, the purpose of driving the two adjacent supports 111 to move away from or closer together can be achieved during the flight of the multi-rotor aircraft 1. Alternatively, the resultant force of the pull of all the second rotor units 130 can be set to always be zero to avoid the resultant force affecting the motion control of the multi-rotor aircraft 1; or the resultant force can be set to be non-zero and used to drive the multi-rotor aircraft 1 to move in the same direction as the resultant force or other specified directions. For example, if the direction of the resultant force is parallel to the horizontal plane, and the lift provided by the first rotor unit 12 is balanced with the gravity of the multi-rotor aircraft 1, the multi-rotor aircraft 1 can be driven to fly in the horizontal direction, which helps to improve the maneuverability of the multi-rotor aircraft 1.It should also be noted that the side enclosed by the ring frame is the inner side of the ring frame, and the side opposite to the enclosed area is the outer side of the ring frame.

[0029] Further, please refer to Figure 2 and Figure 3 In the illustrated embodiment, the bracket 111 includes a first bracket body 1111, a second bracket body 1112, and a connecting portion 1113. The first bracket body 1111 and the second bracket body 1112 are connected by the connecting portion 1113. The first bracket body 1111, the second bracket body 1112, and the connecting portion 1113 can be connected to form a U-shaped, L-shaped, or V-shaped bracket 111. The first bracket body 1111 and the second bracket body 1112 of two adjacent brackets 111 are connected by a connecting unit 112. That is, in two adjacent brackets 111, the first bracket body 1111 of one bracket 111 is connected to the second bracket body 1112 of the other bracket 111 by a connecting unit 112. Optionally, the connecting unit 112 can be a linear guide structure, that is, the connecting unit 112 can be a linear guide rail, guide rod, guide sleeve, etc., and at least one end of the connecting unit 112 is inserted or sleeved with the first support body 1111 or the second support body 1112 of the adjacent support 111; or the connecting unit 112 can also be a telescopic structure connecting the first support body 1111 and the second support body 1112 of the two adjacent supports 111, such as a multi-link hinge telescopic mechanism. Further, the connecting unit 112 can be a multi-section guide structure or a multi-section telescopic structure, that is, the connecting unit 112 can be a multi-section linear guide rail, a multi-section telescopic sleeve, etc., so that the distance between the two adjacent supports 111 can be greater, thereby increasing the variation range of the enclosed area of ​​the ring frame 11. Optionally, the bracket 111 can slide relative to the connecting unit 112 connected to the first bracket body 1111 and the connecting unit 112 connected to the second bracket body 1112 at the same time, or the connecting unit 112 connected to the first bracket body 1111 and the connecting unit 112 connected to the second bracket body 1112 can extend or retract in length at the same time.

[0030] Further, please refer to Figure 2 and Figure 3In the illustrated embodiment, a first rotor unit 12 is respectively provided on the first support body 1111 and the second support body 1112, and a second rotor unit 130 is provided on the connecting portion 1113. The second rotor unit 130 can simultaneously generate a non-zero component of tension along the length direction of the first support body 1111 and the second support body 1112 of the support 111 to which it is located. Optionally, the first support body 1111 and the second support body 1112 can be respectively sleeved on the connecting unit 112, wherein one second rotor unit 130 generates a non-zero component of tension along the length direction of the first support body 1111 of the support 111 to which it is located, and at the same time, the second rotor unit 130 on the adjacent support 111 generates a non-zero component of tension along the length direction of the second support body 1112 of the support 111 to which it is located. The directions of the two non-zero components of tension are opposite to each other so as to drive the two supports 111 away from each other. When the second rotor units 130 on each support 111 of the annular frame 11 simultaneously generate or increase the pulling force, adjacent supports 111 move away from each other, thereby increasing the enclosed area of ​​the annular frame 11. Of course, depending on specific circumstances and requirements, please refer to other embodiments of this example. Figure 4 and Figure 5 At least one of the first support body 1111 and the second support body 1112 can be plugged into the connecting unit 112. In this structure, the first rotor unit 12 and the second rotor unit 130 can be disposed on the connecting unit 112. Additionally, please refer to... Figure 3 The pull of the second rotor unit 130 can also have a non-zero component along the pull direction of the first rotor unit 12, which is used to increase the lift of the multi-rotor aircraft 1 or increase the driving force for the multi-rotor aircraft 1 to fly forward after the second rotor unit 130 is started.

[0031] Further, please refer to Figures 1 to 3 In this embodiment, the ring frame 11 also includes at least two landing gears 14, which can be respectively mounted on at least two supports 111 or at least two connecting units 112, thereby facilitating the smooth landing of the multi-rotor aircraft 1.

[0032] To illustrate the working principle of the multi-rotor aircraft 1, a square ring frame 11 is used as an example. Here, the ring frame 11 includes four L-shaped supports 111 and four connecting units 112. Each L-shaped support 111 has a second rotor unit 130 at its corner, and one or more first rotor units 12 are located on the sides of each L-shaped support 111. An elastic element connects adjacent L-shaped supports 111. When the multi-rotor aircraft 1 takes off, the controller simultaneously activates the four second rotor units 130 and increases their thrust. Under the thrust of the four second rotor units 130, the four L-shaped supports 111 move synchronously in a direction away from each other, thus expanding the enclosed area of ​​the ring frame 11. Before the multi-rotor aircraft 1 lands, the controller simultaneously and gradually reduces the thrust of the four second rotor units 130 or stops them. Under the elastic force of the elastic element, the four L-shaped supports 111 move synchronously in a direction closer to each other, thus reducing the enclosed area of ​​the ring frame 11. Of course, the ring frame 11 is not limited to being square; for example, the ring frame 11 can also be triangular (see [link]). Figure 6 and Figure 7 (or other shapes, not limited to one)

[0033] It should be noted that the elastic element may also be omitted. In one embodiment, each drive assembly 13 includes two sets of second rotor units 130, each set of second rotor units 130 including at least one second rotor unit 130, wherein one set of second rotor units 130 is used to provide a driving force that moves away from each other to two adjacent supports 111, and the other set of second rotor units 130 is used to provide a driving force that moves closer to each other to two adjacent supports 111. Specifically, the tension of the other set of second rotor units 130 is directed towards the inside of the annular frame 11 or is relatively inclined towards the inside of the annular frame 11 to provide a driving force that moves closer to each other to two adjacent supports 111. When it is necessary to expand or shrink the enclosing area of ​​the annular frame 11, one set of second rotor units 130 starts or increases the pull, while the other set of second rotor units 130 stops or decreases the pull. For example, when one set of second rotor units 130, which is used to provide a driving force for two adjacent supports 111 to move closer to each other, starts or increases the pull while the other set of second rotor units 130 stops or decreases the pull, the enclosing area of ​​the annular frame 11 shrinks. In another embodiment, the second rotor unit 130 is used to provide a driving force that moves the two adjacent supports 111 away from each other, while the first rotor unit 12, in addition to providing lift for the multi-rotor aircraft 1, is also used to provide a driving force that moves the two adjacent supports 111 closer to each other. Specifically, the pull of the first rotor unit 12 on the annular frame 11 is inclined towards the inner side of the annular frame 11, so that part of the pull of the first rotor unit 12 is used to drive the two adjacent supports 111 closer to each other, while the first rotor unit 12 still maintains the non-zero component of its pull on the annular frame 11 in the vertical direction as the lift for the multi-rotor aircraft 1.

[0034] The multi-rotor aircraft 1 provided by the present invention adopts a ring frame 11 composed of at least two supports 111 and at least two connecting units 112. Adjacent supports 111 move away from or closer to each other under the drive of the drive component 13 to expand or shrink the enclosed area of ​​the ring frame 11, so that the multi-rotor aircraft can actively change the size of its overall area during flight: during the take-off and landing phases, the multi-rotor aircraft shrinks the enclosed area of ​​the ring frame 11, which is beneficial for the multi-rotor aircraft to take off and land in areas with limited space; while in the remaining phases of flight, the multi-rotor aircraft 1 can expand the enclosed area of ​​its ring frame 11 to be suitable for special operations, such as capturing drones 2 that have entered no-fly zones, displaying large-format advertising banners in the air, and inspecting the structure of tower-shaped buildings. Specifically, when the multi-rotor aircraft 1 is used to display a large-format advertising banner in the air, the banner is mounted on a ring frame 11. During flight, the multi-rotor aircraft 1 expands the enclosed area of ​​its ring frame 11 to unfold the advertising banner in the air. When the multi-rotor aircraft 1 is used to inspect tower-shaped structures such as communication towers, factory chimneys, or wind turbine blades, the inner surface of the ring frame 11 is covered with inspection-related sensors 17 (see [link to relevant documentation]). Figure 7 For example, a camera, and the multi-rotor aircraft 1 can improve maintenance efficiency by having the tower-shaped building pass through the enclosed area of ​​the ring frame 11 during maintenance operations.

[0035] Example 2:

[0036] Please see Figures 1 to 3 The multi-rotor aircraft provided in this embodiment is basically the same as that in Embodiment 1, except that the drive component 13 is a linear actuator. The two ends of the linear actuator are respectively connected to two adjacent supports 111, or respectively connected to the support 111 and the connecting unit 112 connected to the support 111. In addition, when the connecting unit 112 is a telescopic structure, the two ends of the linear actuator can be respectively connected to the connecting unit 112. Specifically, a linear actuator is a common mechanical device that can realize linear load motion. It can convert the rotational motion of a motor into linear motion through a sliding screw or belt drive, or it can be a pneumatic slide or hydraulic cylinder, etc. In other words, by simply connecting the fixed end of the linear actuator to one of the two adjacent supports 111 and the movable end of the linear actuator to the other of the two adjacent supports 111, or by connecting the fixed end of the linear actuator to one of the supports 111 and the connecting unit 112 connected thereto, and the movable end of the linear actuator to the other of the supports 111 and the connecting unit 112 connected thereto, or by connecting both the fixed end and the movable end of the linear actuator to the connecting unit 112, the two adjacent supports 111 can be driven to move away from or closer to each other.

[0037] Example 3:

[0038] Please see Figures 8 to 10 The multi-rotor aircraft provided in this embodiment is basically the same as that in Embodiment 1, except that: the drive assembly 13 is connected to the first rotor unit 12 via a transmission. Here, the drive assembly 13 is used to drive the first rotor unit 12 to change the direction of its pulling force on the annular frame 11, so as to drive two adjacent supports 111 to move away from or closer to each other during the flight of the multi-rotor aircraft 1, thereby expanding or shrinking the enclosed area of ​​the annular frame 11. Optionally, the drive assembly 13 may include a drive component and a transmission component. The drive component is mounted on the support 111, one end of the transmission component is connected to the power output shaft of the drive component, and the other end of the transmission component is connected to the first rotor unit 12. The drive component can drive the first rotor unit 12 to rotate around the power output shaft of the drive component via the transmission component, thereby changing the direction of the pulling force of the first rotor unit 12 on the annular frame 11. Please refer to [link to relevant documentation]. Figure 9When the drive assembly 13 causes the first rotor unit 12 to tilt outward at a certain angle relative to the annular frame 11, part of the pull of the first rotor unit 12 is used to drive the two adjacent supports 111 away from each other. Simultaneously, the first rotor unit 12 maintains a non-zero component of its pull on the annular frame 11 in the vertical direction as lift for the multi-rotor aircraft 1. (See also...) Figure 8 When the drive assembly 13 causes the first rotor unit 12 to tilt towards the inner side of the ring frame 11 at a certain angle, part of the pull of the first rotor unit 12 is used to drive the two adjacent supports 111 closer to each other. At the same time, the first rotor unit 12 still maintains the non-zero component of its pull on the ring frame 11 in the vertical direction as the lift for the multi-rotor aircraft 1. In this way, the first rotor unit 12 can provide lift for the multi-rotor aircraft 1 and also provide the driving force for the ring frame 11 to expand or shrink the enclosed area. It should be noted that when the drive unit drives the first rotor unit 12 to rotate around the power output shaft of the drive unit, the controller can control the first rotor unit 12 to dynamically change the magnitude of the generated pull so that the magnitude of the lift for the multi-rotor aircraft 1 remains constant, which helps the multi-rotor aircraft 1 maintain a constant altitude. Of course, depending on the specific circumstances and requirements, in one embodiment of this invention, the drive component is disposed inside the support 111. A guide groove 1110 may be provided on the support 111. One end of the transmission component extends from the guide groove 1110 and is connected to the first rotor unit 12. The guide groove 1110 can guide the transmission component to swing along the cross-section of the support 111 and prevent the transmission component from swaying along the length of the support 111. In addition, the number of first rotor units provided on each support 111 is not limited to the one shown in the figure. For example, a multi-rotor aircraft includes two supports 111, and each of the two supports 111 is provided with two first rotors 12 to form a quadcopter layout. The drive assembly 13 on each support 111 is used to synchronously drive the two first rotors 12 on the support 111 to change the direction of their pulling force on the annular frame 11.

[0039] Example 4:

[0040] Please see Figures 11 to 13The multi-rotor aircraft provided in this embodiment is basically the same as the multi-rotor aircraft provided in any one of embodiments one to three, except that the multi-rotor aircraft 1 also includes a net bag 15. The net bag 15 can be set on the support 111, the connecting unit 112, or the landing gear 14, and the opening of the net bag 15 can expand or shrink with the expansion and contraction of the enclosing area of ​​the annular frame 11. That is, when the annular frame 111 expands or contracts the enclosing area, it simultaneously drives the opening of the net bag 15 to expand or contract accordingly. Optionally, the net bag 15 can be detachably connected to the support 111, the connecting unit 112, or the landing gear 14, and can be installed on the annular frame 11 as needed.

[0041] Furthermore, the multi-rotor aircraft 1 can be used to capture drones 2 that have intruded into no-fly zones. Specifically, when it is necessary to capture drones 2, the multi-rotor aircraft 1 can expand the opening of the net bag 15 by increasing the enclosing area of ​​the ring frame 11, thereby increasing the success rate of the captured drone 2 entering the net bag 15 during capture. Simultaneously, it can keep the net bag 15 taut, preventing it from being affected by airflow and coming into contact with the first rotor unit 12 when the multi-rotor aircraft 1 flies forward at high speed. One method for the multi-rotor aircraft 1 to capture drones 2 is as follows: Figure 12 As shown, the rotorcraft 1 approaches the drone 2 from behind and tilts the ring frame 11 relative to the flight direction, so that the drone 2 eventually falls into the net bag 15. This not only enables the first rotor unit 12 and / or the second rotor unit 130 to provide forward flight driving force to increase the flight speed of the rotorcraft 1, but also aligns the opening of the net bag 15 with the drone 2 so that the drone 2 falls into the net bag 15 as the rotorcraft 1 catches up with the drone 2. After the captured drone 2 enters the net bag 15, the multi-rotor aircraft 1 can close the opening of the net bag 15 by reducing the enclosure area of ​​the ring frame 11, so as to reduce the risk of the captured drone 2 escaping from the opening of the net bag 15, and at the same time, it can also loosen the net bag 15 to trap the captured drone 2.

[0042] Example 5:

[0043] Please see Figure 1 , Figure 2 , Figure 3 , Figures 11 to 13The multi-rotor aircraft provided in this embodiment is basically the same as that in Embodiment 4, except that a protective frame 16 is provided on the support 111 or the connecting unit 112. The protective frame 16 extends to one side of the enclosed area of ​​the annular frame 11 to prevent the net bag 15 from contacting the blades of the first rotor unit 12. Specifically, the protective frame 16 is composed of multiple protective rails 160, which are respectively provided on the support 111 or the connecting unit 112 and located between the blades of the first rotor unit 12 and the net bag 15. When the enclosed area of ​​the annular frame 11 expands, the multiple protective rails 160 move away from each other, which can avoid blocking the opening of the net bag 15 and allow the captured drone 2 to enter the net bag 15 smoothly. When the enclosed area of ​​the annular frame 11 shrinks, the multiple protective rails 160 move closer to each other, which can partially or completely close the opening of the net bag 15 and prevent the captured drone 2 from escaping from the opening of the net bag 15.

[0044] Example 6:

[0045] The multi-rotor aircraft provided in this embodiment is basically the same as that in Embodiment 1, except that the elastic element is replaced by a reversing mechanism. The reversing mechanism is electrically connected to the controller and drively connected to the second rotor unit 130. It is used to drive the second rotor unit 130 to change the direction of its pulling force on the ring frame 11, so that the second rotor unit 130 is used not only to drive the two adjacent supports 111 away from each other, but also to drive the two adjacent supports 111 to move closer to each other. The reversing mechanism drives the second rotor unit 130 to change the direction of its pulling force on the annular frame 11, which is basically the same principle as the drive assembly 13 in Embodiment 3 driving the first rotor unit 130 to change the direction of its pulling force on the annular frame 11. However, in this embodiment, the second rotor unit 130 can only provide the driving force to drive the two adjacent supports 111 away from each other and towards each other, without providing lift for the multi-rotor aircraft 1. That is, when the pulling force of the second rotor unit 130 on the annular frame 11 is directed to the outside of the annular frame 11 and is perpendicular to the pulling force of the first rotor unit 12, the second rotor unit 130 is only used to drive the two adjacent supports 111 away from each other. When the pulling force of the second rotor unit 130 on the annular frame 11 is directed to the inside of the annular frame 11 and is perpendicular to the pulling force of the first rotor unit 12, the second rotor unit 130 is only used to drive the two adjacent supports 111 towards each other.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The drive assembly includes a second rotor unit, which is mounted on the bracket or the connecting unit and is electrically connected to the controller. The second rotor unit is used to provide a driving force that moves two adjacent supports away from each other. The driving assembly also includes an elastic element whose elastic force is used to drive the two adjacent supports closer together. Alternatively, the second rotor unit is divided into two types, wherein a first type of second rotor unit is used to provide a driving force that moves two adjacent supports away from each other, and a second type of second rotor unit is used to provide a driving force that moves two adjacent supports closer together. Alternatively, the second rotor unit is used to provide a driving force that moves two adjacent supports away from each other, and the first rotor unit is also used to provide a driving force that moves two adjacent supports closer together.

2. The multi-rotor aircraft as described in claim 1, characterized in that, The bracket includes a first bracket body, a second bracket body, and a connecting part. The first bracket body and the second bracket body of the bracket are connected by the connecting part, and the first bracket body and the second bracket body of two adjacent brackets are connected by the connecting unit. The first support body and the second support body are respectively provided with the first rotor unit, and the connecting part is provided with the second rotor unit. The second rotor unit is used to generate a non-zero component of tension along the length direction of the first support body and the second support body of the support body at the same time; or, the connecting unit is provided with the first rotor unit and the second rotor unit.

3. The multi-rotor aircraft as described in claim 2, characterized in that, A second rotor unit generates a non-zero component of tension along the length direction of the first support body of the support it is on, and simultaneously, a second rotor unit on an adjacent support generates a non-zero component of tension along the length direction of the second support body of the support it is on. The two non-zero components of tension are in opposite directions to drive the two supports away from each other; and / or The annular frame includes four L-shaped supports and four connecting units arranged in a square shape. Each L-shaped support has a second rotor unit at its corner. When the multi-rotor aircraft takes off, the controller controls the four second rotor units to start simultaneously and increase the pull. Under the pull of the four second rotor units, the four L-shaped supports can move synchronously in a direction away from each other, thereby expanding the enclosed area of ​​the annular frame; or, the annular frame includes three V-shaped supports and three connecting units arranged in a triangle shape.

4. The multi-rotor aircraft as described in claim 1, characterized in that, The resultant force of the pull of all the second rotor units is always zero to avoid the resultant force affecting the motion control of the multirotor aircraft; or, the resultant force of the pull of all the second rotor units is not zero and is used to drive the multirotor aircraft to move in the same direction as the resultant force or in another specified direction; and / or The pull of the second rotor unit can also have a non-zero component along the pull direction of the first rotor unit, which is used to increase the lift of the multi-rotor aircraft or increase the driving force for the multi-rotor aircraft to fly forward after the second rotor unit is started.

5. The multi-rotor aircraft as described in claim 1, characterized in that, The two opposite ends of the elastic element are respectively connected to two adjacent supports, or respectively connected to the support and the connecting unit connected to the support, or respectively connected to the connecting unit; and / or, the elastic element is a spring, when the second rotor unit starts and increases the pulling force, the two adjacent supports move away from each other in opposite directions, and the spring is stretched accordingly until the support reaches its maximum mechanical movement stroke relative to the connecting unit, or until the pulling force of the second rotor unit and the elastic force of the spring reach equilibrium; and / or, the controller can adjust the pulling force of the second rotor unit to make the two adjacent supports move away from each other at different distances, thereby adjusting the enclosing area of ​​the annular frame to different expansion ranges; or When it is necessary to expand or shrink the enclosing area of ​​the annular frame, one type of the second rotor unit activates or increases its thrust, while the other type of second rotor unit stops or decreases its thrust; or The first rotor unit's pull on the annular frame is tilted towards the inner side of the annular frame, so that part of the pull of the first rotor unit is used to drive the two adjacent supports closer to each other, while the first rotor unit still maintains a non-zero component of the pull on the annular frame in the vertical direction as the lift for the multi-rotor aircraft to fly.

6. The multi-rotor aircraft as described in any one of claims 1 to 5, characterized in that, During takeoff and landing, the multirotor aircraft can reduce the enclosed area of ​​the annular frame to facilitate takeoff and landing in areas with limited space; and / or The side enclosing area of ​​the annular frame is the inner side of the annular frame, and the side of the annular frame opposite to the enclosing area is the outer side of the annular frame; and / or The pull of the second rotor unit is directed towards the outside of the annular frame or is relatively inclined towards the outside of the annular frame; or, in the second type, the pull of the second rotor unit is directed towards the inside of the annular frame or is relatively inclined towards the inside of the annular frame.

7. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The drive assembly is connected to the first rotor unit in a transmission manner. The drive assembly is used to drive the first rotor unit to change the direction of the tension force on the annular frame, so as to drive the two adjacent supports to move away from or closer to each other during the flight of the multi-rotor aircraft, thereby expanding or shrinking the enclosed area of ​​the annular frame.

8. The multi-rotor aircraft as described in claim 7, characterized in that, When the drive assembly causes the first rotor unit to tilt outwards from the annular frame, part of the pull of the first rotor unit is used to drive the two adjacent supports away from each other, while the first rotor unit still maintains a non-zero component of the pull of the first rotor unit on the annular frame in the vertical direction as the lift for the multi-rotor aircraft to fly. When the drive assembly causes the first rotor unit to tilt its tension on the annular frame toward the inside of the annular frame, a portion of the tension of the first rotor unit is used to drive the two adjacent supports closer to each other. At the same time, the first rotor unit still maintains a non-zero component of its tension on the annular frame in the vertical direction as lift for the multi-rotor aircraft.

9. The multi-rotor aircraft as described in claim 7 or 8, characterized in that, During takeoff and landing, the multirotor aircraft can reduce the enclosed area of ​​the annular frame to facilitate takeoff and landing in areas with limited space; and / or The side enclosing area of ​​the annular frame is the inner side of the annular frame, and the side of the annular frame opposite to the enclosing area is the outer side of the annular frame; and / or The drive assembly includes a drive component and a transmission component. The drive component is mounted on the bracket, one end of the transmission component is connected to the power output shaft of the drive component, and the other end of the transmission component is connected to the first rotor unit. The drive component is disposed inside the bracket, and a guide groove is provided on the bracket. One end of the transmission component extends from the guide groove and connects to the first rotor unit. The guide groove guides the transmission component to swing along the cross-section of the bracket and prevents the transmission component from swaying along the length of the bracket; and / or The multi-rotor aircraft includes two brackets, and each of the two brackets is provided with two first rotor units to form a quadcopter layout; the drive assembly on each bracket is used to synchronously drive the two first rotors on the bracket to change the direction of the tension of the two first rotors on the annular frame.

10. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The driving component includes: The second rotor unit is mounted on the bracket or the connecting unit; as well as The reversing mechanism, electrically connected to the controller and drively connected to the second rotor unit, is used to drive the second rotor unit to change the direction of the tension force on the annular frame, so as to drive the two adjacent supports to move away from or closer to each other during the flight of the multi-rotor aircraft, thereby expanding or shrinking the enclosed area of ​​the annular frame.

11. The multi-rotor aircraft as described in claim 10, characterized in that, When the pull of the second rotor unit on the annular frame is directed towards the outer side of the annular frame, the second rotor unit is used to drive the two adjacent supports away from each other; when the pull of the second rotor unit on the annular frame is directed towards the inner side of the annular frame, the second rotor unit is used to drive the two adjacent supports closer to each other.

12. The multi-rotor aircraft as described in claim 10, characterized in that, The resultant force of the pull of all the second rotor units is always zero to avoid the resultant force affecting the motion control of the multirotor aircraft; or, the resultant force of the pull of all the second rotor units is not zero and is used to drive the multirotor aircraft to move in the same direction as the resultant force or in other specified directions.

13. The multi-rotor aircraft as described in any one of claims 10 to 12, characterized in that, During takeoff and landing, the multirotor aircraft can reduce the enclosed area of ​​the annular frame to facilitate takeoff and landing in areas with limited space; and / or The side enclosing area of ​​the annular frame is the inner side of the annular frame, and the side of the annular frame opposite to the enclosing area is the outer side of the annular frame; and / or The second rotor unit is used only to provide the driving force for moving the two adjacent supports away from each other and towards each other, and not to provide lift for the multi-rotor aircraft; and / or When the pulling force of the second rotor unit on the annular frame is directed outward from the annular frame and perpendicular to the pulling force of the first rotor unit, the second rotor unit is only used to drive the two adjacent supports away from each other; when the pulling force of the second rotor unit on the annular frame is directed inward from the annular frame and perpendicular to the pulling force of the first rotor unit, the second rotor unit is only used to drive the two adjacent supports closer to each other.

14. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The bracket includes a first bracket body, a second bracket body, and a connecting part. The first bracket body and the second bracket body of the bracket are connected by the connecting part, and the first bracket body and the second bracket body of two adjacent brackets are connected by the connecting unit. The first support body, the second support body, and the connecting portion form a V-shaped support; and / or At least one end of the connecting unit is plugged into or sleeved with the first support body or the second support body of the adjacent support; or, the connecting unit is a retractable structure connecting the first support body and the second support body of two adjacent supports. The annular frame includes three V-shaped supports and three connecting units arranged in a triangular shape.

15. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The multi-rotor aircraft also includes a net bag; The net bag is disposed on the bracket or the connecting unit; or, the annular frame further includes at least two landing gears, the landing gears being disposed on at least two of the brackets or at least two of the connecting units, and the net bag being disposed on the landing gears; or, the net bag is installed on the annular frame. The opening of the mesh bag can be scaled up or down as the enclosing area of ​​the annular frame expands or contracts.

16. The multi-rotor aircraft as described in claim 15, characterized in that, A protective frame is provided on the bracket or the connecting unit, extending to one side of the enclosed area of ​​the annular frame to prevent the mesh bag from contacting the blades of the first rotor unit; the protective frame consists of multiple protective rails, which move closer together when the enclosed area of ​​the annular frame decreases, partially or completely sealing the opening of the mesh bag; and / or The ring frame can simultaneously expand or shrink the opening of the mesh bag as the enclosed area expands or shrinks.

17. The multi-rotor aircraft as described in claim 15 or 16, characterized in that, The multi-rotor aircraft is used to capture drones; when it is necessary to capture the drone, the multi-rotor aircraft expands the enclosing area of ​​the ring frame to widen the opening of the net bag; after the drone enters the net bag, the multi-rotor aircraft shrinks the enclosing area of ​​the ring frame to close the opening of the net bag.

18. The multi-rotor aircraft as claimed in claim 17, characterized in that, The rotorcraft is able to approach the drone from behind and tilt the ring frame relative to the flight direction so that the drone eventually falls into the net bag; and / or When it is necessary to capture the drone, the multi-rotor aircraft can keep the net bag taut by expanding the opening of the bag; when the drone enters the net bag, the multi-rotor aircraft can loosen the net bag by closing the opening of the bag to trap the captured drone.

19. The multi-rotor aircraft as described in claim 16, characterized in that, The multi-rotor aircraft is used to capture drones; when it is necessary to capture the drone, the multi-rotor aircraft expands the enclosing area of ​​the ring frame to widen the opening of the net bag; after the drone enters the net bag, the multi-rotor aircraft shrinks the enclosing area of ​​the ring frame to close the opening of the net bag. As the enclosing area of ​​the ring frame expands, the multiple protective railings move further apart to avoid blocking the opening of the net bag and to allow the captured drone to smoothly enter the net bag.

20. A method of using a multi-rotor aircraft, comprising the following steps: A multi-rotor aircraft according to any one of claims 15 to 19 is provided, the multi-rotor aircraft being used to capture a drone; When it is necessary to capture the drone, the multi-rotor aircraft expands the enclosing area of ​​the ring frame to widen the opening of the net bag; After the drone enters the net bag, the multi-rotor aircraft reduces the enclosing area of ​​the ring frame to close the opening of the net bag.

21. The method of using the multi-rotor aircraft as described in claim 20, characterized in that, The rotorcraft approaches the drone from behind and tilts the ring frame relative to the flight direction, enabling the first rotor unit to provide forward propulsion to increase the rotorcraft's speed, and / or aligning the opening of the net bag with the drone so that the drone falls into the net bag as the multi-rotor catches up with it; and / or When it is necessary to capture the drone, the multi-rotor aircraft expands the opening of the net bag to keep the net bag taut; when the drone enters the net bag, the multi-rotor aircraft closes the opening of the net bag to loosen the net bag and trap the captured drone.

22. A multi-rotor aircraft, including a controller, characterized in that, Also includes: A ring frame includes at least two supports and at least two connecting units, wherein two adjacent supports are movably connected through the connecting units; At least two first rotor units are respectively mounted on the ring frame and electrically connected to the controller to provide lift for the multi-rotor aircraft. as well as At least two drive components are respectively mounted on the annular frame and electrically connected to the controller, for driving two adjacent supports to move away from or closer to each other during the flight of the multirotor aircraft to expand or shrink the enclosed area of ​​the annular frame; The multi-rotor aircraft is used to display a large-format advertising banner in the air. The advertising banner is mounted on the annular frame, and the multi-rotor aircraft can expand the enclosed area of ​​the annular frame to unfold the advertising banner in the air during flight; and / or The multi-rotor aircraft is used to inspect the structure of the tower-shaped building. The inner side of the ring frame is covered with sensors related to the inspection, and the multi-rotor aircraft can allow the tower-shaped building to pass through the enclosed area of ​​the ring frame when carrying out inspection work.

23. The multi-rotor aircraft as described in claim 22, characterized in that, During takeoff and landing, the multirotor aircraft can reduce the enclosed area of ​​the annular frame to facilitate takeoff and landing in areas with limited space; and / or The side enclosing area of ​​the annular frame is the inner side of the annular frame, and the side of the annular frame opposite to the enclosing area is the outer side of the annular frame; and / or The multi-rotor aircraft includes either the advertising banner or the sensor.

24. A method of using a multi-rotor aircraft, comprising the following steps: Provide a multi-rotor aircraft as described in claim 22 or 23; The multi-rotor aircraft expands the enclosing area of ​​the ring frame during flight to deploy the advertising banner in the air; or When the multi-rotor aircraft is being maintained, the tower-shaped structure extends through the enclosed area of ​​the annular frame; or During takeoff and landing, the multi-rotor aircraft reduces the enclosed area of ​​the annular frame to facilitate takeoff and landing in areas with limited space.

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