WO2018053715A1 - Unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle (2) comprises a center part (20) and multiple arms (22) extending from the center part (20). At least one power device is disposed on each arm (22). The power device comprises a rotor (24) and a power motor for driving the rotor (24) to rotate. The unmanned aerial vehicle also comprises a sensor (26). The sensor (26) is disposed outside an interference region (202) of assemblies of the unmanned aerial vehicle (2). The unmanned aerial vehicle (2) facilitates barrier-free working of the sensor (26).

Description

Drone Technical field

The invention relates to a drone, in particular to a drone having an obstacle avoidance function.

Background technique

A drone is a non-manned aerial vehicle that is operated by a radio remote control device or remote control device to perform a mission. Navigational flight control systems, program control devices, and power supply equipment are installed on general drones. In recent years, drones have been developed and applied in many fields, especially in general industrial and military research. Military significance and economic status.

UAVs mainly have the advantages of relatively low cost, no risk of casualties, strong survivability and good maneuverability. But because it is unmanned, the drone can only rely on the aircraft's own flight control system or ground control center instructions to fly, then encounter obstacles such as high-voltage cables, trees or buildings, especially the use of unmanned When the machine is inspected for a special environment, it is very likely to collide with obstacles (such as high-voltage cables, etc.), which brings huge hidden dangers to the drone. In order to ensure the safety of the drone during the mission, it is usually no. A sensor (such as an obstacle avoidance camera, an ultrasonic sensor, a laser ranging sensor, etc.) is provided on the human machine to sense the distance of the obstacle from the unmanned aerial vehicle, and accordingly adjust the route of the unmanned aerial vehicle to avoid the obstacle.

The above sensor usually takes an environmental picture or emits an ultrasonic wave or an electromagnetic wave, etc., and analyzes the time difference between the obstacle and the obstacle to determine the distance of the obstacle from the drone. Currently, sensors are usually mounted on the arm or on the fuselage, and the noise and airflow generated by the rotation of the propeller often interfere with the emitted ultrasonic or electromagnetic waves and may obstruct the view of the vision sensor.

Summary of the invention

In view of this, it is necessary to provide a drone that can facilitate the unimpeded operation of the sensor.

An unmanned aerial vehicle comprising a central portion, a plurality of arms extending from the central portion, each arm being provided with at least one power device, the power device including a rotor and driving the rotor A rotating power motor, the drone further comprising a sensor disposed outside of an interference range of components of the drone.

An unmanned aerial vehicle comprising a central portion, a plurality of arms extending from the central portion, each arm being provided with at least one rotor, the drone comprising one or more sensors, The sensor is disposed on one or more components of the drone and its sensing range is not disturbed by components of the drone.

The drone described above facilitates unimpeded operation of the sensor.

DRAWINGS

1 is a schematic structural view of a drone according to an embodiment of the present invention.

2 is a system block diagram of a drone according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of sensor installation of a drone according to an embodiment of the present invention.

4 is a schematic diagram of a sensor of a drone provided on an arm of an embodiment of the present invention.

FIG. 5 is a schematic diagram of determining an interference region of a drone according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of a sensor of a drone provided on a landing frame according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of a sensor of a drone provided on a foldable landing frame according to an embodiment of the present invention.

Figure 8 is a schematic illustration of the landing gear of Figure 7 in a folded configuration.

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

FIG. 10 is a schematic diagram of a sensor of a drone provided at the same time on the rotor protection cover and the arm shown in FIG. 9 according to an embodiment of the present invention.

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

FIG. 12 is a schematic diagram of a sensor of a drone provided on another rotor protection cover according to an embodiment of the present invention.

FIG. 13 is a schematic diagram of a protective cover of a sensor of a drone according to an embodiment of the present invention.

Main component symbol description

Drone	1,2,3,4,5,7
Central department	10,20,30,40,50,70
Arm	22,32,42,52,62,72
Power mechanism	12
Sensing system	13
transceiver	14
load	15
Communications network	16
terminal	17
system	100
Sensing module	1001
Processing unit	1002
Non-transitory computer readable medium	1003
Control module	1004
Communication module	1005
Interference area	102,202
Non-interfering area	104
sensor	106,26,36,46,56,66,76,86
Rotor	24,34,44,54,64,74
Rotating surface	240,540,640,740
Polygon	241
Landing frame	38,48
First bracket	480
Second bracket	482
Rotating shaft	49
Rotor guard	542,642,742
Sensor cover	860

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central 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 terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

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, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The present invention provides a drone that can be used in any suitable environment, such as in the air (eg, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft), in water (eg, a ship or submarine) ), on the ground (eg, motorcycles, cars, trucks, buses, trains, etc.), in space (eg, space shuttle, satellite or detector), or underground (eg subway), or any of the above environments combination. In this embodiment, the drone is a rotorcraft, wherein the rotors may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor, and an eight-rotor. For convenience of description, the drone in the following embodiment is described by taking a quadrotor as an example.

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

Please refer to FIG. 1. FIG. 1 shows an unmanned aerial vehicle 1 including a carrier and a load 15 according to an embodiment of the present invention. Alternatively, the load 15 may be mounted on the drone 1 without a carrier. The drone 1 can include a body 10, a power mechanism 12, a sensing system 13, and a transceiver 14. The power mechanism 12 can include one or more of a rotor (propeller), a blade, an engine, a motor, a wheel set, a shaft, a magnet, or a nozzle. The drone 1 may include one, two, three, four or more power mechanisms. The power mechanisms can be of the same type. Alternatively, the one or more power mechanisms can be different types of power mechanisms. In some embodiments, the power mechanism 12 can cause the drone 1 to take off vertically from a surface or vertically to a surface without requiring the drone to perform any horizontal movement (eg, no Need to slide on the runway). Alternatively, the drone 1 can be used to operate to cause the drone 1 to hover over a specified position and orientation.

For example, the drone 1 can include a plurality of horizontally-oriented rotors that provide lift and thrust for the drone. The plurality of horizontally-oriented rotors can be actuated to provide vertical takeoff, vertical landing, hovering capability to the drone 1 . In some embodiments, one or more horizontally-oriented rotors can be rotated clockwise while one or more horizontal rotors are rotatable counterclockwise. For example, the number of rotors that rotate clockwise can be equal to the number of rotors that rotate counterclockwise. The rotational speed of each horizontal steering rotor can be varied independently to control the lifting force and/or thrust generated by the rotor to adjust the spatial orientation, velocity, and/or acceleration of the drone 1 (eg, relative to three-dimensional translation) Degree of freedom and three-dimensional rotational freedom).

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

The transceiver 14 can communicate with a terminal 17 having a transceiver 14 over a communication network 16. In some embodiments, the communication includes two-way communication, and the terminal 17 provides control instructions to one or more of the drone 1, carrier, and load 15, from the drone 1, carrier, And receiving one or more of the loads 15 (eg, location and/or movement information of the drone, carrier or payload; the load-sensing data, such as load camera-sensed image data). In some cases, control commands from the terminal may include relative position, movement, actuation, or control of the drone, carrier, and/or load. For example, the control command may change the position and/or direction of the drone (eg, by controlling the power mechanism 12) or cause the load 15 to move relative to the drone 1 (eg, by control) The carrier). Control commands from the terminal 17 can control the load 15, such as controlling the operation of a camera or other image capture device (eg, acquiring a still or moving image, zooming in or zooming out the lens, turning it on or off, switching image modes, changing Image resolution, focus adjustment, change depth of field, change exposure time, change perspective or field of view). In some cases, communication information from the drone 1, carrier, and/or load 15 may include information from one or more sensors (eg, from sensing system 13 or load 15). The communication may include information sensed by one or more different types of sensors (eg, a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor). The information may be information about the orientation (eg, position, direction), movement or acceleration of the drone, carrier, and/or load, nearby obstacle information, and the like. The load-derived information may include the load-sensed data or the sensed state of the load. The control commands provided and transmitted by the terminal 17 can be used to control the status of one or more of the drone 1, carrier or load 15. Alternatively or in combination, the carrier and load 15 may each include a transceiver 14 in communication with the terminal 17, such that the terminal 17 can be independently associated with the drone 1, carrier, and The load 15 is for communication and control.

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

The sensing module 1001 can employ various types of sensors that can collect information about the drone in a variety of different manners. A variety of different types of sensors can sense different types of signals or signals from different sources. For example, the sensor may include an inertial sensor, a GPS sensor, a proximity sensor (eg, a laser sensor), or a visual/image sensor (eg, a camera). The sensing module 1001 is operatively coupled to a processing unit 1002 that includes a plurality of processors. In some embodiments, the sensing module 1001 is operatively coupled to a transmission module 1006 (eg, a Wi-Fi image transmission module), and the transmission module can be used to directly transmit sensing data to a suitable external device. Or system. For example, the transmission module 1006 can be used to transmit images sensed by the camera of the sensing module 1001 to a remote terminal.

The processing unit 1002 can include one or more processors, such as a programmable processor (eg, a central processing unit (CPU). The processing unit 1002 is operatively coupled to a non-transitory computer readable medium 1003. The non-transitory computer readable medium 1003 can store logic, code, and/or program instructions of one or more steps executable by the processing unit 1002. The non-transitory computer readable medium can include One or more memory cells (eg, removable media or external memory such as an SD card or random access memory (RAM)). In some embodiments, data from the sensing module 1001 can be directly transferred to and Stored in a storage unit of the non-transitory computer readable medium 1003. The storage unit of the non-transitory computer readable medium 1003 can store logic, code, and/or a file executable by the processing unit 1002 Program instructions for the method of any suitable embodiment. For example, the processing unit 1002 can be configured to execute instructions such that one or more processors of the processing unit 1002 analyze the sensing. Sensing data generated by the block. The storage unit may store sensed data of the sensing module to be analyzed by the processing unit 1002. In some embodiments, the non-transitory computer readable medium 1003 The storage unit is operative to store processing results generated by the processing unit 1002.

In some embodiments, the processing unit 1002 can be used to connect to a control module 1004 for controlling the status of the drone. For example, the control module 1004 can be configured to control the power mechanism of the drone to adjust the orientation, velocity, and/or acceleration of the six-dimensional degrees of freedom of the moving object. Alternatively or in combination, the control module 1004 can control one or more of the states of the carrier, load, or sensing module.

The processing unit 1002 is operatively coupled to a communication module 1005 for transmitting and/or receiving from one or more external devices (eg, a terminal, display device, or other remote controller) The data. Any suitable means of communication may be employed, such as wired communication or wireless communication. For example, the communication module 1005 can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, radio frequency, WiFi, peer-to-peer (P2P) networks, telecommunications networks, cloud communications, and other similar communication networks. Alternatively, a repeater station such as a tower, satellite or mobile workstation can be employed. Wireless communication can be distance-based or distance-independent. In some embodiments, the communication needs to be visible or not. The communication module 1005 can transmit and/or receive the sensing data sensed by the sensing system, the processing result generated by the processing unit 1002, predetermined control data, user instructions from a terminal or a remote controller, and the like. One or more of them.

The components of the system 100 can be arranged in any form. For example, one or more components of the system 100 can be located on the drone, carrier, load, terminal, sensing system, or an additional external device in communication with one or more of the above. Moreover, although illustrated in FIG. 2 as a single processing unit 1002 and a single non-transitory computer readable medium 1003, those skilled in the art will appreciate that this is not intended to be limiting, and that the system 100 may include multiple A processor unit and/or a non-transitory computer readable medium. In some embodiments, one or more of the plurality of processor units and/or non-transitory computer readable medium can be located at different locations, such as at a mobile device, carrier, load, terminal, sensing module And an additional external device in communication with one or more of the above, or a suitable combination of the above. For example, any processing and/or storage functions performed by the system 100 can occur at one or more of the locations mentioned above.

Please refer to FIG. 3, which is a schematic diagram of a sensor for setting a drone of the present invention. The drone 1 includes an interference area 102, which means that the sensor provided in the area may be affected or interfered by the drone component. The influence or interference may include visual or noise interference. For example, the components of the arm, the fuselage, the rotor, the landing frame, the rotor guard, and the like of the drone 1 interfere with the field of view of the obstacle avoidance camera, the noise generated by the rotation of the rotor or/and the airflow interference, and the electromagnetic wave generated by the power motor. Interference, etc. The periphery of the interference region 102 includes a non-interference region 104, and the sensor 106 can be disposed in the non-interference region 104 to be protected from interference and interference from the drone components. Wherein the non-interfering area may be located at the distal end of the arm, other components of the drone (eg, landing frame, protective case, rotor guard, etc.). The arrangement of the non-interfering regions will be described in further detail in the following embodiments.

Please refer to FIG. 4, which is a schematic diagram of the sensor of the drone of the present invention disposed on the arm. 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 of the arms 22. The interference area is 202, and the sensor 26 is disposed outside the interference area 202. Wherein the sensor is a sensor as described above, and the sensor may include a sensor for obstacle avoidance as described above or a sensor for other purposes, such as a sensor for target tracking or target recognition, etc., the category of the sensor It may include a vision sensor (such as a camera), an ultrasonic wave, a laser, and the like, a distance measuring sensor, a GPS sensor, and the like. The sensors mentioned in the embodiments described below are all the sensors described above, and will not be described again. Specifically, the sensor 26 is disposed at a distal end portion of the arm 22, that is, an end of the arm 22 away from the center portion 20, and faces away from the center portion 20. The rotor 24 is located between the sensor 26 and the fuselage 20.

Referring to FIG. 5 at the same time, the interference region 202 can be determined by the rotating surface of the rotor 24. The rotating surface is the area scanned by the rotor blades when the rotor rotates. Each rotor 24 includes a rotating surface 240 that is configured to accommodate all of the rotating surfaces 240 of the rotor. That is, the sensor 26 is disposed on the arm 22 and outside of the rotating surface 240 of the rotor 24. Thus, when the rotor 24 rotates, the sensor 26 disposed on the arm 22 can be protected from interference by the rotor 24. It will be understood that although each of the rotors 24 shown in the figures is located at substantially the same position on each of the arms, that is, the center of each of the rotors 24 is substantially the same distance from the center of the center portion 20, but The examples are for illustrative purposes only, and the rotors 24 may be disposed at different positions on each of the arms 22, that is, the center of each of the rotors 24 may be different from the center portion 20, in which case each sensor 26 may be provided outside the range of the rotating surface 240 of the rotor 24.

In other embodiments, the interference region 202 may also be determined by a polygon 241 formed by a line connecting a plurality of the centers of the rotors 24. It can be understood that although the polygons shown in the figures are regular polygons, if the center of each rotor 24 is not the same distance from the center portion 20, the polygon is an irregular polygon. The sensor 26 needs to be disposed outside the polygon 241. In some embodiments, the interference region 202 may also include an area determined by the rotating surface 240 and an area determined by the polygon 241. The sensor 26 is disposed outside of the interference region 202.

The sensor 26 is communicatively coupled to a processor (not shown) within the central portion 20 for transmitting the sensed signal to the processor. In some embodiments, the arm 22 can be a hollow structure, and a transmission line between the sensor 26 and the processor is disposed within the hollow structure of the arm 22 between the sensor 26 and the processor. Signal transmission is performed through the transmission line. In other embodiments, the arm 22 can be a non-hollow structure, and the transmission line is disposed outside the arm 22 and coupled to the processor about the outside of the arm 22.

Referring to FIG. 6, a schematic diagram of a sensor of a drone according to an embodiment of the present invention is disposed on a landing frame. The drone 3 includes a center portion 30, a boom 32 extending from the center portion 30, and a rotor 34 disposed on the arm 32. The drone 3 also includes a landing frame 38 that is coupled below the arm 36. The sensor 36 is disposed on the distal end of the arm 32 and/or on the landing frame 38 and faces away from the central portion 30. It can be understood that the sensor 36 can be disposed only on the landing frame or on the arm 32, or both. The number of sensors 36 may be one, two or more, disposed on the distal end of the arm 32 and/or on the landing frame 38 as desired.

The landing frame 38 is disposed outside of the interference zone. Specifically, in the present embodiment, the landing frame 38 is coupled to the arm outside the interference range of the components of the drone (eg, outside the rotating surface of the rotor 34), adjacent to the arm The distal end of 34.

Referring to FIG. 7, a schematic diagram of a sensor of a drone according to another embodiment of the present invention is disposed on a landing frame. The drone 4 includes a center portion 40, a boom 42 extending from the center portion 40, a rotor 44 disposed on the arm, and a landing frame 48 coupled to the center portion 40. The landing frame 48 is rotatably coupled to the center portion 40 by a rotating shaft 49, and is rotatable about the center portion 40 between a landing state and a flying state. Wherein, in the landing state, the landing frame 48 can support the drone 4 on a surface such as a floor, a table top or the like. In the flight state, the landing frame 48 can be folded to facilitate flight in the state shown in Figure 8, in the state shown in Figure 8, the landing frame 48 is substantially parallel to the arm 42 and the sensor 46 is located The components of the drone are outside the range of interference (e.g., outside the plane of rotation of the rotor 44) and are opposite the center portion 40.

Further, the landing frame 48 may include a first bracket 480 rotatably coupled to the center portion 40 and a second bracket 482 disposed on the first bracket 480 near the end thereof. The second bracket 482 is substantially perpendicular to the first bracket 480. When the landing frame 48 is in a folded state, the second bracket 482 is located on a side of the first bracket 480 near the arm 42. And outside the interference range of the rotor 44. The sensor 46 is disposed on the second bracket 482. It can be understood that the second bracket 482 may not be perpendicular to the first bracket 480, and may be at other suitable angles with the first bracket 480, such as 70 degrees, 80 degrees, 100 degrees, etc., which are not right angles. angle.

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

In the above embodiment, the communication connection between the sensor on the landing frame and the processor disposed in the center portion can be routed through the landing frame and the arm. For example, the landing frame may be a partially hollow structure, the arm may be a hollow structure, and a trace between the sensor and the processor passes through a hollow cavity of the landing frame and a hollow of the arm The cavity is routed. In other embodiments, the traces may also be routed around the landing frame and/or the outside of the arm.

Referring to FIG. 9, a schematic diagram of a sensor of a drone according to an embodiment of the present invention is disposed on a propeller cover. The drone 5 includes a center portion 50, a boom 52 extending from the center portion 50, and a rotor 54 disposed on the arm 52. A rotor guard 542 is provided corresponding to each of the rotors 54, and the rotor guard 542 is disposed outside the region of the rotating surface 540 of the rotor. In the present embodiment, the rotor guard 542 is substantially semi-circular and disposed on a side of the rotor 54 away from the central portion 50. The rotor guard 542 is arranged to avoid accidental impact when the rotor is accidentally dropped, such as when the obstacle or person is hit, the rotor is damaged or the rotor is injured. A sensor 56 is disposed on an outer surface of the rotor guard 542 and facing away from the central portion 50.

Referring to FIG. 10, the arm 52 is also provided with a sensor 56 for use together with a sensor 56 disposed outside the rotor guard 542 for sensing an obstacle. In order to prevent the sensor 56 disposed on the arm 52 from being blocked by the rotor guard 542, a sensor 56 disposed on the arm 52 is located on the arm and in a semicircle of the rotor guard 542 Outside the range enclosed by the arc.

Please refer to FIG. 11 , which is a schematic view of a propeller protection cover according to another embodiment of the present invention. A rotor 64 is provided on the arm 62, and the rotor 64 has a rotating surface 640. The rotor guard 642 is generally arcuate (i.e., an arc having a central angle greater than 180 degrees) disposed about a rotational surface 640 of the rotor 64. Preferably, the rotor guard 642 is coaxial with the rotating surface 640 of the rotor 64. A sensor 66 is disposed on the outer surface of the rotor guard 642 that faces away from the rotor 64 and faces away from the rotor 64. Preferably, the end portion of the arm 62 is also provided with a sensor 66, and the sensor 66 on the arm is disposed outside the range enclosed by the arc of the rotor guard 642.

Referring to FIG. 11, a schematic diagram of a sensor of a drone according to another embodiment of the present invention is disposed on a propeller cover. The drone 7 includes a center portion 70, an arm 72 extending from the center portion 70, and a rotor 74 disposed on the arm 72. Each rotor 74 has a rotating surface 740. Corresponding to each of the rotors 74, a rotor guard 742 is disposed. The rotor guard 742 is substantially circular and disposed below the rotor 74. The orthographic projection area of the rotating surface 740 of the rotor 74 on the rotor guard 742 falls on the rotor guard. Preferably, the rotor guard 742 is concentric with the rotational surface 740 of the rotor 74. The radius of the rotor guard 742 is greater than the radius of the rotating surface 740 of the rotor 74. The sensor 76 is disposed on an outer side surface of the rotor guard 742 that faces away from the rotor 74 and the center portion 70 and faces away from the center portion 70.

In the above embodiment, the connecting line between the sensor provided on the rotor guard and the processor disposed in the central portion may be routed through the hollow arm or may be wrapped around the outside of the arm. In other embodiments, the rotor guards may also be in communication with each other, and the sensors disposed on the rotor guards are also communicatively connected by the connections between the rotor guards. In this case, only one of them is required. The sensor is communicatively coupled to the processor through which other sensors can be communicatively coupled to the processor.

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

In the above embodiment, in order not to hinder the sensing range of the sensor (for example, the field of view of the obstacle avoidance camera, the transmission of sound waves or electromagnetic waves, etc.), the sensors are disposed outside the components of the drone (for example, a rotor Outside the protective cover, outside the protective case, outside the landing frame, outside the arm, etc.). In some embodiments, in order to prevent the sensor from receiving damage, a protective cover may be disposed on the sensor to protect the sensor, and the sensing range of the sensor is disposed in a through hole to prevent obstruction. The sensing range of the sensor. As shown in FIG. 13, it is an exemplary sensor cover 860. The sensor cover 860 is substantially curved, and the sensor 86 is disposed on the inner side of the sensor cover 860. The sensor cover 860 may be disposed on an inner side of the rotor cover, and a through hole is formed on the rotor cover corresponding to a sensing range of the sensor 86 to expose the sensor. In this case, the material selection of the sensor cover 860 needs to consider interference that can hinder the rotation of the rotor, such as noise interference. In other embodiments, the sensor cover may be of other shapes as long as the sensor is protected from damage and does not interfere with sensing of the sensor. For example, when disposed on the arm or landing frame, the sensor cover may be an arcuate structure, and the sensor is packaged on an outer side of the arm or landing frame and the sensor cover between. At this time, a through hole may be disposed on the sensor cover corresponding to the sensing range of the sensor to expose the sensor. In other embodiments, the above-mentioned opening through hole may also be covered with a material that does not hinder the sensing of the sensor, such as a glass that can transmit electromagnetic waves or sound waves.

In the embodiments described above, the sensor may be disposed on one of a plurality of components of the drone, which may be an arm, a landing gear, a protective casing, a rotor guard, and the like. The sensor may be one or more, and the position of the sensor may be selected from one component or a combination of components, for example, the sensor may be disposed on the arm and the landing frame at the same time, or both The sensor is disposed on the arm, the landing frame, the rotor guard or the protective case, and the sensor may be disposed only on one of the arm, the landing frame, the protective case, and the rotor guard.

In addition, those skilled in the art can make various other changes and modifications in accordance with the technical concept of the present invention, and all such changes and modifications are within the scope of the claims of the present invention.

Claims (33)

1.  An unmanned aerial vehicle comprising a central portion, a plurality of arms extending from the central portion, each arm being provided with at least one power device, the power device including a rotor and driving the rotor A rotating power motor is characterized in that the drone further comprises a sensor that is located outside the interference range of the components of the drone during its operation.
2.  The drone according to claim 1, wherein the interference of the components of the drone includes at least one of the following:

   Visual impairment caused by the arm, rotor and/or fuselage;

   Noise or/and airflow interference caused by rotor rotation;

   Electromagnetic wave interference generated by the power motor.
3.  The drone of claim 1 wherein said sensor is operative to sense an obstacle in the vicinity of said drone during flight, including a distance sensor, an image sensor, and/or a GPS sensor.
4.  The drone of claim 3 wherein said obstacle comprises a stationary or moving object adjacent said drone.
5.  The drone of claim 1 wherein said sensor is capable of receiving acoustic and/or electromagnetic signals from an environment surrounding said drone.
6.  The drone according to claim 1, wherein said electromagnetic wave signal is selected from one or more of the group consisting of radio waves, microwaves, infrared rays, visible rays, ultraviolet rays, X rays, and gamma rays.
7.  The drone according to claim 1, wherein said rotor has an interference range comprising at least one of the following:

   a range in which the rotating surface of the rotor is determined, wherein the rotating surface is an area where the rotor blade scans when the rotor rotates;

   The power device is a plurality of, and the power motor of the plurality of power devices is a polygonal region formed by vertices.
8.  The drone according to claim 1, wherein said sensor is disposed outside a plane of rotation of said rotor and disposed on a side of said rotor away from said center portion, facing away from said center portion.
9.  The drone according to claim 1, wherein said sensor is disposed at an end of said arm and disposed outside said rotating surface of said rotor, said rotor being located at said sensor and said central portion between.
10.  The drone of claim 1 wherein said drone further comprises a landing gear, said sensor being disposed on said landing frame and located in said flight state of said drone Outside the plane of rotation of the rotor, facing away from the center.
11.  A drone according to claim 10, wherein said landing frame is coupled to said end portion of said arm and below said arm, said landing frame being further away from said center than said rotor unit.
12.  The drone of claim 10 wherein said landing frame is foldable relative to said central portion.
13.  The drone according to claim 12, wherein said landing frame is coupled below said central portion and is rotatable about said central portion between a landing state and a flight state.
14.  The drone according to claim 13, wherein in said flight state, said landing frame is substantially parallel to said arm, and said sensor is located on a side of said rotor away from said central portion.
15.  The drone according to claim 14, wherein in said landing state, said landing frame is capable of supporting said drone on a surface.
16.  The drone according to claim 14, wherein said landing frame comprises a first bracket rotatably coupled below said center portion, and is coupled to said first bracket away from said central portion at one end and The first bracket is at an angle to the second bracket, and the sensor is disposed on the second bracket.
17.  The drone of claim 16 wherein said second bracket is substantially perpendicular to said first bracket.
18.  The drone of claim 1 wherein said drone further comprises a rotor guard, said rotor guard being disposed adjacent said rotor for preventing said rotor from being accidentally impacted.
19.  The drone according to claim 18, wherein said sensor is disposed on said outer side of said rotor guard cover away from said rotor and said central portion and facing away from said central portion.
20.  The drone according to claim 19, wherein said rotor guard is disposed around said rotor and has a substantially semicircular arc shape, and said rotor guard is disposed at a side of said rotor away from said central portion side.
21.  The drone of claim 19 wherein said rotor guard is disposed about said rotor and is generally arcuate.
22.  The drone of claim 19 wherein said rotor guard is disposed below said rotor, and an orthographic projection of said rotor on said rotor guard falls over said rotor guard.
23.  The drone according to claim 18, wherein said sensor is disposed on an outer side surface of said rotor guard and is not obscured by said arm, body or rotor of said drone.
24.  The drone according to claim 18, wherein said sensor is disposed on an inner side surface of said rotor cover, and said sensor is covered by a sensor cover, said sensor cover being capable of isolating said The interference generated by the rotation of the rotor is provided with a through hole on the inner side surface of the rotor guard corresponding to the sensing range of the sensor.
25.  The drone according to claim 1, wherein said drone further comprises a protective casing, said sensor being disposed on said protective casing and outside said interference range of said drone.
26.  The drone according to claim 25, wherein the protective case is an arm protective case, a rotor protective case or a fuselage protective case.
27.  The drone of claim 1 wherein said one or more sensors are disposed on one or more components of said drone, said components including an arm, a landing frame , rotor protection cover, protective cover.
28.  The drone according to claim 1, wherein one or more components of said drone are hollow structures, and a line between said sensor and a processor in said center portion is disposed in said Inside the hollow structure.
29.  The drone of claim 1 wherein a trace between said sensor and a processor within said central portion is disposed outside of an assembly of said drone.
30.  The drone according to claim 1, wherein the sensor is covered by a sensor cover, and the sensor cover is provided with a through hole or the through hole at a sensing range corresponding to the sensor. It is covered with a material that transmits ultrasonic or electromagnetic waves.
31.  An unmanned aerial vehicle includes a central portion, a plurality of arms extending from the central portion, and each of the arms is provided with at least one rotor, wherein the drone includes one or A plurality of sensors disposed on one or more components of the drone, the sensing range of the sensor being undisturbed by components of the drone when the drone is in flight.
32.  The drone according to claim 31, wherein the components of the drone are selected from the group consisting of: an arm, a rotor guard, a landing frame, and a protective casing.
33.  A drone according to claim 31, wherein the interference of the components of the drone includes visual disturbances caused by components of the drone to the sensor, and/or rotation of the rotor The noise and airflow interfere with electromagnetic waves generated by the power unit of the drone.

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