CN109050894A - More rotor unmanned aircrafts - Google Patents

Abstract

A kind of unmanned vehicle of the present invention, comprising: centerbody, centerbody include upper housing member and lower shell piece, and upper housing member and lower shell piece form main chamber；One or more is set to the electronic component in main chamber and for controlling unmanned vehicle operation, and electronic component includes flight control assembly；One or more extends branch's housing component of centerbody, each branch's housing component includes top set's housing component and corresponding inferior division housing component, wherein, one or more branch's housing components are used to support one or more actuators, and actuator is configured to control the movement of unmanned vehicle in response to the signal of flight control assembly；Wherein, one or more top set's housing components and upper housing member form entirety portion, and one or more inferior division housing components and lower shell piece form lower entirety portion, and upper entirety portion and lower entirety portion are removably interconnected to form the cavity portion for including main chamber.

Description

More rotor unmanned aircrafts

Cross reference

This application claims Chinese patent applications 201220604396.7 filed on November 15th, 2012, are now Chinese patent Chinese patent application 201220686731.2 filed in the priority of CN 203127141 and on December 13rd, 2012, now in The priority of state patent CN 203047531.The above two pieces application introduces in way of reference herein.

Background technique

In recent years, unmanned vehicle has been widely used for various fields, for example, Aerial photography or monitoring, scientific research, Matter exploration, remote sensing etc..Generally, the unmanned vehicle carries various for controlling the difference of the unmanned vehicle operation The electronic component of aspect.Meanwhile the unmanned vehicle also need to carry sometimes one or more for navigating, monitor or The sensor of person's remote sensing.However, some operations in these sensors may be by the interference of the electronic component, and then drop The low reliability of the unmanned vehicle.

In addition, the unmanned vehicle generally requires assembling, configuration or calibration, to operate normally.When it is described assembling, Perhaps calibration is to be configured fault come user when completing by unbred user or assemble fault to may cause institute for configuration Unmanned vehicle is stated to break down or damage.Therefore, it is necessary to a kind of unmanned vehicles with better reliability, on solving State problem.

Summary of the invention

For providing the method and apparatus of improved unmanned vehicle.An aspect of of the present present invention provides a kind of unmanned flight Device.The unmanned vehicle includes shell, and the shell includes outer surface and inner surface, and the inner surface forms chamber；One A or multiple electronic components being set in the chamber and for controlling the unmanned vehicle operation；And it is located at described The sensor of hull outside, interference of the operation of the sensor vulnerable to one or more of electronic components.

Another aspect of the present invention provides a kind of unmanned vehicle (unmanned vehicle).The unmanned vehicle includes one A or multiple preconfigured electronic components, the electronic component is by manufacturer before user is using the unmanned vehicle It is configured in advance, one or more of electronic components include at least one flight control modules or an electronic speed regulation (ESC) module；And sensor, the sensor are located on the unmanned vehicle, in it is one or more of pre- The position that the electronic component first configured mutually separates, electronics of the operation of the sensor vulnerable to one or more of pre-configurations The interference of element.

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes one or more use In the electronic component for controlling the unmanned vehicle operation；And sensor, the sensor are located on extension, the extension Part extends from one or more of electronic components, and the operation of the sensor is vulnerable to one or more of electronic components Interference.

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes one or more For controlling the electronic component of the unmanned vehicle operation；And sensor, the sensor be located at away from one or At multiple electronic components at least 3cm and the position of most 0.5m, the operation of the sensor is vulnerable to one or more of electricity The interference of subcomponent.

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes one or more For controlling the electronic component of the unmanned vehicle operation, one or more of electronic components include GPS receiver；With And sensor, the sensor include at least one magnetometer, the magnetometer is located on the unmanned vehicle, is in and institute State the position that one or more preconfigured electronic component mutually separates, the operation of the magnetometer vulnerable to one or The interference of multiple electronic components.

In some embodiments, the sensor is located on extension, and far from the chamber, and the extension is from described Shell extends.The extension includes a supporting element, and the supporting element in the unmanned vehicle not flight for supporting The all or part of weight of the unmanned vehicle.The supporting element may include landing chassis.Alternatively, the sensor It can be directly arranged on the outer surface of the shell.The unmanned vehicle may include one or more rotor, and institute Sensor is stated to be set to below one or more of rotors.

In some embodiments, the minimum range between the sensor and one or more of electronic components is at least About 3 centimetres.In some embodiments, the minimum range between the sensor and one or more of electronic components is extremely Mostly 0.5 meter.

In some embodiments, at least one described electronic component is matched in advance by the manufacturer of the unmanned vehicle It sets.At least one described preconfigured electronic component is used to form electronic unit, the electronic unit to control it is described nobody The operation of aircraft is necessary and enough.The electronic unit may include flight control modules, GPS receiver or electronics Adjust the speed at least one of (ESC) module.

In some embodiments, the sensor is for measuring magnetic field.The sensor includes magnetometer.The magnetometer Including compass.In some embodiments, the interference may include magnetic disturbance or electromagnetic interference.In some embodiments, One or more of electronic components include GPS receiver or actuator, and the actuator includes a rotation Rotating vane piece and one are for driving the actuator of the rotating vane.In some embodiments, one or more of electricity Subcomponent includes at least three actuators.

In some embodiments, the shell includes conductive shielding material.The shell include upper housing member and Lower shell piece, the upper housing member and the lower shell piece are removably interconnected to form the chamber.The shell Including the main casing part being connected with one or more branch's housing component, the main casing part formed main chamber and it is one or The multiple branch's housing components of person form one or more corresponding branch's chamber.It is one or more in some embodiments At least one of a electronic component is located in main chamber room.Positioned at least one indoor described electronic component of main chamber It may include at least one of power supply, flight control modules, Inertial Measurement Unit (IMU) or GPS receiver.Some implementations In mode, at least one of one or more of electronic components are located at one of one or more of branch's chambers It is interior.At least one described electronic component includes electronic speed regulation (ESC) module or actuator, and the electronic component is located at described one In one in a or multiple branches chamber.In some embodiments, one or more of branch's housing components are right respectively Answer one or more rotor of the unmanned vehicle.At least one of one or more of branch's housing components are removable Except ground is connected on the main casing part.

Another aspect of the present invention provides a kind of reduce easily by one or more electronic component from unmanned vehicle The method for the interference that the sensor interfered is subjected to, the method includes providing an above-mentioned unmanned vehicle, to reduce The interference.

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member includes (a) one One of a perhaps multiple electronic components for controlling unmanned vehicle operation and/or the unmanned vehicle or Multiple rotating vanes；And (b) specification, the specification include for the unmanned vehicle user assemble magnetometer and (a) information of element described in, so that the unmanned vehicle has following feature, comprising: (1) (i) shell after being completed Body, including outer surface and inner surface, the inner surface form chamber, and one or more of electronic components are set to described In chamber, and (ii) described magnetometer is located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, The inner surface forms chamber, and one or more of electronic components are set in the chamber, and (ii) described magnetometer At away from one or more of electronic components at least 3cm；Or (3) (i) is run for controlling the unmanned vehicle One or more of electronic components and/or the unmanned vehicle one or more rotating vane, and position (ii) In away from the magnetometer at one or more of electronic components at least 3cm and at most 0.5m.

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member includes (a) magnetic Power meter；And (b) specification, the specification include for user's assembling magnetometer of the unmanned vehicle and one Or it is multiple for controlling the information of the electronic components of unmanned vehicle operation so that after being completed, it is described nobody Flying instrument has following feature, comprising: (1) (i) shell, including outer surface and inner surface, the inner surface form chamber, institute It states one or more electronic component to be set in the chamber, and (ii) described magnetometer is located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, the inner surface form chamber, and one or more of electronic components are set It is placed in the chamber, and (ii) described magnetometer is located at away from one or more of electronic components at least 3cm；Or (3) (i) is used to control the one or more of electronic components and/or one or more that the unmanned vehicle is run The rotating vane of the unmanned vehicle, and (ii) are located at apart from one or more of electronic components at least 3cm and extremely Magnetometer at more 0.5m.

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member includes (a) shell Body, including outer surface and inner surface, the inner surface form chamber；(b) it is pre-set at the chamber interior and for controlling Make one or more electronic component of the unmanned vehicle operation；(c) magnetometer, the operation of the magnetometer is vulnerable to described The interference of one or more electronic component；(d) for assembling the specification of the unmanned vehicle so that when it is described nobody fly After row device is completed according to the specification, the unmanned vehicle after the assembling has the feature that (1) described magnetometer Positioned at the outside of the shell；Or (2) described magnetometer is located at away from one or more of electronic components at least 3cm； Or (3) described magnetometer is located at away from one or more of electronic components at most 0.5m.

In some embodiments, the external member further comprises the shell with inner surface and outer surface, the inner surface Chamber is formed, and one or more of electronic components are located in the chamber.In some embodiments, the external member is into one Step includes the shell with inner surface and outer surface, and the inner surface forms chamber, and the magnetometer is located in the chamber.

In some embodiments, the external member further comprises the extension that can be attached on the shell, and described group Unmanned vehicle after dress further has the feature that the extension is attached on the outer surface of the shell and far from institute Chamber extension is stated, and the magnetometer is located on the extension.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, including according to external member In specification assemble the unmanned vehicle, the external member includes one or more for controlling the unmanned vehicle fortune The rotating vane of capable electronic component and/or one or more unmanned vehicle, wherein the nothing after being completed People's flying instrument has following feature, comprising: and (1) (i) shell, including outer surface and inner surface, the inner surface form chamber, One or more of electronic components are set in the chamber, and (ii) described magnetometer is located at the hull outside；Or Person (2) (i) shell, including outer surface and inner surface, the inner surface form chamber, one or more of electronic components It is set in the chamber, and (ii) described magnetometer is located at away from one or more of electronic components at least 3cm；Or (3) (i) is used to control the one or more of electronic components and/or the unmanned flight that the unmanned vehicle is run One or more rotating vane of device, and (ii) are located at away from one or more of electronic components at least 3cm and at most Magnetometer at 0.5m.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, comprising: according to explanation The magnetometer is integrated on the unmanned vehicle by book, and to assemble the unmanned vehicle, the specification, which is included in, to be contained Have in the external member of magnetometer, wherein the unmanned vehicle after being completed has following feature, comprising: (1) (i) shell, Including outer surface and inner surface, the inner surface forms chamber, and one or more of electronic components are set to the chamber Interior, and (ii) described magnetometer are located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, institute It states inner surface and forms chamber, one or more of electronic components are set in the chamber, and the described magnetometer position (ii) At away from one or more of electronic components at least 3cm；Or (3) (i) is used to control the unmanned vehicle operation One or more rotating vane of one or more of electronic components and/or the unmanned vehicle, and (ii) are located at Away from the magnetometer at one or more of electronic components at least 3cm and at most 0.5m.

In some embodiments, according to including connecting one or more of rotating vanes extremely the step of the specification One or more of electronic components, and the step further comprises that the magnetometer is placed on the unmanned vehicle Make the magnetometer not by the significant electromagnetic interference from one or more of electronic components.

Quote addition

The all publications, patents and patent applications referred in this specification are both incorporated herein by reference, as each A individual publication, patent or patent application are indicated clearly and respectively and are incorporated herein by reference.

Detailed description of the invention

Novel features of the invention have been illustrated in appended claims.Below with reference to former using the present invention below The detailed description and the following drawings of the illustrative embodiments of reason are obtained to feature of present invention and beneficial effect more preferably Understand.

Fig. 1 is that an embodiment of more rotor unmanned aircrafts (unmanned vehicle) does not include the schematic diagram of rotating vane.

Fig. 2 is the top view that more rotor unmanned aircrafts of Fig. 1 do not include the top of the shell, with the internal member of display Part.

Fig. 3 is another view of more rotor unmanned aircrafts of Fig. 1.

Fig. 4 is the schematic diagram of the supporting element of an embodiment of more rotor unmanned aircrafts.

Fig. 5 is the schematic diagram of an embodiment of unmanned vehicle, and the unmanned vehicle has for connecting sensor Extension.

Fig. 6 a to 6c is the schematic diagram of some embodiments of unmanned vehicle, and the unmanned vehicle has for connecting The extension of sensor.

Fig. 7 a to 7c is the schematic diagram of some embodiments of unmanned vehicle, and wherein sensor is located at the unmanned flight On the outer surface of the ontology of device or inner surface.

Fig. 8 a to 8b be unmanned vehicle other embodiment schematic diagram, illustrate sensor be located at it is described nobody The body outer surface of aircraft or more examples on inner surface.

Specific embodiment

The present invention is provided to improve the method and apparatus of the reliability of unmanned vehicle.On the one hand, specific on-board senses The interference being subjected to is reduced.The interference can be for as caused by airborne electronics unit.It is described interference may include electromagnetic interference, Magnetic disturbance etc..The operation can be used as measurement magnetic vulnerable to interference effect or the airborne sensor sensitive to the interference The sensor, such as magnetometer, compass etc. of field.In order to reduce the interference that the sensor of this " vulnerable to interference " is subjected to, institute It states and generates the electronic component of interference chamber interior in unmanned vehicle can be set, the chamber is by the unmanned vehicle The inner surface of ontology is formed.Described one or more sensor vulnerable to interference can be set in the outside of the chamber.One In a little embodiments, the sensor be can be set on the extension of the unmanned vehicle.The extension may include The supporting element of the unmanned vehicle, such as landing chassis.In other some embodiments, the sensor can be directly arranged It is separated on the outer surface of the unmanned vehicle or inner surface but with the electronic component.It has an advantage that, described generate is done The separation of the electronic component and the sensor vulnerable to interference disturbed reduces the interference that the sensor is subjected to, therefore improves The reliability of the sensor and the unmanned vehicle.

According to another aspect of the invention, the reliability of the unmanned vehicle can be by reducing caused by user The configuration of element is made mistakes or assembling is made mistakes and further improved.Some or all electronic components can be by the unmanned flight The manufacturer of device is pre-configured with, connection or pre-assembly in advance.Similarly, it is desirable that less user's assembling or configuration or Person is assembled or is configured without using person to guarantee that unmanned vehicle operates normally.In addition, because the element is by there is experience Worker it is preconfigured, therefore configure fault a possibility that be further reduced.

In various embodiments, unmanned vehicle described herein may include different type, size, shape and The unmanned vehicle of configuration.Such as, the unmanned vehicle may include more gyroplanes, such as helicopter, four-axle aircraft, six axis Aircraft, eight axis aircraft etc..In addition, the unmanned vehicle can be widely used, such as remote sensing, aviation monitoring, oil, Gas and mineral exploration and production, transport, scientific research, Aerial photography or video recording, drawing, Mishap Report, search and rescue, drawing, Power-line patrolling etc..

In different embodiments, unmanned vehicle can by on-board controller or processor autonomous control, by distal end Device is remotely controlled (such as earth station or hand-held remote control device) or controls in such a way that the two combines.In some embodiments, The unmanned vehicle can be used for carrying load device, such as camera or video recorder by holder.The load device can With for capturing ambient enviroment image, collect sample or execute other tasks.

It arrives as used herein, the term "upper", "lower", "vertical", "horizontal" and other similar position description Term is used under the normal operation mode of the unmanned vehicle as its reference, and should not constitute restriction.Make a general survey of whole retouch It states, four-axle aircraft (helicopter with quadrotor) is only illustrative purpose as unmanned vehicle.It should be appreciated that herein Described technology can be used for other kinds of unmanned vehicle, such as six axis aircraft or eight axis aircraft.

Fig. 1 show more rotor unmanned aircrafts an embodiment do not include rotating vane schematic diagram.As schemed Show, the unmanned vehicle includes the hollow body portion 10 with inner surface and inner surface.The term as used herein " ontology " can be replaced by term " shell ".The inner surface of the body part surrounds the chamber inside the body part (as shown in 13 in Fig. 2).Such as being described in further detail for referenced hereafter Fig. 2, for controlling the unmanned vehicle operation One or more electronic component of different aspect may be disposed in the chamber.The term " electronics member as used herein Part " is related to any offer, use or the element for transmitting electric current.Such electronic component may include energy source (such as battery), fly Row control or navigation module, GPS module (such as GPS receiver or transceiver), Inertial Measurement Unit (IMU) module, communication Module (such as wireless transceiver), electronic speed regulation (ESC) module for controlling actuator (such as motor), actuator are (as driving Move the rotating vane of the unmanned vehicle or the motor of rotor), electric wire and connector etc..It is described in some embodiments Some in electronic component can be set on an integrated electronic unit, such as in circuit board or module.One or more A electronic unit can be set in the chamber interior.When in use, electronic component as described herein may to it is described nobody fly The other elements (such as magnetometer) of row device generate interference (such as electromagnetic interference).In some embodiments, it is described interference may be by Caused by iron-bearing materials or magnetostatic source.For example, the electronic component may include magnet, the magnet generates magnetic field, thus Lead to magnetic disturbance.

It is as Figure 1 shows, the body part 10 of the unmanned vehicle include main casing part 11 and one or Multiple branch's housing components 12.The inner surface of the main casing part can form main chamber (as shown in 113 in Fig. 2).It is each A branch's housing component 12 is in hollow arm shape or other suitable shapes, can form branch's chamber (123 in such as Fig. 2 It is shown).When the main casing part is connected with one or more branch's housing component, main chamber room and it is one or The chamber of an one can be collectively formed in multiple branch's chambers (as shown in 13 in Fig. 2).

Branch's housing component 12 can be connected in a manner of " X " or star arrangement with the main casing part 11.Specifically, The center in the X or star arrangement can be set in the main casing part 11, and branch's housing component 12 can be with symmetrical Or asymmetric mode be distributed in around the main casing part 11.In some embodiments, such star arrangement can be with Make the electrical connection being set between the indoor electronic component of chamber of the shell, be such as set to the flight control modules at middle part and divide The electrical connection not being set between the indoor single ESC module of branch's chamber, becomes efficient.Alternatively, being set to the energy source at middle part Being electrically connected between (such as battery) and the actuator (such as motor) for driving the rotor of more rotor unmanned aircrafts.Other are implemented In mode, the intracorporal chamber of the shell of the shell and/or the unmanned vehicle be can have with star described herein not Same shape.For example, the shell and/or the intracorporal chamber of the shell can be formed it is approximately spherical, oval or cylindrical or Appoint and closes other shapes.

In a typical embodiment, the quantity of branch's housing component 12 and the rotor of the unmanned vehicle or The quantity of person's actuator is equal.One actuator (as shown in 2 in Fig. 2) may include a rotor or pivoting leaf Piece (as shown in 21 in Fig. 2) and one are for driving the actuator of the rotating vane (as shown in 22 in Fig. 2).For example, Fig. 1 institute The quadrotor four-axle aircraft of displaying may include four branch's housing components 12, each branch's housing component 12 corresponds to described four One in a rotor or four actuators.In the embodiment shown, the unmanned vehicle includes four Branch, each branch correspond to an actuator 2.This means, the unmanned vehicle includes four actuators 2. In various embodiments, the quantity of the branch and/or arrangement may be with differences presented herein.For example, some realities Apply in mode, the quantity of branch's housing component and/or rotor or actuator possibly more than or less than herein show Quantity.For example, six rotor unmanned aircrafts may include six rotors or actuator and six corresponding branch's shells Part.Eight rotor unmanned aircrafts may include eight rotors or actuator and six corresponding branch's housing components.Can In the embodiment of replacement, the quantity of branch's housing component may be with the rotor or actuator of the unmanned vehicle Quantity do not correspond to.For example, the quantity of branch's housing component possibly more than or be less than the actuator quantity.Not With embodiment in, the quantity of the branch, actuator and actuator can according to practical circumstances demand and adjust. To guarantee the stability of the unmanned vehicle during operation, typical more rotor unmanned aircrafts should have no less than three Rotor.

In some embodiments, branch's housing component 12 can be to be removably connected on the main casing part 11.Example Such as, each branch's housing component 12 can be connected to the main casing by integrally rotating branch's housing component 12 Part 11 and/or from the main casing part 11 be detached from.In some embodiments, branch's housing component 12 can be relative to the main casing Body part 11 is folding, thus as described in convenient unmanned vehicle storage and/or transport.It is described in this embodiment Branch's housing component 12 can be unfolded from folding position and/or reconnect on the main casing part, so that the unmanned flight Device can be used once again.

In some embodiments, the main casing part 11 may include upper main casing part 111 and corresponding lower main casing Main chamber room is collectively formed (such as 113 institute in Fig. 2 in part 112, the upper main casing part 111 and the lower main casing part 112 Show).Each described branch's housing component 12 may include top set's housing component 121 and corresponding inferior division housing component 122, institute It states top set's housing component 121 and branch's chamber is collectively formed in the inferior division housing component 122 (as shown in 123 in Fig. 2). Top set's housing component 121 of branch's housing component 12 can have installation perhaps location structure 120 such as slot or opening, To install the actuator 22 of the actuator (as shown in 2 in Fig. 2).

In some embodiments, top set's housing component 121 and the upper main casing part 111 form upper body portion 15, and the inferior division housing component 122 and the lower main casing part 112 form the lower body portion (as shown in 16 in Fig. 3). The body part 10 is considered the combination in the upper body portion 15 and the lower body portion 16.In some embodiments, The upper body portion 15 and the lower body portion 15 can be removedly to connect to form the body part 10.For example, in group When filling the body part 10, the upper body portion and the lower body portion can by fastener, such as screw rod, screw, buckle, Fixture, fastener, lock bolt, hook, nail, pin, belt, rope etc., removedly connect.The removable connection can be in order to institute State the maintenance of unmanned vehicle.When need repairing maintain when, the upper body portion can be removed from the lower body portion, with Allow directly to observe and repair the internal element of the body part.In another embodiment, the upper body portion and it is described under Body part can be joined together permanently so with welding or other modes.

In different embodiments, the element of any shell for forming the unmanned vehicle alone or in combination can be used Any suitable technology manufacture, such as ejection formation, increasing material manufacturing (3D printing) technology etc..For example, the upper main casing part, under Each of main casing part, top set's housing component and inferior division housing component can it is separately fabricated and with welding, fastening or its He combines to form entire shell mode.In another example one or more described top set's housing component and the upper main casing part It can integrally manufacture and be integrated (the upper body portion as described in being formed)；On the other hand, one or the inferior division housing component and The lower main casing part can integrally be fabricated to another integral piece (the lower body portion as described in being formed).Then, described two one Body part can form the body part of the unmanned vehicle together in conjunction with (passing through welding, fastener etc.).For another example described Upper main casing part and the lower main casing part, which can be manufactured integrally, is integrated (the main casing part as described in being formed)；Another party Face, each described branch's housing component, top set's housing component and the inferior division housing component can be manufactured integrally and be integrated Part (as formed branch's housing component).The main casing part and branch's housing component can then pass through welding, fastener Etc. being combined together.For another example the entire shell of the unmanned vehicle can be integrally manufactured, for example, by ejection formation or Person's increases material manufacturing technology.

As Figure 1 shows, the unmanned vehicle optionally includes one or more and is attached to or can be attached to Supporting element 4 on the body part 10.In the unmanned vehicle not flight, the supporting element 4 can be used for supporting described The all or part of weight of unmanned vehicle.One example of supporting element may include landing chassis, in order to it is described nobody fly The landing of row device.Such supporting element as described herein can be equally used for supporting the electronic component vulnerable to the unmanned vehicle dry The sensor disturbed.

In some embodiments, the unmanned vehicle includes one or more installation structure, with accommodate it is described nobody The some or all elements of aircraft, such as some electronic components as described herein.The installation structure can be with the shell The a part being connected either with the shell one.Outer surface or institute in the ontology can be set in the installation structure It states in chamber.For example, accommodation structure can be by the body part or the structure of outer surface is formed.One embodiment In, the installation structure can form an additional receiving chamber in addition to the main body chamber.In another embodiment, The installation structure can be formed by the internal structure on the inner surface of the main body chamber.In one embodiment, the receiving Structure is all set to the chamber interior.In another embodiment, some in the accommodation structure are set to the chamber Outside.The accommodation structure may include slot, lattice, frame or other similar structure, to accommodate the difference of the unmanned vehicle Element.For example, the installation structure may include the interior table for being located at the chamber formed by the ontology of the unmanned vehicle Slot on face, the slot can be used for accommodating circuit module, battery, ESC module etc..In some embodiments, described nobody flies Row device can not include any additional receiving machine other than being formed by the chamber by the shell of the unmanned vehicle Structure.In some other embodiments, some or all electronic components can be attached directly to without using installation structure Or it is connected on the unmanned vehicle.

The body part and/or accommodation structure may include opening, and the opening is for being placed in or taking out element.Example Such as, the opening can make user take out the battery progress out of the body part chamber or the installation structure again It charges and is used to after charging put back to the battery.The opening optionally has the lid hinged with the body part or screening Shield.The lid can be closed for example, by fastener, buckle, belt etc., with element of the protection setting in it.

Fig. 2 shows the top that more rotor unmanned aircrafts in Fig. 1 do not include the shell according to an embodiment Top view, to show internal element.As previously mentioned, to avoid or reducing to the sensor vulnerable to interference, such as magnetometer is (such as Compass) interference, one or more electronic component for generating interference of the unmanned vehicle can be with described vulnerable to dry The sensor disturbed is provided separately.In one embodiment, the electronic component be set to described with reference to FIG. 1 by it is described nobody fly In the chamber 13 that the inner surface of the shell of row device is formed, and the sensor is set to outside the shell.In addition, shell can To provide the protection to the electronic component and enhance the intensity and rigidity of the unmanned vehicle, make it easier to transport and store up It deposits.In another embodiment, the sensor is similarly provided in the shell but separates with the electronic component.

The term " electronic component " used herein is related to any offer, use or the element for transmitting electric current.No In same embodiment, one or more of electronic components can be used for controlling the not Tongfang of the unmanned vehicle operation Face.Such electronic component may include energy source (such as battery), flight control or navigation module, GPS module (such as GPS receiver Device or transceiver), Inertial Measurement Unit (IMU) module, communication module (such as wireless transceiver), for controlling actuator (such as Motor) electronic speed regulation (ESC) module, actuator is (such as the rotating vane or rotor for unmanned vehicle as described in driving Motor), the connector (such as electric wire and connector) for being electrically connected the electronic component.It is described in different embodiments The some or all electronic units of unmanned vehicle can be set in the enclosure interior.

In some embodiments, some in above-mentioned electronic component be can be set in one or more circuit module 3 On.Each circuit module may include one or more electronic component.For example, as shown in Fig. 2, the circuit module 3 can To include main flight control modules 33, the main flight control modules 33 include one or more for control it is described nobody fly The processor (such as being executed by field programmable gate array (FPGA)) of the crucial operation of row device.In another example it is same or Different circuit modules equally may include the IMU module for measuring the speed of the unmanned vehicle, direction and gravity.Institute Stating IMU module may include one or more accelerometer and/or gyroscope.It is same or different in another example Circuit module equally may include the communication module 31 for carrying out telecommunication with remote control device.For example, the communication module It may include wireless (such as radio) transceiver.The communication module 31 can have one or more button 311 and with institute State the corresponding indicator light 312 that button code separates.The button and the indicator light can be in order to the unmanned vehicles With the communication between the remote control device.For example, the button can be used for adjusting frequency range used in the unmanned vehicle, And the indicator light can serve to indicate that being successfully established and/or losing for channel between the unmanned vehicle and the remote control device It loses.

The flight control modules 33 are usually the critical component or " brain " of the unmanned vehicle.For example, described Flight control modules 33 can be based on obtaining from visual sensor (such as camera), IMU, GPS receiver and/or other sensors The current speed of unmanned vehicle described in data estimation, direction and/or position, to execute layout of roads, provide control to actuator Signal processed is to realize navigation control etc..In another example, the flight control modules can be based on the control letter remotely received Number control signal is issued to adjust the state of the unmanned vehicle.

In some embodiments, being arranged in the indoor electronic component of the chamber may include GPS receiver.Tradition On, a GPS receiver is usually set with a magnetometer altogether.But when the GPS receiver and magnetometer are close to other electronics When element is arranged, the operation of the magnetometer may be by the interference from other electronic components.It is described in some embodiments The operation of magnetometer is equally possible by the interference from the GPS receiver.Therefore, in a preferred implementation side of the invention In formula, the GPS receiver is mutually separated with the magnetometer, therefore the GPS receiver is set to the unmanned vehicle The inside of shell and the magnetic force are set to the outside of the shell.In interchangeable embodiment, the GPS receiver and The magnetometer can be all set in the shell either internally or externally, but between the GPS receiver and the magnetometer With minimum spacing.In one embodiment, the minimum spacing is about 3 centimetres (3cm).In other embodiments, it is described most Small spacing can be less or greater than 3cm.

In some embodiments, being set to the indoor electronic component of the chamber may include one or more electronics Adjust the speed (ESC) module 34.Electronic speed regulation module can be used for controlling the operation of the actuator 22.The actuator 22 can be A part of the actuator 2 and the rotating vane or rotor 21 for being used to drive the unmanned vehicle.Some implementations In mode, the ESC module can on the one hand be electrically connected with the flight control modules 33, on the other hand with an actuator 22 Electrical connection.The flight control modules 33 can provide control signal for the ESC module 34, and the ESC module 34 is again successively Actuator signal is provided to the actuator 22 being connected electrically to drive corresponding rotating vane 21.Some embodiments In, the actuator and/or the ESC module 34 equally can provide feedback signal to the flight control modules 33.One In a typical embodiment, the quantity of the ESC module is equal with the quantity of rotor actuation device of the unmanned vehicle.Example Such as, there are four ESC modules for a quadrotor unmanned vehicle tool.In an interchangeable embodiment, the number of the ESC module Amount can be different from the quantity of the rotor actuation (being such as more or less than).In some embodiments, the ESC module is can Choosing.In some embodiments, as the substitution or supplement to the ESC module, other kinds of actuator can be used Control module is to control the operation of the actuator.

In some embodiments, the unmanned vehicle further includes for electric coupling or the electrical connection unmanned vehicle Different electronic components one or more connector.The connector may include between elements transmit energy, Data or electric wire, the cable etc. for controlling signal.For example, the connector can be used for being electrically connected 1) energy source and actuator group Part；2) circuit module and ESC module；3) ESC mould and actuator；4) communication module and circuit module etc..In some embodiments, The end of the connector has pluggable connector, in favor of the plug of the relatively described electronic component of the connector.

As described in reference diagram 1 above, the chamber of unmanned vehicle can be any appropriate shape.Different embodiments In, the position of different electronic components can based on the unmanned vehicle design and disposition and determine.One preferred implementation In mode, the chamber of the unmanned vehicle includes main chamber 113 and multiple branch's chambers 123, each branch's chamber 123 Corresponding to an actuator 2.In some embodiments, in the electronic component it is some can be located at main chamber room in Portion, and other can be located at branch's chamber interior.In other embodiments, all electronic components can be located at A part (such as main chamber room or branch's chamber) for the chamber.In one embodiment, the crucial control member Part, such as the flight control modules and the energy source (such as battery) can be located in main chamber room, and by control member Part, such as the ESC module and the actuator are located in corresponding branch's chamber.This arrangement mode provides institute It states and is electrically connected between the element of central location and the element that energy and/or person's control signal are provided by the element of the central location Effective planning, and be easy to the unmanned vehicle space optimization and miniaturization.

In one embodiment, the ESC module 34 be can be set in branch's housing component and positioned at the actuator Lower section.For example, the ESC module 34 can be set in the inferior division housing component 122 and positioned at branch's chamber 123 It is interior.The ESC module 34 being provided with conducive to the ESC module 34 and the actuator 22 in branch's housing component 123 Between electrical connection.In interchangeable embodiment, at least one described ESC module can be located in main chamber room rather than one In a branch's chamber.

In some embodiments, one can be at least partially situated at by the actuator 2 that the ESC module controls A branch's chamber interior.The actuator 2 may include the actuator 22 being connect with branch's housing component 12 and with institute State the rotating vane 21 of the connection of actuator 22.As Figure 1 shows, a part of the actuator 2 is at least partly from described Extend in chamber, to be rotatably attached rotating vane or rotor (as shown in 21 in Fig. 2).For example, the actuator can To include the shaft being rotatably attached with the rotating vane 221.The actuator 22 may include motor, mechanical cause Dynamic device, hydraulic actuator, pneumatic actuator etc..Motor may include magnetic machines, electrostatic motor or piezoelectric motor.Example Such as, in an embodiment, the actuator includes brshless DC motor.The actuator 2 can be fixedly or removable Except ground is connect with branch's housing component 12.In some embodiments, the unmanned vehicle has at least three actuator groups Part, to ensure the stability during the unmanned vehicle operation.

In some embodiments, some or all in above-mentioned electronic component are by the manufacturer of the unmanned vehicle Preconfigured, pre-assembly or preparatory connection.In these embodiments, the operation of the unmanned vehicle is not needed Or user is seldom needed to assemble and/or calibrate, the unmanned vehicle, which is unpacked, can be at preparing flight shape State.It is described that not only user experience can be promoted by reducing technical threshold to being pre-configured with for element, but also can reduce by making User configures mistake and contingency caused by fault.In some embodiments, these are preconfigured or pre-assembly Element may include the flight control modules, GPS module or herein any electronic component for being referred to or more than Any combination.In some embodiments, one or more electronic component can be preconfigured, connection in advance or in advance It is assembled into an electronic unit (a such as circuit module).The electronic unit is for the operation for controlling the unmanned vehicle It is necessary and enough.In some embodiments, the preconfigured element does not need additional user's configuration, to unpack It can operate normally.In other embodiments, it may be possible to a certain number of users be needed to configure or assemble.

In one embodiment, at least two in the electronic component can be preparatory by the manufacturer of the unmanned vehicle Connection is assembled with the user needed for reducing the unmanned vehicle before it can be used.Such as the circuit module and institute Stating the electrical connection between ESC module can be connected in advance by the manufacturer, thus the user buy it is described nobody fly Without connecting described two modules after row device.It is described be pre-configured with, in advance connection or pre-assembly equally can simplify it is described The design of unmanned vehicle.For example, not every connector may be needed using pluggable connector: in the connector It is some to be pre-attached on element by manufacturer by welding manner, improve the reliability of this connection with this.Even if making With pluggable connector, this connection can also be in the factory-assembled stage by trained professional, such as skilled worker It is correctly completed, to reduce the risk of connection loosening and/or connection error and further improve the reliable of the unmanned vehicle Property.

Fig. 3 illustrates another view of more rotor unmanned aircrafts in Fig. 1-2 according to an embodiment.It is shown The unmanned vehicle shows setting of the sensor 7 (such as magnetometer) vulnerable to interference outside the unmanned vehicle, this It is arranged and the sensor is done with one or more electronic component for reducing by unmanned vehicle described with reference to FIG. 2 It disturbs.

In different embodiments, the sensor 7 vulnerable to interference includes an operation vulnerable to the airborne electronic equipment member The sensor of interference effect caused by part.The interference may include electromagnetism or magnetic disturbance.The interference may be by described Caused by electric current or magnet in electronic component.The sensor 7 vulnerable to interference may include magnetometer.Magnetometer can be with Including scalar and/or vector magnetometer.In one embodiment, the magnetometer includes compass.In one preferred embodiment, The sensor vulnerable to interference includes magnetometer but does not include GPS receiver.It is described vulnerable to dry in interchangeable embodiment The sensor 7 disturbed includes GPS receiver and magnetometer.It should be appreciated that one sensor vulnerable to interference is for saying Bright purpose, the unmanned vehicle can carry the more than one sensor vulnerable to interference and interference as described herein reduces skill Art can be used for any or all sensors vulnerable to interference.

As previously mentioned, to avoid the interference of the electronic component from the unmanned vehicle and improving the unmanned vehicle Reliability, the sensor vulnerable to interference sets a distance away with the electronic component for being also easy to produce such interference It sets.It is all that the electronic component of interference is generated far from the sensor to the sensor vulnerable to interference in some embodiments And it is arranged.In other embodiments, there was only some separate sensors in the electronic component for generating interference and be arranged.

In some embodiments, as referred to reference to Fig. 1-2, the electronic component for generating interference be located at it is described nobody In the chamber of the body part of aircraft, and the sensor vulnerable to interference is located at outside the chamber of the ontology.Some embodiment party In formula, the sensor is located on extension, and the extension extends from the shell.In some embodiments, the extension Part may include a supporting element, and the supporting element is for supporting the unmanned vehicle in the unmanned vehicle not flight All or part of weight.For example, the supporting element may include landing chassis 4 as shown in Figure 3.One optional embodiment In, the unmanned vehicle does not include shelf or similar structure, therefore when the unmanned vehicle be placed on it is specified When on surface, the outer surface of the lower main casing directly contacts the surface.In some embodiments, the sensor can be set In on the outer surface outside the chamber and positioned at the shell.The more detailed description of some embodiments will in conjunction with Fig. 5-8 into Row is introduced.

In some embodiments, no matter the sensor or the electronic component are located at where, the sensor and institute Minimum range between electronic component is stated to be arranged to no more than a preset threshold value.For example, in an embodiment, the electronics Element and the sensor can be respectively positioned in the shell or be respectively positioned on outside the shell, but the minimum range is at least about For 3cm.In some embodiments, the minimum range can be less than 3cm.As used in this, sensor and multiple electronics The minimum range between element is in the distance between any one in the sensor and the multiple electronic component Minimum value.The maximum distance is determined according to similar rule.For example, if a flight control modules, an ESC module And an actuator is located at the position of distance one magnetometer 4cm, 7cm and 8cm, then the magnetometer and the electronic component Minimum range between group is 4cm, and maximum distance is 8cm.In some embodiments, the sensor vulnerable to interference with appoint Maximum distance between the electronic component for generating interference of meaning one is again arranged to no more than a preset threshold value, example Such as, 0.5 meter (0.5m).In other embodiments, the maximum distance can be greater than 0.5m.In different embodiments, institute State shape and/or size, institute that minimum and/or maximum distance the threshold value can be at least partially based on the unmanned vehicle It states the characteristic for generating the electronic component of interference and the characteristic vulnerable to the sensor of interference and determines.

In some embodiments, shell that the unmanned vehicle can be shown without such as Fig. 1-3.This embodiment In, being provided separately of the electronic component for generating interference and the sensor vulnerable to interference is enough to reduce described vulnerable to interference The interference that is subjected to of sensor.For example, the sensor vulnerable to interference generates interference with any one in an embodiment The distance between electronic component is not less than 3cm and is not more than 0.5m.

Different embodiments, extra interference reduction method can be used in combination with techniques described herein.It is such Method may include using capacitor, filter, shielding etc..For example, in an embodiment, the inner surface of the body part and/ Or outer surface can be made of conductive shielding material, to be interfered caused by the further less electronic component.

In some embodiments, as shown in Fig. 3, the unmanned vehicle can carry load device by holder 5 6.The holder 5 can connect with the unmanned vehicle and be used to connect the load device 6.In different embodiments, The operation of the load device 6 and/or the holder 5 can be by onboard control module (such as circuit module), control device or two The combination of person controls.

In some embodiments, instruction light source (not shown) can be set on the main casing or branch's shell. In one embodiment, the light source be can be set in opening or the window's position on branch's shell, such as close to the nothing The lower part of people's aircraft (far from the rotor).The opening or window can be covered by curtain, and the curtain is using transparent Or trnaslucent materials is made, so that at least partly light from the instruction light source passes through.In one preferred embodiment, The instruction light source includes light emitting diode (LED) lamp, with high brightness, low energy consumption, long life and transport convenience. In other interchangeable embodiments, the instruction light source, window and curtain be can be set on the main casing.

According to an embodiment, Fig. 4 illustrates a pair of landing chassis that can be used for adhering to the sensor vulnerable to interference.It is described Landing chassis 4 can with it is those of demonstrated in Figure 3 similar.As described above, when the unmanned vehicle not flight, the landing Frame can be used for supporting all or part of weight of the unmanned vehicle.In one embodiment, the unmanned vehicle has Two suitable distances that are connected with the unmanned vehicle ontology and are spaced apart from each other, the similar bracket of structure.Different embodiment party In formula, the unmanned vehicle may include one, two, three or more brackets.The bracket can be with any appropriate Configuration mode be attached to the bottom (side opposite with the rotor) of the shell, to support the weight of the body part. The bracket equally can be that the arbitrary load device (such as camera or video camera) being set between bracket provides protection. It is the advantages of existing structure as landing chassis using the unmanned vehicle, is not needed again in the unmanned vehicle It is upper increase additional structure increase the sensor vulnerable to interference of the unmanned vehicle and generate interference electronic component it Between distance, with the weight of this unmanned vehicle reduced and cost while the aesthetic feeling for improving the unmanned vehicle.

In some embodiments as revealed, the unmanned vehicle may include first support 41 and second support 42.The sensor vulnerable to interference can be located in the first support 41 or the second support 42.Because described One bracket and the second support have similar structure, hereafter only describe the first support 41.The first support 41 It may include tool there are two roughly vertical support portion 411, the support portion is connected by approximate horizontal interconnecting piece 412.It uses When, a sensor 7 vulnerable to interference can connect one in the support portion 411 and far from the interference source.For example, The sensor 7 can be close to the setting of one end of the support portion and far from the interference source.It is described in other embodiments Sensor 7 can be set in the first support 41 and on different part described herein.In some embodiments, Each support portion 411 can have an attachment interface 413, and the attachment interface 413 can be used for going forward side by side the support portion And the bracket is attached on the unmanned vehicle.The attachment interface 413 may include one or more opening 414.Such opening can be used for allowing and protect connection described vulnerable to interference sensor and the unmanned vehicle it is similar The electric wire of the other elements of the circuit module passes through.

According to some embodiments, Fig. 5-8 illustrates the sensor vulnerable to interference and generates the electronic component of interference Profile instance.

As described here, in some embodiments, it is described generate interference electronic component can be located at it is described nobody fly In the chamber of row device ontology, and the sensor vulnerable to interference can be located at outside the chamber and be set to the extension On, the extension extends from far from the chamber.Fig. 5-6 illustrates this embodiment.Referring to Fig. 5, it is described nobody fly One or more electronic component (not shown) for generating interference can be packed into the ontology 502 of row device.One end of extension 504 The outer surface of the body part 502 of the unmanned vehicle can be attached to.Sensor 506 vulnerable to interference can connect in described The position of the other end far from the chamber of the close extension 504 on extension 504, therefore the biography vulnerable to interference There is a distance between sensor 506 and the electronic component for generating interference.The sensor 506 can by fastener, Glue, welding or other any suitable methods (removably or permanently) are connect with the extension 504.It is different Embodiment in, the extension 504 may include column, hook, platform, slot or any appropriate other structures.It should recognize Know, in some embodiments, the sensor vulnerable to interference can pass through such as wired or wireless connection and the production The electronic component of raw interference is operably associated.This connection is in figs. 5 to 8 without describing.In one embodiment, the extension Part may include a hollow chamber, and the hollow chamber allows to connect other yuan of the sensor Yu the unmanned vehicle The conducting wire of part passes through (not shown).

Fig. 6 a illustrates the side view of unmanned vehicle shown in Fig. 5.As shown, the ontology of the unmanned vehicle The inner surface in portion 602 forms chamber.The electronic component 608,610 and 612 for generating interference can be set in the chamber.It generates The electronic component of interference equally may include the connector 614 that one or more is electrically connected some other electronic components.It is described The electronic component for generating interference may include any element described herein, such as circuit module, flight control modules, GPS Receiver, power supply, ESC module, actuator or actuator etc..It, can be with it is understood that in different embodiments Using than illustrating the more or less electronic component for generating interference.Extension 604 is attached to the sheet of the unmanned vehicle Extend in the outer surface of upper of body and far from the chamber.Sensor 606 vulnerable to interference can (can with the extension 604 Remove ground or permanently) connection.In one typical embodiment, the sensor 606 vulnerable to interference is located at described prolong The position on part 604 far from the chamber is stretched, such as close to the end not connected with the outer surface of the ontology of the unmanned vehicle End.

The extension shown in example described above is attached to the top of the unmanned vehicle ontology.Other embodiment party In formula, the extension can be attached to the other positions on the outer surface.Fig. 6 b-c illustrates some of such embodiment. In some embodiments, as shown in Figure 6 b, the extension 604 can be attached to the lower part of the ontology and far from the chamber Extend.In some other embodiment, as fig. 6 c, the extension 604 can be attached to the side of the ontology and remote Extend from the chamber.In other embodiments, the extension can be attached to the other positions not disclosed herein in.It is some In embodiment, a unmanned vehicle can use the more than one sensor vulnerable to interference.It is described in this kind of embodiment Sensor can be located on one or more extension as shown here.In some embodiments, multiple extensions can be with It is attached in the different piece of the outer surface of the unmanned vehicle ontology.

In some embodiments, the extension can be attached on the inner surface of the body part.In this embodiment, The extension equally can be attached to or be not attached on the outer surface of the body part.For example, in an embodiment, institute State extension can pass through and with the inner surface of the body part and appearance face contact.In other embodiments, the extension It can not be attached only on the inner surface of the body part and (e.g., be worn far from chamber extension with the appearance face contact The opening crossed on the main part of the unmanned vehicle is not contacted with the opening).

In some embodiments, as the replacement or supplement to extension is used, the sensor vulnerable to interference can In ontology to be attached directly to the unmanned vehicle or on outer surface and far from the electronics member for generating interference Part.According to some embodiments, Fig. 7 a-c illustrates the unmanned vehicle edge and is formed by plane substantially just with the rotor The side-view of the plane of friendship.In these figures, what the ontology 702, the sensor 706 vulnerable to interference and the generation were interfered Electronic component 708,710,712 and 714 can be with ontology 602, the sensor 606 vulnerable to interference and institute referring to described in Fig. 6 It is similar to state the electronic component 608 for generating interference, 610,612 and 614.But in Fig. 7 a-c, the sensor vulnerable to interference 709 are directly arranged on the interior or outer surface of the unmanned vehicle ontology without using extension.In some embodiments, As Fig. 7 a is shown, the sensor 706 vulnerable to interference can be directly arranged at the interior table with rotating vane phase the same side On face (or upper inside surface of chamber) and far from the various electronic components for generating interference.In some embodiments, such as Fig. 7 b Shown, the sensor 706 vulnerable to interference can be directly arranged at the appearance outside the chamber with rotating vane phase the same side On face (or upper external face).In some embodiments, as shown in Figure 7 c, the sensor 706 vulnerable to interference can directly be set Be placed in on the outer surface of the rotating vane opposite side (or lower external face) and far from the electronic component.Some realities Apply (not shown) in mode, the sensor vulnerable to interference can be directly arranged at in the rotating vane opposite side On surface (or lower interior portion face) and far from the electronic component.

Fig. 8 a-b illustrates the top view of some other embodiment, wherein the sensor vulnerable to interference directly adheres to In in the unmanned vehicle or on outer surface.But unlike the embodiment shown from Fig. 7 a-c, it show edge The view of the substantially parallel plane of plane is formed by with the rotor of the unmanned vehicle.As shown, the ontology 802, Vulnerable to interference sensor 806 and it is described generate interference electronic component 808,810,812 and 814 can with refering to Fig. 7 a-c institute Ontology 702, the sensor 706 vulnerable to interference and the electronic component 708,710,712 for generating interference stated and 714 phases Seemingly.In some embodiments, as shown in Figure 8 a, table in the side of body part of the sensor 706 along the unmanned vehicle Face setting.In some other embodiment, as Fig. 8 b is shown, ontology of the sensor 706 along the unmanned vehicle One side external surface in portion is arranged.

In some embodiments, the sensor can be attached by fastener (e.g., belt, wire), glue, welding etc. In in the ontology of the unmanned vehicle or on outer surface.In some other embodiment, the sensor can lead to The installation structures such as slot, grid are crossed to be held on such surface.In some embodiments, the sensor, which can not use, appoints What fastener or installation structure and be only placed in such surface.In some embodiments, the more than one sensing vulnerable to interference Device can use or not use extension and be attached to the different location of the ontology of the unmanned vehicle.For example, one In embodiment, some in the sensor can be attached on the body part by extension, and other is then straight It connects and is attached on the interior or outer surface of the unmanned vehicle ontology.

In different embodiments, interference that the sensor vulnerable to interference is subjected to can by field direction deviation and/ Or the field strength measurement of the magnetic disturbance obtains.The rank of this interference can be powered and break by being respectively compared the electronic component The reading of the sensor obtains when electric.When the position change of the sensor, the rank of the interference is powered and disconnected The difference read when electric can change.Particularly, when the distance between the sensor and the electronic component increase, institute The rank for stating interference reduces.For example, the deviation of directivity and/or the magnetic disturbance field strength that the interference generates can weaken.For example, When the sensor and the electronic component are respectively arranged at the outside and inside of the ontology of the unmanned vehicle, the magnetic The magnetic direction deviation that power meter is subjected to can be than the magnetic direction that is subjected to when being located at the body interior of the unmanned vehicle Deviation lacks certain threshold value.The threshold value may be about 15 degree, 10 degree, 5 degree etc..In another example, when the sensor and described Electronic component be respectively arranged at the ontology of the unmanned vehicle outside and it is internal when, magnetic field strength that the magnetometer is subjected to It can certain threshold value fewer than the magnetic field strength being subjected to when being located at the body interior of the unmanned vehicle.The threshold value can be with About 0.5 Gauss, 10 Gausses, 5 Gausses etc..

In different embodiments, present invention could apply to different sizes, dimension and/or the unmanned vehicles of configuration. For example, in an embodiment, present invention could apply to more rotor unmanned aircrafts, wherein more rotor unmanned aircrafts The distance between opposite shaft of rotor is no more than certain threshold value.The threshold value may be about 5 meters, 4 meters, 3 meters, 2 meters, 1 Rice etc..For example, the value of the distance between opposite shaft of rotor can be 350 millimeters, 450 millimeters, 800 millimeters, 900 Millimeter, 900 millimeters etc..

In some embodiments, the unmanned vehicle, which can have, is large enough to hold the ruler of occupant inside it or above Very little and/or dimension.Alternatively, the unmanned vehicle size and/or dimension, which can be less than, can accommodate occupant inside it Size and/or dimension on or.In some embodiments, the volume of the unmanned vehicle can be less than 5cm x 5cm x 3cm.Under some situations, the maximum dimension (e.g., length, width, height, diameter, diagonal line) of the unmanned vehicle can not Greater than 5m.For example, the distance between opposite shaft of rotor is not more than 5m.In some embodiments, the unmanned vehicle Occupied area be referred to the cross-sectional area of the unmanned vehicle.Under some situations, the weight of the unmanned vehicle is not Greater than 1000kg.In some embodiments, the relatively described load (including load and/or holder) of unmanned vehicle is smaller.It is some In example, the weight of unmanned vehicle and the weight ratio of load can be greater than, be less than or equal to 1:1.In some examples, nothing The weight of people's aircraft and the weight ratio of load can be greater than, be less than or equal to 1:1.Alternatively, the weight of holder and The weight ratio of load can be greater than, be less than or equal to 1:1.In some embodiments, the unmanned vehicle has low energy consumption. For example, the energy consumption of the unmanned vehicle can be lower than 2w/h.Under some situations, the holder has low energy consumption.For example, described The energy consumption of holder can be lower than 2w/h.

In different embodiments, a kind of external member for unmanned vehicle can be used.It is described in some embodiments External member includes electronic component and/or one or more institute that one or more is used to control the unmanned vehicle operation State the rotor motor of unmanned vehicle.The external member can also include specification, the specification include for it is described nobody fly The user of row device assembles the information of magnetometer and above-mentioned electronic component.In one embodiment, according to specification assembling Unmanned vehicle has the feature that, including the shell with outer surface and inner surface, the inner surface forms a chamber, One or more of electronic components are set to the chamber interior, and the magnetometer is located at the hull outside.It is another In embodiment, the unmanned vehicle according to specification assembling is had the feature that including with outer surface and interior table The shell in face, the inner surface form chamber, and one or more of electronic components are set to the chamber interior, and described Magnetometer is located at away from one or more of electronic components at least 3cm.In another embodiment, according to the specification group The unmanned vehicle of dress has the feature that the electronics member for being used to control the unmanned vehicle operation including one or more The rotating vane of part and/or one or more unmanned vehicle, and be located at away from one or more of electronics members Magnetometer at part at least 3cm and most 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle includes magnetometer；And specification, institute State bright school bag include for the user of the unmanned vehicle assemble the magnetometer and one or more for controlling institute State the information of the electronic component of unmanned vehicle operation.Unmanned vehicle in one embodiment, according to specification assembling To have following characteristics: including the shell with outer surface and inner surface, the inner surface forms chamber, one or more A electronic component is set to the chamber interior, and the magnetometer is located at the hull outside.In one other embodiment, Unmanned vehicle according to specification assembling has the feature that including the shell with outer surface and inner surface, institute It states inner surface and forms a chamber, one or more of electronic components are set to the chamber interior, and the magnetometer At away from one or more of electronic components at least 3cm.Nothing in another embodiment, according to specification assembling People's aircraft has the feature that the electronic component for being used to control unmanned vehicle operation including one or more, and/ Or the rotating vane of one or more unmanned vehicle, and be located at away from one or more of electronic components at least Magnetometer at 3cm and most 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle may include with outer surface and The shell of inner surface, the inner surface form chamber；It is pre-set in the chamber and for controlling the unmanned vehicle One or more electronic component of operation；Magnetometer, the operation of the magnetometer is vulnerable to one or more of electronic components Interference；And the specification for assembling the unmanned vehicle.In one embodiment, when the UAV unmanned vehicle according to After being completed according to the specification, the UAV unmanned vehicle being completed has the feature that the magnetometer is located at The outside of the case body.In another embodiment, the UAV unmanned vehicle being completed has the feature that institute Magnetometer is stated to be located at away from one or more of electronic components at least 3cm.In another embodiment, what is be completed is described UAV unmanned vehicle have the feature that the magnetometer be located at away from one or more of electronic components at least 3cm and At most 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle may further include and can adhere to Extension in the outer surface of the chamber, and the unmanned vehicle being completed further have the feature that it is described Extension is attached on the outer surface of the shell and the magnetometer is located on the extension.

Another aspect according to the present invention provides the method for assembling unmanned vehicle.In some embodiments, assembling The method of unmanned vehicle may include assembling the unmanned vehicle according to the specification being provided in external member.The external member packet Include one or more for control unmanned vehicle operation electronic component and/or one or more it is described nobody The rotating vane of aircraft.In one embodiment, after being completed, the unmanned vehicle is had the feature that including tool There is the shell of outer surface and inner surface, the inner surface forms chamber, and one or more of electronic components are set to institute Chamber interior is stated, and the magnetometer is located at the hull outside.In another embodiment, after being completed, it is described nobody Aircraft has the feature that, including the shell with outer surface and inner surface, the inner surface forms chamber, one Or multiple electronic components are set to the chamber interior, and the magnetometer is located at away from one or more of electronic components At at least 3cm.In another embodiment, after being completed, the unmanned vehicle have the feature that including one or The rotation of multiple electronic components and/or one or more unmanned vehicle for being used to control the unmanned vehicle operation Rotating vane piece, and positioned at away from the magnetometer at one or more of electronic components at least 3cm and most 0.5m.

In some embodiments, the method for assembling unmanned vehicle may include that magnetometer is integrated in institute according to specification It states on unmanned vehicle, to assemble the unmanned vehicle, the specification includes in the external member containing magnetometer.One implements In mode, after being completed, the unmanned vehicle is had the feature that including the shell with outer surface and inner surface Body, the inner surface form chamber, and one or more of electronic components are set to the chamber interior, and the magnetometer Positioned at the hull outside.In another embodiment, after being completed, the unmanned vehicle have the feature that including Shell with outer surface and inner surface, the inner surface form chamber, and one or more of electronic components are set to The chamber interior, and the magnetometer is located at away from one or more of electronic components at least 3cm.Another embodiment In, after being completed, the unmanned vehicle have the feature that including one or more be suitable for control it is described nobody The electronic component of aircraft operation and/or the rotating vane of one or more unmanned vehicle, and be located at away from described Magnetometer at one or more electronic component at least 3cm and most 0.5m.

In some embodiments, according to the step of specification include one or more rotating vane is connected to one or The multiple electronic components of person, so that it is electrically connected to each other.In some embodiments, the step further comprises by the magnetic Power meter is placed at a position of the unmanned vehicle, at this location, the magnetometer be not subjected to from one or The significant electromagnetic interference of the multiple electronic components of person.

Although having illustrated herein and having described the preferred embodiment of the present invention, it is clear that those skilled in the art Speech, embodiment of above are merely illustrative purpose.Those skilled in the art without departing from the spirit of the invention, Variation, change and replacement can be made.It should be appreciated that the different selection replacements to embodiment of above of the invention are available In practice of the invention.Appended claim has claimed scope of patent protection of the invention, method of the invention, structure and Equivalent replacement is each fallen in described the scope of the claims.

Claims (37)

1. a kind of unmanned vehicle, comprising:

Centerbody, the centerbody include upper housing member and lower shell piece, and the upper housing member and the lower shell piece are formed Main chamber；

One or more is set to the electronic component in main chamber room and for controlling the unmanned vehicle operation, the electricity Subcomponent includes flight control assembly；

One or more extends branch's housing component of the centerbody, each described branch's housing component includes top set's shell Part and corresponding inferior division housing component, wherein one or more of branch's housing components are used to support one or more actuators, The actuator is configured to control the movement of the unmanned vehicle in response to the signal of the flight control assembly；

Wherein, one or more top set's housing components and the upper housing member form entirety portion, one or more inferior division shells Body part and the lower shell piece form lower entirety portion, and the upper entirety portion and the lower entirety portion are removably interconnected with shape At the cavity portion including main chamber room.

2. unmanned vehicle as described in claim 1, wherein the unmanned vehicle further includes sensor, the sensor position In the hull outside, interference of the operation of the sensor vulnerable to one or more of electronic components, and the biography Sensor is located on extension, and far from the chamber, the extension is attached on the centerbody, and is prolonged from the centerbody It stretches.

3. unmanned vehicle as claimed in claim 2, wherein the extension includes supporting element, the supporting element is for working as institute State all or part of weight that the unmanned vehicle is supported when unmanned vehicle not flight.

4. unmanned vehicle as claimed in claim 3, wherein the unmanned vehicle includes one or more rotors, and described Sensor is set to below one or more of rotors；Or

The sensor is directly arranged on the outer surface of the centerbody；Or

The supporting element includes landing chassis.

5. unmanned vehicle as claimed in claim 2, wherein the sensor and one or more of electronic components it Between minimum range be at least 3 centimetres；Or

Minimum range between the sensor and one or more of electronic components is at most 0.5 meter.

6. unmanned vehicle as described in claim 1, electronic component described in wherein at least one is by the unmanned vehicle Manufacturer is pre-configured with.

7. unmanned vehicle as claimed in claim 6, wherein at least one described preconfigured electronic component is used to form Electronic unit, the electronic unit are necessary and enough to the operation for controlling the unmanned vehicle.

8. unmanned vehicle as claimed in claim 7, wherein the electronic unit includes flight control modules, GPS receiver Or at least one of electronic speed regulation module.

9. unmanned vehicle as claimed in claim 2, wherein the sensor is for measuring magnetic field；Or

The sensor includes magnetometer, and the magnetometer is set on the extension, to reduce from one or The interference of the multiple electronic components of person.

10. unmanned vehicle as claimed in claim 9, wherein the interference includes magnetic disturbance or electromagnetic interference；Or

The magnetometer includes compass.

11. unmanned vehicle as described in claim 1, wherein one or more of electronic components include GPS receiver.

12. unmanned vehicle as described in claim 1, wherein one or more of electronic components include actuator group Part, the actuator include rotor wing rotation blade and the actuator for driving the rotating vane.

13. unmanned vehicle as claimed in claim 12, wherein one or more of electronic components include at least three Actuator.

14. unmanned vehicle as described in claim 1, wherein the shell includes conductive shielding material；Or

The upper housing member and the lower shell piece are removably interconnected to form main chamber room；Or

One or more of branch's housing components respectively correspond one or more rotor of the unmanned vehicle.

15. unmanned vehicle as described in claim 1, one or more of branch's housing components form corresponding one or more A branch's chamber.

16. unmanned vehicle as described in claim 1, wherein at least one of one or more of electronic components position In in main chamber room.

17. unmanned vehicle as claimed in claim 16, wherein being located at indoor at least one electronics member of main chamber Part includes at least one of power supply, flight control modules, Inertial Measurement Unit or GPS receiver.

18. unmanned vehicle as claimed in claim 15, wherein at least one of one or more of electronic components In one of one or more of branch's chambers；Or

At least one described electronic component includes electronic speed regulation module or actuator, the electronic component be located at it is one or In one in the multiple branch's chambers of person.

19. a kind of unmanned vehicle, comprising:

Centerbody, the centerbody include upper housing member and lower shell piece, and the upper housing member and the lower shell piece are formed Main chamber；

One or more is set to the electronic component in main chamber room and for controlling the unmanned vehicle operation, the electricity Subcomponent includes flight control assembly；

One or more extends branch's housing component of the centerbody, each described branch's housing component includes top set's shell Part and inferior division housing component, wherein top set's housing component and the inferior division housing component form corresponding one or more Branch's chamber；And

Actuator, described includes actuator rotor wing rotation blade and the actuating for driving the rotating vane Device, wherein the actuator is at least partially situated in branch's chamber, and at least partly from described point Extend in branch chamber.

20. unmanned vehicle as claimed in claim 19, wherein the unmanned vehicle further includes sensor, the sensor Positioned at the hull outside, interference of the operation of the sensor vulnerable to one or more of electronic components, and it is described Sensor is located on extension, and far from the chamber, and the extension is attached on the centerbody, and from the centerbody Extend.

21. unmanned vehicle as claimed in claim 20, wherein the extension includes supporting element, the supporting element is for working as The all or part of weight of the unmanned vehicle is supported when the unmanned vehicle not flight.

22. unmanned vehicle as claimed in claim 21, wherein the unmanned vehicle includes one or more rotors, and institute Sensor is stated to be set to below one or more of rotors；Or

Wherein the supporting element includes landing chassis；Or

The sensor is directly arranged on the outer surface of the centerbody.

23. unmanned vehicle as claimed in claim 20, wherein the sensor and one or more of electronic components Between minimum range be at least 3 centimetres；Or

Minimum range between the sensor and one or more of electronic components is at most 0.5 meter.

24. unmanned vehicle as claimed in claim 20, electronic component described in wherein at least one is by the unmanned vehicle Manufacturer be pre-configured with.

25. unmanned vehicle as claimed in claim 24, wherein at least one described preconfigured electronic component is used for shape At electronic unit, the electronic unit is necessary and enough to the operation for controlling the unmanned vehicle.

26. unmanned vehicle as claimed in claim 25, wherein the electronic unit includes flight control modules, GPS receiver At least one of device or electronic speed regulation module.

27. unmanned vehicle as claimed in claim 20, wherein the sensor is for measuring magnetic field；Or

The sensor includes magnetometer, and the magnetometer is set on the extension, to reduce from one or The interference of the multiple electronic components of person.

28. unmanned vehicle as claimed in claim 27, wherein the interference includes magnetic disturbance or electromagnetic interference；Or

Magnetometer includes compass.

29. unmanned vehicle as claimed in claim 19, wherein one or more of electronic components include GPS receiver Device.

30. unmanned vehicle as claimed in claim 19, wherein one or more of electronic components include actuator group Part, the actuator include rotor wing rotation blade and the actuator for driving the rotating vane.

31. unmanned vehicle as claimed in claim 30, wherein one or more of electronic components include at least three Actuator.

32. unmanned vehicle as claimed in claim 20, wherein the shell includes conductive shielding material；Or

The upper housing member and the lower shell piece are removably interconnected to form main chamber room.

33. unmanned vehicle as claimed in claim 19, one or more of branch's housing components formed corresponding one or Multiple branch's chambers.

34. unmanned vehicle as claimed in claim 33, wherein at least one of one or more of electronic components In main chamber room.

35. unmanned vehicle as claimed in claim 34, wherein being located at indoor at least one electronics member of main chamber Part includes at least one of power supply, flight control modules, Inertial Measurement Unit or GPS receiver.

36. unmanned vehicle as claimed in claim 33, wherein at least one of one or more of electronic components In one of one or more of branch's chambers；Or

At least one described electronic component includes electronic speed regulation module or actuator, the electronic component be located at it is one or In one in the multiple branch's chambers of person.

37. unmanned vehicle as claimed in claim 19, wherein one or more of branch's housing components respectively correspond institute State one or more rotor of unmanned vehicle.