CN109050895B

CN109050895B - Multi-rotor unmanned aerial vehicle

Info

Publication number: CN109050895B
Application number: CN201810845561.XA
Authority: CN
Inventors: 汪滔; 赵涛; 陈少杰; 欧智刚
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2013-11-13
Filing date: 2013-11-13
Publication date: 2022-12-30
Anticipated expiration: 2033-11-13
Also published as: CN109050893A; CN109050896A; CN104903194A; CN104903194B; CN108974345A; CN109050892A; CN109050895A; CN109050897A; CN109050894A; CN109050891A

Abstract

The invention provides an unmanned aerial vehicle, comprising: one or more electronic components arranged on the unmanned aerial vehicle body and used for controlling the operation of the unmanned aerial vehicle; an extension attached to the UAV body, the extension including a support for supporting all or a portion of the weight of the UAV when the UAV is not in flight; a magnetometer disposed on the extension to reduce interference from the one or more electronic components; wherein the electronic component comprises at least one of a power source, a flight control module, an inertial measurement module, or a GPS receiver.

Description

Multi-rotor unmanned aerial vehicle

Cross-referencing

The present application claims the priority of chinese patent application 201220604396.7, which was filed on 11/15/2012 and is now the priority of chinese patent CN 203127141, and the priority of chinese patent application 201220686731.2, which was filed on 13/12/2012 and is now the priority of chinese patent CN 203047531. Both of the above applications are incorporated herein by reference.

Background

In recent years, unmanned aerial vehicles have been widely used in various fields, such as aerial photography or monitoring, scientific research, geological survey, remote sensing, and the like. Generally, the unmanned aerial vehicle carries various electronic components for controlling different aspects of the operation of the unmanned aerial vehicle. Meanwhile, the unmanned aerial vehicle is also required to carry one or more sensors for navigation, monitoring or remote sensing at times. However, the operation of some of these sensors may be disturbed by the electronics, which in turn reduces the reliability of the UAV.

Furthermore, the unmanned aerial vehicle typically requires assembly, configuration, or calibration in order to function properly. When the assembly, configuration, or calibration is done by an untrained user, user configuration errors or assembly errors may cause the UAV to malfunction or fail. Therefore, there is a need for an unmanned aerial vehicle with better reliability to solve the above problems.

Disclosure of Invention

Methods and apparatus for providing an improved unmanned aerial vehicle. In one aspect of the invention, an unmanned aerial vehicle is provided. The UAV includes a housing including an outer surface and an inner surface, the inner surface forming a cavity; one or more electronic components disposed within the chamber for controlling the operation of the UAV; and a sensor located outside the housing, the operation of the sensor being susceptible to interference from the one or more electronic components.

In another aspect of the present invention, an unmanned aerial vehicle (unmanned aerial vehicle) is provided. The UAV includes one or more pre-configured electronic components that are pre-configured by a manufacturer prior to use of the UAV by a user, the one or more electronic components including at least one flight control module or an electronic timing (ESC) module; and a sensor located on the UAV at a location separate from the one or more preconfigured electronic components, the sensor being susceptible to operation interference from the one or more preconfigured electronic components.

In another aspect of the invention, an unmanned aerial vehicle is provided. The unmanned aerial vehicle comprises one or more electronic components for controlling the operation of the unmanned aerial vehicle; and a sensor located on an extension extending from the one or more electronic components, the operation of the sensor being susceptible to interference from the one or more electronic components.

In another aspect of the invention, an unmanned aerial vehicle is provided. The unmanned aerial vehicle comprises one or more electronic components for controlling the operation of the unmanned aerial vehicle; and a sensor located at least 3cm and at most 0.5m from the one or more electronic components, the operation of the sensor being susceptible to interference by the one or more electronic components.

In another aspect of the invention, an unmanned aerial vehicle is provided. The UAV includes one or more electronic components for controlling operation of the UAV, the one or more electronic components including a GPS receiver; and a sensor comprising at least one magnetometer located on the UAV in a position separate from the one or more preconfigured electronic components, the operation of the magnetometer being susceptible to interference from the one or more electronic components.

In some embodiments, the sensor is located on an extension and remote from the chamber, the extension extending from the housing. The extension member includes a support member for supporting all or a portion of the weight of the UAV when the UAV is not in flight. The support may comprise a landing gear. Alternatively, the sensor may be disposed directly on an outer surface of the housing. The unmanned aerial vehicle may include one or more rotors, and the sensor is disposed below the one or more rotors.

In some embodiments, the minimum distance between the sensor and the one or more electronic components is at least about 3 centimeters. In some embodiments, the minimum distance between the sensor and the one or more electronic components is at most 0.5 meters.

In some embodiments, at least one of the electronic components is pre-configured by a manufacturer of the UAV. The at least one preconfigured electronic component is used to form an electronic unit which is necessary and sufficient for controlling the operation of the unmanned aerial vehicle. The electronics unit may include at least one of a flight control module, a GPS receiver, or an electronic timing (ESC) module.

In some embodiments, the sensor is used to measure a magnetic field. The sensor comprises a magnetometer. The magnetometer comprises a compass. In some embodiments, the interference may include magnetic interference or electromagnetic interference. In some embodiments, the one or more electronic components include a GPS receiver or an actuator assembly including a rotating blade and an actuator for driving the rotating blade. In some embodiments, the one or more electronic components include at least three actuator assemblies.

In some embodiments, the housing comprises a conductive shielding material. The housing includes an upper housing piece and a lower housing piece removably connected to each other to form the chamber. The housing includes a main housing piece connected to one or more branch housing pieces, the main housing piece forming a main chamber and the one or more branch housing pieces forming a corresponding one or more branch chambers. In some embodiments, at least one of the one or more electronic components is located within the main chamber. The at least one electronic component located within the main chamber may include at least one of a power supply, a flight control module, an Inertial Measurement Unit (IMU), or a GPS receiver. In some embodiments, at least one of the one or more electronic components is located within one of the one or more branch chambers. The at least one electronic component comprises an electronic timing (ESC) module or actuator, the electronic component being located within one of the one or more branch chambers. In some embodiments, the one or more branch housing members each correspond to one or more rotors of the UAV. At least one of the one or more branch housing elements is removably connected to the main housing element.

In another aspect of the invention, a method of reducing interference experienced by sensors susceptible to interference from one or more electronic components of an unmanned aerial vehicle is provided, the method comprising providing an unmanned aerial vehicle as described above to reduce the interference.

In another aspect of the invention, a kit for assembling an unmanned aerial vehicle is provided. The kit includes (a) one or more electronic components for controlling the operation of the UAV, and/or one or more rotating blades of the UAV; and (b) instructions including information for a user of the UAV to assemble the magnetometer and the element of (a), such that when assembled, the UAV has the following characteristics, including: (1) (ii) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located outside the housing; or (2) (i) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located at least 3cm from the one or more electronic components; or (3) (i) the one or more electronic components for controlling the operation of the UAV, and/or one or more rotating blades of the UAV, and (ii) a magnetometer located at least 3cm and at most 0.5m from the one or more electronic components.

In another aspect of the invention, a kit for assembling an unmanned aerial vehicle is provided. The kit comprises (a) a magnetometer; and (b) instructions including information for a user of the UAV to assemble the magnetometer and one or more electronic components for controlling the operation of the UAV, such that when assembled, the UAV has the following characteristics, including: (1) (ii) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located outside the housing; or (2) (i) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located at least 3cm from the one or more electronic components; or (3) (i) the one or more electronic components for controlling the operation of the UAV, and/or one or more rotating blades of the UAV, and (ii) a magnetometer positioned at least 3cm and at most 0.5m from the one or more electronic components.

In another aspect of the invention, a kit for assembling an unmanned aerial vehicle is provided. The kit includes (a) a housing including an outer surface and an inner surface, the inner surface forming a chamber; (b) One or more electronic components pre-arranged inside the chamber and used for controlling the operation of the unmanned aerial vehicle; (c) A magnetometer whose operation is susceptible to interference from the one or more electronic components; (d) Instructions for assembling said UAV such that when said UAV is assembled according to said instructions, said assembled UAV has the following characteristics: (1) the magnetometer is located outside the housing; or (2) the magnetometer is located at least 3cm from the one or more electronic components; or (3) the magnetometer is located at most 0.5m from the one or more electronic components.

In some embodiments, the kit further includes a housing having an inner surface and an outer surface, the inner surface forming a chamber, and the one or more electronic components being located within the chamber. In some embodiments, the kit further comprises a housing having an inner surface and an outer surface, the inner surface forming a chamber, and the magnetometer being located within the chamber.

In some embodiments, the kit further comprises an extension attachable to the housing, and the assembled UAV further has the following features: the extension is attached to an outer surface of the housing and extends away from the chamber, and the magnetometer is located on the extension.

According to another aspect of the invention, there is provided a method for assembling an unmanned aerial vehicle, comprising assembling the unmanned aerial vehicle according to the instructions in a kit comprising one or more electronic components for controlling the operation of the unmanned aerial vehicle and/or one or more rotating blades of the unmanned aerial vehicle, wherein the assembled unmanned aerial vehicle has the following features, comprising: (1) (ii) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located outside the housing; or (2) (i) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer is located at least 3cm from the one or more electronic components; or (3) (i) the one or more electronic components for controlling the operation of the UAV, and/or one or more rotating blades of the UAV, and (ii) a magnetometer located at least 3cm and at most 0.5m from the one or more electronic components.

Based on another aspect of the invention, there is provided a method for assembling an unmanned aerial vehicle, comprising: integrating the magnetometer on the UAV in accordance with instructions for assembling the UAV, the instructions being included in a kit comprising the magnetometer, wherein the UAV after assembly has the following features, including: (1) (ii) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located outside the housing; or (2) (i) a housing comprising an outer surface and an inner surface, the inner surface forming a cavity, the one or more electronic components being disposed within the cavity, and (ii) the magnetometer being located at least 3cm from the one or more electronic components; or (3) (i) the one or more electronic components for controlling the operation of the UAV, and/or one or more rotating blades of the UAV, and (ii) a magnetometer located at least 3cm and at most 0.5m from the one or more electronic components.

In some embodiments, steps according to the instructions include connecting the one or more rotating blades to the one or more electronic components, and the steps further include placing the magnetometer on the UAV such that the magnetometer is not significantly subject to electromagnetic interference from the one or more electronic components.

Introduction by introduction

All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference.

Drawings

The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings.

Fig. 1 is a schematic view of an embodiment of a multi-rotor unmanned aerial vehicle (drone) that does not include rotating blades.

Fig. 2 is a top view of the multi-rotor unmanned aerial vehicle of fig. 1 without the top portion of the housing to show internal components.

Fig. 3 is another view of the multi-rotor unmanned aerial vehicle of fig. 1.

Figure 4 is a schematic view of a support of an embodiment of a multi-rotor unmanned aerial vehicle.

FIG. 5 is a schematic view of an embodiment of an UAV having an extension for attachment of a sensor.

Fig. 6a to 6c are schematic diagrams of some embodiments of an unmanned aerial vehicle having an extension for connecting a sensor.

Figures 7a to 7c are schematic diagrams of some embodiments of an unmanned aerial vehicle in which sensors are located on an outer or inner surface of the body of the unmanned aerial vehicle.

Figures 8 a-8 b are schematic diagrams of further embodiments of the UAV illustrating further examples of sensors located on an exterior or interior surface of the body of the UAV.

Detailed Description

The present invention provides a method and apparatus for improving the reliability of an unmanned aerial vehicle. In one aspect, interference experienced by certain on-board sensors is reduced. The interference may be caused by on-board electronics. The interference may include electromagnetic interference, magnetic interference, or the like. The on-board sensors, the operation of which is susceptible to or sensitive to disturbances, may be sensors used to measure magnetic fields, such as magnetometers, compasses, etc. In order to reduce the interference suffered by such "interference-prone" sensors, the interference-producing electronic components may be disposed inside a cavity of the unmanned aerial vehicle, which cavity is formed by the inner surface of the body of the unmanned aerial vehicle. The one or more sensors susceptible to interference may be disposed outside of the chamber. In some embodiments, the sensor may be disposed on an extension of the UAV. The extension may comprise a support of the UAV, such as a landing gear. In other embodiments, the sensor may be disposed directly on an exterior or interior surface of the UAV but separate from the electronics. The benefit is that the separation of the interfering electronics from the interference-prone sensor reduces the interference to which the sensor is subjected, thus improving the reliability of the sensor and the UAV.

According to another aspect of the present invention, the reliability of the unmanned aerial vehicle can be further improved by reducing user-induced configuration errors or assembly errors of the components. Some or all of the electronic components may be pre-configured, pre-connected, or pre-assembled by the manufacturer of the UAV. As such, less or no user assembly or configuration is required to ensure proper operation of the unmanned aerial vehicle. In addition, because the components are pre-configured by experienced workers, the possibility of configuration errors is further reduced.

In various embodiments, the unmanned aerial vehicles described herein can include unmanned aerial vehicles of different types, sizes, shapes, and configurations. For example, the unmanned aerial vehicle can include a multi-rotor aircraft, such as a helicopter, a quad-rotor aircraft, a six-rotor aircraft, an eight-rotor aircraft, and the like. In addition, the unmanned aerial vehicle can have a wide range of applications, such as remote sensing, aviation monitoring, oil, gas and mineral surveying and production, transportation, scientific research, aerial photography or video recording, mapping, disaster reporting, search and rescue, mapping, power line patrol, and the like.

In various embodiments, the unmanned aerial vehicle may be autonomously controlled by an onboard controller or processor, remotely controlled by a remote device (e.g., a ground station or hand-held remote control device), or a combination thereof. In some embodiments, the UAV may be configured to carry a load device, such as a camera or video recorder, via a carrier. The load device may be used to capture images of the surrounding environment, collect samples, or perform other tasks.

As used herein, the terms "upper," "lower," "vertical," "horizontal," and other similar positional descriptive terms are used for reference in the normal operating mode of the UAV and should not be construed as limiting. Throughout the description, a quad-pod (helicopter with quad-rotors) is used as an unmanned aerial vehicle for illustrative purposes only. It should be appreciated that the techniques described herein may also be used with other types of unmanned aerial vehicles, such as six-axis vehicles or eight-axis vehicles.

FIG. 1 is a schematic view of one embodiment of a multi-rotor UAV that does not include rotating blades. As shown, the unmanned aerial vehicle comprises a hollow body portion 10 having an inner surface and an inner surface. The term "body" as used herein may be replaced by the term "housing". The inner surface of the body portion encloses a chamber (shown at 13 in figure 2) located inside the body portion. As described in further detail below with reference to fig. 2, one or more electronic components for controlling various aspects of the operation of the UAV may be disposed within the cavity. As used herein, the term "electronic component" refers to any component that provides, uses, or transmits electrical current. Such electronic components may include an energy source (e.g., a battery), a flight control or navigation module, a GPS module (e.g., a GPS receiver or transceiver), an Inertial Measurement Unit (IMU) module, a communication module (e.g., a wireless transceiver), an electronic timing (ESC) module for controlling an actuator (e.g., a motor), an actuator (e.g., a motor for driving a rotating blade or rotor of the UAV), wires and connectors, and so forth. In some embodiments, some of the electronic components may be provided on an integrated electronic unit, such as a circuit board or module. One or more electronic units may be disposed inside the chamber. In use, the electronic components described herein may cause interference (e.g., electromagnetic interference) with other components of the UAV (e.g., magnetometer). In some embodiments, the disturbance may be caused by ferrous materials or magnetostatic sources. For example, the electronic component may include a magnet that generates a magnetic field, thereby causing magnetic interference.

As illustrated in fig. 1, the body portion 10 of the unmanned aerial vehicle includes a main housing element 11 and one or more branch housing elements 12. The inner surface of the main housing piece may form a main chamber (shown as 113 in fig. 2). Each of the branch housing members 12, in the shape of a hollow arm or other suitable shape, may define a branch chamber (shown at 123 in fig. 2). When the main housing member is connected to one or more branch housing members, the main chamber and the one or more branch chambers may together form an integral chamber (13 in fig. 2).

The branch housing parts 12 can be connected to the main housing part 11 in an "X" or star-shaped arrangement. In particular, the main housing part 11 may be arranged in the center of the X or star arrangement, while the branch housing parts 12 may be distributed around the main housing part 11 in a symmetrical or asymmetrical manner. In some embodiments, such a star arrangement may enable efficient electrical connections between electronic components disposed within the chambers of the housing, such as between a flight control module disposed in the middle and a single ESC module disposed in each branch chamber. Or, an electrical connection between a centrally located energy source (e.g., a battery) and an actuator (e.g., a motor) for driving the rotors of a multi-rotor unmanned aerial vehicle. In other embodiments, the housing and/or the chamber within the housing of the UAV may have a different shape than the star shape described herein. For example, the housing and/or the chamber within the housing may form a substantially spherical, elliptical, or cylindrical shape or any other shape.

In an exemplary embodiment, the number of branch housing pieces 12 is equal to the number of rotors or actuator assemblies of the UAV. An actuator assembly (shown as 2 in fig. 2) may include a rotor or rotating blade (shown as 21 in fig. 2) and an actuator (shown as 22 in fig. 2) for driving the rotating blade. For example, the quad-rotor quadcopter illustrated in fig. 1 may include four branch housing members 12, each branch housing member 12 corresponding to one of the four rotors or four actuator assemblies. In the illustrated embodiment, the unmanned aerial vehicle comprises four branches, one for each actuator assembly 2. That is, the unmanned aerial vehicle includes four actuator assemblies 2. In different embodiments, the number and/or arrangement of the branches may be different from that shown here. For example, in some embodiments, the number of branch housing members and/or rotors or actuator assemblies may be more or less than the number shown herein. For example, a six-rotor unmanned aerial vehicle may include six rotor or actuator assemblies and six corresponding branch housing members. An eight rotor unmanned aerial vehicle can include eight rotors or actuator assemblies and six corresponding branch housing members. In an alternative embodiment, the number of branch housing members may not correspond to the number of rotors or actuator assemblies of the UAV. For example, the number of branch housing pieces may be more or less than the number of actuator assemblies. In different embodiments, the number of branches, actuator assemblies and actuators may be adjusted according to the needs of the actual situation. To ensure the stability of the unmanned aerial vehicle during operation, a typical multi-rotor unmanned aerial vehicle should have no less than three rotors.

In some embodiments, the branch housing pieces 12 may be removably connected to the main housing piece 11. For example, each branch housing piece 12 may be connected to the main housing piece 11 and/or disconnected from the main housing piece 11 by integrally rotating the branch housing pieces 12. In some embodiments, the branch housing parts 12 may be foldable relative to the main housing part 11, for example, to facilitate storage and/or transport of the UAV. In this embodiment, the branch housing parts 12 can be unfolded from the folded position and/or reconnected to the main housing part, so that the unmanned aerial vehicle can be used again.

In some embodiments, the main housing part 11 may include an upper main housing part 111 and a corresponding lower main housing part 112, and the upper main housing part 111 and the lower main housing part 112 together form the main chamber (as shown by 113 in fig. 2). Each of the branch housing pieces 12 may include an upper branch housing piece 121 and a corresponding lower branch housing piece 122, the upper branch housing piece 121 and the lower branch housing piece 122 together forming the branch chamber (shown as 123 in fig. 2). The upper branch housing part 121 of the branch housing part 12 may have a mounting or locating feature 120, such as a slot or opening, to mount the actuator 22 of the actuator assembly (shown in FIG. 2).

In some embodiments, the upper branch housing piece 121 and the upper main housing piece 111 form the upper body portion 15, and the lower branch housing piece 122 and the lower main housing piece 112 form the lower body portion (shown as 16 in fig. 3). The body portion 10 may be considered as a combination of the upper body portion 15 and the lower body portion 16. In some embodiments, the upper body portion 15 and the lower body portion 15 may be removably connected to form the body portion 10. For example, the upper and lower body portions may be removably connected by fasteners, such as screws, bolts, buckles, clamps, fasteners, latches, hooks, nails, pins, straps, cords, etc., when the body portion 10 is assembled. The removable connection may facilitate maintenance of the UAV. When service is required, the upper body portion can be removed from the lower body portion to allow direct viewing and servicing of the internal components of the body portion. In another embodiment, the upper body portion and the lower body portion may be welded or otherwise permanently joined together.

In various embodiments, any of the elements forming the housing of the UAV, alone or in combination, may be fabricated using any suitable technique, such as injection molding, additive manufacturing (3D printing) techniques, and the like. For example, each of the upper, lower, upper and lower branch housing pieces may be separately manufactured and welded, fastened or otherwise joined to form the overall housing. For another example, one or more of the upper branch housing members and the upper main housing member may be integrally manufactured as a single piece (e.g., forming the upper body portion); alternatively, one or both of the lower branch housing member and the lower main housing member may be integrally manufactured as a single piece (e.g., forming the lower body portion). The two integral pieces may then be joined (by welding, fasteners, etc.) together to form the body portion of the UAV. For another example, the upper main housing member and the lower main housing member may be integrally manufactured as a single piece (e.g., forming the main housing member); on the other hand, each of the branch housing parts, the upper branch housing part and the lower branch housing part may be integrally manufactured as a single piece (e.g., to form one branch housing part). The main housing part and the branch housing parts may then be joined together by welding, fasteners, etc. For another example, the entire hull of the UAV may be manufactured in one piece, for example, by injection molding or additive manufacturing techniques.

As illustrated in fig. 1, the unmanned aerial vehicle optionally includes one or more supports 4 attached or attachable to the body portion 10. The support 4 may be used to support all or part of the weight of the UAV when it is not in flight. One example of a support may include a landing gear to facilitate landing of the UAV. Such supports as described herein may also be used to support sensors that are susceptible to interference from the electronics of the UAV.

In some embodiments, the UAV includes one or more receiving structures to receive some or all of the elements of the UAV, such as some of the electronic components described herein. The receiving structure may be connected to the housing or be an integral part of the housing. The receiving structure may be provided on an outer surface of the body or in the cavity. For example, a receiving mechanism may be formed by the configuration of the inner or outer surface of the body portion. In one embodiment, the receiving structure may form an additional receiving chamber in addition to the body chamber. In another embodiment, the receiving structure may be formed by an internal structure on an inner surface of the body cavity. In one embodiment, the receiving structure is disposed entirely inside the chamber. In another embodiment, some of the containment mechanisms are disposed outside of the chamber. The receiving mechanism may include a slot, a shelf, or other similar structure to receive various components of the UAV. For example, the receiving structure may include a slot on an interior surface of a cavity formed by the body of the UAV, which may be used to receive a circuit module, a battery, an ESC module, etc. In some embodiments, the UAV may not include any additional housing mechanisms outside of the cavity formed by the UAV's housing. In some other embodiments, some or all of the electronic components may be attached or connected directly to the UAV without the use of a housing structure.

The body portion and/or the receiving means may comprise an opening for inserting or removing an element. For example, the opening may allow a user to remove the battery from the cavity of the body portion or the receiving structure for recharging and for replacing the battery after recharging. The opening may optionally have a cover or shutter hinged to the body portion. The cover may be closed, for example, by fasteners, buckles, straps, or the like, to protect the components disposed therein.

Fig. 2 illustrates a top view of the multi-rotor unmanned aerial vehicle of fig. 1 without the top of the housing to show internal components, according to one embodiment. As previously mentioned, to avoid or reduce interference with a susceptible sensor, such as a magnetometer (e.g., a compass), one or more interfering electronic components of the UAV may be located separately from the susceptible sensor. In one embodiment, the electronic components are arranged inside the chamber 13 formed by the inner surface of the housing of the unmanned aerial vehicle as described with reference to fig. 1, while the sensors are arranged outside the housing. In addition, the housing may provide protection for the electronic components and increase the strength and rigidity of the UAV, allowing it to be easily transported and stored. In another embodiment, the sensor is also disposed within the housing but separate from the electronics.

As used herein, the term "electronic component" refers to any component that provides, uses, or transmits electrical current. In various embodiments, the one or more electronic components may be used to control various aspects of the operation of the UAV. Such electronic components may include an energy source (e.g., a battery), a flight control or navigation module, a GPS module (e.g., a GPS receiver or transceiver), an Inertial Measurement Unit (IMU) module, a communication module (e.g., a wireless transceiver), an electronic timing (ESC) module for controlling an actuator (e.g., a motor), an actuator (e.g., a motor for driving a rotating blade or rotor of the UAV), connections (e.g., wires and connectors) for electrically connecting the electronic components, and so forth. In various embodiments, some or all of the electronics units of the UAV may be disposed within the housing.

In some embodiments, some of the electronic components described above may be disposed on one or more circuit modules 3. Each circuit module may include one or more electronic components. For example, as shown in fig. 2, the circuit module 3 may include a primary flight control module 33, the primary flight control module 33 including one or more processors (e.g., executed by a Field Programmable Gate Array (FPGA)) for controlling critical operations of the UAV. Also for example, the same or a different circuit module may also include an IMU module for measuring the speed, direction, and gravity of the UAV. The IMU module may include one or more accelerometers and/or gyroscopes. In another example, the same or a different circuit module may also include a communication module 31 for remote communication with a remote control device. For example, the communication module may include a wireless (e.g., radio) transceiver. The communication module 31 may have one or more buttons 311 and corresponding indicator lights 312 spaced from the code button. The button and the indicator light may facilitate communication between the UAV and the remote control device. For example, the button may be used to adjust a frequency band used by the UAV, and the indicator light may be used to indicate successful and/or failed establishment of a channel between the UAV and the remote control device.

The flight control module 33 is typically a critical component or "brain" of the UAV. For example, the flight control module 33 may estimate the current speed, direction, and/or position of the UAV based on data obtained from visual sensors (e.g., cameras), IMUs, GPS receivers, and/or other sensors, to perform route planning, to provide control signals to actuators to enable navigation control, and so forth. In another example, the flight control module may issue control signals to adjust the state of the UAV based on remotely received control signals.

In some embodiments, the electronic component disposed within the chamber may include a GPS receiver. Traditionally, one GPS receiver is usually co-located with one magnetometer. However, when the GPS receiver and magnetometer are placed in close proximity to other electronic components, the operation of the magnetometer may be interfered with by other electronic components. In some embodiments, the operation of the magnetometer may also be subject to interference from the GPS receiver. Thus, in a preferred embodiment of the invention, the GPS receiver is separate from the magnetometer, so that the GPS receiver is located inside the housing of the unmanned aerial vehicle and the magnetic force is located outside the housing. In an alternative embodiment, the GPS receiver and the magnetometer may both be located inside or outside the housing, but with a minimum separation between the GPS receiver and the magnetometer. In one embodiment, the minimum separation is about 3 centimeters (3 cm). In other embodiments, the minimum spacing may be less than or greater than 3cm.

In some embodiments, the electronic components disposed within the chamber may include one or more electronic timing (ESC) modules 34. An electronic governor module may be used to control the operation of the actuator 22. The actuator 22 may be part of the actuator assembly 2 and used to drive the rotating blades or rotors 21 of the UAV. In some embodiments, the ESC module can be electrically connected to the flight control module 33 on the one hand and to an actuator 22 on the other hand. Flight control module 33 may provide control signals to ESC module 34, and ESC module 34 in turn provides actuator signals to actuators 22 electrically connected thereto to drive corresponding rotating blades 21. In some embodiments, the actuator and/or the ESC module 34 may also provide a feedback signal to the flight control module 33. In an exemplary embodiment, the number of ESC modules is equal to the number of rotor actuators of the UAV. For example, a four-rotor unmanned aerial vehicle has four ESC modules. In an alternative embodiment, the number of ESC modules may be different (e.g., more or less) than the number of rotor actuations. In some embodiments, the ESC module is optional. In some embodiments, other types of actuator control modules may be employed in place of or in addition to the ESC module to control operation of the actuator.

In some embodiments, the UAV further comprises one or more connectors for electrically coupling or connecting different electronic components of the UAV. The connections may include wires, cables, etc. for transmitting power, data, or control signals between the elements. For example, the connector may be used to electrically connect 1) an energy source with an actuator assembly; 2) The circuit module and the ESC module; 3) An ESC die and actuator; 4) Communication module and circuit module, etc. In some embodiments, the end of the connector has a pluggable connector to facilitate plugging and unplugging of the connector with respect to the electronic component.

As previously described with reference to fig. 1, the cavity of the unmanned aerial vehicle may be any suitable shape. In various embodiments, the locations of various electronic components may be determined based on the design and planning of the UAV. In a preferred embodiment, the chamber of the unmanned aerial vehicle comprises a main chamber 113 and a plurality of branch chambers 123, each branch chamber 123 corresponding to one actuator assembly 2. In some embodiments, some of the electronic components may be located inside the main chamber and others may be located inside the branch chambers. In other embodiments, all of the electronic components may be located in a portion of the chamber (e.g., the main chamber or the branch chambers). In one embodiment, the critical control elements, such as the flight control module and the energy source (e.g., a battery), may be located in the main chamber, while the controlled elements, such as the ESC module and the actuator assembly, are located in the corresponding branch chambers. This arrangement provides an efficient planning of the electrical connections between the centrally located elements and the elements supplied with power and/or control signals by the centrally located elements and facilitates space optimization and miniaturization of the UAV.

In one embodiment, ESC module 34 may be disposed within a branch housing member and below the actuator. For example, the ESC module 34 may be disposed within the lower branch housing member 122 and within the branch chamber 123. The positioning of ESC module 34 within branch housing member 123 facilitates the electrical connection between ESC module 34 and actuator 22. In an alternative embodiment, at least one of the ESC modules may be located within the main chamber rather than one of the branch chambers.

In some embodiments, the actuator assembly 2 controlled by the ESC module may be located at least partially inside a branch chamber. The actuator assembly 2 may include an actuator 22 connected to the branch housing part 12 and a rotary vane 21 connected to the actuator 22. As illustrated in fig. 1, a portion of the actuator 2 extends at least partially from the chamber to rotatably couple a rotating blade or rotor (shown at 21 in fig. 2). For example, the actuator may include a shaft 221 rotatably coupled to the rotating blade. The actuator 22 may include an electric motor, a mechanical actuator, a hydraulic actuator, a pneumatic actuator, or the like. The motor may comprise a magnetic motor, an electrostatic motor or a piezoelectric motor. For example, in one embodiment, the actuator comprises a brushless dc motor. The actuator assembly 2 may be fixedly or removably connected to the branch housing part 12. In some embodiments, the UAV has at least three actuator assemblies to ensure stability during operation of the UAV.

In some embodiments, some or all of the electronic components described above are pre-configured, pre-assembled, or pre-connected by the manufacturer of the UAV. In these embodiments, the unmanned aerial vehicle operates with little or no user assembly and/or calibration so that the unmanned aerial vehicle can be unpacked for flight readiness. The pre-configuration of the components not only improves the user experience by lowering the technical threshold, but also reduces errors and accidents caused by user mis-configuration. In some embodiments, these preconfigured or preassembled components may include the flight control module, the GPS module, or any of the electronic components discussed herein, or any combination thereof. In some embodiments, one or more electronic components may be preconfigured, pre-connected, or pre-assembled as an electronic unit (e.g., a circuit module). The electronic unit is necessary and sufficient for controlling the operation of the unmanned aerial vehicle. In some embodiments, the preconfigured elements do not require additional user configuration to function properly upon unpacking. In other embodiments, a certain number of user configurations or assemblies may be required.

In one embodiment, at least two of the electronic components may be pre-connected by the manufacturer of the UAV to reduce user assembly of the UAV before it can be used. For example, the electrical connections between the circuit module and the ESC module can be pre-connected by the manufacturer, so that the user does not need to connect the two modules after purchasing the unmanned aerial vehicle. The pre-configuration, pre-connection or pre-assembly may also simplify the design of the UAV. For example, not all of the connections may require the use of a pluggable connector: some of the connectors may be pre-attached to the components by the manufacturer by soldering, thereby improving the reliability of such attachment. Even if pluggable connectors are used, such connection can be done correctly by trained professionals, such as technicians, during the factory assembly phase, thereby reducing the risk of loose connections and/or connection errors and further improving the reliability of the unmanned aerial vehicle.

Fig. 3 illustrates another view of the multi-rotor drone of fig. 1-2, in accordance with one embodiment. The illustrated unmanned aerial vehicle shows an arrangement of a sensor 7 (such as a magnetometer) that is susceptible to interference, external to the unmanned aerial vehicle, arranged to reduce interference with the sensor by one or more electronic components of the unmanned aerial vehicle as described with reference to figure 2.

In various embodiments, the sensor 7 susceptible to interference comprises a sensor whose operation is susceptible to interference caused by the on-board electronics. The interference may comprise electromagnetic or magnetic interference. The disturbance may be caused by a current in the electronic component or a magnet. The sensor 7 susceptible to interference may comprise a magnetometer. The magnetometers may include scalar and/or vector magnetometers. In one embodiment, the magnetometer comprises a compass. In a preferred embodiment, the sensor susceptible to interference comprises a magnetometer and no GPS receiver. In an alternative embodiment, the sensor 7 susceptible to interference comprises a GPS receiver and a magnetometer. It should be appreciated that the one sensor subject to interference is used for illustrative purposes, the UAV may carry more than one sensor subject to interference and the interference reduction techniques described herein may be used for any or all of the sensors subject to interference.

As previously mentioned, to avoid interference from the electronic components of the unmanned aerial vehicle and improve the reliability of the unmanned aerial vehicle, the interference-prone sensor is located at a distance from the electronic components that are prone to such interference. In some embodiments, all of the electronics that interfere with the vulnerable sensor are located remotely from the sensor. In other embodiments, only some of the interfering electronic components are located remotely from the sensor.

In some embodiments, as discussed with reference to fig. 1-2, the interfering electronic components are located within a cavity of a body portion of the UAV and the vulnerable sensors are located outside of the cavity of the body. In some embodiments, the sensor is located on an extension that extends from the housing. In some embodiments, the extension may include a support for supporting all or a portion of the weight of the UAV when the UAV is not in flight. For example, the support may comprise a landing gear 4 as shown in fig. 3. In an alternative embodiment, the UAV does not include a shelf or similar structure, such that when the UAV is placed on a designated surface, the outer surface of the lower main housing directly contacts the surface. In some embodiments, the sensor may be located outside the chamber and on an outer surface of the housing. A more detailed description of some embodiments will be presented in conjunction with fig. 5-8.

In some embodiments, the minimum distance between the sensor and the electronic component is set to be no greater than a preset threshold value no matter where the sensor or the electronic component is located. For example, in one embodiment, the electronics and the sensor may both be located within the housing or both may be located outside of the housing, but the minimum distance is at least about 3cm. In some embodiments, the minimum distance may be less than 3cm. As used herein, the minimum distance between a sensor and a plurality of electronic components is the smallest of the distances between the sensor and any of the plurality of electronic components. The maximum distance is determined according to a similar rule. For example, if a flight control module, an ESC module, and an actuator are located 4cm, 7cm, and 8cm from a magnetometer, the minimum distance between the magnetometer and the set of electronic components is 4cm, and the maximum distance is 8cm. In some embodiments, the maximum distance between the sensor susceptible to interference and any one of the interfering electronic components is also set to be no greater than a preset threshold, for example, 0.5 meters (0.5 m). In other embodiments, the maximum distance may be greater than 0.5m. In various embodiments, the threshold value for the minimum and/or maximum distance may be determined based at least in part on a shape and/or size of the UAV, characteristics of the interference-producing electronic component, and characteristics of the interference-prone sensor.

In some embodiments, the UAV may not have a housing as illustrated in FIGS. 1-3. In such embodiments, the separate placement of the interference-producing electronic component and the susceptible sensor is sufficient to reduce the interference experienced by the susceptible sensor. For example, in one embodiment, the distance between the sensor susceptible to interference and any one of the electronic components generating interference is not less than 3cm and not more than 0.5m.

Various embodiments, additional interference reduction methods may be used in conjunction with the techniques described herein. Such methods may include the use of capacitors, filters, shields, and the like. For example, in one embodiment, the inner and/or outer surfaces of the body portion may be made of a conductive shielding material to further reduce interference caused by the electronic components.

In some embodiments, as illustrated in fig. 3, the UAV may carry a load device 6 via a carrier 5. The carrier 5 can be connected to the unmanned aerial vehicle and used for connecting the load device 6. In various embodiments, the operation of the load device 6 and/or the carrier 5 may be controlled by an on-board control module (e.g., a circuit module), a control device, or a combination thereof.

In some embodiments, an indication light source (not shown) may be disposed on the main housing or the branch housing. In one embodiment, the light source may be positioned at an opening or window on the branch casing, such as near the lower portion of the UAV (away from the rotor). The opening or window may be covered by a curtain made of a transparent or translucent material to allow at least some of the light from the indicator light source to pass through. In a preferred embodiment, the indicator light source comprises a Light Emitting Diode (LED) lamp having high brightness, low power consumption, long service life and convenience of transportation. In other alternative embodiments, the indicator light source, window and curtain may be disposed on the main housing.

FIG. 4 illustrates a pair of landing pads that may be used to attach a sensor that is susceptible to interference, according to one embodiment. The landing gear 4 may be similar to those illustrated in fig. 3. As described above, the landing gear may be used to support all or a portion of the weight of the UAV when the UAV is not in flight. In one embodiment, the UAV has two structurally similar supports attached to the UAV body and spaced a suitable distance apart from each other. In various embodiments, the UAV may include one, two, three, or more supports. The bracket may be attached to the bottom of the housing (the side opposite the rotor) in any suitable configuration to support the weight of the body portion. The brackets may also provide protection for any load devices (e.g., cameras or camcorders) disposed between the brackets. An advantage of using existing structures such as landing gear for the UAV is that no additional structure needs to be added to the UAV to increase the distance between the susceptible sensor and the interfering electronics of the UAV, thereby reducing the weight and cost of the UAV while improving the aesthetics of the UAV.

As disclosed in some embodiments, the UAV may include a first bracket 41 and a second bracket 42. The sensor susceptible to interference may be located on the first bracket 41 or the second bracket 42. Since the first bracket and the second bracket have similar structures, only the first bracket 41 will be described below. The first bracket 41 may include two generally vertical supports 411 connected by a generally horizontal connecting portion 412. In use, a sensor 7 susceptible to interference may be attached to one of the supports 411 and remote from the source of interference. For example, the sensor 7 may be located near one end of the support and away from the source of interference. In other embodiments, the sensor 7 may be disposed on a different portion of the first bracket 41 than described herein. In some embodiments, each support 411 may have an attachment interface 413, and the attachment interfaces 413 may be used to attach the support and thus the bracket to the UAV. The attachment interface 413 may include one or more openings 414. Such openings may be used to allow and protect the passage of wires connecting the vulnerable sensors and other elements of the UAV like the circuit module.

Fig. 5-8 illustrate examples of configurations of sensors that are susceptible to interference and electronics that generate interference, according to some embodiments.

As described herein, in some embodiments, the interference-producing electronic component may be located within a cavity of the UAV body, and the interference-prone sensor may be located outside the cavity and on an extension extending away from the cavity. Such an embodiment is illustrated in fig. 5-6. Referring to fig. 5, the body 502 of the UAV may house one or more interfering electronic components (not shown). One end of the extension 504 may be attached to the outer surface of the body portion 502 of the UAV. A susceptible sensor 506 may be attached to the extension 504 near the other end of the extension 504 from the chamber, such that the susceptible sensor 506 is spaced from the interfering electronic components. The sensor 506 may be coupled (removably or permanently) to the extension 504 by fasteners, glue, welding, or any other suitable method. In various embodiments, the extension 504 may include a post, hook, land, slot, or any other suitable structure. It should be appreciated that in some embodiments, the interference-prone sensor may be operatively connected to the interference-producing electronic component, such as by a wired or wireless connection. Such a connection need not be depicted in fig. 5-8. In one embodiment, the extension may include a hollow chamber that allows for the passage of wires (not shown) that connect the sensor to other components of the UAV.

Fig. 6a illustrates a side view of the unmanned aerial vehicle shown in fig. 5. As shown, the interior surface of the body portion 602 of the UAV forms a chamber. Interfering

electronic components

608, 610, and 612 may be disposed within the chamber. The interfering electronic components may also include one or more connectors 614 that electrically connect some other electronic components. The interfering electronic components may include any of the components described herein, such as a circuit module, a flight control module, a GPS receiver, a power supply, an ESC module, an actuator or actuator assembly, and the like. It will be appreciated that in different embodiments, more or fewer interfering electronic components than those shown may be employed. An extension 604 is attached to the upper exterior surface of the body of the UAV and extends away from the cavity. A tamper-sensitive sensor 606 may be coupled (removably or permanently) to the extension 604. In a typical embodiment, the tamper-sensitive sensor 606 is located on the extension 604 away from the cavity, such as near the end that is not contiguous with the exterior surface of the body of the UAV.

The extension piece shown in the above example is attached to the upper portion of the UAV body. In other embodiments, the extension may be attached at other locations on the outer surface. Some such embodiments are illustrated in fig. 6 b-c. In some embodiments, as shown in fig. 6b, the extension 604 may be attached to a lower portion of the body and extend away from the chamber. In other embodiments, as shown in fig. 6c, the extension 604 may be attached to the side of the body and extend away from the chamber. In other embodiments, the extension may be attached at other locations not disclosed herein. In some embodiments, more than one sensor subject to interference may be employed by an UAV. In such embodiments, the sensor may be located on one or more of the extensions as shown herein. In some embodiments, a plurality of extensions may be attached to different portions of the exterior surface of the UAV body.

In some embodiments, the extension may be attached to an inner surface of the body portion. In this embodiment, the extension piece may or may not be attached to the outer surface of the body portion as well. For example, in one embodiment, the extension member may pass through and contact the inner and outer surfaces of the body portion. In other embodiments, the extension may not be in contact with the outer surface, but rather may be attached to the inner surface of the body portion and extend away from the chamber (e.g., through an opening in the main body portion of the UAV and not in contact with the opening).

In some embodiments, the interference-prone sensor may be attached directly to the interior or exterior surface of the body of the UAV and remote from the interfering electronics, either in place of or in addition to using an extension. According to some embodiments, fig. 7a-c show side views of the UAV along a plane substantially orthogonal to the plane formed by the rotors. In these figures, the body 702, the susceptible sensor 706, and the interfering

electronic components

708, 710, 712, and 714 may be similar to the body 602, the susceptible sensor 606, and the interfering

electronic components

608, 610, 612, and 614 described with reference to FIG. 6. However, in figures 7a-c, the interference-prone sensors 709 are disposed directly on the interior or exterior surface of the UAV body without the use of extensions. In some embodiments, as illustrated in FIG. 7a, the interference-prone sensor 706 may be disposed directly on the same inner surface as the rotating blade (or the upper inner surface of the chamber) and away from various interfering electronic components. In some embodiments, as shown in fig. 7b, the sensor 706 that is susceptible to interference may be disposed directly on the outer surface (or upper outer face) outside the chamber on the same side as the rotating blades. In some embodiments, as shown in FIG. 7c, the sensor 706 that is susceptible to interference may be disposed directly on the outer surface (or lower outer face) on the side opposite the rotating blade and away from the electronic components. In some embodiments (not shown), the sensor that is susceptible to interference may be disposed directly on the inner surface (or lower internal face) on the side opposite the rotating blade and away from the electronic components.

Figures 8a-b illustrate top views of other embodiments in which the vulnerable sensor is attached directly to the interior or exterior surface of the UAV. However, unlike the embodiment shown in figures 7a-c, a view is shown along a plane that is substantially parallel to the plane formed by the rotors of the UAV. As shown, the body 802, the susceptible sensor 806, and the interfering

electronic components

808, 810, 812, and 814 can be similar to the body 702, the susceptible sensor 706, and the interfering

electronic components

708, 710, 712, and 714 described with reference to FIGS. 7 a-c. In some embodiments, as shown in fig. 8a, the sensor 706 is disposed along a side interior surface of the body portion of the UAV. In other embodiments, as illustrated in figure 8b, the sensor 706 is disposed along a lateral exterior surface of the body portion of the UAV.

In some embodiments, the sensor may be attached to the interior or exterior surface of the body of the UAV by fasteners (e.g., tape, wire), glue, welding, or the like. In other embodiments, the sensor may be held on such a surface by a receiving structure such as a groove, a grid, or the like. In some embodiments, the sensor may be placed only on such surfaces without the use of any fasteners or housing structures. In some embodiments, more than one interference-prone sensor may be attached to the body of the UAV at different locations with or without extensions. For example, in one embodiment, some of the sensors may be attached to the body portion via extensions, while others are attached directly to the interior or exterior surface of the UAV body.

In various embodiments, the interference experienced by the sensor susceptible to interference can be measured by a field direction deviation and/or a field strength of the magnetic interference. The level of such interference can be obtained by comparing the readings of the sensor when the electronic component is powered on and off, respectively. The level of interference, i.e., the difference in readings when power is applied and removed, may vary as the position of the sensor changes. In particular, the level of interference decreases as the distance between the sensor and the electronic component increases. For example, the direction deviation of the interference and/or the magnetic interference field strength may be reduced. For example, the magnetometer may be subject to a magnetic field direction deviation that is less than a threshold value when located inside the body of the UAV when the sensor and the electronic component are disposed outside and inside the body of the UAV, respectively. The threshold may be about 15 degrees, 10 degrees, 5 degrees, etc. In another example, the magnetometer may be subjected to a threshold less magnetic field strength when the sensor and the electronic element are disposed outside and inside, respectively, the body of the UAV than when located inside the body of the UAV. The threshold may be about 0.5 gauss, 10 gauss, 5 gauss, etc.

In various embodiments, the present invention may be applied to unmanned aerial vehicles of various sizes, dimensions, and/or configurations. For example, in one embodiment, the present invention may be applied to a multi-rotor unmanned aerial vehicle in which the distance between the axes of rotation of opposing rotors of the multi-rotor unmanned aerial vehicle does not exceed a certain threshold. The threshold may be about 5 meters, 4 meters, 3 meters, 2 meters, 1 meter, etc. For example, the distance between the axes of rotation of the opposing rotors may have a value of 350 millimeters, 450 millimeters, 800 millimeters, 900 millimeters, and the like.

In some embodiments, the UAV may have dimensions and/or dimensions sufficient to accommodate occupants within or on the UAV. Alternatively, the unmanned aerial vehicle may be smaller in size and/or dimensions than the size and/or dimensions of the unmanned aerial vehicle that can accommodate occupants therein or thereon. In some embodiments, the volume of the unmanned aerial vehicle can be less than 5cm x 3cm. In some cases, the maximum dimension (e.g., length, width, height, diameter, diagonal) of the UAV may be no greater than 5m. For example, the distance between the axes of rotation of the opposed rotors is no greater than 5m. In some embodiments, the footprint of the UAV may be referenced to a cross-sectional area of the UAV. In some cases, the unmanned aerial vehicle weighs no more than 1000kg. In some embodiments, the UAV is small relative to the load (including the load and/or the carrier). In some examples, the weight to load weight ratio of the unmanned aerial vehicle may be greater than, less than, or equal to 1. In some examples, the weight to load weight ratio of the unmanned aerial vehicle may be greater than, less than, or equal to 1. Alternatively, the weight of the carrier and the weight ratio of the load may be greater than, less than, or equal to 1. In some embodiments, the unmanned aerial vehicle has low energy consumption. For example, the energy consumption of the unmanned aerial vehicle may be less than 2w/h. In some cases, the carrier has a low energy consumption. For example, the energy consumption of the carrier may be below 2w/h.

In various embodiments, a kit for an unmanned aerial vehicle may be employed. In some embodiments, the kit includes one or more electronic components for controlling the operation of the UAV and/or one or more rotor motors of the UAV. The kit may also include instructions including information for a user of the UAV to assemble the magnetometer and the above-described electronic components. In one embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being arranged inside the chamber, and the magnetometer being located outside the housing. In another embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located at least 3cm from the one or more electronic components. In another embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising one or more electronic components for controlling the operation of said unmanned aerial vehicle, and/or one or more rotating blades of said unmanned aerial vehicle, and a magnetometer located at least 3cm and at most 0.5m from said one or more electronic components.

In some embodiments, the kit for assembling the UAV includes a magnetometer; and instructions for a user of the UAV to assemble the magnetometer and one or more electronic components for controlling operation of the UAV. In one embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located outside the housing. In a further embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising a housing having an outer surface and an inner surface, said inner surface forming a chamber, said one or more electronic components being arranged inside said chamber, and said magnetometer being located at least 3cm from said one or more electronic components. In another embodiment, the unmanned aerial vehicle assembled according to the description has the following features: comprising one or more electronic components for controlling the operation of said unmanned aerial vehicle, and/or one or more rotating blades of said unmanned aerial vehicle, and a magnetometer located at least 3cm and at most 0.5m from said one or more electronic components.

In some embodiments, the kit for assembling the UAV may include a housing having an outer surface and an inner surface, the inner surface forming a cavity; one or more electronic components pre-arranged in the cavity and used for controlling the operation of the unmanned aerial vehicle; a magnetometer whose operation is susceptible to interference from the one or more electronic components; and instructions for assembling the UAV. In one embodiment, when the assembled UAV unmanned vehicle is assembled according to the specification, the assembled UAV unmanned vehicle has the following features: the magnetometer is located outside the housing shell. In another embodiment, the assembled UAV drone has the following features: the magnetometer is located at least 3cm from the one or more electronic components. In another embodiment, the assembled UAV unmanned aerial vehicle has the following features: the magnetometer is located at least 3cm and at most 0.5m from the one or more electronic components.

In some embodiments, the kit for assembling the UAV may further include an extension attachable to an outer surface of the cavity, and the assembled UAV further has the following features: the extension is attached to an outer surface of the housing and the magnetometer is located on the extension.

According to another aspect of the invention, a method for assembling an unmanned aerial vehicle is provided. In some embodiments, a method of assembling an unmanned aerial vehicle can include assembling the unmanned aerial vehicle in accordance with instructions provided within a kit. The kit comprises one or more electronic components for controlling the operation of the unmanned aerial vehicle and/or one or more rotating blades of the unmanned aerial vehicle. In one embodiment, when assembled, the unmanned aerial vehicle has the following features: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located outside the housing. In another embodiment, the unmanned aerial vehicle has the following features when assembled: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located at least 3cm from the one or more electronic components. In another embodiment, when assembled, the unmanned aerial vehicle has the following features: comprising one or more electronic components for controlling the operation of said unmanned aerial vehicle, and/or one or more rotating blades of said unmanned aerial vehicle, and a magnetometer located at least 3cm and at most 0.5m from said one or more electronic components.

In some embodiments, a method of assembling an unmanned aerial vehicle can include integrating a magnetometer onto the unmanned aerial vehicle in accordance with instructions to assemble the unmanned aerial vehicle, the instructions included in a kit including the magnetometer. In one embodiment, when assembled, the unmanned aerial vehicle has the following features: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located outside the housing. In another embodiment, the unmanned aerial vehicle has the following features when assembled: comprising a housing having an outer surface and an inner surface, the inner surface forming a chamber, the one or more electronic components being disposed inside the chamber, and the magnetometer being located at least 3cm from the one or more electronic components. In another embodiment, when assembled, the unmanned aerial vehicle has the following features: comprising one or more electronic components adapted to control the operation of said unmanned aerial vehicle, and/or one or more rotating blades of said unmanned aerial vehicle, and a magnetometer located at least 3cm and at most 0.5m from said one or more electronic components.

In some embodiments, the steps according to the description include connecting one or more rotating blades to one or more of the electronic components to electrically interconnect them. In some embodiments, the steps further include placing the magnetometer at a location of the UAV where the magnetometer is not subject to significant electromagnetic interference from the one or more electronic components.

While preferred embodiments of the present invention have been illustrated and described herein, it will be obvious to those skilled in the art that such embodiments are provided for illustrative purposes only. Variations, changes, and substitutions will occur to those of ordinary skill in the art without departing from the spirit of the invention. It should be understood that various alternatives to the above embodiments of the invention may be employed in practicing the invention. The following claims are intended to cover such processes, structures, and equivalents as fall within the scope of the claims.

Claims

1. An unmanned aerial vehicle comprising a rotor, comprising:

one or more electronic components arranged on the unmanned aerial vehicle body and used for controlling the operation of the unmanned aerial vehicle;

an extension attached to an outer surface of the UAV body, the extension including a support for supporting all or a portion of the weight of the UAV when the UAV is not in flight;

a magnetometer disposed on the extension to reduce interference from the one or more electronic components, the UAV including one or more rotors, the magnetometer disposed below the one or more rotors;

wherein the electronic component comprises at least one of a power source, a flight control module, an inertial measurement module, or a GPS receiver.

2. The unmanned aerial vehicle comprising a rotor of claim 1, wherein the support comprises a landing gear.

3. An unmanned aerial vehicle comprising a rotor according to claim 1 or 2, wherein

Wherein the minimum distance between the magnetometer and the one or more electronic components is at least 3 centimeters; or

Wherein the minimum distance between the magnetometer and the one or more electronic components is at most 0.5 meters.

4. The unmanned aerial vehicle comprising a rotor of claim 1, wherein at least one of the electronic components is preconfigured by a manufacturer of the unmanned aerial vehicle.

5. The unmanned aerial vehicle comprising a rotor of claim 4, wherein the at least one preconfigured electronic component is for forming an electronic unit that is necessary and sufficient to control operation of the unmanned aerial vehicle.

6. The unmanned aerial vehicle comprising a rotor of claim 5 wherein the electronics unit comprises at least one of a flight control module, a GPS receiver, or an electronic governor module.

7. The unmanned aerial vehicle comprising a rotor of claim 1 wherein the magnetometer is for measuring a magnetic field.

8. The unmanned aerial vehicle comprising a rotor of claim 7, wherein the magnetometer comprises a compass.

9. The unmanned aerial vehicle comprising a rotor of claim 1, wherein the interference comprises magnetic interference or electromagnetic interference; or alternatively

The unmanned aerial vehicle housing includes a conductive shielding material.

10. The unmanned aerial vehicle comprising a rotor of claim 1, wherein the one or more electronic components comprise an actuator assembly comprising a rotor rotating blade and an actuator for driving the rotating blade.

11. The unmanned aerial vehicle comprising a rotor of claim 10, wherein the one or more electronic components comprise at least three actuator assemblies.

12. A method of reducing interference experienced by a sensor susceptible to interference by one or more electronic components of an unmanned aerial vehicle, the method comprising: providing an unmanned aerial vehicle comprising a rotor according to any of claims 1-11 to reduce the disturbance.

13. An unmanned aerial vehicle comprising a rotor, comprising:

a housing comprising an outer surface and an inner surface, the inner surface forming a chamber;

one or more electronic components disposed within the chamber for controlling the operation of the UAV;

an extension attached to an exterior surface of the UAV body, the extension including a support for supporting all or a portion of the weight of the UAV when the UAV is not in flight;

a magnetometer disposed on said extension to reduce interference from said one or more electronic components, wherein said UAV comprises one or more rotors and said magnetometer is disposed below said one or more rotors, and wherein said magnetometer is at least 3 centimeters in minimum distance from said one or more electronic components;

14. The unmanned aerial vehicle comprising a rotor of claim 13, wherein the support comprises a landing gear; or

Wherein the magnetometer is disposed directly on an outer surface of the housing; or alternatively

15. The unmanned aerial vehicle comprising a rotor of claim 13 or 14, wherein at least one of the electronic components is pre-configured by a manufacturer of the unmanned aerial vehicle.

16. The unmanned aerial vehicle comprising a rotor of claim 15, wherein the at least one preconfigured electronic component is for forming an electronic unit that is necessary and sufficient to control operation of the unmanned aerial vehicle.

17. The unmanned aerial vehicle comprising a rotor of claim 16, wherein the electronic unit comprises at least one of a flight control module, a GPS receiver, or an electronic governor module.

18. The unmanned aerial vehicle comprising a rotor of claim 13, wherein the magnetometer is for measuring a magnetic field; or

Wherein the magnetometer comprises a compass; or

Wherein the interference comprises magnetic interference or electromagnetic interference; or

Wherein the housing comprises a conductive shielding material; or

The housing includes an upper housing piece and a lower housing piece removably connected to each other to form the chamber.

19. The unmanned aerial vehicle comprising a rotor of claim 13, wherein the one or more electronic components comprise an actuator assembly comprising a rotor rotating blade and an actuator for driving the rotating blade.

20. The unmanned aerial vehicle comprising a rotor of claim 19, wherein the one or more electronic components comprise at least three actuator assemblies.

21. The unmanned aerial vehicle comprising a rotor of claim 13 wherein the housing comprises a main housing piece connected to one or more branch housing pieces, the main housing piece forming a main chamber and the one or more branch housing pieces forming a corresponding one or more branch chambers.

22. The unmanned aerial vehicle comprising a rotor of claim 21, wherein at least one of the one or more electronic components is located within the main chamber.

23. The unmanned aerial vehicle comprising a rotor of claim 22, wherein the at least one electronic component located within the main chamber comprises at least one of a power source, a flight control module, an inertial measurement unit, or a GPS receiver; or

Wherein the electronic component is located within one of the one or more branch chambers.

24. The unmanned aerial vehicle comprising a rotor of claim 21, wherein at least one of the one or more electronic components is located within one of the one or more branch chambers; or

The one or more branch housing pieces respectively correspond to one or more rotors of the unmanned aerial vehicle; or

At least one of the one or more branch housing pieces is removably connected to the main housing piece.

25. A method of reducing interference experienced by a sensor susceptible to interference by one or more electronic components of an unmanned aerial vehicle, the method comprising: providing an unmanned aerial vehicle comprising a rotor according to any of claims 13-24 to reduce the disturbance.