A detachable unmanned aerial vehicle, unmanned aerial vehicle control system and control method

Abstract

Embodiments of the present application disclose a detachable unmanned aerial vehicle, an unmanned aerial vehicle control system and a control method, and belong to the technical field of unmanned aerial vehicles. The detachable unmanned aerial vehicle comprises a first fuselage, a second fuselage, flight mechanisms, a connecting mechanism and a landing gear. The first fuselage is connected with a plurality of flight mechanisms, and the second fuselage is connected with a plurality of flight mechanisms. The connecting mechanism comprises a fixing part, a connecting arm and a fitting part connected in sequence. The fixing part is connected with the first fuselage, and the fitting part is detachably connected with the second fuselage. The landing gear is connected with the second fuselage. In this way, the detachable connection between the first fuselage and the second fuselage is realized through the detachable connection between the fitting part and the second fuselage. When multiple target tasks need to be executed simultaneously, the first fuselage and the second fuselage can be separated, the first fuselage and the second fuselage execute respective tasks, and a single helicopter can execute multiple target tasks simultaneously.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a detachable UAV, a UAV control system, and a control method. Background Technology

[0002] With technological advancements, rotary-wing drones possess advantages such as vertical takeoff and landing, hovering, low-speed flight, high maneuverability, and portability, leading to increasingly complex application scenarios and environments. Therefore, there is a growing need for drones to have the capability to simultaneously perform multiple missions.

[0003] However, existing drones can only perform one target mission at a time, and cannot meet the requirement of performing multiple target missions simultaneously. Summary of the Invention

[0004] Purpose of the invention: This application provides a detachable unmanned aerial vehicle (UAV) to solve the problem that in the prior art, UAVs can only perform one target task at a time and cannot meet the requirement of performing multiple target tasks simultaneously; another purpose of this application is to provide a UAV control system; yet another purpose of this application is to provide a UAV control method.

[0005] Technical solution: A detachable unmanned aerial vehicle (UAV) according to an embodiment of this application includes:

[0006] First fuselage;

[0007] Second fuselage;

[0008] The first fuselage is connected to multiple flight mechanisms, and the second fuselage is connected to multiple flight mechanisms.

[0009] A connecting mechanism, comprising a fixing part, a connecting arm, and a fitting part connected in sequence; wherein the fixing part is connected to the first body, and the fitting part is detachably connected to the second body;

[0010] The landing gear is connected to the second fuselage.

[0011] In some embodiments, the fixing part includes:

[0012] A first base is connected to the first fuselage; a first folding member is provided on the side of the first base away from the first fuselage.

[0013] In some embodiments, the connecting arm includes:

[0014] The first arm is movably connected to the first folding component;

[0015] The second arm is connected to the end of the first arm that is away from the first folding member;

[0016] The third arm is connected to the end of the second arm that is away from the first arm.

[0017] In some embodiments, the bonding portion includes:

[0018] A second base is detachably connected to the second fuselage; a second folding member is provided on the side of the second base away from the second fuselage;

[0019] The second folding member is movably connected to the end of the third arm away from the second arm.

[0020] In some embodiments, the second arm is provided with a clamping part, and the second body is located between the clamping part and the second base.

[0021] In some embodiments, the flight mechanism includes:

[0022] A machine arm, which is connected to the first body and / or the second body;

[0023] An electric motor is disposed at one end of the arm away from the first body and / or the second body;

[0024] A rotor blade is connected to the side of the motor away from the arm.

[0025] Accordingly, this application provides a drone control system for controlling a detachable drone as described in any of the above embodiments, the drone control system comprising:

[0026] Battery;

[0027] A flight control panel, which is disposed on the first fuselage and the second fuselage;

[0028] A receiver, wherein the receiver is disposed on the flight mechanism and the connection mechanism;

[0029] An electronic speed controller, which is mounted on the flight mechanism;

[0030] The battery is electrically connected to the flight control board, the receiver, and the electronic speed controller.

[0031] The flight control board is electrically connected to the receiver;

[0032] The receiver is electrically connected to the electronic speed controller.

[0033] In some embodiments, it also includes:

[0034] The battery is used to power the flight control board, the receiver, and the electronic speed controller;

[0035] The flight control board is used to receive flight commands issued by the user, and issue a first control signal according to the flight commands, and / or issue a split command according to the flight commands;

[0036] The receiver is used to receive the first control signal and issue a second control signal according to the first control signal, and / or receive the separation command and control the connecting mechanism to separate from the second body according to the separation command;

[0037] The electronic speed controller is used to perform specific flight operations based on the second control signal.

[0038] Accordingly, this application provides a drone control method for controlling a detachable drone as described in any of the above embodiments using a drone control system as described in any of the above embodiments. The drone control method includes:

[0039] The flight control panel receives flight commands from the user and issues a first control signal based on the flight commands, and / or issues a split command based on the flight commands;

[0040] The receiver receives the first control signal and issues a second control signal according to the first control signal, and / or receives the separation command and controls the connecting mechanism to separate from the second body according to the separation command;

[0041] The electronic speed controller performs flight operations based on the second control signal.

[0042] In some embodiments, the flight operation includes:

[0043] Control the rotor in the flight mechanism to accelerate or decelerate.

[0044] Beneficial Effects: Compared with the prior art, the detachable UAV of this application embodiment includes: a first fuselage; a second fuselage; flight mechanisms, with multiple flight mechanisms connected to the first fuselage and multiple flight mechanisms connected to the second fuselage; a connecting mechanism, including a fixing part, a connecting arm, and a fitting part connected in sequence; wherein, the fixing part is connected to the first fuselage, and the fitting part is detachably connected to the second fuselage; and landing gear, connected to the second fuselage. Thus, through the detachable connection between the fitting part and the second fuselage, a detachable connection between the first and second fuselage is achieved. When multiple target tasks need to be performed simultaneously, the first and second fuselages can be separated, and the first and second fuselages can each perform their respective tasks, enabling a single helicopter to perform multiple target tasks simultaneously.

[0045] Compared with the prior art, the drone control system of this application embodiment can include all the technical features and beneficial effects of the above-described detachable drone, which will not be repeated here.

[0046] Compared with the prior art, the drone control method of this application embodiment can include all the technical features and beneficial effects of the drone control system described above, which will not be repeated here. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0048] Figure 1 This is a schematic diagram of the structure of a detachable unmanned aerial vehicle provided in an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the first split structure in a detachable UAV provided in an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the second split structure in a detachable UAV provided in an embodiment of this application;

[0051] Figure 4 A schematic diagram of the connection mechanism in a detachable drone provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the structure of the unmanned aerial vehicle control system provided in an embodiment of this application;

[0053] Figure 6 This is an overall flight diagram of a detachable unmanned aerial vehicle provided in an embodiment of this application;

[0054] Figure 7 This is a schematic diagram of the detachable drone in separate flight, provided in an embodiment of this application.

[0055] Reference numerals: 100-First fuselage; 200-Second fuselage; 300-Flight mechanism; 310-Arm; 320-Motor; 330-Rotor; 400-Connecting mechanism; 410-Fixing part; 411-First base; 412-First folding part; 420-Connecting arm; 421-First arm; 422-Second arm; 4221-Clamping part; 423-Third arm; 430-Fitting part; 431-Second base; 432-Second folding part; 500-Landing gear; 600-Battery; 700-Flight control panel; 800-Receiver; 900-Electronic speed controller. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0057] In the description of this application, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, and "at least one" can mean one, two, or more, unless otherwise expressly specified.

[0058] The applicant noted that the application scenarios and environments for existing drones are becoming increasingly complex. Therefore, there is a growing need for drones to have the ability to perform multiple tasks simultaneously. However, existing drones can only perform one task at a time, unlike a single drone, and cannot meet the requirement of simultaneously performing multiple tasks.

[0059] In view of this, this application provides a detachable unmanned aerial vehicle (UAV). Please refer to [link to relevant documentation]. Figure 1 , Figure 2 and Figure 3 , Figure 1 This illustration shows a structural diagram of a detachable unmanned aerial vehicle provided in an embodiment of this application; Figure 2 This illustration shows a schematic diagram of the first split structure in a detachable UAV provided in an embodiment of this application; Figure 3This illustration shows a second detachable structure in a detachable drone provided in an embodiment of this application. In this embodiment, the detachable drone includes a first fuselage 100, a second fuselage 200, flight mechanisms 300, a connecting mechanism 400, and landing gear 500. Multiple flight mechanisms 300 are connected to the first fuselage 100, and multiple flight mechanisms 300 are connected to the second fuselage 200. The connecting mechanism 400 includes a fixing part 410, a connecting arm 420, and a fitting part 430 connected in sequence. The fixing part 410 is connected to the first fuselage 100, and the fitting part 430 is detachably connected to the second fuselage 200. The landing gear 500 is connected to the second fuselage 200.

[0060] Specifically, the connecting mechanism 400 is fixedly connected to the first fuselage 100 and detachably connected to the second fuselage 200. When the UAV needs to fly in separate parts, the connection between the connecting mechanism 400 and the second fuselage 200 is disconnected, and the first fuselage 100 and the second fuselage 200 separate. In this application, the part containing the first fuselage 100 after separation is referred to as the first separate part, and the part containing the second fuselage 200 after separation is referred to as the second separate part. It should be noted that after separation, the connecting mechanism 400 can function as landing gear in the first separate part.

[0061] Optionally, the connecting mechanism 400 can be a mechanical clamping arm, which is attached to the second body 200. The attachment can be magnetic or other detachable mechanical attachment methods.

[0062] Furthermore, the detachable drone of this application can also be equipped with a third or fourth detachment, and so on, depending on the actual use.

[0063] Specifically, the first fuselage 100 and the second fuselage 200 are formed by two oppositely arranged carbon fiber plates fixed together with screws and nuts. A receiving space is formed between the two carbon fiber plates, in which the battery 600, flight control board 700, receiver 800 and electronic speed controller 900 are placed.

[0064] Preferably, the first fuselage 100 is provided with four flight mechanisms 300, so that the first segment is a quadcopter drone; the second fuselage 200 is provided with four flight mechanisms 300, so that the second segment is a quadcopter drone. It should be noted that, to avoid mutual interference between the first and second segments, the flight mechanisms 300 of the first and second segments are at an angle α along the direction from the first fuselage 100 to the second fuselage 200. Preferably, α = 45°, at which point the flight performance of the first and second segments is optimal, effectively avoiding mutual interference between the flight mechanisms 300 of the first and second segments.

[0065] Please see Figure 4 , Figure 4 This illustration shows a connection mechanism in a detachable drone provided in an embodiment of this application. In some embodiments, the fixing part 410 includes: a first base 411, which is connected to the first fuselage 100; a first folding member 412 is provided on the side of the first base 411 away from the first fuselage 100.

[0066] Please refer to it again. Figure 4 In some embodiments, the connecting arm 420 includes a first arm 421, a second arm 422, and a third arm 423. The first arm 421 is movably connected to the first folding member 412; the second arm 422 is connected to the end of the first arm 421 away from the first folding member 412; and the third arm 423 is connected to the end of the second arm 422 away from the first arm 421.

[0067] Specifically, the first arm 421 is movably connected to the first folding member 412, allowing the first arm 421 to rotate around the first folding member 412 at a certain angle. The first folding member 412 also limits the rotation of the first arm 421, preventing it from exceeding its limit and causing the first segment to fail to land. Simultaneously, the second arm 422 can be movably connected to the first arm 421, or fixedly connected at a certain angle. Furthermore, the third arm 423 can be movably connected to the second arm 422, or fixedly connected at a certain angle. This increases the range of motion of the connecting arm 420 to accommodate different landing points.

[0068] Please refer to it again. Figure 4 In some embodiments, the fitting portion 430 includes a second base 431 and a second folding member 432. The second base 431 is detachably connected to the second body 200; the second folding member 432 is disposed on the side of the second base 431 away from the second body 200; the second folding member 432 is movably connected to the end of the third arm 423 away from the second arm 422.

[0069] Specifically, the second base 431 and the second body 200 are detachably connected. When the first and second parts are not separated, the second base 431 and the second body 200 need to maintain a certain connection strength to avoid accidental separation of the first and second parts. When the first and second parts are separated, the second base 431 and the second body 200 need to be able to separate immediately to avoid untimely separation of the first and second parts.

[0070] Please refer to it again. Figure 4 In some embodiments, the second arm 422 is provided with a clamping part 4221, and the second body 200 is located between the clamping part 4221 and the second base 431.

[0071] Specifically, the clamping part 4221 and the second base 431 fix the second body 200, increasing the connection strength between the second base 431 and the second body 200 when the first part and the second part are not separated, so as to avoid the first part and the second part from being accidentally separated.

[0072] Please refer to it again. Figure 1 , Figure 2 , Figure 3 and Figure 4 In some embodiments, the flight mechanism 300 includes an arm 310, a motor 320, and a rotor 330. The arm 310 is connected to the first fuselage 100 and / or the second fuselage 200; the motor 320 is located at one end of the arm 310 away from the first fuselage 100 and / or the second fuselage 200; and the rotor 330 is connected to the side of the motor 320 away from the arm 310.

[0073] Specifically, the arm 310 is a telescopic arm, consisting of two sleeved carbon fiber tubes. The carbon fiber tubes are provided with multiple limiting holes to allow the carbon fiber tubes to slide and limit, so as to realize arm 310 of different lengths to adapt to different usage scenarios.

[0074] Furthermore, the two adjacent rotors 330 located in the same unit rotate in opposite directions. To adapt to more usage scenarios, this application can install rotors 330 of different sizes according to different mission payloads or flight space limitations, improving the versatility and adaptability of the detachable UAV to perform more diverse tasks.

[0075] Preferably, the first fuselage 100 is provided with four flight mechanisms 300, i.e., four rotors 330, so that the first segment is a quadcopter drone; the second fuselage 200 is provided with four flight mechanisms 300, i.e., four rotors 330, so that the second segment is a quadcopter drone. It should be noted that, to avoid mutual interference between the first and second segments, the rotors 330 of the first segment and the rotors 330 of the second segment have an angle α along the direction from the first fuselage 100 to the second fuselage 200. Preferably, α = 45°, at which point the flight performance of the first and second segments is optimal, effectively avoiding aerodynamic interference problems between the rotors 330 of the first and second segments and improving flight efficiency.

[0076] Accordingly, this application provides a drone control system for controlling a detachable drone as described in any of the above embodiments. Please refer to... Figure 5 , Figure 5 The diagram illustrates the structure of the unmanned aerial vehicle (UAV) control system provided in this application embodiment. In this application embodiment, the UAV control system includes a battery 600, a flight control board 700, a receiver 800, and an electronic speed controller 900.

[0077] Specifically, a flight control panel 700 is mounted on the first fuselage 100 and the second fuselage 200; a receiver 800 is mounted on the flight mechanism 300 and the connecting mechanism 400; and an electronic speed controller 900 is mounted on the flight mechanism 300. The battery 600 is electrically connected to the flight control panel 700, the receiver 800, and the electronic speed controller 900; the flight control panel 700 is electrically connected to the receiver 800; and the receiver 800 is electrically connected to the electronic speed controller 900. Furthermore, the electronic speed controller 900 is connected to the motor 320 and is used to control the rotational speed of the rotor 330.

[0078] In some implementations, it also includes:

[0079] Battery 600 is used to power flight control panel 700, receiver 800 and electronic speed controller 900;

[0080] The flight control board 700 is used to receive flight commands issued by the user and issue a first control signal according to the flight commands, and / or issue separate commands according to the flight commands;

[0081] The receiver 800 is used to receive a first control signal and issue a second control signal according to the first control signal, and / or receive a separation command and control the connecting mechanism 400 to separate from the second body 200 according to the separation command;

[0082] The electronic speed controller 900 is used to perform specific flight operations based on the second control signal.

[0083] Accordingly, this application provides a drone control method for controlling a detachable drone as described in any of the above embodiments using a drone control system as described in any of the above embodiments. The drone control method includes:

[0084] Step 101: The flight control board 700 receives the flight command issued by the user and issues a first control signal according to the flight command, and / or issues a split command according to the flight command;

[0085] Step 102: Receiver 800 receives the first control signal and issues a second control signal according to the first control signal, and / or receives a separation command and controls the connecting mechanism 400 to separate from the second body 200 according to the separation command;

[0086] Step 103: The electronic speed controller 900 performs flight operations according to the second control signal.

[0087] In some implementations, flight operations include controlling the rotor 330 in the flight mechanism 300 to accelerate or decelerate.

[0088] Thus, this application can be split into parts during flight, and through the cluster control technology in the control method, it can complete multi-target tasks in the shortest time.

[0089] The following specific embodiments illustrate the overall flight and split flight of the detachable UAV of this application. An example is taken where the first fuselage 100 is connected to four flight mechanisms 300, and the second fuselage 200 is connected to four flight mechanisms 300.

[0090] Please see Figure 6 and Figure 7 , Figure 6 This illustration shows the overall flight diagram of the detachable unmanned aerial vehicle provided in the embodiments of this application; Figure 7 This illustration shows a schematic diagram of the detachable UAV in separate flight configuration provided in this application embodiment. In this application embodiment, M1, M3, M5, and M7 are motors 320 in the four flight mechanisms 300 of the first split configuration, and M2, M4, M6, and M8 are motors 320 in the four flight mechanisms 300 of the second split configuration. The arrows indicate the rotation direction of the motors 320.

[0091] All flight attitudes of the detachable UAV are controlled by the rotation speed of the rotor 330. The user gives flight commands through the remote controller. The flight control board 700 receives the flight commands issued by the user and issues a first control signal according to the flight commands, and / or issues a detachment command according to the flight commands. The receiver 800 receives the first control signal and issues a second control signal according to the first control signal, and / or receives the detachment command and controls the connecting mechanism 400 to separate from the second fuselage 200 according to the detachment command. The electronic speed controller 900 performs flight operations according to the second control signal.

[0092] When the detachable drone flies forward, M3, M5, and M7 accelerate, as do M4 and M6. The torques of M4 and M6 cancel each other out, and the torques of M3, M5, and M7 also cancel each other out. When the detachable drone rolls to the left, M6 and M8 accelerate, generating a leftward roll torque on the drone's center of gravity. When the detachable drone yaws to the left, M1, M2, M5, and M6 accelerate, while M3, M4, M7, and M8 decelerate, generating a leftward yaw torque on the drone's center of gravity. Conversely, the control for rolling to the right and yawing to the right is the opposite of that for leftward movement.

[0093] When the detachable UAV separates, the receiver 800 receives a separation signal, and the mating parts 430 of the four connecting mechanisms 400 loosen, releasing the connection restriction between the first fuselage 100 and the second fuselage 200. Further, a new flight command is given to the receiver 800: M1, M3, M5, and M7 accelerate, while M2, M4, M6, and M8 maintain constant rotational speed. The tension of the first detached unit exceeds gravity, generating displacement away from the second detached unit, thus achieving separation between the first and second detached units. Alternatively, M1, M3, M5, and M7 maintain constant rotational speed, while M2, M4, M6, and M8 decelerate. The tension of the second detached unit is less than gravity, generating displacement away from the first detached unit, thus achieving separation between the first and second detached units.

[0094] When the detachable drone is split into its two parts, for the first part, in forward flight, M3, M5, and M7 accelerate, while M1 remains constant; during a left roll, M7 accelerates, while the others remain constant; during a left yaw, M1 and M5 accelerate, while the others remain constant. Conversely, the controls for right rolls and right yawing of the first part are the opposite of those for leftward movement. For the second part, in forward flight, M4 and M6 accelerate, while the others remain constant; during a left roll, M6 and M8 accelerate, while the others remain constant; during a left yaw, M2 and M6 accelerate, while the others remain constant. Conversely, the controls for right rolls and right yawing of the second part are the opposite of those for leftward movement.

[0095] The foregoing has provided a detailed description of the detachable unmanned aerial vehicle (UAV), UAV control system, and control method provided in the embodiments of this application, and specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A detachable unmanned aerial vehicle (UAV), characterized in that, include: First fuselage (100); Second fuselage (200); Flight mechanism (300), multiple flight mechanisms (300) are connected to the first fuselage (100), and multiple flight mechanisms (300) are connected to the second fuselage (200); A connecting mechanism (400) includes a fixing part (410), a connecting arm (420), and a fitting part (430) connected in sequence; wherein the fixing part (410) is connected to the first body (100), and the fitting part (430) is detachably connected to the second body (200) by magnetic attraction; Landing gear (500), said landing gear (500) being connected to the second fuselage (200); The fixing part (410) includes: A first base (411) is connected to the first fuselage (100); a first folding member (412) is provided on the side of the first base (411) away from the first fuselage (100). The connecting arm (420) includes: The first arm (421) is movably connected to the first folding member (412) so that the first arm (421) can rotate around the first folding member (412) at a certain angle; The second arm (422) is connected to the end of the first arm (421) away from the first folding member (412); The third arm (423) is connected to the end of the second arm (422) away from the first arm (421).

2. The detachable UAV according to claim 1, characterized in that, The bonding portion (430) includes: The second base (431) is detachably connected to the second body (200) by magnetic attraction; a second folding piece (432) is provided on the side of the second base (431) away from the second body (200). The second folding member (432) is movably connected to the end of the third arm (423) away from the second arm (422).

3. The detachable UAV according to claim 2, characterized in that, The second arm (422) is provided with a clamping part (4221), and the second body (200) is located between the clamping part (4221) and the second base (431).

4. The detachable UAV according to claim 1, characterized in that, The flight mechanism (300) includes: A robotic arm (310) is connected to the first body (100) and / or the second body (200); A motor (320) is disposed at one end of the arm (310) away from the first body (100) and / or the second body (200); A rotor (330) is connected to the side of the motor (320) away from the arm (310).

5. A drone control system, characterized in that, For controlling the detachable unmanned aerial vehicle as described in any one of claims 1 to 4, the unmanned aerial vehicle control system includes: Battery (600); Flight control panel (700), said flight control panel (700) is disposed on the first fuselage (100) and the second fuselage (200); A receiver (800) is disposed on the flight mechanism (300) and the connection mechanism (400). An electronic speed controller (900) is disposed on the flight mechanism (300); The battery (600) is electrically connected to the flight control board (700), the receiver (800), and the electronic speed controller (900); the battery (600) is used to supply power to the flight control board (700), the receiver (800), and the electronic speed controller (900); The flight control board (700) is electrically connected to the receiver (800); the flight control board (700) is used to receive flight commands issued by the user, and issue a first control signal according to the flight commands, and / or issue a split command according to the flight commands; The receiver (800) is electrically connected to the electronic speed controller (900); the receiver (800) is used to receive the first control signal and issue a second control signal according to the first control signal, and / or receive the separation command and control the connection mechanism (400) to separate from the second body (200) according to the separation command. The electronic speed controller (900) is used to perform specific flight operations according to the second control signal, the flight operations including controlling the rotor (330) in the flight mechanism (300) to accelerate or decelerate.

6. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The drone control method is used to control a detachable drone as described in any one of claims 1 to 4 using the drone control system as described in claim 5, the drone control method comprising: The flight control board (700) receives flight commands from the user and issues a first control signal based on the flight commands, and / or issues a split command based on the flight commands; The receiver (800) receives the first control signal and issues a second control signal according to the first control signal, and / or receives the separation command and controls the connecting mechanism (400) to separate from the second body (200) according to the separation command; The electronic speed controller (900) performs flight operations according to the second control signal; the flight operations include controlling the rotor (330) in the flight mechanism (300) to accelerate or decelerate.

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