Multi-rotor unmanned aerial vehicle mounting system and mounting method

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle mounting system and mounting method.The multi-rotor unmanned aerial vehicle mounting system comprises a mother aircraft, a first son aircraft, a second son aircraft, a third son aircraft and a fourth son aircraft, the mother aircraft is an X-type four-rotor unmanned aerial vehicle, and a first foot stool, a second foot stool, a third foot stool and a fourth foot stool are arranged at the lower end of a shell of each rotor motor of the mother aircraft; right-hand threads are arranged at the lower ends of the first foot stool and the third foot stool, left-hand threads are arranged at the lower ends of the second foot stool and the fourth foot stool, right-hand screws are arranged on the first sub-machine and the third sub-machine, the right-hand screw on the first sub-machine is connected with the right-hand threads at the lower end of the first foot stool, and the right-hand screw on the third sub-machine is connected with the right-hand threads at the lower end of the third foot stool. Left-handed screws are arranged on the second sub-machine and the fourth sub-machine, the left-handed screw on the second sub-machine is connected with the left-handed thread at the lower end of the second foot stool, and the left-handed screw on the fourth sub-machine is connected with the left-handed thread at the lower end of the fourth foot stool. The connection between the son machine and the mother machine is realized through the screw pair, the structure is simple, the cost is low and the realization is easy; and the yawing motion is utilized to realize mounting and separation.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular, the present invention relates to a multi-rotor unmanned aerial vehicle mounting system and a mounting method. Background Art

[0002] With the development of multi-rotor drone technology, its application areas are becoming more and more extensive. For example, using drones for aerial photography, using drones for inspections, etc. requires multi-rotor drones to mount multiple devices for multi-task operations or multi-rotor drones to mount multiple devices for multi-angle shooting operations. The number of mounted devices on a single multi-rotor drone is limited. More often, in order to complete drone aerial photography or drone inspections more efficiently, a large multi-rotor drone with a long battery life is required to mount multiple small multi-rotor drones to mount multiple devices. How to achieve a large multi-rotor drone with a long battery life to mount multiple small multi-rotor drones, with low equipment cost and easy implementation, has become a technical problem that needs to be solved. Summary of the invention

[0003] The present invention provides a multi-rotor UAV mounting system and a mounting method to solve the problems existing in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: a multi-rotor drone mounting system, comprising a mother machine, a sub-machine 1, a sub-machine 2, a sub-machine 3 and a sub-machine 4, and the mother machine is an X-type four-rotor drone, and the lower end of each rotor motor housing of the mother machine is respectively provided with a tripod 1, a tripod 2, a tripod 3 and a tripod 4, the lower ends of the tripod 1 and the tripod 3 are provided with a right-handed thread, and the lower ends of the tripod 2 and the tripod 4 are provided with a left-handed thread, the sub-machine 1 and the sub-machine 3 are provided with a right-handed screw, and the right-handed screw on the sub-machine 1 is connected to the right-handed thread at the lower end of the tripod, the right-handed screw on the sub-machine 3 is connected to the right-handed thread at the lower end of the tripod 3, the sub-machine 2 and the sub-machine 4 are provided with a left-handed screw, and the left-handed screw on the sub-machine 2 is connected to the left-handed thread at the lower end of the tripod 2, and the left-handed screw on the sub-machine 4 is connected to the left-handed thread at the lower end of the tripod 4.

[0005] A method for mounting a multi-rotor drone mounting system comprises the following steps:

[0006] Step S1: The mother aircraft carries the first, second, third and fourth sub-machines through the first, second, third and fourth tripods respectively to the operating airspace and hovers;

[0007] At this time G 0 +G 1 +G 2 +G 3 +G 4 =F01 +F 02 +F 03 +F 04 ;

[0008] Where: G 0 is the total weight of the mother machine; G 1 is the total weight of the sub-machine; G 2 is the total weight of the second submachine; G 3 is the total weight of the three sub-machines; G 4 is the total weight of the slave unit; F 01 is the lift of the first propeller of the mother aircraft; F 02 is the lift of the second propeller of the mother aircraft; F 03 is the lift of the third propeller of the mother aircraft; F 04 It is the lift of the fourth propeller of the mother aircraft;

[0009] Step S2: Start the yaw control of the first, second, third and fourth engines. At this time, the four propellers of the first, second, third and fourth engines are working, respectively satisfying the following equations:

[0010]

[0011] Among them: F 11 is the lift of the first propeller of the submachine; F 12 is the lift of the second propeller of the slave engine; F 13 is the lift of the third propeller of the slave engine; F 14 is the lift of the fourth propeller of the second engine; T 11 is the torque of the first propeller of the sub-machine; T 12 is the torque of the second propeller of the sub-engine; T 13 is the torque of the third propeller of the slave engine; T 14 is the torque of the fourth propeller of the slave engine;

[0012]

[0013] Among them: F 21 is the lift of the first propeller of the second engine; F 22 is the lift of the second propeller of the second engine; F 23 is the lift of the second and third propellers of the slave engine; F 24 is the lift of the fourth propeller of the second engine; T 21 is the torque of the first propeller of the second engine; T 22 is the torque of the second propeller of the second engine; T 23 is the torque of the third propeller of the second engine; T 24 is the torque of the fourth propeller of the second engine;

[0014]

[0015] Among them: F 31 is the lift of the first propeller of the third submachine; F 32 is the lift of the second propeller of the third submachine; F 33 is the lift of the third propeller of the second engine; F 34 is the lift of the fourth propeller of the third submachine; T 31 is the torque of the first propeller of the third engine; T 32 is the torque of the second propeller of the third engine; T 33 is the third propeller torque of the third engine; T 34 is the torque of the fourth propeller of the third slave engine;

[0016]

[0017] Among them: F 41 is the lift of the first propeller of the second engine; F 42 is the lift of the second propeller of the second engine; F 43 is the lift of the third propeller of the fourth submachine; F 44 is the lift of the fourth propeller of the second engine; T 41 is the torque of the first propeller of the fourth engine; T 42 is the torque of the second propeller of the second engine; T 43 is the torque of the third propeller of the second engine; T 44 is the torque of the fourth propeller of the slave engine;

[0018] Step S3: The four propeller lifts of the mother machine (1) are adjusted to F 01 -G 1 、F 02 -G 2 、F 03 -G 3 、F 04 -G 4 , hover;

[0019] Step S4:

[0020]

[0021] The sub-machine 1 (1-1) undergoes a clockwise rotation yaw motion, and the right-handed screw rod (1-10) on the sub-machine 1 (1-1) is separated from the right-handed thread (100) at the lower end of the tripod 1 (10);

[0022] The second sub-machine undergoes a counterclockwise yaw motion, and the left-handed screw on the second sub-machine disengages from the left-handed thread at the lower end of the second tripod;

[0023] The slave unit 3 undergoes a clockwise rotation yaw motion, and the right-handed screw on the slave unit 3 disengages from the right-handed thread on the lower end of the tripod 3;

[0024] The slave unit 4 undergoes a counterclockwise yaw motion, and the left-handed screw on the slave unit 4 disengages from the left-handed thread on the lower end of the tripod 4;

[0025] Step S5: When slave 1, slave 2, slave 3 and slave 4 are separated from the master, G 0 <F 01 +F 02 +F 03 +F 04 .

[0026] The beneficial effects of adopting the above technical solution are:

[0027] 1. A multi-rotor UAV mounting system of the present invention, wherein the lower end of each rotor motor housing of the mother machine is respectively provided with a tripod 1, a tripod 2, a tripod 3 and a tripod 4, the lower ends of the tripod 1 and the tripod 3 are provided with a right-handed thread, the lower ends of the tripod 2 and the tripod 4 are provided with a left-handed thread, the sub-machines 1 and 3 are provided with a right-handed screw, and the right-handed screw on the sub-machine 1 is connected to the right-handed thread at the lower end of the tripod, the right-handed screw on the sub-machine 3 is connected to the right-handed thread at the lower end of the tripod 3, the sub-machines 2 and 4 are provided with a left-handed screw, and the left-handed screw on the sub-machine 2 is connected to the left-handed thread at the lower end of the tripod 2, and the left-handed screw on the sub-machine 4 is connected to the left-handed thread at the lower end of the tripod 4; the connection between the sub-machine and the mother machine is achieved by a screw pair, the structure is simple, the cost is low, and it is easy to implement.

[0028] 2. The mounting method of the multi-rotor UAV mounting system of the present invention realizes the spiral motion of sub-machine one, sub-machine two, sub-machine three and sub-machine four respectively from tripod one, tripod two, tripod three and tripod four, realizes mounting and detaching, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an assembly diagram of a multi-rotor UAV mounting system of the present invention;

[0030] Figure 2 It is a top view of the multi-rotor UAV mounting system of the present invention;

[0031] Figure 3 This is the assembly diagram of the slave unit 1;

[0032] Figure 4 This is the assembly diagram of submachine 2;

[0033] Figure 5 This is the three-assembly diagram of the slave unit;

[0034] Figure 6 This is the assembly diagram of the sub-machine four;

[0035] Figure 7 1 is a schematic diagram of a tripod structure;

[0036] Figure 8 It is a schematic diagram of the structure of the second tripod;

[0037] Fig. 9 It is a schematic diagram of the three structures of the tripod;

[0038] Fig.10 It is a schematic diagram of the four structures of the tripod;

[0039] in:

[0040] 1. Mother machine; 10. Tripod 1; 11. Tripod 2; 12. Tripod 3; 13. Tripod 4; 100. Right-hand thread; 101. Left-hand thread;

[0041] 1-1, handset 1; 1-2, handset 2; 1-3, handset 3; 1-4, handset 4;

[0042] 1-10, right-hand screw; 1-20, left-hand screw. DETAILED DESCRIPTION

[0043] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0044] like Figures 1 to 10 As shown, the present invention is a multi-rotor UAV mounting system and mounting method, which realizes the connection between the sub-machine and the main machine through a spiral pair, has a simple structure, low cost and is easy to implement; by utilizing the yaw motion of sub-machine one, sub-machine two, sub-machine three and sub-machine four, the sub-machine one, sub-machine two, sub-machine three and sub-machine four are respectively retreated from the tripod one, tripod two, tripod three and tripod four by spiral motion, thereby realizing mounting and detachment.

[0045] Specifically, Figures 1 to 10As shown, it includes a mother machine 1, a sub-machine 1-1, a sub-machine 2-1-2, a sub-machine 3-1-3 and a sub-machine 4-1-4, and the mother machine 1 is an X-type four-rotor drone, and the lower end of each rotor motor housing of the mother machine 1 is respectively provided with a tripod 10, a tripod 2 11, a tripod 3 12 and a tripod 4 13, the lower ends of the tripod 10 and the tripod 3 12 are provided with a right-handed thread 100, the lower ends of the tripod 2 11 and the tripod 4 13 are provided with a left-handed thread 101, and the sub-machines 1-1 and 1-3 are provided with a right-handed screw 1-1 0, and the right-handed screw 1-10 on the sub-machine 1-1 is connected to the right-handed thread 100 at the lower end of the tripod 10, the right-handed screw 1-10 on the sub-machine 3 1-3 is connected to the right-handed thread 100 at the lower end of the tripod 3 12, and the sub-machines 2 1-2 and 4 1-4 are provided with left-handed screws 1-20, and the left-handed screw 1-20 on the sub-machine 2 1-2 is connected to the left-handed thread 101 at the lower end of the tripod 2 11, and the left-handed screw 1-20 on the sub-machine 4 1-4 is connected to the left-handed thread 101 at the lower end of the tripod 4 13.

[0046] A method for mounting a multi-rotor drone mounting system comprises the following steps:

[0047] Step S1: The mother aircraft 1 carries the sub-aircraft 1-1, sub-aircraft 2-1-2, sub-aircraft 3-3 and sub-aircraft 4-1-4 via the tripod 10, the tripod 2 11, the tripod 3 12 and the tripod 4 13 respectively to the operating airspace and hovers;

[0048] At this time G 0 +G 1 +G 2 +G 3 +G 4 =F 01 +F 02 +F 03 +F 04 ;

[0049] Where: G 0 is the total weight of the mother machine 1; G 1 is the total weight of the slave unit 1-1; G 2 is the total weight of the second sub-unit 1-2; G 3 is the total weight of the sub-unit 1-3; G 4 is the total weight of the four sub-units 1-4; F 01 is the lift of the first propeller of the mother aircraft 1; F 02 is the lift of the second propeller of the mother aircraft 1; F 03 is the lift of the third propeller of the mother aircraft 1; F 04 It is the lift of the fourth propeller of the mother aircraft 1;

[0050] Step S2: Start the yaw control of the sub-engine 1-1, the sub-engine 2-1-2, the sub-engine 3-1-3 and the sub-engine 4-1-4. At this time, the four propellers of the sub-engine 1-1, the sub-engine 2-1-2, the sub-engine 3-1-3 and the sub-engine 4-1-4 are working, and respectively satisfy the following equations:

[0051]

[0052] Among them: F 11 is the lift of the first propeller of the submachine 1-1; F 12 is the lift of the second propeller of the submachine 1-1; F 13 is the lift of the third propeller of the slave engine 1-1; F 14 is the lift of the fourth propeller of the submachine 1-1; T 11 is the first propeller torque of the sub-machine 1-1; T 12 is the torque of the second propeller of the sub-machine 1-1; T 13 is the torque of the third propeller of the sub-engine 1-1; T 14 is the torque of the fourth propeller of the sub-engine 1-1;

[0053]

[0054] T 22 =T 24 ;

[0055] Among them: F 21 is the lift of the first propeller of the second engine 1-2; F 22 is the lift of the second propeller of the second engine 1-2; F 23 It is the lift of the third propeller of the second engine 1-2; F 24 is the lift of the fourth propeller of the second engine 1-2; T 21 is the first propeller torque of the second engine 1-2; T 22 is the second propeller torque of the second engine 1-2; T 23 is the torque of the third propeller of the second engine 1-2; T 24 is the torque of the fourth propeller of the second engine 1-2;

[0056]

[0057] Among them: F 31 is the lift of the first propeller of the third engine 1-3; F 32 It is the lift of the second propeller of the third engine 1-3; F 33 It is the lift of the third propeller of the third engine 1-3; F 34 is the lift of the fourth propeller of the third engine 1-3; T 31 is the torque of the first propeller of the third engine 1-3; T 32 is the torque of the second propeller of the third engine 1-3; T 33is the third propeller torque of the third engine 1-3; T 34 is the torque of the fourth propeller of the third engine 1-3;

[0058]

[0059] Among them: F 41 It is the lift of the first propeller of the fourth 1-4 of the submachine; F 42 It is the lift of the second propeller of the second engine 1-4; F 43 It is the lift of the third propeller of the fourth 1-4 of the slave engine; F 44 It is the lift of the fourth propeller of the submachine 4 1-4; T 41 is the torque of the first propeller of the second engine 1-4; T 42 is the torque of the second propeller of the second engine 1-4; T 43 is the torque of the third propeller of the fourth engine 1-4; T 44 is the torque of the fourth propeller of the slave engine four 1-4;

[0060] Step S3: The four propeller lifts of the mother machine 1 are adjusted to F 01 -G 1 、F 02 -G 2 、F 03 -G 3 、F 04 -G 4 , hover;

[0061] Step S4:

[0062]

[0063] The slave unit 1-1 undergoes a clockwise rotation yaw motion, and the right-handed screw rod 1-10 on the slave unit 1-1 is separated from the right-handed thread 100 at the lower end of the tripod 10;

[0064] The second sub-machine 1-2 undergoes a counterclockwise rotation yaw motion, and the left-handed screw 1-20 on the second sub-machine 1-2 is separated from the left-handed thread 101 at the lower end of the second tripod 11;

[0065] The sub-machine 3 1-3 undergoes a clockwise rotation yaw motion, and the right-handed screw 1-10 on the sub-machine 3 1-3 is separated from the right-handed thread 100 at the lower end of the tripod 3 12;

[0066] The sub-machine 4 1-4 undergoes a counterclockwise rotation yaw motion, and the left-handed screw 1-20 on the sub-machine 4 1-4 disengages from the left-handed thread 101 at the lower end of the tripod 4 13;

[0067] Step S5: When the slave unit 1-1, the slave unit 2-2, the slave unit 3-3 and the slave unit 4-4 are separated from the master unit 1, G 0 <F 01 +F02 +F 03 +F 04 .

[0068] The specific working method is described below with specific embodiments:

[0069] Embodiment 1:

[0070] The multi-rotor drone mounting system of the present invention comprises a tripod 10, a tripod 2 11, a tripod 3 12 and a tripod 4 13 respectively disposed at the lower end of each rotor motor housing of the mother machine 1, the tripod 10 and the tripod 3 12 are provided with a right-handed thread 100 at the lower end, the tripod 2 11 and the tripod 4 13 are provided with a left-handed thread 101 at the lower end, the sub-machine 1-1 and the sub-machine 3 1-3 are provided with a right-handed screw 1-10, and the right-handed screw 1-10 on the sub-machine 1-1 is connected to the right-handed screw at the lower end of the tripod 10. The right-handed screw 1-10 on the sub-machine three 1-3 is connected with the right-handed thread 100 at the lower end of the tripod three 12, and the sub-machines two 1-2 and four 1-4 are provided with left-handed screws 1-20, and the left-handed screw 1-20 on the sub-machine two 1-2 is connected with the left-handed thread 101 at the lower end of the tripod two 11, and the left-handed screw 1-20 on the sub-machine four 1-4 is connected with the left-handed thread 101 at the lower end of the tripod four 13; the connection between the sub-machine and the main machine is achieved through the screw pair, which has a simple structure, low cost and is easy to implement.

[0071] Embodiment 2:

[0072] The mounting method of the multi-rotor UAV mounting system of the present invention realizes the sub-machine 1-1, sub-machine 2-1-2, sub-machine 3-1-3 and sub-machine 4-1-4 to respectively spirally move the sub-machine 1-1, sub-machine 2-1-2, sub-machine 3-1-3 and sub-machine 4-1-4 from the tripod 10, tripod 2 11, tripod 3 12 and tripod 4 13, thereby realizing mounting and detaching, which is easy to realize.

[0073] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above-mentioned concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A multi-rotor UAV mounting system, characterized in that: The invention comprises a mother machine (1), a submachine 1 (1-1), a submachine 2 (1-2), a submachine 3 (1-3) and a submachine 4 (1-4), wherein the mother machine (1) is an X-type four-rotor unmanned aerial vehicle, and each rotor motor housing of the mother machine (1) is provided with a tripod 1 (10), a tripod 2 (11), a tripod 3 (12) and a tripod 4 (13) at the lower end thereof, the tripod 1 (10) and the tripod 3 (12) having a right-handed thread (100) at the lower end thereof, the tripod 2 (11) and the tripod 4 (13) having a left-handed thread (101) at the lower end thereof, and the submachine 1 (1-1) and the submachine 3 (1-3) having a right-handed screw (1-10) at the lower end thereof. , and the right-handed screw (1-10) on the sub-machine one (1-1) is connected to the right-handed thread (100) at the lower end of the tripod one (10), the right-handed screw (1-10) on the sub-machine three (1-3) is connected to the right-handed thread (100) at the lower end of the tripod three (12), and the sub-machines two (1-2) and four (1-4) are provided with left-handed screws (1-20), and the left-handed screw (1-20) on the sub-machine two (1-2) is connected to the left-handed thread (101) at the lower end of the tripod two (11), and the left-handed screw (1-20) on the sub-machine four (1-4) is connected to the left-handed thread (101) at the lower end of the tripod four (13).

2. A method for mounting a multi-rotor drone mounting system according to claim 1, characterized in that: The specific steps include: Step S1: The mother aircraft (1) carries the sub-machines 1 (1-1), 2 (1-2), 3 (1-3) and 4 (1-4) via the tripod 1 (10), the tripod 2 (11), the tripod 3 (12) and the tripod 4 (13) to the operating airspace and hovers; At this time, G0+G1+G2+G3+G4=F 01 +F 02 +F 03 +F 04 ; Where: G0 is the total weight of the mother machine (1); G1 is the total weight of the sub-machine 1 (1-1); G2 is the total weight of the sub-machine 2 (1-2); G3 is the total weight of the sub-machine 3 (1-3); G4 is the total weight of the sub-machine 4 (1-4); F 01 is the lift of the first propeller of the mother aircraft (1); F 02 is the lift of the second propeller of the mother aircraft (1); F 03 is the lift of the third propeller of the mother aircraft (1); F 04 is the lift of the fourth propeller of the mother aircraft (1); Step S2: Start the yaw control of the sub-engine 1 (1-1), the sub-engine 2 (1-2), the sub-engine 3 (1-3) and the sub-engine 4 (1-4). At this time, the four propellers of the sub-engine 1 (1-1), the sub-engine 2 (1-2), the sub-engine 3 (1-3) and the sub-engine 4 (1-4) are working, and respectively satisfy the following equations: Among them: F 11 is the lift of the first propeller of the second engine (1-1); F 12 is the lift of the second propeller of the second engine (1-1); F 13 is the lift of the third propeller of the second engine (1-1); F 14 is the lift of the fourth propeller of the second engine (1-1); T 11 is the first propeller torque of the sub-machine (1-1); T 12 is the second propeller torque of the sub-machine 1 (1-1); T 13 is the third propeller torque of the sub-machine 1 (1-1); T 14 is the torque of the fourth propeller of the second engine (1-1); Among them: F 21 is the lift of the first propeller of the second engine (1-2); F 22 is the lift of the second propeller of the second engine (1-2); F 23 is the lift of the third propeller of the second (1-2) submachine; F 24 is the lift of the fourth propeller of the second engine (1-2); T 21 is the first propeller torque of the second engine (1-2); T 22 is the second propeller torque of the second engine (1-2); T 23 is the torque of the third propeller of the second engine (1-2); T 24 is the torque of the fourth propeller of the second engine (1-2); Among them: F 31 is the lift of the first propeller of the third engine (1-3); F 32 is the lift of the second propeller of the third engine (1-3); F 33 is the lift of the third propeller of the third engine (1-3); F 34 is the lift of the fourth propeller of the third engine (1-3); T 31 is the first propeller torque of the third engine (1-3); T 32 is the second propeller torque of the third engine (1-3); T 33 is the third propeller torque of the third engine (1-3); T 34 is the torque of the fourth propeller of the third engine (1-3); Among them: F 41 is the lift of the first propeller of the fourth (1-4) slave engine; F 42 is the lift of the second propeller of the fourth (1-4) slave engine; F 43 is the lift of the third propeller of the fourth (1-4) slave engine; F 44 is the lift of the fourth propeller of the fourth engine (1-4); T 41 is the first propeller torque of the fourth engine (1-4); T 42 is the torque of the second propeller of the fourth engine (1-4); T 43 is the torque of the third propeller of the fourth engine (1-4); T 44 is the torque of the fourth propeller of the fourth engine (1-4); Step S3: The four propeller lifts of the mother machine (1) are adjusted to F 01 -G1, F 02 -G2, F 03 -G3, F 04 -G4, hover; Step S4: The sub-machine 1 (1-1) undergoes a clockwise rotation yaw motion, and the right-handed screw rod (1-10) on the sub-machine 1 (1-1) is separated from the right-handed thread (100) at the lower end of the tripod 1 (10); The second sub-machine (1-2) undergoes a counterclockwise rotation and yaw motion, and the left-handed screw (1-20) on the second sub-machine (1-2) is separated from the left-handed thread (101) at the lower end of the second tripod (11); The sub-machine 3 (1-3) undergoes a clockwise rotation yaw motion, and the right-handed screw rod (1-10) on the sub-machine 3 (1-3) is separated from the right-handed thread (100) at the lower end of the tripod 3 (12); The sub-machine 4 (1-4) undergoes a counterclockwise rotation yaw motion, and the left-handed screw (1-20) on the sub-machine 4 (1-4) is separated from the left-handed thread (101) at the lower end of the tripod 4 (13); Step S5: When slave unit 1 (1-1), slave unit 2 (1-2), slave unit 3 (1-3) and slave unit 4 (1-4) are separated from the master unit (1), G0<F 01 +F 02 +F 03 +F 04 .

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