CN104903194A - Multi-rotor unmanned aerial vehicle - Google Patents

Abstract

Methods and an apparatus for unmanned aerial vehicle (UAV) with improved reliability are provided, wherein onboard sensors are located on said UAV at a position separated from onboard electrical components. Therefore, interference experienced by onboard sensors from onboard electrical components is reduced. In addition, user-configuration or assembly of electrical components is minimized to reduce user's errors.

Description

Many rotor unmanned aircrafts

Cross reference

This application claims the Chinese patent application 201220604396.7 of application on November 15th, 2012, it is now the preceence of Chinese patent CN 203127141, and the Chinese patent application 201220686731.2 of application on December 13rd, 2012, be now the preceence of Chinese patent CN 203047531.Above two pieces application is all introduced in reference mode at this.

Background technology

In recent years, unmanned vehicle has been widely used in various field, such as, and Aerial photography or monitoring, scientific research, geological exploration, remote sensing etc.Usually, described unmanned vehicle carries the various electronic component for controlling the different aspect that described unmanned vehicle runs.Meanwhile, described unmanned vehicle needs to carry one or more sometimes equally for navigating, monitoring or the sensor of remote sensing.But the operation of some in these sensors may be subject to the interference of described electronic component, and then reduces the reliability of described unmanned vehicle.

In addition, described unmanned vehicle generally needs assembling, configuration or calibration, thus normally runs.When described assembling, configuration or calibration be by unbred user to complete time, user configure error or assembling error described unmanned vehicle may be caused to break down or damage.Therefore, a kind of unmanned vehicle with better reliability is needed, to solve the problem.

Summary of the invention

For providing the method and apparatus of the unmanned vehicle of improvement.An aspect of of the present present invention, provides a kind of unmanned vehicle.Described unmanned vehicle comprises housing, and described housing comprises outside face and inside face, and described inside face forms chamber; One or more to be arranged in described chamber and for controlling the electronic component that described unmanned vehicle runs; And being positioned at the sensor of described outside, the operation of described sensor is subject to the interference of one or more electronic component described.

Another aspect of the present invention, provides a kind of unmanned vehicle (unmanned vehicle).Described unmanned vehicle comprises one or more pre-configured electronic component, described electronic component is configured before user uses described unmanned vehicle in advance by manufacturer, and one or more electronic component described comprises at least one flight control modules or electronic speed regulation (ESC) module; And sensor, described sensor is positioned on described unmanned vehicle, is in the position be separated with one or more pre-configured electronic component described, and the operation of described sensor is subject to the interference of one or more pre-configured electronic component described.

Another aspect of the present invention, provides a kind of unmanned vehicle.Described unmanned vehicle comprises one or more electronic component run for controlling described unmanned vehicle; And sensor, described sensor is positioned on extension, and described extension extends from one or more electronic component described, and the operation of described sensor is subject to the interference of one or more electronic component described.

Another aspect of the present invention, provides a kind of unmanned vehicle.Described unmanned vehicle comprises one or more electronic component run for controlling described unmanned vehicle; And sensor, described sensor is positioned at apart from one or more electronic component described at least 3cm and position of maximum 0.5m, and the operation of described sensor is subject to the interference of one or more electronic component described.

Another aspect of the present invention, provides a kind of unmanned vehicle.Described unmanned vehicle comprises one or more electronic component run for controlling described unmanned vehicle, and one or more electronic component described comprises gps receiver; And sensor, described sensor comprises at least one magnetometer, described magnetometer is positioned on described unmanned vehicle, is in the position be separated with one or more pre-configured electronic component described, and the operation of described magnetometer is subject to the interference of one or more electronic component described.

In some embodiments, described sensor is positioned on extension, and away from described chamber, described extension extends from described housing.Described extension comprises a strut member, and described strut member is used for all or part of weight supporting described unmanned vehicle when described unmanned vehicle does not fly.Described strut member can comprising continental shelf.Alternatively, described sensor can directly be arranged on the outside face of described housing.Described unmanned vehicle can comprise one or more rotor, and described sensor setting is below one or more rotor described.

In some embodiments, the minor increment between described sensor and one or more electronic component described is at least about 3 centimetres.In some embodiments, the minor increment between described sensor and one or more electronic component described is at most 0.5 meter.

In some embodiments, electronic component described at least one is undertaken pre-configured by the manufacturer of described unmanned vehicle.At least one pre-configured electronic component described is for the formation of electronic unit, and described electronic unit is necessary and enough to controlling the operation of described unmanned vehicle.Described electronic unit can comprise at least one in flight control modules, gps receiver or electronic speed regulation (ESC) module.

In some embodiments, described sensor is for measuring magnetic field.Described sensor comprises magnetometer.Described magnetometer comprises compass.In some embodiments, described interference can comprise magnetic disturbance or electromagnetic interference.In some embodiments, one or more electronic component described comprises gps receiver or actuator, and described actuator comprises a rotating blade and one for driving the actuator of described rotating blade.In some embodiments, one or more electronic component described comprises at least three actuators.

In some embodiments, described housing comprises conductive shielding material.Described housing comprises upper housing member and lower shell piece, and described upper housing member and described lower shell piece are interconnected to form described chamber removedly.Described housing comprises the main casing part be connected with one or more branch's housing component, and described main casing part forms main chamber and one or more branch's housing component described forms one or more corresponding branch's chamber.In some embodiments, at least one in one or more electronic component described is positioned at described main chamber.At least one electronic component described being arranged in described main chamber can comprise at least one of power supply, flight control modules, Inertial Measurement Unit (IMU) or gps receiver.In some embodiments, at least one in one or more electronic component described is positioned at one of one or more branch's chamber described.At least one electronic component described comprises electronic speed regulation (ESC) module or actuator, and described electronic component is arranged in one of one or more branch's chamber described.In some embodiments, one or more rotor of the corresponding described unmanned vehicle of one or more branch's housing component difference described.At least one in one or more branch's housing component described is connected on described main casing part removedly.

Another aspect of the present invention, provide a kind of reduce easily the sensor that disturbs by one or more electronic component from unmanned vehicle the method for interference that suffers, described method comprises provides an above-mentioned unmanned vehicle, to reduce described interference.

Another aspect of the present invention, provides a kind of external member for assembling unmanned vehicle.Described external member comprises (a) one or more electronic component run for controlling described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle; And (b) specification sheets, described specification sheets comprises the information supplying the user of described unmanned vehicle to assemble element described in magnetometer and (a), make after assembling completes, described unmanned vehicle has following feature, comprise: (1) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or (2) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or (3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

Another aspect of the present invention, provides a kind of external member for assembling unmanned vehicle.Described external member comprises (a) magnetometer; And (b) specification sheets, the user that described specification sheets comprises for described unmanned vehicle assembles described magnetometer with one or more for controlling the information of the electronic component of described unmanned vehicle operation, make after assembling completes, described unmanned vehicle has following feature, comprise: (1) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or (2) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or (3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

Another aspect of the present invention, provides a kind of external member for assembling unmanned vehicle.Described external member comprises (a) housing, comprises outside face and inside face, and described inside face forms chamber; (b) be pre-set at described chamber interior and for control described unmanned vehicle run one or more electronic component; (c) magnetometer, the operation of described magnetometer is subject to the interference of one or more electronic component described; D () is for assembling the specification sheets of described unmanned vehicle, make after described unmanned vehicle has been assembled according to described specification sheets, the unmanned vehicle after described assembling has following feature: (1) described magnetometer is positioned at the outside of described housing; Or (2) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or (3) described magnetometer is positioned at apart from one or more electronic component described 0.5m place at the most.

In some embodiments, described external member comprises the housing with inside face and outside face further, and described inside face forms chamber, and one or more electronic component described is positioned at described chamber.In some embodiments, described external member comprises the housing with inside face and outside face further, and described inside face forms chamber, and described magnetometer is positioned at described chamber.

In some embodiments, described external member comprises the extension that can be attached on described housing further, and the unmanned vehicle after described assembling has following feature further: the outside face that described extension is attached to described housing extends away from described chamber, and described magnetometer is positioned on described extension.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, comprise and assemble described unmanned vehicle according to the specification sheets in external member, described external member comprises one or more electronic component run for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, described unmanned vehicle after wherein having assembled has following feature, comprise: (1) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside, or (2) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place, or (3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, comprise: according to specification sheets, described magnetometer is integrated on described unmanned vehicle, to assemble described unmanned vehicle, described specification sheets is included in the external member containing magnetometer, described unmanned vehicle after wherein having assembled has following feature, comprise: (1) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside, or (2) (i) housing, comprise outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place, or (3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

In some embodiments, step according to described specification sheets comprises and connects one or more rotating blade described to one or more electronic component described, and described step comprises described magnetometer to be placed on described unmanned vehicle further and makes described magnetometer by the significant electromagnetic interference from one or more electronic component described.

Quote and add

The all publications mentioned in this specification sheets, patent and patent application are incorporated to herein all by reference, as each independent publication, patent or patent application all by clearly and indicate respectively and be incorporated to by reference herein.

Accompanying drawing explanation

Novel features of the present invention has been illustrated in the claim of enclosing.The better understanding to feature of the present invention and beneficial effect is obtained below with reference to the detailed description of the illustrative embodiments of the following application principle of the invention and the following drawings.

Fig. 1 is the schematic diagram that an embodiment of many rotor unmanned aircrafts (unmanned vehicle) does not comprise rotating blade.

Fig. 2 is the birds-eye view that many rotor unmanned aircrafts of Fig. 1 do not comprise the top of described housing, to show inner member.

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

Fig. 4 is the schematic diagram of the strut member of an embodiment of many rotor unmanned aircrafts.

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

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

Fig. 7 a to 7c is the schematic diagram of some embodiments of unmanned vehicle, wherein on the sensor outside face that is positioned at the body of described unmanned vehicle or inside face.

Fig. 8 a to 8b is the schematic diagram of the other embodiment of unmanned vehicle, illustrates sensor and is positioned at more examples on the body outer surface of described unmanned vehicle or inside face.

Detailed description of the invention

The invention provides the method and apparatus of the reliability for improving unmanned vehicle.On the one hand, the interference that specific on-board sensing suffers is reduced.Described interference can be what caused by airborne electronics unit.Described interference can comprise electromagnetic interference, magnetic disturbance etc.Described operation is subject to disturbing influence or the airborne sensor responsive to described interference can be the sensor being used as measuring magnetic field, such as magnetometer, compass etc.In order to the interference that the sensor reducing this " being easily disturbed " suffers, the electronic component of described generation interference can be arranged at the chamber interior of unmanned vehicle, and described chamber is formed by the inside face of the body of described unmanned vehicle.Described one or more sensor be easily disturbed can be arranged at the outside of described chamber.In some embodiments, described sensor can be arranged on the extension of described unmanned vehicle.Described extension can comprise the strut member of described unmanned vehicle, as landing pad.In other some embodiments, described sensor directly can be arranged on the outside face of described unmanned vehicle or inside face but to be separated with described electronic component.Benefit is, described produce electronic component and the described sensor be easily disturbed of interference be separated the interference decreasing described sensor and suffer, therefore improve the reliability of described sensor and described unmanned vehicle.

According to another aspect of the present invention, the reliability of described unmanned vehicle can be slipped up by the configuration error or assembling reducing the element that user causes and improved further.Some or all electronic component can connect pre-configured by the manufacturer of described unmanned vehicle, in advance or assemble in advance.Similarly, require less user's assembling or configuration or assemble without the need to user or be configured to ensure that unmanned vehicle normally runs.In addition, because described element is pre-configured by experienced workman, the possibility therefore configuring error is further reduced.

In various embodiments, unmanned vehicle described herein can comprise the unmanned vehicle of dissimilar, size, shape and configuration.As, described unmanned vehicle can comprise many autogiros, as helicopter, four-axle aircraft, six axle aircraft, eight axle aircraft etc.In addition, described unmanned vehicle can be widely used, such as remote sensing, and aviation is monitored, the exploration of oil, gas and mineral and production, transport, scientific research, Aerial photography or video recording, drawing, Mishap Report, and search and rescue, chart, power-line patrolling etc.

In different embodiments, unmanned vehicle can by on-board controller or treater from master control, control by far end device remote control (as ground station or hand-held remote control device) or in the two mode combined.In some embodiments, described unmanned vehicle may be used for carrying load device by holder, such as camera or video tape recorder.Described load device may be used for catching surrounding environment image, collect sample or perform other tasks.

As used hereinly to arrive, described term " on ", D score, " vertically ", " level " and other similar position description terms be used for as its reference under the normal operation mode of described unmanned vehicle, and should not form restriction.Make a general survey of whole description, four-axle aircraft (having the helicopter of four rotors) is only illustrative object as unmanned vehicle.Will be appreciated that, technology described herein also may be used for the unmanned vehicle of other types, such as six axle aircraft or eight axle aircraft.

Figure 1 shows that an embodiment of many rotor unmanned aircrafts does not comprise the schematic diagram of rotating blade.As shown in the figure, described unmanned vehicle comprises the hollow body portion 10 with inside face and inside face.Described term " body " as used herein can be replaced by term " housing ".The described inside face of described body surrounds the chamber (as shown in 13 of Fig. 2) being arranged in described body inside.As describing in further detail of referenced hereafter Fig. 2, can be arranged in described chamber for one or more electronic component controlling the different aspect that described unmanned vehicle runs.Described term " electronic component " as used herein relates to anyly to be provided, use or the element of transmission current.This type of electronic component can comprise energy source (as battery), flight controls or navigation module, GPS module (as gps receiver or transceiver), Inertial Measurement Unit (IMU) module, communication module (as wireless transceiver), for controlling electronic speed regulation (ESC) module of actuator (as motor), actuator (as the rotating blade of unmanned vehicle or the motor of rotor as described in driving), electric wire and adaptor union etc.In some embodiments, some in described electronic component can be arranged on an integrated electronic unit, such as, on circuit card or module.One or more electronic unit can be arranged at described chamber interior.In use, electronic component as herein described may produce interference (as electromagnetic interference) to other elements (as magnetometer) of described unmanned vehicle.In some embodiments, described interference may be caused by iron-bearing materials or magnetostatic source.Such as, described electronic component may comprise magnet, described magnets produce magnetic fields, thus causes magnetic disturbance.

As Figure 1 shows, the described body 10 of described unmanned vehicle comprises main casing part 11 and one or more branch's housing component 12.The described inside face of described main casing part can form main chamber (as shown in Fig. 2 113).Branch's housing component 12 described in each, in hollow arm shape or other suitable shapes, can form branch's chamber (as shown in Fig. 2 123).When described main casing part is connected with one or more branch's housing component, described main chamber and one or more branch's chamber described can form the chamber (as shown in Fig. 2 13) of an one jointly.

Described branch housing component 12 can be connected with described main casing part 11 with " X " or star arrangement mode.Particularly, described main casing part 11 can be arranged at the center of described X or star arrangement, and described branch housing component 12 can be distributed in described main casing part 11 around in symmetry or asymmetric mode.In some embodiments, this kind of star arrangement can make to be arranged at the electrical connection between the electronic component in the chamber of described housing, as the electrical connection between the flight control modules that is arranged at middle part and the single ESC module being arranged in branch's chamber respectively, become efficient.Or, be arranged at middle part energy source (as battery) and for drive the rotor of many rotor unmanned aircrafts actuator (as motor) between electrical connection.In other embodiments, the chamber in the housing of described housing and/or described unmanned vehicle can have the shape different from star described herein.Such as, the chamber in described housing and/or described housing can be formed roughly spherical, oval or cylindrical or appoint the shape of closing other.

In a typical embodiment, the quantity of described branch housing component 12 is equal with the rotor of described unmanned vehicle or the quantity of actuator.Actuator (as shown in Fig. 2 2) can comprise a rotor or rotating blade (as shown in Fig. 2 21) and one actuator (as shown in Fig. 2 22) for rotating blade as described in driving.Such as, the four rotor four-axle aircrafts that Fig. 1 shows can comprise four branch's housing components 12, and each branch's housing component 12 corresponds to one in described four rotors or four actuators.In shown embodiment, described unmanned vehicle comprises four branches, and each branch corresponds to an actuator 2.This means, described unmanned vehicle comprises four actuators 2.In various embodiments, described branch quantity and/or arrangement may therewith place show difference.Such as, in some embodiments, the quantity of described branch housing component and/or rotor or actuator may greater or less than the quantity of showing herein.Such as, six rotor unmanned aircrafts can comprise six rotors or actuator and six corresponding branch's housing components.Eight rotor unmanned aircrafts can comprise eight rotors or actuator and six corresponding branch's housing components.In interchangeable embodiment, the quantity of described branch housing component may be not corresponding with the quantity of the rotor of described unmanned vehicle or actuator.Such as, described branch housing component quantity may more than or be less than described actuator quantity.In various embodiments, the quantity of described branch, actuator and actuator can adjust according to the demand of actual circumstances.For ensureing the stability of described unmanned vehicle at run duration, typical many rotor unmanned aircrafts should have and are no less than three rotors.

In some embodiments, described branch housing component 12 can be and is connected to removedly on described main casing part 11.Such as, by integrally rotating described branch housing component 12, and each branch's housing component 12 can be connected to described main casing part 11 and/or depart from from described main casing part 11.In some embodiments, described branch housing component 12 can be folding relative to described main casing part 11, thus as the storage of unmanned vehicle as described in convenient and/or transport.In this embodiment, described branch housing component 12 can launch from folding position and/or reconnect in described main casing part, can be used once again to make described unmanned vehicle.

In some embodiments, described main casing part 11 can comprise the lower main casing part 112 of main casing part 111 and correspondence, and described upper main casing part 111 and described lower main casing part 112 form described main chamber (as shown in Fig. 2 113) jointly.Branch's housing component 12 described in each can comprise the inferior division housing component 122 of top set's housing component 121 and correspondence, and described top set housing component 121 and described inferior division housing component 122 form described branch chamber (as shown in Fig. 2 123) jointly.Top set's housing component 121 of described branch housing component 12 can have installation or location structure 120, such as groove or opening, with install described actuator (as shown in Fig. 2 2) as described in actuator 22.

In some embodiments, described top set housing component 121 and described upper main casing part 111 form upper body 15, and described inferior division housing component 122 and described lower main casing part 112 form described lower body (as shown in Fig. 3 16).Described body 10 can be considered to the combination of described upper body 15 and described lower body 16.In some embodiments, described upper body 15 and described lower body 15 can be and connect removedly to form described body 10.Such as, when assembling described body 10, described upper body and described lower body can pass through fastener, and such as screw rod, screw, bracelet, fixture, fastener, lock bolt, hook, nail, pin, belt, rope etc., connect removedly.Described removable connection can so that the maintenance of described unmanned vehicle.When maintaining when needing repairing, described upper body can remove from described lower body, to allow the inner member directly observing and keep in repair described body.In another embodiment, described upper body and described lower body for good and all can link together with welding or other modes.

In different embodiments, any element forming the housing of described unmanned vehicle alone or in combination can adopt any suitable technology manufacture, such as ejection formation, increasing material manufacture (3D printing) technology etc.Such as, each in described upper main casing part, lower main casing part, top set's housing component and inferior division housing component can manufacture separately and combine to form whole housing with welding, fastening or other modes.Again such as, top set's housing component described in one or more and described upper main casing part entirety can be fabricated to integral piece (going up body as described in formed); On the other hand, one or described inferior division housing component and described lower main casing part entirety can be fabricated to another integral piece (as lower body as described in being formed).Then, described two integral pieces can in conjunction with (by welding, fastener etc.) together to form the body of described unmanned vehicle.Again such as, described upper main casing part and described lower main casing part entirety can be fabricated to integral piece (as main casing part as described in being formed); On the other hand, branch's housing component described in each, described top set housing component and described inferior division housing component entirety can be fabricated to integral piece (as formed branch's housing component).Described main casing part and described branch housing component then can be combined by welding, fastener etc.Again such as, the whole housing of described unmanned vehicle can be integrally manufactured, such as, by ejection formation or increasing material manufacturing technology.

As Figure 1 shows, described unmanned vehicle comprises one or more alternatively and is attached to or can be attached to strut member 4 on described body 10.When described unmanned vehicle does not fly, described strut member 4 may be used for all or part of weight supporting described unmanned vehicle.An example of strut member can comprising continental shelf, so that the landing of described unmanned vehicle.This kind of strut member as herein described may be used for supporting the sensor of the electronic component interference being subject to described unmanned vehicle equally.

In some embodiments, described unmanned vehicle comprises one or more installation structure, to hold the some or all elements of described unmanned vehicle, and electronic component as herein described in some.Described installation structure can be connected with described housing or with the part of described housing one.In the outside face that described installation structure can be arranged on described body or described chamber.Such as, accommodation structure can by described body or the structure of outside face formed.In one embodiment, described installation structure can form the extra collecting chamber of except described main body chamber one.In another embodiment, described installation structure can be formed by the inner structure on the inside face of described main body chamber.In one embodiment, described installation structure is all arranged at described chamber interior.In another embodiment, some in described accommodation structure are arranged at outside described chamber.Described accommodation structure can comprise groove, lattice, frame or other similar structures, to accommodate the different elements of described unmanned vehicle.Such as, described installation structure can comprise the groove on an inside face being positioned at the chamber formed by the body of described unmanned vehicle, and described groove may be used for holding circuit module, battery, ESC module etc.In some embodiments, described unmanned vehicle can not comprise any extra accommodation structure except the described chamber except being formed by the housing of described unmanned vehicle.In some other embodiments, some or all described electronic component can not use installation structure and directly be attached to or be connected on described unmanned vehicle.

Described body and/or accommodation structure can comprise opening, and described opening is used for inserting or taking out element.Such as, described opening can make user in the chamber or described installation structure of described body, take out described battery to carry out recharging and for being put back to by described battery after charging.Described opening has the lid hinged with described body or covering alternatively.Described lid can be closed by such as fastener, bracelet, belt etc., with protection setting element within it.

Fig. 2 does not comprise the birds-eye view at the top of described housing, to show inner member according to an embodiment many rotor unmanned aircrafts shown in Fig. 1.As previously mentioned, for the sensor avoiding or reduce commute to be disturbed, the such as interference of magnetometer (as compass), one or more electronic component producing interference of described unmanned vehicle can be provided separately with the described sensor be easily disturbed.In one embodiment, described electronic component is arranged in the described chamber 13 formed by the inside face of the housing of described unmanned vehicle described with reference to FIG. 1, and described sensor setting is outside described housing.In addition, housing can provide the protection of described electronic component and enhance intensity and the rigidity of described unmanned vehicle, makes it be easy to transport and store.In another embodiment, described sensor to be arranged at equally in described housing but to separate with described electronic component.

Described term " electronic component " used herein relates to anyly to be provided, use or the element of transmission current.In different embodiments, one or more electronic component described may be used for the different aspect controlling the operation of described unmanned vehicle.This type of electronic component can comprise energy source (as battery), flight controls or navigation module, GPS module (as gps receiver or transceiver), Inertial Measurement Unit (IMU) module, communication module (as wireless transceiver), for controlling electronic speed regulation (ESC) module of actuator (as motor), actuator (as the rotating blade of unmanned vehicle or the motor of rotor as described in driving), for being electrically connected the attaching parts (as electric wire and adaptor union) etc. of described electronic component.In different embodiments, the some or all electronic units of described unmanned vehicle can be arranged at described enclosure interior.

In some embodiments, some in above-mentioned electronic component can be arranged on one or more circuit module 3.Each circuit module can comprise one or more electronic component.Such as, as shown in Figure 2, described circuit module 3 can comprise main flight control modules 33, and described main flight control modules 33 comprises one or more treater run for the key controlling described unmanned vehicle (such as being performed by field programmable gate array (FPGA)).Again such as, same or different circuit modules can comprise the IMU module of speed for measuring described unmanned vehicle, direction and gravity equally.Described IMU module can comprise one or more accelerometer and/or gyroscope.In another example, same or different circuit modules can comprise equally for carrying out the communication module 31 of telecommunication with remote control equipment (RCE).Such as, described communication module can comprise wireless (as radio) transceiver.The corresponding indicator lamp 312 that described communication module 31 can have one or more button 311 and separate with described button code.Described button and described indicator lamp can so that communications between described unmanned vehicle and described remote control equipment (RCE).Such as, described button may be used for adjusting the frequency range that described unmanned vehicle uses, and described indicator lamp may be used for indicating being successfully established and/or failure of channel between described unmanned vehicle and described remote control equipment (RCE).

Described flight control modules 33 is generally critical component or " brain " of described unmanned vehicle.Such as, described flight control modules 33 can based on the current speed of unmanned vehicle as described in the data estimation obtained from vision sensor (as camera), IMU, gps receiver and/or other sensors, direction and/or position, to perform layout of roads, to provide to actuator control signal to control to realize navigation.In another example, described flight control modules can send control signal to adjust the state of described unmanned vehicle based on the long-range control signal received.

In some embodiments, the described electronic component be arranged in described chamber can comprise gps receiver.Traditionally, a gps receiver is put altogether with a magnetometer usually.But when described gps receiver and magnetometer are arranged near other electronic components, the operation of described magnetometer may be subject to the interference from other electronic components.In some embodiments, the operation of described magnetometer may be subject to the interference from described gps receiver equally.Therefore, in a preferred embodiment of the present invention, described gps receiver separates mutually with described magnetometer, and therefore described gps receiver is arranged at the inside of the housing of described unmanned vehicle and described magnetic force is arranged at the outside of described housing.In interchangeable embodiment, described gps receiver and described magnetometer all can be arranged at inside or the outside of described housing, but have minimum spacing between described gps receiver and described magnetometer.In one embodiment, described minimum spacing is approximately 3 centimetres (3cm).In other embodiments, described minimum spacing can be less than or be greater than 3cm.

In some embodiments, the described electronic component be arranged in described chamber can comprise one or more electronic speed regulation (ESC) module 34.Electronic speed regulation module may be used for the operation controlling described actuator 22.Described actuator 22 can for a part for described actuator 2 and for driving rotating blade or the rotor 21 of described unmanned vehicle.In some embodiments, described ESC module can be electrically connected with described flight control modules 33 on the one hand, is electrically connected on the other hand with an actuator 22.Described flight control modules 33 can provide control signal for described ESC module 34, and described ESC module 34 provides actuator signal to drive corresponding rotating blade 21 to the described actuator 22 be connected electrically again successively.In some embodiments, described actuator and/or described ESC module 34 can provide feedback signal to described flight control modules 33 equally.In a typical embodiment, the quantity of described ESC module is equal with the quantity of the rotor actuation device of described unmanned vehicle.Such as, four rotor unmanned aircrafts have four ESC modules.In an interchangeable embodiment, the quantity of described ESC module can different from the quantity of described rotor actuation (as more than or be less than).In some embodiments, described ESC module is optional.In some embodiments, as substituting or supplementing described ESC module, the actuator control module of other types can be adopted to control the operation of described actuator.

In some embodiments, described unmanned vehicle also comprises for electric coupling or one or more attaching parts of different electronic components being electrically connected described unmanned vehicle.Described attaching parts can comprise electric wire, cable etc. for transmitting energy, data or control signal between elements.Such as, described attaching parts may be used for electrical connection 1) energy source and actuator; 2) circuit module and ESC module; 3) ESC mould and actuator; 4) communication module and circuit module etc.In some embodiments, the end of described attaching parts has pluggable adaptor union, is beneficial to the plug of the relatively described electronic component of described attaching parts.

As described in reference diagram 1 above, the chamber of unmanned vehicle can be the shape of any appropriate.In different embodiments, the position of different electronic components can be determined based on the design and disposition of described unmanned vehicle.One preferred embodiment in, the chamber of described unmanned vehicle comprises main chamber 113 and multiple branches chamber 123, and each branch's chamber 123 corresponds to an actuator 2.In some embodiments, some in described electronic component can be positioned at described main chamber, and other can be positioned at described branch chamber interior.In other embodiment, all described electronic components can be positioned at described chamber a part (as described in main chamber or as described in branch's chamber).In one embodiment, described crucial control element, such as described flight control modules and described energy source (as battery), described main chamber can be positioned at, such as, and by control element, described ESC module and described actuator, be positioned at corresponding branch's chamber.The element that this arrangement mode provides described middle position provides with the element by described middle position the effective planning be electrically connected between the element of energy and/or person's control signal, and is easy to described unmanned vehicle space optimization and miniaturization.

In one embodiment, described ESC module 34 can be arranged in branch's housing component and to be positioned at below described actuator.Such as, described ESC module 34 can be arranged in described inferior division housing component 122 and to be positioned at described branch chamber 123.Described ESC module 34 being provided with in described branch housing component 123 is beneficial to the electrical connection between described ESC module 34 and described actuator 22.In interchangeable embodiment, ESC module described at least one can be positioned at described main chamber but not branch's chamber.

In some embodiments, branch's chamber interior can be positioned at least in part by the described actuator 2 of described ESC module controls.Described actuator 2 can comprise the actuator 22 be connected with described branch housing component 12 and the rotating blade 21 be connected with described actuator 22.As Figure 1 shows, a part for described actuator 2 is extended at least in part in described chamber, rotatably to connect rotating blade or rotor (as shown in Fig. 2 21).Such as, described actuator can comprise a rotating shaft 221 be rotatably connected with described rotating blade.Described actuator 22 can comprise motor, mechanical actuator, hydraulic actuator, pneumatic actuator etc.Motor can comprise magnetic machines, electrostatic motor or piezoelectric motor.Such as, in an embodiment, described actuator comprises brshless DC motor.Described actuator 2 can be connected with described branch housing component 12 regularly or removedly.In some embodiments, described unmanned vehicle has at least three actuators, to guarantee the stability of described unmanned vehicle run duration.

In some embodiments, some or all in above-mentioned electronic component be pre-configured by the manufacturer of described unmanned vehicle, assemble in advance or connect in advance.In these embodiments, the operation of described unmanned vehicle does not need or seldom needs user to assemble and/or calibrate, and described unmanned vehicle can be unpacked and can be in flight position.Describedly not only can promote Consumer's Experience by reducing technical threshold to the pre-configured of element, and can reduce and configure by user the slip up mistake that causes and contingency.In some embodiments, element that is that these are preconfigured or that assemble in advance can comprise described flight control modules, GPS module or any electronic component of touching upon or above combination in any herein.In some embodiments, one or more electronic component can be preconfigured, in advance connect or be assembled into an electronic unit (as a circuit module) in advance.Described electronic unit is necessary and enough for controlling the operation of described unmanned vehicle.In some embodiments, described pre-configured element does not need extra user's configuration, can normally run to unpack.In other embodiment, may be the user's configuration or the assembling that need some.

In one embodiment, at least two in described electronic component can be connected in advance by the manufacturer of described unmanned vehicle, to reduce the user's assembling required before can using of described unmanned vehicle.Such as, electrical connection between described circuit module and described ESC module can be connected in advance by described manufacturer, thus described user purchase described unmanned vehicle after without the need to connecting described two modules.Described pre-configured, in advance connect or assemble the design that can simplify described unmanned vehicle equally in advance.Such as, not every attaching parts may need to use pluggable adaptor union: some in described attaching parts can be connected on element by welding manner in advance by manufacturer, improve the reliability of this connection with this.Even if employ pluggable adaptor union, this connection also can in the factory-assembled stage by trained professional, as engineering worker correctly completes, thus reduce the risk the further reliability improving described unmanned vehicle that connect loosening and/or connection error.

Fig. 3 illustrates another view of the described many rotor unmanned aircrafts in Fig. 1-2 according to an embodiment.Show described unmanned vehicle show the sensor 7 (as magnetometer) that is easily disturbed as described in the setting of unmanned vehicle outside, this arranges to reduce by one or more electronic component of unmanned vehicle described with reference to FIG. 2 the interference of described sensor.

In different embodiments, the described sensor 7 be easily disturbed comprises the sensor that an operation is subject to the disturbing influence that described airborne electronics unit causes.Described interference can comprise electromagnetism or magnetic disturbance.Described interference may be caused by the electric current in described electronic component or magnet.The described sensor 7 be easily disturbed can comprise magnetometer.Magnetometer can comprise scalar and/or vector magnetometer.In one embodiment, described magnetometer comprises compass.One preferred embodiment in, the described sensor be easily disturbed comprises magnetometer but does not comprise gps receiver.In interchangeable embodiment, the described sensor 7 be easily disturbed comprises gps receiver and magnetometer.Will be appreciated that, a described sensor be easily disturbed for illustration of object, described unmanned vehicle can carry the more than one sensor that is easily disturbed and interference minimizing technology as herein described can be used for any or all sensors be easily disturbed.

As previously mentioned, for avoiding the interference from the electronic component of described unmanned vehicle and improving the reliability of described unmanned vehicle, the described sensor be easily disturbed with easily produces this type of described electronic component disturbed segment distance and arranging apart.In some embodiments, all electronic components to the described sensor generation interference be easily disturbed are arranged away from described sensor.In other embodiments, described generation in the electronic component of interference only has some to arrange away from described sensor.

In some embodiments, as with reference to Fig. 1-2 touch upon, the described electronic component producing interference is positioned at the chamber of the body of described unmanned vehicle, and the described sensor be easily disturbed is positioned at outside the chamber of described body.In some embodiments, described sensor is positioned on extension, and described extension extends from described housing.In some embodiments, described extension can comprise a strut member, and described strut member is used for all or part of weight supporting described unmanned vehicle when described unmanned vehicle does not fly.Such as, described strut member can comprise landing pad 4 as shown in Figure 3.In one optional embodiment, described unmanned vehicle does not comprise shelf or similar structure, and therefore when described unmanned vehicle is placed on the surface of specifying, the outside face of described lower main casing directly contacts described surface.In some embodiments, it is outer and be positioned on the outside face of described housing that described sensor can be located at described chamber.Composition graphs 5-8 is introduced by the more detailed description of some embodiments.

In some embodiments, no matter described sensor or described electronic component are positioned at where, and between described sensor and described electronic component, minor increment is set to be not more than a default threshold value.Such as, in an embodiment, described electronic component and described sensor all can be positioned at described housing or all be positioned at outside described housing, but described minor increment is at least about 3cm.In some embodiments, described minor increment can be less than 3cm.As used in this, the described minor increment between sensor and multiple electronic component is the minimum value in the distance between any one in described sensor and described multiple electronic component.Described ultimate range is determined according to similar rule.Such as, if a flight control modules, an ESC module and actuator are positioned at the position of distance magnetometer 4cm, 7cm and 8cm, then the minor increment between described magnetometer and described electric component group is 4cm, and ultimate range is 8cm.In some embodiments, the described sensor be easily disturbed is same with the ultimate range between the electronic component producing interference described in any one is set to be not more than a default threshold value, such as, and 0.5 meter (0.5m).In other embodiment, described ultimate range can be greater than 0.5m.In different embodiments, the described threshold value of described minimum and/or ultimate range can be determined based on the characteristic of electronic component of the shape of described unmanned vehicle and/or size, described generation interference and the characteristic of the described sensor be easily disturbed at least partly.

In some embodiments, described unmanned vehicle can not have as Fig. 1-3 the housing shown.In this embodiment, described produce interference electronic component and being provided separately of the described sensor be easily disturbed be enough to reduce the interference that suffers of the described sensor be easily disturbed.Such as, in an embodiment, the described sensor that is easily disturbed and the distance that any one produces between the electronic component that disturbs are not less than 3cm and are not more than 0.5m.

Different embodiments, extra interference reducing method can use with technical tie-up described herein.These class methods can comprise makes electricity container, filter, shielding etc.Such as, in an embodiment, the inside face of described body and/or outside face can be made up of conductive shielding material, the interference caused with further less described electronic component.

In some embodiments, as shown in Fig. 3, described unmanned vehicle can carry load device 6 by holder 5.Described holder 5 can be connected with described unmanned vehicle and for connecting described load device 6.In different embodiments, the operation of described load device 6 and/or described holder 5 can be controlled by onboard control module (as circuit module), control device or the combination of the two.

In some embodiments, described main casing or described branch housing can arrange instruction light source (not shown).In one embodiment, described light source can be arranged at opening on described branch housing or the window's position, as near as described in unmanned vehicle bottom (away from as described in rotor).Described opening or window can be covered by curtain, and described curtain adopts transparent or trnaslucent materials to make, to pass from least part of light of described instruction light source.One preferred embodiment in, described instruction light source comprises light-emitting diode (LED) lamp, its have high brightness, low energy consumption, the long life and transport convenience.In other interchangeable embodiments, described instruction light source, window and curtain can be arranged on described main casing.

According to an embodiment, Fig. 4 illustrates the landing pad that may be used for for a pair adhering to the sensor be easily disturbed.Described landing pad 4 can be similar with demonstrated in Figure 3 those.As mentioned above, when described unmanned vehicle does not fly, described landing pad can be used for all or part of weight supporting described unmanned vehicle.In one embodiment, described unmanned vehicle have two to be connected with described unmanned vehicle body and spaced suitable distance, the support of structural similitude.In different embodiments, described unmanned vehicle can comprise one, two, three or more supports.Described support can be attached to the bottom (side relative with described rotor) of described housing with the configuration mode of any appropriate, to support the weight of described body.Described support can provide protection for the arbitrary load device (such as camera or pick up camera) be arranged between support equally.The advantage of the existing structure as landing pad of described unmanned vehicle is adopted to be, do not need to increase on described unmanned vehicle the distance between electronic component that extra structure disturbs to the sensor be easily disturbed and producing increasing described unmanned vehicle, the weight of the described unmanned vehicle reduced with this and cost improve the aesthetic feeling of described unmanned vehicle simultaneously again.

As revealed in some embodiments, described unmanned vehicle can comprise the first support 41 and the second support 42.The described sensor be easily disturbed can be positioned on described first support 41 or described second support 42.Because described first support and described second support have similar structure, described first support 41 is hereafter only described.Described first support 41 can comprise and has two roughly vertical support portions 411, and described support portion is connected by approximate horizontal connecting portion 412.During use, sensor be easily disturbed 7 can connect in described support portion 411 one and away from described interference source.Such as, described sensor 7 can near one end setting of described support portion and away from described interference source.In other embodiments, described sensor 7 can be arranged on described first support 41 from different part described herein.In some embodiments, each support portion 411 can have an attachment interface 413, and described attachment interface 413 can be used for described support portion and and then is attached on described unmanned vehicle by described support.Described attachment interface 413 can comprise one or more opening 414.The electric wire that this type of opening may be used for allowing and protection connects other elements of the similar described circuit module of the described sensor that is easily disturbed and described unmanned vehicle passes through.

According to some embodiments, Fig. 5-8 illustrates the profile instance of the sensor be easily disturbed and the electronic component producing interference.

As described here, in some embodiments, the described electronic component producing interference can be positioned at the chamber of described unmanned vehicle body, and the described sensor be easily disturbed can be positioned at outside described chamber and to be located on described extension, and described extension extends from away from described chamber.Fig. 5-6 illustrates this embodiment.Refer to Fig. 5, in the body 502 of described unmanned vehicle, the electronic component (not shown) that one or more produces interference can be loaded.One end of extension 504 can be attached to the outside face of the body 502 of described unmanned vehicle.The sensor 506 be easily disturbed can be connected to the position of the other end away from described chamber near described extension 504 on described extension 504, and therefore the described sensor 506 that is easily disturbed and described generation between the electronic component that disturbs have a segment distance.Described sensor 506 can pass through fastener, glue, welding or arbitrarily other suitable methods be connected with described extension 504 (removably or permanently).In different embodiments, described extension 504 can comprise other structures of post, hook, platform, groove or any appropriate.Will be appreciated that, in some embodiments, the described sensor be easily disturbed operationally can be connected with the described electronic component disturbed that produces by such as wired or wireless connections.This connection is in figs. 5 to 8 without the need to describing.In one embodiment, described extension can comprise a hollow chamber, and described hollow chamber allows the wire of other elements connecting described sensor and described unmanned vehicle to pass through (not shown).

Fig. 6 a illustrates the lateral plan of the unmanned vehicle shown in Fig. 5.As shown in the figure, the inside face of the body 602 of described unmanned vehicle forms chamber.The electronic component 608,610 and 612 producing interference can be arranged in described chamber.The electronic component producing interference can comprise one or more attaching parts 614 being electrically connected some other electronic components equally.The described electronic component producing interference can comprise any element described herein, such as circuit module, flight control modules, gps receiver, power supply, ESC module, actuator or actuator etc.Be understandable that, in different embodiments, the electronic component of the generation interference more or more less than diagram can be adopted.The outer surface of upper that extension 604 is attached to the body of described unmanned vehicle extends away from described chamber.The sensor 606 be easily disturbed can be connected with described extension 604 (removably or permanently).In one typical embodiment, the described sensor 606 be easily disturbed is positioned at the position away from described chamber on described extension 604, such as, near the end do not connected with the outside face of the body of described unmanned vehicle.

Described extension shown in the above example is attached to the top of described unmanned vehicle body.In other embodiments, described extension can be attached to other positions on described outside face.Fig. 6 b-c illustrates some this kind of embodiments.In some embodiments, as shown in Figure 6 b, described extension 604 can be attached to the bottom of described body and extend away from described chamber.In some other embodiment, as fig. 6 c, described extension 604 can be attached to the sidepiece of described body and extend away from described chamber.In other embodiments, described extension can be attached on other positions of herein not disclosing.In some embodiments, a unmanned vehicle can adopt the more than one sensor be easily disturbed.In this kind of embodiment, described sensor can be positioned on one or more extension as shown here.In some embodiments, multiple extension can be attached in the different piece of the outside face of described unmanned vehicle body.

In some embodiments, described extension can be attached on the inside face of described body.In this embodiment, described extension can be attached to or be not attached to equally on the outside face of described body.Such as, in an embodiment, described extension can through and with the inside face of described body and exterior surface.In other embodiments, described extension can not with described exterior surface, and on the inside face being only attached to described body and away from described chamber extend (e.g., through the opening on the main part of described unmanned vehicle not with described openings contact).

In some embodiments, as to using the replacement of extension or supplementing, the described sensor be easily disturbed can be directly attached on the interior of the body of described unmanned vehicle or outside face and away from the described electronic component producing interference.According to some embodiments, Fig. 7 a-c illustrates the side-view of described unmanned vehicle along the plane roughly orthogonal with the plane that described rotor is formed.In these figure, described body 702, the sensor 706 be easily disturbed and the described electronic component 708,710,712 and 714 producing interference can to reference to the body 602 described in Fig. 6, the sensor 606 be easily disturbed and described produce disturb electronic component 608,610,612 and 614 similar.But in Fig. 7 a-c, the described sensor 709 be easily disturbed does not use extension and is directly arranged on the interior or outside face of described unmanned vehicle body.In some embodiments, as Fig. 7 a show, the sensor 706 be easily disturbed directly can be arranged at upper with the inside face (or upper inside surface of chamber) of described rotating blade phase the same side and produce away from various the electronic component disturbed.In some embodiments, as shown in Figure 7b, it is outer with on the outside face (or upper external face) of described rotating blade phase the same side that the sensor 706 be easily disturbed directly can be arranged at described chamber.In some embodiments, as shown in Figure 7 c, the sensor 706 be easily disturbed can directly be arranged at upper relative to the outside face (or lower external face) of side with described rotating blade and away from described electronic component.(not shown) in some embodiments, the described sensor be easily disturbed can directly be arranged at upper relative to the inside face (or lower interior portion face) of side with described rotating blade and away from described electronic component.

Fig. 8 a-b illustrates the birds-eye view of some other embodiment, and the wherein said sensor be easily disturbed directly is attached on the interior of described unmanned vehicle or outside face.But, the embodiment shown with Fig. 7 a-c unlike, be depicted as the view along the almost parallel plane of the plane formed with the rotor of described unmanned vehicle.As shown in the figure, described body 802, the sensor 806 be easily disturbed and the described electronic component 808,810,812 and 814 producing interference can to the body 702 consulted described in Fig. 7 a-c, the sensor 706 be easily disturbed and described produce disturb electronic component 708,710,712 and 714 similar.In some embodiments, as shown in Figure 8 a, described sensor 706 is arranged along the side inside face of the body of described unmanned vehicle.In some other embodiment, as Fig. 8 b show, described sensor 706 along described unmanned vehicle body one side external surface arrange.

In some embodiments, described sensor can pass through fastener (e.g., belt, metal filament), glue, welding etc. and be attached on the interior of the body of described unmanned vehicle or outside face.In some other embodiment, described sensor can be held in this type of on the surface by the such as installation structure such as groove, grid.In some embodiments, described sensor can not use any fastener or installation structure and only be positioned over this type of surface.In some embodiments, the more than one sensor be easily disturbed can adopt or do not adopt extension and be attached to the diverse location of the described body of described unmanned vehicle.Such as, in an embodiment, some in described sensor can be attached on described body by extension, and other is then directly attached on the interior or outside face of described unmanned vehicle body.

In different embodiments, the interference that the described sensor be easily disturbed suffers can be obtained by the field strength measurement of field direction deviation and/or described magnetic disturbance.The rank of this interference can be obtained by the reading of described sensor when more described electronic component energising and power-off respectively.When described sensor position change time, the rank of described interference, namely energising and power-off time reading difference, can change.Especially, when the distance between described sensor and described electronic component increases, the rank of described interference reduces.Such as, the described deviation in direction of generation and/or the described magnetic disturbance field intensity disturbed can weaken.Such as, when described sensor and described electronic component be arranged at respectively the body of described unmanned vehicle outside and inner time, the magnetic direction deviation that described magnetometer suffers can than the magnetic direction deviation suffered when being positioned at the body interior of described unmanned vehicle few necessarily threshold value.Described threshold value can be about 15 degree, 10 degree, 5 degree etc.In another example, when described sensor and described electronic component be arranged at respectively the body of described unmanned vehicle outside and inner time, the magnetic-field intensity that described magnetometer suffers can than the magnetic-field intensity suffered when being positioned at the body interior of described unmanned vehicle few necessarily threshold value.Described threshold value can be about 0.5 Gauss, 10 Gausses, 5 Gausses etc.

In different embodiments, the present invention can be applied to the unmanned vehicle of different size, dimension and/or configuration.Such as, in an embodiment, the present invention can be applied to many rotor unmanned aircrafts, and the distance between the rotating shaft of the relative rotor of wherein said many rotor unmanned aircrafts is no more than certain threshold value.Described threshold value can be about 5 meters, 4 meters, 3 meters, 2 meters, 1 meter etc.For example, the value of the distance between the rotating shaft of relative rotor can be 350 millimeters, 450 millimeters, 800 millimeters, 900 millimeters, 900 millimeters etc.

In some embodiments, described unmanned vehicle can have and is large enough to hold occupant's size or above and/or dimension therein.Alternatively, described unmanned vehicle size and/or dimension can be less than can hold occupant therein or on size and/or dimension.In some embodiments, the volume of described unmanned vehicle can be less than 5cm x 5cm x 3cm.Under some situations, the maximum dimension of described unmanned vehicle (e.g., length, width, highly, diameter, diagonal line) can 5m be not more than.Such as, the distance between the rotating shaft of relative rotor is not more than 5m.In some embodiments, the floor area of described unmanned vehicle can with reference to the cross-sectional area of described unmanned vehicle.Under some situations, the weight of described unmanned vehicle is not more than 1000kg.In some embodiments, the relatively described load of unmanned vehicle (comprising load and/or holder) is less.In some examples, 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, the weight of unmanned vehicle 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, described unmanned vehicle has low energy consumption.Such as, the energy consumption of described unmanned vehicle can lower than 2w/h.Under some situations, described holder has low energy consumption.Such as, the energy consumption of described holder can lower than 2w/h.

In different embodiments, a kind of external member for unmanned vehicle can be adopted.In some embodiments, described external member comprises one or more electronic component run for controlling described unmanned vehicle, and/or the rotor motor of unmanned vehicle described in one or more.Described external member can also comprise specification sheets, and the described specification sheets user comprised for described unmanned vehicle assembles the information of magnetometer and above-mentioned electronic component.In one embodiment, the unmanned vehicle assembled according to described specification sheets has following characteristics: comprise the housing with outside face and inside face, described inside face forms a chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at described outside.In another embodiment, the unmanned vehicle assembled according to described specification sheets has following characteristics: comprise the housing with outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at apart from one or more electronic component described at least 3cm place.In another embodiment, the unmanned vehicle assembled according to described specification sheets has following characteristics: comprise the electronic component that one or more runs for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and be positioned at apart from one or more electronic component described at least 3cm and magnetometer at maximum 0.5m place.

In some embodiments, comprise magnetometer for the described external member of assembling described unmanned vehicle; And specification sheets, the user that described specification sheets comprises for described unmanned vehicle assembles described magnetometer with one or more for controlling the information of the electronic component of described unmanned vehicle operation.In one embodiment, the unmanned vehicle assembled according to described specification sheets is with tool following characteristics: comprise the housing with outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at described outside.In one other embodiment, the unmanned vehicle assembled according to described specification sheets has following characteristics: comprise the housing with outside face and inside face, described inside face forms a chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at apart from one or more electronic component described at least 3cm place.In another embodiment, the unmanned vehicle assembled according to described specification sheets has following characteristics: comprise the electronic component that one or more runs for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and be positioned at apart from one or more electronic component described at least 3cm and magnetometer at maximum 0.5m place.

In some embodiments, can comprise the housing with outside face and inside face for the described external member of assembling described unmanned vehicle, described inside face forms chamber; To be pre-set in described chamber and for controlling one or more electronic component that described unmanned vehicle runs; Magnetometer, the operation of described magnetometer is subject to the interference of described one or more electronic component; And for assembling the specification sheets of described unmanned vehicle.In one embodiment, after described UAV unmanned vehicle has been assembled according to described specification sheets, the described UAV unmanned vehicle assembled has had following feature: described magnetometer is positioned at the outside of described case body.In another embodiment, the described UAV unmanned vehicle assembled has following feature: described magnetometer is positioned at apart from one or more electronic component described at least 3cm place.In another embodiment, the described UAV unmanned vehicle assembled has following feature: described magnetometer is positioned at apart from one or more electronic component described at least 3cm and maximum 0.5m place.

In some embodiments, described external member for assembling described unmanned vehicle may further include the extension of the outside face that can be attached to described chamber, and the described unmanned vehicle assembled has following feature further: on the outside face that described extension is attached to described housing and described magnetometer be positioned on described extension.

According to another aspect of the present invention, be provided for the method for assembling unmanned vehicle.In some embodiments, the method for assembling unmanned vehicle can comprise assembles described unmanned vehicle according to the specification sheets be provided in external member.Described external member comprises one or more electronic component run for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more.In one embodiment, after assembling completes, described unmanned vehicle has following feature: comprise the housing with outside face and inside face, and described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at described outside.In another embodiment, after assembling completes, described unmanned vehicle has following characteristics: comprise the housing with outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at apart from one or more electronic component described at least 3cm place.In another embodiment, after assembling completes, described unmanned vehicle has following characteristics: comprise the electronic component that one or more runs for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and be positioned at apart from one or more electronic component described at least 3cm and magnetometer at maximum 0.5m place.

In some embodiments, the method for assembling unmanned vehicle can comprise and is integrated on described unmanned vehicle according to specification sheets by magnetometer, and to assemble described unmanned vehicle, described specification sheets is included in the external member containing magnetometer.In one embodiment, after assembling completes, described unmanned vehicle has following feature: comprise the housing with outside face and inside face, and described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at described outside.In another embodiment, after assembling completes, described unmanned vehicle has following characteristics: comprise the housing with outside face and inside face, described inside face forms chamber, one or more electronic component described is arranged at described chamber interior, and described magnetometer is positioned at apart from one or more electronic component described at least 3cm place.In another embodiment, after assembling completes, described unmanned vehicle has following characteristics: comprise the electronic component that one or more is applicable to control the operation of described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and be positioned at apart from one or more electronic component described at least 3cm and magnetometer at maximum 0.5m place.

In some embodiments, the step according to specification sheets comprises one or more rotating blade is connected to electronic component described in one or more, is electrically connected to each other to make it.In some embodiments, described step comprises the position described magnetometer being placed in described unmanned vehicle further, and in this position, described magnetometer does not suffer the significant electromagnetic interference from one or more electronic component described.

Although illustrated herein and described the preferred embodiment of the present invention, obviously, to those skilled in the art, above embodiment is only exemplary purpose.Those of ordinary skill in the art without departing from the spirit of the invention, can make change, changes and replace.Should be appreciated that and the different choice of above embodiment of the present invention is replaced in practice all used in the present invention.Appended claim claimed scope of patent protection of the present invention, and method of the present invention, structure and equivalent replacement all fall in the scope of described claim.

Claims (56)

1. a unmanned vehicle, comprising:

Housing, described housing comprises outside face and inside face, and described inside face forms chamber;

One or more to be arranged in described chamber and for controlling the electronic component that described unmanned vehicle runs; And

Sensor, described sensor is positioned at described outside, and the operation of described sensor is subject to the interference of one or more electronic component described.

2. a unmanned vehicle, comprising:

One or more pre-configured electronic component, described electronic component is configured before user uses described unmanned vehicle in advance by manufacturer, and one or more electronic component described comprises at least one flight control modules or an electronic speed regulation module; And

Sensor, described sensor is positioned on described unmanned vehicle, is in the position be separated with one or more pre-configured electronic component described, and the operation of described sensor is subject to the interference of one or more pre-configured electronic component described.

3. a unmanned vehicle, comprising:

One or more electronic component run for controlling described unmanned vehicle; And

Sensor, described sensor is positioned on extension, and described extension extends from one or more electronic component described, and the operation of described sensor is subject to the interference of one or more electronic component described.

4. a unmanned vehicle, comprising:

One or more electronic component run for controlling described unmanned vehicle; And

Sensor, described sensor is positioned at apart from one or more electronic component described at least 3cm and position of maximum 0.5m, and the operation of described sensor is subject to the interference of one or more electronic component described.

5. a unmanned vehicle, comprising:

One or more electronic component run for controlling described unmanned vehicle, one or more electronic component described comprises gps receiver; And

Sensor, described sensor comprises at least one magnetometer, described magnetometer is positioned on described unmanned vehicle, is in the position be separated with one or more pre-configured electronic component described, and the operation of described magnetometer is subject to the interference of one or more electronic component described.

6. unmanned vehicle as claimed in claim 1, wherein said sensor is positioned on extension, and away from described chamber, described extension extends from described housing.

7. the unmanned vehicle as described in claim 3 or 6, wherein said extension comprises a strut member, and described strut member is used for all or part of weight supporting described unmanned vehicle when described unmanned vehicle does not fly.

8. unmanned vehicle as claimed in claim 7, wherein said strut member is comprising continental shelf.

9. unmanned vehicle as claimed in claim 1, wherein said sensor is directly arranged on the outside face of described housing.

10. the unmanned vehicle as described in claim 1,2,3,4 or 5, wherein said unmanned vehicle comprises one or more rotor, and described sensor setting is below one or more rotor described.

11. unmanned vehicles as described in claim 1,2,3 or 5, the minor increment between wherein said sensor and one or more electronic component described is at least about 3 centimetres.

12. unmanned vehicles as described in claim 1,2,3 or 5, the minor increment between wherein said sensor and one or more electronic component described is at most 0.5 meter.

13. unmanned vehicles as described in claim 1,3,4 or 5, wherein electronic component described at least one is pre-configured by the manufacturer of described unmanned vehicle.

14. unmanned vehicles as claimed in claim 13, at least one pre-configured electronic component wherein said is for the formation of electronic unit, and described electronic unit is necessary and enough to controlling the operation of described unmanned vehicle.

15. unmanned vehicles as claimed in claim 14, wherein said electronic unit comprises at least one in flight control modules, gps receiver or electronic speed regulation module.

16. unmanned vehicles as described in claim 1,2,3 or 4, wherein said sensor is for measuring magnetic field.

17. unmanned vehicles as described in claim 1,2,3 or 4, wherein said sensor comprises magnetometer.

18. unmanned vehicles as claimed in claim 17, wherein said magnetometer comprises compass.

19. unmanned vehicles as described in claim 1,2,3,4 or 5, wherein said interference comprises magnetic disturbance or electromagnetic interference.

20. unmanned vehicles as described in claim 1,2,3 or 4, one or more electronic component wherein said comprises gps receiver.

21. unmanned vehicles as described in claim 1,2,3,4 or 5, one or more electronic component wherein said comprises actuator, and described actuator comprises rotor wing rotation blade and for driving the actuator of described rotating blade.

22. unmanned vehicles as claimed in claim 21, one or more electronic component wherein said comprises at least three actuators.

23. unmanned vehicles as claimed in claim 1, wherein said housing comprises conductive shielding material.

24. unmanned vehicles as claimed in claim 1, wherein said housing comprises upper housing member and lower shell piece, and described upper housing member and described lower shell piece are interconnected to form described chamber removedly.

25. unmanned vehicles as claimed in claim 1, wherein said housing comprises the main casing part be connected with one or more branch's housing component, and described main casing part forms main chamber and one or more branch's housing component described forms one or more corresponding branch's chamber.

26. unmanned vehicles as claimed in claim 25, at least one in one or more electronic component wherein said is positioned at described main chamber.

27. unmanned vehicles as claimed in claim 26, at least one electronic component described being wherein arranged in described main chamber comprises at least one of power supply, flight control modules, Inertial Measurement Unit or gps receiver.

28. unmanned vehicles as claimed in claim 25, at least one in one or more electronic component wherein said is positioned at one of one or more branch's chamber described.

29. unmanned vehicles as claimed in claim 28, at least one electronic component wherein said comprises electronic speed regulation module or actuator, and described electronic component is arranged in one of one or more branch's chamber described.

30. unmanned vehicles as claimed in claim 25, one or more rotor of the corresponding described unmanned vehicle of one or more branch's housing component difference wherein said.

31. unmanned vehicles as claimed in claim 25, at least one in one or more branch's housing component wherein said is connected on described main casing part removedly.

32. unmanned vehicles as described in claim 2,3,4 or 5, wherein said unmanned vehicle comprises a housing, and described housing comprises outside face and inside face, and described inside face forms chamber.

33. unmanned vehicles as claimed in claim 32, one or more electronic component wherein said is arranged in described chamber.

34. unmanned vehicles as claimed in claim 32, wherein said sensor setting is outside described chamber.

35. unmanned vehicles as claimed in claim 34, wherein said sensor is positioned on extension, and away from described chamber, described extension extends from described housing.

36. unmanned vehicles as claimed in claim 34, wherein said sensor is directly arranged on the outside face of described housing.

37. unmanned vehicles as claimed in claim 34, wherein said housing comprises conductive shielding material.

38. unmanned vehicles as claimed in claim 32, wherein said housing comprises upper housing member and lower shell piece, and described upper housing member and described lower shell piece are interconnected to form described chamber removedly.

39. unmanned vehicles as claimed in claim 32, wherein said housing comprises the main casing part be connected with one or more branch's housing component, and described main casing part forms main chamber and one or more branch's housing component described forms one or more corresponding branch's chamber.

40. unmanned vehicles as claimed in claim 39, at least one in one or more electronic component wherein said is positioned at described main chamber.

41. unmanned vehicles as claimed in claim 40, at least one electronic component described being wherein arranged in described main chamber comprises at least one of power supply, flight control modules, Inertial Measurement Unit or gps receiver.

42. unmanned vehicles as claimed in claim 39, at least one in one or more electronic component wherein said is positioned at one of one or more branch's chamber described.

43. unmanned vehicles as claimed in claim 42, at least one electronic component wherein said comprises electronic speed regulation module or actuator, and described electronic component is arranged in one of one or more branch's chamber described.

44. unmanned vehicles as claimed in claim 39, one or more rotor of the corresponding described unmanned vehicle of one or more branch's housing component difference wherein said.

45. unmanned vehicles as claimed in claim 39, at least one in one or more branch's housing component wherein said is connected on described main casing part removedly.

46. 1 kinds reduce easily the sensor that disturbs by one or more electronic component of unmanned vehicle the method for interference that suffers, described method comprises: provide the unmanned vehicle described in claim 1,2 or 3, to reduce described interference.

47. 1 kinds reduce easily the sensor that disturbs by one or more electronic component of unmanned vehicle the method for interference that suffers, described method comprises: provide the unmanned vehicle described in claim 4 or 5, to reduce described interference.

48. 1 kinds, for assembling the external member of unmanned vehicle, comprise

(a) one or more electronic component run for controlling described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle; And

(b) specification sheets, described specification sheets comprises the information supplying the user of described unmanned vehicle to assemble element described in magnetometer and (a), and make after assembling completes, described unmanned vehicle has following feature, comprising:

(1) (i) housing, comprises outside face and inside face, and described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or

(2) (i) housing, comprise outside face and inside face, described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or

(3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

49. 1 kinds, for assembling the external member of unmanned vehicle, comprise

(a) magnetometer; And

(b) specification sheets, the user that described specification sheets comprises for described unmanned vehicle assembles described magnetometer with one or more for controlling the information of the electronic component of described unmanned vehicle operation, make after assembling completes, described unmanned vehicle has following feature, comprising:

(1) (i) housing, comprises outside face and inside face, and described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or

(2) (i) housing, comprise outside face and inside face, described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at away from one or more electronic component described at least 3cm place; Or

(3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, and (ii) is positioned at the magnetometer away from one or more electronic component described at least 3cm and 0.5m place at the most.

50. 1 kinds, for assembling the external member of unmanned vehicle, comprise

A () housing, comprises outside face and inside face, described inside face forms chamber;

(b) be pre-set at described chamber interior and for control described unmanned vehicle run one or more electronic component;

(c) magnetometer, the operation of described magnetometer is subject to the interference of one or more electronic component described;

D (), for assembling the specification sheets of described unmanned vehicle, make after described unmanned vehicle has been assembled according to described specification sheets, the unmanned vehicle after described assembling has following feature:

(1) described magnetometer is positioned at the outside of described housing; Or

(2) described magnetometer is positioned at away from one or more electronic component described at least 3cm place; Or

(3) described magnetometer is positioned at away from one or more electronic component described 0.5m place at the most.

51. external members as claimed in claim 48, comprise the housing with inside face and outside face further, and described inside face forms chamber, and one or more electronic component described is positioned at described chamber.

52. external members as claimed in claim 49, comprise the housing with inside face and outside face further, and described inside face forms chamber, and described magnetometer is positioned at described chamber.

53. external members as described in claim 50,51 or 50, comprise the extension that can be attached on described housing further, and the unmanned vehicle after described assembling has following feature further: the outside face that described extension is attached to described housing extends away from described chamber, and described magnetometer is positioned on described extension.

54. 1 kinds, for assembling the method for unmanned vehicle, comprise

Described unmanned vehicle is assembled according to the specification sheets in external member, described external member comprises one or more electronic component run for controlling described unmanned vehicle, and/or the rotating blade of unmanned vehicle described in one or more, described unmanned vehicle after wherein having assembled has following feature, comprising:

(1) (i) housing, comprises outside face and inside face, and described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or

(2) (i) housing, comprise outside face and inside face, described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or

(3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

55. 1 kinds, for assembling the method for unmanned vehicle, comprising:

Be integrated on described unmanned vehicle according to specification sheets by magnetometer, to assemble described unmanned vehicle, described specification sheets is included in the external member containing magnetometer, and the described unmanned vehicle after wherein having assembled has following feature, comprising:

(1) (i) housing, comprises outside face and inside face, and described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at described outside; Or

(2) (i) housing, comprise outside face and inside face, described inside face forms chamber, and one or more electronic component described is arranged in described chamber, and (ii) described magnetometer is positioned at apart from one or more electronic component described at least 3cm place; Or

(3) (i) is for controlling one or more electronic component described in the operation of described unmanned vehicle, and/or one or more rotating blade of described unmanned vehicle, and (ii) is positioned at the magnetometer apart from one or more electronic component described at least 3cm and 0.5m place at the most.

56. methods as described in claim 55 or 56, step wherein according to described specification sheets comprises connection one or more rotating blade described to one or more electronic component described, and described step comprises further and being positioned on described unmanned vehicle by described magnetometer, be positioned at and make described magnetometer not by the position of significant electromagnetic interference coming from one or more electronic component described.