Multi-rotor unmanned aerial vehicle with hybrid power and control method thereof

Abstract

The invention provides a multi-rotor unmanned aerial vehicle with hybrid power and a control method thereof. The multi-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body, at least two rotor arms are installed on the unmanned aerial vehicle body, and a first rotor is installed on the first surface of each rotor arm; the first power output device is installed on the unmanned aerial vehicle body, the first power output device is constructed to drive the first rotor wing to rotate, and the first power output device is a fuel power device; at least one second power output device is mounted on the second surface of each rotor arm; one second power output device is in transmission connection with at least one second rotor wing; and the electric energy supply device is mounted in the unmanned aerial vehicle body, and the electric energy supply device is configured to provide electric energy for the second power output device to drive the second rotor wing to rotate under the condition that the first power output device breaks down.

Description

[0001] This application claims priority to Chinese invention patent application No. 202410284618.9 filed on March 13, 2024 and Chinese utility model patent application No. 202420490616.0, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor unmanned aerial vehicle with hybrid power and a control method thereof. Background Art

[0003] A drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device, or operated completely or intermittently autonomously by an onboard computer.

[0004] With the rapid development of multi-rotor aircraft, the number and types are increasing, but most drones have a single power source. As a result, when the power source of the drone fails, the rotor cannot provide sufficient lift for the drone, which may cause a crash. Summary of the invention

[0005] In view of the above problems, the present invention provides a multi-rotor UAV with hybrid power and a control method thereof.

[0006] According to a first aspect of the present invention, there is provided a multi-rotor drone with hybrid power, comprising:

[0007] A drone body, wherein at least two rotor arms are mounted on the drone body, and a first rotor is mounted on a first surface of each of the rotor arms;

[0008] A first power output device is installed on the UAV body, and the first power output device is configured to drive the first rotor to rotate, wherein the first power output device is a fuel power device;

[0009] A plurality of second power output devices, at least one of which is mounted on the second surface of each of the rotor arms;

[0010] A plurality of second rotors, wherein one of the second power output devices is transmission-connected to at least one of the second rotors;

[0011] The power supply device is installed in the UAV body, and is configured to provide power to the second power output device to drive the second rotor to rotate in the event of failure of the UAV attitude control and the first power output device.

[0012] According to an embodiment of the present invention, the first power output device is transmission-connected to the first rotor via a gear box and a synchronous belt combination.

[0013] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0014] A landing device is installed on the bottom surface of the drone body, and the landing device is configured to support and / or move on the ground between the drone body and the landing area when the multi-rotor drone takes off or lands.

[0015] According to an embodiment of the present invention, the above-mentioned landing gear comprises:

[0016] A plurality of connecting shafts are mounted on the bottom surface of the UAV body;

[0017] A plurality of universal wheels, one of the connecting shafts is connected to one of the universal wheels.

[0018] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0019] A flight controller is installed in the UAV body, and the flight controller is configured to control the working state of the second power output device according to the operating state of the first power output device.

[0020] According to an embodiment of the present invention, the first power output device comprises:

[0021] A fuel engine installed in the UAV body, the fuel engine being configured to provide power to the first rotor;

[0022] A fuel tank is installed in the UAV body and connected to the fuel engine through a fuel pipe. The fuel tank is configured to provide fuel to the fuel engine.

[0023] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0024] An inspiration integrated machine is installed on the UAV body, and the inspiration integrated machine is connected to the power output shaft of the first power output device through a transmission mechanism;

[0025] Among them, when the fuel power unit needs to be started, the integrated machine converts electrical energy into mechanical energy through the electric energy supply device to start the fuel power unit; when the fuel power unit is running, the integrated machine converts the kinetic energy of the fuel power unit into electrical energy and outputs electrical energy to the electric energy supply device to charge the electric energy supply device.

[0026] According to an embodiment of the present invention, the gearbox comprises:

[0027] A housing mounted on the top surface of the drone body;

[0028] a plurality of first gears meshing in sequence, wherein one of the first gears rotates under the drive of the first power output device, wherein the number of the first gears is the same as the number of the rotor arms;

[0029] A plurality of synchronous transmission devices, each of the first gears is transmission-connected to one of the first rotors via one of the synchronous transmission devices.

[0030] According to an embodiment of the present invention, the synchronous transmission device comprises:

[0031] A transmission shaft, coaxially rotating with the first gear;

[0032] A synchronous transmission assembly is respectively connected to the transmission shaft and the first rotor.

[0033] According to an embodiment of the present invention, the synchronous transmission assembly comprises:

[0034] A first synchronous wheel, mounted on the transmission shaft;

[0035] The second synchronous wheel is installed on the shaft of the first rotor, and the first synchronous wheel is transmission-connected with the second synchronous wheel through a synchronous belt.

[0036] A second aspect of the present invention provides a control method for a multi-rotor drone, comprising:

[0037] Acquire state data of a first rotor of each first power output device in the multi-rotor UAV, wherein the first rotor is driven by a first power output device, and the first power output device is a fuel power device;

[0038] Utilizing a processor to analyze and process the state data to obtain an analysis result;

[0039] When the analysis results indicate that the first power output device cannot effectively control the attitude of the UAV or fails, multiple second power output devices are controlled to rotate so that the second power output devices drive the second rotors corresponding to the second power output devices to rotate when the power supply device provides power, thereby providing attitude control and lift for the multi-rotor UAV.

[0040] According to an embodiment of the present invention, by installing a second rotor of a second power output device on a multi-rotor UAV driven by an original first power output device, when the first power output device cannot effectively control the attitude of the UAV or fails, the second power output device can drive the second rotor to rotate to provide attitude control and lift, thereby avoiding the crash of the UAV and effectively improving the safety of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above contents and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0042] Figure 1 A schematic diagram of a multi-rotor drone according to an embodiment of the present invention is schematically shown;

[0043] Figure 2 A schematic diagram of a second rotor according to an embodiment of the present invention is schematically shown;

[0044] Figure 3 A schematic diagram of a multi-rotor drone according to another embodiment of the present invention is schematically shown;

[0045] Figure 4 A schematic diagram of the structure of a gear box according to an embodiment of the present invention is shown;

[0046] Figure 5 The schematic diagram of the structure of the first rotor according to an embodiment of the present invention is shown;

[0047] Figure 6 The flowchart of the control method of the multi-rotor UAV according to an embodiment of the present invention is schematically shown.

[0048] In the above drawings, the meanings of the reference numerals are as follows:

[0049] 100-UAV body;

[0050] 110 - rotor arm;

[0051] 120 - first rotor;

[0052] 200- first power output device;

[0053] 210-Fuel engine;

[0054] 300 - second power output device;

[0055] 400 - second rotor;

[0056] 500-Gear box;

[0057] 510-first gear;

[0058] 520-synchronous transmission;

[0059] 521- transmission shaft;

[0060] 522-synchronous transmission assembly;

[0061] 5221-first synchronization wheel;

[0062] 5222-second synchronous wheel;

[0063] 600- Landing gear;

[0064] 610-connecting shaft;

[0065] 620-Universal caster. DETAILED DESCRIPTION

[0066] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0067] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0068] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0069] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0070] Figure 1 A schematic diagram of a multi-rotor UAV according to an embodiment of the present invention is schematically shown. Figure 2A schematic diagram of a second rotor according to an embodiment of the present invention is schematically shown.

[0071] like Figure 1 and Figure 2 As shown, the multi-rotor drone with hybrid power includes:

[0072] A drone body 100, wherein at least two rotor arms 110 are mounted on the drone body 100, and a first rotor 120 is mounted on a first surface of each rotor arm 110;

[0073] A first power output device 200 is installed on the UAV body 100, and the first power output device 200 is configured to drive the first rotor 120 to rotate, wherein the first power output device 200 is a fuel power device;

[0074] A plurality of second power output devices 300 , with at least one second power output device 300 being mounted on the second surface of each rotor arm 110 ;

[0075] A plurality of second rotors 400, a second power output device 300 is transmission-connected to at least one second rotor 400;

[0076] The power supply device is installed in the UAV body 100. The power supply device is configured to provide power to the second power output device 300 to drive the second rotor 400 to rotate when the first power output device 200 cannot effectively control the UAV posture or fails.

[0077] According to an embodiment of the present invention, the fuel power device may be a power output device that uses gasoline, diesel, hydrogen, etc. as fuel to provide power, such as a gasoline engine, a diesel engine, etc. The number of the first power output devices 200 may be one or more, for example, one fuel power device is used to provide power to multiple first rotors 120, or one fuel power device is used to provide power to one first rotor 120.

[0078] According to an embodiment of the present invention, the first surface and the second surface may be two opposite surfaces, such as a top surface and a bottom surface. The number of the rotor arms 110 may be specifically set according to actual needs, for example, three or four.

[0079] According to an embodiment of the present invention, the power supply device may be a battery or a battery box with a battery installed. The second power output device 300 may be an electric motor.

[0080] According to an embodiment of the present invention, during the flight of a UAV (i.e., a multi-rotor UAV), when the onboard system detects that the attitude of the UAV is out of control or the first power output device 200 fails, that is, the first rotor 120 stops rotating, this may be due to a lack of fuel or a mechanical failure. At this time, the onboard system can automatically cut off the power output of the first power output device 200, such as cutting off the fuel supply, and at the same time can control the power supply device to transmit power to the second power output device 300, so that the second power output device 300 drives the second rotor 400 to rotate. In this way, after the attitude of the UAV is out of control or the first power output device 200 fails, the second rotor 400 can be used in time to provide lift for the UAV to avoid the UAV crashing.

[0081] It should be noted that the above-mentioned power switching can also be manually switched by the operator.

[0082] According to an embodiment of the present invention, by installing the second rotor 400 of the second power output device 300 on the multi-rotor UAV driven by the original first power output device 200, when the attitude of the UAV is out of control or the first power output device 200 fails, the second power output device 300 can drive the second rotor 400 to rotate to provide lift, thereby avoiding the crash of the UAV and effectively improving the safety of the UAV.

[0083] Figure 3 A schematic diagram of a multi-rotor UAV according to another embodiment of the present invention is schematically shown.

[0084] like Figure 3 As shown, the first power output device 200 is transmission-connected to the first rotor 120 via a gear box 500 and a synchronous belt combination.

[0085] According to an embodiment of the present invention, the gear box 500 may contain a power transmission mechanism composed of gears and chains.

[0086] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0087] The landing gear 600 is installed on the bottom surface of the drone body 100. The landing gear 600 is configured to support and / or move on the ground between the drone body 100 and the landing area when the multi-rotor drone takes off or lands.

[0088] According to an embodiment of the present invention, the landing gear 600 comprises:

[0089] A plurality of connecting shafts 610 are mounted on the bottom surface of the drone body 100;

[0090] There are a plurality of universal wheels 620 , and one connecting shaft 610 is connected to one universal wheel 620 .

[0091] According to an embodiment of the present invention, the roller-type universal wheel 620 can reduce the wear on the drone body caused by the friction between the drone and the ground during the landing process of the drone.

[0092] According to an embodiment of the present invention,

[0093] According to an embodiment of the present invention, the landing gear 600 may also include safety devices such as parachutes, which may be installed on the upper surface of the drone body 100 for use in emergency landing after both power output devices of the drone fail, thereby further improving the safety of the drone.

[0094] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0095] The flight controller is installed in the UAV body 100 , and is configured to control the working state of the second power output device 300 according to the operating state of the first power output device 200 .

[0096] According to an embodiment of the present invention, the flight controller may include a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or related chipsets and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor may also include onboard memory for cache purposes.

[0097] According to an embodiment of the present invention, the flight controller can control the UAV to continue to perform the flight mission or make an emergency landing based on the flight status of the UAV and / or the capacity of the electric energy in the power supply device. This process can be achieved by controlling the rotation frequency of the second rotor 400 (i.e., controlling the output power of the second power output device 300).

[0098] According to an embodiment of the present invention, the first power output device 200 includes:

[0099] A fuel engine 210 is installed in the UAV body 100, and the fuel engine 210 is configured to provide power to the first rotor 120;

[0100] The fuel tank is installed in the UAV body 100 and connected to the fuel engine 210 through an oil pipe. The fuel tank is configured to provide fuel to the fuel engine 210 .

[0101] According to an embodiment of the present invention, the main lift is generated by the fuel engine 210 driving the first rotor 120, and the fuel energy density of the fuel engine 210 is high, thereby greatly improving the load capacity and endurance of the UAV.

[0102] According to an embodiment of the present invention, the multi-rotor drone further includes:

[0103] The inspiration integrated machine is installed on the UAV body 100, and the inspiration integrated machine is connected to the power output shaft of the first power output device 200 through a transmission mechanism;

[0104] Among them, when the fuel power unit needs to be started, the integrated machine converts electrical energy into mechanical energy through the electric energy supply device to start the fuel power unit; when the fuel power unit is running, the integrated machine converts the kinetic energy of the fuel power unit into electrical energy and outputs electrical energy to the electric energy supply device to charge the electric energy supply device.

[0105] According to an embodiment of the present invention, a driving gear is connected to the shaft of the fuel engine 210 of the all-in-one machine via a one-way bearing, and the driving gear is coaxial with the fuel engine.

[0106] According to an embodiment of the present invention, the transmission mechanism may be a transmission device such as a synchronous belt, a chain, or a gear.

[0107] According to an embodiment of the present invention, when the drone is working normally, the first power output device 200 drives the all-in-one inspiration machine to rotate, thereby enabling the all-in-one inspiration machine to charge the power supply device. It should be noted that charging can also be performed using an external port.

[0108] According to an embodiment of the present invention, after the battery capacity of the power supply device reaches a first preset capacity threshold (e.g., 99%), the onboard system may disconnect the charging operation, and after the battery capacity is lower than a second preset capacity threshold (e.g., 20%), the onboard system may perform the charging operation.

[0109] Figure 4 The structural diagram of a gear box according to an embodiment of the present invention is schematically shown.

[0110] like Figure 4 As shown, the gearbox 500 includes:

[0111] A housing, mounted on the top surface of the drone body 100;

[0112] A plurality of first gears 510 meshing in sequence, wherein one first gear 510 rotates under the drive of the first power output device 200 , wherein the number of the first gears 510 is the same as the number of the rotor arms 110 ;

[0113] There are multiple synchronous transmission devices 520 , and each first gear 510 is transmission-connected to a first rotor 120 via a synchronous transmission device 520 .

[0114] According to an embodiment of the present invention, the synchronous transmission device 520 includes:

[0115] The transmission shaft 521 rotates coaxially with the first gear 510;

[0116] Two synchronous transmission assemblies 522 are respectively connected to the transmission shaft and the first rotor.

[0117] Figure 5 The structural diagram of the first rotor according to an embodiment of the present invention is schematically shown.

[0118] According to an embodiment of the present invention, the synchronous transmission assembly 522 includes:

[0119] A first synchronous wheel 5221, mounted on the transmission shaft;

[0120] The second synchronous wheel 5222 is mounted on the shaft of the first rotor. Figure 5 As shown, the first synchronous wheel is drivingly connected to the second synchronous wheel via a synchronous belt.

[0121] According to the embodiment of the present invention, since the energy density of fuel is high, the power of the fuel engine is large, and the transmission efficiency of the transmission system is high, the diameter of the first rotor 120 can be set to be larger than the diameter of the second rotor 400, thereby providing a larger lift for the UAV, improving the load capacity and long flight of the UAV. When the electric motor drives the small-diameter second rotor 400, it has the flexibility of fast speed change and low power supply energy requirements, making the UAV more stable in flight in bad weather and more flexible in adjusting the flight attitude.

[0122] Figure 6 The flowchart of the control method of the multi-rotor UAV according to an embodiment of the present invention is schematically shown.

[0123] like Figure 6 As shown, the control method of the multi-rotor drone of this embodiment includes operations S610 to S630.

[0124] In operation S610, state data of each first power output device in the multi-rotor drone is obtained, wherein the first power output device drives the first rotor, and the first power output device is a fuel power device;

[0125] In operation S620, the state data is analyzed and processed by a processor to obtain an analysis result;

[0126] In operation S630, when the analysis results indicate that the attitude of the UAV is out of control or the first power output device fails, multiple second power output devices are controlled to rotate so that the second power output devices drive the second rotors corresponding to the second power output devices to rotate while the power supply device provides power, thereby providing attitude control and lift for the multi-rotor UAV.

[0127] In one embodiment, when a first power output device is detected to have a fault such as an abnormal speed sensor or a cylinder head temperature sensor, or the speed of the first rotor drops abnormally, the power loss can be compensated by increasing the throttle (power) of the normal engine (i.e., the first power output device), and the second rotor corresponding to the second power output device can be driven to rotate, thereby providing lift for the multi-rotor drone.

[0128] According to an embodiment of the present invention, the control method of the multi-rotor drone further includes:

[0129] The state data of each first rotor in the multi-rotor UAV is obtained; the state data is analyzed and processed by a processor to obtain a second analysis result; when the second analysis result indicates that the attitude of the UAV is out of control or the first rotor fails, a plurality of second power output devices are controlled to rotate, so that the second power output devices drive the second rotors corresponding to the second power output devices to rotate when the power supply device provides power, thereby providing attitude control or auxiliary lift for the multi-rotor UAV.

[0130] In one embodiment, when a first rotor transmission system or a first rotor fails, for example, when the flight control receives a signal from a speed sensor of an oil-driven rotor (i.e., the first rotor) that the speed is abnormal, the flight control maintains the stability of the UAV's attitude by controlling the speed of the corresponding electric rotor (i.e., the second rotor), and performs an emergency landing according to manual control or a set program.

[0131] In another embodiment, when multiple oil-powered rotor transmission systems or the first rotor fail and the flight control receives abnormal speed information from multiple oil-powered rotor speed sensors, the flight control maintains the stability of the UAV's attitude by increasing the speed of the corresponding electric rotors and performs an emergency landing according to manual control or a set program.

[0132] In another embodiment, when all engines (i.e., the first power output device) fail or the oil-powered rotor fails, after the flight control receives abnormal signals from the engine sensor and the oil-powered rotor speed sensor, the flight control maintains the stability of the UAV's attitude by increasing the speed of the corresponding electric rotor and performs an emergency landing according to manual control or set procedures.

[0133] In another embodiment, when a preset proportion of electric rotors (i.e., the second rotor) fails, the lift of the fuel rotor can be increased, the attitude can be adjusted using the normal electric rotor that has not failed, or forced landing can be performed according to manual control or a set program. If all power systems fail, a parachute installed on the drone can be used for forced landing.

[0134] According to an embodiment of the present invention, the control method of the multi-rotor drone further includes:

[0135] During the takeoff process of the UAV, the engine idle speed is controlled by the all-in-one inspiration machine, and the electric motor pre-rotates at a low speed. After the takeoff signal is output, the flight control controls the electric motor and engine throttle according to the signals of each sensor, so that the electric rotor speed is increased to the highest propeller efficiency point, and the engine speed is increased to the required ascent rate speed. The electric rotor is responsible for attitude control.

[0136] After the drone takes off and reaches the set altitude, the flight control calculates the feedback from each sensor signal and adjusts the oil-powered rotor to stabilize the hovering speed by controlling the engine throttle, while the electric rotor is responsible for attitude control.

[0137] When the UAV is performing a flight mission, the flight control system controls the electric rotor to be responsible for maneuvering flight and attitude control according to the flight mission, and the oil-powered rotor stabilizes the lift.

[0138] During the landing process of the UAV, the flight control controls the speed of the electric rotor at the highest propeller efficiency point and is responsible for attitude control. The oil-powered rotor reduces the speed through a given descent rate signal and lands at a set safe descent rate.

[0139] It should be noted that the control method part of the multi-rotor drone in the embodiment of the present invention corresponds to the multi-rotor drone part in the embodiment of the present invention. The description of the control method part of the multi-rotor drone specifically refers to the multi-rotor drone part, which will not be repeated here.

[0140] According to an embodiment of the present invention, by installing the second rotor 400 of the second power output device 300 on the multi-rotor UAV driven by the original first power output device 200, when the first power output device 200 fails, the second power output device 300 can drive the second rotor 400 to rotate to provide lift, thereby avoiding the crash of the UAV and effectively improving the safety of the UAV.

[0141] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A multi-rotor drone with hybrid power, characterized in that: The drone comprises: A drone body, wherein at least two rotor arms are mounted on the drone body, and a first rotor is mounted on a first surface of each of the rotor arms; A first power output device, mounted on the UAV body, the first power output device being configured to drive the first rotor to rotate, wherein the first power output device is a fuel power device; a plurality of second power output devices, at least one of the second power output devices being mounted on the second surface of each of the rotor arms; A plurality of second rotors, one of the second power output devices being transmission-connected to at least one of the second rotors; An electric energy supply device is installed in the UAV body, and the electric energy supply device is configured to provide electric energy to the second power output device to drive the second rotor to rotate when the first power output device fails.

2. The multi-rotor drone according to claim 1, characterized in that: The first power output device is transmission-connected to the first rotor through a gear box and a synchronous belt combination.

3. The multi-rotor drone according to claim 1, characterized in that: The multi-rotor drone also includes: A landing device is installed on the bottom surface of the drone body, and the landing device is configured to support and / or move on the ground between the drone body and the landing area when the multi-rotor drone takes off or lands.

4. The multi-rotor drone according to claim 3, characterized in that: The landing gear comprises: A plurality of connecting shafts are mounted on the bottom surface of the drone body; There are a plurality of universal wheels, and one of the connecting shafts is connected to one of the universal wheels.

5. The multi-rotor drone according to claim 1, characterized in that: The multi-rotor drone also includes: A flight controller is installed in the UAV body, and the flight controller is configured to control the working state of the second power output device according to mission requirements and the operating state of the first power output device.

6. The multi-rotor UAV according to claim 1, characterized in that: The first power output device comprises: A fuel engine installed in the UAV body, the fuel engine being configured to provide power to the first rotor; A fuel tank is installed in the UAV body and connected to the fuel engine through an oil pipe. The fuel tank is configured to provide fuel to the fuel engine.

7. The multi-rotor UAV according to claim 2, characterized in that: The multi-rotor drone also includes: An inspiration integrated machine, mounted on the UAV body, the inspiration integrated machine is connected to the power output shaft of the first power output device through a transmission mechanism; Among them, when the fuel power unit needs to be started, the integrated machine converts electrical energy into mechanical energy through the electric energy supply device to start the fuel power unit; when the fuel power unit is running, the integrated machine converts the kinetic energy of the fuel power unit into electrical energy and outputs electrical energy to the electric energy supply device to charge the electric energy supply device.

8. The multi-rotor UAV according to claim 7, characterized in that: The gearbox comprises: A housing mounted on the top surface of the drone body; a plurality of first gears meshing in sequence, wherein one of the first gears rotates under the drive of the first power output device, wherein the number of the first gears is the same as the number of the rotor arms; A plurality of synchronous transmission devices, each of the first gears is transmission-connected to one of the first rotors via one of the synchronous transmission devices.

9. The multi-rotor UAV according to claim 8, characterized in that: The synchronous transmission device comprises: A transmission shaft, coaxially rotating with the first gear; Synchronous transmission assembly, comprising: A first synchronous wheel, mounted on the transmission shaft; The second synchronous wheel is installed on the shaft of the first rotor, and the first synchronous wheel is transmission-connected with the second synchronous wheel through a synchronous belt.

10. A control method for a multi-rotor drone, characterized in that: The method comprises: Acquire status data of each first power output device in the multi-rotor UAV, wherein the first power output device drives the first rotor, and the first power output device is a fuel power device; Utilizing a processor to analyze and process the state data to obtain an analysis result; When the analysis result indicates that the first power output device fails, multiple second power output devices are controlled to rotate so that the second power output devices drive the second rotors corresponding to the second power output devices to rotate when the power supply device provides power, thereby providing lift for the multi-rotor drone.

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