CN211766270U

CN211766270U - Unmanned aerial vehicle

Info

Publication number: CN211766270U
Application number: CN201921883237.3U
Authority: CN
Inventors: 张瑞强; 黄彦鑫; 李日照; 黄稀荻
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-10-27
Anticipated expiration: 2029-11-04

Abstract

The utility model provides an unmanned aerial vehicle, which comprises a vehicle body, landing racks and sensors; the landing frame is positioned at the bottom of the machine body and is fixedly connected with the machine body; the sensor is used for detecting obstacles on the side of the unmanned aerial vehicle; wherein, the landing frame comprises a left bracket and a right bracket arranged opposite to the left bracket; the sensor is located between left socle and the right branch frame to sensor and at least one fixed connection in left socle and the right branch frame. The unmanned aerial vehicle can reduce the possibility that the signal of the obstacle avoidance sensor is blocked, and guarantees are provided for the obstacle avoidance sensor to detect one or more obstacles in the preset direction.

Description

Unmanned aerial vehicle

Technical Field

The utility model relates to an aircraft technical field especially relates to an unmanned vehicles.

Background

At the automatic flight in-process of unmanned aerial vehicle, need perhaps keep away environment and barrier around the sensing of barrier radar through the sensor that sets up on the unmanned aerial vehicle to make unmanned aerial vehicle in time keep away the barrier operation, guarantee flight and operation safety. At present, when the radar is installed on the foot rest of the unmanned aerial vehicle, the foot rest easily shields the microwave signal transmitted by the radar, and the direction in which the radar can detect the obstacle is limited.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides an unmanned vehicles aims at reducing the possibility that keeps away the signal of barrier sensor and is sheltered from, provides the assurance for keeping away the barrier that barrier sensor detected one or more default directions.

According to the utility model discloses an aspect, the utility model provides an unmanned vehicles, include:

a body;

the landing frame is positioned at the bottom of the machine body and is fixedly connected with the machine body; and

a sensor for detecting an obstacle on a side of the unmanned aerial vehicle,

the landing frame comprises a left support and a right support arranged opposite to the left support; the sensor is located between the left support and the right support, and the sensor is fixedly connected with at least one of the left support and the right support.

The embodiment of the utility model provides an unmanned vehicles, owing to land the frame and be located the bottom of fuselage, the sensor is located the left socle of landing the frame and reach between the right branch frame, therefore can reduce the possibility that the signal of sensor is sheltered from, avoid landing the frame interference sensor's signal, and then provide the assurance for the sensor detects the barrier of one or more default directions.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

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

fig. 2 is a schematic structural diagram of a sensor provided by an embodiment of the present invention, wherein a housing is not shown;

fig. 3 is a cross-sectional view of a sensor provided by an embodiment of the present invention, wherein the housing is not shown;

fig. 4 is a schematic diagram of an antenna board of a sensor according to an embodiment of the present invention scanning an omnidirectional scanning area during rotation;

fig. 5 is a schematic view of the rotation shaft intersecting with a predetermined plane according to an embodiment of the present invention;

fig. 6 is a schematic view of an omnidirectional scanning area of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a partial structural schematic view of an angle of the unmanned aerial vehicle according to an embodiment of the present invention, showing landing pads and sensors;

fig. 8 is a partial structural schematic view of an angle of the unmanned aerial vehicle according to an embodiment of the present invention, showing landing pads and sensors;

fig. 9 is an angular partial schematic view of an unmanned aerial vehicle according to an embodiment of the present invention, showing landing pads and sensors;

FIG. 10 is an enlarged fragmentary view of the aircraft of FIG. 7 at A;

FIG. 11 is an enlarged fragmentary view of the aircraft of FIG. 8 at B;

FIG. 12 is a partial schematic view of FIG. 7 showing the sensor and a portion of the landing pad;

fig. 13 is a schematic view of a part of the landing frame according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a first mounting member according to an embodiment of the present invention.

Description of reference numerals:

1000. an unmanned aerial vehicle;

100. a body; 110. a center frame; 120. a horn;

200. a spraying system; 210. an accommodating box; 220. a spray head;

300. a power system; 310. a propeller; 320. a power motor;

400. a landing frame; 410. a left bracket; 411. a first support bar; 412. a first cross bar; 413. a first mounting member; 420. a right bracket; 421. a second support bar; 422. a second cross bar; 423. a second mount; 430. a third support bar;

500. a sensor; 510. an antenna board; 520. a motor; 521. a stator; 522. a rotor; 530. a base; 540. a sensing mechanism; 550. a digital board; 560. a housing;

611. a mounting member body; 612. a holding body; 6121. a holding part; 6121a, a first free end; 6121b, a second free end; 6121c, a through hole; 6122. a locking portion; 6123. a fastener; 613. a linker; 6131. an abutting portion; 6132. a connecting portion; 6133. a locking member; 6134. reinforcing ribs;

r, a rotating shaft; omega, a preset plane.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It is also to be understood that 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 in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Some embodiments of the present invention will be 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, an embodiment of the present invention provides an unmanned aerial vehicle 1000, where the unmanned aerial vehicle 1000 may include a body 100, a spraying system 200, a power system 300, a landing gear 400, a flight control system, and a sensor 500 for detecting an obstacle on a side of the unmanned aerial vehicle 1000. The unmanned aerial vehicle 1000 may wirelessly communicate with a control terminal, the control terminal may display flight information and the like of the unmanned aerial vehicle 1000, and the control terminal may wirelessly communicate with the unmanned aerial vehicle 1000 for remote control of the unmanned aerial vehicle 1000.

The unmanned aerial vehicle 1000 may be a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an unmanned helicopter, or a fixed-wing-rotary-wing hybrid unmanned aerial vehicle, among others. Wherein, the rotor unmanned vehicles can be single rotor aircraft, double rotor aircraft, triple rotor aircraft, four rotor aircraft, six rotor aircraft, eight rotor aircraft, ten rotor aircraft, twelve rotor aircraft, etc.

The fuselage 100 may include a center frame 110 and one or more arms 120 connected to the center frame 110, wherein the one or more arms 120 extend radially from the center frame 110.

In some embodiments, the sprinkler system 200 is provided on the fuselage 100. The sprinkler system 200 includes a holding tank 210, a water pump, and a sprinkler head 220. The receiving tank 210 is used to store liquid medicine or water. The storage box 210 and the water pump are mounted on the body 100. The nozzle 220 is mounted on the end of the arm 120. The liquid in the container 210 is pumped to the spray head 220 by a water pump and sprayed out by the spray head 220. The power system 300 can drive the body 100 to move, rotate, turn, etc., so as to drive the nozzle 220 to move to different positions or different angles for spraying in a predetermined area.

The power system 300 may include one or more electronic governors (abbreviated as electric governors), one or more propellers 310, and one or more power motors 320 corresponding to the one or more propellers 310, wherein the power motors 320 are connected between the electronic governors and the propellers 310, and the power motors 320 and the propellers 310 are disposed on the horn 120 of the unmanned aerial vehicle 1000; the electronic governor is used for receiving a driving signal generated by the flight control system and providing a driving current to the power motor 320 according to the driving signal so as to control the rotating speed of the power motor 320. The power motor 320 is used to drive the propeller 310 to rotate, thereby providing power for the flight of the unmanned aerial vehicle 1000, and the power enables the unmanned aerial vehicle 1000 to realize one or more degrees of freedom of motion. In certain embodiments, unmanned aerial vehicle 1000 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis (roll axis), a yaw axis (yaw axis), and a pitch axis (pitch axis). In some embodiments, the roll axis is the Y axis of fig. 1, the pitch axis is the X axis of fig. 1, and the heading axis is the Z axis of fig. 1. It should be understood that the power motor 320 may be a dc motor or an ac motor. In addition, the power motor 320 may be a brushless motor or a brush motor.

The flight control system may include a flight controller and a sensing system. The sensing system is used to measure attitude information of the unmanned aerial vehicle 1000, that is, position information and state information of the unmanned aerial vehicle 1000 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The flight controller is used to control the flight of the unmanned aerial vehicle 1000, and for example, the flight of the unmanned aerial vehicle 1000 may be controlled according to attitude information measured by the sensing system. It should be understood that the flight controller may control the unmanned aerial vehicle 1000 according to preprogrammed program instructions, or may control the unmanned aerial vehicle 1000 in response to one or more control instructions from a control terminal.

In some embodiments, as shown in fig. 1, a sensor 500 is mounted on the landing gear 400 of the UAV 1000, which can detect an object, such as an obstacle. Specifically, the sensor 500 may measure a distance, a distance change rate, an azimuth, a height, and the like between an object and a transmission point of the sensor 500, thereby implementing functions such as obstacle avoidance. Wherein, the sensor 500 includes at least one of a vision sensor, an ultrasonic ranging sensor, a depth camera, and a radar. The following explains sensor 500 as an example of a radar.

Referring to fig. 2 and 3, in some embodiments, sensor 500 comprises a mechanical rotary scanning radar comprising an antenna plate 510 and a motor 520. The antenna board 510 includes a transmitter (not labeled) and a receiver (not labeled). The transmitter is used for generating a radar signal and transmitting the radar signal, and the radar signal is transmitted forwards along the transmitted direction and is reflected when meeting an obstacle. The receiver is used for receiving the reflected echo signals. The motor 520 can drive the antenna board 510 to rotate.

The antenna board 510 can be driven by the motor 520 to rotate around the rotation axis R, so that the antenna board 510 can selectively transmit signals towards multiple directions and receive echo signals reflected back from multiple directions. Thus, the distances between the unmanned aerial vehicle 1000 and obstacles in a plurality of directions can be selectively detected by one antenna board 510, and the structure of the unmanned aerial vehicle 1000 is simple.

The motor 520 includes a stator 521 and a rotor 522, and the rotor 522 can rotate relative to the stator 521, so as to drive the antenna plate 510 to rotate. More specifically, sensor 500 further includes a base 530, base 530 being mounted on landing gear 400. The stator 521 is mounted on the base 530, the antenna plate 510 is mounted on the rotor 522 of the motor 520, and the rotor 522 rotates relative to the base 530, so that the antenna plate 510 rotates relative to the base 530 about the rotation axis R.

Referring to fig. 4, specifically, the antenna board 510 of the sensor 500 is driven by the rotor 522 to rotate around the rotation axis R in the forward or reverse direction with reference to the head direction of the unmanned aerial vehicle 1000, and scans a sector area in an angle range each time. A complete circular area centered at the center of the sensor 500 can be scanned by rotating the antenna board 510 one turn, i.e., 360 °, so as to obtain the detection data of the circular omnidirectional scanning area.

In some embodiments, the rotation axis R intersects the preset plane ω, i.e. the rotation axis R is arranged non-parallel to the preset plane ω. The preset plane ω is a plane where the pitch axis and the roll axis of the unmanned aerial vehicle 1000 are located. Therefore, the sensor 500 can detect the front view and the rear view of the unmanned aerial vehicle 1000 to realize front and rear obstacle avoidance, can detect other side views of the unmanned aerial vehicle 1000 except the front view and the rear view, enlarges the detection angle and the detection coverage range of the unmanned aerial vehicle 1000, and ensures the reliability of obstacle avoidance.

In some embodiments, antenna plate 510 rotates continuously, or intermittently. Specifically, the antenna board 510 may be continuously rotated to detect a plurality of directions of the lateral side of the unmanned aerial vehicle 1000. Of course, the antenna board 510 may be intermittently rotated to detect multiple directions of the lateral surface of the unmanned aerial vehicle 1000.

In some embodiments, antenna plate 510 is rotated at least 360 °. The rotor 522 of the motor 520 can rotate forward or backward at least one rotation, thereby driving the antenna board 510 to rotate forward or backward omnidirectionally by at least 360 °. Specifically, the rotation angle range of the antenna board 510 around the rotation axis R is greater than or equal to 360 °, for example, 360 °, 450 °, 540 °, 720 °, 1080 °, and the like, so as to achieve continuous rotation, thereby increasing the data collection points of the antenna board 510 and improving the measurement accuracy of the sensor 500.

In some embodiments, referring to FIG. 5, the angle α between the rotation axis R and the predetermined plane ω is 60-90 °. In particular, the angle α between the rotation axis R and the preset plane ω may be 60 °, 65 °, 70 °, 80 °, 85 °, 90 ° and any other suitable angle between 60 ° and 90 °. An included angle alpha between the rotating shaft R and the preset plane omega is within a range of 60-90 degrees, so that the obstacle avoidance view field can include a front view field and a rear view field, and can also include other side view fields except the front view field and the rear view field as far as possible, the detection angle and the detection coverage range of the unmanned aerial vehicle 1000 are enlarged as far as possible, and the reliability of obstacle avoidance is guaranteed.

In some embodiments, the rotation axis R substantially coincides with the centerline of the fuselage 100, thereby avoiding the problem of unbalanced center of gravity of the UAV 1000 due to the installation of the sensor 500, and ensuring the reliability of the UAV 1000 flight. Wherein, approximately coincident means that the included angle between the rotation axis R and the centerline of the fuselage 100 is 0-10, i.e., any angle between 0, 10 and 0-10.

In some embodiments, the axis of rotation R is at an acute angle to the heading axis of the UAV 1000. Wherein the acute angle may be any suitable angle, for example 0 ° -30 °, i.e. 0 °, 5 °, 10 °, 15 °, 20 °, 25 °, 30 ° and any other suitable angle between 0 ° and 30 °.

In some embodiments, the rotation axis R is substantially perpendicular to the preset plane ω, or the rotation axis R is substantially parallel to the heading axis of the unmanned aerial vehicle 1000, and the omnidirectional scanning area of the sensor 500 is a perfect circle with the center of the sensor 500 as the center, and is a 360 ° area around the lateral side of the unmanned aerial vehicle 1000, which may represent ground detection information of different directions around the unmanned aerial vehicle 1000.

Illustratively, when the rotation axis R is substantially perpendicular to the preset plane ω or the rotation axis R is substantially parallel to the heading axis of the unmanned aerial vehicle 1000, the omnidirectional scanning area of the sensor 500 is an area e in fig. 6, the area e is located between the upper conical area f and the lower conical area g, and the area e can cover different directions such as front, back, left, right, and the like, so that omnidirectional obstacle avoidance on the side of the unmanned aerial vehicle 1000 can be achieved.

When the rotation axis R of the rotor 522 of the motor 520 is perpendicular to the preset plane ω, that is, the rotation axis R of the rotor 522 is perpendicular to the plane where the pitch axis and the roll axis of the unmanned aerial vehicle 1000 are located, by adjusting the rotation angle of the antenna board 510, the antenna board 510 can transmit microwave signals to the left, right, front, and rear of the unmanned aerial vehicle 1000 and receive echo signals reflected by the left, right, front, and rear obstacles, and at this time, the sensor 500 can be used to realize functions such as left obstacle avoidance, right obstacle avoidance, front obstacle avoidance, rear obstacle avoidance, left terrain prediction, right terrain prediction, front terrain prediction, and rear terrain prediction. Of course, the rotation axis R of the rotor 522 may intersect with the plane of the pitch axis and the roll axis of the unmanned aerial vehicle 1000, and is not limited herein.

It can be understood that a preset included angle exists between the rotation axis R and the preset plane ω, or when the rotation axis R and the heading axis of the unmanned aerial vehicle 1000 form an acute angle, the omnidirectional scanning area is not a perfect circle, but is also a 360-degree area surrounding the unmanned aerial vehicle 1000, and therefore ground detection information of the unmanned aerial vehicle 1000 in front, back, left, and right different directions can be reflected.

The rotation axis R may be a real axis or an imaginary axis. When the rotation axis R is a real axis, the antenna board 510 can rotate relative to the rotation axis R; alternatively, the antenna board 510 rotates along with the rotation axis R.

In the above unmanned aerial vehicle 1000, since the antenna plate 510 of the sensor 500 can rotate around the rotation axis R, and the rotation axis R intersects with the plane where the pitch axis and the roll axis are located, not only the front view and the back view of the unmanned aerial vehicle 1000 can be detected to realize front and back obstacle avoidance, but also other side views of the side view of the unmanned aerial vehicle 1000 except the front view and the back view can be detected, the detection angle and the detection coverage range of the unmanned aerial vehicle 1000 are enlarged, and the reliability of obstacle avoidance is ensured. In addition, since the sensor 500 is located below the bottom of the fuselage 100, compared with the sensor 500 located at the side of the fuselage 100, during the use of the unmanned aerial vehicle 1000 by a user, damage to the sensor 500 due to kicking by the user or collision by other objects is avoided or reduced, and the service life of the sensor 500 and the user experience are improved.

In some embodiments, the antenna board 510 is disposed on a side of the base 530 facing away from the main body 100, such that the antenna board 510 of the sensor 500 is furthest away from the sensor disposed on the main body 100, and interference of the sensor signal (e.g., electromagnetic wave) generated by the antenna board 510 with the sensor on the main body 100 is reduced.

Referring to fig. 2 and 3, in some embodiments, sensor 500 further includes a sensing mechanism 540. The sensing mechanism 540 is disposed at an end of the antenna board 510 away from the base 530, and is used for detecting the height of the unmanned aerial vehicle 1000 relative to the ground. When motor 520 drives antenna board 510 to rotate, sensing mechanism 540 also rotates with antenna board 510. Wherein the sensing mechanism 540 includes at least one of a vision sensor, an ultrasonic ranging sensor, a depth camera, a radar, and the like.

It is understood that the shape of the antenna board 510 and the sensing mechanism 540 can be designed into any suitable shape according to actual requirements, for example, a plate shape. Illustratively, when the antenna board 510 and the sensing mechanism 540 are both substantially plate-shaped, the antenna board 510 is substantially perpendicular to the sensing mechanism 540. Specifically, the antenna board 510 is substantially perpendicular to the plane in which the pitch axis and the roll axis of the unmanned aerial vehicle 1000 lie. Sensing mechanism 540 is substantially parallel to the plane of the pitch and roll axes of UAV 1000.

Referring to fig. 2 and 3, in some embodiments, sensor 500 further includes a digital board 550. The digital board 550 is disposed on the base 530 opposite to the antenna board 510 for processing signals of the antenna board 510. Specifically, digital board 550 may process signals of antenna board 510, such as amplifying echo signals; filtering the interference signal; and converting the echo signals into sensor data signals for control of back-end equipment, terminal observation and/or recording and the like.

Since the center of gravity of the antenna board 510 is offset from the rotation axis R of the antenna board 510, the center of gravity of the sensor 500 is offset from the rotation axis R of the antenna board 510, which in turn causes the center of gravity of the unmanned aerial vehicle 1000 to be unbalanced, and the unmanned aerial vehicle 1000 may not fly reliably. To this end, the digital board 550 is disposed opposite to the antenna board 510 at both ends of the sensing mechanism 540, and the digital board 550 and the antenna board 510 are disposed symmetrically about the rotation axis R, thereby balancing the center of the antenna board 510 such that the center of the sensor 500 is located substantially on the rotation axis R of the antenna board 510. Specifically, the antenna board 510, the sensing mechanism 540, and the digital board 550 form a "Π" structure having an opening facing the body 100.

Referring to fig. 1 again, in some embodiments, the sensor 500 further includes a housing 560, the housing 560 and the base 530 cooperate to form a receiving space, and the antenna board 510, the motor 520, the sensing mechanism 540 and the digital board 550 are received in the receiving space, so as to protect the antenna board 510, the motor 520, the sensing mechanism 540 and the digital board 550 from being influenced by the external environment, and prevent the external environment from interfering with or damaging the components. It is understood that signals transmitted or received by antenna board 510 and sensing mechanism 540 may pass through housing 560, i.e., housing 560 does not interfere with normal transmission or reception of signals by antenna board 510 and sensing mechanism 540.

In some embodiments, landing gear 400 is located at the bottom of fuselage 100 and is fixedly attached to fuselage 100, and landing gear 400 is used to support unmanned aerial vehicle 1000 during landing. Sensor 500 is mounted on landing pad 400. Compared with the sensor 500 positioned on the side of the fuselage 100, the sensor 500 is positioned below the bottom of the fuselage 100, so that the damage of the sensor 500 caused by kicking by a user or collision by other objects is avoided or reduced in the process of using the unmanned aerial vehicle 1000 by the user, and the service life of the sensor 500 and the experience of the user are improved.

Referring to fig. 7 to 12, in some embodiments, the landing gear 400 includes a left bracket 410 and a right bracket 420 disposed opposite to the left bracket 410. The sensor 500 is located between the left bracket 410 and the right bracket 420, and the sensor 500 is fixedly connected to at least one of the left bracket 410 and the right bracket 420, that is, at least one of the left bracket 410 and the right bracket 420 is fixedly connected to the sensor 500, so that the sensor 500 is mounted on the landing pad 400. Because the landing frame 400 is located at the bottom of the body 100, and the sensor is located between the left support 410 and the right support 420 of the landing frame 400, the signal of the sensor 500 can be prevented from being interfered by the landing frame 400, so that the signal of the sensor 500 is ensured not to be shielded, and further, the sensor 500 is ensured to detect the obstacle in the preset direction. The preset direction may be designed according to actual requirements, for example, at least one of front, rear, left side, right side, and the like, and is not limited herein.

Referring to fig. 7, 10 to 13, in some embodiments, the left bracket 410 includes a first support rod 411, a first cross bar 412 and a first mounting member 413. The right bracket 420 includes a second support bar 421, a second cross bar 422, and a second mounting part 423. The number of the first supporting bars 411 and the number of the second supporting bars 421 are at least two, for example, two, three or more, and are not limited herein. The following explanation will be given by taking an example in which the number of the first support bars 411 is two and the number of the second support bars 421 is two.

The two first support bars 411 are spaced apart. The first cross bar 412 is connected between the two first support bars 411. The first mounting member 413 is coupled to the first cross bar 412 and the sensor 500. The two second support bars 421 are spaced apart from each other. The second cross bar 422 is connected between the two second support bars 421. Second mount 423 is coupled to second crossbar 422 and sensor 500. Wherein, first mounting piece 413 and second mounting piece 423 are both fixedly connected with sensor 500, thereby installing sensor 500 at the bottom of unmanned vehicles 1000. In some embodiments, second mount 423 is provided independently of first mount 413.

Specifically, two first support bars 411 and a first cross bar 412 enclose a left frame body, two second support bars 421 and a second cross bar 422 enclose a right frame body, and the sensor 500 is located between the left frame body and the right frame body. Through the design, the signal of the sensor 500 can be effectively ensured not to be shielded, and then the sensor 500 is ensured to detect the obstacle in the preset direction. In some embodiments, the first rail 412 and the second rail 422 are spaced apart in parallel to avoid the first rail 412 and the second rail 422 from obscuring the signal of the sensor 500.

It is understood that in other embodiments, the sensor 500 may be fixedly connected to only one of the first mounting element 413 and the second mounting element 423, as long as the sensor 500 can be installed between the left frame body and the right frame body, and the sensor 500 is located at the bottom of the body 100.

In some embodiments, the first and second mounting

members

413 and 423 are located between the sensor 500 and the body 100, thereby locating the sensor 500 between the left and right frame bodies. Specifically, after the first mounting element 413 and the second mounting element 423 are both connected to the sensor 500, the sensor 500 is located on a side of the first mounting element 413 and/or the second mounting element 423 away from the main body 100, that is, below the first mounting element 413 and/or the second mounting element 423, so that the antenna plate 510 and the sensing mechanism 540 of the sensor 500 are furthest away from the sensor arranged on the main body 100, and interference of signals generated by the antenna plate 510 and the sensing mechanism 540 on the sensor on the main body 100 is reduced.

Referring to fig. 1, in some embodiments, the sensor 500 is disposed below the bottom of the holding tank 210 and/or the water pump. Specifically, the sensor 500 is disposed right below the bottom of the accommodating box 210 so that the rotation axis R of the antenna board 510 substantially coincides with the center line of the fuselage 100 as much as possible, thereby balancing the center of gravity of the unmanned aerial vehicle 1000 and ensuring the reliability of the flight of the unmanned aerial vehicle 1000. In addition, this arrangement may also reduce interference of signals generated by antenna board 510 and sensing mechanism 540 with sensors on body 100.

Referring to fig. 14, the first mounting member 413 includes a mounting member body 611, a retaining body 612, and a connecting body 613. The holder 612 is disposed at one end of the mounting member body 611 and is connected to the first cross bar 412. The connector 613 is provided at the other end of the mounting member body 611 and connected to the sensor 500.

The shape of the mounting member body 611 may be designed according to actual requirements, such as a rod shape. In some embodiments, the mount body 611 extends downward from the holder 612 to the connecting body 613. When the sensor 500 is fixedly connected with the mounting body 611 and located below the body 100, the design can prevent at least one of the mounting body 611, the first cross bar 412 and the second cross bar 422 from blocking signals transmitted and/or received by the antenna board 510, thereby providing a guarantee for detecting obstacles in multiple directions and improving the detection accuracy of the sensor 500.

In some embodiments, the mount body 611 is angled from the predetermined plane ω by 5 ° -80 °, i.e., 5 °, 80 °, and any suitable angle between 5 ° and 80 °. The angle between the mounting body 611 and the predetermined plane ω is within the above range, and the first mounting member 413 and/or the second mounting member 423 not only can reliably fix the sensor 500 below the bottom of the body 100, but also can prevent the mounting body 611 from blocking signals transmitted and/or received by the antenna panel 510.

In some embodiments, the retainer 612 is removably coupled to the first cross-bar 412. The retaining body 612 may be detachably connected to the first cross bar 412 by at least one of a snap connection, a threaded connection, a screwed connection, an interference fit, an adhesive connection, and the like. In other embodiments, the retaining body 612 and the first cross bar 412 may be integrally formed, and are not limited herein.

Referring to fig. 14, in some embodiments, the holder 612 has a non-closed ring structure. The holder 612 includes a holding portion 6121 and two locking portions 6122. The holding portion 6121 has a first free end 6121a, a second free end 6121b and a through hole 6121 c. The through hole 6121c is used for the first cross bar 412 to penetrate through, and the first free end 6121a and the second free end 6121b are arranged at intervals along the circumferential direction of the through hole 6121 c. The two locking portions 6122 are respectively disposed on the first free end 6121a and the second free end 6121 b. The two locking portions 6122 change the size of the through hole 6121c through the fastener 6123, so that the holding portion 6121 is tightly connected with the first cross bar 412. Specifically, two locking portions 6122 extend from the first free end 6121a and the second free end 6121b of the holding portion 6121 outward in the radial direction of the through hole 6121c, respectively. The fastener 6123 penetrates through the two locking portions 6122 to enable the size of the through hole 6121c to be matched with the first cross bar 412, and therefore the first installation piece 413 is fastened on the first cross bar 412. The fastener 6123 can be a quick release member such as a screw, bolt, etc.

Referring to fig. 14, in some embodiments, the connecting body 613 includes an abutting portion 6131 and two connecting portions 6132. The contact portion 6131 is connected to the other end of the mounting member body 611 and contacts the sensor 500. The two connecting portions 6132 are oppositely disposed at both sides of the abutting portion 6131. Both connecting portions 6132 are fixedly connected with the sensor 500.

Specifically, the abutment portion 6131 extends in substantially the same direction as the mount body 611. The two connecting portions 6132 extend outward from opposite sides of the abutting portion 6131. The locking member 6133 is disposed through the connecting portion 6132 and the base 530 of the sensor 500 to lock the first mounting member 413 and the sensor 500. In some embodiments, the top surface of the base 530 of the sensor 500 is a plane, and the bottom surfaces of the abutting portion 6131 and the two connecting portions 6132 are in the same plane, so as to better fit and fix with the base 530 of the sensor 500.

Referring to fig. 14, in some embodiments, the connecting body 613 further includes a rib 6134. The rib 6134 is connected to the abutting portion 6131 and the connecting portion 6132 to enhance the strength of the connecting body 613, which provides a guarantee for reliably fixing the sensor 500.

It is understood that the structure of the second mounting member 423 may be the same as or different from that of the first mounting member 413, as long as the sensor 500 can be fixed to the bottom of the body 100 by being engaged with the first mounting member 413 and the sensor 500 is located between the left frame body and the right frame body. The second mounting member 423 is the same as the first mounting member 413, and the specific structure of the second mounting member 423 and the connection manner of the second mounting member 423 with the sensor 500 and the second cross bar 422 refer to the first mounting member 413, which is not described herein again. In some embodiments, first mount 413 is symmetrically disposed with second mount 423 to mount sensor 500 directly below the bottom of fuselage 100.

In some embodiments, the distance between the upper end of first mounting element 413 and the upper end of second mounting element 423 is greater than the distance between the lower end of first mounting element 413 and the lower end of second mounting element 423. The first mounting element 413 and the second mounting element 423 are arranged in an inverted splay shape to prevent the first mounting element 413 and the second mounting element 423 from blocking signals of the sensor 500; and can keep the sensor 500 as far away as possible from other sensors on the body 100 to avoid the sensor 500 interfering with signals on other sensors on the body 100. In some embodiments, first mount 413 and second mount 423 are disposed opposite and symmetrically so that sensor 500 can be mounted directly below the bottom of fuselage 100.

In some embodiments, the first supporting bar 411 and the second supporting bar 421 are disposed opposite to each other and are tilted symmetrically. The distance between the upper end of the first support bar 411 and the upper end of the second support bar 421 is smaller than the distance between the lower end of the first support bar 411 and the lower end of the second support bar 421. That is, the lower end of the first support bar 411 extends obliquely downward in a direction away from the central axis of the main body 100 with respect to the upper end of the first support bar 411, and the lower end of the second support bar 421 extends obliquely downward in a direction away from the central axis of the main body 100 with respect to the upper end of the second support bar 421. The distance between the upper ends of the two first support bars 411 is smaller than the distance between the lower ends of the two first support bars 411. The distance between the upper ends of the two second support bars 421 is less than the distance between the lower ends of the two second support bars 421. This arrangement allows the first support bar 411 and the second support bar 421 to be gradually inclined outward in a direction away from the fuselage 100, so that the landing pad 400 can be further stably supported on the landing surface, and the unmanned aerial vehicle 1000 can be safely landed.

Referring to fig. 12, in some embodiments, the landing gear 400 further includes two third support bars 430. One of the third support bars 430 is connected to the bottom of one of the first support bars 411 and one of the second support bars 421, and the other of the third support bars 430 is connected to the bottom of the other of the first support bars 411 and the other of the second support bars 421. Specifically, the third support bar 430 is connected to the lower ends of the first and second support bars 411 and 421. When the unmanned aerial vehicle 1000 lands, the third support bar 430 can contact the landing surface, increasing the contact area of the landing gear 400 with the landing surface, thereby further enabling the landing gear 400 to be stably supported on the landing surface.

The upper end and the lower end of a certain component mean that when the unmanned aerial vehicle 1000 normally lands on a flat landing surface, the end close to the landing surface is the lower end, and the end far from the landing surface is the upper end.

In the unmanned aerial vehicle 1000 provided by the above embodiment, since the landing pad 400 is located at the bottom of the fuselage 100, and the sensor is located between the left bracket 410 and the right bracket 420 of the landing pad 400, the possibility that the signal of the sensor 500 is blocked can be reduced, the landing pad 400 is prevented from interfering with the signal of the sensor 500, and thus, it is ensured that the sensor 500 detects one or more obstacles in the preset direction.

It should be noted that the above-mentioned names for the components of the unmanned aerial vehicle 1000 are only for identification purposes and should not be construed as limiting the embodiments of the present invention.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An unmanned aerial vehicle, comprising:

a body;

a sensor for detecting an obstacle on a side of the unmanned aerial vehicle,

2. The UAV of claim 1 wherein the sensor comprises at least one of a vision sensor, an ultrasonic ranging sensor, a depth camera, a radar.

3. The UAV of claim 1 wherein the sensor comprises a mechanical rotary scanning radar comprising an antenna plate and a motor driving the antenna plate to rotate.

4. The UAV of claim 3 wherein the rotation axis of the antenna board is parallel to a heading axis of the UAV.

5. The UAV according to claim 3 wherein the antenna plate rotates at least 360 °.

6. The UAV according to claim 3 wherein the antenna plate rotates continuously or intermittently.

7. The UAV of claim 3, wherein the rotation axis of the antenna plate intersects a predetermined plane, and the predetermined plane is a plane in which the pitch axis and the roll axis of the UAV are located.

8. The UAV of claim 7, wherein the angle between the rotation axis and a predetermined plane is 65 ° -90 °, and the predetermined plane is a plane in which the pitch axis and the roll axis of the UAV are located.

9. The UAV of claim 1 wherein the sensor is located below a bottom of the fuselage.

10. The UAV according to any one of claims 1-9 wherein the left bracket comprises:

two first support rods arranged at intervals;

the first cross rod is connected between the two first supporting rods;

a first mount connected to the first cross bar and the sensor;

the right bracket includes:

two second support rods arranged at intervals;

the second cross rod is connected between the two second supporting rods;

a second mount connected to the second cross bar and the sensor;

the first installation part and the second installation part are fixedly connected with the sensor and used for installing the sensor at the bottom of the machine body.

11. The UAV of claim 10 wherein the first mount comprises:

a mounting member body;

the fixing body is arranged at one end of the mounting piece body and is fixed on the first cross rod;

the connector is arranged at the other end of the mounting part body and is connected with the sensor.

12. The UAV of claim 11 wherein the mount body extends obliquely downward from the retainer to the connecting body.

13. The unmanned aerial vehicle of claim 12, wherein an included angle between the mount body and a predetermined plane is 5 ° to 80 °, and the predetermined plane is a plane in which a pitch axis and a roll axis of the unmanned aerial vehicle are located.

14. The UAV of claim 11 wherein the retainer is removably coupled to the first cross bar.

15. The UAV of claim 11 wherein the retainer is in the form of an unenclosed loop.

16. The UAV of claim 15 wherein the retainer comprises:

the fixing part is connected to one end of the mounting part body; the first free end and the second free end are arranged at intervals along the circumferential direction of the through hole;

the two locking parts are respectively arranged on the first free end and the second free end; the two locking parts change the size of the through hole through a fastener, so that the fixing part is tightly connected with the first cross rod.

17. The UAV according to claim 11 wherein the interface comprises:

an abutting part connected to the other end of the mounting body and abutting against the sensor;

the two connecting parts are oppositely arranged on two sides of the abutting part and fixedly connected with the sensor.

18. The UAV of claim 10 wherein the first mount is structurally identical to the second mount.

19. The UAV of claim 10 wherein the first and second mounts are disposed in opposing and angularly symmetrical relationship.

20. The UAV of claim 10 wherein a distance between upper ends of the first and second mounts is less than a distance between lower ends of the first and second mounts.

21. The UAV of claim 10 wherein the first and second struts are symmetrically disposed at an angle.