A multi-rotor drone compatible with multiple battery models

Abstract

The present invention discloses a multi-rotor UAV that is adaptable to multiple types of batteries, belonging to the field of UAVs; the UAV is based on a "double-plate column center frame" as its core, and uses two center plates connected by pillars as the upper and lower frames, with a flight control mainboard installed inside, and rotor assemblies and navigation lights installed at the four corners; the center frame is provided with a load platform above, and a battery compartment is provided below; the battery compartment includes upper and lower baffles, left and right baffles, and front and rear longitudinal blocks, a locking mechanism, a synchronization mechanism, and a track. The upper baffle and the lower baffle are used to fix the battery longitudinally; the left and right longitudinal baffles and the front and rear longitudinal blocks are used to fix the battery transversely. The present invention indicates the direction of the UAV's nose in real time through the navigation lights, and the battery compartment has good compatibility, can adapt to multiple batteries of different models by adjusting the position, and can actively move the battery position to calibrate the center of gravity of the UAV, further improving the safety and convenience of the UAV.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a multi-rotor UAV that is compatible with multiple battery types. Background Art

[0002] A multi-rotor drone is a special type of unmanned rotorcraft with three or more rotor axes. It is widely used in the civilian field and plays an important role in many industries such as security, patrol, urban management, agriculture, geological exploration, meteorological monitoring, power inspection, disaster relief and video shooting.

[0003] Multi-rotor drones have the characteristics of flexible maneuverability, high-altitude shooting capabilities, long-distance control and autonomous flight, providing efficient, safe and multi-functional solutions for various industries.

[0004] In security and patrol missions, multi-rotor drones need to continuously and repeatedly monitor and patrol vast target areas. To ensure flight durability, batteries must be replaced frequently. Traditional drones often have limited space to accommodate the battery compartment and wiring connections, requiring the removal of the fuselage or other components to access the battery compartment. To maintain flight stability, attention must be paid to the battery's position and weight distribution when replacing the battery.

[0005] In addition, night missions face the challenge of low visibility. Since multi-rotor drones usually have a symmetrical shape with similar layouts of rotors and fuselage, it becomes difficult to determine the nose in the absence of clear visual clues;

[0006] For payload missions, multi-rotor drones are often used to carry these payloads. However, due to the complex and variable nature of these payloads, it can be difficult to balance the center of gravity during structural design. This can have many negative consequences. For example, an unbalanced center of gravity can cause the drone to wobble or deviate from its intended route during flight, reducing flight efficiency and extending mission execution time. Furthermore, a shifted center of gravity places an increased strain on the motors and rotors, causing the drone to consume more power, reducing flight time and operational range. In extreme cases, a severe shift in center of gravity can cause the drone to lose control or crash, damaging the aircraft and even endangering the surrounding environment and personnel.

[0007] The above problems often cause trouble for drone operators. Summary of the Invention

[0008] The purpose of the present invention is to provide a multi-rotor drone that is compatible with multiple types of batteries, which can indicate the direction of the drone's nose in real time through navigation lights. The battery compartment has good compatibility and can be installed with a variety of common batteries on the market. It can also actively calibrate the center of gravity of the drone by moving the battery position, while also maintaining good safety and convenience.

[0009] The multi-rotor UAV is centered around a center frame that uses a double-plate column center frame. The center frame uses two center plates as upper and lower frames, connected and supported by pillars. A flight control mainboard is mounted inside the center plate, and rotor assemblies and navigation lights are installed at the four corners of the center plate. The center frame has a load platform above it and a battery compartment below it.

[0010] The payload platform is equipped with an onboard computer, an inertial navigation system, and antennas for data and image transmission equipment.

[0011] The rotor assembly includes a motor, propeller, and rotor mount. The propeller is mounted at the motor output, and the motor is mounted in the rotor mount. The rotor assembly is mounted to the four corners of the center frame via the rotor mount, with the entire assembly facing downward.

[0012] The navigation lights are used to indicate the direction of the drone's nose. The two navigation lights located toward the nose will always display red, and the two lights located toward the tail will always display green. The flight control motherboard also uses the inertial navigation system to monitor the drone's status. When it detects that the drone is hovering, the navigation lights will slowly flash or all lights will display green. When the drone is flying, one or two navigation lights facing the direction of the drone's travel will be set to red, and the remaining lights will be set to green. When the drone is flying at night, the pilot can adjust the drone's position at small angles based on the flashing navigation lights, making it suitable for tracking slower-moving targets.

[0013] The battery compartment includes upper and lower baffles, left and right baffles, front and rear longitudinal blocks, a locking mechanism, a synchronization mechanism, and a track. Below the battery compartment is a tripod. The upper baffle is similar in shape to the battery, while the lower baffle is slightly wider than the battery, securing the battery longitudinally. Lateral securing of the battery is achieved through the left and right longitudinal baffles and front and rear longitudinal blocks.

[0014] There are four left and right levers, which limit the battery width and move laterally within the constraints of the track, allowing pilots to select batteries of different thicknesses. The left and right levers are connected by a synchronization mechanism and fixed in position by a locking mechanism. The two levers on the same side are grouped together. The synchronization and locking mechanisms ensure that moving any one lever simultaneously moves the other three levers. The four levers are always symmetrical about the drone's central axis and can be fixed with a locking mechanism after movement. When a motor is installed to control the movement of the levers, the four levers will move synchronously under the control of the motor.

[0015] The front and rear longitudinal blocks are used to limit the battery length. They move synchronously within the track's constraints and can be secured with a locking mechanism to accommodate batteries of varying lengths. A synchronization mechanism maintains symmetry between the two blocks relative to the drone's center of gravity, stabilizing the drone's center of gravity. When motors are installed to control the movement of the blocks, the front and rear blocks will move synchronously under their control.

[0016] The working principle of the multi-rotor drone is as follows:

[0017] The flight control board and inertial navigation system acquire the drone's attitude information and display it on the navigation light via optical signals. A synchronization mechanism aligns the battery's center of gravity with the drone's, and the flight control board controls the motor to release and lock the battery.

[0018] The advantages of the present invention are:

[0019] 1) The present invention provides a multi-rotor drone that is compatible with multiple battery models. The designed navigation lights have wide applicability and high reliability, and can effectively assist pilots in controlling the drone flight. Whether in adverse weather conditions or in dim environments, this navigation light system can provide clearer and more reliable visual guidance, providing convenience and safety for pilots.

[0020] 2) This invention provides a multi-rotor drone that is compatible with a variety of battery types. The battery compartment is compatible with most commercially available power batteries. The movable left and right levers allow for convenient replacement of batteries of varying thicknesses, allowing pilots to select the appropriate battery capacity based on their mission. The movable front and rear blocks allow pilots to adjust the position of the batteries according to their length to balance the drone's center of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front structural diagram of a multi-rotor drone adapted to multiple battery types according to the present invention;

[0022] Figure 2 This is a back structural diagram of a multi-rotor drone adapted to multiple battery types according to the present invention;

[0023] Figure 3 This is a front structural diagram of the battery compartment used in the multi-rotor drone of the present invention;

[0024] Figure 4 This is a structural diagram of the back of the battery compartment used in the multi-rotor drone described in the present invention. DETAILED DESCRIPTION

[0025] In order to clearly and completely present the advantages, technical features and purpose of the present invention, the technical details of the present invention will be described in detail and completely in conjunction with the accompanying drawings and embodiments. It should be noted that the enumerated embodiments are part of the present invention, not the entire content of the invention. Other embodiments obtained by other persons in this field without making innovative breakthroughs are also within the scope of protection of the present invention.

[0026] The present invention discloses a multi-rotor UAV that is compatible with multiple battery models. The UAV's nose direction can be indicated in real time through navigation lights. The battery compartment has good compatibility and can be installed with multiple common batteries on the market, while also maintaining good safety and convenience.

[0027] The multi-rotor UAV comprises a center frame, a load platform is located above the center frame, and a battery compartment and a tripod are arranged below the center frame.

[0028] With the center frame as the core, the center frame adopts a "double-plate column center frame", using two center plates as the upper and lower frame surfaces, and connected and supported by pillars. The flight control mainboard is installed inside the center plate, and the rotor assembly and navigation lights are installed at the four corners of the center plate; the load platform is above the center frame, and the battery compartment is installed below.

[0029] The payload platform is equipped with multiple mounting holes for installing an onboard computer, an inertial navigation system, and antennas for data and image transmission equipment.

[0030] The four rotor assemblies are fixed to the four corners of the lower center plate and include motors, propellers, and rotor mounts. The propellers are mounted at the motor output terminals, and the motors are mounted in the rotor mounts. The rotor assemblies are mounted to the four corners of the center plate via the rotor mounts, facing downward.

[0031] There are four navigation lights, located at the four corners of the center frame, which are electrically connected to the flight control motherboard. They are used to indicate the direction of the drone's nose and convey the drone's direction information to other aircraft and observers at night or in low visibility conditions. When the drone is flying at night, the pilot can adjust the drone's position at a small angle based on the flashing of the navigation lights, which is suitable for tracking targets with slower movement speeds.

[0032] The battery compartment includes upper and lower baffles, left and right baffles, and front and rear longitudinal baffles; a tripod is provided below the battery compartment.

[0033] The battery compartment is designed with high compatibility and convenience. The design of the baffle and adjustable lever block makes the battery compartment more flexible and can adapt to batteries of different sizes and shapes.

[0034] The upper baffle is similar in shape to the battery, while the lower baffle is slightly wider than the battery; it secures the battery longitudinally and protects it. The battery is secured transversely by left and right longitudinal bars and front and rear longitudinal blocks.

[0035] There are four left and right levers, which limit the battery width. They move left and right within the constraints of the track, allowing pilots to select batteries of different thicknesses. The left and right levers are connected by a synchronization mechanism and fixed in position by a locking mechanism. Two levers on the same side form a group. The synchronization and locking mechanisms ensure that moving any one lever will also move the other three levers simultaneously. The four levers are always symmetrical about the drone's central axis and can be fixed by the locking mechanism after movement. When a motor is installed to control the movement of the levers, the four levers will move synchronously under the control of the motor.

[0036] The front and rear longitudinal blocks are used to limit battery length and are adjustable, allowing for forward and backward movement. They move synchronously within the constraints of the track and can be secured with a locking mechanism to accommodate batteries of varying lengths. A synchronization mechanism maintains symmetry between the two blocks relative to the drone's center of gravity, stabilizing the drone's center of gravity. When motors are installed to control the movement of the blocks, the front and rear blocks will move synchronously under their control.

[0037] Furthermore, the locking mechanisms used for the left and right levers were replaced with stepper motors, which are directly controlled by the flight control motherboard to limit the battery position. Furthermore, the stepper motors precisely move the left and right levers, allowing the flight control motherboard to accurately adjust the position of the levers based on the target battery model.

[0038] Furthermore, the locking mechanism used by the front and rear longitudinal blocks is replaced with a motor, which is directly controlled by the flight control motherboard to limit the battery position. The motor only needs to control the front and rear longitudinal blocks to reach the innermost and outermost positions.

[0039] Furthermore, the synchronization mechanism is removed and two stepper motors are used to adjust the position of the left and right levers respectively, and two stepper motors are used to adjust the position of the front and rear levers respectively. All four motors are directly controlled by the flight controller.

[0040] In a preferred embodiment, the battery compartment further includes a motor and a synchronization mechanism, which can be used to install batteries of different specifications. The positions of the four levers located on the left and right sides are variable and controlled by a shared electric push rod.

[0041] In a preferred embodiment, the battery compartment further includes a motor and a synchronization mechanism for controlling the front block and the rear block so that the blocks can move forward and backward and be locked.

[0042] The working principle of the multi-rotor drone is as follows:

[0043] The flight control board and inertial navigation system acquire the drone's attitude information and display it on the navigation light via optical signals. A synchronization mechanism aligns the battery's center of gravity with the drone's, and the flight control board controls the motor to release and lock the battery.

[0044] Taking a quadcopter drone as an example, the working principle of the battery compartment is described as follows:

[0045] The redundant lift of a single motor of a quadrotor drone used to calibrate the center of gravity is F, the frame radius is R, and the distance between the battery compartment and the wing plane is H.

[0046] In an extremely harsh situation, when the center of gravity of the battery is offset in the direction of a motor, only a single motor can provide center of gravity calibration.

[0047]

[0048] After finishing, we can get:

[0049]

[0050] The battery compartment's center of gravity error is measured to be ±0.5mm, meeting the center of gravity requirements of common quadcopter drones. When the quadcopter is carrying a payload, the flight control system will calibrate the center of gravity based on the lift output by the four rotors. Specifically, the lift provided by the motor blades roughly satisfies the following formula:

[0051] F∝r 2

[0052] In the above formula, r is the motor speed, and F is the corresponding output lift.

[0053] The speed of the brushless motors commonly used in quadcopters can be measured in real time by the flight control. Therefore, to measure the center of gravity shift when carrying a payload, the flight control will control the drone to hover and measure the speed of the four motors and the inclination of the wing plane relative to the horizontal in real time. This will further adjust the battery compartment's center of gravity to balance the center of gravity shift caused by the payload, reducing the energy required to calibrate the quadcopter's center of gravity.

[0054] Example

[0055] The center frame (1) of the multi-rotor UAV in this embodiment is a "double-plate column center frame", which uses a center plate (2) as the upper and lower frame surfaces and is connected and supported by pillars (3). The center frame (1) is equipped with a flight control mainboard (4), and the four corners of the center frame (1) are equipped with rotor assemblies (5) and navigation lights (6); the top of the center frame (1) is a load platform (7), and the bottom of the center frame (1) is equipped with a battery compartment (8).

[0056] There are four navigation lights (6) located at the four corners of the center frame (1) and electrically connected to the flight control main board (4) for conveying the direction information of the UAV to other aircraft and observers at night or in low visibility conditions.

[0057] The two navigation lights at the front of the aircraft will always be red, and the two navigation lights at the rear will always be green. At the same time, the flight control motherboard (4) will obtain the status of the drone through the inertial navigation system (10). When it is recognized that the drone is in a hovering state, the navigation lights will flash slowly.

[0058] As mentioned above, when the UAV is flying at night, the pilot can adjust the position of the UAV by a small angle according to the flashing of the navigation light (6), which is suitable for tracking targets with a slower moving speed.

[0059] The payload platform (7) is provided with a plurality of mounting holes, on which an onboard computer (9), an inertial navigation system (10), and antennas for data transmission and image transmission equipment are installed.

[0060] The rotor assembly (5) includes a motor (24), a propeller (12) and a rotor fixing frame (13). The propeller (12) is installed at the output end of the motor (24), and the motor (24) is installed in the rotor fixing frame (13). The rotor assembly (5) is installed on the mounting holes (14) at the four corners of the center frame (1) through the rotor fixing frame (13), and the whole is installed downward.

[0061] The battery compartment (8) comprises an upper baffle (15), a lower baffle (16), left and right longitudinal baffles (17), a front longitudinal baffle (18), and a rear longitudinal baffle (19). A tripod (20) is provided below the battery compartment (8).

[0062] The upper baffle (15) is similar in shape to the battery, and the lower baffle (16) is slightly wider than the battery to protect the battery. The front longitudinal block (18) and the rear longitudinal block (19) are adjustable in position. The battery is fixed longitudinally by the upper baffle (15) and the lower baffle (16), and the battery is fixed transversely by the left and right longitudinal bars (17), the front longitudinal block (18) and the rear longitudinal block (19).

[0063] The left and right longitudinal blocks (17) are fixed in position, and the spacing is the thickness of a regular 4S battery. The front longitudinal block (18) and the rear longitudinal block (19) can move forward and backward under the restriction of the track (21), and can be fixed by a locking mechanism to adapt to batteries of different lengths. The synchronization mechanism (22) is used to keep the front longitudinal block (18) and the rear longitudinal block (19) always symmetrical relative to the center of gravity of the drone to stabilize the center of gravity of the drone. The movable front block and rear block make it convenient for pilots to select batteries of different lengths, and also make it convenient for pilots to replace drone batteries.

[0064] As described above, when the pilot removes the battery from the drone, he needs to move the front longitudinal block (18) or the rear longitudinal block (19) of the battery compartment, and the synchronization mechanism (22) will cause the two longitudinal blocks to move synchronously. When the rear longitudinal block (19) and the front longitudinal block (18) move to the end of the track at the same time, the pilot can remove the battery from the rear of the drone obliquely upward.

[0065] In a preferred embodiment, the navigation lights (6) will be used to indicate the specific flight direction of the drone. The four navigation lights (6) located on the drone center frame (1) will use eight states to indicate the specific flight direction of the drone. When the drone is flying straight ahead, the two navigation lights on the left and right front of the drone will be green, and the remaining navigation lights will be red. When the drone is flying backward, left, or right, the two navigation lights corresponding to the direction of travel will be green, and the remaining navigation lights will be red. When the drone is flying to the left front, the left front navigation light of the drone will be green, and the remaining navigation lights will be red. When the drone is flying to the right front, left rear, or right rear, one navigation light corresponding to the direction of travel will be green, and the remaining navigation lights will be red. The eight directions mentioned above are standard directions. When the drone is flying in other directions, the navigation light color will be displayed according to the standard direction closest to the flight direction.

[0066] In a preferred embodiment, as Figure 3 and Figure 4 As shown, the battery compartment (8) further includes a locking mechanism, a synchronization mechanism (22) and a track (21). The left and right longitudinal bars (17) can move laterally under the restriction of the track (21), making it convenient for the pilot to select batteries of different thicknesses. The left and right longitudinal bars (17) are connected by the synchronization mechanism (22) and can be fixed in position by the locking mechanism.

[0067] The synchronization mechanism (22) makes the left and right longitudinal bars (17) symmetrical with respect to the central axis of the drone, which further limits the center of gravity of the battery so that the center of gravity of the battery is fixed to the central axis of the drone.

[0068] Further, such as Figure 3 As shown, the locking mechanism used by the left and right longitudinal bars (17) can be replaced by a stepper motor (23). The stepper motor (23) is directly controlled by the flight control (4) and simultaneously controls the movement of the left and right longitudinal bars (17) through the synchronization mechanism (22), which can replace the locking mechanism to limit the battery position. Secondly, the stepper motor (23) can also accurately move the left and right longitudinal bars (17), so that the flight control can accurately adjust the position of the left and right longitudinal bars (17) according to the target battery model.

[0069] In a preferred embodiment, as Figure 4As shown, the locking mechanism used by the front longitudinal block (18) and the rear longitudinal block (19) can be replaced by a motor (24). The motor (24) is directly controlled by the flight control (4) and controls the movement of the front longitudinal block (18) and the rear longitudinal block (19) simultaneously through the synchronization mechanism (22), which can replace the locking mechanism to limit the battery position. Unlike the stepper motor (23) required for the left and right longitudinal blocks (17), the motor (24) no longer needs to accurately move the front and rear longitudinal blocks (19). It only needs to be able to control the front and rear longitudinal blocks (19) to reach the innermost and outermost sides. Most motors can meet this requirement. The front longitudinal block (18), the rear longitudinal block (19) and the left and right longitudinal blocks (17) together limit the center of gravity of the battery, making it fixed on the center of gravity of the drone.

[0070] The battery compartment further comprises a locking mechanism and a synchronization mechanism (22); the front longitudinal block (18) and the rear longitudinal block (19) can move under the restriction of the track (21), and are connected through the synchronization mechanism (22) and fixed through the locking mechanism.

[0071] The foot stand (20) is located below the battery compartment to provide structural support and stability.

[0072] The principle of the present invention is that through the flight control (4) and the inertial navigation system (10), the drone can accurately obtain attitude information and display it on the navigation light (6) through light signals. This visualization solution enables the pilot to accurately understand the status of the drone, especially those attitude changes that are difficult to observe with the naked eye. The synchronization mechanism (22) is designed to accurately limit the alignment of the center of gravity of the battery with the center of gravity of the drone, thereby improving the flight stability of the drone. This symmetrical restriction mechanism can reduce the impact of the battery center of gravity on the drone and further optimize flight performance. The flight control (4) realizes the release and locking functions of the battery by controlling the stepper motor (23) and the motor (24). This provides convenience for the pilot, enabling him to select different types of batteries and easily replace the batteries.

[0073] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. A multi-rotor drone that is compatible with multiple battery models, characterized in that: The "double-plate column center frame" is the core, with two center plates serving as the upper and lower frames, connected and supported by pillars. The flight control mainboard is installed inside the center plate, and the rotor assembly and navigation lights are installed at the four corners of the center plate. The payload platform is located above the center frame, and the battery compartment is installed below. The battery compartment includes upper and lower baffles, left and right baffles, front and rear longitudinal blocks, a locking mechanism, a synchronization mechanism, and a track; the upper baffle is similar in shape to the battery, and the lower baffle is slightly wider than the battery; the battery is fixed longitudinally; the left and right longitudinal baffles and the front and rear longitudinal blocks are used to fix the battery transversely; There are four left and right levers, which are used to limit the width of the battery. They move laterally within the constraints of the track, making it easier for pilots to choose batteries of different thicknesses. The left and right levers are connected by a synchronization mechanism and fixed in position by a locking mechanism. The two levers on the same side are grouped together. The existence of the synchronization and locking mechanisms ensures that moving any one lever will also move the other three levers synchronously. The four levers are always symmetrical about the central axis of the drone and can be fixed by the locking mechanism after movement. When a motor is installed to control the movement of the levers, the four levers will be controlled by the motor to move synchronously. The front and rear longitudinal blocks are used to limit the length of the battery. They move synchronously within the constraints of the track and can be fixed by a locking mechanism to adapt to batteries of different lengths. The two blocks are kept symmetrical relative to the center of gravity of the drone through a synchronization mechanism to stabilize the center of gravity of the drone. When a motor is installed to control the movement of the blocks, the front and rear blocks will be controlled by the motor to move synchronously.

2. A multi-rotor drone adapted to multiple battery types as claimed in claim 1, characterized in that: The payload platform is equipped with an onboard computer, an inertial navigation system, and antennas for data and image transmission equipment.

3. The multi-rotor UAV adapted to multiple battery types according to claim 1, characterized in that: The rotor assembly includes a motor, a propeller and a rotor fixing frame; The propeller is installed at the output end of the motor, and the motor is installed in the rotor fixing frame; the rotor assembly is installed to the four corners of the center frame through the rotor fixing frame, and the whole is installed downward.

4. The multi-rotor UAV adapted for multiple battery types according to claim 1, characterized in that: The navigation lights are used to indicate the direction of the drone's nose. The two navigation lights located in the direction of the nose will always display red, and the two navigation lights located in the direction of the tail will always display green. At the same time, when the drone is identified as being in a hovering state, the navigation lights will flash slowly or all the navigation lights will display green. When the drone is flying, one or two navigation lights facing the direction of the drone will be set to red, and the remaining navigation lights will be set to green. When the drone is flying at night, the position of the drone is adjusted by the flashing of the navigation lights, which is suitable for tracking targets with slower moving speeds.

5. The multi-rotor UAV adapted to multiple battery types according to claim 1, characterized in that: The locking mechanism used for the left and right levers is replaced with a stepper motor, which is directly controlled by the flight control motherboard to limit the battery position; secondly, the stepper motor precisely moves the left and right levers, allowing the flight control motherboard to accurately adjust the position of the left and right levers according to the target battery model.

6. The multi-rotor UAV adapted for multiple battery types according to claim 1, characterized in that: The locking mechanism used by the front and rear longitudinal blocks is replaced by a motor, which is directly controlled by the flight control mainboard to limit the battery position; the motor only needs to control the front and rear longitudinal blocks to reach the innermost and outermost sides.

7. The multi-rotor UAV adapted to multiple battery types according to claim 1, characterized in that: The synchronization mechanism is removed, and two stepper motors are used to adjust the position of the left and right gear levers respectively, and two stepper motors are used to adjust the position of the front and rear gear levers respectively; all four motors are directly controlled by the flight controller.

8. The multi-rotor UAV adapted to multiple battery types according to claim 1, characterized in that: The working principle of the multi-rotor drone is as follows: The flight control mainboard and inertial navigation system are used to obtain the drone's attitude information and display it on the navigation light through optical signals. The synchronization mechanism is used to align the center of gravity of the battery with the center of gravity of the drone. The flight control mainboard controls the motor to realize the release and locking functions of the battery.

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