WO2019000397A1 - 无人飞行器及无人飞行器的组装方法 - Google Patents

无人飞行器及无人飞行器的组装方法 Download PDF

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Publication number
WO2019000397A1
WO2019000397A1 PCT/CN2017/091104 CN2017091104W WO2019000397A1 WO 2019000397 A1 WO2019000397 A1 WO 2019000397A1 CN 2017091104 W CN2017091104 W CN 2017091104W WO 2019000397 A1 WO2019000397 A1 WO 2019000397A1
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WO
WIPO (PCT)
Prior art keywords
barometer
rotor assembly
disposed
aerial vehicle
unmanned aerial
Prior art date
Application number
PCT/CN2017/091104
Other languages
English (en)
French (fr)
Inventor
冯建刚
唐尹
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 CN201780069519.7A priority Critical patent/CN109923040A/zh
Priority to PCT/CN2017/091104 priority patent/WO2019000397A1/zh
Publication of WO2019000397A1 publication Critical patent/WO2019000397A1/zh
Priority to US16/704,531 priority patent/US20200108929A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • 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
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/04—Arrangement or disposition on aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/005—Measuring inclination, e.g. by clinometers, by levels specially adapted for use in aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
    • G01L19/14—Housings
    • G01L19/147—Details about the mounting of the sensor to support or covering means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters
    • 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

Definitions

  • the invention relates to a method for assembling an unmanned aerial vehicle and an unmanned aerial vehicle.
  • the height measurement of an unmanned aerial vehicle is usually measured using a barometer.
  • the height of the UAV is determined by measuring the barometric pressure information of the altitude at which the UAV is located.
  • a barometer is usually disposed inside the fuselage. Because the rotation of the propeller causes the airflow inside the fuselage to be turbulent during the flight of the unmanned aerial vehicle, this situation will seriously affect the accuracy of the barometer data measurement. Inaccurate data measurement of the barometer can cause unstable problems such as high altitude, high height, and high drift of the unmanned aerial vehicle.
  • An unmanned aerial vehicle comprising a fuselage, a rotor assembly and a barometer, the rotor assembly being disposed on the fuselage, the barometer being disposed outside the fuselage and spaced apart from the rotor assembly by a predetermined distance to The turbulent airflow caused by the operation of the rotor assembly is prevented from affecting the working accuracy of the barometer.
  • An assembly method of an unmanned aerial vehicle includes the steps of: providing a fuselage, the fuselage being a main body portion of the unmanned aerial vehicle; providing a rotor assembly, mounting the rotor assembly on the fuselage; providing air pressure
  • the air pressure gauge is coupled to the airframe and spaced apart from the rotor assembly by a predetermined distance to prevent turbulent airflow caused by operation of the rotor assembly from affecting the operational accuracy of the air pressure gauge.
  • An unmanned aerial vehicle provided by an embodiment of the present invention mitigates the influence of the rotor assembly on the barometer by placing the barometer outside the fuselage and away from the rotor assembly.
  • the air filter is surrounded by the outside of the barometer to further reduce the influence of the air flow on the barometer, thereby effectively improving the working accuracy of the barometer of the UAV.
  • FIG. 1 is a schematic view showing a partial assembly structure of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic exploded view of the extension of the UAV of FIG. 1.
  • FIG. 3 is a schematic view showing the assembled structure of the extension member of FIG. 2.
  • FIG. 4 is a schematic view showing the electrical connection structure in the unmanned aerial vehicle of FIG. 1.
  • FIG. 5 is a flow chart showing the assembly steps of the UAV of Figure 1.
  • Unmanned aerial vehicle 100 body 10 Extension 30 Connection 31 Connection body 311 Installation department 3111 Connection cover 312 Support 32 Support body 321 Support cover 322 Containment department 33 First housing department 331 Second containment department 332 Air port 333 Barometer 40 Air filter 50 Inertial measurement unit 60 Flight controller 70 Electronic governor 80
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • 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.
  • a barometer is usually disposed inside the fuselage. Because the rotation of the propeller causes the airflow inside the fuselage to be disordered during the flight of the unmanned aerial vehicle, this situation will seriously affect the working accuracy of the barometer data measurement. The low accuracy of the barometer can cause unstable problems such as high altitude, high altitude and high drift.
  • the current approach is to find a relatively balanced position of the airflow inside the fuselage of the UAV. The inventors made major improvements in the placement of the barometer and in minimizing the effects of airflow.
  • the air pressure gauge provided by the embodiment of the invention is disposed on the extension connected to the fuselage of the UAV, and is spaced apart from the propeller by a predetermined distance to reduce the influence of the airflow generated by the rotation of the propeller on the barometer.
  • an unmanned aerial vehicle provided with a barometer outside the fuselage will be described in detail by way of a specific embodiment.
  • FIG. 1 is a schematic view showing a partially assembled structure of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an electrical connection structure in the unmanned aerial vehicle of FIG.
  • the UAV 100 includes a fuselage 10, a rotor assembly (not shown), an extension 30, a barometer 40, an air filter 50, an inertial measurement unit 60, a flight controller 70, and an electronic governor 80.
  • the rotor assembly is disposed on a top of the fuselage 10.
  • the extension member 30 is disposed at the bottom of the body 10.
  • the air pressure gauge 40 is disposed within the extension member 30.
  • the electronic governor 80 and the inertial measurement unit 60 are disposed within the fuselage 10 and are both electrically coupled to the flight controller 70.
  • the airframe 10 is a main body portion of the unmanned aerial vehicle 100.
  • the airframe 10 has a receiving space, and the receiving space of the airframe 10 is used to receive most of the electronic components of the unmanned aerial vehicle 100.
  • the rotor assembly includes a motor (not shown) and a propeller (not shown) coupled to the motor.
  • the motor is used to drive the propeller to rotate.
  • the motor is electrically coupled to the electronic governor 80, and the operating state of the motor is controlled by the electronic governor 80.
  • the propeller may be a straight paddle or a folding paddle, which is not limited in the present invention.
  • the extension member 30 is coupled to the body 10. Specifically, the extension member 30 is disposed at the bottom of the body 10 and extends away from the body 10 . In other words, one end of the extension member 30 is coupled to the body 10 and the other end extends away from the rotor assembly. The extension member 30 and the rotor assembly are respectively disposed at the bottom and the top of the body 10. In the present embodiment, the number of the extension members 30 is two, and one end of each of the two extension members 30 is connected to the body 10, and the other end extends in a direction away from the rotor assembly. Further, in the present embodiment, the extension member 30 is the landing gear of the UAV 100, and the landing gear is used to provide the UAV 100 with support for landing or parking.
  • the extension 30 includes a connecting portion 31 and a support portion 32.
  • the connecting portion 31 is connected to the support portion 32.
  • the connecting portion 31 is connected to the bottom of the fuselage 10, that is, the side facing away from the rotor assembly, and the other end thereof extends away from the rotor assembly.
  • the connecting portion 31 includes a connecting portion main body 311 and a connecting portion cover plate 312.
  • the connecting portion cover 312 is disposed on the connecting portion main body 311 and is combined with the connecting portion main body 311 to form the connecting portion 31.
  • the connecting portion main body 311 has a receiving space, and the receiving space can accommodate an electronic component such as a barometer or the like.
  • One end of the connecting portion main body 311 is connected to the body 10, and the other end is connected to the supporting portion 32.
  • One end of the connecting portion main body 311 includes a mounting portion 3111 that is connected to the body 10.
  • the mounting portion 3111 can be connected to the body 10 by means of a rivet connection, a snap connection, an adhesive connection, or the like.
  • the connecting portion cover 312 is covered by the connecting portion main body 311, and a connecting portion 31 having a receiving space is formed in combination with the connecting portion main body 311.
  • the number of the connecting portions 31 is two. That is, each of the extension members 30 includes two of the connecting portions 31.
  • the two connecting portions 31 have the same structure and are disposed at a certain distance. One ends of the two connecting portions 31 away from the rotor assembly are respectively connected to both ends of the support portion 32.
  • the support portion 32 is coupled to an end of the connecting portion 31 away from the rotor assembly. Specifically, two ends of the support portion 32 are respectively connected to one ends of the two connecting portions 31 away from the rotor assembly. And a central portion of the support portion 32 forms a receiving portion 33 having a receiving space. It can be understood that, in other embodiments, the number of the connecting portions 31 may be one, and the supporting portion 32 is also connected to an end of the connecting portion 31 away from the rotor assembly, which is described in the present invention. The number of the connecting portions 31 is not limited.
  • the support portion 32 includes a support portion main body 321 and a support portion cover plate 322 , and the support portion main body 321 and the support portion cover plate 322 are integrally connected to form the support portion 32 .
  • the support body 321 can be fixed to the support plate cover 322 by rivet connection, snap connection or adhesive connection. Both ends of the support main body 321 are respectively connected to one ends of the two connection main bodies 311 away from the rotor assembly.
  • the support portion main body 321 and the two joint portions 311 are integrally formed.
  • the support cover plate 322 Two ends of the support cover plate 322 are respectively connected to one ends of the two connection cover plates 312 away from the rotor assembly.
  • the support portion cover 322 and the two support portion cover plates 322 are integrally formed. It can be understood that the connecting portion cover 312 can also be omitted, and the barometer 40 can be sealed by the supporting portion cover plate 322.
  • the accommodating portion 33 is formed at a middle portion of the support portion 32 of one of the extension members 30, and the accommodating portion 33 is for accommodating the barometer 40. It can be understood that the receiving portion 33 is the farthest from the rotor assembly on the extension member 30.
  • the receiving portion 33 includes a first receiving portion 331 and a second receiving portion 332 . The first receiving portion 331 and the second receiving portion 332 are combined to form the receiving portion 33.
  • the accommodating portion 33 is provided with a gas port 333, so that the inside of the accommodating portion 33 communicates with the external environment, so that the barometer 40 disposed therein can easily measure the external air pressure information.
  • the first receiving portion 331 is formed in a middle portion of the supporting portion main body 321 , and the first receiving portion 331 defines a gas port 333 , and the number of the gas ports is plural.
  • the first housing portion 331 and the support portion main body 321 are integrally formed.
  • the gas port 333 is a strip groove provided in a plurality of arrays. It can be understood that the air port can also be a plurality of structures such as a plurality of strip-shaped grooves arranged in a distributed manner, a plurality of arrays, or a plurality of holes arranged in a distributed manner.
  • the second receiving portion 332 is formed at a middle portion of the support portion cover 322 and is disposed to be engaged with the first receiving portion 331 at a position of the support portion main body 321 . Specifically, the second receiving portion 332 is disposed opposite to the first receiving portion 331 , and the two are correspondingly connected to form the receiving portion 33 .
  • the second accommodating portion 332 is also provided with a gas port 333.
  • the gas port 333 formed in the second accommodating portion 332 is opposite to the gas port 333 formed in the first accommodating portion 331.
  • the second receiving portion 332 and the support portion cover 322 are integrally formed.
  • the number of the barometers 40 is one, the barometer 40 is disposed in the receiving portion 33, and the barometer 40 is wrapped by the air filter 50.
  • the number of the air pressure gauges 40 is two, and the number of the extension members 30 is also two.
  • One of the barometers 40 is also disposed in the accommodating portion 33, and the air filter member 50 is externally surrounded.
  • the other one of the air pressure gauges 40 is disposed in one of the connecting portions 31 of the extension member 30 that does not include the accommodating portion 33, and is specifically disposed in the accommodating space of the connecting portion 31.
  • the other one of the other air pressure gauges 40 can also surround the air filter.
  • the barometer 40 is used to detect barometric pressure data at its location and transmit the detected data to the flight controller 70. It can be understood that in another embodiment of the present invention, the number of the barometers 40 is two.
  • the two barometers 40 may each be the same distance from the rotor assembly or may be different from the distance between the rotor assemblies. The distance may be a vertical distance along the central axis of the UAV 100.
  • the heights of the two air pressure gauges 40 may be the same or different.
  • the air pressure gauges 40 are respectively disposed at the same portions in the support portions 32 of the two extension members 30, and the air ports 333 are opened at the same portion; or, respectively A barometer 40 and an opening port 333 are provided at different portions of the two support portions 32.
  • a barometer 40 and an opening port 333 may be disposed in the two supporting portions 32 as shown in FIG. 2, and the two receiving portions 33 extend to the lower edge of the supporting portion 32, and the barometer 40 is accommodated in the receiving portion.
  • the gas port 333 also extends to the lower edge of the support portion 32, at this time, the heights of the two barometers 40 are the same, and the distance from the rotor assembly on the corresponding side is also the same.
  • the air pressure gauge 40 and the air opening 333 may be disposed in the two supporting portions 32 as shown in FIG. 3, and the receiving portions 33 on the two supporting portions 32 are disposed on the supporting portion 32.
  • the gas port 333 also extends to the upper edge of the support portion 32.
  • the two air pressure gauges 40 can be symmetrically disposed at an intermediate position of the support portion 32 or asymmetrically disposed on the support portion 32 to ensure the heights of the two are the same.
  • the two air pressure gauges 40 may also be disposed on the connecting portion 31 away from the body 10 to ensure that the heights of the two are the same.
  • the pressure gauge 40 and the opening port 333 are provided on one support portion 32 by the manner shown in Fig. 2, and the barometer 40 and the opening port are provided on the other support portion 32 by the manner shown in Fig. 3.
  • 333 that is, a barometer 40 is disposed in the support portion 32, and another barometer 40 is disposed on a side of the support portion 32 adjacent to the body 10.
  • a barometer 40 is disposed on a portion of the connecting portion 31 of one of the extension members 30 away from the body 10, and a port 333 is opened at a corresponding position; and another barometer 40 is disposed at a support portion of the other extension member 30.
  • 32 is as shown in Figure 2 or Figure 3.
  • the two barometers 40 have a predetermined height difference therebetween, and the measured height values can be further corrected by using the height difference between the two and the respective measured height values.
  • the air filter 50 is also housed in the accommodating portion 33, and the air filter 50 is disposed around the barometer 40. Further, the air filter 50 is disposed between the air port and the air pressure gauge 40.
  • the air filter member 50 may be a fleece or a gas permeable foam material such as a sponge or the like.
  • the number of the air filter members 50 is two, and the two air filter members 50 are respectively disposed between the air pressure gauge 40 and the air port 333 of the first receiving portion 331, and the The air pressure gauge 40 is between the air port 333 of the second housing portion 332.
  • the air filter 50 may also be a unitary structure, and the air filter 50 is disposed around the air pressure gauge 40.
  • the air filter 50 can also be other numbers, which is not limited in the present invention.
  • the electronic governor 80 is housed in the body 10 and electrically connected to the motor and the flight controller 70, respectively.
  • the electronic governor 80 receives an electrical signal transmitted from the flight controller 70 and controls an operating state of the motor based on a control signal sent by the flight controller 70 to adjust an operating state of the unmanned aerial vehicle 100.
  • the inertial measurement unit 60 is also housed in the body 10, and the inertial measurement unit 60 is electrically connected to the flight controller 70.
  • the inertial measurement unit 60 is configured to measure a three-axis attitude angle and acceleration of the UAV 100 and transmit the detected information to the flight controller 70.
  • the flight controller 70 is electrically coupled to the barometer 40, the electronic governor 80, and the inertial measurement unit 60, respectively.
  • the flight controller 70 receives data information detected from the barometer 40 and the inertial measurement unit 60, respectively, and analyzes the received information to transmit a control signal to the electronic governor 80.
  • the flight controller 70 controls the operating state of the UAV 100 by controlling the operating state of the electronic governor 80.
  • the method for assembling the UAV 100 includes the following steps:
  • the fuselage 10 is a body portion of the UAV 100 that is used to load most of the electronic components of the UAV.
  • the rotor assembly includes a motor and a propeller.
  • the motor is first mounted on the body 10, and then the propeller is mounted on the motor.
  • a barometer is provided, and the barometer is connected to the airframe 10 and spaced apart from the rotor assembly by a predetermined distance to prevent the turbulent airflow caused by the operation of the rotor assembly from affecting the working accuracy of the barometer .
  • step S2 and the step S3 can also be reversed, and the order of the two can also be used for the assembly of the unmanned aerial vehicle 100, which is not limited by the present invention.
  • the barometer 40 is mounted in the extension member 30. It can be understood that the barometer 40 is disposed at the farthest end of the body 10 from the extension member 30 at this time. Because the extension 30 is coupled to the fuselage 10 and extends away from the rotor assembly. It will be appreciated that the rotor assembly also extends in a direction away from the rotor assembly. It can therefore be determined that the barometer 40 is spaced from the rotor assembly by a certain distance. Undoubtedly, the barometer is of course also spaced apart from the rotor assembly by a certain distance.
  • the number of the air pressure gauges 40 is two, and the two air pressure gauges 40 are respectively mounted in the two extension members 30.
  • the distance between the two barometers 40 and the rotor assembly may be the same or different.
  • the distance between the two barometers and the rotor assembly may be the same or different.
  • One of the barometers 40 is disposed on the extension member 30 furthest from the rotor assembly.
  • one of the barometers 40 is disposed in the receiving portion 33.
  • the accommodating portion 33 is disposed at the farthest point of the extension member 30 from the rotor assembly. Therefore, it can be said that a barometer installed in the accommodating portion 33 is mounted on the extension member 30.
  • the accommodating portion 33 is formed in the middle of the support portion 32 at a position farthest from the rotor assembly on the extension member 30.
  • the extension 30 can be the landing gear of the UAV 100.
  • the UAV 100 also provides a flight controller 70 that is electrically coupled to the barometer 40.
  • the flight controller 70 is electrically connected to the two barometers 40, respectively.
  • the flight controller 70 is capable of calculating the height at which the UAV is located based on the detected data of the two barometers 40.
  • An unmanned aerial vehicle provided by an embodiment of the present invention mitigates the influence of the rotor assembly on the barometer by placing the barometer outside the fuselage and away from the rotor assembly.
  • the air filter is surrounded by the outside of the barometer to further reduce the influence of the air flow on the barometer, thereby effectively improving the working accuracy of the barometer of the UAV.

Abstract

本发明提供一种无人飞行器（100），包括机身（10）、旋翼组件以及气压计（40），所述旋翼组件设置于所述机身（100）上，所述气压计（40）设置于所述机身（100）外并且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计（40）的工作精度。本发明提供的无人飞行器（100）通过将所述气压计（40）设置于机身（10）外，且远离旋翼组件，从而减轻旋翼组件对气压计（40）的影响。另外，在气压计（40）的外部环绕空气过滤件，进一步减小气流对气压计（40）的影响，从而有效提高所述无人飞行器（100）的气压计（40）的工作精度。本发明还提供一种无人飞行器（100）的组装方法。

Description

无人飞行器及无人飞行器的组装方法 技术领域
本发明涉及一种无人飞行器及无人飞行器的组装方法。
背景技术
由于无人飞行器具有体积小、机动灵活等优点，因此其在多个技术领域得到了广泛的应用。
在实际使用过程中，对无人飞行器的高度测量通常使用气压计进行测量。通过测量无人飞行器所处的高度的气压信息进而确定所述无人飞行器的高度。目前的技术方案中通常气压计设置于机身内部。因为在无人飞行器处于飞行过程中，螺旋桨的旋转会引起机身内部的气流紊乱，这种情况会严重影响气压计数据测量的精确性。气压计的数据测量不准确会使无人飞行器产生定高、掉高、漂高等不稳定问题。
发明内容
有鉴于此，有必要提供一种气压计测量精确的无人飞行器以及该无人飞行器的组装方法。
一种无人飞行器，包括机身、旋翼组件以及气压计，所述旋翼组件设置于所述机身上，所述气压计设置于所述机身外并且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计的工作精度。
一种无人飞行器的组装方法，包括步骤：提供机身，所述机身为所述无人飞行器的主体部分；提供旋翼组件，将所述旋翼组件装设于所述机身上；提供气压计，将所述气压计连接于所述机身上，且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计的工作精度。
本发明的实施方式提供的无人飞行器通过将所述气压计设置于机身外，且远离旋翼组件，从而减轻旋翼组件对气压计的影响。另外，在气压计的外部环绕空气过滤件，进一步减小气流对气压计的影响，从而有效提高所述无人飞行器的气压计的工作精度。
 附图说明
图1是本发明实施方式提供的无人飞行器的部分组装结构示意图。
图2是图1中的无人飞行器的延伸件的分解结构示意图。
图3是图2中的延伸件的组装结构示意图。
图4是图1中的无人飞行器中的电连接结构示意图。
图5是图1中的无人飞行器的组装步骤流程图。
主要元件符号说明
无人飞行器 100
机身 10
延伸件 30
连接部 31
连接部主体 311
安装部 3111
连接部盖板 312
支撑部 32
支撑部主体 321
支撑部盖板 322
收容部 33
第一收容部 331
第二收容部 332
气口 333
气压计 40
空气过滤件 50
惯性测量单元 60
飞行控制器 70
电子调速器 80
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。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：
传统的无人飞行器的技术方案中通常气压计设置于机身内部。因为在无人飞行器处于飞行过程中，螺旋桨的旋转会引起机身内部的气流紊乱，这种情况会严重影响气压计数据测量的工作精度。气压计的工作精度不高会使无人飞行器产生定高、掉高、漂高等不稳定问题。目前的方式是在无人飞行器的机身内部寻找气流相对平衡的位置。发明人在气压计的安放位置以及尽量减小气流影响等方面作了重点改进。
本发明实施例提供的用于气压计设置于与无人飞行器的机身连接的延伸件上，并且与所述螺旋桨间隔预定的距离，减小螺旋桨转动产生的气流对气压计的影响。下面，通过具体实施例，对气压计设置于机身外的无人飞行器进行详细说明。
请同时参阅图1和图4，其中，图1是本发明实施方式提供的无人飞行器的部分组装结构示意图；图4是图1中的无人飞行器中的电连接结构示意图。所述无人飞行器100包括机身10、旋翼组件（图未示）、延伸件30、气压计40、空气过滤件50、惯性测量单元60、飞行控制器70和电子调速器80。所述旋翼组件设置于所述机身10的顶部。所述延伸件30设置于所述机身10的底部。所述气压计40设置于所述延伸件30内。所述电子调速器80和所述惯性测量单元60设置于所述机身10内，并且二者均与所述飞行控制器70电连接。
所述机身10为所述无人飞行器100的主体部分，所述机身10具有收容空间，所述机身10的收容空间用于收容所述无人飞行器100的大部分电子元件。
所述旋翼组件包括电机（图未示）和与所述电机连接的螺旋桨（图未示）。所述电机用于驱动所述螺旋桨转动。所述电机与所述电子调速器80电连接，所述电机的工作状态受所述电子调速器80控制。所述螺旋桨可以为直桨或者折叠桨，本发明对此不做限定。
请结合参阅图2和图3，所述延伸件30与所述机身10连接。具体地，所述延伸件30设置于所述机身10的底部并且朝向远离所述机身10的方向延伸。换句话说，所述延伸件30一端与所述机身10连接，另一端朝向远离所述旋翼组件的方向延伸。所述延伸件30和所述旋翼组件分别设置于所述机身10的底部和顶部。在本实施方式中，所述延伸件30的个数为两个，两个所述延伸件30的一端均与所述机身10连接，另一端朝向远离所述旋翼组件的方向延伸。此外，在本实施方式中所述延伸件30即所述无人飞行器100的起落架，所述起落架用于为所述无人飞行器100提供降落或者停放时的支撑。
所述延伸件30包括连接部31和支撑部32。所述连接部31与所述支撑部32连接。
所述连接部31的一端与所述机身10的底部连接，即背离所述旋翼组件的一侧连接，其另一端朝向远离所述旋翼组件的方向延伸。所述连接部31包括连接部主体311和连接部盖板312。所述连接部盖板312盖设于所述连接部主体311，并与所述连接部主体311组配形成所述连接部31。
所述连接部主体311具有收容空间，所述收容空间可以收容电子元件，比如气压计等。所述连接部主体311的一端与所述机身10连接，另一端与所述支撑部32连接。所述连接部主体311的一端包括安装部3111，所述安装部3111与所述机身10连接。所述安装部3111可以采用铆钉连接、卡扣连接、粘接连接等方式与所述机身10连接。
所述连接部盖板312盖设于所述连接部主体311，并且与所述连接部主体311组配形成具有收容空间的连接部31。
在本实施方式中，所述连接部31的个数为两个。即每个所述延伸件30包括两个所述连接部31。所述两个连接部31的结构相同，并且相间隔一定的距离设置。两个所述连接部31远离所述旋翼组件的一端分别与所述支撑部32的两端连接。
所述支撑部32与所述连接部31远离所述旋翼组件的一端连接。具体地，所述支撑部32的两端分别与所述两个连接部31远离所述旋翼组件的一端连接。并且所述支撑部32的中部形成具有收容空间的收容部33。可以理解，在其他的实施方式中，所述连接部31的个数可以为一个，此时所述支撑部32同样与所述连接部31远离所述旋翼组件的一端连接，本发明对所述连接部31的个数不做限定。
所述支撑部32包括支撑部主体321和支撑部盖板322，所述支撑部主体321和所述支撑部盖板322组配连接形成所述支撑部32。
所述支撑部主体321可以与所述支撑板盖板322采用铆钉连接、卡扣连接或者粘接连接的方式固定。所述支撑部主体321的两端分别与两个所述连接部主体311远离所述旋翼组件的一端连接。在本实施方式中，所述支撑部主体321与两个所述接部主体311为一体成型结构。
所述支撑部盖板322的两端分别与两个所述连接部盖板312远离所述旋翼组件的一端连接。并且在本实施方式中，所述支撑部盖板322与所述两个支撑部盖板322为一体成型结构。可以理解，所述连接部盖板312也可省略，通过所述支撑部盖板322将所述气压计40进行密封即可。
所述收容部33形成于其中一个所述延伸件30的支撑部32的中部，所述收容部33用于收容所述气压计40。可以理解，所述收容部33为所述延伸件30上距离所述旋翼组件的最远处。所述收容部33包括第一收容部331和第二收容部332。所述第一收容部331和所述第二收容部332组配形成所述收容部33。所述收容部33开设有气口333，从而使所述收容部33内部与外部环境连通，从而便于设置于其内的所述气压计40测量外部的气压信息。
所述第一收容部331形成于所述支撑部主体321中部，并且所述第一收容部331开设有气口333，所述气口的个数为多个。在实施方式中，所述第一收容部331与所述支撑部主体321为一体成型结构。本实施方式中，所述气口333为多个阵列设置的条形槽。可以理解，所述气口也可为多个分散设置的条形槽、多个阵列或分散设置的孔等多种结构。
所述第二收容部332形成于所述支撑部盖板322中部，并且与所述第一收容部331在所述支撑部主体321的位置配合设置。具体地，所述第二收容部332与所述第一收容部331相对设置，二者对应组配连接组成所述收容部33。所述第二收容部332同样开设有气口333，所述第二收容部332开设的气口333与所述第一收容部331开设的气口333相对设置。所述第二收容部332与所述支撑部盖板322为一体成型结构。
在本申请的一个实施例中，所述气压计40的个数为一个，所述气压计40设置于所述收容部33内，并且所述气压计40被所述空气过滤件50包裹设置。在本申请的另外一个实施方式中，所述气压计40的个数为两个，此时所述延伸件30的个数同样为两个。其中一个所述气压计40同样设置于所述收容部33内，并且外部环绕有所述空气过滤件50。另外一个所述气压计40设置于不包括收容部33的延伸件30的其中一个连接部31内，具体地，其设置于该连接部31的收容空间内。当然，可以理解，此时另外一个所述气压计40外部同样可以环绕有所述空气过滤件。
所述气压计40用于检测其所处位置的气压数据，并且将检测得到的数据传送至所述飞行控制器70。可以理解，在本发明的另外一个实施方式中，所述气压计40的个数为两个。所述两个气压计40可以分别与所述旋翼组件之间的距离相同，也可以与所述旋翼组件之间的距离不相同。所述距离可以为沿所述无人飞行器100的中轴线的垂直距离。具体地，所述两个气压计40的高度可以相同或不同，例如，分别在两个延伸件30的支撑部32内的相同部位设置气压计40，且在相同部位开设气口333；或者，分别在两个支撑部32的不同部位设置气压计40及开设气口333。
具体地，可以在两个支撑部32中如图2的方式设置气压计40及开设气口333，所述两个收容部33均延伸到支撑部32的下边缘，气压计40收容于所述收容部33内，且气口333也延伸到所述支撑部32的下边缘，此时，两个气压计40的高度相同，且距离相应一侧的旋翼组件的距离也相同。可替换地，也可在两个支撑部32中如图3所示的方式设置气压计40及开设气口333，所述两个支撑部32上的收容部33均设置于所述支撑部32的上方，且所述气口333也延伸到所述支撑部32的上边缘。其中，该两个气压计40可对称地均设置于支撑部32的中间位置，或非对称的设置于支撑部32上，保证二者高度相同即可。此外，所述两个气压计40也可均设置于所述连接部31上远离机身10的位置，保证二者高度相同即可。
另外，所述在一个支撑部32上通过如图2所示的方式设置气压计40和开设气口333，而在另一个支撑部32上通过如图3所示的方式设置气压计40和开设气口333，即一个气压计40设置于所述支撑部32内，另一个气压计40设置于所述支撑部32上靠近机身10的一侧。或者，将一个气压计40设置于其中一个延伸件30的连接部31上远离机身10的部位，并在相应位置开设气口333；将另一个气压计40设置于另一个延伸件30的支撑部32上如图2或图3所示的方式。此时，两个气压计40之间具有预定的高度差，可利用二者的高度差以及各自测得的高度值进一步更正测得的高度值。
所述空气过滤件50同样收容于所述收容部33内，并且所述空气过滤件50环绕所述气压计40设置。进一步地，所述空气过滤件50设置于所述气口和所述气压计40之间。所述空气过滤件50可以为绒布，或者可透气的发泡材料制成，比如海绵等。在本实施方式中，所述空气过滤件50的个数为两个，两个所述空气过滤件50分别设置于所述气压计40和第一收容部331的气口333之间，以及所述气压计40和所述第二收容部332的气口333之间。当然，在其他的实施方式中，所述空气过滤件50还可以为一体结构，此时所述空气过滤件50环绕包裹所述气压计40设置。当然，所述空气过滤件50还可以为其它个数，本发明对此不做限定。
请再参阅图4，所述电子调速器80收容于所述机身10内，并且分别与所述电机和所述飞行控制器70电连接。所述电子调速器80接受来自所述飞行控制器70发送的电信号，并根据飞行控制器70发送的控制信号控制所述电机的工作状态，从而调整所述无人飞行器100的工作状态。
所述惯性测量单元60同样收容于所述机身10内，并且所述惯性测量单元60与所述飞行控制器70电连接。所述惯性测量单元60用于测量所述无人飞行器100的三轴姿态角以及加速度，并将检测到的信息传送至所述飞行控制器70。
所述飞行控制器70分别与所述气压计40、所述电子调速器80和所述惯性测量单元60电连接。所述飞行控制器70分别接受来自所述气压计40和所述惯性测量单元60检测得到的数据信息，对接收到的信息进行分析其可以向所述电子调速器80发送控制信号。所述飞行控制器70通过控制所述电子调速器80的工作状态进而控制所述无人飞行器100的工作状态。
请参阅图5，所述无人飞行器100的组装方法包括如下步骤：
S1，提供机身10，所述机身10为所述无人飞行器100的主体部分；
所述机身10为所述无人飞行器100的主体部分，其用于装载所述无人飞行器的大部分电子元件。
S2，提供旋翼组件，将所述旋翼组件装设于所述机身10上；
在本发明中，所述旋翼组件包括电机和螺旋桨。在安装所述旋翼组件时，首先将所述电机安装于所述机身10上，然后再将所述螺旋桨安装于所述电机上。
S3，提供气压计，将所述气压计连接于所述机身10上，且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计的工作精度。
可以理解，步骤S2和步骤S3的顺序也可以调换，二者调换顺序也同样可以实现所述无人飞行器100的组装，本发明对此不做限定。
具体地，在本实施方式中，所述气压计40安装于所述延伸件30内。可以理解，此时所述气压计40设置于所述延伸件30距离所述机身10的最远端。因为所述延伸件30与所述机身10连接，并且朝向远离所述旋翼组件的方向延伸。可以理解，此时所述旋翼组件也同样朝向远离所述旋翼组件的方向延伸。因此可以确定所述气压计40与所述旋翼组件隔开一定的距离。毫无疑问地，此时所述气压计同样与所述旋翼组件当然也会隔开一定的距离。
在本实施方式中，所述气压计40的个数为两个，所述两个气压计40分别安装于所述两个延伸件30内。所述两个气压计40与所述旋翼组件之间的距离可以相同，也可以不相同。同样的，所述两个气压计与所述旋翼组件之间的距离可以相同，也可以不相同。其中一个所述气压计40设置于所述延伸件30上距离所述旋翼组件最远处。具体地，其中一个所述气压计40设置于所述收容部33内。所述收容部33装设于所述延伸件30上距离所述旋翼组件最远处，因此可以说装设于所述收容部33内的气压计装设于所述延伸件30上距离所述旋翼组件最远处。所在本实施方式中，所述收容部33形成于所述支撑部32中部，其所处的位置即为所述延伸件30上距离所述旋翼组件的最远处。所述延伸件30可以为所述无人飞行器100的起落架。
此外，所述无人飞行器100还提供飞行控制器70，所述飞行器控制器70与所述气压计40电连接。当所述气压计40的个数为两个时，所述飞行控制器70分别与所述两个气压计40电连接。所述飞行控制器70能够根据两个所述气压计40的检测数据计算出所述无人飞行器所处的高度。
本发明的实施方式提供的无人飞行器通过将所述气压计设置于机身外，且远离旋翼组件，从而减轻旋翼组件对气压计的影响。另外，在气压计的外部环绕空气过滤件，进一步减小气流对气压计的影响，从而有效提高所述无人飞行器的气压计的工作精度。
另外，本技术领域的普通技术人员应当认识到，以上的实施方式仅是用来说明本发明，而并非用作为对本发明的限定，只要在本发明的实质精神范围之内，对以上实施例所作的适当改变和变化都落在本发明要求保护的范围之内。

Claims (41)

  1. 一种无人飞行器，包括机身、旋翼组件以及气压计，所述旋翼组件设置于所述机身上，其特征在于：所述气压计设置于所述机身外并且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计的工作精度。
  2. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器还包括延伸件，所述延伸件连接于所述机身上并朝背离所述机身的方向延伸，所述气压计设置在所述延伸件上。
  3. 如权利要求2所述的无人飞行器，其特征在于：所述延伸件上设置有收容部，所述气压计收容于所述收容部内。
  4. 如权利要求3所述的无人飞行器，其特征在于：所述收容部上开设有气口，所述气口将所述收容部内腔与外界环境连通。
  5. 如权利要求4所述的无人飞行器，其特征在于：所述无人飞行器还包括空气过滤件，所述空气过滤件设置在所述收容部内，并用于减缓所述无人飞行器飞行时的气流对所述气压计的冲击。
  6. 如权利要求5所述的无人飞行器，其特征在于： 所述空气过滤件设置在所述气口与所述气压计之间。
  7. 如权利要求5所述的无人飞行器，其特征在于：所述空气过滤件环绕所述气压计设置。
  8. 如权利要求5所述的无人飞行器，其特征在于：所述空气过滤件包覆于所述气压计之外。
  9. 如权利要求5所述的无人飞行器，其特征在于：所述空气过滤件由绒布制成。
  10. 如权利要求5所述的无人飞行器，其特征在于：所述空气过滤件由能够透气的发泡材料制成。
  11. 如权利要求10所述的无人飞行器，其特征在于：所述空气过滤件由海绵制成。
  12. 如权利要求2所述的无人飞行器，其特征在于：所述延伸件设置于所述机身上背离所述旋翼组件的一侧，所述延伸件的一端连接于所述机身上，另一端朝向远离所述旋翼组件的方向延伸，所述气压计设置于所述延伸件远离所述旋翼组件的一端。
  13. 如权利要求2所述的无人飞行器，其特征在于：所述延伸件为无人飞行器的起落架，所述起落架用于为所述无人飞行器提供降落时的支撑。
  14. 如权利要求13所述的无人飞行器，其特征在于：所述起落架为固定式脚架结构，所述气压计收容于所述起落架内。
  15. 如权利要求14所述的无人飞行器，其特征在于：所述起落架上对应于所述气压计开设有气口，所述气口将所述起落架的内腔与外界环境连通。
  16. 如权利要求14所述的无人飞行器，其特征在于：所述起落架包括至少一个脚架，所述脚架包括连接部，所述连接部的一端设置于所述机身上，另一端朝远离所述旋翼组件的方向延伸，所述气压计连接于所述连接部上。
  17. 如权利要求16所述的无人飞行器，其特征在于：所述脚架还包括支撑部，所述支撑部设置于所述连接部远离所述旋翼组件的一端，所述气压计收容于所述支撑部内。
  18. 如权利要求17所述的无人飞行器，其特征在于：每个所述脚架包括两个所述连接部及一个所述支撑部，每个所述连接部均连接至所述机身，且两个所述连接部相间隔设置，所述支撑部的两端分别连接于两个所述支撑部。
  19. 如权利要求2所述的无人飞行器，其特征在于：所述气压计为一个。
  20. 如权利要求19所述的无人飞行器，其特征在于：所述气压计设置于所述延伸件上距离所述旋翼组件最远处。
  21. 如权利要求2所述的无人飞行器，其特征在于：所述气压计为两个，所述无人飞行器还包括飞行控制器，所述飞行控制器分别与两个所述气压计电连接，所述飞行控制器用于根据两个所述气压计的检测数据计算所述无人飞行器所处的高度。
  22. 如权利要求21所述的无人飞行器，其特征在于：两个所述气压计分别与所述旋翼组件之间的距离相同。
  23. 如权利要求22所述的无人飞行器，其特征在于：所述延伸件的个数为两个，两个所述气压计分别设置于两个所述延伸件上，并且分别设置于各自对应的延伸件的支撑部。
  24. 如权利要求21所述的无人飞行器，其特征在于：两个所述气压计分别与所述旋翼组件之间的距离不同。
  25. 如权利要求24所述的无人飞行器，其特征在于：所述两个气压计之间具有预定的高度差。
  26. 如权利要求25所述的无人飞行器，其特征在于：所述延伸件的个数为两个，两个所述气压计与两个所述延伸件一一对应设置，其中一个气压计设置于其对应的延伸件的支撑部，另外一个气压计设置于其对应的延伸件的连接部。
  27. 如权利要求25所述的无人飞行器，其特征在于：所述延伸件的个数为两个，所述两个气压计分别设置在两个延伸件的支撑部，其中一个气压计设置于所述支撑部上靠近所述机身的一侧，另一个气压计设置于所述支撑部内。
  28. 如权利要求24所述的无人飞行器，其特征在于：两个所述气压计的其中一个设置于所述延伸件上距离所述旋翼组件最远处。
  29. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器还包括起落架，所述起落架连接于所述机身上，所述气压计设置在所述起落架上。
  30. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器包括电子调速器，所述旋翼组件包括电机和设置于所述电机上的螺旋桨，所述电子调速器与所述电机电连接。
  31. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态，以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
  32. 一种无人飞行器的组装方法，包括步骤：
    提供机身，所述机身为所述无人飞行器的主体部分；
    提供旋翼组件，将所述旋翼组件装设于所述机身上；
    提供气压计，将所述气压计连接于所述机身上，且与所述旋翼组件间隔预定距离，以避免所述旋翼组件工作时造成的紊乱气流影响所述气压计的工作精度。
  33. 如权利要求32所述的无人飞行器的组装方法，其特征在于：将所述气压计连接于所述机身上时，保持所述气压计位于所述机身外。
  34. 如权利要求33所述的无人飞行器的组装方法，其特征在于：所述组装方法还包括步骤：提供延伸件，将所述延伸件的一端连接于所述机身上，使所述延伸件的另一端朝背离所述机身的方向延伸，将所述气压计装设在所述延伸件上。
  35. 如权利要求34所述的无人飞行器的组装方法，其特征在于：提供气压计时，提供两个气压计，提供延伸件时，提供两个延伸件，将两个所述气压计分别装设在两个所述延伸件上。
  36. 如权利要求33所述的无人飞行器的组装方法，其特征在于：所述组装方法还包括步骤：提供起落架，将所述起落架连接于所述机身上，将所述气压计装设在所述起落架上。
  37. 如权利要求32所述的无人飞行器的组装方法，其特征在于：提供气压计时，提供两个气压计，并分别将两个所述气压计连接于所述机身上。
  38. 如权利要求36所述的无人飞行器的组装方法，其特征在于：所述组装方法还包括步骤：使两个所述气压计分别与所述旋翼组件之间的距离相同。
  39. 如权利要求37所述的无人飞行器的组装方法，其特征在于：所述组装方法还包括步骤：使两个所述气压计分别与所述旋翼组件之间的距离不同。
  40. 如权利要求39所述的无人飞行器的组装方法，其特征在于：提供延伸件，将所述延伸件的一端连接于所述机身上，并且将两个所述气压计的其中一个装设于所述延伸件上距离所述旋翼组件最远处。
  41. 如权利要求37所述的无人飞行器的组装方法，其特征在于：所述组装方法还包括步骤：提供飞行控制器，将所述飞行控制器分别与两个所述气压计电连接，使所述飞行控制器能够根据两个所述气压计的检测数据计算所述无人飞行器所处的高度。
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