CN109050897A - More rotor unmanned aircrafts - Google Patents

Abstract

A kind of unmanned vehicle of the present invention, comprising: shell, the shell include outer surface and inner surface, and the inner surface forms chamber；One or more is set to the electronic component in the chamber and for controlling the unmanned vehicle operation；Extension, the extension are attached on the shell；And sensor, the sensor are located at the hull outside, interference of the operation of the sensor vulnerable to one or more of electronic components；Wherein, the sensor includes magnetometer, and the magnetometer is set on the extension, to reduce the interference from one or more of electronic components.

Description

More rotor unmanned aircrafts

Cross reference

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

Background technique

In recent years, unmanned vehicle has been widely used for various fields, for example, Aerial photography or monitoring, scientific research, geology are surveyed Survey, remote sensing etc..Generally, the unmanned vehicle carries various for controlling the different aspect of the unmanned vehicle operation Electronic component.Meanwhile the unmanned vehicle also needs to carry one or more for navigating, monitoring or distant sometimes The sensor of sense.However, some operations in these sensors may be thereby reduced by the interference of the electronic component The reliability of the unmanned vehicle.

In addition, the unmanned vehicle generally requires assembling, configuration or calibration, to operate normally.When the assembling, configuration Perhaps calibration is to be configured fault come user when completing by unbred user or assemble fault to may cause the nothing People's aircraft breaks down or damage.Therefore, it is necessary to a kind of unmanned vehicles with better reliability, to solve above-mentioned ask Topic.

Summary of the invention

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

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

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes one or more for controlling Make the electronic component of the unmanned vehicle operation；And sensor, the sensor are located on extension, the extension from One or more of electronic components extend, and the operation of the sensor is vulnerable to the dry of one or more of electronic components It disturbs.

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes that one or more is used for Control the electronic component of the unmanned vehicle operation；And sensor, the sensor are located at away from one or more of At electronic component at least 3cm and the position of most 0.5m, the operation of the sensor is vulnerable to one or more of electronics members The interference of part.

Another aspect of the present invention provides a kind of unmanned vehicle.The unmanned vehicle includes that one or more is used for The electronic component of the unmanned vehicle operation is controlled, one or more of electronic components include GPS receiver；And it passes Sensor, the sensor include at least one magnetometer, and the magnetometer is located on the unmanned vehicle, are in and described one The position that a or multiple preconfigured electronic components mutually separate, the operation of the magnetometer is vulnerable to one or more of The interference of electronic component.

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

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

In some embodiments, at least one described electronic component is pre-configured with by the manufacturer of the unmanned vehicle. At least one described preconfigured electronic component is used to form electronic unit, and the electronic unit is to the control unmanned flight The operation of device is necessary and enough.The electronic unit may include flight control modules, GPS receiver or electronic speed regulation (ESC) at least one of module.

In some embodiments, the sensor is for measuring magnetic field.The sensor includes magnetometer.The magnetometer includes Compass.In some embodiments, the interference may include magnetic disturbance or electromagnetic interference.It is described in some embodiments One or more electronic component includes GPS receiver or actuator, and the actuator includes a pivoting leaf Piece and one are for driving the actuator of the rotating vane.In some embodiments, one or more of electronics members Part includes at least three actuators.

In some embodiments, the shell includes conductive shielding material.The shell includes upper housing member and lower casing Body part, the upper housing member and the lower shell piece are removably interconnected to form the chamber.The shell includes The main casing part that housing component is connected with one or more branch, the main casing part form main chamber and one or more A branch's housing component forms one or more corresponding branch's chamber.In some embodiments, one or more of electricity At least one of subcomponent is located in main chamber room.It can be with positioned at least one indoor described electronic component of main chamber Including at least one of power supply, flight control modules, Inertial Measurement Unit (IMU) or GPS receiver.Some embodiments In, at least one of one or more of electronic components are located in one of one or more of branch's chambers. At least one described electronic component includes electronic speed regulation (ESC) module or actuator, and the electronic component is located at one Or in one in multiple branch's chambers.In some embodiments, one or more of branch's housing components are respectively corresponded One or more rotor of the unmanned vehicle.At least one of one or more of branch's housing components can be removed Ground is connected on the main casing part.

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

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member include (a) one or One or more of the multiple electronic components for controlling the unmanned vehicle operation of person and/or the unmanned vehicle Rotating vane；And (b) specification, the specification include for user's assembling magnetometer of the unmanned vehicle and (a) Described in element information so that after being completed, the unmanned vehicle has following feature, comprising: (1) (i) shell, Including outer surface and inner surface, the inner surface forms chamber, and one or more of electronic components are set to the chamber Interior, and (ii) described magnetometer are located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, institute It states inner surface and forms chamber, one or more of electronic components are set in the chamber, and the described magnetometer position (ii) At away from one or more of electronic components at least 3cm；Or (3) (i) is used to control the unmanned vehicle operation One or more rotating vane of one or more of electronic components and/or the unmanned vehicle, and (ii) are located at Away from the magnetometer at one or more of electronic components at least 3cm and at most 0.5m.

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member includes (a) magnetic force Meter；And (b) specification, the specification include for the unmanned vehicle user assemble the magnetometer and one or Person is multiple for controlling the information of the electronic component of the unmanned vehicle operation, so that described nobody flies after being completed Row device has following feature, comprising: (1) (i) shell, including outer surface and inner surface, the inner surface forms chamber, described One or more electronic component is set in the chamber, and (ii) described magnetometer is located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, the inner surface form chamber, one or more of electronic component settings In in the chamber, and (ii) described magnetometer is located at away from one or more of electronic components at least 3cm；Or (3) (i) for controlling described in the one or more of electronic components and/or one or more that the unmanned vehicle is run The rotating vane of unmanned vehicle, and (ii) are located at apart from one or more of electronic components at least 3cm and at most Magnetometer at 0.5m.

Another aspect of the present invention provides a kind of for assembling the external member of unmanned vehicle.The external member includes (a) shell, Including outer surface and inner surface, the inner surface forms chamber；(b) it is pre-set at the chamber interior and for controlling institute State one or more electronic component of unmanned vehicle operation；(c) magnetometer, the operation of the magnetometer is vulnerable to one Or the interference of multiple electronic components；(d) for assembling the specification of the unmanned vehicle, so that working as the unmanned vehicle After being completed according to the specification, the unmanned vehicle after the assembling has the feature that (1) described magnetometer is located at The outside of the shell；Or (2) described magnetometer is located at away from one or more of electronic components at least 3cm；Or (3) magnetometer is located at away from one or more of electronic components at most 0.5m.

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

In some embodiments, the external member further comprises the extension that can be attached on the shell, and after the assembling Unmanned vehicle further have the feature that the extension is attached on the outer surface of the shell and far from the chamber Room extends, and the magnetometer is located on the extension.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, including according in external member Specification assembles the unmanned vehicle, and the external member includes one or more for controlling what the unmanned vehicle was run The rotating vane of electronic component and/or one or more unmanned vehicle, wherein after being completed it is described nobody fly Row device has following feature, comprising: (1) (i) shell, including outer surface and inner surface, the inner surface forms chamber, described One or more electronic component is set in the chamber, and (ii) described magnetometer is located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, the inner surface form chamber, one or more of electronic component settings In in the chamber, and (ii) described magnetometer is located at away from one or more of electronic components at least 3cm；Or (3) (i) for controlling the one or more of electronic components and/or the unmanned vehicle of unmanned vehicle operation One or more rotating vane, and (ii) are located at away from one or more of electronic components at least 3cm and at most 0.5m The magnetometer at place.

Based on another aspect of the present invention, a kind of method for assembling unmanned vehicle is provided, comprising: will according to specification The magnetometer is integrated on the unmanned vehicle, and to assemble the unmanned vehicle, the specification is included in containing magnetic In the external member of power meter, wherein the unmanned vehicle after being completed has following feature, comprising: (1) (i) shell, including Outer surface and inner surface, the inner surface form chamber, and one or more of electronic components are set in the chamber, And (ii) described magnetometer is located at the hull outside；Or (2) (i) shell, including outer surface and inner surface, the interior table Face forms chamber, and one or more of electronic components are set in the chamber, and (ii) described magnetometer is located at away from institute It states at one or more electronic component at least 3cm；Or (3) (i) is used to control described the one of the unmanned vehicle operation One or more rotating vane of a or multiple electronic components and/or the unmanned vehicle, and (ii) are located at away from described Magnetometer at one or more electronic component at least 3cm and at most 0.5m.

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

Quote addition

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

Detailed description of the invention

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

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

Fig. 2 is the top view that more rotor unmanned aircrafts of Fig. 1 do not include the top of the shell, to show internal element.

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

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

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

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

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

Fig. 8 a to 8b is the schematic diagram of the other embodiment of unmanned vehicle, illustrates sensor and is located at the unmanned flight The body outer surface of device or more examples on inner surface.

Specific embodiment

The present invention is provided to improve the method and apparatus of the reliability of unmanned vehicle.On the one hand, specific on-board sensing is met with The interference received is reduced.The interference can be for as caused by airborne electronics unit.The interference may include that electromagnetic interference, magnetic are dry It disturbs.The operation can be used as measurement magnetic field vulnerable to interference effect or the airborne sensor sensitive to the interference Sensor, such as magnetometer, compass etc..In order to reduce the interference that the sensor of this " vulnerable to interference " is subjected to, the production The electronic component of raw interference can be set the chamber interior in unmanned vehicle, the chamber by the unmanned vehicle ontology Inner surface formed.Described one or more sensor vulnerable to interference can be set in the outside of the chamber.Some realities It applies in mode, the sensor can be set on the extension of the unmanned vehicle.The extension may include described The supporting element of unmanned vehicle, such as landing chassis.In other some embodiments, the sensor can be directly arranged at institute It states on the outer surface or inner surface of unmanned vehicle but is separated with the electronic component.It has an advantage that, the generation interference The separation of electronic component and the sensor vulnerable to interference reduces the interference that the sensor is subjected to, therefore improves institute State the reliability of sensor and the unmanned vehicle.

According to another aspect of the invention, the reliability of the unmanned vehicle can be by reducing element caused by user Configuration fault or assembling fault and further improve.Some or all electronic components can be by the unmanned vehicle Manufacturer is pre-configured with, connection or pre-assembly in advance.Similarly, it is desirable that less user's assembling or configuration or nothing User is needed to assemble or configure to guarantee that unmanned vehicle operates normally.In addition, because the element is by experienced work People is preconfigured, therefore configures a possibility that making mistakes and be further reduced.

In various embodiments, unmanned vehicle described herein may include different type, size, shape and configuration Unmanned vehicle.Such as, the unmanned vehicle may include more gyroplanes, such as helicopter, four-axle aircraft, the flight of six axis Device, eight axis aircraft etc..In addition, the unmanned vehicle can be widely used, such as remote sensing, aviation monitoring, oil, gas and Mineral exploration and production, transport, scientific research, Aerial photography or video recording, drawing, Mishap Report, search and rescue, drawing, electric power Line walking etc..

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

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

Fig. 1 show more rotor unmanned aircrafts an embodiment do not include rotating vane schematic diagram.As shown, institute Stating unmanned vehicle includes the hollow body portion 10 with inner surface and inner surface.The term " ontology " as used herein It can be replaced by term " shell ".The inner surface of the body part surrounds chamber (such as Fig. 2 inside the body part In 13 shown in).Such as being described in further detail for referenced hereafter Fig. 2, the not Tongfang run for controlling the unmanned vehicle One or more electronic component in face may be disposed in the chamber.The term " electronic component " as used herein is related to Any offer, use or the element for transmitting electric current.Such electronic component may include energy source (such as battery), flight control or Person's navigation module, GPS module (such as GPS receiver or transceiver), Inertial Measurement Unit (IMU) module, communication module are (such as nothing Line transceiver), electronic speed regulation (ESC) module for controlling actuator (such as motor), actuator (for as described in driving nobody The rotating vane of aircraft or the motor of rotor), electric wire and connector etc..In some embodiments, in the electronic component Some can be set on an integrated electronic unit, such as in circuit board or module.One or more electronic unit It can be set in the chamber interior.When in use, electronic component as described herein may to the unmanned vehicle other Element (such as magnetometer) generates interference (such as electromagnetic interference).In some embodiments, the interference may be by iron-bearing materials or Caused by the magnetostatic source of person.For example, the electronic component may include magnet, the magnet generates magnetic field, so as to cause magnetic disturbance.

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

Branch's housing component 12 can be connected in a manner of " X " or star arrangement with the main casing part 11.Specifically, described Main casing part 11 can be set the center in the X or star arrangement, and branch's housing component 12 can with symmetrical or The asymmetric mode of person is distributed in around the main casing part 11.In some embodiments, such star arrangement can make to set The electrical connection being placed between the indoor electronic component of chamber of the shell, be such as set to middle part flight control modules with set respectively The electrical connection being placed between the indoor single ESC module of branch's chamber, becomes efficient.Alternatively, being set to the energy source at middle part (such as electricity Pond) with for drive more rotor unmanned aircrafts rotor actuator (such as motor) between being electrically connected.Other embodiments In, the intracorporal chamber of the shell of the shell and/or the unmanned vehicle can have different from star described herein Shape.For example, the shell and/or the intracorporal chamber of the shell can form approximately spherical, oval or cylindrical or conjunction Other shapes.

In a typical embodiment, the quantity of branch's housing component 12 and the rotor of the unmanned vehicle or cause The quantity of dynamic device assembly is equal.One actuator (as shown in 2 in Fig. 2) may include a rotor or rotating vane (as shown in 21 in Fig. 2) and one are for driving the actuator of the rotating vane (as shown in 22 in Fig. 2).For example, the exhibition of Fig. 1 institute The quadrotor four-axle aircraft shown may include four branch's housing components 12, each branch's housing component 12 corresponds to described four One in rotor or four actuators.In the embodiment shown, the unmanned vehicle includes four points Branch, each branch correspond to an actuator 2.This means, the unmanned vehicle includes four actuators 2.? In different embodiments, the quantity of the branch and/or arrangement may be with differences presented herein.For example, some implementations In mode, the quantity of branch's housing component and/or rotor or actuator possibly more than or less than the number that shows herein Amount.For example, six rotor unmanned aircrafts may include six rotors or actuator and six corresponding branch's housing components. Eight rotor unmanned aircrafts may include eight rotors or actuator and six corresponding branch's housing components.Replaceable Embodiment in, the quantity of branch's housing component may be with the rotor of the unmanned vehicle or the number of actuator Amount does not correspond to.For example, the quantity of branch's housing component possibly more than or be less than the actuator quantity.Different In embodiment, the quantity of the branch, actuator and actuator can according to practical circumstances demand and adjust.To protect The stability of the unmanned vehicle during operation is demonstrate,proved, typical more rotor unmanned aircrafts there should be no less than three rotations The wing.

In some embodiments, branch's housing component 12 can be to be removably connected on the main casing part 11.For example, can Branch's housing component 12 is integrally rotated to pass through, and each branch's housing component 12 is connected to the main casing part 11 And/or it is detached from from the main casing part 11.In some embodiments, branch's housing component 12 can be relative to the main casing part 11 be folding, thus as described in convenient unmanned vehicle storage and/or transport.In this embodiment, the branch Housing component 12 can be unfolded from folding position and/or reconnect on the main casing part, so that the unmanned vehicle can It is used once again.

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

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

In different embodiments, the element of any shell for forming the unmanned vehicle alone or in combination can use any Suitable technology manufacture, such as ejection formation, increasing material manufacturing (3D printing) technology etc..For example, the upper main casing part, lower main casing Each of body part, top set's housing component and inferior division housing component can be separately fabricated and with welding, fastening or its other party Formula is combined to form entire shell.In another example one or more described top set's housing component and the upper main casing part can be with Whole manufacture is integrated (the upper body portion as described in being formed)；On the other hand, one or the inferior division housing component and described Lower main casing part can integrally be fabricated to another integral piece (the lower body portion as described in being formed).Then, described two integral pieces The body part of the unmanned vehicle can be formed together in conjunction with (passing through welding, fastener etc.).For another example the upper master Housing component and the lower main casing part, which can be manufactured integrally, is integrated (the main casing part as described in being formed)；On the other hand, often One branch's housing component, top set's housing component and the inferior division housing component can be manufactured integrally and be integrated (such as Form branch's housing component).The main casing part and branch's housing component can then be combined by welding, fastener etc. Together.For another example the entire shell of the unmanned vehicle can be integrally manufactured, for example, by ejection formation or increasing material Manufacturing technology.

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

In some embodiments, the unmanned vehicle includes one or more installation structure, to accommodate the unmanned flight The some or all elements of device, such as some electronic components as described herein.The installation structure can be connected with the shell A part either with the shell one.Outer surface or the chamber in the ontology can be set in the installation structure It is indoor.For example, accommodation structure can be by the body part or the structure of outer surface is formed.In one embodiment, The installation structure can form an additional receiving chamber in addition to the main body chamber.In another embodiment, institute Stating installation structure can be formed by the internal structure on the inner surface of the main body chamber.In one embodiment, the receiving knot Structure is all set to the chamber interior.In another embodiment, some in the accommodation structure are set to outside the chamber. The accommodation structure may include slot, lattice, frame or other similar structure, to accommodate the difference member of the unmanned vehicle Part.For example, the installation structure may include the inner surface for being located at the chamber formed by the ontology of the unmanned vehicle On slot, the slot can be used for accommodating circuit module, battery, ESC module etc..In some embodiments, the unmanned flight Device can not include any additional accommodation structure other than being formed by the chamber by the shell of the unmanned vehicle. In some other embodiments, some or all electronic components can without using installation structure and be attached directly to or It is connected on the unmanned vehicle.

The body part and/or accommodation structure may include opening, and the opening is for being placed in or taking out element.For example, institute Stating opening can make user take out the battery out of the body part chamber or the installation structure to recharge And for the battery to be put back to after charging.The opening optionally has the lid hinged with the body part or masking Part.The lid can be closed for example, by fastener, buckle, belt etc., with element of the protection setting in it.

Fig. 2 shows the vertical view that more rotor unmanned aircrafts in Fig. 1 do not include the top of the shell according to an embodiment Figure, to show internal element.As previously mentioned, to avoid or reducing to the sensor vulnerable to interference, such as magnetometer (such as guide Needle) interference, one or more electronic component for generating interference of the unmanned vehicle can be with described vulnerable to interference Sensor is provided separately.In one embodiment, the electronic component is set to described with reference to FIG. 1 by the unmanned vehicle Shell the chamber 13 that is formed of inner surface in, and the sensor is set to outside the shell.In addition, shell can mention For the protection to the electronic component and the intensity and rigidity of the unmanned vehicle are enhanced, make it easier to transport and is stored. In another embodiment, the sensor is similarly provided in the shell but separates with the electronic component.

The term " electronic component " used herein is related to any offer, use or the element for transmitting electric current.Different In embodiment, one or more of electronic components can be used for controlling the different aspect of the unmanned vehicle operation. Such electronic component may include energy source (such as battery), flight control or navigation module, GPS module (such as GPS receiver or Person's transceiver), Inertial Measurement Unit (IMU) module, communication module (such as wireless transceiver), for controlling actuator (such as motor) Electronic speed regulation (ESC) module, actuator (for the rotating vane of unmanned vehicle or the motor of rotor as described in driving), For being electrically connected the connector (such as electric wire and connector) of the electronic component.In different embodiments, described nobody flies The some or all electronic units of row device can be set in the enclosure interior.

In some embodiments, some in above-mentioned electronic component be can be set on one or more circuit module 3.Often One circuit module may include one or more electronic component.For example, as shown in Fig. 2, the circuit module 3 may include Main flight control modules 33, the main flight control modules 33 include one or more for controlling the unmanned vehicle The processor (such as being executed by field programmable gate array (FPGA)) of key operation.In another example same or different Circuit module equally may include the IMU module for measuring the speed of the unmanned vehicle, direction and gravity.The IMU Module may include one or more accelerometer and/or gyroscope.In another example, same or different circuit mould Block equally may include the communication module 31 for carrying out telecommunication with remote control device.For example, the communication module can wrap Include wireless (such as radio) transceiver.The communication module 31 can have one or more button 311 and with the code The corresponding indicator light 312 that button separates.The button and the indicator light can in order to the unmanned vehicle with it is described Communication between remote control device.For example, the button can be used for adjusting frequency range used in the unmanned vehicle and described Indicator light can serve to indicate that channel between the unmanned vehicle and the remote control device be successfully established and/or failure.

The flight control modules 33 are usually the critical component or " brain " of the unmanned vehicle.For example, the flight Control module 33 can be based on the data obtained from visual sensor (such as camera), IMU, GPS receiver and/or other sensors The current speed of the unmanned vehicle, direction and/or position are estimated, to execute layout of roads, provide control letter to actuator Number with realize navigation control etc..In another example, the flight control modules can be based on the control signal hair remotely received Control signal out to adjust the state of the unmanned vehicle.

In some embodiments, being arranged in the indoor electronic component of the chamber may include GPS receiver.Traditionally, one A GPS receiver is usually set with a magnetometer altogether.But when the GPS receiver and magnetometer are close to other electronic components When setting, the operation of the magnetometer may be by the interference from other electronic components.In some embodiments, the magnetic force The operation of meter is equally possible by the interference from the GPS receiver.Therefore, in a preferred embodiment of the present invention In, the GPS receiver is mutually separated with the magnetometer, therefore the GPS receiver is set to the shell of the unmanned vehicle The inside of body and the magnetic force are set to the outside of the shell.In interchangeable embodiment, the GPS receiver and institute The shell can be all set in either internally or externally by stating magnetometer, but be had between the GPS receiver and the magnetometer There is minimum spacing.In one embodiment, the minimum spacing is about 3 centimetres (3cm).In other embodiments, the minimum Spacing can be less or greater than 3cm.

In some embodiments, being set to the indoor electronic component of the chamber may include one or more electronic speed regulation (ESC) module 34.Electronic speed regulation module can be used for controlling the operation of the actuator 22.The actuator 22 can be described A part of actuator 2 and the rotating vane or rotor 21 for being used to drive the unmanned vehicle.Some embodiments In, on the one hand the ESC module can be electrically connected with the flight control modules 33, be on the other hand electrically connected with an actuator 22 It connects.The flight control modules 33 can provide control signal for the ESC module 34, the ESC module 34 again successively to Its described actuator 22 being electrically connected provides actuator signal to drive corresponding rotating vane 21.In some embodiments, institute Stating actuator and/or the ESC module 34 equally can provide feedback signal to the flight control modules 33.In a typical case Embodiment in, the quantity of the ESC module is equal with the quantity of rotor actuation device of the unmanned vehicle.For example, one There are four ESC modules for a quadrotor unmanned vehicle tool.In an interchangeable embodiment, the quantity of the ESC module can With (being such as more or less than) different from the quantity of the rotor actuation.In some embodiments, the ESC module is optional 's.In some embodiments, as the substitution or supplement to the ESC module, other kinds of actuator control can be used Molding block is to control the operation of the actuator.

In some embodiments, the unmanned vehicle further includes for electric coupling or being electrically connected the unmanned vehicle not With one or more connector of electronic component.The connector may include for transmitting energy, data between elements Or electric wire, the cable etc. of control signal.For example, the connector can be used for being electrically connected 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, institute The end for stating connector has pluggable connector, in favor of the plug of the relatively described electronic component of the connector.

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

In one embodiment, the ESC module 34 be can be set in branch's housing component and below the actuator. For example, the ESC module 34 can be set in the inferior division housing component 122 and in branch's chamber 123.It is described ESC module 34 is in being provided with conducive to the electricity between the ESC module 34 and the actuator 22 in branch's housing component 123 Connection.In interchangeable embodiment, at least one described ESC module can be located in main chamber room rather than branch's chamber It is indoor.

In some embodiments, one point can be at least partially situated at by the actuator 2 that the ESC module controls Branch chamber interior.The actuator 2 may include the actuator 22 being connect with branch's housing component 12 and with the cause The rotating vane 21 that dynamic device 22 connects.As Figure 1 shows, a part of the actuator 2 is at least partly from the chamber Inside extend, to be rotatably attached rotating vane or rotor (as shown in 21 in Fig. 2).For example, the actuator can wrap Include the shaft being rotatably attached with the rotating vane 221.The actuator 22 may include motor, mechanically actuated Device, hydraulic actuator, pneumatic actuator etc..Motor may include magnetic machines, electrostatic motor or piezoelectric motor.For example, In one embodiment, the actuator includes brshless DC motor.The actuator 2 can fixedly or removedly It is connect with branch's housing component 12.In some embodiments, the unmanned vehicle has at least three actuators, with Ensure the stability during the unmanned vehicle operation.

In some embodiments, some or all in above-mentioned electronic component are preparatory by the manufacturer of the unmanned vehicle Configuration, pre-assembly or preparatory connection.In these embodiments, the operation of the unmanned vehicle do not need or User is seldom needed to assemble and/or calibrate, the unmanned vehicle, which is unpacked, can be at flight position.Institute Stating not only can promote user experience by reducing technical threshold to being pre-configured with for element, but also can reduce and be matched by user Set mistake and contingency caused by fault.In some embodiments, element that these are preconfigured or pre-assembly May include the flight control modules, GPS module or herein any electronic component for being referred to or more than it is any Combination.In some embodiments, one or more electronic component can be preconfigured, connection or pre-assembly are in advance One electronic unit (a such as circuit module).The electronic unit is necessary for the operation for controlling the unmanned vehicle And it is enough.In some embodiments, the preconfigured element does not need additional user's configuration, with unpack can be just Often operation.In other embodiments, it may be possible to a certain number of users be needed to configure or assemble.

In one embodiment, at least two in the electronic component can be connected in advance by the manufacturer of the unmanned vehicle It connects, is assembled with the user needed for reducing the unmanned vehicle before it can be used.Such as the circuit module and described Electrical connection between ESC module can be connected in advance by the manufacturer, so that the user is buying the unmanned flight Without connecting described two modules after device.It is described be pre-configured with, in advance connection or pre-assembly equally can simplify the nothing The design of people's aircraft.For example, not every connector may be needed using pluggable connector: one in the connector It can be pre-attached on element by manufacturer by welding manner a bit, improve the reliability of this connection with this.Even if using Pluggable connector, this connection can also be in the factory-assembled stage by trained professional, just such as skilled worker It really completes, to reduce the risk of connection loosening and/or connection error and further improve the reliability of the unmanned vehicle.

Fig. 3 illustrates another view of more rotor unmanned aircrafts in Fig. 1-2 according to an embodiment.Described in showing Unmanned vehicle shows setting of the sensor 7 (such as magnetometer) vulnerable to interference outside the unmanned vehicle, this setting To reduce the interference by one or more electronic component of unmanned vehicle described with reference to FIG. 2 to the sensor.

In different embodiments, the sensor 7 vulnerable to interference includes that an operation is led vulnerable to the airborne electronics unit The sensor of the interference effect of cause.The interference may include electromagnetism or magnetic disturbance.The interference may be by the electronics Caused by electric current or magnet in element.The sensor 7 vulnerable to interference may include magnetometer.Magnetometer may include Scalar and/or vector magnetometer.In one embodiment, the magnetometer includes compass.It is described in one preferred embodiment Sensor vulnerable to interference includes magnetometer but does not include GPS receiver.It is described vulnerable to interference in interchangeable embodiment Sensor 7 includes GPS receiver and magnetometer.It should be appreciated that one sensor vulnerable to interference is for explanation Purpose, the unmanned vehicle can carry the more than one sensor vulnerable to interference and interference reduction technology as described herein can For any or all sensors vulnerable to interference.

As previously mentioned, for avoid the interference of the electronic component from the unmanned vehicle and improve the unmanned vehicle can By property, the sensor vulnerable to interference and the electronic component for being also easy to produce such interference are arranged a distance away.One In a little embodiments, all electronic components for generating interference to the sensor vulnerable to interference are set far from the sensor It sets.In other embodiments, there was only some separate sensors in the electronic component for generating interference and be arranged.

In some embodiments, as referred to reference to Fig. 1-2, the electronic component for generating interference is located at the unmanned flight In the chamber of the body part of device, and the sensor vulnerable to interference is located at outside the chamber of the ontology.In some embodiments, The sensor is located on extension, and the extension extends from the shell.In some embodiments, the extension can be with Including a supporting element, the supporting element is used to support the whole of the unmanned vehicle in the unmanned vehicle not flight Or moiety by weight.For example, the supporting element may include landing chassis 4 as shown in Figure 3.In one optional embodiment, institute Stating unmanned vehicle not includes shelf or similar structure, therefore when the unmanned vehicle is placed on specified surface When, the outer surface of the lower main casing directly contacts the surface.In some embodiments, the sensor can be set to described Chamber is outer and is located on the outer surface of the shell.The more detailed description of some embodiments will be introduced in conjunction with Fig. 5-8.

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

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

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

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

In some embodiments, instruction light source (not shown) can be set on the main casing or branch's shell.One is real Apply in mode, the light source can be set in opening or the window's position on branch's shell, such as close to it is described nobody fly The lower part of row device (far from the rotor).The opening perhaps window can be covered by curtain the curtain using transparent or Trnaslucent materials is made, so that at least partly light from the instruction light source passes through.It is described in one preferred embodiment Indicate that light source includes light emitting diode (LED) lamp, with high brightness, low energy consumption, long life and transport convenience.Other In interchangeable embodiment, the instruction light source, window and curtain be can be set on the main casing.

According to an embodiment, Fig. 4 illustrates a pair of landing chassis that can be used for adhering to the sensor vulnerable to interference.The landing Frame 4 can with it is those of demonstrated in Figure 3 similar.As described above, the landing chassis can when the unmanned vehicle not flight It is used to support all or part of weight of the unmanned vehicle.In one embodiment, there are two the unmanned vehicle tools It is connected with the unmanned vehicle ontology and is spaced apart from each other suitable distance, the similar bracket of structure.In different embodiments, The unmanned vehicle may include one, two, three or more brackets.The bracket can be in any suitable configuration Mode is attached to the bottom (side opposite with the rotor) of the shell, to support the weight of the body part.The branch Frame equally can be that the arbitrary load device (such as camera or video camera) being set between bracket provides protection.Using institute Being the advantages of existing structure as landing chassis for unmanned vehicle is stated, does not need to increase on the unmanned vehicle again Additional structure come increase the unmanned vehicle vulnerable to interference sensor and generate interference electronic component between away from From with the weight of this unmanned vehicle reduced and cost while the aesthetic feeling for improving the unmanned vehicle.

In some embodiments as revealed, the unmanned vehicle may include first support 41 and second support 42.Institute Stating can be located in the first support 41 or the second support 42 vulnerable to the sensor of interference.Because of the first support And the second support has similar structure, hereafter only describes the first support 41.The first support 41 can wrap Tool is included there are two roughly vertical support portion 411, the support portion is connected by approximate horizontal interconnecting piece 412.In use, one Sensor 7 vulnerable to interference can connect one in the support portion 411 and far from the interference source.For example, the biography Sensor 7 can be close to the setting of one end of the support portion and far from the interference source.In other embodiments, the sensor 7 can be set in the first support 41 and on different part described herein.In some embodiments, each Support portion 411 can have an attachment interface 413, and the attachment interface 413 can be used for by the support portion and in turn by institute Bracket is stated to be attached on the unmanned vehicle.The attachment interface 413 may include one or more opening 414.It is such Opening can be used for allowing and protect connection described vulnerable to the sensor of interference and the similar circuit of the unmanned vehicle The electric wire of the other elements of module passes through.

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

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

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

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

In some embodiments, the extension can be attached on the inner surface of the body part.It is described in this embodiment Extension equally can be attached to or be not attached on the outer surface of the body part.For example, in an embodiment, it is described to prolong Stretch part can pass through and with the inner surface of the body part and appearance face contact.In other embodiments, the extension can be with Not with the appearance face contact, and be attached only on the inner surface of the body part and far from the chamber extend (e.g., pass through institute It states the opening on the main part of unmanned vehicle not contact with the opening).

In some embodiments, as the replacement or supplement to extension is used, the sensor vulnerable to interference can be straight It connects on the interior or outer surface for the ontology for being attached to the unmanned vehicle and far from the electronic component for generating interference.According to According to some embodiments, Fig. 7 a-c illustrates the unmanned vehicle, and along being formed by with the rotor, plane is substantially orthogonal to be put down The side-view in face.In these figures, the ontology 702, the sensor 706 vulnerable to interference and the electronics member for generating interference Part 708,710,712 and 714 can be with ontology 602, the sensor 606 vulnerable to interference and the generation referring to described in Fig. 6 The electronic component 608 of interference, 610,612 and 614 are similar.But in Fig. 7 a-c, the sensor 709 vulnerable to interference does not make It is directly arranged at extension in the unmanned vehicle ontology or on outer surface.In some embodiments, such as Fig. 7 a Shown, the sensor 706 vulnerable to interference can be directly arranged at the inner surface of rotating vane phase the same side (or The upper inside surface of chamber) on and far from it is various generate interference electronic components.In some embodiments, as shown in Figure 7b, easily The sensor 706 being disturbed can be directly arranged at the chamber it is outer with rotating vane phase the same side outer surface (or Upper external face) on.In some embodiments, as shown in Figure 7 c, the sensor 706 vulnerable to interference can be directly arranged at and institute It states on the outer surface (or lower external face) of rotating vane opposite side and far from the electronic component.In some embodiments (not shown), the sensor vulnerable to interference can be directly arranged at the inner surface of the rotating vane opposite side (or Person's lower interior portion face) on and far from the electronic component.

Fig. 8 a-b illustrates the top view of some other embodiment, wherein the sensor vulnerable to interference is attached directly to institute It states on the interior or outer surface of unmanned vehicle.But unlike the embodiment shown from Fig. 7 a-c, it show edge and institute The rotor for stating unmanned vehicle is formed by the view of the substantially parallel plane of plane.As shown, the ontology 802, vulnerable to The sensor 806 of interference and it is described generate interference electronic component 808,810,812 and 814 can with refering to described in Fig. 7 a-c Ontology 702, the sensor 706 vulnerable to interference and the electronic component 708 for generating interference, 710,712 and 714 are similar.One In a little embodiments, as shown in Figure 8 a, the side inner surface of body part of the sensor 706 along the unmanned vehicle is set It sets.In some other embodiment, as Fig. 8 b is shown, the body part of the sensor 706 along the unmanned vehicle The setting of one side external surface.

In some embodiments, the sensor can be attached to by fastener (e.g., belt, wire), glue, welding etc. On the interior or outer surface of the ontology of the unmanned vehicle.In some other embodiment, the sensor can be by all Such as slot, grid installation structure is held on such surface.In some embodiments, the sensor can be without using any tight Firmware or installation structure and be only placed in such surface.In some embodiments, the more than one sensor vulnerable to interference can Use or not use extension and be attached to the different location of the ontology of the unmanned vehicle.For example, one implements In mode, some in the sensor can be attached on the body part by extension, and other is then directly attached In in the unmanned vehicle ontology or on outer surface.

In different embodiments, the interference that the sensor vulnerable to interference is subjected to can pass through field direction deviation and/or institute The field strength measurement for stating magnetic disturbance obtains.When the rank of this interference can be powered and power off by being respectively compared the electronic component The reading of the sensor obtains.When the position change of the sensor, the rank of the interference, that is, when being powered and power off The difference of reading can change.Particularly, described dry when the distance between the sensor and the electronic component increase The rank disturbed reduces.For example, the deviation of directivity and/or the magnetic disturbance field strength that the interference generates can weaken.For example, working as institute When stating the outside and inside for the ontology that sensor and the electronic component are respectively arranged at the unmanned vehicle, the magnetometer The magnetic direction deviation being subjected to can be than the magnetic direction deviation that is subjected to when being located at the body interior of the unmanned vehicle Few certain threshold value.The threshold value may be about 15 degree, 10 degree, 5 degree etc..In another example, when the sensor and the electronics Element be respectively arranged at the ontology of the unmanned vehicle outside and it is internal when, magnetic field strength that the magnetometer is subjected to can be with The few certain threshold value of magnetic field strength than being subjected to when being located at the body interior of the unmanned vehicle.The threshold value may be about 0.5 Gauss, 10 Gausses, 5 Gausses etc..

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

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

In different embodiments, a kind of external member for unmanned vehicle can be used.In some embodiments, the external member It is used to control the electronic component and/or one or more described nothing of the unmanned vehicle operation including one or more The rotor motor of people's aircraft.The external member can also include specification, and the specification includes being used for the unmanned vehicle User assemble magnetometer and above-mentioned electronic component information.In one embodiment, according to the specification assembling nobody Aircraft has the feature that, including the shell with outer surface and inner surface, the inner surface forms a chamber, described One or more electronic component is set to the chamber interior, and the magnetometer is located at the hull outside.Another implementation In mode, unmanned vehicle according to specification assembling is had the feature that including with outer surface and inner surface Shell, the inner surface form chamber, and one or more of electronic components are set to the chamber interior, and the magnetic force Meter is located at away from one or more of electronic components at least 3cm.In another embodiment, according to specification assembling Unmanned vehicle has the feature that the electronic component for being used to control the unmanned vehicle operation including one or more, And/or the rotating vane of one or more unmanned vehicle, and be located at away from one or more of electronic components Magnetometer at least 3cm and most 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle includes magnetometer；And specification, it is stated Bright school bag, which is included, assembles the magnetometer with one or more for controlling the nothing for the user of the unmanned vehicle The information of the electronic component of people's aircraft operation.In one embodiment, the unmanned vehicle according to specification assembling is to have Following characteristics: including the shell with outer surface and inner surface, the inner surface forms chamber, one or more of electricity Subcomponent is set to the chamber interior, and the magnetometer is located at the hull outside.In one other embodiment, foundation The unmanned vehicle of the specification assembling has the feature that including the shell with outer surface and inner surface, described interior Surface forms a chamber, and one or more of electronic components are set to the chamber interior, and the magnetometer is located at At one or more of electronic components at least 3cm.In another embodiment, according to the specification assembling nobody fly Row device has the feature that the electronic component and/or one for being used to control the unmanned vehicle operation including one or more The rotating vane of a or multiple unmanned vehicles, and be located at away from one or more of electronic components at least 3cm And the magnetometer at most 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle may include with outer surface and interior table The shell in face, the inner surface form chamber；It is pre-set in the chamber and for controlling the unmanned vehicle operation One or more electronic component；Magnetometer, the operation of the magnetometer is vulnerable to the dry of one or more of electronic components It disturbs；And the specification for assembling the unmanned vehicle.In one embodiment, when the UAV unmanned vehicle is according to institute It states after specification is completed, it is described that the UAV unmanned vehicle being completed has the feature that the magnetometer is located at The outside of case body.In another embodiment, the UAV unmanned vehicle being completed has the feature that the magnetic Power meter is located at away from one or more of electronic components at least 3cm.In another embodiment, the UAV that is completed Unmanned vehicle has the feature that the magnetometer positioned at away from one or more of electronic components at least 3cm and most At more 0.5m.

In some embodiments, the external member for assembling the unmanned vehicle, which may further include, can be attached to institute The extension of the outer surface of chamber is stated, and the unmanned vehicle being completed further has the feature that the extension Part is attached on the outer surface of the shell and the magnetometer is located on the extension.

Another aspect according to the present invention provides the method for assembling unmanned vehicle.In some embodiments, nobody is assembled The method of aircraft may include assembling the unmanned vehicle according to the specification being provided in external member.The external member includes one A or multiple electronic components for controlling the unmanned vehicle operation and/or one or more described unmanned flight The rotating vane of device.In one embodiment, after being completed, the unmanned vehicle has the feature that outer including having The shell of surface and inner surface, the inner surface form chamber, and one or more of electronic components are set to the chamber Chamber interior, and the magnetometer is located at the hull outside.In another embodiment, after being completed, the unmanned flight Device has the feature that including the shell with outer surface and inner surface, and the inner surface forms chamber, it is one or Multiple electronic components are set to the chamber interior, and the magnetometer is located at away from one or more of electronic components at least At 3cm.In another embodiment, after being completed, the unmanned vehicle is had the feature that including one or more For controlling the electronic component of the unmanned vehicle operation and/or the pivoting leaf of one or more unmanned vehicle Piece, and positioned at away from the magnetometer at one or more of electronic components at least 3cm and most 0.5m.

In some embodiments, the method for assembling unmanned vehicle may include that magnetometer is integrated in the nothing according to specification On people's aircraft, to assemble the unmanned vehicle, the specification includes in the external member containing magnetometer.One embodiment In, after being completed, the unmanned vehicle is had the feature that including the shell with outer surface and inner surface, institute It states inner surface and forms chamber, one or more of electronic components are set to the chamber interior, and the magnetometer is located at The hull outside.In another embodiment, after being completed, the unmanned vehicle is had the feature that including having The shell of outer surface and inner surface, the inner surface form chamber, and one or more of electronic components are set to described Chamber interior, and the magnetometer is located at away from one or more of electronic components at least 3cm.In another embodiment, After being completed, the unmanned vehicle have the feature that including one or more be suitable for control it is described nobody fly The electronic component of row device operation and/or the rotating vane of one or more unmanned vehicle, and be located at away from described one Magnetometer at a or multiple electronic component at least 3cm and most 0.5m.

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

Although having illustrated herein and having described the preferred embodiment of the present invention, it is clear that those skilled in the art, with Upper embodiment is merely illustrative purpose.Those skilled in the art without departing from the spirit of the invention, can be with Make variation, change and replacement.It should be appreciated that the different selection replacements to embodiment of above of the invention are used equally for this In the practice of invention.Appended claim has claimed scope of patent protection of the invention, method of the invention, structure and equivalent Replacement is each fallen in described the scope of the claims.

Claims (21)

1. a kind of unmanned vehicle, comprising:

Shell, the shell include outer surface and inner surface, and the inner surface forms chamber；

One or more is set to the electronic component in the chamber and for controlling the unmanned vehicle operation；

Extension, the extension are attached on the shell；And

Sensor, the sensor are located at the hull outside, and the operation of the sensor is vulnerable to one or more of electricity The interference of subcomponent；

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

2. unmanned vehicle as described in claim 1, wherein the sensor is located on the extension, and far from the chamber Room, the extension extend from the shell.

3. unmanned vehicle as claimed in claim 1 or 2, wherein the extension includes supporting element, the supporting element is used for The all or part of weight of the unmanned vehicle is supported when the unmanned vehicle not flight.

4. unmanned vehicle as claimed in claim 3, wherein the supporting element includes landing chassis.

5. unmanned vehicle as described in claim 1, wherein the sensor is directly arranged on the outer surface of the shell.

6. the unmanned vehicle as described in claim 1,2,4 or 5, wherein the unmanned vehicle includes one or more rotations The wing, and the sensor is set to below one or more of rotors.

7. the unmanned vehicle as described in claim 1,2,4 or 5, wherein the sensor and one or more of electricity Minimum range between subcomponent is at least 3 centimetres.

8. the unmanned vehicle as described in claim 1,2,4 or 5, wherein the sensor and one or more of electricity Minimum range between subcomponent is at most 0.5 meter.

9. the unmanned vehicle as described in claim 1,2,4 or 5, electronic component described in wherein at least one by it is described nobody The manufacturer of aircraft is pre-configured with.

10. unmanned vehicle as claimed in claim 9, wherein at least one described preconfigured electronic component is used to form Electronic unit, the electronic unit are necessary and enough to the operation for controlling the unmanned vehicle.

11. unmanned vehicle as claimed in claim 10, wherein the electronic unit includes flight control modules, GPS receiver At least one of device or electronic speed regulation module.

12. unmanned vehicle as described in claim 1, wherein the sensor is for measuring magnetic field；Or

The magnetometer includes compass；Or

The interference includes magnetic disturbance or electromagnetic interference；Or

One or more of electronic components include GPS receiver.

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

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

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

The shell includes upper housing member and lower shell piece, and the upper housing member and the lower shell piece are removedly mutual Connection is to form the chamber.

16. unmanned vehicle as described in claim 1, wherein the shell includes being connected with one or more branch's housing components Main casing part, the main casing part forms main chamber and one or more of branch's housing components form corresponding one or more A branch's chamber.

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

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

19. unmanned vehicle as claimed in claim 16, wherein at least one of one or more of electronic components In one of one or more of branch's chambers.

20. unmanned vehicle as claimed in claim 19, wherein at least one described electronic component includes electronic speed regulation module Or actuator, the electronic component are located in one in one or more of branch's chambers.

21. unmanned vehicle as claimed in claim 16, wherein one or more of branch's housing components respectively correspond institute State one or more rotor of unmanned vehicle；Or

At least one of one or more of branch's housing components are removably connected on the main casing part.