Unmanned aerial vehicle with multi-degree of freedom flight mode

Abstract

The unmanned aerial vehicle with multi-degree-of-freedom flight mode of the present application comprises: a fuselage portion, a battery is installed, the forward direction is set as the x-axis; a plurality of rotors, four or more than four are arranged around the fuselage portion, and the respective rotating shafts are aligned to the z-axis direction; an x-axis tilting mechanism portion, the plurality of rotors are tilted with the respective shafts parallel to the x-axis as the center; a y-axis tilting mechanism portion, the plurality of rotors are tilted with the respective shafts parallel to the y-axis as the center; and a first drive motor portion for driving the y-axis tilting mechanism portion; a second drive motor portion for driving the x-axis tilting mechanism portion; and a control portion, the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor portion and the second drive motor portion are controlled to realize a plurality of flight modes.

Description

Technical Field

[0001] This invention relates to a drone with multiple degrees of freedom flight modes. Background Technology

[0002] Multi-rotor or multi-fan aircraft, often referred to as drones, are typically a type of helicopter with three or more rotors. Compared to traditional single-rotor helicopters, their advantages include the ability to change rotor torque and speed, and ease of maintenance and operation. Due to these advantages and the rapid development of electronic technology, the application areas of multi-rotor aircraft have expanded rapidly. While previously dominated by larger military drones, more recently smaller civilian drones have been produced. Their applications have also expanded from image capture to various fields such as cargo transportation.

[0003] Among various types of small unmanned aerial vehicles (UAVs), quadcopters, in particular, have several advantages over other types. The biggest advantage is their extremely simple mechanical mechanism. Quadcopters do not require pre-flight trimming, exhibit minimal mechanical vibration, and have a low probability of component failure due to aging. Furthermore, due to their simple shape, quadcopters are mathematically easy to model, making them suitable for autonomous flight. Unlike other small UAVs that require extensive training to adjust, even beginners can easily operate them. Additionally, the use of multiple small propellers makes them relatively safe for those unfamiliar with operation or management. In other words, even without specialized knowledge of aircraft or extensive prior training, quadcopters can be easily operated, maintained, and managed. Thanks to these advantages, the influence of quadcopters in the civilian small UAV market is gradually expanding.

[0004] Numerous researchers have studied the control and guidance of quadrotors. Firstly, in the control domain, to effectively handle the characteristics of the quadrotor's nonlinear model, backstepping or sliding mode techniques are used to directly control the nonlinear system. There are also attempts to use feedback linearization to linearize the quadrotor model before control. Secondly, in the guidance domain, not only can flip maneuvers that rotate the quadrotor fuselage 360 ​​degrees or more in one direction be performed, but also rapid maneuvers based on specific trajectories and attitudes, and sophisticated maneuvers such as ball swapping, can be achieved.

[0005] Thanks to the contributions of numerous researchers, while multi-rotor aircraft, including quadcopters, can now be precisely controlled and guided, their functionality still requires improvement. Because the precise position and attitude of an aircraft in three-dimensional space are represented by six variables, multi-rotor systems ultimately become underactuated systems, where the input dimension is smaller than the output dimension. This limitation restricts the control and guidance of multi-rotor aircraft. For example, to accelerate a multi-rotor forward, its main body must tilt forward; when a multi-rotor is tilted backward, no forward acceleration will be generated. In other words, the attitude and acceleration of a multi-rotor aircraft cannot be completely independent.

[0006] Therefore, when a camera is attached to the body of a multirotor aircraft to photograph a target, if the multirotor changes direction, its body will also tilt, causing the camera's shooting direction to deviate from the target. Furthermore, since changing direction requires the entire multirotor to tilt, the responsiveness is relatively low, making rapid maneuvers difficult. For these reasons, using a separate device to hold the camera in place according to changes in the aircraft's angle increases components, cost, and weight, and shortens battery life. Additionally, because this camera attachment device is susceptible to vibration, a separate dust extraction device is required, resulting in increased complexity.

[0007] *Relevant Existing Technologies

[0008] Korean Patent Publication No. 10-2017-0061941 (Published on June 7, 2017)

[0009] Korean Patent No. 10-1692315 (granted on December 28, 2016) Summary of the Invention

[0010] Technical problems to be solved

[0011] The purpose of this invention is to enable drones to stably have multiple degrees of freedom and achieve multiple flight modes without the need for additional devices to install cameras, and to maintain a stable state without shaking.

[0012] Problem-solving methods

[0013] The drone of the present invention includes: a fuselage section housing a battery, with its forward direction set as the x-axis; a first rotor and a second rotor, each with its rotation axis arranged in the z-axis direction, and positioned opposite each other with the fuselage section as the center when viewed from the x-axis direction; a third rotor and a fourth rotor, each with its rotation axis arranged in the z-axis direction, and positioned opposite each other with the fuselage section in the y-axis direction when viewed from the x-axis direction; and a first frame shaft, rotatably supported by the fuselage section at the first position with an axis y1 parallel to the y-axis as the center, and positioned at both ends based on a parallel axis. The first rotor and the second rotor are supported by various support axes along the x-axis; the second frame axis, at the second position, is rotatably supported by the fuselage about a y2 axis parallel to the y-axis, and at both ends supports the third rotor and the fourth rotor based on various support axes parallel to the x-axis; the third frame axis, relative to the first frame axis, is spaced apart in the z-axis direction based on a plurality of first rods, and moves based on a force parallel to the y-axis, causing the first rotor and the second rotor to tilt about various axes parallel to the x-axis. A fourth frame axis, relative to the second frame axis, is spaced apart in the z-axis direction based on multiple second rods, and moves based on a force parallel to the y-axis, causing the third and fourth rotors to tilt around axes parallel to the x-axis; a first drive motor unit, connected via a first conversion mechanism unit, provides a force parallel to the y-axis to the third and fourth frame axes; a second drive motor unit, connected via a second conversion mechanism unit, provides a force to the first and second frame axes, causing them to rotate around axes y1 and y2 respectively; and a control unit controls the first rotor, second rotor, third rotor, fourth rotor, first drive motor unit, and second drive motor unit to achieve multiple flight modes, including: a first flight mode in which the first and second drive motor units are completely stopped, and the speeds of the first to fourth rotors are controlled individually; and a second flight mode in which the first and second drive motor units are started individually, and the speeds of the first to fourth rotors are controlled individually.

[0014] According to one embodiment of the present invention, the first conversion mechanism may include: a first transmission rod that simultaneously transmits the driving force of the first drive motor to the third frame shaft and the fourth frame shaft.

[0015] According to one embodiment of the present invention, the second conversion mechanism may include a second transmission rod that simultaneously transmits the driving force of the second drive motor to the first frame shaft and the second frame shaft.

[0016] According to one embodiment of the present invention, the first flight mode may include: a first-1 flight mode in which the fuselage tilts toward the x-axis or moves toward the y-axis; a first-2 flight mode in which the fuselage tilts toward the y-axis or moves toward the x-axis; a first-3 flight mode in which the fuselage rotates about the z-axis; and a first-4 flight mode in which the fuselage moves toward the z-axis.

[0017] According to one embodiment of the present invention, the second flight mode may include: a 2-1 flight mode in which the fuselage is kept horizontal, the first rotor to the fourth rotor are tilted about axes parallel to the x-axis, and the fuselage is moved in the y-axis direction; a 2-2 flight mode in which the fuselage is kept horizontal, the first rotor to the fourth rotor are tilted about axes parallel to the y-axis, and the fuselage is moved in the y-axis direction; and a 2-3 flight mode in which the fuselage is kept horizontal, and the first rotor to the fourth rotor are individually controlled. The speed of the rotor causes the fuselage to rotate around the z-axis; Flight modes 2-4 keep the fuselage horizontal and individually control the speed of the first to fourth rotors to move the fuselage in the z-axis direction; Flight modes 2-5 cause the first to fourth rotors to rotate around axes parallel to the x-axis, causing the fuselage to rotate relative to the x-axis; and Flight modes 2-6 cause the first to fourth rotors to rotate around axes parallel to the y-axis, causing the fuselage to rotate relative to the y-axis.

[0018] According to one embodiment of the present invention, the second to fifth flight modes may include: making the rotation axes of the first to the fourth rotors parallel to the z-axis, rotating the fuselage relative to the x-axis, and maintaining an attitude in which the fuselage is tilted relative to the ground.

[0019] According to one embodiment of the present invention, the second to sixth flight modes may include: making the rotation axes of the first to the fourth rotors parallel to the z-axis, rotating the fuselage relative to the y-axis, and maintaining an attitude in which the fuselage is tilted relative to the ground.

[0020] This invention also discloses a drone with multiple degrees of freedom flight modes, comprising: a fuselage section equipped with a battery, the forward direction of which is set to the x-axis; multiple rotors, four or more arranged around the fuselage section, each rotor axis neatly arranged in the z-axis direction; an x-axis tilting mechanism section for tilting the multiple rotors about axes parallel to the x-axis; a y-axis tilting mechanism section for tilting the multiple rotors about axes parallel to the y-axis; a first drive motor section for driving the y-axis tilting mechanism section; a second drive motor section for driving the x-axis tilting mechanism section; and a control section for controlling the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor section, and the second drive motor section to realize multiple flight modes, wherein the multiple flight modes include: a first flight mode in which the first drive motor section and the second drive motor section are completely stopped, and the speeds of the first rotor to the fourth rotor are controlled individually; and a second flight mode in which the first drive motor section and the second drive motor section are started individually, and the speeds of the first rotor to the fourth rotor are controlled individually.

[0021] The effects of the invention

[0022] The UAV with multiple degrees of freedom flight modes according to the present invention enables multiple rotors to tilt independently with the x-axis and y-axis as the center. Even when the rotors are hovering, changing their attitude or speed, the main body can maintain its original attitude or be set to a specific attitude, thereby enabling multiple flight modes.

[0023] According to one example of the present invention, by individually controlling the speed of multiple rotors, a first flight mode with 4 degrees of freedom can be achieved, and a second flight mode with 6 degrees of freedom can be achieved by tilting multiple rotors in the x-axis and y-axis directions. Attached Figure Description

[0024] Figure 1 This is a perspective view of an example of a drone 100 according to the present invention.

[0025] Figure 2 It is shown Figure 1 A 3D view of the drone 100 with its casing 111 disassembled.

[0026] Figure 3 Viewed from below Figure 2 A 3D view of the drone 100.

[0027] Figure 4 It is shown Figure 2 A 3D image showing multiple rotors tilted around the y-axis in a specific configuration.

[0028] Figure 5 It is shown Figure 2A 3D image showing multiple rotors tilted around the x-axis in a specific configuration.

[0029] Figure 6 yes Figure 2 A 3D image showing multiple rotors tilted around the x-axis and y-axis in a state of equilibrium.

[0030] Figures 7 to 13 The posture of the drone 200 of the present invention based on a first flight mode is shown.

[0031] Figure 7 This indicates a state of equilibrium.

[0032] Figure 8 and Figure 9 This shows the forward and backward movement (x-axis direction) and rotation about the y-axis of the drone.

[0033] Figure 10 and Figure 11 This shows the drone's left and right movement (y-axis direction) and rotation about the x-axis.

[0034] Figure 12 This illustrates the concept of a drone moving in the z-axis direction.

[0035] Figure 13 The image shows the drone rotating around the z-axis.

[0036] Figures 14 to 17 The diagram illustrates a posture of the UAV 200 based on a second flight mode that differs from the first flight mode.

[0037] Figure 14 The drone is shown moving forward and backward.

[0038] Figure 15 The drone is shown moving left and right.

[0039] Figure 16 The fuselage is shown rotating about the x-axis.

[0040] Figure 17 The fuselage is shown rotating around the y-axis. Detailed Implementation

[0041] The UAV with multi-degree-of-freedom flight modes of the present invention will now be described in detail with reference to the accompanying drawings. In this specification, even in different embodiments, the same or similar components are referred to by the same or similar reference numerals, and their description can be found in the preceding description.

[0042] according to Figure 1The UAV 100 with multi-degree-of-freedom flight mode of the present invention has a central fuselage 110 and a plurality of rotors 121, 122, 123, and 124 disposed around the fuselage 110. In order to support the plurality of rotors 121, 122, 123, and 124, a first frame shaft 131, a second frame shaft 132, a third frame shaft 133, and a fourth frame shaft 134 are disposed on the fuselage 110.

[0043] For ease of explanation, if a coordinate system is defined, the fuselage 110 is positioned along the front-to-back direction (x-axis), the left-to-right direction (y-axis), and the up-to-down direction (z-axis). The rotation axes of the multiple rotors 121, 122, 123, and 124 are arranged along the z-axis.

[0044] Multiple rotors can be installed in pairs at multiple locations along the 110x axis of the fuselage. Figure 1 This is one such example, showing that two pairs are arranged. Specifically, at the rear end of the fuselage section 110, the first rotor 121 and the second rotor 122 form a pair, and at the front end of the fuselage section 110, the third rotor 123 and the fourth rotor 124 form a pair. The first rotor 121 and the second rotor 122 are supported by the first frame shaft 131 and the third frame shaft 133, while the third rotor 123 and the fourth rotor 124 are supported by the second frame shaft 132 and the fourth frame shaft 134.

[0045] Multiple rotors 121, 122, 123, and 124 are supported by support shafts 136, 137, 138, and 139 parallel to the x-axis. Support shafts 136, 137, 138, and 139 serve two purposes: firstly, to provide space for cables supplying power to the multiple rotors; and secondly, to act as primary support points for controlling the tilting of the rotors 121, 122, 123, and 124.

[0046] The body 110 can be a configuration where a casing 111 covers multiple internal components. A camera 112 can be mounted on the front of the body 110. For example... Figure 2 The camera 112 is directly mounted on a substrate or similar material, and no additional stabilizer or other components are used to reduce swaying. This is due to the fact that the components and flight modes of the drone of the present invention, described later, reduce the swaying of the camera 112 and accurately and easily orient the camera 112 in the desired direction.

[0047] like Figure 2 The fuselage 110 is equipped with a battery 113 to supply power to multiple components. In order to reduce the power consumption of the battery 113 and increase flight time, the present invention omits the aforementioned stabilizer and additional components, thereby reducing the corresponding weight.

[0048] The multiple frame shafts 131, 132, 133, and 134 used to support the multiple rotors 121, 122, 123, and 124 adopt a structure that can be both 'fixed' and 'tilted'. For example, the multiple frame shafts include: a first frame shaft 131, located at the rear end of the fuselage section 110, supported by the fuselage section 110, and capable of rotating about a y1 axis parallel to the y-axis; a second frame shaft 132, located at the front end of the fuselage section 110, supported by the fuselage section 110, and capable of rotating about a y2 axis parallel to the y-axis; a third frame shaft 133, positioned relative to the first frame shaft 131 and spaced apart in the z-axis direction by multiple first rods 141 and 142; and a fourth frame shaft 134, positioned relative to the second frame shaft 132 and spaced apart in the z-axis direction by multiple second rods 143 and 144. That is, the first frame shaft 131 and the second frame shaft 132 are supported by the fuselage 110 and can rotate in the y-axis direction. Although the third frame shaft 133 and the fourth frame shaft 134 are not fixed relative to the fuselage 110, they are, based on the various rods 141, 142, 143, and 144, moved relative to the first frame shaft 131 and the second frame shaft 132 under a constrained state due to driving force. In this example, the third frame shaft 133 and the fourth frame shaft 134 move in the y-axis direction, causing the support shafts 136, 137, 138, and 139 that primarily support the multiple rotors 121, 122, 123, and 124 to rotate around their respective axes parallel to the x-axis.

[0049] A first conversion mechanism is provided to drive the third frame shaft 133 and the fourth frame shaft 134. This first conversion mechanism receives the driving force from the first drive motor 150 and converts it into a force that moves the third frame shaft 133 and the fourth frame shaft 134 in a direction parallel to the y-axis. However, because the third frame shaft 133 and the fourth frame shaft 134 are constrained by the first rods 141 and 142, they move relative to the first frame shaft 131 and the second frame shaft 132 in directions that rotate around axes x1 and x2, respectively, which are parallel to the x-axis. The first conversion mechanism is provided with a first transmission rod 151 to simultaneously transmit the driving force of the first drive motor 150 to the third frame shaft 133 and the fourth frame shaft 134. The first transmission rod 151 extends in the x-axis direction and rotates due to the rotational force transmitted by the first drive motor 150. At its opposite end, the connecting rod member rotates, causing the third frame shaft 133 and the fourth frame shaft 134 to move simultaneously in the y-axis direction.

[0050] like Figure 3The first frame shaft 131 and the second frame shaft 132 are connected by a second conversion mechanism, which is connected by a second drive motor 160. The second conversion mechanism transmits the rotational force of the second drive motor 160, causing the first frame shaft 131 and the second frame shaft 132 to rotate around their respective rotation axes y1 and y2. The second conversion mechanism has a second transmission rod 161 capable of simultaneously transmitting the driving force of the second drive motor 160 to both the first frame shaft 131 and the second frame shaft 132. The second transmission rod 161 also extends in the x-axis direction, receiving the driving force of the second drive motor 160 and moving in the x-axis direction, thereby providing the torque necessary to rotate the first frame shaft 131 and the second frame shaft 132.

[0051] Reference Figures 4 to 6 Describe the function of this structure. Figure 4 The diagram illustrates how the second transmission rod 161 moves in the x-axis direction due to the driving force of the second drive motor 160, causing the first frame shaft 131 and the second frame shaft 132 to rotate. As a result, the first rotor 121 and the second rotor 122 rotate around the y1 axis, and the third rotor 123 and the fourth rotor 124 rotate around the y2 axis. This tilting of the multiple rotors 121, 122, 123, and 124 in the y-axis direction results in a change in their angle relative to the fuselage 110, and the thrust of the multiple rotors 121, 122, 123, and 124 is tilted in the y-axis direction relative to the fuselage 110.

[0052] Figure 5 The diagram illustrates how the first transmission rod 151 rotates around the x-axis due to the driving force of the first drive motor 150, causing the third frame shaft 133 and the fourth frame shaft 134 to move in the y-axis direction. As a result, the support shafts 136, 137, 138, and 139 supporting the multiple rotors 121, 122, 123, and 124 rotate in the x1 and x2 axes respectively, and the multiple rotors 121, 122, 123, and 124 also rotate in the same direction. This tilting of the multiple rotors 121, 122, 123, and 124 will guide them to tilt (tilt left or right) relative to the fuselage 110 around the x-axis or move (move left or right) in the y-axis direction.

[0053] Figure 6 The diagram shows that both the first drive motor 150 and the second drive motor 160 are in operation, resulting in the multiple rotors 121, 122, 123, and 124 tilting towards the x-axis and y-axis, respectively. This tilting of the multiple rotors 121, 122, 123, and 124 ultimately causes the fuselage section 110 to move or tilt in a diagonal direction.

[0054] The multi-degree-of-freedom unmanned aerial vehicle 100 of the present invention includes a control unit that enables multiple flight modes by controlling multiple rotors 121, 122, 123, 124 and a first drive motor unit 150 and a second drive motor unit 160. The control unit precisely adjusts the tilt of the multiple rotors 121, 122, 123, 124 by controlling the speed of the multiple rotors 121, 122, 123, 124 or the movement or rotation angle of the first drive motor unit 150 and the second drive motor unit 160. A wireless communication module is provided on the fuselage 110 for communication with a ground-based remote controller, and the control unit implements the flight mode based on input signals.

[0055] The following reference Figure 7 The flight modes of the multi-degree-of-freedom unmanned aerial vehicle 200 of the present invention are described. In these figures, the plurality of rotors 221, 222, 223, 224 correspond to the aforementioned plurality of rotors 121, 122, 123, 124, and the components supporting or tilting these plurality of rotors 221, 222, 223, 224 are also the same as those described above. However, simplified representations are used for ease of understanding.

[0056] The multiple flight modes of the multi-degree-of-freedom UAV 200 of the present invention may include 4-degree-of-freedom modes and 6-degree-of-freedom modes. These 4-degree-of-freedom modes and 6-degree-of-freedom modes can be implemented independently, or simultaneously, depending on the situation.

[0057] Figures 7 to 13 The posture of the first flight mode of the drone 200 based on the present invention is shown.

[0058] Figure 7 The diagram illustrates the rotational states of multiple rotors 221, 222, 223, and 224 used to achieve a balanced state. Specifically, for the fuselage 210 of the drone to hover stably, the rotation directions of the multiple rotors 221, 222, 223, and 224, which are diagonally opposite, must be consistent, and the rotors arranged side-by-side must rotate in opposite directions. If the rotational speeds of the multiple rotors 221, 222, 223, and 224 are the same, the fuselage 210 can remain horizontal. Since the magnitude of the propulsive force from the rotor rotation is consistent with the magnitude of the drone 200's gravity, the drone 200 can stably achieve hovering maneuvers. In this example, the multiple rotors 221, 222, 223, and 224 of the drone 200 do not require additional tilting and are controlled by motor speed.

[0059] Figure 8 and Figure 9The diagram illustrates the relationship between the rotational speeds of the multiple rotors 221, 222, 223, and 224 that cause the UAV 200 to move forward and backward (in the x-direction). Specifically, to move the UAV 200 forward and backward, the fuselage 210 needs to be tilted forward and backward to change the direction of thrust. To achieve this, by slowing down the rotational speeds of the forward-facing third rotor 223 and fourth rotor 224 and increasing the speeds of the rearward-facing first rotor 221 and second rotor 222, the fuselage 210 of the UAV 200 will tilt forward. As a result, the thrust will be directed towards the rear of the fuselage 210, and the UAV 200 will move forward.

[0060] Figure 10 and Figure 11 The diagram illustrates the drone's left-right movement (y-axis direction) and rotation around the x-axis. Specifically, for the drone 200 to move left and right, the fuselage 210 needs to tilt left and right to change the direction of thrust. To achieve this, the speeds of the second rotor 222 and the fourth rotor 224 are reduced, while the rotational speeds of the first rotor 221 and the third rotor 223 are increased. This causes the fuselage 210 of the drone 200 to tilt to the right, resulting in thrust directed towards the left side of the fuselage 210, thus causing the drone 200 to move to the right.

[0061] Figure 12 This illustrates the concept of a drone moving along the z-axis. The vertical movement of the drone 200 is based on the same principle as hovering. If the rotational speeds of multiple rotors 221, 222, 223, and 224 are all the same, then increasing the rotational speeds of all rotors 221, 222, 223, and 224 by the same amount will increase the thrust, and the altitude will increase while the fuselage remains horizontal. Figure 12 In (a) of the above, conversely, if the rotational speeds of multiple rotors 221, 222, 223, and 224 are reduced by the same amount, the thrust will decrease, and the altitude will decrease while the fuselage remains horizontal. Figure 12 (b) in the middle.

[0062] Figure 13 The diagram illustrates the UAV rotating around the z-axis. To make the UAV 200 rotate in the z-axis direction, the rotational speeds of multiple rotors rotating diagonally in the z-axis direction are reduced by a certain percentage, while the rotational speeds of the remaining rotors rotating in the opposite z-axis direction are increased by the same percentage. According to Newton's law of action and reaction, when the sum of the z-axis rotation vectors of the multiple rotors 221, 222, 223, and 224 is greater than 0, the fuselage rotates in the opposite z-axis direction based on the reaction force.

[0063] Figures 14 to 17This illustration shows a posture of the UAV 200 based on a second flight mode that differs from the first flight mode. In the 6-DOF flight mode, hovering, z-axis rotation, ascent, and descent can be achieved similarly to the aforementioned 4-DOF flight mode. This example focuses on configurations that cannot be achieved in the 4-DOF flight mode.

[0064] Figure 14 The diagram illustrates the forward and backward movement of the drone. Specifically, to move the drone 200 forward and backward while maintaining a hovering state, multiple rotors 221, 222, 223, and 224 are tilted forward (meaning they tilt around the y-axis). The mechanism for keeping the fuselage 210 horizontal is similar to that used during hovering.

[0065] Figure 15 The diagram illustrates the left-right movement of the drone. To enable the drone 200 to move left and right, while maintaining a hovering state, multiple rotors 221, 222, 223, and 224 are tilted to the left and right (meaning tilted while rotating around the x-axis). At this time, the mechanism for keeping the fuselage 210 horizontal is similar to that during hovering.

[0066] Figure 16 The fuselage section is shown rotating around the x-axis. That is, while hovering, in order to tilt the fuselage section 210 around the x-axis, the rotational speed of the second rotor 222 and the fourth rotor 224 on the right side is increased, while the rotational speed of the first rotor 221 and the third rotor 223 on the left side is decreased, and the fuselage section 210 of the UAV 200 will rotate around the x-axis.

[0067] When the fuselage 210 rotates, multiple rotors 221, 222, 223, and 224 also rotate in the same direction, changing the direction of thrust and causing the fuselage 210 to move. To compensate for this, the angles of multiple rotors 221, 222, 223, and 224 are changed by the same amount in the opposite direction to the rotation of the fuselage 210.

[0068] Figure 17 The fuselage section is shown rotating around the y-axis. That is, while hovering, in order to tilt the fuselage section 210 towards the y-axis, the rotational speed of the front third rotor 223 and fourth rotor 224 is increased, while the rotational speed of the rear first rotor 221 and second rotor 222 is decreased, and the fuselage section 210 of the UAV 200 will rotate around the y-axis.

[0069] and Figure 16 Similarly, when the fuselage 210 rotates, the multiple rotors 221, 222, 223, and 224 also rotate in the same direction to change the direction of thrust, thereby causing the fuselage 210 to move. To compensate for this, the angles of the multiple rotors 221, 222, 223, and 224 are changed by the same amount in the opposite direction to the rotation direction of the fuselage 210.

[0070] The drone with multi-degree-of-freedom flight modes described above is not limited to the configuration and methods of the above embodiments. Various modifications can be made to the multiple embodiments by selectively combining all or part of the various embodiments.

Claims

1. A drone with multiple degrees of freedom flight modes, characterized in that, include: The fuselage contains the battery, and the forward direction is set to the x-axis; The first rotor and the second rotor are arranged in the z-axis direction, and when viewed from the x-axis direction, they are positioned opposite each other with the fuselage as the center in the first position. The third and fourth rotors are arranged with their rotation axes aligned in the z-axis direction, and when viewed from the x-axis direction, they are positioned opposite each other in the y-axis direction at the second position of the fuselage. The first frame shaft, at the first position, is rotatably supported by the fuselage about a y1 axis parallel to the y axis, and at both ends, it supports the first rotor and the second rotor based on respective support shafts parallel to the x axis. The second frame axis, in the second position, is rotatably supported by the fuselage with the y2 axis parallel to the y axis as its center, and at both ends, it supports the third rotor and the fourth rotor based on each support axis parallel to the x axis. The third frame axis, relative to the first frame axis, is spaced apart in the z-axis direction based on a plurality of first rods, and moves based on a force parallel to the y-axis, such that the first rotor and the second rotor tilt about each axis parallel to the x-axis. The fourth frame axis, relative to the second frame axis, is spaced apart in the z-axis direction based on a plurality of second rods, and moves based on a force parallel to the y-axis, causing the third rotor and the fourth rotor to tilt about each axis parallel to the x-axis. The first drive motor unit is connected via the first conversion mechanism unit and provides a force parallel to the y-axis to the third frame shaft and the fourth frame shaft; The second drive motor, connected via the second conversion mechanism, provides force to the first frame shaft and the second frame shaft, causing them to rotate about the y1 axis and the y2 axis respectively; and The control unit controls the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor unit, and the second drive motor unit to achieve multiple flight modes. The multiple flight modes include: a first flight mode in which both the first and second drive motors are completely stopped, and the speeds of the first rotor to the fourth rotor are controlled individually; and a second flight mode in which the first and second drive motors are activated individually, and the speeds of the first rotor to the fourth rotor are controlled individually. The first flight mode includes: Flight mode 1-1 causes the fuselage to tilt in the x-axis direction or move in the y-axis direction; Flight modes 1-2 cause the fuselage to tilt in the y-axis direction or move in the x-axis direction; Flight modes 1-3 cause the fuselage to rotate about the z-axis; and Flight modes 1-4 cause the fuselage to move in the z-axis direction. The second flight mode includes: Flight mode 2-1: The fuselage is kept horizontal, the first to the fourth rotors are tilted around axes parallel to the x-axis, and the fuselage is moved toward the y-axis. In the second-second flight mode, the fuselage is kept horizontal, the first to the fourth rotors are tilted around axes parallel to the y-axis, and the fuselage is moved in the direction of the y-axis. In the second and third flight modes, the fuselage is kept horizontal, and the speeds of the first to fourth rotors are controlled individually, causing the fuselage to rotate around the z-axis. Flight modes 2-4 keep the fuselage horizontal and control the speed of the first to fourth rotors individually to move the fuselage in the z-axis direction; Flight modes 2-5 cause the first to fourth rotors to rotate around axes parallel to the x-axis, thereby causing the fuselage to rotate relative to the x-axis; and Flight modes 2-6 cause the first to fourth rotors to rotate around axes parallel to the y-axis, thereby causing the fuselage to rotate relative to the y-axis.

2. The UAV with multi-degree-of-freedom flight modes according to claim 1, characterized in that, The first conversion mechanism includes a first transmission rod that simultaneously transmits the driving force of the first drive motor to the third frame shaft and the fourth frame shaft.

3. The UAV with multi-degree-of-freedom flight modes according to claim 1, characterized in that, The second conversion mechanism includes a second transmission rod that simultaneously transmits the driving force of the second drive motor to the first frame shaft and the second frame shaft.

4. The UAV with multi-degree-of-freedom flight modes according to claim 1, characterized in that, The second to fifth flight modes include: making each rotation axis of the first to the fourth rotor parallel to the z-axis, making the fuselage rotate relative to the x-axis, and maintaining an attitude of tilting relative to the ground.

5. The UAV with multi-degree-of-freedom flight modes according to claim 1, characterized in that, The second to sixth flight modes include: making the rotation axes of the first to the fourth rotors parallel to the z-axis, rotating the fuselage relative to the y-axis, and maintaining an attitude of tilting relative to the ground.

6. A drone with multiple degrees of freedom flight modes, characterized in that, include: The fuselage contains the battery, and the forward direction is set to the x-axis; Multiple rotors are arranged around the fuselage, with four or more rotors arranged neatly in the z-axis direction. The x-axis tilting mechanism causes the plurality of rotors to tilt around each axis parallel to the x-axis. The y-axis tilting mechanism tilts the plurality of rotors about axes parallel to the y-axis; and The first drive motor unit is used to drive the y-axis tilting mechanism unit; The second drive motor is used to drive the x-axis tilting mechanism; and The control unit controls the first rotor, second rotor, third rotor, fourth rotor, first drive motor unit, and second drive motor unit to achieve multiple flight modes. The plurality of flight modes include: a first flight mode in which both the first and second drive motors are stopped, and the speeds of the first rotor to the fourth rotor are controlled individually; and a second flight mode in which the first and second drive motors are started individually, and the speeds of the first rotor to the fourth rotor are controlled individually. The first flight mode includes: Flight mode 1-1 causes the fuselage to tilt in the x-axis direction or move in the y-axis direction; Flight modes 1-2 cause the fuselage to tilt in the y-axis direction or move in the x-axis direction; Flight modes 1-3 cause the fuselage to rotate about the z-axis; and Flight modes 1-4 cause the fuselage to move in the z-axis direction. The second flight mode includes: Flight mode 2-1: The fuselage is kept horizontal, the first to the fourth rotors are tilted around axes parallel to the x-axis, and the fuselage is moved toward the y-axis. In the second-second flight mode, the fuselage is kept horizontal, the first to the fourth rotors are tilted around axes parallel to the y-axis, and the fuselage is moved in the direction of the y-axis. In the second and third flight modes, the fuselage is kept horizontal, and the speeds of the first to fourth rotors are controlled individually, causing the fuselage to rotate around the z-axis. Flight modes 2-4 keep the fuselage horizontal and control the speed of the first to fourth rotors individually to move the fuselage in the z-axis direction; Flight modes 2-5 cause the first to fourth rotors to rotate around axes parallel to the x-axis, thereby causing the fuselage to rotate relative to the x-axis; and Flight modes 2-6 cause the first to fourth rotors to rotate around axes parallel to the y-axis, thereby causing the fuselage to rotate relative to the y-axis.

7. The UAV with multi-degree-of-freedom flight modes according to claim 6, characterized in that, The second to fifth flight modes include: making each rotation axis of the first to the fourth rotor parallel to the z-axis, making the fuselage rotate relative to the x-axis, and maintaining an attitude of tilting relative to the ground.

8. The UAV with multi-degree-of-freedom flight modes according to claim 6, characterized in that, The second to sixth flight modes include: making the rotation axes of the first to the fourth rotors parallel to the z-axis, rotating the fuselage relative to the y-axis, and maintaining an attitude of tilting relative to the ground.

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