WO2019000199A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2019000199A1
WO2019000199A1 PCT/CN2017/090165 CN2017090165W WO2019000199A1 WO 2019000199 A1 WO2019000199 A1 WO 2019000199A1 CN 2017090165 W CN2017090165 W CN 2017090165W WO 2019000199 A1 WO2019000199 A1 WO 2019000199A1
Authority
WO
WIPO (PCT)
Prior art keywords
circuit board
mounting
drone
measurement unit
inertial measurement
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2017/090165
Other languages
English (en)
French (fr)
Inventor
王伟
冯建刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202111289783.6A priority Critical patent/CN113942646B/zh
Priority to CN201780004880.1A priority patent/CN108513565B/zh
Priority to PCT/CN2017/090165 priority patent/WO2019000199A1/zh
Publication of WO2019000199A1 publication Critical patent/WO2019000199A1/zh
Priority to US16/715,356 priority patent/US10946961B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K1/00—Printed circuits
    • H05K1/18—Printed circuits structurally associated with non-printed electric components
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits
    • H05K3/30—Assembling printed circuits with electric components, e.g. with resistors
    • H05K3/301—Assembling printed circuits with electric components, e.g. with resistors by means of a mounting structure
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10007—Types of components
    • H05K2201/10151—Sensor
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10227—Other objects, e.g. metallic pieces
    • H05K2201/10378—Interposers
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10227—Other objects, e.g. metallic pieces
    • H05K2201/10409—Screws
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10431—Details of mounted components
    • H05K2201/10598—Means for fastening a component, a casing or a heat sink whereby a pressure is exerted on the component towards the PCB
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10431—Details of mounted components
    • H05K2201/10606—Permanent holder for component or auxiliary printed circuits mounted on a printed circuit board [PCB]

Definitions

  • the present invention relates to the field of aircraft, and more particularly to a drone.
  • the inertial measurement unit (IMU, English full name: Inertial measurement unit) is an important device for measuring the attitude of the drone. It needs to be installed relatively firmly on the drone to improve the reliability of the attitude measurement of the drone.
  • the inertial measurement unit of most UAVs is fixed on the inner casing of the UAV through the mounting bracket. It is necessary to separately design another space structure on the inner casing of the fuselage to fix the mounting bracket, thereby fixing the inertial measurement. unit.
  • the internal space of the airframe is basically occupied by a PCB (Printed Circuit Board) of various functional modules, the installation of the inertial measurement unit is also hindered, and the fixed inertial measurement unit is also The method needs to occupy more space, which is not conducive to the miniaturization design of the drone.
  • the invention provides a drone.
  • An unmanned aerial vehicle includes a fuselage and an inertial measurement unit disposed in the fuselage, and further includes a mounting bracket for fixing the inertial measurement unit and fixedly disposed in the fuselage and integrated with various functions a circuit board of the module; wherein the inertial measurement unit is mounted on the circuit board through the mounting bracket.
  • the mounting of the inertial measurement unit is mounted on a circuit board disposed inside the fuselage to realize the fixing of the inertial measurement unit without the need for the inner casing of the fuselage.
  • Design additional space structure to install fixed inertia measurement The installation frame of the element makes the structure inside the fuselage more compact, thereby saving the use space inside the fuselage and facilitating the miniaturization design of the drone.
  • multiple functions are integrated on the same circuit board, which further makes the structure more compact, thereby further saving space, and the drone is further developed toward miniaturization.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing a part of a structure of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic assembly view of a part of a structure of a drone according to an embodiment of the present invention, and discloses a positional relationship between the circuit board and the mounting frame;
  • FIG. 4 is a schematic view showing the assembly of another part of the structure of the unmanned aerial vehicle according to the embodiment of the present invention, and reveals the positional relationship between the circuit board and the mounting portion;
  • Fig. 5 is a perspective view showing the structure of another part of the unmanned aerial vehicle according to the embodiment of the present invention.
  • an embodiment of the present invention provides a drone, which may include a fuselage 1, an inertial measurement unit 2, a mounting bracket 3, and a circuit board 4.
  • the inertial measurement unit 2, the mounting frame 3, and the circuit board 4 are all disposed in the body 1.
  • the body 1 includes a receiving space for accommodating the inertial measurement unit 2.
  • the mounting bracket 3 is for fixing the inertial measurement unit 2, and the mounting bracket 3 is mounted on the circuit board 4, that is, the inertial measurement unit 2 is mounted in the mounting frame 3
  • the mounting frame 3 to which the inertial measurement unit 2 is fixed is directly mounted via the circuit board 4, and it is not necessary to separately provide a space structure for mounting the mounting frame 3 on the inner casing of the body 1, thereby saving the machine.
  • the use of the interior of the body 1 facilitates the miniaturization of the drone, making the drone more compact.
  • the inertial measurement unit 2 can be fixed to the mounting bracket 3 by snapping or pasting.
  • the inertial measurement unit 2 may be fixed to the mounting frame 3 by means of threads or the like.
  • the circuit board 4 is integrated with various functional modules.
  • the functional module can be used to at least control the operational status of the drone.
  • the working state may include flight, return flight, shooting, and the like.
  • the functional module can be used at least to collect data information.
  • the data information includes at least one or more of image data information captured by the photographing device on the drone, location data information of the drone, and power information of the drone, and the data information may further include no remote control. Other data information such as remote control signals sent by the human machine.
  • the functional module can be used to at least control the operational status of the drone and collect data information.
  • the function module may further include other functions for controlling the operation of the drone, and the functions required for the operation of the drone are integrated on one circuit board 4, so that the structure is more compact to effectively reduce the volume of the drone. This makes the drone more compact.
  • the circuit board 4 is fixed in the body 1, so that the circuit board 4 is stably disposed on the drone.
  • the periphery of the circuit board 4 is fixed to the inner wall of the body 1, for example, by snapping or screwing.
  • the inside of the body 1 is provided with an adapter fixed to the inner wall of the body 1, and the circuit board 4 is fixed to the inner wall of the body 1 through the adapter.
  • the mounting of the inertial measurement unit 2 is realized by mounting the mounting bracket 3 for fixing the inertial measurement unit 2 on the circuit board 4 provided inside the fuselage 1 without designing on the inner casing of the fuselage 1.
  • the additional space structure is used to mount the mounting bracket 3 of the fixed inertial measurement unit 2, so that the structure inside the fuselage 1 is more compact, thereby saving the use space inside the fuselage 1, and facilitating the miniaturization design of the drone.
  • a plurality of functions are integrated on the same circuit board 4, which further makes the structure more compact, thereby further saving space, and the drone is further developed toward miniaturization.
  • the inertial measurement unit 2 is mounted on the circuit board 4 in order to enable the inertial measurement unit 2 to detect the attitude of the drone more accurately.
  • the inertial measurement unit 2 is mounted on the side of the circuit board 4 remote from the propeller so that the inertial measurement unit 2 is hung inside the drone.
  • the body 1 includes an upper case (not shown) and a lower case (not shown), and the upper case and the lower case surround the formation of the accommodation space, wherein the inertial measurement unit 2 is located in the Between the circuit board 4 and the lower case.
  • the inertial measurement unit 2 is electrically connected to the circuit board 4, so that the detected UAV attitude data can be transmitted to the circuit board 4, and further processed by the circuit board 4 Continued operation.
  • the inertial measurement unit 2 is electrically connected to the circuit board 4 via the flexible circuit board 4.
  • one end of the flexible circuit board 4 is bonded to the inertial measurement unit 2, and the other end is bonded to the circuit board 4, and is electrically connected to the printed circuit on the circuit board 4.
  • the mounting bracket 3 can be directly fixed to the circuit board 4 by snapping or bonding.
  • the circuit board 4 defines an insertion hole
  • the mounting frame 3 is provided with a protrusion that cooperates with the insertion hole, thereby achieving a fixed connection between the mounting frame 3 and the circuit board 4, so as to
  • the inertial measurement unit 2 is fixed to the circuit board 4. It should be noted that the position where the insertion hole is opened on the circuit board 4 needs to avoid the position of the printed circuit on the circuit board 4, and the printed circuit on the circuit board 4 is prevented from being damaged, so that the circuit board 4 cannot work normally.
  • the circuit board 4 in conjunction with FIG. 3 to FIG. 5 , in order to achieve a fixed connection between the mounting bracket 3 and the circuit board 4 , the circuit board 4 is provided with a mounting portion 5 , and the mounting bracket 3 is connected to the mounting portion 5 . . It should be noted that the position of the mounting portion 5 on the circuit board 4 needs to avoid the position of the printed circuit on the circuit board 4, and the printed circuit on the circuit board 4 is prevented from being damaged, so that the circuit board 4 cannot work normally.
  • the mounting bracket 3 can be fixed to the mounting portion 5 by snapping or bonding.
  • the mounting portion 5 and the mounting bracket 3 are engaged by a concave-convex fit.
  • the drone may further include a fastener 6 through which the mounting bracket 3 passes. 6 is connected to the mounting portion 5.
  • the present embodiment selects the fastener 6 to connect the mounting bracket 3 and the mounting portion 5.
  • the mounting portion 5 can be a nut, and the fastener 6 can be a screw that mates with the nut.
  • the mounting portion 5 and the fastener 6 may also be other interlocking structures.
  • the mounting portion 5 and the fastener 6 are configured to be concave-convex and snap-fitted.
  • the nut in order to position the nut, the nut is conveniently mounted on the circuit board 4.
  • the circuit board 4 is provided with a mounting hole 41 for mounting the nut.
  • the nut is threaded through the mounting hole 41 and soldered to the circuit board 4.
  • the nut is soldered to the circuit board 4 by at least one of reflow soldering, wave soldering, and hand soldering.
  • the nut is made of other metal materials made of copper or copper plated on the surface.
  • the nut may also be made of other materials having a copper layer on the surface.
  • the core of the nut is made of plastic, and the outer surface of the core is covered with a copper layer.
  • the copper layer can be connected to the core by bonding.
  • a bond layer may be provided at the junction of the nut and the mounting hole 41.
  • the nut is a plate nut that includes a plug portion 51 and a stop portion 52.
  • the stopping portion 52 covers the mounting hole 41 to restrict the movement of the nut relative to the insertion direction, thereby facilitating the mounting of the nut.
  • the insertion direction is a direction in which the insertion portion 51 is inserted into the mounting hole 41.
  • the number of nuts can be set as needed.
  • at least two of the nuts connect the mounting bracket 3 to the circuit board 4 at at least two positions, thereby ensuring that the inertial measurement unit 2 can be stably fixed in the circuit.
  • the measurement caused by the shaking of the inertial measurement unit 2 during the flight of the drone is prevented from being inaccurate.
  • the nuts are three and are distributed on the circuit board 4 in a triangular shape, and the structure is simple, and the inertial measurement unit 2 can be relatively firmly fixed on the circuit board 4.
  • the mounting bracket 3 is provided with a positioning member 7 for cooperating with the mounting portion 5 for positioning the mounting bracket 3 to the circuit board 4, thereby facilitating installation quickly and easily.
  • the frame 3 is fixed to the circuit board 4.
  • the positioning member 7 may include a through hole for arranging the mounting portion 5 to position the mounting bracket 3 to the circuit board 4.
  • the number of the positioning members 7 is the same as the number of the mounting portions 5 and corresponds one-to-one.
  • the process of fixing the mounting frame 3 and the circuit board 4 is: aligning the positioning member 7 and the corresponding mounting portion 5 such that each positioning member 7 respectively passes through the mounting portion 5 corresponding thereto, and then the fastener 6 is used.
  • the positioning members 7 that cooperate with each other are locked with the mounting portion 5. It can be seen that after the positioning member 7 is positioned to the corresponding mounting portion 5, the positioning member 7 can limit the mounting portion 5 corresponding thereto, so that the mounting bracket 3 and the mounting portion 5 can only pass through the mounting portion 7 along the positioning portion 7 The direction of 5 moves, but it cannot move in other directions.
  • the fastener 6 is used to lock the positioning member 7 and the mounting portion 5, so that the mounting bracket 3 and the mounting portion 5 are prevented from moving in the direction in which the positioning member 7 passes through the mounting portion 5, and the mounting bracket 3 and the mounting portion 5 are realized.
  • the lock is fixed to fix the mount 3 to the circuit board 4.
  • the positioning member 7 is integrally formed with the mounting frame 3, and has a simple structure and strong stability. In other embodiments, the positioning member 7 is a separate component of the mounting bracket 3. The positioning member 7 can be fixed to the mounting frame 3 by means of snapping, threading or the like.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)
  • Combinations Of Printed Boards (AREA)
  • Toys (AREA)
  • Mounting Of Printed Circuit Boards And The Like (AREA)
  • Structure Of Printed Boards (AREA)

Abstract

一种无人机，包括机身(1)和设于所述机身内的惯性测量单元(2)，还包括用于固定所述惯性测量单元的安装架(3)以及固定设于所述机身内且集成有多种功能模块的电路板(4)；其中，所述惯性测量单元通过所述安装架安装在所述电路板上。通过将用于固定惯性测量单元的安装架安装在设于机身内部的电路板上，实现惯性测量单元的固定，无需在机身内壳上设计另外的空间结构来安装固定惯性测量单元的安装架，使得机身内部的结构更加紧凑，从而节省机身内部的使用空间，有利于无人机的小型化设计。同时，将多种功能集成在同一电路板上，进一步使得结构更加紧凑。

Description

无人机 技术领域
本发明涉及飞行器领域，尤其涉及一种无人机。
背景技术
惯性测量单元(IMU，英文全称：Inertial measurement unit)是测量无人机姿态的重要器件，需要较为牢固地安装在无人机上以提高无人机姿态测量的可靠性。
目前，大部分无人机的惯性测量单元是通过安装架固定在无人机的机身内壳上的，需要在机身内壳上单独设计另外的空间结构来固定安装架，从而固定惯性测量单元。然而，由于机身内部的使用空间基本被各种功能模块的PCB(Printed Circuit Board，印制电路板)所占据，对惯性测量单元的安装也形成一定的阻碍，也使得上述固定惯性测量单元的方式需要占据较多的空间，不利于无人机的小型化设计。
发明内容
本发明提供一种无人机。
一种无人机，包括机身和设于所述机身内的惯性测量单元，还包括用于固定所述惯性测量单元的安装架以及固定设于所述机身内且集成有多种功能模块的电路板；其中，所述惯性测量单元通过所述安装架安装在所述电路板上。
由以上本发明实施例提供的技术方案可见，本发明通过将用于固定惯性测量单元的安装架安装在设于机身内部的电路板上，实现惯性测量单元的固定，无需在机身内壳上设计另外的空间结构来安装固定惯性测量单 元的安装架，使得机身内部的结构更加紧凑，从而节省机身内部的使用空间，有利于无人机的小型化设计。同时，将多种功能集成在同一电路板上，进一步使得结构更加紧凑，从而进一步节省空间，使得无人机进一步朝着小型化方向发展。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例中无人机的结构示意图；
图2是本发明实施例中无人机部分结构的立体示意图；
图3是本发明实施例中无人机部分结构的组装示意图，揭示了电路板和安装架之间的位置关系；
图4是本发明实施例中无人机另一部分结构的组装示意图，揭示了电路板和安装部之间的位置关系；
图5是本发明实施例中无人机另一部分结构的立体示意图。
附图标记：
1：机身；
2：惯性测量单元；
3：安装架；
4：电路板；41：安装孔；
5：安装部；51：插接部；52：止挡部；
6：紧固件；
7：定位件。
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。
下面结合附图，对本发明的无人机进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1，本发明实施例提供一种无人机，所述无人机可包括机身1、惯性测量单元2、安装架3以及电路板4。其中，所述惯性测量单元2、安装架3以及电路板4均设于所述机身1内，具体地，所述机身1包括一容纳空间，用以容纳所述惯性测量单元2、安装架3以及电路板4。
参见图2，所述安装架3用于固定所述惯性测量单元2，并且所述安装架3安装在所述电路板4上，即所述惯性测量单元2通过所述安装架3安装在所述电路板4上，通过电路板4直接安装固定有惯性测量单元2的安装架3，无需在单独在机身1内壳上另外设置用于安装所述安装架3的空间结构，从而节省机身1内部的使用空间，有利于无人机的小型化设计，使得无人机使得结构更加紧凑。在一些例子中，所述惯性测量单元2可通过卡接或者粘贴的方式固定在所述安装架3上。在其他一些例子中，所述惯性测量单元2可通过螺纹等方式固定在所述安装架3上。
为进一步节省机身1内部的使用空间，为无人机的进一步小型化提供可能，所述电路板4集成有多种功能模块。在一些例子中，所述功能模块至少能够用于控制无人机的工作状态。其中，所述工作状态可包括飞行、返航、拍摄等。在一些例子中，所述功能模块至少能够用于采集数据信息。 其中，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种，所述数据信息还可包括遥控无人机的设备发送的遥控信号等其他数据信息。在一些例子中，所述功能模块至少能够用于控制无人机的工作状态和采集数据信息。当然，所述功能模块还可包括其他控制无人机运行的功能，通过将无人机工作所需的功能均集成至一块电路板4上，使得结构更加紧凑以有效减小无人机的体积，使得无人机更加小型化。
另外，所述电路板4是固定在机身1内的，从而使得电路板4稳定设于无人机上。在一些例子中，所述电路板4的四周与机身1的内壁固定，例如，通过卡接或螺纹连接当方式。在一些例子中，机身1内部设有固定在机身1内壁的转接件，所述电路板4通过转接件与机身1内壁相固定。
本发明实施例中，通过将用于固定惯性测量单元2的安装架3安装在设于机身1内部的电路板4上，实现惯性测量单元2的固定，无需在机身1内壳上设计另外的空间结构来安装固定惯性测量单元2的安装架3，使得机身1内部的结构更加紧凑，从而节省机身1内部的使用空间，有利于无人机的小型化设计。同时，将多种功能集成在同一电路板4上，进一步使得结构更加紧凑，从而进一步节省空间，使得无人机进一步朝着小型化方向发展。
为使得惯性测量单元2能够较为准确地检测到无人机的姿态，本实施例中，所述惯性测量单元2挂设在所述电路板4上。以无人机螺旋桨作为参照，惯性测量单元2安装在电路板4上远离所述螺旋桨的一侧，从而使得惯性测量单元2挂设在无人机的内部。本实施例中，机身1包括上壳(图中未显示)和下壳(图中未标出)，上壳和下壳包围形成所述容纳空间，其中所述惯性测量单元2位于所述电路板4和所述下壳之间。
另外，所述惯性测量单元2与所述电路板4电连接，从而可将其检测的无人机姿态数据传输至电路板4上，由电路板4做进一步地处理后后 续的操作。可选地，所述惯性测量单元2通过柔性电路板4实现与电路板4的电连接。在本实施方式中，所述柔性电路板4一端粘接于所述惯性测量单元2，另一端粘接于所述电路板4上，并与所述电路板4上的印制电路电连接。
在一些实施例中，所述安装架3可通过卡接或者粘接的方式直接固定在所述电路板4上。例如，所述电路板4上开设插接孔，所述安装架3上设有与所述插接孔相配合的凸起，从而实现安装架3与电路板4的固定连接，以将所述惯性测量单元2固定至所述电路板4上。需要说明的是，插接孔开设在电路板4上的位置需要避开电路板4上印制电路的位置，防止电路板4上的印制电路损坏而导致电路板4不能正常工作。
在一些实施例中，结合图3至图5，为实现安装架3与电路板4的固定连接，所述电路板4上设有安装部5，所述安装架3与所述安装部5相连。需要说明的是，安装部5设于电路板4上的位置需要避开电路板4上的印制电路的位置，防止电路板4上的印制电路损坏而导致电路板4不能正常工作。
在一些例子中，所述安装架3可通过卡接或者粘接的方式固定在所述安装部5上。例如，所述安装部5与所述安装架3通过凹凸配合的方式实现卡接连接。在一些例子中，参见图3，为使得安装架3能够更为稳定地固定在安装部5上，所述无人机还可包括紧固件6，所述安装架3通过所述紧固件6与所述安装部5相连。为了保障安装架3与安装部5之间的连接更加牢固，本实施例选择紧固件6方式连接安装架3与安装部5。
可选地，所述安装部5可为螺母，所述紧固件6可为与所述螺母配合的螺丝。当然，在其他一些实施例中，所述安装部5、紧固件6也可为其它相互配合锁定的结构。例如，所述安装部5、紧固件6为凹凸配合卡接连接的结构。
参见图4，为定位所述螺母，便于将所述螺母安装在电路板4上，所述电路板4上设有安装孔41，用以安装所述螺母。在一些例子中，为进一步将螺母紧固在电路板4上，所述螺母穿设所述安装孔41后焊接在所述电路板4上。可选地，所述螺母通过回流焊、波峰焊和手工焊中的至少一种焊接在所述电路板4上。而为方便所述螺母焊接固定在所述电路板4上，所述螺母由铜材质制作或表面镀铜的其他金属材质制作而成。当然，所述螺母也可选择表面设有铜层的其他材质例制作，例如螺母的芯部为塑料材质，芯部的外表面套设有铜层。其中，铜层可通过粘接的方式与芯部相连。在一些例子中，为进一步将螺母紧固在电路板4上，所述螺母和所述安装孔41的连接处可设有粘接层。
在一些例子中，结合图3和图4，所述螺母为板贴螺母，其包括插接部51和止挡部52。其中，所述插接部51插入所述安装孔41后，所述止挡部52覆盖所述安装孔41以限制所述螺母相对插入方向运动，从而便于所述螺母的安装。其中所述插入方向为所述插接部51插入所述安装孔41的方向。
本实施例中，螺母的数量可根据需要设定。为将安装架3更牢固地固定在电路板4上，所述螺母至少两个，在至少两个位置处将安装架3与电路板4相连，从而保证惯性测量单元2能够稳定地固定在电路板4上，防止无人机飞行过程中惯性测量单元2晃动导致的测量不准确。在一具体的实现方式中，所述螺母为三个，呈三角形分布于所述电路板4上，结构简单，且能够保证惯性测量单元2较为牢固地固定在电路板4上。
结合图2和图3，所述安装架3上设有与所述安装部5配合的定位件7，用于将所述安装架3定位至所述电路板4，从而方便、快速地将安装架3固定至电路板4上。在一些例子中，所述定位件7可包括穿设孔，用于套设所述安装部5以将所述安装架3定位至所述电路板4。本实施例中，定位件7的数量与安装部5的数量相同且一一对应。
其中，将安装架3与电路板4固定的过程为：将定位件7和对应的安装部5对准以使得各定位件7分别穿设与之对应的安装部5，再采用紧固件6将相互配合的定位件7与安装部5锁紧。可见，定位件7定位至对应的安装部5后，定位件7能够对与之对应配合的安装部5进行限位，使得安装架3和安装部5仅可沿着定位件7穿设安装部5的方向移动，而在其他方向无法移动。进一步通过紧固件6来锁紧定位件7与安装部5，即可防止安装架3和安装部5在定位件7穿设安装部5的方向移动，实现了安装架3和安装部5的锁定，从而将安装架3固定至电路板4上。
在一些实施例中，所述定位件7与所述安装架3一体成型，结构简单、稳定性强。在其他一些实施例中，所述定位件7是独立于所述安装架3的部件。定位件7可通过卡接、螺纹等连接方式固定在所述安装架3上的。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的无人机进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (17)

  1. 一种无人机，包括机身和设于所述机身内的惯性测量单元，其特征在于，还包括用于固定所述惯性测量单元的安装架以及固定设于所述机身内且集成有多种功能模块的电路板；
    其中，所述惯性测量单元通过所述安装架安装在所述电路板上。
  2. 根据权利要求1所述的无人机，其特征在于，所述电路板上设有安装部，所述安装架与所述安装部相连。
  3. 根据权利要求2所述的无人机，其特征在于，还包括紧固件，所述安装架通过所述紧固件与所述安装部相连。
  4. 根据权利要求3所述的无人机，其特征在于，所述安装部为螺母，所述紧固件为与所述螺母配合的螺丝。
  5. 根据权利要求4所述的无人机，其特征在于，所述电路板上设有安装孔，用以安装所述螺母。
  6. 根据权利要求5所述的无人机，其特征在于，所述螺母穿设所述安装孔后焊接在所述电路板上。
  7. 根据权利要求6所述的无人机，其特征在于，所述螺母通过回流焊、波峰焊和手工焊中的至少一种焊接在所述电路板上。
  8. 根据权利要求4至7任一项所述的无人机，其特征在于，所述螺母为板贴螺母，包括插接部和止挡部；
    所述插接部插入所述安装孔后，所述止挡部覆盖所述安装孔以限制所述螺母相对插入方向运动，其中所述插入方向为所述插接部插入所述安装孔的方向。
  9. 根据权利要求4至7任一项所述的无人机，其特征在于，所述螺母由铜材质制作或表面镀铜的其他金属材质制作而成。
  10. 根据权利要求4至7任一项所述的无人机，其特征在于，所述螺母至少两个。
  11. 根据权利要求10所述的无人机，其特征在于，所述螺母为三个，呈三角形分布于所述电路板上。
  12. 根据权利要求2所述的无人机，其特征在于，所述安装架上设有与所述安装部配合的定位件，用于将所述安装架定位至所述电路板。
  13. 根据权利要求12所述的无人机，其特征在于，所述定位件包括穿设孔，用于套设所述安装部以将所述安装架定位至所述电路板。
  14. 根据权利要求12所述的无人机，其特征在于，所述定位件与所述安装架一体成型。
  15. 根据权利要求1所述的无人机，其特征在于，所述功能模块至少能够用于控制无人机的工作状态和/或采集数据信息。
  16. 根据权利要求15所述的无人机，其特征在于，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种。
  17. 根据权利要求1所述的无人机，其特征在于，所述惯性测量单元挂设在所述电路板上，且所述惯性测量单元与所述电路板电连接。
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