Unmanned aerial vehicle structure capable of being dynamically spliced

Abstract

The invention discloses an unmanned aerial vehicle structure capable of being dynamically spliced, which comprises a plurality of unmanned aerial vehicle units, and each unmanned aerial vehicle unit comprises a rack; the power device is arranged on the machine frame; the horizontal splicing frame is suitable for being connected with horizontal splicing frames of other unmanned aerial vehicle units in the horizontal direction; the shaft coupling device is respectively connected with the rack and the horizontal splicing frame, and the shaft coupling device is configured to allow the horizontal splicing frame to swing in the pitching direction and the rolling direction of the rack relative to the rack; and the horizontal splicing frame is limited to rotate in the heading direction of the rack relative to the rack. The unmanned aerial vehicle structure capable of being dynamically spliced has the advantages of being good in controllability, high in stability, high in reliability, good in flexibility, high in adaptability and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle manufacturing, and in particular to a dynamically spliced unmanned aerial vehicle structure. Background Art

[0002] The cargo that the transport drones in the related technology can transport is relatively fixed, and it is difficult to transport special-shaped cargo or oversized cargo. If multiple drones are used for collaborative transportation, they can only be flexibly connected through software formation or connecting cables, which has poor stability and easily causes the cargo to shake. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a dynamically spliced UAV structure, which has the advantages of good controllability, high stability, strong reliability, good flexibility, strong adaptability, etc.

[0004] To achieve the above-mentioned purpose, according to an embodiment of the present invention, a dynamically spliced UAV structure is proposed, the dynamically spliced UAV structure includes multiple UAV units, each of the UAV units includes: a frame; a power device, the power device is arranged on the frame; a horizontal splicing frame, the horizontal splicing frame is suitable for being connected to the horizontal splicing frames of other UAV units in the horizontal direction; a coupling device, the coupling device is respectively connected to the frame and the horizontal splicing frame, the coupling device is constructed to allow the horizontal splicing frame to swing relative to the frame in the pitch direction and roll direction of the frame, and to limit the horizontal splicing frame from rotating relative to the frame in the heading direction of the frame.

[0005] The dynamically spliced drone structure according to the embodiment of the present invention has the advantages of good controllability, high stability, strong reliability, good flexibility, strong adaptability, etc.

[0006] In addition, the dynamically spliced drone structure according to the above embodiment of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, each of the drone units further comprises a vertical splicing device, and the vertical splicing device is suitable for connecting with the vertical splicing devices of other drone units in the up and down directions.

[0008] According to one embodiment of the present invention, the vertical splicing device is a flexible member.

[0009] According to one embodiment of the present invention, the vertical splicing device is a rigid member.

[0010] According to an embodiment of the present invention, the power device includes a plurality of rotor devices, the frame includes a plurality of rotor arms, and the plurality of rotor devices are respectively arranged on the plurality of rotor arms. The horizontal splicing frame includes a frame docking portion and a plurality of connecting rods. One end of each connecting rod is connected to the frame docking portion, and the plurality of connecting rods are arranged at intervals along the circumference of the frame docking portion. Each connecting rod is located between two adjacent rotor arms.

[0011] According to an embodiment of the present invention, a splicing device is provided on each connecting rod. The splicing device is configured to be detachably connected to the splicing device of other drone units, and when the two splicing devices are connected, the two drone units are electrically connected.

[0012] According to an embodiment of the present invention, each rotor device includes an upper rotor and a lower rotor. The upper rotor and the lower rotor are coaxially arranged and rotate in opposite directions.

[0013] According to an embodiment of the present invention, the rotor device includes a single-layer rotor.

[0014] According to an embodiment of the present invention, a load suspension device is provided below the horizontal splicing frame, and a load is suitable for being suspended on the load suspension device.

[0015] According to an embodiment of the present invention, the coupling device is a cross-axis coupling or a flexible coupling.

[0016] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and be easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic structural diagram of a dynamically spliceable drone structure according to an embodiment of the present invention.

[0019] Figure 2 is a schematic structural diagram of a drone unit of a dynamically spliceable drone structure according to an embodiment of the present invention.

[0020] Figure 3 is a schematic structural diagram of a drone unit of a dynamically spliceable drone structure according to an embodiment of the present invention.

[0021] Reference numerals: The structure of the drone that can be dynamically spliced 1, drone unit 10, frame 100, rotor arm 110, rotor device 200, horizontal splicing frame 300, connecting rod 320, coupling device 400, vertical splicing device 500, load suspension device 600, goods 2. Detailed implementation mode

[0022] This application is made based on the inventor's discovery and recognition of the following facts and problems:

[0023] For the transport drones in the related art, the goods that can be transported are relatively fixed, and it is difficult to transport special-shaped goods or over-sized goods. If multiple drones are used for collaborative transportation, only software formation or flexible connection with connecting cables can be used, and the stability is poor, which easily causes the goods to shake.

[0024] For some drones in the related art, a fixed connection structure is added outside the conventional drone to combine multiple drones for transporting larger-sized goods. However, on the one hand, the connection method is relatively single and it is difficult to adapt to the transportation of goods with different shapes. On the other hand, the relative positions between each rotor and the connection structure are relatively fixed after combination, and the relative positions between each rotor are relatively fixed, which easily generates large internal stresses, making it difficult for each rotor to cooperate with each other, increasing the delay during attitude adjustment, making flight control difficult, and affecting flight stability and energy utilization efficiency.

[0025] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0027] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] The following describes a dynamically spliceable drone structure 1 according to an embodiment of the present invention with reference to the accompanying drawings.

[0029] As Figures 1 - 3 shown, the dynamically spliceable drone structure 1 according to an embodiment of the present invention includes a plurality of drone units 10, and each drone unit 10 includes a frame 100, a power device, a horizontal splicing frame 300, and a coupling device 400.

[0030] The power device is provided on the frame 100. The horizontal splicing frame 300 is adapted to be connected to the horizontal splicing frames 300 of other drone units 10 in the horizontal direction. The coupling device 400 is respectively connected to the frame 100 and the horizontal splicing frame 300, and the coupling device 400 is configured to allow the horizontal splicing frame 300 to swing relative to the frame 100 in the pitch direction and roll direction of the frame 100, and to restrict the horizontal splicing frame 300 from rotating relative to the frame 100 in the yaw direction of the frame 100.

[0031] When it is necessary to transport the goods 2, a plurality of drone units 10 are spliced into a required shape according to the size and shape of the goods 2, so that the horizontal splicing frames 300 of adjacent drone units 10 are connected to each other.

[0032] For example, as Figure 1 shown, four drone units 10 can be spliced into a rectangular drone structure to facilitate the transportation of large-sized square goods. Six drone units 10 can also be spliced into a hexagonal drone structure to facilitate the transportation of spherical or barrel-shaped goods. A plurality of drone units can also be arranged in the same direction to facilitate the transportation of long and slender goods.

[0033] According to the dynamically spliceable drone structure 1 of the embodiment of the present invention, by providing a plurality of drone units 10, a plurality of drone units 10 can be spliced into a required shape according to the size and shape of the goods, so as to adapt to goods of different shapes and sizes, and improve flexibility and adaptability.

[0034] Moreover, by providing the horizontal splicing frame 300, the horizontal splicing frame 300 can be used to connect with other drone units 10. Compared with the related art where software formation or flexible connection is used, multiple drone units 10 can be rigidly combined into a whole, improving the overall stability of the spliced drone structure and preventing the cargo from shaking.

[0035] In addition, by providing the coupling device 400, the coupling device 400 is configured to allow the horizontal splicing frame 300 to swing relative to the frame 100 in the pitch direction and roll direction of the frame 100, and restrict the horizontal splicing frame 300 from rotating relative to the frame 100 in the yaw direction of the frame 100. In this way, compared with the splicable drones in the related art, the coupling device 400 can release the swing freedom of the horizontal splicing frame 300 and the frame 100 in the roll and pitch directions while restricting the relative rotation of the horizontal splicing frame 300 and the frame 100 in the yaw direction, enabling the frame 100 where the power device is located and the horizontal splicing frame 300 to have self-adjusting capabilities in the roll and pitch directions, improving the overall stability and reliability of multiple drone units 10 after splicing, reducing the internal stress between multiple drone units 10 after splicing, reducing the attitude adjustment delay, improving flight controllability, and enhancing the wind resistance performance and energy utilization efficiency.

[0036] Therefore, the dynamically splicable drone structure 1 according to the embodiments of the present invention has advantages such as good controllability, high stability, strong reliability, good flexibility, and strong adaptability.

[0037] The following describes the dynamically splicable drone structure 1 according to specific embodiments of the present invention with reference to the accompanying drawings.

[0038] In some specific embodiments of the present invention, as Figures 1 - 3 shown, the dynamically splicable drone structure 1 according to the embodiments of the present invention includes multiple drone units 10, and each drone unit 10 includes a frame 100, a power device, a horizontal splicing frame 300, and a coupling device 400.

[0039] Specifically, as Figure 3 shown, each drone unit 10 further includes a vertical splicing device 500, and the vertical splicing device 500 is adapted to be connected to the vertical splicing devices 500 of other drone units 10 in the up and down directions. In this way, multiple drone units 10 can also be expanded in the vertical direction through the vertical splicing device 500, thereby increasing the overall load capacity of the drone structure 1 and meeting the transportation requirements in a small space.

[0040] In some embodiments, the vertical splicing device 500 is a flexible member. For example, a sling or the like. This can facilitate the flexible connection of drone units 10 in the vertical direction and provide redundancy for the lift difference between different drone units 10.

[0041] In some other embodiments, the vertical splicing device 500 is a rigid member. This can rigidly connect the drone units 10 in the vertical direction and improve the overall stability.

[0042] Figures 1 - 3 Fig. 1 shows a dynamically spliceable drone structure 1 according to some examples of the present invention. As Figure 2 shown, the power device includes a plurality of rotor devices 200, the frame 100 includes a plurality of rotor arms 110, the plurality of rotor devices 200 are respectively arranged on the plurality of rotor arms 110, the horizontal splicing frame 300 includes a frame docking portion and a plurality of connecting rods 320, one end of each connecting rod 320 is connected to the frame docking portion and the plurality of connecting rods 320 are arranged at intervals along the circumference of the frame docking portion, and each connecting rod 320 is located between two adjacent rotor arms 110. Specifically, there are four rotor devices 200 for each drone unit 10, and four connecting rods 320 for each horizontal splicing frame 300. Each rotor device 200 is located between two adjacent connecting rods 320 in the circumferential direction of the frame docking portion. This can enable the connecting rods 320 to avoid the rotor arms 110. On the one hand, it can prevent the frame 100 from colliding with the horizontal splicing frame 300 and improve flight reliability. On the other hand, it can increase the coverage area of the rotor device 200 in the horizontal plane, effectively improve the overall load capacity, enable the drone structure 1 to perform the best attitude adjustment method, and improve the aerodynamic performance.

[0043] In addition, one or more of the plurality of connecting rods 320 can be used to connect to other drone units 10. Compared with the related art in which software formation or flexible connection is used, a plurality of drone units 10 can be rigidly combined into a whole, improving the overall stability of the spliced drone structure, avoiding cargo shaking. Moreover, compared with the method of using fixed brackets to connect multiple drones, it can improve the flexibility of the combination method of multiple drone units 10, improve the applicability of the dynamically spliceable drone structure 1 to different types, different sizes, and different shapes of goods, and can also perform dynamic splicing on multiple drone units 10 and recombine them into other shapes to cope with different transportation scenarios.

[0044] Specifically, a splicing device is provided on each connecting rod 320. The splicing device is configured to be detachably connected to the splicing device of other drone units 10, and when the two splicing devices are connected, the two drone units 10 are electrically connected. This can enable the connecting rods 320 of adjacent drone units 10 to be connected to each other through the splicing device, facilitating the electrical connection of multiple drone units 10 and facilitating the cooperative control of multiple drone units 10.

[0045] Specifically, the splicing device includes a connection recognition device. After the splicing devices are connected, the connection recognition device is triggered to determine which splicing devices are connected to other drone units 10, so as to judge the connection state of the overall drone structure 1, and adjust the flight strategy according to the connection state of the drone structure 1.

[0046] The dynamically spliceable drone structure 1 further includes a master-slave cooperation system, and the master-slave cooperation system includes a connection relationship generation module and a dynamic election module. The connection relationship generation module is adapted to generate the connection relationships of multiple drone units 10 according to the judgment results of multiple connection recognition devices. The dynamic election module is adapted to set one of the multiple controllers as the master controller and the other controllers as slave controllers according to the connection relationships. This can facilitate the cooperative control of multiple drone units 10. By setting one of the multiple controllers as the master controller, the flight strategies of all drone units 10 can be controlled by one controller during flight, realizing the local control of multiple drone units 10 and avoiding the influence on flight due to factors such as signal transmission.

[0047] For example, the connection recognition device can be a radio frequency identification tag.

[0048] The splicing device further includes an electrical connector, and when two splicing devices are connected, the two electrical connectors are electrically connected.

[0049] Advantageously, each splicing device further includes a guide post and a guide hole, and the guide post is adapted to cooperate with the guide hole of other splicing devices. This can use the guide post and the guide hole to guide when connecting the connecting rod 320 and the splicing device, facilitating the splicing of multiple drone units 10.

[0050] More advantageously, each splicing device further includes a magnetic attraction member, and the magnetic attraction member is adapted to mutually attract the magnetic attraction members of other splicing devices. This can further facilitate the splicing of drone units 10.

[0051] Furthermore, the splicing device includes a buckle and a self-locking member. The buckle is adapted to engage with the buckle of other splicing devices, and the self-locking member is adapted to achieve self-locking after the two buckles are engaged with each other. This can not only facilitate the connection of the splicing device, but also improve the stability of the splicing device after connection.

[0052] In some embodiments, each rotor device 200 includes an upper rotor and a lower rotor. The upper rotor and the lower rotor are coaxially arranged and rotate in opposite directions. In this way, the torques of the upper rotor and the lower rotor of each rotor device 200 can cancel each other out, which can prevent the torque of the rotor from changing after the drones are spliced, thus affecting the control of the flight state, reducing the control difficulty of the dynamically spliceable drone structure 1 after splicing, improving the flight controllability of the dynamically spliceable drone structure 1, preventing the influence on the flight attitude, and enhancing the flight reliability.

[0053] In other embodiments, the rotor device 200 includes a single-layer rotor. This can reduce the overall cost.

[0054] Specifically, as Figure 1 shown, a load suspension device 600 is provided below the horizontal splicing frame 300. The load suspension device 600 is adapted to suspend a load. This can facilitate the suspension of the cargo 2.

[0055] Specifically, a load detection device is provided on the load suspension device 600. This can facilitate the detection of the distribution state of the load, facilitate the timely adjustment of the flight strategy, prevent the load from swaying due to the offset of the center of gravity, and avoid affecting the flight state.

[0056] Optionally, the coupling device 400 is a cross-axis coupling or a flexible coupling. For example, the flexible coupling can be an 8-shaped coupling.

[0057] Other configurations and operations of the dynamically spliceable drone structure 1 according to the embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0058] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0059] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A dynamically spliceable drone structure, characterized in that, Comprising a plurality of drone units, each of the drone units comprising: A frame; A power device, the power device being provided on the frame; A horizontal splicing frame, the horizontal splicing frame being adapted to be connected to the horizontal splicing frames of other drone units in the horizontal direction; A coupling device, the coupling device being respectively connected to the frame and the horizontal splicing frame, the coupling device being configured to allow the horizontal splicing frame to swing relative to the frame in the pitch direction and roll direction of the frame, and to restrict the horizontal splicing frame from rotating relative to the frame in the yaw direction of the frame.

2. The dynamically spliceable UAV structure according to claim 1, characterized in that, Each of the drone units further comprises a vertical splicing device, the vertical splicing device being adapted to be connected to the vertical splicing devices of other drone units in the up and down direction.

3. The dynamically spliceable UAV structure according to claim 2, characterized in that, The vertical splicing device is a flexible member.

4. The dynamically spliceable UAV structure according to claim 2, wherein, The vertical splicing device is a rigid member.

5. The dynamically spliceable UAV structure according to claim 1, wherein, The power device comprises a plurality of rotor devices, the frame comprises a plurality of rotor arms, the plurality of rotor devices are respectively provided on the plurality of rotor arms, the horizontal splicing frame comprises a frame docking portion and a plurality of connecting rods, one end of each connecting rod is connected to the frame docking portion and the plurality of connecting rods are arranged at intervals along the circumference of the frame docking portion, and each connecting rod is located between two adjacent rotor arms.

6. The dynamically spliceable UAV structure according to claim 5, wherein, A splicing device is provided on each connecting rod, the splicing device being configured to be detachably connected to the splicing device of other drone units and the two drone units being electrically connected when the two splicing devices are connected.

7. The dynamically spliceable UAV structure according to claim 5, characterized in that Each rotor device comprises an upper rotor and a lower rotor, the upper rotor and the lower rotor being coaxially arranged and rotating in opposite directions.

8. The dynamically spliceable UAV structure according to claim 5, wherein The rotor device comprises a single-layer rotor.

9. The dynamically spliceable drone structure according to claim 1, characterized in that, A load suspension device is provided below the horizontal splicing frame, and a load is adapted to be suspended on the load suspension device.

10. The dynamically spliceable UAV structure according to claim 1, wherein, The coupling device is a cross-axis coupling or a flexible coupling.

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