Multi-rotor aircraft

Abstract

An unmanned hydraulic multi-rotor aircraft (1) comprising a hydraulic pump (14) for powering at least two rotors (2, 3) of the aircraft (1) wherein at least one rotor (3) of the plurality of rotors comprises a controller for overall pitch variation (26), optionally also for periodic pitch variation (27).

Description

Technical Field

[0001] This application relates to a multi-rotor aircraft as claimed in the claims. Background Technology

[0002] Hydraulically driven aircraft have been known for quite some time. One such document that discloses such an aircraft is document WO2016068784A1 (ACC). However, more existing documents have also been published, such as EP3450312A1, which discloses a quadcopter configuration in which all pumps are on a common shaft, consistent with document WO2016068784A1. None of the aforementioned documents have been mass-produced. To this day, only a single prototype exists. Summary of the Invention

[0003] Operating a hydraulically powered aircraft on the ground has been found to be difficult. Similarly, controlling a multi-rotor hydraulically powered aircraft is also a challenge. To address this challenge, a hydraulically powered multi-rotor aircraft has been proposed, comprising at least two rotors. The aircraft also includes at least two hydraulic motors and at least two connecting lines to the hydraulic motors. The aircraft further includes at least one hydraulic pump. Preferably, the hydraulic pump is configured with a variable displacement. The hydraulic pump is connected to the hydraulic motors via hydraulic connecting lines to provide power to the motors. The aircraft may also optionally include at least two rotor spar assemblies, on which corresponding rotors and motors are optionally mounted. At least one rotor includes overall pitch control, and preferably also includes cyclic pitch control, optionally including a swashplate, wherein the hydraulic pump comprises at least two segmented pumps connected to the respective rotor. The aircraft also includes a control unit arranged to control the hydraulically powered aircraft by controlling the overall pitch of at least one rotor.

[0004] The advantage is that the control of the aircraft is greatly improved. The control of the aircraft has been significantly improved, especially for larger hydraulically powered aircraft, where traditional control methods rely solely on controlling the rotational speed of a single rotor for flight control.

[0005] In a further development, a hydraulic aircraft according to claim 2 was disclosed.

[0006] By incorporating folding sections, the aircraft can be positioned compactly for transport. Particularly advantageous is the foldable main body, as this allows for compactness in a manner unusual for aircraft. A hydraulic power system facilitates folding.

[0007] In a further development, a hydraulic aircraft according to claim 3 was disclosed.

[0008] By also incorporating folding sections on the beam assembly, the aircraft could be made particularly compact for transport.

[0009] In a further development, a hydraulic aircraft according to claim 4 was disclosed.

[0010] This is a simple way to control the lift provided by the rotor.

[0011] In a further development, a hydraulic aircraft according to claim 5 was disclosed.

[0012] The control valve adds excellent controllability to a specific rotor.

[0013] In a further development, a hydraulic aircraft according to claim 6 was disclosed.

[0014] For rotors with integral pitch, we have excellent control over the lift of a specific rotor. Increasing or switching to cyclic pitch provides even more control. By having more than one rotor with integral pitch and optionally cyclic pitch, hydraulic aircraft achieve excellent maneuverability and low sensitivity to disturbances from wind and other forces.

[0015] In a further development, a hydraulic aircraft according to claim 7 was disclosed.

[0016] By applying pumps that are more controllable than simple hydraulic pumps, greater control can be added to the flow and pressure of the aircraft's motors. This will increase control in a way that can be used for redundancy, for example, if the overall pitch or control valves cease to operate, or in conjunction with these control configurations, to increase or decrease the lift of individual rotors.

[0017] In a further development, a hydraulic aircraft according to claim 8 was disclosed.

[0018] The simple pump solution makes it possible to simplify the aircraft and also make it more robust.

[0019] In a further development, a hydraulic aircraft according to claim 9 was disclosed.

[0020] The preferred configuration is a quadcopter configuration. This provides excellent control and improves redundancy. If something happens to the other rotors, three rotors or even two rotors can keep the aircraft flying. The aircraft can also have more rotors, such as eight rotors, with a pair of rotors on the same rotor axis.

[0021] In a further development, a hydraulic aircraft according to claim 10 was disclosed.

[0022] Hydraulic aircraft can be controlled very effectively and easily if all rotors have integral pitch control, and optionally cyclic pitch control as well. Very advanced flight configurations, such as reverse flight, can also be achieved. The combination of hydraulic power and integral pitch control, and optionally cyclic pitch control, offers possibilities for controlling aircraft that were previously unknown.

[0023] In a further development, a hydraulic aircraft according to claim 11 was disclosed.

[0024] The advantage of using one or more rudders is that the rotor does not need a large amount of overpower to provide yaw motion. Furthermore, it reduces rotor inertia and greatly improves aircraft control.

[0025] In a further development, a hydraulic aircraft according to claim 12 was disclosed.

[0026] The advantage of extending the rudder along a line parallel to the radius of the corresponding rotor is the simplicity and effectiveness of control. Furthermore, by preventing the rudder from extending along the entire radius, lighter yet still effective control is achieved via the rudder itself.

[0027] In a further development, a hydraulic aircraft according to claim 13 was disclosed.

[0028] The rotary axis solution is ingenious and provides good control of the rudder, and consequently, good control of the aircraft.

[0029] In a further development, a hydraulic aircraft according to claim 14 was disclosed.

[0030] Using fixed-wing aircraft can significantly reduce power consumption during transitional flight.

[0031] In a further development, a hydraulic aircraft according to claim 15 was disclosed.

[0032] By using pusher and / or puller propellers, aircraft can be built faster, and specific propellers can be optimized to power the aircraft with less power than rotors. Attached Figure Description

[0033] Figure 1 A first hydraulic aircraft according to this disclosure is disclosed.

[0034] Figure 2 A second hydraulic aircraft according to this disclosure is disclosed.

[0035] Figure 3 It was revealed that it was in a folded state. Figure 2 Hydraulic aircraft.

[0036] Figure 4 A hydraulic pump according to this disclosure is disclosed.

[0037] Figure 5 A hydraulic aircraft based on this disclosure is disclosed.

[0038] Figure 6 A hydraulic aircraft based on this disclosure is disclosed. Detailed Implementation

[0039] This disclosure relates to an aircraft 1. In particular, this disclosure relates to a hydraulic aircraft. This means that the power of aircraft 1 is generated through a hydraulic system that provides the power to lift and move in the air. The aircraft is unmanned. This means that there is no pilot on board. However, this should not be interpreted as meaning that aircraft 1 is small; in particular, the aircraft is capable of lifting any load of any weight. The hydraulic power of aircraft 1 is highly optimized for lifting large loads. The aircraft can have many uses, such as rescue, lifting buildings (e.g., windmills), operating as an aerial crane, firefighting, etc. The aircraft is designed for unmanned operation. Even if a person can be lifted and transported by aircraft 1, the aircraft is preferred to be an unmanned hydraulic aircraft.

[0040] Figure 1 A first variant of the hydraulic aircraft 1 was disclosed. This aircraft has at least two rotors 2 and 3. Figure 1 In the image, the rotor is drawn in perspective, solely to better reveal the details. Figure 1 It should not be interpreted that rotors 2, 3, 4, and 5 point upwards in the diagram, i.e., within the plane of the "paper". Therefore, in Figure 1 In this context, it should be understood that rotors 2, 3, 4, and 5 point upwards from the "paper". This definition is applicable to... Figure 2 , Figure 3 and Figure 5 That's correct too. Figure 2 , Figure 3 , Figure 5 , Figure 6 The line 40 that also exists is merely the peripheral line formed by the outer periphery of the rotor disk when the corresponding rotor rotates.

[0041] Figure 1 The structure is a quadcopter structure, that is, a quadcopter aircraft structure. Rotors 2, 3, 4, and 5 are all powered by hydraulic fluid, which flows to the corresponding hydraulic lines 10, 11, 12, and 13. Figure 4Hydraulic pump 14 provides pressurized fluid. Hydraulic lines 10, 11, 12, and 13 all lead to corresponding hydraulic motors 6, 7, 8, and 9. Control unit 32 is located in aircraft 1 to control the hydraulic aircraft 1. At least one rotor 3 is equipped with integral pitch control 26. Periodic pitch control 27 may also be used. If periodic pitch control is applied, the control system includes swashplate 33.

[0042] It may have a main body 24, which is a central box-shaped device. The main body 24 may hold most of the applied technologies, such as the hydraulic pump 14 and the control unit 32.

[0043] Therefore, the control unit 32 is typically arranged to control the overall pitch 26 and / or cyclic pitch of the hydraulic aircraft 1. The control unit 32 can be a central control unit, which is the sole control unit of the hydraulic aircraft, thereby controlling all functions. The central control unit 32 can also be a main control unit, which controls and communicates with other control units or devices, sensors, etc., of the hydraulic aircraft 1. Alternatively, there may be dedicated control units for controlling the overall pitch and / or cyclic pitch, used to control the hydraulic aircraft 1.

[0044] like Figure 1 As shown, beam devices 20, 21, 22, and 23 can be optionally included. The beam devices extend from the main body 24 of the hydraulic aircraft 1.

[0045] It should be noted that other numbers of rotors are also possible; for example, an octocopter configuration with four rotor pairs provides redundancy. For an octocopter configuration, it is preferred that each rotor pair rotates in opposite directions. However, five, six, nine, ten, and more rotors are also possible. As described in this disclosure, each rotor should be controllable, either through overall pitch, overall and periodic pitch, and / or variable rotational speed. Figure 1 The quadcopter structure was revealed. Figure 2 The structure of the three rotors has been revealed. Figure 5 The dual-rotor structure was revealed.

[0046] Hydraulic pump 14 includes segmented pump 14a. Each segmented pump 14a, 14b, 14c, 14d is dedicated to supplying hydraulic fluid to the corresponding hydraulic motors 6, 7, 8, 9.

[0047] Hydraulic motors 6, 7, 8, and 9 can be gear motors. They can also be bent-shaft hydraulic motors, i.e., fixed-displacement motors. However, other types of hydraulic motors are conceivable, such as vane motors, cycloidal motors, axial piston motors, or radial piston motors, which push pistons inward or outward.

[0048] The rotors 2, 3, 4, and 5 of all the hydraulic aircraft 1 disclosed in this disclosure can be of two types. One type is... Figure 1The fixed rotors 2 and 5 in the first type cannot change any angle of the rotor blades during flight. They can still have a variable pitch, but not in a way that allows control of the aircraft 1. Control of the rotor and the lift from it is achieved by changing the rotor's rotational speed. The second type of rotor is the rotor with integral pitch 26. This is typically used to control the tail rotor of a helicopter. Moreover, the main rotor of a helicopter has integral pitch, but most often in combination with cyclic pitch. The rotor blades can change angle through integral pitch 26, causing the lift from the rotor disk of rotor 3 to increase or decrease at a constant rotational speed. Generally, integral pitch 26 allows for very rapid lift control, which significantly improves maneuverability compared to fixed rotor types that control changes by rotational speed. The use of integral pitch 26 and all rotors 2, 4, 5, and 6 provides a very good concept for hydraulically powered quadcopters or multi-rotor aircraft with even more rotors. Therefore, it should be understood that a constant rotational speed of all rotors combined with overall pitch control and / or cyclic pitch control of the rotor blades is the preferred method for controlling the hydraulic aircraft 1. And it should be understood that a constant speed preferably means that all included rotors rotate at substantially the same speed.

[0049] Rotors 2, 3, 4, and 5 are arranged to rotate in a direction that cancels out the torque on the aircraft due to the rotation of the rotors. For example, in Figure 1 In the middle, rotors 2 and 5 can rotate clockwise, while rotors 3 and 4 can rotate counterclockwise.

[0050] Another possibility is the inclusion of cyclic pitch 27, which would necessitate a swashplate 33. Cyclic pitch even allows for alteration of the lift direction of the rotor 3 with this configuration. It is possible to change the lift for directional control.

[0051] Hydraulic connection lines 10, 11, 12, and 13 may have control valves 28, 29, 30, and 31. These valves can be used to control the flow of fluid to or from the corresponding rotor. Figure 1 , Figure 2 , Figure 3 , Figure 5 Not fully shown, hydraulic lines 10, 11, 12, and 13 are loops. That is, lines from pump 14 to the corresponding hydraulic motor and back to pump 14. It should also be noted that valves 28, 29, 30, and 31 can be located on the inlet side of the corresponding hydraulic motor, or on the outlet side, or the valves can be included at each section of pump 14 or within each section of pump 14. These valves can be used to control the fluid reaching the corresponding motor, or to completely control the flow, or to increase control over the flow from the pump, which can be controlled individually by pump 14.

[0052] As described above, the hydraulic pump 14 has segmented pumps 14a, 14b, 14c, and 14d. The segmented pumps are designed to supply fluid pressure to corresponding hydraulic motors. One or more, or all, of the segmented pumps may have multiple chambers with periodically changing volumes. The chambers are controlled by control valves, such that at least one segmented pump 14a is controlled to deliver a predetermined varying hydraulic flow rate at each moment. Thus, for example... Figure 1 The control of rotor 2 can be achieved by changing the displacement of one of the segmented pumps 14a, etc. It should be understood that this control arrangement is the same as discussed above regarding control valves 28, 29, 30, and 31. Displacement control can be performed by the central control unit 32. However, a dedicated control unit 34 can be provided, such as... Figure 4 As shown, this is used to control variable displacement. It should be understood that segmented pumps 14a, 14b, 14c, and 14d can be controlled independently. Therefore, it is possible to make one pump 14b deliver only a constant pressure / flow rate to the corresponding motor 7, while simultaneously another segmented pump 14a delivers a variable flow rate to the corresponding motor 6. In this configuration, the control of the first rotor 2 can be achieved through the variable displacement of the first segmented pump 14a, and the control of the second rotor 3 can be achieved through the coordination of the overall pitch 26 and / or the overall pitch 26 with the periodic pitch 27; the third rotor 4 can also be controlled in this way. The fourth rotor 5 can be controlled by the corresponding segmented pump 14d that delivers a constant flow rate / pressure of hydraulic fluid, but the control valve 31 is operated by the motor 9 to change the rotation of rotor 5. It is also conceivable, for example, for the first rotor 2, that segmented pump 14a is controlled and delivers a varying displacement, i.e., pressure / flow rate, and the control valve 28 is also controlled accordingly. This coordination provides even greater controllability for this rotor 2. This implementation can be used with any rotor, at least one rotor with integral pitch control 26, or at least one rotor with both integral pitch control 26 and cyclic pitch control 27. Therefore, the constructed system provides highly flexible control over the aircraft 1.

[0053] The segmented pumps 14a, 14b, 14c, and 14d can be arranged on a common shaft 28 that powers all the segmented pumps at the same rotational speed.

[0054] Pump 14 is powered by power unit 35. Power unit 35 can be an electric motor, for example, powered by a battery. The electric motor can also be powered by a ground wire connected to aircraft 1. Power unit 35 can also be, for example, an internal combustion engine using gasoline. Power unit 35 can also be, for example, a gas turbine operating on jet fuel.

[0055] The hydraulic multirotor aircraft 1 can have folding sections 15, 16, 17, 18, and 19. Specifically, the main body 24 can have folding section 15. The folding section can be arranged in a mechanically lockable configuration that can be locked in place. It can have a flexible, stretchable material bellows. This material can be a synthetic mesh or even a rubber arrangement. Specifically, rubber bellows can be arranged on the mechanical hinges to prevent water from entering the aircraft. There can be one or more folding sections, particularly if the applied beam assembly 20, 21, 22, and 23 are included, each beam can have a corresponding folding section 16, 17, 18, and 19. Therefore, the aircraft 1 can be manufactured very compactly for transport, as the folding sections are used to fold the aircraft 1; see [reference needed]. Figure 3 From Figure 2 A folded version of the aircraft 1a.

[0056] Beam devices 20, 21, 22, and 23 can be used to move rotors 2, 3, 4, and 5 away from each other, preventing them from interfering with each other. Furthermore, rotors farther from the center of aircraft 1 can be controlled more effectively using levers. It should be understood that if a more compact aircraft 1 is required, the rotors can be positioned at different heights relative to each other, so that the rotors do not intersect.

[0057] The aircraft may have two or more rotors 3, 4 whose overall pitch 26 optionally cooperates with cyclic pitch 27, such as Figure 5 As shown. The positions of the fixed-pitch rotors 2 and 5 and the integrally variable-pitch and optionally cyclically variable-pitch rotors 3 and 4 are such that the distance between the two integrally variable-pitch and optionally cyclically variable-pitch rotors should be equal to or greater than the distance between one of the two integrally variable-pitch and optionally cyclically variable-pitch rotors and the nearest fixed-pitch rotor. Therefore, it can be said that the predetermined distance should be the longest possible distance between two rotors having either integrally variable-pitch 26 or both integrally variable-pitch 26 and cyclically variable-pitch 27.

[0058] Therefore, the control unit 32 is arranged to control the overall pitch 26 of at least one rotor 3, or preferably the overall pitch of all rotors equipped with the overall pitch 26. The control unit 32 can also control the pump motor 35 of the pump 14. The control unit 32 can also control valves 28, 29, 30, and 31, which control the flow in the hydraulic connection lines. The control unit 32 can therefore control the servo system used for controlling the overall pitch 26. The control unit 32 can also control the servo system used for controlling the optional periodic pitch 27.

[0059] Figure 2 The hydraulic multi-rotor aircraft 1a has three rotors, with two rotors 2 and 4 in the figure having a fixed pitch. Aircraft 1a is otherwise similar to... Figure 1The preferred option could be to not have a fixed-pitch rotor, but instead apply integral variable pitch 26 to all rotors, such as... Figure 6 As shown. Alternatively, cyclic pitch 27 can be considered for one or more rotors with overall pitch.

[0060] Figure 5 The hydraulic multi-rotor aircraft 1b has only two rotors 3a and 4a. These two rotors preferably have an integral pitch variable 26 and a cyclic pitch variable 27 for optimal control of the aircraft 1b. This provides optimal control of the aircraft 1b. It is also conceivable that one rotor has a fixed pitch, and the other rotor has both an integral pitch variable 26 and a cyclic pitch variable 27. The rotor with the fixed pitch is then controlled by changing its rotational speed.

[0061] It should be noted that all rotors of any configuration can have both overall pitch control and optional cyclic pitch control for controlling the corresponding aircraft 1, 1a, 1b, 1c, etc. (See also...) Figure 6 Therefore, it is possible to have no rotor with a fixed pitch on aircraft 1. It should also be understood that there are no anticipated differences between the aforementioned variants 1, 1a, 1b, and 1c of the multi-rotor aircraft.

[0062] Control of any disclosed aircraft can also be performed via a remote control device, therefore any aircraft 1, 1a, 1b, 1c can be controlled by an operator from the ground. It should also be understood that the hydraulic multirotor aircraft 1, 1a, 1b, 1c can be controlled by control unit 32 and therefore fly in a predetermined flight mode.

[0063] Aircraft 1, 1a, 1b, and 1c may also include navigation capabilities in the form of GPS, GLONASS, Galileo, etc.

[0064] Figure 3 According to Figure 2 A folding aircraft. Its compactness is easily seen from the diagram itself. The hydraulic power system provides a simple arrangement for folding the aircraft.

[0065] Figure 6 A variant of the hydraulic aircraft 1c with a rudder configuration is disclosed. It should be understood that, depending on control requirements, it can have one, two, three, or four rudders. That is, one rudder per rotor; if there are more than four rotors, there are more than four rudders. However, if there are coaxially positioned rotors, such as counter-rotating rotors, one rudder per pair of rotors can also be a good solution. Figure 6The preferred configuration for the aircraft is one rudder per rotor. Rudders 41, 42, 43, and 44 are essentially plates made of a robust material, such as carbon fiber, aluminum, or titanium. Rudders 41, 42, 43, and 44 are attached to corresponding shafts 37, 38, 39, and 40, which can rotate independently. An angled rotation or turning of the rudder will redirect the airflow from the corresponding rotor. This improves the aircraft's control. The rudders may optionally extend radially along the rotor, but below it. The extension can be half the total length of the rotor, i.e., the length of the rotor blades. However, it is preferable to have an extension that does not reach the rotor's center of rotation and is not the entire length from the rotor to the wingtip. This provides optimal control with minimal weight. It should be noted that... Figure 6 The size and angle of the rotors are arbitrary. The rotors can have any large size. It should be noted that, by using rudders, rotors 41, 42, 43 and 44 can be made smaller and have less weight compared to aircraft without rudders, especially when controlling the yaw of aircraft 1c.

[0066] Hydraulic aircraft can also have a fixed-wing configuration, with two main wings and possibly a horizontal stabilizer with elevators and a vertical stabilizer with rudders. Ailerons can also be present on the wings. A propeller or pusher propeller can also be used to drive the hydraulic aircraft in aircraft mode. This is particularly advantageous because it significantly expands the range of the aircraft.

Claims

1. A hydraulic multi-rotor aircraft (1) comprising: - at least two rotors (2, 3); - at least two hydraulic motors (6, 7); - at least two hydraulic coupling lines (10, 11); - at least one hydraulic pump (14), preferably a pump provided with variable displacement, optionally comprising a respective segmented pump (14a; 14b) providing flow to a respective hydraulic motor (6, 7), wherein the hydraulic pump (14) is connected to the hydraulic motors (6, 7) through the hydraulic coupling lines (10, 11) for powering the motors (2, 3) connected to the respective rotors (2, 3); and optionally at least two rotor boom arrangements (20, 21) on which the respective rotors (2, 3) and motors (6, 7) are optionally mounted, characterized in that at least one rotor (3) comprises collective pitch (26) control and preferably cyclic pitch (27) control, optionally the cyclic pitch (27) control comprising a swash plate (33), wherein the hydraulic multi-rotor aircraft further comprises a control unit (32; 34) arranged to control the hydraulic aircraft (1) by controlling at least the collective pitch (26) of the at least one rotor (3).

2. The multicopter aircraft (1) according to claim 1, wherein The body (24) of the hydraulic multi-rotor aircraft (1) of the aircraft (1) comprises at least one folding section (15).

3. The multicopter according to any of the preceding claims, wherein, One of the at least two boom arrangements (20, 21) of the aircraft (1) comprises at least one folding section (16).

4. The multicopter according to any of the preceding claims, wherein, Control of the aircraft (1) is at least partially achieved by controlling the speed of at least one rotor (2) through a central control unit (32; 34) or a dedicated control unit (34), wherein the speed is achieved by controlling the flow of hydraulic fluid to at least one rotor (2).

5. The multicopter aircraft (1) according to claim 4, wherein Control of the aircraft (1) is at least partially achieved by providing a constant volume of hydraulic fluid to at least one rotor (3) via a hydraulic line (10) providing hydraulic fluid to a motor (6) of at least one rotor (2), and in addition, a control valve (28) controls the final volume of hydraulic fluid delivered to or exiting from the motor (6).

6. The multicopter aircraft (1) according to any one of the preceding claims, wherein, At least two rotors (3, 4) of the plurality of rotors have collective pitch and optionally cyclic pitch (26, 27), preferably the at least two rotors (3, 4) having collective pitch and optionally cyclic pitch (26, 27) have a predetermined positional relationship such that the distance between the two rotors (3, 4) is equal to or greater than the distance between one of the two rotors (3, 4) and a rotor (5) additionally comprised by the multi-rotor aircraft (1).

7. The multicopter aircraft (1) according to any one of the preceding claims, wherein, At least one segmented pump (14a) dedicated to at least one motor (6) associated with a predetermined rotor (2) comprises a plurality of working chambers with cyclically varying volume, wherein said plurality of working chambers is controlled by a control valve, so that said at least one segmented pump (14a) is controlled to deliver a predetermined varying hydraulic flow at each instant, wherein the control of at least one rotor (2) is achieved by varying the displacement of one of the segmented pumps (14a) of said hydraulic pump (14) and this segmented pump (14a) is coupled to the hydraulic line (10) coupled to the motor (6) of said at least one rotor (2), preferably more than one segmented pump is of the same type, even more preferably all segmented pumps (14a, 14b, 14c, 14d) are of the same type.

8. The multicopter aircraft (1) according to any one of the preceding claims, wherein, At least one or all of the plurality of hydraulic segmented pumps (14a, 14b) is substantially a hydraulic pump or a variable displacement pump, said hydraulic pump or said variable displacement pump being controlled to deliver a constant flow of hydraulic fluid in the corresponding hydraulic line (10, 11).

9. The multicopter (1) according to any of the preceding claims, wherein, The aircraft (1) comprises at least four rotors (2, 3, 4, 5), four motors (6, 7, 8, 9), four hydraulic lines (10, 11, 12, 13) and four hydraulic segmented pumps (14a, 14b, 14c, 14d), each hydraulic motor, hydraulic line and segmented pump being arranged dedicated to one dedicated rotor.

10. The multicopter aircraft (1) according to any one of the preceding claims, wherein, All rotors of the aircraft (1) comprise collective pitch (26) and optionally cyclic pitch (27) control.

11. The multicopter (1) according to any one of the preceding claims, wherein At least one, preferably all, of the rotors (2, 3, 4, 5) comprises a rudder (41, 42, 43, 44) using air flow and arranged below the corresponding rotor (2, 3, 4, 5) to control the aircraft (1) at least in terms of yaw.

12. The multicopter aircraft (1) according to claim 11, wherein The rudder (41, 42, 43, 44) is positioned along the radius of the corresponding rotor, preferably the rudder extends in such a way as to be at a predetermined distance from the center of the rotor (2, 3, 4, 5) in radial direction and at a predetermined distance from the outer limit of the rotor in radial direction.

13. The multicopter (1) according to claim 11 or 12, wherein The rudder (41, 42, 43, 44) is attached to a corresponding shaft (37, 38, 39, 40), wherein the shaft is individually rotatable for controlling the rudder angle of the air flow from the corresponding rotor (2, 3, 4, 5).

14. The multicopter (1) according to any one of the preceding claims, wherein, The aircraft further comprises a fixed wing for providing lift when flying forward.

15. The multicopter aircraft (1) according to claim 14, wherein The aircraft (1) further comprises a propeller of the pusher and / or puller type for providing power for flying forward.

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