Multi-rotor unmanned aerial vehicle capable of being freely combined

Abstract

The invention provides a multi-rotor unmanned aerial vehicle capable of being freely combined, which comprises a fuselage provided with a bracket, and rotors are mounted on the bracket; the top of the fuselage is provided with a top interface, and the bottom of the fuselage is provided with a bottom interface connected with other unmanned aerial vehicles; a transverse interface connected with other unmanned aerial vehicles is formed in the side part of the fuselage. The top interface is arranged at the top of the machine body, the bottom interface is arranged at the bottom, the transverse interface is arranged at the side part, and corresponding longitudinal connectors and transverse connectors are arranged, so that various connection modes are provided. The transverse interface is provided with a plurality of pins, has multiple functions, can be used for power supply related operations such as connection of a battery positive electrode and a rechargeable battery, and can also realize the functions of sending a radar signal of the bracket into a flight control system, receiving a motor rotating speed control signal and controlling the rotating direction of a rotor wing of the sub-aircraft; the defects that in the prior art, an unmanned aerial vehicle interface is low in function integration degree, and complex collaborative operation requirements are difficult to meet are overcome.

Description

Technical Field

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

[0002] A multi-rotor drone is a multi-rotor helicopter, which is an unmanned aerial vehicle that achieves vertical take-off and landing and hovering functions by generating lift through multiple rotors at the same time. Multi-rotor drones mainly include power systems, flight control systems, fuselage systems, airborne equipment, image transmission equipment and remote controls. Among them, a multi-rotor drone has a fuselage, on which a metal bracket is provided, and multiple rotors are installed on the bracket. Multi-rotor drones rely on the rotation of rotors around a vertical axis to generate lift. They have the advantages of vertical take-off and landing, hovering, and maneuverability that fixed-wing drones do not have. They are suitable for low-altitude and low-speed flight and can be used in many fields.

[0003] In practical applications, multiple drones are usually required to work together. The existing technology is that each drone is controlled independently and relies on its own flight control system to roughly complete the coordination, which has high positioning requirements and is prone to collision accidents. Summary of the invention

[0004] The present invention provides a freely combinable multi-rotor UAV, wherein the UAV can be used alone, or a plurality of UAVs can be combined for use according to the load requirement, thereby meeting the use requirement of a large UAV.

[0005] The freely combinable multi-rotor drone includes: multiple connectors and multiple multi-rotor drones; It comprises: a fuselage, the fuselage is provided with a bracket, and a plurality of rotors are installed on the bracket; The top of the fuselage is provided with a top interface for connecting with other drones, and the bottom of the fuselage is provided with a bottom interface for connecting with other drones; The side of the fuselage is provided with a lateral interface for connecting with other drones; When the connector is used as a longitudinal connector, the first end of the longitudinal connector is connected to the bottom interface of the first multi-rotor drone, and the second end of the longitudinal connector is connected to the top interface of the second multi-rotor drone.

[0006] It should be further explained that, when the connector is used as a transverse connector, the first end of the transverse connector is connected to the transverse interface of the first multi-rotor UAV, and the second end of the transverse connector is connected to the transverse interface of the third multi-rotor UAV; The lateral interface includes: a plurality of pins; The functions implemented by the multiple pins include but are not limited to: for parallel connection of the positive pole of the battery, for connecting the charging power supply, for sending the radar signal at the required position to the host flight control system, for transmitting the motor speed control signal, for turning on the relay coil switch, controlling the rotation direction of the rotor of the sub-machine, and for controlling the power supply circuit of the flight control system.

[0007] It is further noted that the horizontal interface and the vertical interface include three types of pins respectively; Type I pins are provided with two U-shaped metal springs abutting against each other; Type II pins are provided with a U-shaped metal spring; The III-type tube pin is provided with two U-shaped metal springs which are not in contact with each other, and the U-shaped arc ends of the two U-shaped metal springs are arranged opposite to each other.

[0008] It should be further explained that it also includes: a battery for powering the UAV, a flight control system, a radar signal control bus, a motor control bus, and a number of drive components adapted to the rotor; The drive assembly includes: a motor and a motor control circuit; the output end of the motor is connected to the rotor; The flight control system is connected to the airborne radar through the radar signal control bus and the lateral interface to obtain the data information of the airborne radar; The flight control system is connected to the motor through the motor control bus and the motor control circuit to control the operation of the motor.

[0009] It should be further noted that the motor control circuit is provided with an electronic speed regulator and a relay; The power input terminal of the electronic speed controller is connected to the positive and negative poles of the battery, and the speed signal input terminal is connected to the flight control system; the three output terminals of the electronic speed controller output three-phase AC power to drive the AC brushless motor.

[0010] The first output terminal of the electronic speed regulator is respectively connected to the first terminal of the first normally-open terminal of the relay and the first terminal of the first normally-closed terminal of the relay; The second end of the first normally closed terminal of the relay is connected to the second end of the second normally open terminal of the relay and the first input terminal of the motor respectively; The second output terminal of the electronic speed regulator is respectively connected to the first terminal of the second normally-open terminal of the relay and the first terminal of the second normally-closed terminal of the relay; The second end of the second normally closed terminal of the relay is connected to the second end of the first normally open terminal of the relay and the second input terminal of the motor respectively; The third output terminal of the electronic speed regulator is connected to the third input terminal of the motor.

[0011] It should be further explained that a connecting shaft is provided at the output end of the motor, and a stop column is provided at the end of the connecting shaft; The rotor is provided with a propeller, a sleeve is provided in the middle of the propeller, and a groove is provided on the inner wall of the sleeve. A propeller seat cover is provided inside the sleeve, and a boss matching the groove is provided outside the propeller seat cover; A sliding groove is provided on the side wall of the propeller seat cover, and a locking position is provided at the end of the sliding groove.

[0012] It should be further explained that the transverse connector is provided with a transverse connecting section, one end of the transverse connecting section is provided with a host-end transverse plug, and the other end of the transverse connecting section is provided with a slave-end transverse plug; The host-end transverse plug is provided with a first host pin for connecting to the positive electrode of the battery, a second host pin for connecting to a charging power source, a third host pin for cutting off the radar signal at the host connecting arm end and sending the corresponding radar signal of the slave to the host flight control system, a fourth host pin used in conjunction with the third host pin, and a fifth host pin for sending the motor speed control signal of the host connecting arm to the slave end; The sub-machine end transverse plug is provided with a first sub-machine pin connected to the positive pole of the drone battery, a second sub-machine pin for connecting to a charging power supply, a first insulating boss for cutting off the radar signal at the sub-machine connecting arm end, a third sub-machine pin for sending the bracket radar signal at the symmetrical end of the sub-machine connecting arm to the main machine, a sub-machine pin group for dividing the motor speed control signal of the main machine connecting arm into multiple paths and sending them to the sub-machine end bracket at the same time, a fourth sub-machine pin for connecting the intermediate relay coil power supply circuit to reverse the motors of two adjacent brackets of the connecting arm, and a second insulating boss for disconnecting the power supply of the sub-machine flight control system.

[0013] It should be further explained that the host-side lateral plug includes three types of pins: The type I pin is configured as a U-shaped metal sheet; The II-type pin is configured as a semi-U-shaped metal sheet; Type III pins are provided as insulator plugs; The first host pin, the second host pin and the fifth host pin are respectively type i pins, the third host pin is type ii pin; and the fourth host pin is type iii pin.

[0014] It should be further explained that the longitudinal connector is provided with a longitudinal connecting section, one end of the longitudinal connecting section is provided with a host-end longitudinal plug, and the other end of the longitudinal connecting section is provided with a slave-end longitudinal plug; The host-end longitudinal plug is provided with a first host longitudinal pin for connecting to the positive electrode of the battery, a second host longitudinal pin for connecting to a charging power source, a first spare longitudinal pin, and a longitudinal host pin group for sending a motor speed control signal of the host rotor to the slave; The sub-machine end longitudinal plug is provided with a first sub-machine longitudinal pin connected to the positive electrode of the drone battery, a second sub-machine longitudinal pin for connecting to a charging power source, a second spare longitudinal pin, a longitudinal sub-machine pin group for sending the motor speed control signal of the main engine rotor to the sub-machine, and a third insulating boss for disconnecting the power supply of the sub-machine flight control system; The first host longitudinal pin, the second host longitudinal pin and the longitudinal host pin group are respectively type I pins, The first slave unit longitudinal pin, the second slave unit longitudinal pin and the longitudinal slave unit pin group are respectively type I pins.

[0015] It should be further explained that a power bus and a diode are also provided; the positive electrode of the power bus is connected to the positive electrode of each multi-rotor drone battery through a diode; the anode of the diode and the positive electrode of the battery are connected to the charging circuit respectively; the negative electrode of the battery is grounded; The electrical devices of the multi-rotor drone are connected to the power bus respectively; The diode is a rectifier diode or a voltage regulator diode.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: The multi-rotor UAV and UAV cluster provided by the present application provide a plurality of connection modes by setting a top interface on the top of the fuselage, a bottom interface on the bottom, and a lateral interface on the side, and are equipped with corresponding longitudinal connectors and lateral connectors, so as to realize the upper and lower connection of the UAV, and also realize the lateral side-by-side connection. Moreover, the lateral interface has multiple pins and multiple functions, and can be used for connecting the positive pole of the battery, rechargeable battery and other power-related operations, and can also realize the functions of sending the radar signal of the bracket to the flight control system, receiving the motor speed control signal and controlling the rotation direction of the sub-machine rotor, etc., which overcomes the defects of the prior art that the UAV interface function is low in integration and difficult to meet the needs of complex collaborative operations.

[0017] The top interface, bottom interface and lateral interface of the present invention include type I, type II and type III pins, each of which has a different structural design. The longitudinal connector and lateral connector of the present invention include type I, type II and type III pins, each of which has a different structural design and can adapt to signal transmission of different functions, so that the entire drone cluster can achieve coordinated flight. Due to the use of hardware connection, collision accidents within the drone cluster are avoided, reducing the requirements for the drone's own positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of a quad-rotor drone; Figure 2 This is a schematic diagram of the bottom structure of a quadrotor drone; Figure 3 It is a schematic diagram of a quadrotor drone and a lateral connector; Figure 4 This is a rendering of a quad-rotor drone; Figure 5 It is a schematic diagram of the rotor rotation direction; Figure 6 This is a schematic diagram of the rotation direction of the rotor of the six-rotor drone; Figure 7 This is a schematic diagram of the rotor rotation direction of the octorotor drone; Figure 8 This is a schematic diagram of the rotation direction of the rotors of the drone cluster; Fig. 9 It is a schematic diagram of the connecting shaft; Fig.10 It is a schematic diagram of the rotor; Fig.11 It is a schematic diagram of a rotor example; Fig.12 is a schematic diagram of the sleeve; Fig.13 This is a schematic diagram of the propeller seat cover; Fig.14 This is a schematic diagram of the cooperation between the propeller seat cover and the connecting shaft; Fig.15 It is a schematic diagram of an embodiment of a propeller seat cover; Fig.16 A schematic diagram of another embodiment of a propeller seat cover; Fig.17 This is the internal circuit diagram of the quadrotor drone; Fig.18 This is the internal circuit diagram of the six-rotor drone; Fig.19 This is a schematic diagram of the interface pins; Fig. 20 is a schematic diagram of the connector structure; Fig.21 Schematic diagram of a drone cluster with longitudinal connections; Fig. 22 A schematic diagram of a drone cluster with lateral connections; Fig.23 A schematic diagram of another drone cluster with lateral connections; Fig.24 A schematic diagram of a cluster of connected drones; Fig.25 is a schematic diagram of the power bus structure; Fig.26 It is a schematic diagram of the structure of the lateral plug at the host end of the lateral connector; Fig. 27 It is a schematic diagram of the structure of the transverse plug at the slave end of the transverse connector; Fig.28 It is the internal wiring diagram of the horizontal connector; Fig.29 This is a schematic diagram of the longitudinal plug structure of the host end of the longitudinal connector; Fig.30 This is a schematic diagram of the longitudinal plug structure at the slave end of the longitudinal connector; Fig.31 This is the internal wiring diagram of the vertical connector. DETAILED DESCRIPTION

[0020] The freely combinable multi-rotor drone provided by the present application can be used based on a single multi-rotor drone, or multiple multi-rotor drones can be combined to form a drone cluster. The drones and drone clusters involved in the present application can have the advantages of vertical lift, hovering, and maneuverability that fixed-wing drones do not have, and can be suitable for low-altitude and low-speed flight. They have developed into multi-purpose tools in military and civilian fields.

[0021] The drone cluster proposed in this application uses multiple rotor drones to form a drone cluster through a connector. Before the combination, each small drone is used completely independently. After forming a drone cluster, it can be operated as an independent large drone with a dedicated flight control system, which can increase the carrying capacity and meet the needs of users.

[0022] The single multi-rotor drone may be a quad-rotor drone, a hex-rotor drone, an oct-rotor drone, etc. The specific form of the multi-rotor drone is not limited.

[0023] The specific structure and implementation of the multi-rotor drone and the drone cluster will be described in detail below. For the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are proposed to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details.

[0024] It should be understood that the "one or more" mentioned in this application refers to one, two or more than two, and the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. The "and / or" in this article is just a way to describe the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0025] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0026] The phrases such as "one embodiment" or "some embodiments" described in the present application mean that the specific features, structures or characteristics described in the embodiment are included in one or more embodiments of the present application. Therefore, the phrases such as "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments" etc. that appear in different places in the present application do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Take the quadcopter as an example, please refer to Figures 1 to 4 The figure shows an example of a multi-rotor drone in a specific embodiment. The multi-rotor drone comprises: a fuselage 1, which is a stable platform for the entire drone. The fuselage 1 is provided with a bracket 2, on which a plurality of rotors 3 are mounted. The flight postures of the quad-rotor drone are a cross-shaped flight posture and an X-shaped flight posture.

[0029] In this embodiment, Figure 5 As shown, in order to balance the counter-torque generated when the drone rotors rotate, the drone rotors in this application are arranged in such a way that adjacent rotors rotate in opposite directions, that is, two of the four rotors rotate forward and two rotate reversely.

[0030] Among them, the counter torque is the counter torque in the opposite direction of rotation caused by air resistance during the rotation of the rotor.

[0031] Figure 6 Schematic diagram of the rotation direction of the rotors of a six-rotor drone; the rotation directions of two adjacent rotors are opposite.

[0032] Figure 7 Schematic diagram of the rotor rotation direction of the octorotor drone.

[0033] It should be noted that if the drone body wants to turn clockwise, the counterclockwise rotating rotor can be controlled to accelerate and form a larger clockwise anti-torque. If the clockwise rotating rotor decelerates, the counterclockwise anti-torque formed will decrease. The two work together to make the drone turn clockwise. The increased lift of the accelerated rotating rotor and the reduced lift of the decelerated rotating rotor offset each other, and the total lift remains unchanged. After the turn is completed, the rotor returns to normal.

[0034] The number of rotors 3 of this embodiment can be set to four, six or eight according to actual use needs, and the layout of the rotors can be set according to actual conditions, and evenly arranged around the fuselage 1 to ensure the stability and maneuverability of the drone during flight. The drone of this embodiment can generate lift through the high-speed rotation of the rotors, thereby achieving functions such as vertical take-off and landing and hovering in the air. Compared with traditional fixed-wing aircraft, it has better maneuverability and flexibility, and can complete take-off and landing operations in a small space.

[0035] In order to be able to use multi-rotor drones in combination, a top interface 4 for connecting to other drones is provided on the top of the fuselage 1, and a bottom interface 5 for connecting to other drones is provided at the bottom of the fuselage 1; a lateral interface 6 for connecting to other drones is provided on the side of the fuselage 1.

[0036] For example, taking a quad-rotor drone as an example, there may be four transverse interfaces 6 , which are respectively disposed on four sides of the fuselage 1 , and each transverse interface 6 corresponds to a bracket.

[0037] The top interface 4, the bottom interface 5 and the lateral interface 6 of the body 1 can all be connected to the connector. The interface is inserted into the plug of the connector to realize the conduction and disconnection of each circuit and complete the transmission of the control signal.

[0038] The connector plug of this embodiment involves a host-side horizontal plug or a host-side vertical plug. For the host-side plug, it includes three types of pins. Type I pins are set as U-shaped metal sheets; Type II pins are set as semi-U-shaped metal sheets; Type III pins are set as insulator plugs.

[0039] In some specific embodiments, interfaces for connecting with other drones are respectively provided on the top, bottom and sides of the fuselage 1. The top interface 4 is located at the top of the fuselage 1. Its design takes into account the convenience of connecting with other drones and the stability of signal transmission. It can realize the rapid connection of multiple drones in multiple directions and form a drone cluster, which can expand the application scope of drones. For example, a drone cluster can transport more and heavier goods. It can also transport larger items and improve transportation efficiency.

[0040] For the combined drone cluster, after the drones are horizontally combined, the rotors on the host side are not affected, and the changes on the sub-machine side are as follows Figure 8 As shown, taking slave II as an example, after the connector is inserted into the horizontal interface of the slave bracket, the coil of the relay in slave II is connected by the plug pin, so that the rotation direction of the motors of the slave II bracket 31 and bracket 33 is reversed, that is, the motors of the bracket 31 and bracket 33 of slave II all become the same as the rotation direction of the motor near the main bracket. The rotation direction of the motors of the slave II bracket 32 ​​and bracket 34 is also set in the same way.

[0041] It is understandable that the rotation direction of the motor of the slave bracket is the same as the rotation direction of the motor near the main bracket. Figure 8 The bracket on the left side of the main unit, then the rotation direction of all motors of sub-unit II is the same as the rotation direction of the motor of the bracket on the left side of the main unit. The motors of sub-unit II and sub-unit IV rotate in the same direction. The motors of sub-unit II and sub-unit I rotate in opposite directions. In this way, the anti-torque of a single sub-unit is unbalanced, but the anti-torque of the entire drone cluster is balanced. It should be noted that there are two specifications of rotors, one is to rotate clockwise to generate lift, and the other is to rotate counterclockwise to generate lift. In order to maintain lift, the rotor with reversed rotation direction needs to be replaced with a reverse rotor. At this point, the steering working mechanism of the entire drone cluster is the same as that of a single drone: if the cluster needs to turn clockwise, it is completed by accelerating all counterclockwise rotating rotors in the cluster and decelerating all clockwise rotating rotors.

[0042] In this embodiment, in response to the need to adjust the rotor direction after the drone group is combined, a group of quad-rotor drones is taken as an example. Before the combination, the sub-machines of the quad-rotor drone have two relatively set rotors with the same rotation direction. However, after the combination, the four rotors are required to rotate in the same direction, which requires adjusting the installation direction of two of the rotors.

[0043] In order to quickly adjust the direction of the rotor and facilitate daily operations. Figures 9 to 16As shown, the output end of the motor of this embodiment is provided with a connecting shaft 21, and the end of the connecting shaft 21 is provided with a stopper 22; the connecting shaft 21 can be provided with two stopper columns 22 in opposite positions. The stopper column 22 is used to fix the rotor and locate the installation direction. The rotor is provided with a propeller 23, and a sleeve 24 is provided in the middle of the propeller 23. The inner wall of the sleeve 24 is provided with a groove 25. Optionally, the inner wall of the sleeve 24 can be provided with a sawtooth groove 25. A propeller seat sleeve 26 is sleeved inside the sleeve 24, and a boss 27 adapted to the groove 25 is provided outside the propeller seat sleeve 26; in this way, the propeller seat sleeve 26 can slide into the inside of the sleeve 24, and relative rotation is prevented by the cooperation of the groove 25 and the boss 27. A slide groove 28 is provided on the side wall of the propeller seat sleeve 26, and the slide groove 28 plays a guiding role, and a locking position 29 is provided at the end of the slide groove 28. The locking position 29 can lock the propeller seat cover 26 with the connecting shaft 21 to ensure that the rotor direction will not deviate. A supporting spring 30 is arranged inside the propeller seat cover 26, and the end of the supporting spring 30 is connected to the end of the connecting shaft.

[0044] It should be noted that, when in use, the rotor is used as a whole, and this embodiment provides two rotors in different directions. The difference between the two rotors in different directions is as follows: Fig.15 and Fig.16 The two different directions of the slide slots 28 and the corresponding locking positions 29 are shown, as well as the directions of the propellers.

[0045] It can be installed on a multi-rotor drone according to usage needs to meet the flight requirements of the multi-rotor drone.

[0046] The specific operation method is that when the direction of the rotor needs to be adjusted, the user presses down the rotor that needs to be replaced, rotates it to an appropriate angle in the direction of rotation, and then releases it to remove the rotor. The new rotor can be installed in the reverse order. The rotor direction can be quickly adjusted, which meets the requirements for rotor direction consistency when a group of drones is combined, and improves work efficiency. Since two slide grooves 28 in different directions and corresponding locking positions 29 are provided, daily operations by users are convenient, and the difficulty of operation is reduced. Even non-professionals can quickly get started and make adjustments. In addition, this structure has high stability, and the locking position 29 can ensure that during the flight of the drone, the rotor will not change direction at will due to external forces and other factors, thereby ensuring the safety and stability of the drone flight.

[0047] For the control and power supply of the drone, the battery is used as the power supply device of the drone to provide power for the entire flight system. The battery can be lithium battery or other types of storage batteries. According to actual needs, voltage stabilization circuits, voltage conversion circuits, etc. can also be configured.

[0048] The multi-rotor drone is equipped with a flight control system, which is the control center of the drone and is used to control the drone's flight attitude, speed, altitude, etc. The flight control system senses the drone's flight status in real time by connecting sensors, and adjusts the speed and angle of each rotor according to the preset flight mission and the operator's instructions, thereby achieving stable and precise flight control.

[0049] In this embodiment, a radar signal control bus and a motor control bus are configured inside the multi-rotor UAV. The radar signal control bus is used to realize data transmission between the flight control system and the airborne radar. The radar signal control bus has high-speed and stable data transmission capabilities, and can quickly and accurately transmit the surrounding environment information detected by the airborne radar in real time, such as obstacle locations, terrain, etc., to the flight control system.

[0050] The motor control bus is used to connect the flight control system and the motor control circuit to achieve precise control of the motor by the flight control system. The motor control bus can quickly transmit the control instructions issued by the flight control system to ensure that the motor can respond in time and adjust the speed and torque of the rotor to meet the power requirements of the drone in different flight states. For example, during takeoff, acceleration, hovering, etc., the motor control bus ensures the precise control of the motor by the flight control system, allowing the drone to smoothly complete various flight actions.

[0051] The flight control system combines the radar signal control bus and the motor control bus, as well as independent drive components, to achieve accurate monitoring and control of the UAV's flight status. The flight control system can obtain data information from the airborne radar in real time, perceive changes in the surrounding environment in advance, and adjust the flight attitude and path in time to avoid collision risks. In addition, the precise control of the motor by the motor control bus ensures the stable output of the rotor lift, allowing the UAV to maintain a high degree of stability and precise controllability during flight, meeting various mission requirements with high flight accuracy.

[0052] In this embodiment, each rotor is connected to an independent drive assembly, which includes a motor and a motor control circuit. As the power source for the rotation of the rotor, the motor can provide a strong and stable power output for the rotor, so that it can rotate quickly to generate sufficient lift. The motor adopts an AC brushless motor, which makes the motor of the drone have higher efficiency and reliability, and can provide greater torque and more precise flight attitude control.

[0053] The motor control circuit of this embodiment is provided with an electronic speed regulator and four-open and four-closed intermediate relays; the input end of the electronic speed regulator is connected to a battery; the first output end of the electronic speed regulator is respectively connected to the first end of the first normally open end of the relay and the first end of the first normally closed end of the relay; the second end of the first normally closed end of the relay is respectively connected to the second end of the second normally open end of the relay and the first input end of the motor; the second output end of the electronic speed regulator is respectively connected to the first end of the second normally open end of the relay and the first end of the second normally closed end of the relay; the second end of the second normally closed end of the relay is respectively connected to the second end of the first normally open end of the relay and the second input end of the motor; the third output end of the electronic speed regulator is connected to the third input end of the motor.

[0054] by Fig.17 For the quadcopter control circuit diagram, motor M1 and motor M3 use the same relay KV2, and motor M2 and motor M4 use the same relay KV1. The specific connection method is as described in the above motor control circuit. The flight control system is connected to the speed signal input terminal of the electronic speed regulator, and the speed of the motor is controlled by the electronic speed regulator.

[0055] The electronic speed controller receives the speed signal command sent by the flight control system, and can adjust the output speed of the motor to realize the operation of the drone. The working coil power input terminals of relay KV1 and relay KV2 are respectively connected to the corresponding horizontal interface type III pin 8. When there is no plug in the interface, the relay coil is not connected to the power supply. When a horizontal plug is inserted, the relay coil power supply is connected by the plug type I pin 8. The middle relay is actuated to disconnect the normally closed circuit and connect the normally open circuit. By controlling the operation of the relay, the phase sequence of two phases of the three-phase AC input to the motor can be interchanged, and the forward and reverse rotation control of the motor can be realized by combining the working characteristics of the AC motor.

[0056] Combination Fig.17 Generally speaking, the batteries are connected to each functional module based on the power bus. The power bus ensures that the power can be delivered to each power-consuming module. When assembled into a drone group, the positive pole of all batteries is connected to the positive pole of the power bus through the connector, the negative pole of the battery is grounded through the drone bracket, and the negative pole of the power bus of each drone is connected to the common ground through the metal connecting sections of the horizontal and vertical connectors. A motor control circuit is set on each motor power supply line, which can control the motor based on the flight control system.

[0057] Fig.17 There are also multiple control signal lines, relay KV1, relay KV2 and radar signal bus. The signal line is used to transmit control instructions and enable the flight control system to obtain information. Relay KV1 and relay KV2 can control the rotation direction of the motor according to the type of connector plug.

[0058] For example, the radar continuously collects environmental information and transmits it to the flight control system through a signal line. The flight control system processes the information, generates corresponding control instructions, and sends the instructions to the actuator. If the actuator is a motor, the attitude and flight direction of the drone can be adjusted by controlling the speed, so that the quadcopter can fly stably according to the predetermined flight path.

[0059] Fig.17 The flight control system achieves precise control and stable flight of the quadcopter drone through signal transmission and processing, as well as motor regulation. It also enables the drone to maintain a stable flight state in various environments.

[0060] In some embodiments, the quad-rotor drones are connected via a longitudinal connector. When connected, the longitudinal plug at the host end of the longitudinal connector is connected to the top interface of the first multi-rotor drone, and the longitudinal plug at the slave end is connected to the bottom interface of the second multi-rotor drone. This connection method realizes the physical connection between the drones through the cooperation of the plug and the interface, and the longitudinal connection section plays a role of connection and support.

[0061] like Fig.18 The circuit diagram of a six-rotor drone is given. The circuit diagram of a six-rotor drone is similar to that of a four-rotor drone. The difference is that a circuit module that meets the use of six rotors is set. The rest is the same as the circuit diagram of a four-rotor drone. Fig.19 The flight control system achieves precise control and stable flight of the six-rotor drone through signal transmission and processing, as well as motor regulation. It also enables the drone to maintain a stable flight state in various environments.

[0062] The multi-rotor drone provided by the present application can be conveniently and quickly connected and combined with other drones through the top, bottom and lateral interfaces 6 to form drone clusters of different scales and functions. This allows drones to be flexibly configured according to the needs of specific tasks, meeting the needs of large-scale material transportation, search and rescue in complex environments, high-precision mapping and sampling, and other tasks. By forming a certain number of drone clusters, the application scope and task execution capabilities of drones can be improved.

[0063] In this embodiment, the lateral interface 6 includes: a plurality of pins. This is not limited to the lateral interface 6, the top interface 4 and the bottom interface 5 both have a plurality of pins. The lateral interface 6, the top interface 4 and the bottom interface 5 have the same structure and arrangement.

[0064] Specifically, the pins in the lateral interface 6 can be used to connect the positive electrodes of the batteries of other drones in parallel through the connector when the drones are combined, so as to achieve the voltage unification of the drone group. The pins can also be set so that the electric energy provided by the battery can be stably delivered to the various system modules of the drone, providing the energy required for the flight control system, motor drive components, radar and other electronic equipment to ensure the normal flight of the drone and the execution of various functions. The pins also have pins for connecting rechargeable batteries, which facilitates the rapid charging of drones during field operations or between missions, allowing drones to easily replenish electric energy and restore endurance, improving the use efficiency of drones and the continuity of mission execution, and reducing mission interruptions caused by insufficient battery power.

[0065] In this embodiment, the pins can also be used to send the radar signal at the desired location to the flight control system. Here, when the drones are combined into a cluster, the radar signal on the farthest bracket of each sub-drone is sent to the flight control system of the main drone. It is also possible to detect environmental information of specific areas around the drone in real time, such as the distance, direction and speed of obstacles. After these signals are transmitted to the flight control system through special pins, the flight control system can make decisions quickly based on this information and adjust the flight attitude and path of the drone to avoid collisions with obstacles and ensure flight safety.

[0066] In this embodiment, some pins are also used to send radar signals at symmetrical positions into the connector. The surrounding environment information of the drone is integrated and distributed, which may be used for data transmission with other drones, or when multiple drones work together, part of the radar data of the drone is transmitted to other drones, so as to achieve a more comprehensive and accurate perception of the surrounding environment by the entire drone formation, and improve the safety of the drone group and the coordination of task execution.

[0067] The pins of this embodiment are also used to receive motor speed control signals. The main purpose here is to transmit the motor speed control signal of the main drone to the electronic speed regulator of the sub-drone after multiple drones are combined. The sub-drone obtains the required speed of each motor based on the preset flight mode, the operator's instructions, and the information fed back by various sensors, and sends the precise speed control signal to the main machine and each sub-machine motor drive component through the pins. The motor drive component executes the corresponding speed according to the received signal, thereby controlling the flight attitude and motion state of the drone.

[0068] The pin of the lateral interface 6 of this embodiment is used to connect the relay coil switch to reverse the rotation direction of the corresponding rotor of the sub-machine, so as to facilitate the use of anti-torque steering, but at this time it is necessary to replace the reverse rotor to obtain lift.

[0069] The lateral interface 6 of this embodiment includes: three types of pins; Type I pin is provided with two U-shaped metal springs abutting each other; Type II pin is provided with one U-shaped metal spring; Type III pin is provided with two U-shaped metal springs not contacting each other, and the U-shaped arc ends of the two U-shaped metal springs are arranged oppositely.

[0070] As for the above-mentioned multiple pins, they can be set to corresponding pin types as needed. For example, some pins can be set to type I pins, some pins can be set to type II pins, and so on.

[0071] Specifically, the type I pin is provided with two U-shaped metal springs that abut against each other. Fig.19 As shown in the figure, pins 1, 2, 4 to 7 and 9 are type I pins. This design enables the pins to provide stable and reliable electrical contact when connected to external connection devices. The two U-shaped metal springs that abut each other can increase the contact area and reduce the contact resistance, thereby reducing the energy loss and signal attenuation during signal transmission, ensuring the efficient transmission of power and various control signals. At the same time, this structure also has a certain degree of elasticity, which can adapt to slight displacements or vibrations during the connection process to a certain extent, ensuring the stability and reliability of the connection, and improving the reliability and stability of the drone.

[0072] Type II pins are provided with a U-shaped metal shrapnel. Type III pins are provided with two U-shaped metal shrapnel that do not touch each other, and the U-shaped arc ends of the two U-shaped metal shrapnel are arranged opposite to each other. Type III pins can make the two U-shaped metal shrapnel conduct to each other after the connector is inserted. The three types of pin designs provide a variety of electrical connection methods for different functional requirements, which can ensure stable and reliable signal and power transmission.

[0073] Among them, Fig.19 In the example, pins 0 and 3 are type II pins, and pin 8 is type III pin.

[0074] It should be noted that type I pins achieve circuit conduction before plug insertion, and after insertion, the plug determines whether the circuit is conductive. Type II pins achieve circuit non-conduction before plug insertion, and after insertion, the circuit of the corresponding pin of the connector is introduced into the local circuit. Type III achieves circuit non-conduction before plug insertion, and circuit conduction after insertion.

[0075] The freely combinable multi-rotor drone of this embodiment includes: a plurality of connectors and a plurality of multi-rotor drones.

[0076] like Fig. 20As shown, the connector is a longitudinal connector or a transverse connector. The connector is provided with a middle cable segment 7, and plugs 8 are provided at both ends of the cable segment. The cable segment is wrapped with a shell. The plug includes a pin structure, and the number and shape of the pins used in plugs with different functions are different.

[0077] There are three combinations of drone swarms.

[0078] like Fig.21 As shown, one way is that when the connector is used as a longitudinal connector 9, the first end of the longitudinal connector 9 is connected to the bottom interface of the first multi-rotor drone 10, and the second end of the longitudinal connector 9 is connected to the top interface of the second multi-rotor drone 11; like Figure 22 to Figure 23 As shown, another way is that when the connector is used as a transverse connector 12, the first end of the transverse connector is connected to the transverse interface of the first multi-rotor drone, and the second end of the transverse connector is connected to the transverse interface of the third multi-rotor drone 13. In this embodiment, the first multi-rotor drone can be connected to multiple multi-rotor drones.

[0079] like Fig.24 As shown, another way is to combine the above two ways.

[0080] For this embodiment, the combined drone cluster has a unique host, which is set at the center of the drone cluster.

[0081] For example, a drone at the bottom geometric center can be set as the only host. All flight control signals are sent from the host to the sub-machine at the bottom. Radar and other sensor signals are uploaded to the host from the farthest sub-machine. Only the host can accept the remote control's instructions, and the flight control system power of the sub-machine is turned off at the same time.

[0082] The host controls other sub-machines in the UAV cluster in the following way: when the UAVs are working in a cluster, the rotors of all sub-machines connected horizontally to the various brackets of the host have the same speed and direction as the connected host rotors. In order to maintain the balance of power and torque, the number and position of the UAVs connected horizontally are required to be symmetrical relative to the host. The UAV connected vertically to the host is used as the geometric center, and the UAVs are combined in accordance with this principle when they are connected.

[0083] For example, the cluster host has 4 rotors, and the rotation direction is Figure 5 As shown, the brackets are symmetrical about the center point, requiring the number and connection positions of the drones connected at the lower end to be symmetrical about the host. Similarly, the brackets are symmetrical about the center point. The drone cluster designed in this embodiment can be composed of any number of drones.

[0084] In some embodiments, the speed control output of the flight control system can drive multiple electronic speed regulators in parallel. Of course, if the number of parallel connections is too large, a speed control bus can be set up separately to meet the demand for speed control.

[0085] In order to keep the power units of the drone cluster balanced, all drones in the cluster operate at the same voltage. Fig.25 As shown, the drone cluster of this embodiment is also provided with a power bus 14 and a diode; the diode can be a rectifier diode or a voltage regulator diode. The positive electrode of the power bus 14 is connected to the positive electrode of each multi-rotor drone battery through a diode; the anode of the diode and the positive electrode of the battery are respectively connected to the charging line 15; the negative electrode of the battery is grounded; the electrical equipment of the multi-rotor drone is respectively connected to the power bus; Specifically, all drones in the cluster build a power bus connecting all drones through connectors. The power supply of each drone is connected to the power bus, and the electrical equipment of each drone draws power from the power bus.

[0086] In order to facilitate charging in this embodiment, when configuring the power bus, a charging line can be configured, and the drone cluster can charge all batteries through the power interface of the connector.

[0087] Or configure a Zener diode, the reverse conduction voltage of which is higher than the battery discharge voltage and lower than the battery charge voltage, so that the power bus can also be used as a charging circuit.

[0088] In some embodiments, the connection is achieved based on the longitudinal connector, and the first end of the longitudinal connector is adaptively connected to the top interface of the first multi-rotor drone. The connection method can be in a vertical direction, and the two drones can achieve a stable mechanical and electrical connection. The bottom interface is equipped with a certain number of pins to dock with the first end of the longitudinal connector to ensure the stability of the connection and the reliability of signal and power transmission.

[0089] The second end of the longitudinal connector is connected to the bottom interface of the second multi-rotor drone. This makes the two drones as a whole in the vertical direction, and can work together to complete various flight tasks. The longitudinal connection method allows the drone cluster to expand in height to form a multi-layer drone formation. For example, when performing large-area aerial photography and mapping tasks, multiple drones can be connected longitudinally to increase the coverage and height level of the shooting and obtain more detailed image information.

[0090] The first end of the transverse connector of this embodiment is connected to the transverse interface of the first multi-rotor UAV. The transverse interface includes multiple pins for transmitting multiple key signals and power such as battery power, radar signals, and motor control signals. The first end of the transverse connector is precisely matched with these pins to ensure stable transmission of signals and power.

[0091] The second end of the lateral connector is connected to the lateral interface of the third multi-rotor drone, realizing the connection of the two drones in the horizontal direction. The lateral connection method allows the drones to be expanded and combined on the same height plane to form a wider formation structure. For example, in logistics transportation tasks, by connecting multiple drones horizontally, larger sizes or more quantities of goods can be transported at one time, improving transportation efficiency.

[0092] In some embodiments, Fig.26 The figure is a schematic diagram of the structure of the transverse connector. The plug of the transverse connector is provided with pins adapted to the transverse interface.

[0093] There are three types of pins for the transverse connector plug: pins 0, 1, and 4 of the transverse connector plug are type I pins, and pin 2 of the plug is type II and type III.

[0094] The type i pins of this embodiment are connected to the original circuit without interrupting it after insertion. The type ii pins are disconnected after insertion and the original circuit is introduced into the circuit of the corresponding pin of the connector. The type iii has no pins and disconnects the circuit after insertion. Pins 5 to 9 are not provided with pins and do not interfere with the original circuit.

[0095] In this embodiment, the transverse connector can transmit the combined flight control signal and the sensor-sensed signal.

[0096] As an implementation, one end of the transverse connection section is provided with a host-end transverse plug, and the other end of the transverse connection section is provided with a slave-end transverse plug.

[0097] The host side horizontal plug form Fig.26 The pins of the host-side horizontal plug can be defined as: Pin 0 is set as type I pin and connected to the positive pole of the power supply of the drones at both ends.

[0098] Pin 1 is set as type I pin and is used for charging the drone power supply.

[0099] Pin 2 is set as a type II pin, which is used to cut off the radar signal at the host connecting arm end and send the corresponding radar signal of the slave to the host flight control unit.

[0100] There is no pin at position 3, and it works in conjunction with pin 2 (a pair of pins is added for each additional radar signal transmission).

[0101] Pin 4 is set as type Iⅰ pin to send the motor speed control signal of the host connecting arm to the slave end. Pins 5 to 9 are left vacant.

[0102] The horizontal plug on the handset end is as follows Fig. 27As shown, there are 10 positions and 8 pins in total, and each pin is defined as: Pin 0 is set as type I pin, which is used to connect the positive pole of the drone power supply at both ends.

[0103] Pin 1 is set as type I pin to charge the drone power supply.

[0104] There is no pin at position 2, which cuts off the radar signal at the connecting arm end of the slave unit.

[0105] Pin 3 is set as type II pin to send the bracket radar signal at the symmetrical end of the slave connecting arm to the main unit (a pair of pins is added for each additional radar signal transmission).

[0106] Pins 4 to 7 are set as type I pins, and the four pins are merged into one, dividing the motor speed control signal of the host connecting arm into four paths and sending them to the four brackets at the slave end at the same time.

[0107] Pin 8 is set as a type I pin. After insertion, the intermediate relay coil power supply circuit is connected, and the two bracket motors adjacent to the connecting arm are reversed (so that all rotors rotate in the same direction).

[0108] Position 9 is type III without pins. After insertion, the power supply of the slave aircraft flight control system will be disconnected.

[0109] Combination Fig.28 The internal connection mode of the transverse connector is shown. By setting the type and purpose of the pins with different functions, the modular design of the connector is realized. The standardized pin setting and layout facilitate the connection between drones. The transverse connector is set with multiple functions such as power connection, charging, signal transmission, and control signal distribution, which realizes the power connection and signal transmission of the drone cluster, improves the signal transmission efficiency and control accuracy, and enhances the overall performance of the drone system.

[0110] In addition to the transverse connector, this embodiment also configures a longitudinal connector, which is provided with a longitudinal connecting section, one end of which is provided with a host-end longitudinal plug, and the other end of which is provided with a slave-end longitudinal plug. Fig.29 The longitudinal plug structure schematic diagram of the host end of the longitudinal connector is shown. Fig.30 A schematic diagram of the longitudinal plug structure at the slave end of the longitudinal connector is shown. Fig.31 The internal wiring diagram of the longitudinal connector is shown.

[0111] The host-side longitudinal plug of this embodiment has 7 pins, each of which is defined as: Pin 0 is set as type I pin and connected to the positive pole of the drone power supply at both ends.

[0112] Pin 1 is set as type I pin to charge the drone power supply.

[0113] Pin 2 is set as standby or to feed back a self-test signal.

[0114] Pins 3 to 6 are set as type I pins to send the motor speed control signals of the four rotors of the main unit to the slave unit respectively. Position 7 is left vacant.

[0115] The slave end longitudinal plug of this embodiment has a total of 7 pins, each of which is defined as: Pin 0 is set as type I pin and connected to the positive pole of the drone power supply at both ends.

[0116] Pin 1 is set as type I pin to charge the drone power supply.

[0117] Pin 2 is set as standby or to feed back a self-test signal.

[0118] Pins 3 to 6 are set as type I pins to connect the motor speed control signals of the four rotors of the main unit to the slave unit respectively.

[0119] Position 7 is type III without pins. After insertion, it will cut off the power supply of the drone flight control system.

[0120] In this embodiment, the pins of the host-side longitudinal plug and the slave-side longitudinal plug are of different types, so that the host-side longitudinal plug can be conveniently connected to the drone corresponding to the drone cluster host, and the slave-side longitudinal plug can be connected to the drone corresponding to the drone cluster slave. This allows the operator to set the host as the host without identification as long as the host-side longitudinal plug is successfully inserted into the corresponding drone. The different pin types of the host-side longitudinal plug and the slave-side longitudinal plug not only meet the functional requirements of the connection between drones, but also improve the maintainability and stability of the drone cluster.

[0121] In this embodiment, the transmission of signals and power can be achieved by pin docking between the first host longitudinal pin and the first slave longitudinal pin connected to the positive electrode of the battery, the second host longitudinal pin and the second slave longitudinal pin connected to the charging power supply, and the longitudinal host pin group and the longitudinal slave pin group used to transmit the motor speed control signal.

[0122] The vertical connector realizes the power connection. The first host vertical pin of the host-side vertical plug is used to connect the positive electrode of the battery, and the second host vertical pin is used to connect the charging power supply. The first sub-machine vertical pin and the second sub-machine vertical pin of the corresponding sub-machine vertical plug are connected to the wire, so that the charging power supply and battery positive electrode connection of the host drone to the sub-machine drone can be realized, ensuring the power supply of the sub-machine drone.

[0123] The longitudinal host pin group of the longitudinal plug on the host end can send the motor speed control signal of the host rotor to the slave, and the longitudinal slave pin group of the longitudinal plug on the slave end cooperates with it to receive the signal. This enables the host drone to control the rotor motor speed of the slave drone and realize the coordinated flight of the cluster drones.

[0124] It can be seen that in this embodiment, the motor speed control signal is transmitted through the longitudinal connector, and the host drone can effectively control the rotor motor speed of the slave drone. This enables the entire drone cluster to achieve coordinated flight, and the host can control the flight attitude and position of the slave drone according to mission requirements, improving the flight accuracy and stability of the cluster.

[0125] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A freely combinable multi-rotor drone, characterized in that: include: Multiple connectors and multiple multirotor drones; It comprises: a fuselage, the fuselage is provided with a bracket, and a plurality of rotors are installed on the bracket; The top of the fuselage is provided with a top interface for connecting with other drones, and the bottom of the fuselage is provided with a bottom interface for connecting with other drones; The side of the fuselage is provided with a lateral interface for connecting with other drones; When the connector is used as a longitudinal connector, the first end of the longitudinal connector is connected to the bottom interface of the first multi-rotor drone, and the second end of the longitudinal connector is connected to the top interface of the second multi-rotor drone.

2. The freely combinable multi-rotor drone according to claim 1, characterized in that: When the connector is used as a transverse connector, the first end of the transverse connector is connected to the transverse interface of the first multi-rotor drone, and the second end of the transverse connector is connected to the transverse interface of the third multi-rotor drone; The lateral interface includes: a plurality of pins; The functions implemented by the multiple pins include but are not limited to: for parallel connection of the positive pole of the battery, for connecting the charging power supply, for sending the radar signal at the required position to the host flight control system, for transmitting the motor speed control signal, for turning on the relay coil switch, controlling the rotation direction of the rotor of the sub-machine, and for controlling the power supply circuit of the flight control system.

3. The freely combinable multi-rotor drone according to claim 1 or 2, characterized in that: The horizontal interface and the vertical interface include three types of pins respectively; Type I pins are provided with two U-shaped metal springs abutting against each other; Type II pins are provided with a U-shaped metal spring; The III-type tube pin is provided with two U-shaped metal springs which are not in contact with each other, and the U-shaped arc ends of the two U-shaped metal springs are arranged opposite to each other.

4. The freely combinable multi-rotor drone according to claim 1 or 2, characterized in that: Also includes: Batteries for powering the drone, a flight control system, a radar signal control bus, a motor control bus, and a number of drive components adapted to the rotor; The drive assembly includes: a motor and a motor control circuit; the output end of the motor is connected to the rotor; The flight control system is connected to the airborne radar through the radar signal control bus and the lateral interface to obtain the data information of the airborne radar; The flight control system is connected to the motor through the motor control bus and the motor control circuit to control the operation of the motor.

5. The freely combinable multi-rotor drone according to claim 4, characterized in that: The motor control circuit is provided with an electronic speed regulator and a relay; The power input terminal of the electronic speed controller is connected to the positive and negative poles of the power bus, and the speed signal input terminal is connected to the flight control system; The first output terminal of the electronic speed regulator is respectively connected to the first terminal of the first normally-open terminal of the relay and the first terminal of the first normally-closed terminal of the relay; The second end of the first normally closed terminal of the relay is connected to the second end of the second normally open terminal of the relay and the first input terminal of the motor respectively; The second output terminal of the electronic speed regulator is respectively connected to the first terminal of the second normally-open terminal of the relay and the first terminal of the second normally-closed terminal of the relay; The second end of the second normally closed terminal of the relay is connected to the second end of the first normally open terminal of the relay and the second input terminal of the motor respectively; The third output terminal of the electronic speed regulator is connected to the third input terminal of the motor.

6. The freely combinable multi-rotor drone according to claim 4, characterized in that: The output end of the motor is provided with a connecting shaft, and the end of the connecting shaft is provided with a stop column; The rotor is provided with a propeller, a sleeve is provided in the middle of the propeller, and a groove is provided on the inner wall of the sleeve. A propeller seat cover is provided inside the sleeve, and a boss matching the groove is provided outside the propeller seat cover; A sliding groove is provided on the side wall of the propeller seat cover, and a locking position is provided at the end of the sliding groove.

7. The freely combinable multi-rotor drone according to claim 1, characterized in that: The transverse connector is provided with a transverse connecting section, one end of which is provided with a host-end transverse plug, and the other end of which is provided with a slave-end transverse plug; The host-end transverse plug is provided with a first host pin for connecting to the positive electrode of the battery, a second host pin for connecting to a charging power source, a third host pin for cutting off the radar signal at the host connecting arm end and sending the corresponding radar signal of the slave to the host flight control system, a fourth host pin used in conjunction with the third host pin, and a fifth host pin for sending the motor speed control signal of the host connecting arm to the slave end; The sub-machine end transverse plug is provided with a first sub-machine pin connected to the positive pole of the drone battery, a second sub-machine pin for connecting to a charging power supply, a first insulating boss for cutting off the radar signal at the sub-machine connecting arm end, a third sub-machine pin for sending the bracket radar signal at the symmetrical end of the sub-machine connecting arm to the main machine, a sub-machine pin group for dividing the motor speed control signal of the main machine connecting arm into multiple paths and sending them to the sub-machine end bracket at the same time, a fourth sub-machine pin for connecting the power supply circuit of the intermediate relay coil and reversing the motors of the two brackets adjacent to the connecting arm, and a second insulating boss for disconnecting the power supply of the sub-machine flight control system.

8. The freely combinable multi-rotor drone according to claim 7, characterized in that: The host-side horizontal plug includes three types of pins: The type I pin is configured as a U-shaped metal sheet; The II-type pin is configured as a semi-U-shaped metal sheet; Type III pins are provided as insulator plugs; The first host pin, the second host pin and the fifth host pin are respectively type I pins, and the third host pin is type II pin; The fourth host pin is a type III pin.

9. The freely combinable multi-rotor drone according to claim 8, characterized in that: The longitudinal connector is provided with a longitudinal connecting section, one end of which is provided with a host-end longitudinal plug, and the other end of which is provided with a slave-end longitudinal plug; The host-end longitudinal plug is provided with a first host longitudinal pin for connecting to the positive electrode of the battery, a second host longitudinal pin for connecting to a charging power source, a first spare longitudinal pin, and a longitudinal host pin group for sending a motor speed control signal of the host rotor to the slave; The slave-end longitudinal plug is provided with a first slave-end longitudinal pin connected to the positive electrode of the drone battery, a second slave-end longitudinal pin for connecting to a charging power source, a second spare longitudinal pin, a longitudinal slave-end pin group for sending a motor speed control signal of the host rotor to the slave-end, and a third insulating boss for disconnecting the power supply of the slave-end flight control system; The first host longitudinal pin, the second host longitudinal pin and the longitudinal host pin group are respectively type I pins, The first slave unit longitudinal pin, the second slave unit longitudinal pin and the longitudinal slave unit pin group are respectively type I pins.

10. The freely combinable multi-rotor drone according to claim 1, characterized in that: A power bus and a diode are also provided; the positive electrode of the power bus is connected to the positive electrode of each multi-rotor drone battery through a diode; the anode of the diode and the positive electrode of the battery are connected to the charging circuit respectively; the negative electrode of the battery is grounded; The electrical devices of the multi-rotor drone are connected to the power bus respectively; The diode is a rectifier diode or a voltage regulator diode.

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