WO2018035959A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2018035959A1
WO2018035959A1 PCT/CN2016/103712 CN2016103712W WO2018035959A1 WO 2018035959 A1 WO2018035959 A1 WO 2018035959A1 CN 2016103712 W CN2016103712 W CN 2016103712W WO 2018035959 A1 WO2018035959 A1 WO 2018035959A1
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WO
WIPO (PCT)
Prior art keywords
battery
uav
equal
less
arm
Prior art date
Application number
PCT/CN2016/103712
Other languages
English (en)
French (fr)
Inventor
许柏皋
赖镇洲
王雷
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680086332.3A priority Critical patent/CN109219557A/zh
Publication of WO2018035959A1 publication Critical patent/WO2018035959A1/zh
Priority to US16/283,358 priority patent/US20190185169A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/37—Rotors having articulated joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/05—Accumulators with non-aqueous electrolyte
    • H01M10/058—Construction or manufacture
    • H01M10/0587—Construction or manufacture of accumulators having only wound construction elements, i.e. wound positive electrodes, wound negative electrodes and wound separators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/50—Current conducting connections for cells or batteries
    • H01M50/531—Electrode connections inside a battery casing
    • H01M50/538—Connection of several leads or tabs of wound or folded electrode stacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/30—Batteries in portable systems, e.g. mobile phone, laptop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the present invention relates to an unmanned aerial vehicle, and more particularly to a battery for an unmanned aerial vehicle.
  • An unmanned aerial vehicle generally includes a fuselage, an arm mounted on the fuselage, and a power mechanism disposed on the arm.
  • the power mechanism and electrical and electronic components on the UAV are typically powered by a power source.
  • the unmanned aerial vehicle is usually equipped with a compass.
  • the power supply supplies power to the drone
  • the magnetic field itself generates a magnetic field due to electromagnetic induction
  • the compass may be due to The presence of this magnetic field creates errors or even malfunctions.
  • a method of expanding the distance between the power source and the compass is generally employed.
  • the distance between the power source and the compass increases, and the unmanned aerial vehicle must be required to have a correspondingly large volume, which is contrary to the current demand for miniaturization and weight reduction of the unmanned aerial vehicle, and the volume is relatively small.
  • a large unmanned aerial vehicle occupies a large space, which is not conducive to the storage or carrying of the unmanned aerial vehicle.
  • An unmanned aerial vehicle includes a frame, a battery, and a magnetic sensor.
  • the battery is mounted on the frame, the battery comprising one or more multi-pole wound cells, the multi-pole wound cell comprising one or more pole pieces and electrically coupled to the pole piece a plurality of connected tabs, wherein each of the pole pieces is provided with a plurality of the tabs;
  • the magnetic sensor is mounted on the frame and has a spacing from the battery.
  • the rack includes a body and a plurality of arms connected to the body, and the battery is mounted on the body.
  • the arm is movably connected to the body, and the arm is movable in an unfolded state or a folded state relative to the body.
  • the magnetic sensor is mounted on the body or/and the arm;
  • the rack further includes a stand connected to the body or/and the arm, and the magnetic sensor is mounted on the stand.
  • the magnetic sensors are at least two and are respectively installed at different parts of the frame;
  • the magnetic sensors are two, and the two magnetic sensors are respectively mounted on the nose and the tail of the fuselage.
  • a battery compartment is disposed on the body, and the battery is detachably housed in the battery compartment.
  • the battery compartment is located in the middle of the fuselage.
  • the unmanned aerial vehicle further includes a power device disposed on the arm, the power device for providing flight power to the unmanned aerial vehicle.
  • a size between power devices on a diagonal of the UAV is less than or equal to 60 cm;
  • a spacing between power devices on a diagonal of the UAV is less than or equal to 40 cm;
  • a spacing between power devices on a diagonal of the UAV is less than or equal to 30 cm;
  • the spacing between the power units on the diagonal of the UAV is less than or equal to 20 cm.
  • a spacing between power devices on a diagonal of the UAV is less than or equal to 30 cm;
  • the spacing between the power devices on the diagonal of the UAV is less than or equal to 20 cm;
  • the spacing between the power devices on the diagonal of the UAV is less than or equal to 15 cm;
  • the spacing between the power units on the diagonal of the UAV is less than or equal to 10 cm.
  • the length of the fuselage is less than or equal to 40 cm;
  • the length of the fuselage is less than or equal to 30 cm;
  • the length of the fuselage is less than or equal to 20 cm;
  • the length of the fuselage is less than or equal to 10 cm.
  • the pitch is less than or equal to 30 cm;
  • the spacing is less than or equal to 20 cm;
  • the spacing is less than or equal to 10 cm.
  • the magnetic sensor is stacked on the battery
  • an electromagnetic shielding member is disposed between the magnetic sensor and the multi-pole wound battery.
  • the pole piece includes a positive electrode sheet, a negative electrode sheet, and a separator, and the separator is disposed between the positive electrode sheet and the negative electrode sheet;
  • the magnetic sensor is a compass, a magnetic field sensor, or a magnetic position sensor.
  • the unmanned aerial vehicle is a foldable aircraft
  • the battery is a lithium battery
  • the battery supplies power to the magnetic sensor.
  • the weight of the unmanned aerial vehicle is less than or equal to 1 kilogram
  • Or/and the weight of the unmanned aerial vehicle is less than or equal to 800 grams
  • Or/and the weight of the unmanned aerial vehicle is less than or equal to 500 grams
  • the unmanned aerial vehicle has a weight less than or equal to 300 grams.
  • the UAV provided by the UAV has a predetermined distance between the battery having the multi-pole wound battery and the magnetic sensor, and the reasonable use of the magnetic sensor while ensuring the sensing sensitivity of the magnetic sensor
  • the rack space of the unmanned aerial vehicle can limit the volume of the unmanned aerial vehicle to a small range, which is advantageous for miniaturization and lightweight design of the unmanned aerial vehicle.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 2 is a perspective view of the UAV of FIG. 1 in a folded state.
  • FIG. 3 is a perspective view of the battery cells of the battery of the unmanned aerial vehicle of FIG. 1.
  • FIG. 4 is a schematic view of a positive electrode sheet of the battery of FIG. 3.
  • Figure 5 is a schematic view of the negative electrode of the battery of Figure 3.
  • Fig. 6 is a graph showing the electromagnetic interference intensity of the magnetic sensor when the UAV is used in a conventional wound battery.
  • Figure 7 is a graph showing the electromagnetic interference intensity of the magnetic sensor when the UAV is used with a conventional wound battery and a multi-pole wound battery.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to another component or a central component can be present at the same time, and where possible, the two components can be directly integrated.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the flight control of an unmanned aerial vehicle usually depends on the sensing data of the compass.
  • the sensitivity of the compass is also interfered by the magnetic field generated by the electronic and electrical components of the unmanned aerial vehicle.
  • the occurrence of different degrees of interference, in addition to the volume of the unmanned aerial vehicle, is also related to the relative positional relationship between the battery and the compass of the UAV, for which the inventor is in the UAV Improvements in the relative position between the battery and the compass.
  • the inventors have focused on designing to improve the sensitivity of the compass on smaller unmanned aerial vehicles.
  • the interference between the compass and the electronic and electrical components is increased, or the electromagnetic shield is provided to reduce the interference of the compass.
  • the design space of the route is also small.
  • the inventors have found that in order to avoid or/or significantly reduce the interference experienced by the compass, it is also necessary to design/improve from the electronic and electrical components themselves, for which the inventors have made significant improvements in this respect.
  • Embodiments of the present invention provide an unmanned aerial vehicle including a rack, a battery, and a compass.
  • the battery is mounted on the frame, the battery comprising one or more multi-pole wound cells, the multi-pole wound cell comprising one or more pole pieces and electrically coupled to the pole piece a plurality of connected tabs, wherein each of the pole pieces is provided with a plurality of the tabs; a compass is mounted on the frame and there is a spacing from the battery.
  • the above compass is only one type of magnetic sensor, and the solution of the embodiment of the present invention can also be applied to other types of magnetic sensors, for example, a magnetic field sensor, a magnetic position sensor, and the like.
  • the unmanned aerial vehicle is illustrated by taking the rotor unmanned aerial vehicle 100 as an example.
  • the UAV 100 includes a frame 10 and a power unit 30 disposed on the frame 10.
  • the power unit 30 is used to provide the unmanned aerial vehicle 100 with the power of flight.
  • the powerplant 30 is a rotor assembly and the unmanned aerial vehicle 100 is a multi-rotor aircraft.
  • a quadrotor is described as an example.
  • Each of the rotor assemblies includes a motor 32 disposed on the frame 10 and a propeller 34 disposed on the motor 32.
  • the motor 32 is capable of driving the propeller 34 to rotate to provide flight power to the UAV 100.
  • the propeller 34 is a foldable propeller. When the rotor assembly is in a non-operating state, the blades of the propeller 34 can be folded and folded and folded in a state relative to the motor 32.
  • the motor 32 is also capable of driving the blades of the propeller 34 to rotate, causing the blades to rotate relative to the motor 32 and to be deployed by the folded and collapsed state.
  • the frame 10 includes a body 12 and is disposed on the body 12
  • the arm 14 is disposed on the arm 14 .
  • the UAV 100 is a foldable UAV, and each of the arms 14 is movably coupled to the body 12.
  • the arm 14 is rotatably coupled to the body 12.
  • the UAV 100 When the UAV 100 is in flight, four of the arms 14 surround the machine.
  • the body 12 is disposed and in an unfolded state relative to the body 12 and extends in a direction away from the body 12.
  • the four arms 14 can be respectively rotated relative to the body 12 and gathered in the body. Around 12. At this time, the space occupied by the arm 14 and the power unit 30 thereon is small, and when the UAV 100 is in an idle non-working state (non-flight state), the volume occupied by the folding is small. Easy to store and carry.
  • the UAV 100 can have a relatively small size/volume, or/and have a relatively light weight.
  • the UAV 100 is a lightweight or/and small unmanned aerial vehicle.
  • the UAV 100 is in a flight state (expanded state, see FIG. 1), and the arm 14 is in an unfolded state with respect to the airframe 12, and the UAV 100 is diagonally
  • the spacing between the power units 30 can be greater than or equal to about 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 60 cm, and the like.
  • the spacing between the power units 30 on the diagonal of the UAV 100 in flight may fall within the range of values determined by any two of the above values.
  • the UAV 100 is in a non-flight state (folded state, see FIG.
  • the spacing between the power units 30 can be greater than or equal to about 5 cm, 8 cm, 10 cm, 12 cm, 15 cm, 20 cm 25 cm 30 cm, 35 cm, 40 cm, and the like. Alternatively, the spacing between the power units 30 on the diagonal of the UAV 100 in the non-flight state may fall within the range of values determined by any two of the above values.
  • the UAV 100 may not be a foldable aircraft, which may be a small unmanned aerial vehicle.
  • the fuselage 12 of the UAV 100 The length may be greater than or equal to about 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, and the like. Alternatively, the length of the fuselage 12 of the UAV 100 may fall within the range of values determined by any two of the above values.
  • the UAV 100 can be a lightweight unmanned aerial vehicle.
  • the unmanned aerial vehicle 100 may have a weight greater than or equal to about 100 grams, 200 grams, 300 grams, 400 grams, 500 grams, 600 grams, 700 grams, 800 grams, 900 grams, 1000 kilograms, 1300 grams, 1500 grams, 1800 grams, 2000 grams, and so on.
  • the weight of the UAV 100 may fall within the range of values determined by any two of the above values.
  • the UAV 100 further includes a battery and a compass.
  • the battery is a lithium battery.
  • the battery is used to power electrical and electronic components on the UAV 100, such as to power the power unit 30.
  • the battery is also electrically coupled to the compass and is used to power the compass.
  • the battery is mounted on the body 12 of the UAV 100.
  • the body 12 is provided with a battery compartment 121 for housing the battery.
  • the battery compartment 121 is located at a substantially central position of the body 12, and the battery is detachably housed in the battery compartment 121.
  • the UAV 100 further includes a stand (not shown) for supporting the UAV 100 when it is dropped.
  • the stand can be disposed on the frame 10 and connected to the body 12.
  • the stand can be coupled to the arm 14, and even the stand can be coupled to the body 12 and the arm 14 at the same time.
  • the battery can be mounted on the stand.
  • the battery can also be installed at other parts of the frame 10, for example, the battery can be mounted on the arm 14, or can be installed at the foot of the UAV 100. On the shelf, even the battery may be mounted at any suitable location on the UAV 100 and electrically connect the battery to the electrical and electronic components.
  • the compass is used to sense the orientation of the UAV 100 to facilitate control of the UAV 100 by a flight controller.
  • the number of the compasses is two, and the two compasses are disposed on the frame 10 at intervals to improve the control precision of the flight controller.
  • the two compasses are respectively installed on the nose and the tail portion of the body 12. It can be understood that the number of the compass may be one or more, for example For example, the compass is one, three, four, or even more. When the compass is plural, a plurality of the compasses are respectively installed at different portions of the chassis 10.
  • the compass may be mounted on the body 12 of the UAV 100, may be mounted on the arm 14, or may be mounted on the stand of the UAV 100 ( The compass may be mounted on any suitable location on the UAV 100, not shown.
  • the compass is installed in the body 12 and disposed adjacent to the battery, and a predetermined distance exists between the compass and the battery.
  • the spacing between the compass and the battery can be less than or equal to about 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 10 cm, 5 cm, and the like.
  • the spacing between the compass and the battery may fall within the range of values determined by any two of the above values.
  • the compass and the battery may be in close contact with each other (eg, the compass is stacked on the upper, bottom, side, etc. positions of the battery).
  • the above-mentioned compass is disposed at a relatively close distance from the battery, so that the internal space of the fuselage 12 is utilized more efficiently, so that the volume of the unmanned aerial vehicle 100 can be limited to a small range, which is advantageous for the
  • the lightweight and miniaturized design of the UAV 100 is described. It can be understood that the preset distance can be separated between the compass and the battery, and the preset distance can fall within a predetermined distance range to ensure that the volume of the UAV 100 can be limited to a small size. Within the scope.
  • the preset distance may be greater than or equal to about 1 mm, 3 mm, 5 mm, 8 mm, 1 cm, 3 cm, 5 cm, 8 cm, 10 cm, etc., or the preset distance It can fall within the range of values determined by any two of the above values.
  • the compass may be disposed relatively far from the battery.
  • the battery is mounted at one end of the body 12, and the compass is mounted at the other end of the body 12; or the battery is mounted on the body 12, the compass Mounted on the stand of the UAV 100, and the like.
  • the battery is a multi-pole wound battery, which includes a battery core 50, the battery core 50 is a multi-pole wound battery core, and the multi-pole The number of ear wound cells may be one or more.
  • the multi-pole wound battery cell includes one or more pole pieces and a plurality of tabs electrically connected to the pole pieces, wherein each of the pole pieces is provided with a plurality of the tabs.
  • the pole piece includes a positive electrode sheet 52, a negative electrode sheet 54, and a separator (not shown)
  • the positive electrode sheet 52 and the negative electrode sheet 54 are separated by the separator and wound to form a multi-pole wound battery core.
  • the positive electrode tab 52 is provided with a plurality of positive electrode tabs 521, and the negative electrode tabs 54 are provided with a plurality of negative electrode tabs 541.
  • no electromagnetic shielding member is disposed between the multi-pole wound battery core and the compass, so that the design of the relative position between the battery and the compass is more flexible.
  • the rational use of the internal space of the UAV 100 is facilitated, and the structure between the components of the UAV 100 is more compact, thereby facilitating the miniaturization design of the UAV 100.
  • an electromagnetic shielding member (not shown) may be disposed between the multi-pole wound battery core and the compass to further reduce the battery operation.
  • the interference caused by the compass is guaranteed to ensure the sensitivity of the compass.
  • the UAV 100 provided by the embodiment is a small unmanned aerial vehicle
  • the battery and the compass are disposed on the body 12
  • the spacing to reduce the electromagnetic interference of the battery that the compass is subjected to when the inventors have continually tried, tried, and compared that the battery is a multi-pole wound battery, the compass is significantly less disturbed by the battery.
  • FIG. 6 is a diagram showing the electromagnetic interference intensity of the compass when the UAV 100 adopts a conventional winding battery.
  • the horizontal axis represents time and the vertical axis represents the magnetic field strength of the disturbing magnetic field at the compass.
  • the distance between the ordinary wound battery and the compass increases with time.
  • the ordinary wound battery is as close as possible to the compass, that is, the ordinary wound battery is simultaneously disposed with the compass.
  • the magnetic field strength of the disturbing magnetic field exhibits a maximum value in three directions of X, Y, and Z; when the time is about 240 seconds, the ordinary wound battery and the compass are separately installed.
  • the inside and outside of the body 12, that is, the compass is disposed in the body 12, and the battery is disposed outside the body 12, or vice versa.
  • the three directions of X, Y, and Z are the three coordinate axes of the three-dimensional Cartesian coordinate system. Specifically, in this embodiment, the three directions of X, Y, and Z respectively correspond to the roll of the UAV 100. Axis, pitch axis, and heading axis direction.
  • FIG. 7 is a diagram showing the electromagnetic interference intensity of the compass when the UAV 100 is used with a conventional wound battery and a multi-pole wound battery, respectively.
  • the horizontal axis represents time and the vertical axis represents the magnetic field strength of the disturbing magnetic field at the compass.
  • the distance between the battery and the compass periodically changes with time, and the unmanned aerial vehicle 100 uses two kinds of batteries and the same when using a common wound battery and a multi-pole wound battery respectively.
  • the distance between the compasses is the same as the rate of change over time.
  • the interference of the multi-pole wound battery to the compass is significantly less than the interference of the ordinary wound battery to the compass;
  • the unmanned aerial vehicle 100 uses a battery having a multi-pole wound battery as a power source. Since the multi-pole wound battery is in operation, a ring current is not formed inside, and the generated magnetic field is generated. The interference to the compass is relatively small. Even if the distance between the multi-pole wound battery and the compass is small, or even the two are in contact, and no electromagnetic shielding member may be disposed therebetween, the multi-pole wound battery is in operation The interference to the compass is still small and does not affect the normal operation of the compass, thereby ensuring that the UAV 100 can operate normally.
  • the battery with the multi-pole wound battery core adopted by the UAV 100 and the compass can be disposed at close distances, and the said sensor is reasonably utilized while ensuring the sensing sensitivity of the compass.
  • the rack space of the human aircraft 100 enables the volume of the unmanned aerial vehicle 100 to be limited to a small range, which facilitates miniaturization and lightweight design of the unmanned aerial vehicle 100.
  • the battery having the multi-pole wound battery has a relatively large capacity and a relatively low cost. Low, suitable for large-scale mass production, can reduce the production cost of the UAV 100 to a certain extent.
  • the magnetic sensor in the embodiment of the present invention is described by taking a compass as an example.
  • the compass is only one type of the magnetic sensor, and the solution of the embodiment of the present invention can also be applied to other types of magnetic sensors, for example, magnetic field sensing. , magnetic position sensor, etc.
  • the UAV 100 may be provided with a plurality of batteries, and one or more of the plurality of batteries may be the multi-pole wound battery described above, and the plurality of The other battery in the battery may be a battery other than the multi-pole wound battery, for example, may be a laminated battery, a monopole wound battery, or the like, such that the laminated battery, the single-pole wound battery Moving away from the compass setting, and according to actual needs, the battery with the multi-pole wound battery is disposed adjacent to the compass to prevent the laminated battery, the single-pole wound battery from operating on the compass It is also understood that a plurality of the batteries may all be batteries having multi-pole wound cells.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Manufacturing & Machinery (AREA)
  • Remote Sensing (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract

一种无人飞行器(100)，包括机架(10)、电池以及磁传感器。所述电池安装在所述机架(10)上，所述电池包括一个或多个多极耳卷绕电芯，所述多极耳卷绕电芯包括一个或多个极片以及与所述极片电连接的多个极耳，其中，每个所述极片上设有多个所述极耳；所述磁传感器安装在所述机架(10)上，并且与所述电池之间存在间距。上述的无人飞行器(100)体积相对较小，且其磁传感器的灵敏度较高。

Description

无人飞行器 技术领域
本发明涉及一种无人飞行器，特别涉及一种无人飞行器的电池。
背景技术
随着科技的发展，空中摄影技术渐兴，其中，无人机航拍技术由于其成本较载人航拍更低且更为安全，逐渐得到摄影师的青睐。无人机航拍工作通常采用飞行器搭载摄影机、照相机等拍摄装置进行拍摄。无人飞行器一般包括机身、装设于所述机身上的机臂和设置在所述机臂上的动力机构。所述无人飞行器上的动力机构以及电子电气元件通常由电源供电。基于无人飞行器的飞行控制需要，所述无人机上通常装设有指南针，然而，所述电源在为所述无人机供电时，其自身会因电磁感应而产生磁场，所述指南针会由于该磁场的存在而产生误差甚至失灵。
为了避免或/及减小所述指南针受到的所述电源的磁场的干扰以保证所述指南针的灵敏度，人们通常会采用扩大所述电源及所述指南针之间的距离的方法。然而，所述电源及所述指南针之间的距离增大，务必会要求所述无人飞行器具有相应大的体积，这就与当前无人飞行器日趋小型化、轻量化的需求背道而驰，且体积较大的无人飞行器占用较大空间，不利于所述无人飞行器的收纳或携带。
发明内容
有鉴于此，有必要提供一种体积相对较小的无人飞行器，所述无人飞行器的指南针的灵敏度较高。
一种无人飞行器，包括机架、电池以及磁传感器。所述电池安装在所述机架上，所述电池包括一个或多个多极耳卷绕电芯，所述多极耳卷绕电芯包括一个或多个极片以及与所述极片电连接的多个极耳，其中，每个所述极片上设有多个所述极耳；所述磁传感器安装在所述机架上，并且与所述电池之间存在间距。
进一步地，所述机架包括机身以及与所述机身连接的多个机臂，所述电池安装在所述机身上。
进一步地，所述机臂与所述机身可活动连接，所述机臂能够相对所述机身运动呈展开状态或者折叠状态。
进一步地，所述磁传感器安装在所述机身或/及所述机臂上；
或/及，所述机架还包括与所述机身或/及所述机臂连接的脚架，所述磁传感器安装在所述脚架上。
进一步地，所述磁传感器为至少两个，并且分别安装在所述机架的不同部位；
或/及，所述磁传感器为两个，两个所述磁传感器分别安装在所述机身的机头以及机尾部位。
进一步地，所述机身上设有电池仓，所述电池可拆卸地收纳在所述电池仓内。
进一步地，所述电池仓位于所述机身的中部。
进一步地，所述无人飞行器还包括设置于所述机臂上的动力装置，所述动力装置用于为所述无人飞行器提供飞行动力。
进一步地，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的尺寸小于或等于60厘米；
或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于40厘米；
或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于30厘米；
或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于20厘米。
进一步地，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于30厘米；
或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于20厘米；
或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于15厘米；
或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于10厘米。
进一步地，所述机身的长度小于或等于40厘米；
或/及，所述机身的长度小于或等于30厘米；
或/及，所述机身的长度小于或等于20厘米；
或/及，所述机身的长度小于或等于10厘米。
进一步地，所述间距小于或等于30厘米；
或/及，所述间距小于或等于20厘米；
或/及，所述间距小于或等于10厘米。
进一步地，所述磁传感器叠置于所述电池上；
或/及，所述磁传感器及所述多极耳卷绕电芯之间设置有电磁屏蔽件。
进一步地，所述极片包括正极片、负极片以及隔膜，所述隔膜设置在所述正极片及所述负极片之间；
或/及，所述磁传感器为指南针、磁场感应器、或者磁性位置传感器。
进一步地，所述无人飞行器为可折叠飞行器；
或/及，所述电池为锂电池；
或/及，所述电池为所述磁传感器供电。
进一步地，所述无人飞行器的重量小于或等于1千克；
或/及，所述无人飞行器的重量小于或等于800克；
或/及，所述无人飞行器的重量小于或等于500克；
或/及，所述无人飞行器的重量小于或等于300克。
本发明提供的所述无人飞行器采用的具有多极耳卷绕电芯的电池和所述磁传感器之间有预定的距离，在保证所述磁传感器的感测灵敏度的同时，合理利用了所述无人飞行器的机架空间，使所述无人飞行器的体积能够限缩在较小的范围内，有利于所述无人飞行器的小型化及轻量化设计。
附图说明
图1是本发明实施方式提供的无人飞行器的立体示意图。
图2是图1中的无人飞行器处于折叠状态的立体示意图。
图3是图1中的无人飞行器的电池的电芯的立体示意图。
图4是图3中的电池的正极片示意图。
图5是图3中的电池的负极片示意图。
图6是无人飞行器在采用普通卷绕电池时，磁传感器所受到的电磁干扰强度图。
图7是无人飞行器在分别采用普通卷绕电池及多极耳卷绕电芯时，所述磁传感器所受到的电磁干扰强度图。
主要元件符号说明
无人飞行器                    100
机架                          10
机身                          12
电池仓                        121
机臂                          14
动力装置                      30
电机                          32
螺旋桨                        34
电芯                          50
正极片                        52
正极耳                        521
负极片                        54
负极耳                        541
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件，在可能的情况下，也可以是两个组件直接一体成型。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在实现本发明的过程中，发明人发现了如下问题：
(1)无人飞行器的飞行控制通常依赖于指南针的感应数据，指南针的灵敏度除了受到自然磁场的影响之外，还会受到无人飞行器的电子电气元件所产生的磁场的干扰。
(2)发明人发现，在较大型无人飞行器上，指南针受到的干扰程度相对于小型无人机的指南针受到的干扰程度要小；发明人还发现，上述现象(指南针在不同体积的飞行器上所受的干扰程度有所不同)的发生，除了与无人飞行器的体积相关，还与所述无人飞行器的电池和指南针之间的相对位置关系相关，为此，发明人在无人飞行器的电池和指南针之间的相对位置方面做出改进。
(3)进一步地，基于目前的无人飞行器小型化、轻量化的设计需求，发明人重点考虑在较小型无人飞行器上提高指南针的灵敏度的设计。然而，由于小型无人飞行器的机架本身容量/体积有限，通过拉大指南针和电子电气元件之间的距离，或者通过设置电磁屏蔽件来减小所述指南针受到的干扰的 途径的设计空间也较小。发明人发现，若要避免或/及显著减小所述指南针受到的干扰，还必须从电子电气元件本身上进行设计/改进，为此，发明人在此方面做出了重点改进。
本发明实施例提供一种无人飞行器，包括机架、电池以及指南针。所述电池安装在所述机架上，所述电池包括一个或多个多极耳卷绕电芯，所述多极耳卷绕电芯包括一个或多个极片以及与所述极片电连接的多个极耳，其中，每个所述极片上设有多个所述极耳；所示指南针安装在所述机架上，并且与所述电池之间存在间距。
需要说明的是，上述指南针只是磁传感器中的一种类型，本发明实施例的方案也可以适用于其他类型的磁传感器，例如，磁场感应器、磁性位置传感器等。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，本发明实施例中，所述无人飞行器以旋翼无人飞行器100为例进行说明。
所述无人飞行器100包括机架10以及设置在所述机架10上的动力装置30。所述动力装置30用于为所述无人飞行器100提供飞行的动力。在本发明实施方式中，所述动力装置30为旋翼组件，所述无人飞行器100为多旋翼飞行器。在图示的实施例中，以四旋翼飞行器为例进行说明。每个所述旋翼组件均包括设置于所述机架10上的电机32以及设置于所述电机32上的螺旋桨34。
所述电机32能够驱动所述螺旋桨34转动，以为所述无人飞行器100提供飞行的动力。所述螺旋桨34为可折叠式螺旋桨，当所述旋翼组件处于非工作状态时，所述螺旋桨34的桨叶能够折叠收拢，并相对所述电机32呈收合状态。所述电机32还能够驱动所述螺旋桨34的桨叶转动，使所述桨叶相对于所述电机32转动并由折叠收拢状态展开。
在本实施方式中，所述机架10包括机身12以及设置于所述机身12上 的机臂14，所述动力装置30设置于所述机臂14上。在本实施方式中，所述无人飞行器100为可折叠无人飞行器，每个所述机臂14均与所述机身12可活动地连接。
具体在图1所示的实施方式中，所述机臂14可转动地连接于所述机身12，当所述无人飞行器100处于飞行状态时，四个所述机臂14围绕所述机身12设置，并相对所述机身12呈展开状态，且朝向背离所述机身12的方向延伸。
请同时参阅图2，当所述无人飞行器100处于闲置的非工作状态(非飞行状态)时，四个所述机臂14能够分别相对所述机身12转动，并收拢于所述机身12的周围。此时，所述机臂14及其上的动力装置30所占用的空间较小，使所述无人飞行器100处于闲置的非工作状态(非飞行状态)时，其折叠占用的体积较小，便于收纳及携带。
在本实施方式中，所述无人飞行器100可以具有相对较小的尺寸/体积，或/及具有相对较轻的重量。换言之，所述无人飞行器100为轻量型或/及小型无人飞行器。
具体而言，所述无人飞行器100在飞行状态下(展开状态，请参图1)，所述机臂14相对所述机身12呈展开状态，所述无人飞行器100的对角线上的所述动力装置30之间的间距可以大于或等于大约10厘米、12厘米、15厘米、20厘米、25厘米、30厘米、35厘米、40厘米、45厘米、50厘米、60厘米等等。或者，所述无人飞行器100在飞行状态下的对角线上的所述动力装置30之间的间距可以落入上述任意两个数值所确定的数值范围内。所述无人飞行器100在非飞行状态下(折叠状态，请参图2)，所述机臂14相对所述机身12呈折叠收拢状态，所述无人飞行器100的对角线上的所述动力装置30之间的间距可以大于或等于大约5厘米、8厘米、10厘米、12厘米、15厘米、20厘米25厘米30厘米、35厘米、40厘米等等。或者，所述无人飞行器100在非飞行状态下的对角线上的所述动力装置30之间的间距可以落入上述任意两个数值所确定的数值范围内。
可以理解，在其他的实施方式中，所述无人飞行器100可以不是可折叠飞行器，其可以为小型无人飞行器。所述无人飞行器100的所述机身12的 长度可以大于或等于大约10厘米、12厘米、15厘米、20厘米、25厘米、30厘米、35厘米、40厘米、45厘米、50厘米等等。或者，所述无人飞行器100所述机身12的长度可以落入上述任意两个数值所确定的数值范围内。
所述无人飞行器100可以是轻型无人飞行器。具体而言，所述无人飞行器100的重量可以大于或等于大约100克、200克、300克、400克、500克、600克、700克、800克、900克、1000千克、1300克、1500克、1800克、2000克等等。或者，所述无人飞行器100的重量可以落入上述任意两个数值所确定的数值范围内。
进一步地，所述无人飞行器100还包括电池以及指南针。
在本实施方式中，所述电池为锂电池。所述电池用于为所述无人飞行器100上的电子电气元件供电，如，为所述动力装置30供电。所述电池还与所述指南针电连接，并用于为所述指南针供电。在本实施方式中，所述电池装设在所述无人飞行器100的机身12上。具体而言，所述机身12上设置有电池仓121，所述电池仓121用于收容所述电池。进一步地，所述电池仓121位于所述机身12的大致中部位置，所述电池可拆卸地收容在所述电池仓121内。
进一步地，所述无人飞行器100还包括脚架(图中未示出)，所述脚架用于作为所述无人飞行器100降落时的支撑。所述脚架可以设置于所述机架10上，并与所述机身12相连接。或者，所述脚架可以与所述机臂14相连接，甚至，所述脚架可以同时连接于所述机身12及所述机臂14上。可以理解，所述电池可以装设在所述脚架上。
可以理解，所述电池还可以装设在所述机架10上其他部位，例如，所述电池可以装设在所述机臂14上，或者，可以装设在所述无人飞行器100的脚架上，甚至，所述电池可以装设在所述无人飞行器100上任意适合的部位，并使所述电池与所述电子电气元件电性连接。
所述指南针用于感应所述无人飞行器100的朝向，以利于飞行控制器对所述无人飞行器100进行控制。在本实施方式中，所述指南针的数量为两个，两个所述指南针彼此间隔设置于所述机架10上，以提高所述飞行控制器的控制精度。具体在本实施方式中，两个所述指南针分别装设在所述机身12的机头以及机尾部位。可以理解，所述指南针的数量可以为一个或多个，例 如，所述指南针为一个、三个、四个，甚至更多。当所述指南针为多个时，多个所述指南针分别装设在所述机架10的不同部位。
具体而言，所述指南针可以装设在所述无人飞行器100的机身12上，可以装设在所述机臂14上，或者，可以装设在所述无人飞行器100的脚架(图中未示出)上，甚至，所述指南针可以装设在所述无人飞行器100上任意适合的部位。在本实施方式中，所述指南针装设于所述机身12内，并邻近所述电池设置，且所述指南针与所述电池之间存在预定的间距。
具体而言，所述指南针与所述电池之间的所述间距可以小于或等于大约35厘米、30厘米、25厘米、20厘米、15厘米、10厘米、5厘米等等。或者，所述指南针与所述电池之间的所述间距可以落入上述任意两个数值所确定的数值范围内。在其他的一些实施方式中，所述指南针和所述电池之间可以近乎于零距离接触(如，所述指南针层叠地设置于所述电池的上面、底部、侧部等位置)。
上述的指南针与所述电池较近距离地设置，从而较为高效地利用了所述机身12的内部空间，使所述无人飞行器100的体积能够限缩在较小的范围内，有利于所述无人飞行器100的轻量化及小型化设计。可以理解，所述指南针和所述电池之间可以间隔其他的预设距离，该预设距离可以落入预定的距离范围内，以保证所述无人飞行器100的体积能够限缩在较小的范围内。具体而言，所述预设距离可以大于或等于大约1毫米、3毫米、5毫米、8毫米、1厘米、3厘米、5厘米、8厘米、10厘米等等，或者，所述预设距离可以落入上述任意两个数值所确定的数值范围内。
可以理解，在其他的一些实施例中，所述指南针可以相对远离所述电池设置。例如，所述电池装设在所述机身12的一端，而所述指南针装设在所述机身12的另一端；或者，所述电池装设在所述机身12上，所述指南针装设在所述无人飞行器100的脚架上，等等。
请同时参阅图3至图5，在本实施方式中，所述电池为多极耳卷绕电池，其包括电芯50，所述电芯50为多极耳卷绕电芯，所述多极耳卷绕电芯的数量可以为一个或多个。所述多极耳卷绕电芯包括一个或多个极片以及与所述极片电连接的多个极耳，其中，每个所述极片上设有多个所述极耳。具体在图示的实施方式中，所述极片包括正极片52、负极片54以及隔膜(图中未 示出)，所述正极片52及所述负极片54通过所述隔膜隔开，并卷绕形成多极耳卷绕电芯。所述正极片52上设置有多个正极耳521，所述负极片54上设置有多个负极耳541。
进一步地，在本实施方式中，所述多极耳卷绕电芯与所述指南针之间未设置任何电磁屏蔽件，从而使所述电池和所述指南针之间的相对位置的设计更为灵活，有利于所述无人飞行器100的内部空间的合理利用，使所述无人飞行器100的零部件之间的结构更为紧凑，进而有利于所述无人飞行器100的小型化设计。
可以理解，在其他的一些实施方式中，所述多极耳卷绕电芯与所述指南针之间还可以设置有电磁屏蔽件(图中未示出)，以进一步地减小所述电池运行时对所述指南针造成的干扰，保证所述指南针的灵敏度。
由于本实施方式提供的所述无人飞行器100为小型无人飞行器，所述电池及所述指南针设置在所述机身12上时，通常情况下，普通电池及指南针之间难以预留出足够的间距，以减小指南针受到的电池的电磁干扰。然而，当发明人经过不断地尝试、试算以及比较发现，所述电池为多极耳卷绕电池时，所述指南针受到所述电池的干扰明显较小。
请同时参阅图6，图6示出了所述无人飞行器100采用普通卷绕电池时，所述指南针所受到的电磁干扰强度图。
图6中横轴表示时间，纵轴表示指南针处的干扰磁场的磁场强度。其中，所述普通卷绕电池与所述指南针之间的距离随着时间增大而增大。具体在本试验以及图中所示的数据中，当时间为180秒左右时，所述普通卷绕电池尽可能近地靠近所述指南针，即所述普通卷绕电池与所述指南针同时设置于所述机身12内部，所述干扰磁场的磁场强度在X、Y、Z三个方向均表现出最大值；当时间为240秒左右时，所述普通卷绕电池与所述指南针分别装设于所述机身12的内外部，即，所述指南针设置于所述机身12内，所述电池设置于所述机身12外，或者相反。上述的X、Y、Z三个方向为三维笛卡尔坐标系的三个坐标轴方向，具体在本实施例中，X、Y、Z三个方向分别对应于所述无人飞行器100的横滚轴、俯仰轴、航向轴方向。
从图6中可以看出，当普通卷绕电池与指南针之间的距离越小，所述指南针受到的干扰则越大；当普通卷绕电池与指南针之间的距离逼近极限值 时，所述指南针受到极大干扰，该干扰程度已经严重到影响所述无人飞行器100的飞行控制，甚至使所述无人飞行器100不能正常运行。
请同时参阅图7，图7示出了所述无人飞行器100在分别采用普通卷绕电池及多极耳卷绕电池时，所述指南针所受到的电磁干扰强度图。
图7中横轴表示时间，纵轴表示指南针处的干扰磁场的磁场强度。其中，所述电池与所述指南针之间的距离随着时间增大而周期性改变，所述无人飞行器100在分别采用普通卷绕电池及多极耳卷绕电池时，两种电池与所述指南针之间的距离随时间的变化率相同。
从图中可以看出：
1)在与所述指南针的距离相同的情况下，多极耳卷绕电池对所述指南针的干扰明显小于普通卷绕电池对所述指南针的干扰；
2)当多极耳卷绕电池与所述指南针之间的距离明显减小时(如该距离减小至100毫米及以内)，所述指南针受到的干扰强度变化幅度不大，所述指南针受到的干扰强度在控制在允许的范围内，所述无人飞行器100能够正常飞行；
3)而当普通卷绕电池与所述指南针之间的距离明显减小时(如该距离减小至100毫米及以内)，所述指南针受到的干扰强度显著增大，当普通卷绕电池与所述指南针之间的距离达到约50毫米时，所述指南针收到的干扰超出极限，所述无人飞行器100不能正常飞行。
本发明提供的所述无人飞行器100，采用了具有多极耳卷绕电芯的电池作为电源，由于所述多极耳卷绕电池在运行时，内部不会形成环形电流，其产生的磁场对所述指南针的干扰相对较小。即使所述多极耳卷绕电池与所述指南针之间的距离较小，甚至二者相接触，且二者之间可以不设置任何电磁屏蔽件，所述多极耳卷绕电池在运行时对所述指南针的干扰仍然较小，不会影响所述指南针的正常工作，从而能够保证所述无人飞行器100能够正常运行。总而言之，所述无人飞行器100采用的具有多极耳卷绕电芯的电池和所述指南针能够近距离地设置于一起，在保证所述指南针的感测灵敏度的同时，合理利用了所述无人飞行器100的机架空间，使所述无人飞行器100的体积能够限缩在较小的范围内，有利于所述无人飞行器100的小型化及轻量化设计。另外，所述具有多极耳卷绕电芯的电池的容量相对较大，且成本较 低，适于大批量规模化生产，在一定程度上能够降低所述无人飞行器100的生产成本。
为便于阐述，本发明实施例中的磁传感器以指南针为例进行说明，上述指南针只是磁传感器中的一种类型，本发明实施例的方案也可以适用于其他类型的磁传感器，例如，磁场感应器、磁性位置传感器等。
可以理解，在其他的实施方式中，所述无人飞行器100上可以设置有多个电池，多个所述电池中的一个或多个可以为上述的多极耳卷绕电池，多个所述电池中的其他电池可以为多极耳卷绕电池以外的电池，例如，可以为叠片电池、单极耳卷绕电池等等，而使得所述叠片电池、所述单极耳卷绕电池远离所述指南针设置，并根据实际需要使所述具有多极耳卷绕电芯的电池邻近所述指南针设置，以避免所述叠片电池、所述单极耳卷绕电池运行对所述指南针造成干扰；同样可以理解的是，多个所述电池可以全部为具有多极耳卷绕电芯的电池。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (16)

  1. 一种无人飞行器，包括机架、电池以及磁传感器，其特征在于：所述电池安装在所述机架上，所述电池包括一个或多个多极耳卷绕电芯，所述多极耳卷绕电芯包括一个或多个极片以及与所述极片电连接的多个极耳，其中，每个所述极片上设有多个所述极耳；所述磁传感器安装在所述机架上，并且与所述电池之间存在间距。
  2. 如权利要求1所述的无人飞行器，其特征在于：所述机架包括机身以及与所述机身连接的多个机臂，所述电池安装在所述机身上。
  3. 如权利要求2所述的无人飞行器，其特征在于：所述机臂与所述机身可活动连接，所述机臂能够相对所述机身运动呈展开状态或者折叠状态。
  4. 如权利要求3所述的无人飞行器，其特征在于：所述磁传感器安装在所述机身或/及所述机臂上；
    或/及，所述机架还包括与所述机身或/及所述机臂连接的脚架，所述磁传感器安装在所述脚架上。
  5. 如权利要求2所述的无人飞行器，其特征在于：所述磁传感器为至少两个，并且分别安装在所述机架的不同部位；
    或/及，所述磁传感器为两个，两个所述磁传感器分别安装在所述机身的机头以及机尾部位。
  6. 如权利要求2所述的无人飞行器，其特征在于：所述机身上设有电池仓，所述电池可拆卸地收纳在所述电池仓内。
  7. 如权利要求6所述的无人飞行器，其特征在于：所述电池仓位于所述机身的中部。
  8. 如权利要求3所述的无人飞行器，其特征在于：所述无人飞行器还包括设置于所述机臂上的动力装置，所述动力装置用于为所述无人飞行器提供飞行动力。
  9. 如权利要求8所述的无人飞行器，其特征在于：所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的尺寸小于或等于60厘米；
    或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线 上的动力装置之间的间距小于或等于40厘米；
    或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于30厘米；
    或/及，所述机臂相对所述机身呈展开状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于20厘米。
  10. 如权利要求8所述的无人飞行器，其特征在于：所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于30厘米；
    或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于20厘米；
    或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于15厘米；
    或/及，所述机臂相对所述机身呈折叠状态时，所述无人飞行器的对角线上的动力装置之间的间距小于或等于10厘米。
  11. 如权利要求2所述的无人飞行器，其特征在于：所述机身的长度小于或等于40厘米；
    或/及，所述机身的长度小于或等于30厘米；
    或/及，所述机身的长度小于或等于20厘米；
    或/及，所述机身的长度小于或等于10厘米。
  12. 如权利要求1所述的无人飞行器，其特征在于：所述间距小于或等于30厘米；
    或/及，所述间距小于或等于20厘米；
    或/及，所述间距小于或等于10厘米。
  13. 如权利要求1所述的无人飞行器，其特征在于：所述磁传感器叠置于所述电池上；
    或/及，所述磁传感器及所述多极耳卷绕电芯之间设置有电磁屏蔽件。
  14. 如权利要求1所述的无人飞行器，其特征在于：所述极片包括正极片、负极片以及隔膜，所述隔膜设置在所述正极片及所述负极片之间；
    或/及，所述磁传感器为指南针、磁场感应器、或者磁性位置传感器。
  15. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器为 可折叠飞行器；
    或/及，所述电池为锂电池；
    或/及，所述电池为所述磁传感器供电。
  16. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器的重量小于或等于1千克；
    或/及，所述无人飞行器的重量小于或等于800克；
    或/及，所述无人飞行器的重量小于或等于500克；
    或/及，所述无人飞行器的重量小于或等于300克。
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