Multi-rotor unmanned aerial vehicle, power control system and power control method

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle, a power control system and a power control method, and relates to the technical field of unmanned aerial vehicles, and the multi-rotor unmanned aerial vehicle comprises a vehicle body, vehicle arms, a main power device and an auxiliary power device. The at least two vehicle arms are arranged on the vehicle body, and the at least two main power devices are arranged on the vehicle arms. The at least two auxiliary power devices are arranged on the vehicle arm, and the auxiliary power devices and the main power device are distributed in the extending direction of the vehicle arm at intervals. When the main power device is normal, the auxiliary power device is in a non-working state; when the main power device breaks down, the auxiliary power device provides power guarantee for the unmanned aerial vehicle. According to the scheme, the at least two auxiliary power devices are arranged on the vehicle arms, a main power and auxiliary power cooperative system is formed, power loss can be rapidly compensated when the main power devices fail, the fault-tolerant capability and flight stability of the unmanned aerial vehicle are improved, and the unmanned aerial vehicle is more stable. And the safety and reliability of the unmanned aerial vehicle in a complex environment and a task key scene can be improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a multi-rotor UAV, a power control system, and a power control method. Background Technology

[0002] Multirotor drones are widely used in aerial photography, surveying, agricultural plant protection, logistics, and emergency rescue due to their advantages such as vertical takeoff and landing, stable hovering, and high maneuverability. Among them, hexacopter multirotor drones are a common type, using differential control of multiple propellers to achieve attitude adjustment and flight control. However, these drones generally lack redundancy in their power systems, and their overall reliability is significantly affected by the failure of a single power unit. If a propeller or motor fails, the resulting power imbalance will cause reverse torque damage, leading to severe flight instability and even a crash.

[0003] In existing technologies, fault response typically relies solely on algorithmic compensation from the flight control system or adjustments to the rotational speed of the remaining motors. However, these software-based fault-tolerance methods have limited response speeds and struggle to maintain stable flight under severe power imbalances. Furthermore, current multi-rotor UAVs have not yet incorporated auxiliary power systems into their structure to provide emergency thrust compensation. Due to the lack of an effective power redundancy mechanism, when a single power unit fails, the airframe cannot obtain timely compensating power, leading to uncontrollable UAV attitude, mission interruption, or even crashes, severely impacting the safety and reliability of UAVs in critical mission scenarios. Summary of the Invention

[0004] The purpose of this application is to provide a multi-rotor unmanned aerial vehicle (UAV), a power control system, and a power control method, aiming to solve the technical problems of insufficient power system redundancy and UAV attitude loss of control after single power failure in the prior art.

[0005] To achieve the above objectives, this application provides a multi-rotor unmanned aerial vehicle (UAV), the multi-rotor UAV comprising: The fuselage and the arms, wherein there are at least two arms, and the two arms are respectively disposed on the fuselage; A main power unit, the number of which corresponds one-to-one with the number of the robotic arms, and the main power unit is disposed on the robotic arm; An auxiliary power unit, wherein the number of the auxiliary power units is at least two, and the at least two auxiliary power units are respectively disposed on the arm, and the auxiliary power units and the main power unit are distributed at intervals along the extension direction of the arm; When the main power unit is operating normally, the auxiliary power unit is in a non-operating state; when the main power unit malfunctions, the auxiliary power unit provides power support for the UAV.

[0006] In one embodiment, the main power unit includes a main propeller and a main motor. The main propeller is disposed on the arm, and the rotation axis of the main propeller is perpendicular to the axis of the arm. The main motor is connected to the main propeller in a transmission manner.

[0007] In one embodiment, the auxiliary power unit includes an auxiliary propeller and an auxiliary motor. The auxiliary propeller is disposed on the arm, and the rotation axis of the auxiliary propeller is perpendicular to the axis of the arm. The rotation axis of the auxiliary propeller is perpendicular to the rotation axis of the main propeller, and the auxiliary motor is drivenly connected to the auxiliary propeller.

[0008] In one embodiment, the auxiliary power unit includes a duct, an auxiliary propeller, and an auxiliary motor. The duct is disposed in the arm, the auxiliary propeller passes through the duct, the axis of the duct is perpendicular to the axis of the arm, the rotation axis of the auxiliary propeller is collinear with the axis of the duct, the rotation axis of the auxiliary propeller is perpendicular to the rotation axis of the main propeller, and the auxiliary motor is drively connected to the auxiliary propeller.

[0009] In one embodiment, the duct includes a channel and a support, the channel being fixedly connected to the support and the support being detachably connected to the machine arm.

[0010] In one embodiment, the number of robotic arms is six, and the number of auxiliary power devices is two. The two auxiliary power devices are respectively disposed on any two of the six robotic arms, and the two auxiliary power devices are symmetrically distributed around the center of the machine body.

[0011] In one embodiment, the number of robotic arms is six, all six robotic arms are disposed on the body, and the six robotic arms are distributed in a ring-shaped interval around the center of the body. The number of auxiliary power devices is also six, and the six auxiliary power devices are respectively disposed on the six robotic arms.

[0012] In one embodiment, the auxiliary power unit is located closer to the fuselage than the main power unit.

[0013] Furthermore, this application also provides a power control system for a multi-rotor unmanned aerial vehicle (UAV), the system being applied to the multi-rotor UAV as described above, the system comprising: A power detection module is connected to the main power device. The power detection module is used to collect the power parameter signals of the main power device and output the power parameter signals. A power control module is connected to both the power detection module and the auxiliary power device. The power control module is used to control the start and stop of the auxiliary power device according to the power parameter signals.

[0014] Furthermore, this application also provides a power control method for a multi-rotor unmanned aerial vehicle (UAV), the method being applied to the multi-rotor UAV as described above, the method comprising: Collect the power parameter signals of the main propulsion device and output the power parameter signals; The auxiliary power unit is started and stopped according to the power parameter signals.

[0015] The above-mentioned technical solution of this application has at least the following beneficial technical effects: The technical solution of this application forms a coordinated system of active and auxiliary power by setting at least two auxiliary power devices on the arm. This system can quickly compensate for power loss when the active power device fails, thereby improving the fault tolerance and flight stability of the UAV and enhancing its safety and reliability in complex environments and mission-critical scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the multi-rotor unmanned aerial vehicle provided in this application; Figure 2 yes Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a schematic diagram of another embodiment of the multi-rotor unmanned aerial vehicle provided in this application; Figure 4 A schematic diagram of a module of an embodiment of the power control system of the multi-rotor unmanned aerial vehicle provided in this application; Figure 5 This is a flowchart illustrating an embodiment of the power control method for a multi-rotor unmanned aerial vehicle provided in this application.

[0017] Figure label: 1. Fuselage; 2. Arm; 3. Main propulsion unit; 31. Main propeller; 32. Main motor; 4. Auxiliary power unit; 41. Auxiliary propeller; 42. Auxiliary motor; 43. Duct; 431. Channel; 432. Support; 5. Power detection module; 6. Power control module. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this application. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0019] The embodiments described in this application are only some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments described herein without inventive effort are within the scope of protection of this application.

[0020] Multirotor drones are widely used in aerial photography, surveying, agricultural plant protection, logistics, and emergency rescue due to their advantages such as vertical takeoff and landing, stable hovering, and high maneuverability. Among them, hexacopter multirotor drones are a common type, using differential control of multiple propellers to achieve attitude adjustment and flight control. However, these drones generally lack redundancy in their power systems, and their overall reliability is significantly affected by the failure of a single power unit. If a propeller or motor fails, the resulting power imbalance will cause reverse torque damage, leading to severe flight instability and even a crash.

[0021] In existing technologies, fault response typically relies solely on algorithmic compensation from the flight control system or adjustments to the rotational speed of the remaining motors. However, these software-based fault-tolerance methods have limited response speeds and struggle to maintain stable flight under severe power imbalances. Furthermore, current multi-rotor UAVs have not yet incorporated auxiliary power systems into their structure to provide emergency thrust compensation. Due to the lack of an effective power redundancy mechanism, when a single power unit fails, the airframe cannot obtain timely compensating power, leading to uncontrollable UAV attitude, mission interruption, or even crashes, severely impacting the safety and reliability of UAVs in critical mission scenarios.

[0022] To address the aforementioned technical problems, this application provides a multi-rotor unmanned aerial vehicle (UAV). Please refer to [link / reference]. Figure 1 and Figure 2 In one embodiment of this application, the multi-rotor unmanned aerial vehicle (UAV) includes a fuselage 1, arms 2, a main propulsion unit 3, and auxiliary power units 4. There are at least two arms 2, each mounted on the fuselage 1. The number of main propulsion units 3 corresponds one-to-one with the number of arms 2, and each main propulsion unit 3 is mounted on an arm 2. There are at least two auxiliary power units 4, each mounted on an arm 2, and the auxiliary power units 4 and main propulsion units 3 are spaced apart along the extension direction of the arms 2. When the main propulsion unit 3 is operating normally, the auxiliary power units 4 are in a non-operating state; when the main propulsion unit 3 malfunctions, the auxiliary power units 4 provide power to the UAV.

[0023] The technical solution of this application sets at least two auxiliary power units 4 on the arm 2 to form a coordinated system of active power and auxiliary power. This system can quickly compensate for power loss when the active power unit fails, improve the fault tolerance and flight stability of the UAV, and help improve the safety and reliability of the UAV in complex environments and mission-critical scenarios.

[0024] Please see Figure 1 and Figure 2 In one embodiment, the main power unit 3 includes a main propeller 31 and a main motor 32. The main propeller 31 is mounted on the arm 2, and its rotation axis is perpendicular to the axis of the arm 2. The main motor 32 is driven by the main propeller 31. This embodiment, by mounting the main propeller 31 on the arm 2 with its rotation axis perpendicular to the axis of the arm 2 and driving it through the main motor 32, effectively improves the power transmission efficiency and stability of the system, and enhances the operational flexibility and overall performance of the equipment.

[0025] Please see Figure 1 and Figure 2 In one embodiment, the auxiliary power unit 4 includes an auxiliary propeller 41 and an auxiliary motor 42. The auxiliary propeller 41 is mounted on the arm 2, and its rotation axis is perpendicular to the axis of the arm 2. The rotation axis of the auxiliary propeller 41 is also perpendicular to the rotation axis of the main propeller 31. The auxiliary motor 42 is driven by the auxiliary propeller 41. This embodiment, by mounting the auxiliary propeller 41 on the arm 2 with its rotation axis perpendicular to the axis of the arm 2 and driving it through the auxiliary motor 42, can provide sufficient power compensation when the main power unit 3 fails, which is beneficial to improving the safety and control accuracy of the UAV.

[0026] Please see Figure 1 and Figure 2 In one embodiment, the auxiliary power unit 4 includes a duct 43, an auxiliary propeller 41, and an auxiliary motor 42. The duct 43 is disposed within the arm 2, and the auxiliary propeller 41 passes through the duct 43. The axis of the duct 43 is perpendicular to the axis of the arm 2. The rotation axis of the auxiliary propeller 41 is collinear with the axis of the duct 43, and the rotation axis of the auxiliary propeller 41 is perpendicular to the rotation axis of the main propeller 31. The auxiliary motor 42 is drive-connected to the auxiliary propeller 41. By setting the duct 43, the aerodynamic efficiency of the auxiliary propeller 41 can be effectively improved, and energy loss can be reduced. At the same time, the duct 43 can also play a guiding and protective role, reducing the instability caused by external airflow disturbances and improving overall propulsion efficiency and flight safety.

[0027] Please see Figure 1 and Figure 2In one embodiment, the duct 43 includes a channel 431 and a support 432. The channel 431 is fixedly connected to the support 432, and the support 432 is detachably connected to the arm 2. In this embodiment, the fixed connection between the channel 431 and the support 432 ensures the stability of the duct 43 during operation, avoiding structural loosening caused by vibration or external forces, and enhancing the overall reliability and safety of the UAV. The detachable connection of the support 432 allows the duct 43 to be easily disassembled or replaced when needed, facilitating equipment inspection, upgrades, or maintenance.

[0028] Please see Figure 1 In one embodiment, the number of arms 2 is six, and the number of auxiliary power units 4 is two. The two auxiliary power units 4 are respectively mounted on any two of the six arms 2, and are symmetrically distributed around the center of the fuselage 1. This embodiment, by combining the design of six arms 2 and two auxiliary power units 4, ensures redundancy and safety while maintaining the balance and efficiency of the UAV. The symmetrical distribution of the two auxiliary power units 4 can evenly distribute the power load, avoiding loss of control due to the failure of a single unit. Furthermore, the fewer auxiliary power units 4 are, the easier they are to install, saving manufacturing costs, thereby contributing to the optimization of the overall structure and performance of the UAV.

[0029] Please see Figure 3 In one embodiment, there are six arms 2, all of which are mounted on the fuselage 1 and arranged in a ring around the center of the fuselage 1. There are also six auxiliary power units 4, each mounted on one of the six arms 2. This embodiment, by designing six arms 2 and six auxiliary power units 4, further enhances the stability and redundancy of the UAV. The six arms 2 are evenly distributed on the fuselage 1 and arranged in a ring around the center of the fuselage 1, effectively improving the structural balance of the UAV and ensuring that each arm 2 can evenly distribute the various power loads during flight, thereby enhancing the overall stability of the UAV. The six auxiliary power units 4 are respectively mounted on the six arms 2, allowing each arm 2 to be equipped with an auxiliary power source. This not only provides redundant power assurance and effectively supplements power in the event of a failure of the main power system, ensuring the normal operation of the UAV, but also improves the control precision of the UAV.

[0030] Please see Figure 1 and Figure 3In one embodiment, the auxiliary power unit 4 is located closer to the fuselage 1 than the main power unit 3. This closer proximity of the auxiliary power unit 4 to the fuselage 1 helps improve the stability and control precision of the UAV. By placing the auxiliary power unit 4 closer to the fuselage 1, the impact of the power unit on the UAV's center of gravity and attitude can be reduced, ensuring greater stability during flight. Furthermore, the closer position to the fuselage 1 helps reduce aerodynamic drag and improve flight efficiency. This design also optimizes the power distribution of the UAV, allowing the auxiliary power unit 4 to provide support more quickly and effectively in the event of a malfunction.

[0031] In addition, this application also provides a power control system for a multi-rotor drone, which is applied to the multi-rotor drone described above. Please refer to [link to relevant documentation]. Figure 4 The system includes a power detection module 5 and a power control module 6. The power detection module 5 is connected to the main power unit 3 and is used to collect and output power parameter signals from the main power unit 3. The power control module 6 is connected to both the power detection module 5 and the auxiliary power unit 4, and is used to control the start and stop of the auxiliary power unit 4 according to the power parameter signals. This implementation, by setting up the power detection module 5 and the power control module 6, can monitor and adjust the UAV's power system in real time, ensuring stability and safety during flight and optimizing the UAV's performance. Specifically, the power detection module 5 can be a torque sensor, a speed sensor, or an accelerometer, without limitation; the power control module 6 can be an electronic control unit (ECU), a programmable logic controller (PLC), or an adaptive controller, without limitation.

[0032] In addition, this application also provides a power control method for a multi-rotor unmanned aerial vehicle (UAV), which is applied to the multi-rotor UAV described above. Please refer to [link to relevant documentation]. Figure 5 The method includes: Step S1: Acquire and output the power parameter signals of the main propulsion device 3. In this step, the power parameter signals of the main propulsion device 3 are acquired, and real-time operating status information of the main propulsion device 3, such as torque, speed, and power, is obtained through sensors. After processing, the signals are output to the power control module 6. Precise power detection ensures that the power parameters of the UAV meet expectations during operation. This method enables real-time monitoring of the operating status of the main propulsion device 3, ensuring the normal operation and safety of the UAV.

[0033] Step S2: Control the start and stop of the auxiliary power unit 4 according to the power parameter signal. In this step, based on the collected power parameter signal, the power control module 6 intelligently controls the auxiliary power unit 4. By comparing the current power demand with the actual situation, it automatically adjusts the start and stop of the auxiliary power unit 4. This method can effectively distribute the power load, ensure the stable operation of the main power unit 3, improve the UAV's ability to cope with complex environments, and optimize the working efficiency and safety of the power system.

[0034] The specific control process is as follows: Under normal flight conditions, the auxiliary power unit 4 does not participate in the control closed loop; only the main power unit 3 operates. When the sensor detects a failure of any main power unit 3 (such as abnormal speed or sudden current change), the power control module 6 immediately switches the control mode, incorporating the auxiliary power unit 4 into the closed-loop control circuit. The auxiliary motor 42 automatically adjusts its forward and reverse rotation and thrust magnitude according to the position and rotation direction of the failed main propeller 31 to restore anti-torque balance and attitude stability.

[0035] The control process is as follows: power-on self-test → normal flight → continuous monitoring of power status → if a single power failure is detected, start the auxiliary power unit 4 control closed loop → adjust the speed and direction of the auxiliary motor 42 to compensate for the torque.

[0036] This application aims to protect a multi-rotor unmanned aerial vehicle (UAV), a power control system, and a power control method. The technical solution of this application sets at least two auxiliary power units 4 on the arm 2 to form a coordinated system of active power and auxiliary power. This system can quickly compensate for power loss when the active power unit fails, thereby improving the fault tolerance and flight stability of the UAV and enhancing the safety and reliability of the UAV in complex environments and mission-critical scenarios.

[0037] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this application and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this application should be included within the protection scope of this application. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A multi-rotor unmanned aerial vehicle, characterized in that, The drone includes: The fuselage and the arms, wherein there are at least two arms, and the two arms are respectively disposed on the fuselage; A main power unit, the number of which corresponds one-to-one with the number of the robotic arms, and the main power unit is disposed on the robotic arm; An auxiliary power unit, wherein the number of the auxiliary power units is at least two, and the at least two auxiliary power units are respectively disposed on the arm, and the auxiliary power units and the main power unit are distributed at intervals along the extension direction of the arm; When the main power unit is operating normally, the auxiliary power unit is in a non-operating state; when the main power unit malfunctions, the auxiliary power unit provides power support for the UAV.

2. The multi-rotor UAV according to claim 1, characterized in that, The main propulsion device includes a main propeller and a main motor. The main propeller is mounted on the arm, and the rotation axis of the main propeller is perpendicular to the axis of the arm. The main motor is connected to the main propeller for transmission.

3. The multi-rotor UAV according to claim 2, characterized in that, The auxiliary power unit includes an auxiliary propeller and an auxiliary motor. The auxiliary propeller is mounted on the arm, and the axis of rotation of the auxiliary propeller is perpendicular to the axis of the arm. The axis of rotation of the auxiliary propeller is perpendicular to the axis of rotation of the main propeller. The auxiliary motor is connected to the auxiliary propeller for transmission.

4. The multi-rotor UAV according to claim 2, characterized in that, The auxiliary power unit includes a duct, an auxiliary propeller, and an auxiliary motor. The duct is disposed in the arm, the auxiliary propeller passes through the duct, the axis of the duct is perpendicular to the axis of the arm, the rotation axis of the auxiliary propeller is collinear with the axis of the duct, the rotation axis of the auxiliary propeller is perpendicular to the rotation axis of the main propeller, and the auxiliary motor is drivenly connected to the auxiliary propeller.

5. The multi-rotor UAV according to claim 4, characterized in that, The duct includes a channel and a support. The channel is fixedly connected to the support, and the support is detachably connected to the machine arm.

6. The multi-rotor UAV according to claim 1, characterized in that, The number of the robotic arms is six, and the number of the auxiliary power devices is two. The two auxiliary power devices are respectively installed on any two of the six robotic arms, and the two auxiliary power devices are symmetrically distributed around the center of the machine body.

7. The multi-rotor UAV according to claim 1, characterized in that, The number of robotic arms is six, and all six robotic arms are located on the body. The six robotic arms are arranged in a ring around the center of the body. The number of auxiliary power devices is also six, and the six auxiliary power devices are respectively located on the six robotic arms.

8. The multi-rotor UAV according to claim 1, characterized in that, The auxiliary power unit is located closer to the fuselage than the main power unit.

9. A power control system for a multi-rotor unmanned aerial vehicle, characterized in that, The system is applied to a multi-rotor unmanned aerial vehicle as described in any one of claims 1 to 8, the system comprising: A power detection module is connected to the main power device. The power detection module is used to collect the power parameter signals of the main power device and output the power parameter signals. A power control module is connected to both the power detection module and the auxiliary power device. The power control module is used to control the start and stop of the auxiliary power device according to the power parameter signals.

10. A power control method for a multi-rotor unmanned aerial vehicle, characterized in that, The method is applied to a multi-rotor unmanned aerial vehicle as described in any one of claims 1 to 8, the method comprising: Collect the power parameter signals of the main propulsion device and output the power parameter signals; The auxiliary power unit is started and stopped according to the power parameter signals.

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