CN112173096A

CN112173096A - Unmanned plane

Info

Publication number: CN112173096A
Application number: CN202011096213.0A
Authority: CN
Inventors: 王铭钰
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2016-09-21
Filing date: 2016-09-21
Publication date: 2021-01-05
Also published as: WO2018053715A1; CN107108030A

Abstract

The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends are provided with an at least power device on each horn, power device includes rotor and drive rotor pivoted motor power, its characterized in that: the unmanned aerial vehicle still includes: one or more rotor shrouds disposed outside an area of a plane of rotation of the rotor, the one or more rotor shrouds connected to at least one of the center section and the plurality of booms; one or more sensors, at least one of the one or more sensors disposed at a distal end of at least one of the plurality of horn and outside of a range encompassed by the rotor shroud.

Description

Unmanned plane

Technical Field

The invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle with an obstacle avoidance function.

Background

A drone is an unmanned aerial vehicle that is manipulated by a radio remote control device or remote control to perform a task. The general unmanned aerial vehicle is provided with a navigation flight control system, a program control device, a power supply device and the like, and in recent years, the unmanned aerial vehicle is developed and applied in a plurality of fields, particularly, the unmanned aerial vehicle is a hotspot of general industry and military research, and has great military significance and economic status.

Unmanned aerial vehicle mainly has that the cost is lower relatively, does not have the danger of casualties, and the viability is strong, mobility can advantage such as good. However, because the unmanned aerial vehicle is pilotless, the unmanned aerial vehicle can only fly by means of a flight control system of the aircraft or an instruction of a ground control center, when the unmanned aerial vehicle encounters an obstacle such as a high-voltage cable, a tree or a building, particularly when the unmanned aerial vehicle is used for patrolling a special environment, collision with the obstacle (such as the high-voltage cable) is likely to occur, great hidden danger is brought to the unmanned aerial vehicle, in order to ensure safety of the unmanned aerial vehicle in performing a task, a sensor (such as an obstacle avoidance camera, an ultrasonic sensor, a laser ranging sensor and the like) is usually arranged on the unmanned aerial vehicle to sense the distance between the obstacle and the unmanned aerial vehicle, and the air route of the unmanned aerial vehicle is adjusted accordingly to avoid the obstacle.

The sensor usually takes an environmental picture or sends out ultrasonic waves or electromagnetic waves and the like, and the distance between the obstacle and the unmanned aerial vehicle is determined through picture analysis and the time difference of the obstacle reflected back. At present, sensors are generally mounted on the arm or the body, and noise and air flow generated by the rotation of the propeller often interfere with emitted ultrasonic waves or electromagnetic waves and may obstruct the view of the visual sensor.

Disclosure of Invention

In view of the above, there is a need for a drone that facilitates unobstructed operation of sensors.

The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends are provided with an at least power device on each horn, power device includes rotor and drive rotor pivoted motor power, unmanned aerial vehicle still includes the sensor, the sensor sets up outside the interference range of unmanned aerial vehicle's subassembly.

The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends, be provided with an at least rotor on each horn, unmanned aerial vehicle includes one or more sensor, the sensor sets up on unmanned aerial vehicle's one or more subassembly, and its sensing scope is not disturbed by unmanned aerial vehicle's subassembly.

Go up unmanned aerial vehicle, the sensor of being convenient for does not have the hindrance function.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 2 is a system block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a sensor arrangement of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a sensor of a drone provided by an embodiment of the present invention disposed on a boom.

Fig. 5 is a schematic diagram of determining an interference area of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of a sensor of an unmanned aerial vehicle provided in an embodiment of the present invention, the sensor being disposed on a landing pad.

Fig. 7 is a schematic diagram of a sensor of a drone provided by an embodiment of the present invention disposed on a foldable landing frame.

Fig. 8 is a schematic view of the landing gear of fig. 7 in a folded state.

Fig. 9 is a schematic diagram of a sensor of a drone disposed on a rotor protection cover according to an embodiment of the present invention.

Fig. 10 is a schematic diagram of the sensor of the drone provided by the embodiment of the present invention simultaneously disposed on the rotor protection cover and the horn shown in fig. 9.

Fig. 11 is a schematic diagram of a sensor of a drone provided by an embodiment of the present invention disposed on another rotor protection cover.

Fig. 12 is a schematic diagram of a sensor of a drone provided by an embodiment of the present invention disposed on a rotor protection cover.

Fig. 13 is a schematic view of a protective cover of a sensor of a drone provided by an embodiment of the present invention.

Description of the main elements

Unmanned

aerial vehicle

1, 2, 3, 4, 5, 7

Central portion

10, 20, 30, 40, 50, 70

The

horn

22, 32, 42, 52, 62, 72

Power mechanism 12

Sensing system 13

Transceiver 14

Load 15

Communication network 16

Terminal 17

System 100

Sensing module 1001

Processing unit 1002

Non-volatile computer-readable medium 1003

Control module 1004

Communication module 1005

Interference area

102, 202

Non-interference region 104

The

sensors

106, 26, 36, 46, 56, 66,

76，86

rotors

24, 34, 44, 54, 64, 74

Surfaces of

revolution

240, 540, 640, 740

Polygon 241

Landing gear

38, 48

First support 480

Second bracket 482

Rotating shaft 49

Rotor wing shields

542, 642, 742

Sensor protective cover 860

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The present invention provides a drone that may be used in any suitable environment, such as in the air (e.g., rotorcraft, fixed-wing aircraft, or fixed-wing and rotorcraft hybrid aircraft), in water (e.g., ships or submarines), on the ground (e.g., motorcycles, cars, trucks, buses, trains, etc.), in space (e.g., space shuttles, satellites, or detectors), or underground (e.g., subways), or any combination of the above. In this embodiment, the drone is a rotorcraft, wherein the rotor can be single rotor, dual rotor, triple rotor, quad rotor, hexarotor, octarotor, and the like. For convenience of description, the unmanned aerial vehicle in the following embodiments is illustrated by taking a quad-rotor aircraft as an example.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 shows an unmanned machine 1 according to an embodiment of the present invention, which includes a carrier and a load 15. Alternatively, the load 15 may be mounted on the drone 1 without a carrier. The drone 1 may include a body 10, a power mechanism 12, a sensing system 13, and a transceiver 14. Power mechanism 12 may include one or more of a rotor (propeller), blades, an engine, a motor, a wheel set, a shaft, magnets, or a nozzle. The unmanned aerial vehicle 1 may include one, two, three, four or more power mechanisms. The power mechanisms may be of the same type. Alternatively, the one or more powered mechanisms may be different types of powered mechanisms. In some embodiments, the powered mechanism 12 may enable the drone 1 to take off vertically from a surface or land vertically on a surface without requiring any horizontal movement of the drone (e.g., without requiring taxiing on a runway). Optionally, the drone 1 is operable to cause the drone 1 to hover over a specified location and orientation.

For example, the drone 1 may include a plurality of horizontally oriented rotors that provide lift and thrust to the drone. The plurality of horizontally oriented rotors may be actuated to provide vertical takeoff, vertical landing, hover capabilities to the drone 1. In some embodiments, one or more horizontally oriented rotors may rotate clockwise while one or more horizontal rotors may rotate counter-clockwise. For example, the number of rotors that rotate clockwise may be equal to the number of rotors that rotate counterclockwise. The speed of rotation of each horizontally oriented rotor can be independently varied to control the lift and/or thrust generated by the rotor to adjust the spatial orientation, velocity, and/or acceleration (e.g., relative to three translational and three rotational degrees of freedom) of the drone 1.

The sensing system 13 may include one or more sensors that may sense the spatial orientation, velocity, and/or acceleration (e.g., relative three-dimensional translational and three-dimensional rotational degrees of freedom) of the drone 1. The one or more sensors may include a Global Positioning System (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. The data sensed by the sensing system 13 may be used to control the spatial orientation, velocity, and/or direction of the drone (e.g., with a suitable processing unit and/or control module as described below). Alternatively, the sensing system 13 may be used to provide information about the surroundings of the drone, such as weather conditions, proximity to potential obstacles, location of geographical features, location of artificial structures, and the like. In the present disclosure, the sensing system 13 includes a sensor for obstacle avoidance, which is used for sensing one or more obstacles in the operating environment of the drone. The obstacle comprises a stationary or moving object in the vicinity of the drone. The sensor is capable of receiving acoustic wave signals and/or electromagnetic wave signals from the environment. Wherein the electromagnetic wave signal may include radio waves, microwaves, infrared rays, visible rays, ultraviolet rays, X-rays, gamma rays, and the like. The sensors may include proximity sensors (e.g., distance measuring sensors such as infrared, ultrasonic, laser, etc.), image sensors, Global Positioning System (GPS) sensors.

The transceiver 14 may communicate with a terminal 17 having the transceiver 14 over a communication network 16. In some embodiments, the communication comprises two-way communication, the terminal 17 providing control instructions to one or more of the drone 1, carrier, and load 15, receiving information from one or more of the drone 1, carrier, and load 15 (e.g., position and/or movement information of the drone, carrier, or load; data sensed by the load, such as image data sensed by a load camera). In some cases, control instructions from the terminal may include relative position, movement, actuation, or control of the drone, carrier, and/or load. For example, the control instructions may change the position and/or orientation of the drone (e.g., by controlling the power mechanism 12), or cause the load 15 to move relative to the drone 1 (e.g., by controlling the carrier). Control commands from the terminal 17 may control the load 15, such as controlling the operation of a camera or other image capture device (e.g., capturing still or moving images, zooming in or out of a lens, turning on or off, switching image modes, changing image resolution, focusing, changing depth of field, changing exposure time, changing viewing angle or field of view). In some cases, the communication information from the drone 1, carrier, and/or load 15 may include information from one or more sensors (e.g., from the sensing system 13 or load 15). The communication may include information sensed by one or more different types of sensors (e.g., GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). The information may be information about the orientation (e.g., position, direction), movement or acceleration of the drone, carrier, and/or load, nearby obstacle information, and the like. The information derived from the load may include data sensed by the load or a sensed state of the load. The control instructions provided and transmitted by the terminal 17 may be used to control the state of one or more of the drone 1, carrier or load 15. Alternatively or in combination, the carrier and load 15 may each also include a transceiver 14 in communication with the terminal 17, so that the terminal 17 can communicate and control with the drone 1, carrier and load 15 independently, respectively.

Fig. 2 is a schematic block diagram of a system 100 for controlling a drone according to an embodiment of the present invention. The system 100 may include a sensing module 1001, a processing unit 1002, a non-volatile computer-readable medium 1003, a control module 1004, and a communication module 1005.

The sensing module 1001 may employ various types of sensors that can gather information about the drone in various different ways. The various different types of sensors may sense different types of signals or signals of different sources. For example, the sensors may include inertial sensors, GPS sensors, proximity sensors (e.g., laser sensors), or visual/image sensors (e.g., cameras). The sensing module 1001 is operatively connected to a processing unit 1002 comprising a plurality of processors. In some embodiments, the sensing module 1001 is operably connected to a transmission module 1006 (e.g., a Wi-Fi image transmission module) that can be used to transmit the sensed data directly to a suitable external device or system. For example, the transmission module 1006 can be used to transmit the image sensed by the camera of the sensing module 1001 to a remote terminal.

The processing unit 1002 may include one or more processors, such as a programmable processor (e.g., a Central Processing Unit (CPU) the processing unit 1002 may be operatively connected to a non-volatile computer-readable medium 1003. so the non-volatile computer-readable medium 1003 may store logic, code, and/or program instructions for one or more steps that may be executed by the processing unit 1002. the non-volatile computer-readable medium may include one or more storage units (e.g., a removable medium or an external memory such as an SD card or Random Access Memory (RAM)), in some embodiments, data from the sensing module 1001 may be directly transferred to and stored in the storage unit of the non-volatile computer-readable medium 1003. the storage unit of the non-volatile computer-readable medium 1003 may store logic, code, and/or program instructions for the method of any suitable embodiment described herein that may be executed by the processing unit 1002 Program instructions. For example, the processing unit 1002 may be configured to execute instructions that cause one or more processors of the processing unit 1002 to analyze the sensed data generated by the sensing module. The storage unit may store sensing data of the sensing module to be analyzed by the processing unit 1002. In some embodiments, a storage unit of the non-volatile computer-readable medium 1003 may be used for storing the processing results generated by the processing unit 1002.

In some embodiments, the processing unit 1002 may be operably connected to a control module 1004, the control module 1004 being configured to control the state of the drone. For example, the control module 1004 may be configured to control the power mechanism of the drone to adjust the orientation, velocity, and/or acceleration of the moving object in six degrees of freedom. Alternatively or in combination, the control module 1004 may control one or more of the carrier, load, or status of the sensing module.

The processing unit 1002 is operatively coupled to a communication module 1005, the communication module 1005 being configured to transmit and/or receive data from one or more external devices (e.g., a terminal, display device, or other remote controller). Any suitable communication means may be employed, such as wired or wireless communication. For example, the communication module 1005 may utilize one or more of a Local Area Network (LAN), a Wide Area Network (WAN), infrared, radio frequency, WiFi, peer-to-peer (P2P) network, telecommunications network, cloud communication, and other similar communication networks. Alternatively, a relay station such as a tower, satellite, or mobile workstation may be employed. The wireless communication may be distance-based or distance-independent. In some embodiments, the communication need or need not be visible. The communication module 1005 may transmit and/or receive one or more of data sensed by the sensing system, processing results generated by the processing unit 1002, predetermined control data, user instructions from a terminal or a remote controller, and the like.

The elements of the system 100 may be arranged in any manner. For example, one or more elements of the system 100 may be located on the drone, carrier, load, terminal, sensing system, or an additional external device in communication with one or more of the foregoing. Furthermore, while a single processing unit 1002 and a single non-volatile computer-readable medium 1003 are shown in FIG. 2, those skilled in the art will appreciate that this is not a limitation and that the system 100 may include multiple processing units and/or non-volatile computer-readable media. In some embodiments, one or more of the plurality of processor units and/or non-volatile computer readable media may be located in different locations, such as on a mobile device, a carrier, a load, a terminal, a sensing module, an additional external device in communication with one or more of the above, or any suitable combination of the above. For example, any processing and/or storage functions performed by the system 100 may occur at one or more of the aforementioned locations.

Fig. 3 is a schematic diagram of a sensor installed in the unmanned aerial vehicle according to the present invention. The drone 1 comprises an interference area 102, which interference area 102 means that the sensors arranged in the area may be affected or interfered by the components of the drone. The effect or disturbance may comprise a visual or noise disturbance. For example, the components such as the horn, the fuselage, the rotor, the landing frame, the rotor protective cover of the unmanned aerial vehicle 1 interfere with the view field of the obstacle avoidance camera, noise or/and airflow interference generated by the rotation of the rotor, electromagnetic wave interference generated by the power motor, and the like. The periphery of the interference area 102 includes a non-interference area 104, and the sensor 106 can be disposed in the non-interference area 104 so as to be protected from the components of the drone. Wherein the non-interfering area may be located on the distal portion of the horn, other components of the drone (e.g., landing gear, protective housing, rotor protection cover, etc.). The following examples will further illustrate the setting of the non-interference region in detail.

Fig. 4 is a schematic view of a sensor of the unmanned aerial vehicle of the present invention disposed on a boom. The drone 2 may include a central portion 20, four arms 22 extending from the central portion 20, and four rotors 24 disposed on each arm 22. Wherein the interference area is 202 and the sensor 26 is disposed outside the interference area 202. The sensor is the sensor as described above, the sensor may include the sensor for obstacle avoidance as described above or a sensor for other purposes, such as a sensor for target tracking or target recognition, and the like, and the category of the sensor may include a visual sensor (e.g., a camera), a ranging sensor such as ultrasonic wave or laser, a GPS sensor, and the like. The sensors mentioned in the embodiments described below are all the sensors described above, and are not described in detail. Specifically, the sensor 26 is disposed at a distal end portion of the horn 22, i.e., an end of the horn 22 remote from the central portion 20, and faces away from the central portion 20. The rotor 24 is located between the sensor 26 and the fuselage 20.

Referring also to fig. 5, the disturbance zone 202 may be defined by the plane of rotation of the rotor 24. The plane of rotation is the area scanned by the rotor blades of the rotor as they rotate. Each rotor 24 includes a surface of rotation 240, and the interference region 202 is positioned so as to include all of the rotor surfaces of rotation 240. That is, the sensor 26 is disposed on the horn 22 and outside the plane of rotation 240 of the rotor 24. In this way, the sensor 26 provided on the horn 22 can be protected from interference by the rotor 24 when the rotor 24 is rotating. It will be appreciated that although each rotor 24 is shown as being located at approximately the same position on each horn, i.e., the center of each rotor 24 is located at approximately the same distance from the center of the central portion 20, the illustrated example is merely illustrative and that the rotors 24 may be located at different positions on each horn 22, i.e., the center of each rotor 24 may be located at different distances from the central portion 20, and that each sensor 26 may be located outside the range of the plane of rotation 240 of the rotor 24.

In other embodiments, the disturbance zone 202 may also be determined by a polygon 241 formed by connecting the centers of a plurality of the rotors 24. It will be appreciated that although the polygon shown in the figures is a regular polygon, it is an irregular polygon if the center of each rotor 24 is at a different distance from the center 20. The sensor 26 needs to be arranged outside the polygon 241. In some embodiments, the interference region 202 may also include both the region defined by the rotation plane 240 and the region defined by the polygon 241. The sensor 26 is arranged outside the interference area 202.

The sensor 26 is communicatively coupled to a processor (not shown) within the central body 20 for communicating sensed signals to the processor. In some embodiments, the horn 22 may be a hollow structure, and a transmission line between the sensor 26 and the processor is disposed in the hollow structure of the horn 22, and the signal transmission between the sensor 26 and the processor is performed through the transmission line. In other embodiments, the horn 22 may be a non-hollow structure, and the transmission line is disposed outside the horn 22 and connected to the processor around the outside of the horn 22.

Fig. 6 is a schematic view of a sensor of an unmanned aerial vehicle disposed on a landing frame according to an embodiment of the present invention. The drone 3 comprises a central portion 30, a horn 32 extending from said central portion 30, and a rotor 34 arranged on said horn 32. The drone 3 also comprises a landing gear 38 connected below the horn 36. The sensors 36 are disposed on the distal ends of the horn 32 and/or the landing gear 38, and face away from the hub 30. It will be appreciated that the sensor 36 may be provided on the landing gear only, on the horn 32, or on both. The number of sensors 36 may be one, two or more, as desired, disposed on the distal end of the horn 32 and/or the landing gear 38.

The landing gear 38 is disposed outside the interference area. Specifically, in this embodiment, the landing gear 38 is attached to the horn outside of the interference range of the components of the drone (e.g., outside of the plane of rotation of the rotor 34), near the distal end of the horn 34.

Fig. 7 is a schematic view of a sensor of an unmanned aerial vehicle according to another embodiment of the present invention, the sensor being disposed on a landing frame. The drone 4 comprises a central portion 40, a horn 42 extending from said central portion 40, a rotor 44 disposed on said horn, and a landing gear 48 connected to said central portion 40. The landing gear 48 is pivotally connected to the central portion 40 by a pivot 49 and is rotatable about the central portion 40 between a landing configuration and a flight configuration. Wherein, in the landing state, the landing gear 48 can support the drone 4 on a surface, such as the ground, a desktop, etc. In the flight configuration, the landing gear 48 is foldable to facilitate flight as shown in fig. 8. in the configuration shown in fig. 8, the landing gear 48 is substantially parallel to the horn 42, and the sensor 46 is located outside the interference range of the components of the drone (e.g., outside the plane of rotation of the rotor 44) and facing away from the hub 40.

Further, the landing gear 48 may include a first bracket 480 rotatably coupled to the central portion 40 and a second bracket 482 disposed on the first bracket 480 near an end thereof. The second mount 482 is substantially perpendicular to the first mount 480, and when the landing gear 48 is in the folded position, the second mount 482 is located on the first mount 480 on a side near the horn 42 and outside the disturbance range of the rotor 44. The sensor 46 is disposed on the second bracket 482. It is understood that the second support 482 may not be perpendicular to the first support 480, and may be at other suitable angles with respect to the first support 480, such as non-perpendicular angles of 70 degrees, 80 degrees, 100 degrees, etc.

The sensor 46 is disposed on the second bracket 482 in a direction away from the rotor 44, which ensures that the sensing range of the sensor 46 is not obstructed.

In the above embodiments, the communication connection between the sensors on the landing gear and the processor disposed within the central portion may be routed through the landing gear and the horn. For example, the landing gear may be partially hollow, the horn may be hollow, and the wiring between the sensor and the processor is routed through the hollow cavity of the landing gear and the hollow cavity of the horn. In other embodiments, the traces can also be routed around the landing gear and/or outside the horn.

Fig. 9 is a schematic view of a sensor of an unmanned aerial vehicle disposed on a propeller protection cover according to an embodiment of the present invention. The drone 5 comprises a central portion 50, a horn 52 extending from said central portion 50, a rotor 54 arranged on said horn 52. A rotor guard 542 is provided for each rotor 54, the rotor guard 542 being disposed outside the area of the rotor's plane of rotation 540. In this embodiment, the rotor guard 542 is generally semi-circular and is disposed on a side of the rotor 54 remote from the center portion 50. The rotor guard 542 is provided to prevent accidental impacts when the rotor is accidentally dropped, such as when the rotor is damaged or harmed by an obstacle or a person. Sensor 56 is disposed on an outer surface of rotor guard 542 facing away from central portion 50.

Referring to fig. 10, the horn 52 is also provided with a sensor 56, which is used together with the sensor 56 provided outside the rotor guard 542 to sense obstacles. In order to avoid the sensor 56 disposed on the horn 52 being shielded by the rotor guard 542, the sensor 56 disposed on the horn 52 is located on the horn outside the range surrounded by the semi-circular arc of the rotor guard 542.

Fig. 11 is a schematic view of a propeller protection cover according to another embodiment of the present invention. The horn 62 is provided with a rotor 64, and the rotor 64 has a rotating surface 640. Rotor guard 642 is generally arcuate (i.e., arcuate with a central angle greater than 180 degrees) and is disposed about a surface of rotation 640 of rotor 64. Preferably, the rotor guard 642 is coaxial with the plane of rotation 640 of the rotor 64. Sensor 66 is disposed on an outer surface of rotor shroud 642 facing away from rotor 64 and facing away from rotor 64. Preferably, a sensor 66 is also provided at the distal end of the horn 62, and the sensor 66 on the horn is disposed outside the range enclosed by the arc of the rotor shroud 642.

Fig. 11 is a schematic view of a sensor of an unmanned aerial vehicle according to another embodiment of the present invention, the sensor being disposed on a propeller protection cover. The drone 7 comprises a central portion 70, a horn 72 extending from said central portion 70, a rotor 74 arranged on said horn 72. Each rotor 74 has a surface of rotation 740. A rotor guard 742 is provided for each rotor 74, the rotor guard 742 being substantially circular and being disposed below the rotor 74. The orthographic area of rotating surface 740 of rotor 74 on rotor shroud 742 falls on the rotor shroud. Preferably, rotor guard 742 is concentric with a plane of rotation 740 of rotor 74. The radius of rotor shroud 742 is greater than the radius of rotating surface 740 of rotor 74. A sensor 76 is arranged on the outer side surface of the rotor guard 742 facing away from the rotor 74 and the central part 70, and facing away from the central part 70.

In the above embodiment, the connection line between the sensor provided on the rotor wing protector and the processor provided in the central portion may be routed through the inside of the hollow horn or may be looped around the outside of the horn. In other embodiments, the rotor protective covers may be communicatively connected to each other, and the sensors disposed on the rotor protective covers may also be communicatively connected through the connections between the rotor protective covers, in which case only one of the sensors need be communicatively connected to the processor, and the other sensors may be communicatively connected to the processor through the sensor.

In other embodiments, the horn may be provided with a protective casing, and the sensor may be provided on the protective casing of the horn and outside the disturbance range of the rotor. In some embodiments, the fuselage may also be provided with a protective shell, and the sensor may also be provided on the protective shell of the fuselage, outside the interference range of the rotor. In some embodiments, the rotor may also be provided with a protective shell, and the sensor may be provided outside the rotor protective shell.

In the above embodiments, the sensors are disposed outside the components of the drone (e.g., outside the rotor protection cover, outside the protective shell, outside the landing gear, outside the horn, etc.) so as not to obstruct the sensing range of the sensors (e.g., the field of view of the obstacle avoidance camera, the transmission of sound waves or electromagnetic waves, etc.). In some embodiments, in order to avoid damage to the sensor, a protective cover may be disposed on the sensor to protect the sensor, and the sensing range of the sensor is disposed at the through hole so as not to obstruct the sensing range of the sensor. As shown in fig. 13, is an exemplary sensor shield 860. The sensor guard 860 is generally arcuate in shape and the sensor 86 is disposed on an inner side of the sensor guard 860. The sensor guard 860 may be disposed on an inner side of the rotor guard, and a through hole may be formed in the rotor guard at a position corresponding to a sensing range of the sensor 86 to expose the sensor. In such a case, the material of the sensor guard 860 may be selected to account for interference that may interfere with the rotation of the rotor, such as noise interference. In other embodiments, the sensor protection cover may have other shapes as long as the sensor protection cover can protect the sensor from damage and does not interfere with the sensing of the sensor. For example, when disposed on the horn or landing gear, the sensor guard may be an arcuate structure, with the sensor being enclosed between an outer side of the horn or landing gear and the sensor guard. At this time, a through hole may be provided at a sensing range of the sensor shield corresponding to the sensor to expose the sensor. In other embodiments, the through hole may be covered with a material that does not obstruct the sensing of the sensor, such as glass that is transparent to electromagnetic waves and sound waves.

In the embodiments described above, the sensor may be provided on one of a plurality of components of the drone, which may be a horn, landing gear, protective shell, rotor guard, etc. The sensor may be one or more, and the position of the sensor may be selected from one or a combination of multiple components, for example, the sensor may be provided on the horn and the landing gear at the same time, or on the horn, the landing gear, the rotor protection cover or the protective cover at the same time, or on only one of the horn, the landing gear, the protective cover or the rotor protection cover.

In addition, it is obvious to those skilled in the art that other various corresponding changes and modifications can be made according to the technical idea of the present invention, and all such changes and modifications should fall within the scope of the claims of the present invention.

Claims

1. The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends are provided with an at least power device on each horn, power device includes rotor and drive rotor pivoted motor power, its characterized in that: the unmanned aerial vehicle still includes:

one or more rotor shrouds disposed outside an area of a plane of rotation of the rotor, the one or more rotor shrouds connected to at least one of the center section and the plurality of booms;

one or more sensors, at least one of the one or more sensors disposed at a distal end of at least one of the plurality of horn and outside of a range encompassed by the rotor shroud.

2. A drone according to claim 1, characterised in that: the rotor safety cover winds the rotor sets up, and roughly is half-circular arc, the rotor safety cover sets up the rotor is kept away from one side of central part.

3. A drone according to claim 1, characterised in that: the rotor safety cover winds the rotor sets up, and is roughly circular, the rotor is in orthographic projection on the rotor safety cover falls on the rotor safety cover.

4. A drone according to claim 3, characterised in that: the rotor wing protective cover and the revolution surface of the rotor wing are concentric.

5. A drone according to claim 3, characterised in that: at least one of the one or more rotor shrouds is configured to completely surround at least one of the rotors.

6. A drone according to claim 1, characterised in that: the sensor is arranged outside the interference range of the components of the unmanned aerial vehicle;

the interference of the components of the drone includes at least one of:

visual impairment caused by the horn, rotor, and/or fuselage;

noise or/and airflow disturbances caused by rotor rotation;

the electromagnetic wave generated by the power motor interferes.

7. A drone according to claim 1, characterised in that: the sensor is used for sensing the obstacles near the unmanned aerial vehicle in the flying process, and comprises a distance sensor, an image sensor and/or a GPS sensor.

8. The drone of claim 7, wherein: the obstacle comprises a stationary or moving object in the vicinity of the drone.

9. The drone of claim 7, wherein: the sensor is capable of receiving acoustic and/or electromagnetic wave signals from the environment surrounding the drone.

10. A drone according to claim 9, characterised in that: the electromagnetic wave signal is selected from one or more of the following: radio waves, microwaves, infrared rays, visible rays, ultraviolet rays, X rays and gamma rays.

11. A drone according to claim 6, characterised in that: the disturbance range of the rotor includes at least one of:

a range defined by a surface of rotation of the rotor, wherein the surface of rotation is the area scanned by the rotor blades of the rotor as the rotor rotates;

the power device is provided with a plurality of power devices, and power motors of the power devices are polygonal areas formed by vertexes.

12. A drone according to claim 1, characterised in that: unmanned aerial vehicle still includes and lands the frame, the sensor sets up land on the frame, and is in unmanned aerial vehicle's flight state time lies in the rotatory off-plate of rotor, back to the central part.

13. A drone according to claim 12, characterised in that: the landing gear is connected to the horn tip portion and located below the horn, the landing gear being further from the central portion than the rotor.

14. A drone according to claim 13, characterised in that: the landing gear is substantially perpendicular to the horn.

15. A drone according to claim 13, characterised in that: the landing gear is foldable relative to the central portion.

16. A drone according to claim 12, characterised in that: the landing gear is connected below the central portion and is rotatable about the central portion between a landing configuration and a flight configuration.

17. The drone of claim 16, wherein: in the flight state, the landing gear is substantially parallel to the horn, and the sensor is located on a side of the rotor remote from the central portion.

18. The drone of claim 16, wherein: in the landing state, the landing gear is capable of supporting the drone on a surface.

19. The drone of claim 16, wherein: the landing frame comprises a first support and a second support, the first support is rotatably connected below the central portion, the second support is connected to one end, far away from the central portion, of the first support and forms a certain angle with the first support, and the sensor is arranged on the second support.

20. A drone according to claim 19, characterised in that: the second bracket is substantially perpendicular to the first bracket.

21. A drone according to claim 1, characterised in that: the drone further includes one or more landing gear connected to the central portion or the plurality of horn, the one or more landing gear being substantially perpendicular to a bottom surface of the central portion or a bottom surface of the plurality of horn.

22. A drone according to claim 1, characterised in that: at least one sensor of the plurality of sensors is located in a hollow structure of at least one horn of the plurality of horns.

23. A drone according to claim 21, characterised in that: at least one sensor of the plurality of sensors is located in the hollow structure of at least one of the one or more landing pads.

24. A drone according to claim 1, characterised in that: the sensor sets up outside the rotatory face of rotor, and set up the rotor is kept away from the one side of central part, it is back to the central part.

25. A drone according to claim 1, characterised in that: the sensor sets up the rotor safety cover deviates from the rotor reaches the outside of central part, and is back to the central part.

26. A drone according to claim 1, characterised in that: the sensor sets up the outside surface of rotor safety cover, and not by unmanned aerial vehicle's horn, fuselage or rotor shelter from.

27. A drone according to claim 1, characterised in that: the sensor sets up rotor safety cover inboard surface, just the sensor is covered by a sensor safety cover and is established, the sensor safety cover can completely cut off the rotatory produced interference of rotor, the inboard of rotor safety cover corresponds on the surface the sensing scope department of sensor has seted up the through-hole.

28. A drone according to claim 27, wherein: the sensor protection cover is approximately arc-shaped, and the sensor is arranged on the inner side surface of the sensor protection cover.

29. A drone according to claim 21, characterised in that: the sensor sets up the horn or on the landing frame, just the sensor is covered by a sensor safety cover and is established, the sensor safety cover is gone up and is corresponded the sensing scope department of sensor has seted up the through-hole.

30. A drone according to claim 29, wherein: the sensor protective cover is approximately arc-shaped, and the sensor is arranged between the outer side surface of the machine arm or the landing frame and the sensor protective cover in a wrapping mode.

31. A drone according to claim 1, characterised in that: the sensor is covered by a sensor protective cover, and a through hole is arranged on the sensor protective cover corresponding to the sensing range of the sensor or a material capable of transmitting ultrasonic waves or electromagnetic waves is covered at the through hole.

32. A drone according to claim 1, characterised in that: unmanned aerial vehicle still includes the protective housing, the sensor sets up just be located on the protective housing unmanned aerial vehicle's interference range is outer.

33. A drone according to claim 32, wherein: the protective housing is horn protective housing, rotor protective housing or fuselage protective housing.

34. A drone according to claim 1, characterised in that: the plurality of sensors are arranged on a plurality of assemblies of the unmanned aerial vehicle, and the assemblies comprise a horn, a landing frame, a rotor wing protection cover and a protection shell.

35. A drone according to claim 34, wherein: one or more components of the unmanned aerial vehicle are hollow structures, and the routing between the sensor and the processor in the central part is arranged in the hollow structures.

36. A drone according to claim 1, characterised in that: the sensor with walk the line setting between the treater in the central part and be in unmanned aerial vehicle's the subassembly outside.

37. The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends are provided with an at least power device on each horn, power device includes rotor and drive rotor pivoted motor power, its characterized in that: the unmanned aerial vehicle still includes:

one or more rotor shields disposed adjacent to the rotor for protecting the rotor from accidental impacts;

one or more sensors, at least one of the one or more sensors disposed outboard of the rotor shroud from the rotor and the central portion, and facing away from the central portion; and/or

At least one setting in one or more sensors just the sensor is covered by a sensor safety cover and is established the inboard surface of rotor safety cover, the inboard on the surface of rotor safety cover corresponds the sensing scope department of sensor has seted up the through-hole.

38. A drone according to claim 37, characterised in that: the one or more rotor shrouds are connected to at least one of the center section and the plurality of horn.

39. A drone according to claim 37, characterised in that: the rotor safety cover winds the rotor sets up, and roughly is half-circular arc, the rotor safety cover sets up the rotor is kept away from one side of central part.

40. A drone according to claim 37, characterised in that: the rotor safety cover winds the rotor sets up, and is roughly circular, the rotor is in orthographic projection on the rotor safety cover falls on the rotor safety cover.

41. A drone according to claim 40, characterised in that: the rotor wing protective cover and the revolution surface of the rotor wing are concentric.

42. A drone according to claim 40, characterised in that: at least one of the one or more rotor shrouds is configured to completely surround at least one of the rotors.

43. A drone according to claim 37, characterised in that: the sensor protection cover is approximately arc-shaped, and the sensor is arranged on the inner side surface of the sensor protection cover.

44. The utility model provides an unmanned aerial vehicle, unmanned aerial vehicle include the central part, from a plurality of horn that the central part extends are provided with an at least power device on each horn, power device includes rotor and drive rotor pivoted motor power, its characterized in that: the unmanned aerial vehicle still includes:

one or more landing gear connected to the hub or the plurality of booms, the one or more landing gear being substantially perpendicular to a bottom surface of the hub or a bottom surface of the plurality of booms;

one or more sensors, at least one of the one or more sensors disposed on the landing gear and located outside of a plane of rotation of the rotor, facing away from the central portion, in a flight state of the drone;

at least one of the one or more sensors is covered by a sensor protection cover, and a through hole is formed in the sensor protection cover corresponding to the sensing range of the sensor.

45. A drone according to claim 44, characterised in that: the sensor is arranged on the horn or the landing frame, and the sensor is covered by the sensor protection cover.

46. A drone as claimed in claim 45, wherein: the sensor protective cover is approximately arc-shaped, and the sensor is arranged between the outer side surface of the machine arm or the landing frame and the sensor protective cover in a wrapping mode.

47. A drone as claimed in claim 45, wherein: the sensor protective cover is provided with a through hole corresponding to the sensing range of the sensor or the through hole is covered with a material capable of transmitting ultrasonic waves or electromagnetic waves.