WO2019100313A1 - 无人机及其航电系统 - Google Patents

无人机及其航电系统 Download PDF

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Publication number
WO2019100313A1
WO2019100313A1 PCT/CN2017/112776 CN2017112776W WO2019100313A1 WO 2019100313 A1 WO2019100313 A1 WO 2019100313A1 CN 2017112776 W CN2017112776 W CN 2017112776W WO 2019100313 A1 WO2019100313 A1 WO 2019100313A1
Authority
WO
WIPO (PCT)
Prior art keywords
housing
positioning module
circuit board
avionics system
drone
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/CN2017/112776
Other languages
English (en)
French (fr)
Inventor
卢绰莹
邓磊
吴晓龙
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 CN201780028917.4A priority Critical patent/CN109153457A/zh
Priority to PCT/CN2017/112776 priority patent/WO2019100313A1/zh
Priority to JP2020528280A priority patent/JP2021504810A/ja
Publication of WO2019100313A1 publication Critical patent/WO2019100313A1/zh
Priority to US16/881,985 priority patent/US11343924B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • 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
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/0026—Casings, cabinets or drawers for electric apparatus provided with connectors and printed circuit boards [PCB], e.g. automotive electronic control units
    • 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
    • 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
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • 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
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/0247—Electrical details of casings, e.g. terminals, passages for cables or wiring
    • 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
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/03—Covers
    • 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
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
    • H05K7/20136—Forced ventilation, e.g. by fans
    • H05K7/20172—Fan mounting or fan specifications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS

Definitions

  • the invention relates to an avionics system and a drone of a drone, and belongs to the technical field of aircraft.
  • Unmanned aerial vehicle is a non-manned aerial vehicle with the advantages of quick and flexible operation and simple operation.
  • the UAV's fuselage is equipped with a number of sensors for real-time image transmission, terrain and terrain detection, pest and forest fire detection.
  • the scope of use of drones has gradually expanded from military and scientific research fields to various industries, such as electricity, communications, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, and drug abuse. Border patrols, law and order counter-terrorism, etc.
  • the avionics system of the drone is one of the core components of the drone.
  • the avionics system of the drone can control the drone and monitor the surrounding environment.
  • the existing avionics system of the drone includes a flight control circuit board, a wireless communication circuit board, and various electronic components such as various sensors. Initially, these electronic components were scattered inside the rack of the drone, which was very scattered, causing the drone to be oversized and seriously affecting the expansion of the drone function. Subsequently, the researchers integrated some of the electronic components, hoping to reduce the size of the drone, but in actual use, they found that these integrated electronic components will interfere with each other, resulting in drones.
  • the control signal has a large noise, which increases the difficulty of subsequent filtering work, and although a lot of noise filtering processing, some noises can not be completely eliminated, thus posing a potential threat to the flight safety of the drone. .
  • embodiments of the present invention provide an avionics system and a drone of an unmanned aerial vehicle.
  • an avionics system for a drone for controlling flight of a drone provided with an electronic governor, including: a housing, a flight control circuit board, and a wireless communication a circuit board, a positioning module, and a connection line; the flight control circuit board, the wireless communication circuit board, and the positioning module are installed in the housing; the flight control circuit board and the wireless communication circuit board are integrated on one PCB board; The positioning module is disposed above or below the PCB board; the housing is provided with a mounting hole through which the connecting line passes, and the flight control circuit board passes through the connecting line and the outside of the housing Electronic governor communication connection.
  • a drone including an avionics system of an unmanned aerial vehicle, and an electronic governor;
  • the avionics system of the drone includes: a casing, a flight control circuit board, and a wireless a communication circuit board, a positioning module, and a connection line;
  • the flight control circuit board, the wireless communication circuit board, and the positioning module are installed in the housing;
  • the flight control circuit board and the wireless communication circuit board are integrated on one PCB board;
  • the positioning module is disposed above or below the PCB board;
  • the housing is provided with a mounting hole through which the connecting line passes, and the flight control circuit board is disposed on the shell through the connecting line External electronic governor communication connection.
  • the information of these high-speed electromagnetic fields is superimposed on the signals transmitted by the flight control circuit board, the wireless communication circuit board, and the positioning module. In order to cause interference to these electronic components.
  • the technical solution of the embodiment of the invention integrates the flight control circuit board and the wireless communication circuit board on a PCB board, and installs the PCB board and the positioning module into the casing, and then is used for connecting the flight control circuit board and the electronic tune
  • the connecting wire of the speeding device is pierced from the mounting hole provided on the side wall of the housing, thereby isolating the electronic governor, the motor and the propeller from the flight control circuit board, the wireless communication circuit board and the positioning module, so that the power component works
  • the magnetic field change signal generated at the time is not superimposed on the avionics system of the drone, thereby reducing the difficulty of subsequent filtering and improving the reliability of the information transmission of the avionics system.
  • FIG. 1 is an exploded view of an avionics system of a drone according to an embodiment of the present invention
  • FIG. 2 is a top view of the avionics system of the drone of FIG. 1 after removing the upper cover;
  • Figure 3 is a bottom view of the avionics system of the drone of Figure 1 with the lower cover removed;
  • Figure 4 is a front elevational view of the avionics system of the drone of Figure 1;
  • Figure 5 is a rear elevational view of the avionics system of the drone of Figure 1;
  • Figure 6 is a cross-sectional view of the avionics system of the drone of Figure 1;
  • FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • 202 a wireless communication circuit board
  • 300 a positioning module
  • FIG. 1 is an exploded view of an avionics system of the drone provided by the embodiment;
  • FIG. 2 is a top view of the avionics system of the drone of FIG. 1 after removing the upper cover;
  • FIG. 3 is a view of the drone of FIG.
  • FIG. 4 is a front view of the avionics system of the drone of FIG. 1;
  • FIG. 5 is a rear view of the avionics system of the drone of FIG. 1; Sectional view of the avionics system of the drone Figure.
  • the avionics system of the UAV includes: a housing, a flight control circuit board 201, a wireless communication circuit board 202, a positioning module 300, and a connection line 400.
  • the drone's avionics system can control drone flight. Specifically, the avionics system of the drone can control the working state of the electronic governor, thereby controlling the output of the motor to control the rotation of the propeller, thereby controlling the lifting, landing, dive, and steering of the drone.
  • the UAV's avionics system also controls the operation of sensors installed on the drone to obtain information about the surrounding environment such as image, location, and altitude.
  • the avionics system of the drone can be installed outside or inside the fuselage of the drone.
  • the UAV's avionics system can also be installed on the top, bottom, nose, tail or sides of the drone's fuselage.
  • the avionics system of the drone is installed outside the fuselage and at the nose portion to facilitate the mounting of the front vision module of the unmanned aerial vehicle, for example, the visual sensing device 500.
  • a flight control circuit board 201 and a wireless communication circuit board 202 are formed in the housing.
  • the flight control circuit board 201 and the wireless communication circuit board 202 are integrated on one PCB board 200, and the positioning module 300 may be disposed above or below the PCB board 200.
  • the housing may be made of metal, plastic, or other material or the like into a rectangular shape, a cylindrical shape, or the like.
  • the housing may include an upper housing and a lower housing, and the side walls of the upper housing and the lower housing are fixed together by snapping or bolting, etc., thereby being combined by the upper housing and the lower housing.
  • the sealed space of the PCB board 200 and the positioning module 300 is installed.
  • the PCB board 200 and the positioning module 300 may be fixed to the inner wall of the sealed space by bolts.
  • the upper and lower casings may form a plurality of mounting areas on the inner surface by stamping or injection molding, and the PCB board 200 and the positioning module 300 are fixed in different mounting areas.
  • the PCB board 200 and the positioning module 300 can be mounted in a mounting area in which the appearance shape matches the two.
  • Mounting holes are provided on the side wall of the upper casing, or the side wall of the lower casing, or at the joint of the upper casing and the lower casing, from which the connecting wire 400 connecting the PCB board 200 and the electronic governor is mounted Pass through the hole.
  • the connecting wire 400 includes a pin plug or a pin socket
  • the PCB board 200 is provided with a pin socket or a pin matched with a pin plug or a pin socket on the connecting wire 400. Plug.
  • a sealing ring 104 may be provided at the junction of the upper and lower casings to improve the sealing performance of the casing, thereby preventing dust or liquid from entering the casing to improve the service life and stability of the avionics' avionics system.
  • the avionics system of the drone of the present embodiment integrates the flight control circuit board 201 and the wireless communication circuit board 202 on one PCB board 200, and mounts the PCB board 200 and the positioning module 300 into the casing, and then uses The connecting line 400 connecting the flight control circuit board 201 and the electronic governor passes through the mounting hole provided on the side wall of the housing, so that the electronic governor, the motor and the propeller and the flight control circuit board 201, wireless communication
  • the circuit board 202 and the positioning module 300 are isolated, so that the magnetic field change signal generated when the power component works is not superimposed on the avionics system of the drone, thereby reducing the difficulty of subsequent filtering and improving the avionics of the drone.
  • the reliability of system information transmission enables the drone to work stably, thereby reducing the potential security threat of the drone.
  • the power component is connected to the avionics system of the drone through the connection line 400, the weak part of the drone is separated from the high-power part, thereby reducing the strong and weak power conversion and isolation in the avionics system of the drone.
  • the number of components, and the amount of harness of the avionics system's avionics system is reduced, wiring is also simple and easy, thereby reducing the size of the avionics' avionics system, making assembly, maintenance, or testing more convenient and simple. It reduces the interference of the line complexity on signal transmission, further improves the stability of the drone, and reduces the safety hazard of the drone.
  • the heat dissipation of the avionics system of the drone is greatly reduced, so that the electronic components in the avionics system of the drone can work within the rated working temperature, thereby improving the stability of the avionics system of the drone. Sex.
  • the difference between this embodiment and the first embodiment is that the structure of the housing is different.
  • the housing of the embodiment includes a main body and an upper cover 101, wherein the main body includes a bottom wall and a side wall disposed along an outer edge of the bottom wall, and the upper cover 101
  • the cover is fixed at the upper opening of the main body and fixed to the side wall of the main body by bolts or snap connections, so that the upper cover 101 and the main body are combined to form a sealed space for mounting the PCB board 200 and the positioning module 300.
  • the PCB board 200 and the positioning module 300 may be fixed to the inner wall of the main body by bolts.
  • a plurality of mounting areas are formed on the bottom wall of the main body by stamping or injection molding, wherein one mounting area is used to mount the PCB board 200, and the positioning module 300 is installed in another mounting area. area.
  • the embodiment does not preclude the positioning module 300 and the PCB board 200 from being installed in the same mounting area.
  • the PCB board 200 and the positioning module 300 may be stacked one on another or left and right in the same mounting area.
  • a mounting hole is formed in the side wall of the main body, and a connecting wire 400 (for example, a bus line) for communication connection with the electronic governor is connected to the flight control circuit board 201 through the mounting hole.
  • the connecting wire 400 includes a pin plug or a pin jack
  • the PCB board 200 is provided with a pin jack or a pin plug matched with a pin plug or a pin jack on the connecting line 400.
  • a sealing ring 104 may be disposed between the side wall of the main body and the upper cover 101 to improve the sealing property of the housing, prevent water or dust from entering the sealed space of the housing, and improve the electronic components such as the PCB board 200 and the positioning module 300 installed in the housing.
  • the life of the device For example, a recess for mounting the sealing ring 104 may be opened at the opening of the main body or the lower surface of the upper cover 101.
  • the avionics system of the unmanned aerial vehicle of the present embodiment can improve the drone of the unmanned aerial vehicle by setting the casing to include the upper cover 101 and the main body portion so that water and dust do not easily enter the avionics system of the drone from the side.
  • the airtightness of the avionics system can improve the drone of the unmanned aerial vehicle by setting the casing to include the upper cover 101 and the main body portion so that water and dust do not easily enter the avionics system of the drone from the side.
  • the difference between this embodiment and the first and second embodiments is that the structure of the housing is different.
  • the housing of the embodiment includes an upper cover 101, a middle frame 103 and a lower cover 102, as shown in FIG.
  • the upper cover 101 is disposed at the upper opening of the middle frame 103 and is fixed by bolts or snaps, etc., so as to be enclosed by the upper cover 101 and the middle frame 103 to form an upper closed space.
  • the lower cover 102 is disposed at the lower opening of the middle frame 103 and fixed together by bolts or snap connections, thereby forming a lower closed space by the lower cover 102 and the middle frame 103.
  • the PCB board 200 can be installed in the upper confined space, and the positioning module 300 can be installed in the lower confined space, and then connected by wire harness communication. It can be understood that, in order to mount the wire harness connecting the PCB board 200 and the positioning module 300, a through hole through which the wire harness passes can be opened on the middle frame 103.
  • the middle frame 103 includes a mounting plate and side walls disposed along an outer edge of the mounting plate, and a plurality of mounting areas are formed on the mounting plate by punching or injection molding, a part of the mounting areas are located on the upper surface of the mounting board, and another part is located Install the lower surface of the board.
  • the PCB board 200 is installed.
  • the PCB board 200 can be fixed by bolts in a mounting area above the mounting board, and the positioning module 300 can be fixed by bolts in a mounting area below the mounting board. It can be understood that the mounting area is set to match the appearance shape of the PCB board 200 and the positioning module 300, and the size of the housing can be reduced.
  • Mounting holes are formed in the side wall of the middle frame 103, and a connecting wire 400 (for example, a bus line) for communication connection with the electronic governor is connected to the flight control circuit board 201 through the mounting hole.
  • the connecting wire 400 includes a pin plug or a pin jack
  • the PCB board 200 is provided with a pin jack or a pin plug that is matched with a pin plug or a pin jack on the connecting line 400.
  • a sealing ring 104 is disposed at a joint of the upper cover 101, the middle frame 103 and the lower cover 102 to improve the sealing property of the housing and prevent dust or liquid from entering the housing, thereby ensuring the PCB board 200 and the positioning module 300 installed in the housing.
  • the lifetime of the electronic device may be provided at the junction of the upper cover 101, the middle frame 103, and the lower cover 102.
  • the avionics system of the drone of the embodiment is designed to include the upper cover 101, the lower cover 102 and the middle frame 103, so that the sealed space is divided into upper and lower parts, thereby avoiding electronic components stacked on the same surface. This reduces the size of the avionics' avionics system and improves heat dissipation.
  • This embodiment is an improvement on the basis of any of the above embodiments, the main difference being that the visual sensing device 500 is fixed to the front side wall of the housing.
  • the housing includes a front side wall facing the forward direction of the drone, a rear side wall facing away from the front side wall, and a left side wall and a right side wall connecting the front side wall and the rear side wall.
  • the middle frame 103 includes a housing structure including a front side wall, a rear side wall, and left and right side walls in FIG.
  • a visual sensing device 500 is optionally attached to the front side wall of the housing. Specifically, a mounting port is defined on the front sidewall, and the visual sensing device 500 is fixed at the mounting opening, and the connector is electrically connected to the interface of the flight control circuit board 201 through the mounting port to implement the visual sensing device 500 and the flight. Signal transmission between the control boards 201.
  • the visual sensing device 500 includes a binocular camera 501 and a picture transmission module 502 (FPV, First Person View), wherein the two lenses of the binocular camera 501 are optionally disposed on both sides of the image transmission module 502, and an indicator light 503 is optionally disposed in front of the image transmission module 502.
  • the image transmission module 502 is fixed in the middle of the front side wall of the middle frame 103, and the two lenses of the binocular camera 501 are respectively installed on the left and right sides of the image transmission module 502.
  • a binocular mounting bracket 600 is provided at the front end of the middle frame 103, and the binocular mounting bracket 600 is used to carry the visual sensing device 500.
  • the mounting opening through which the connecting wire 400 is disposed is disposed on the rear side wall of the housing, so that mutual interference with the visual sensing device 500 provided on the front side wall of the housing can be avoided.
  • the visual sensing device 500 can be optimally positioned to improve the image acquisition by the visual sensing device 500.
  • the visual sensing device 500 includes the binocular camera 501 and the image transmitting module 502, more image information can be acquired by the binocular camera 501, and the real-time image can be transmitted to the receiving device on the ground through the image transmitting module 502, such as a remote control. Or ground station.
  • the indicator light 503 is installed in front of the image transmission module 502, the operator can conveniently directly observe whether the visual sensing device 500 is working or not, and whether the image transmission module 502 is transmitting image data or the like through the indicator light 503.
  • the embodiment is improved on the basis of any of the above embodiments, and the main difference is that the positioning module 300 of the embodiment includes an RTK positioning module 301 and a GPS positioning module 302.
  • the relative positions of the RTK positioning module 301 and the GPS positioning module 302, and the relative positions of the two with the PCB board 200 can be set according to actual needs.
  • the PCB board 200 is fixed above the mounting board, and the RTK positioning module 301 and the GPS positioning module are disposed below the mounting board at a position corresponding to the wireless communication circuit board 202. 302.
  • the PTK positioning module 300 and the GPS positioning module 302 are located in the lower confined space between the mounting plate and the lower cover 102.
  • the RTK positioning module 301 is disposed above the GPS positioning module 302.
  • the RTK positioning module 301 and the GPS positioning module 302 may be integrated and fixed on the lower surface of the mounting board or the inner wall of the lower cover 102.
  • the avionics system of the UAV of the present embodiment can improve the positioning accuracy of the UAV by setting the RTK positioning module 301 and the GPS positioning module 302.
  • integrating the GPS module under the RTK positioning module 301 can fully utilize the housing. Space to reduce the size of the avionics' avionics system.
  • This embodiment is an improvement on the basis of any of the above embodiments, the main difference being that the avionics system of the drone is optionally also equipped with at least one of the inertial sensing module 700 and the antenna 800.
  • the inertial sensing module 700 can be mounted within the housing and its mounting location can be located below the RTK positioning module 301 to take advantage of the space within the housing to reduce the volume of the unmanned flight system.
  • the antenna 800 can be secured to the left and right side walls of the housing that is communicatively coupled to the wireless communication circuit board 202 via an interface disposed on the wireless communication circuit board 202.
  • an antenna 800 mounting opening is defined in the left side wall and the right side wall of the housing, and the connector of the antenna 800 extends through the mounting opening of the antenna 800 into the sealed space of the housing and is connected to the wireless communication circuit board 202.
  • the interfaces are directly connected or connected by a wire harness to realize wireless signal transmission and reception. It should be understood that the antenna 800 of the present embodiment may also be fixed only to the left side wall or the right side wall of the housing.
  • the position of the mounting port of the antenna 800 opened on the left side wall and the right side wall of the casing may be offset from the position of the PCB board 200, thereby reducing the avionics of the drone.
  • the volume of the system may be offset from the position of the PCB board 200, thereby reducing the avionics of the drone.
  • two antennas 800 may be mounted on the left and right side walls of the housing to increase the signal transmission and reception power of the antenna 800. It can be understood that the antennas 800 respectively mounted on the left side wall and the right side wall of the casing may be one or two or more.
  • the inertial sensing module 700 when the inertial sensing module 700 is installed in the housing, the acceleration, tilt, impact, vibration, rotation, and multi-degree of freedom motion detection and measurement of the UAV can be realized;
  • the antenna 800 communicatively coupled to the wireless communication circuit board 202, the ability of the avionics' avionics system to communicate wirelessly can be enhanced.
  • This embodiment is improved on the basis of any of the above embodiments, the main difference being in the housing A fan 900 for cooling the casing is provided on the outside.
  • the fan 900 may be disposed above the housing, for example, the fan 900 is fixed to the top surface of the upper cover 101 of the housing.
  • the housing may be made of metal, and a plurality of heat dissipation fins are formed on the top surface of the upper cover 101 in a longitudinal direction or a width direction, and a heat dissipation air passage is formed between the two adjacent heat dissipation fins. Air can flow in the cooling air duct. Specifically, the heat radiated from the electronic components in the sealed space of the casing is transferred to the heat radiating fins of the upper cover 101 of the casing, and then transferred to the air in the heat radiating air passage.
  • the rotation of the fan 900 installed in the middle of the heat-dissipating fins can drive the air to circulate between the heat-dissipating air passage and the external environment, thereby quickly carrying away the heat on the heat-dissipating fins to cool the avionics system of the drone.
  • the shape and the number of the heat dissipation fins of the embodiment may be set according to actual needs.
  • the heat dissipation fins are arranged along the length direction, and the heat dissipation fins include a left portion and a right portion, and the fan 900 is fixed by bolts. Between the left and right parts.
  • the fan 900 by installing the fan 900 on the outer side of the casing, the casing and the PCB board 200 and the positioning module 300 installed in the casing can be cooled to ensure flight control in the casing.
  • the circuit board 201, the wireless communication circuit board 202, and the positioning module 300 are stably and normally operated.
  • FIG. 7 is a schematic structural diagram of a drone provided by the embodiment.
  • the unmanned aerial vehicle provided by the embodiment shown in FIG. 7 includes: a frame 1, a power assembly 3, and an arm 2 connecting the frame 1 and the power assembly 3.
  • the avionics system 10 of the drone is installed in the rack 1.
  • the avionics system 10 of the drone can be the avionics system of the drone of any of the above embodiments, and its structure, working principle and beneficial effects can be generated. For the effect, reference may be made to the above embodiment, and details are not described herein again.
  • the power assembly 3 includes an electronic governor 31, a motor 32 communicatively coupled to the electronic governor 31, and a propeller 33 that is rotated by the motor 32.
  • the electronic governor 31 is communicably connected to the flight control circuit board in the avionics system 10 of the drone through the connection line 11, so that a control signal can be output to the motor 32 according to an instruction issued by the flight control circuit board to control the rotation speed of the motor 32. , steering, etc.
  • the electronic governor 31, the motor 32, and the propeller 33 of the present embodiment may use any structure in the prior art, and details are not described herein again.
  • the drone of the embodiment integrates the flight control circuit board and the wireless communication circuit board in the avionics system of the drone on a PCB board, and installs the PCB board and the positioning module into the casing, and then uses
  • the connecting line connecting the flight control circuit board and the electronic governor passes through the mounting hole provided in the side wall of the housing, thus the electronic governor, the motor and the propeller and the flight control circuit board, the wireless communication circuit board, and
  • the positioning module is isolated, so that the magnetic field change signal generated when the power component works is not superimposed on the avionics system of the drone, thereby reducing the difficulty of subsequent filtering and improving the reliability of the avionics system information transmission.
  • Sexuality enables the drone to work stably, thereby reducing the potential security threat of the drone.
  • the power component is connected to the avionics system of the drone through the connecting line, the weak electric part and the strong electric part of the drone are isolated, thereby reducing the strong and weak electric conversion and isolation components in the avionics avionics system.
  • the number of the UAV's avionics system is reduced, and the wiring is also simple and easy, thus reducing the size of the UAV's avionics system, making assembly, maintenance, or testing more convenient and simple.
  • the interference of the circuit complexity on the signal transmission is reduced, the stability of the drone is further improved, and the safety hazard of the drone is reduced.
  • the heat dissipation of the avionics system of the drone is greatly reduced, so that the electronic components in the avionics system of the drone can work within the rated working temperature, thereby improving the stability of the avionics system of the drone. Sex.

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Abstract

一种无人机的航电系统及无人机，所述无人机的航电系统用于控制设置有电子调速器（31）的无人机飞行，包括：壳体、飞行控制电路板（201）、无线通信电路板（202）、定位模块（300）、以及连接线（400）；所述飞行控制电路板（201）、无线通信电路板（202）以及定位模块（300）安装在所述壳体内；所述飞行控制电路板（201）和无线通信电路板（202）集成在一个PCB板（200）上；所述定位模块（300）设置在所述PCB板（200）的上方或者下方；所述壳体上开设有供所述连接线（400）穿过的安装孔，所述飞行控制电路板（201）通过所述连接线（400）与所述壳体外的电子调速器（31）通信连接。上述无人机的航电系统，能够避免电子零部件的电磁干扰，提高无人机的稳定性，减少安全隐患。

Description

无人机及其航电系统 技术领域
本发明涉及一种无人机的航电系统及无人机，属于飞行器技术领域。
背景技术
无人飞行器，简称无人机(UAV，Unmanned Aerial Vehicle)，是一种不载人飞行装置，具有快速灵活、操作简便的优点。无人机的机身上搭载有许多传感器，从而可以实现实时影像传输、地形和地貌探测、病虫害和森林火险监测等。随着技术的发展，无人机的使用范围已经逐渐从军事、科研领域逐渐扩展到各行各业，例如电力、通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等等。
无人机的航电系统是无人机的核心的部件之一，通过该无人机的航电系统可以实现对无人机的控制、以及对周围环境的监测。现有的无人机的航电系统包括飞行控制电路板、无线通信电路板、以及各种传感器等许多电子零部件。最初，这些电子零部件都零散的被安装在无人机的机架内部，显得非常的分散，造成了无人机体积偏大，且严重影响了对无人机功能进行扩展。随后，科研人员将其中一些电子零部件集成在一起，希望能够降低无人机的体积，但是在实际使用过程中却发现这些集成在一起的电子零部件相互之间会出现干扰，导致无人机的控制信号中带有较大的杂音，加重了后续滤波工作的难度，而且虽然经过了大量的杂音过滤处理，但是有些杂音依然无法完全消除，从而对无人机的飞行安全造成了潜在的威胁。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种无人无人机的航电系统及无人机。
根据本发明的一些实施例，提供一种无人机的航电系统，用于控制设置有电子调速器的无人机飞行，所述包括：壳体、飞行控制电路板、无线通 信电路板、定位模块、以及连接线；所述飞行控制电路板、无线通信电路板以及定位模块安装在所述壳体内；所述飞行控制电路板和无线通信电路板集成在一个PCB板上；所述定位模块设置在所述PCB板的上方或者下方；所述壳体上开设有供所述连接线穿过的安装孔，所述飞行控制电路板通过所述连接线与所述壳体外的电子调速器通信连接。
根据本发明的一些实施例，提供一种无人机,包括无人机的航电系统、以及电子调速器；所述无人机的航电系统包括：壳体、飞行控制电路板、无线通信电路板、定位模块、以及连接线；所述飞行控制电路板、无线通信电路板以及定位模块安装在所述壳体内；所述飞行控制电路板和无线通信电路板集成在一个PCB板上；所述定位模块设置在所述PCB板的上方或者下方；所述壳体上开设有供所述连接线穿过的安装孔，所述飞行控制电路板通过所述连接线与设置在所述壳体外的电子调速器通信连接。
由于电子调速器、电机和螺旋桨所组成的动力组件在工作中会产生频繁变化的电磁场，这些高速变化的电磁场的信息会叠加到飞行控制电路板、无线通信电路板以及定位模块所传输的信号里，从而给这些电子零部件产生干扰。本发明实施例的技术方案，通过将飞行控制电路板和无线通信电路板集成在一个PCB板上，并将这个PCB板和定位模块安装到壳体内，然后用于连接飞行控制电路板和电子调速器的连接线从壳体侧壁上设置的安装孔中穿出，这样就将电子调速器、电机和螺旋桨与飞行控制电路板、无线通信电路板以及定位模块隔离开，使得动力组件工作时产生的磁场变化信号不会叠加到无人机的航电系统中，从而降低了后续滤波的工作难度，提高了无人机的航电系统信息传输的可靠性。而且，通过连接线来连接无人机的航电系统和电子调速器，还可以将强弱电分开，避免强弱电相互影响，并降低无人机的航电系统内排线的复杂性，从而提高无人机的航电系统的稳定性。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明一实施例提供的无人机的航电系统的爆炸图；
图2为图1中无人机的航电系统除去上盖后的俯视图；
图3为图1中无人机的航电系统除去下盖后的仰视图；
图4为图1中无人机的航电系统的正视图；
图5为图1的无人机的航电系统的后视图；
图6为图1中无人机的航电系统的剖视图；
图7为本发明一实施例提供的无人机的结构示意图。
图中：
101、上盖；             102、下盖；
103、中框；             104、密封圈；
200、PCB板；            201、飞行控制电路板；
202、无线通信电路板；   300、定位模块；
301、RTK定位模块；      302、GPS定位模块；
400、连接线；           500、视觉传感装置；
501、双目摄像头；       502、图传模块；
503、指示灯；           600、双目安装支架；
700、惯性传感模块；     800、天线；
900、风扇；             1、机架；
10、无人机的航电系统；     2、机臂；
3、动力组件；           31、电子调速器；
32、电机；              33、螺旋桨。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
图1为本实施例提供的无人机的航电系统的爆炸图；图2为图1中无人机的航电系统除去上盖后的俯视图；图3为图1中无人机的航电系统除去下盖后的仰视图；图4为图1中无人机的航电系统的正视图；图5为图1的无人机的航电系统的后视图；图6为图1中无人机的航电系统的剖视 图。
如图1至图6所示，本实施例提供的无人机的航电系统，包括：壳体、飞行控制电路板201、无线通信电路板202、定位模块300、以及连接线400，通过这个无人机的航电系统可以控制无人机飞行。具体的，无人机的航电系统可以控制电子调速器的工作状态，从而控制电机的输出，以控制螺旋桨的转动，进而控制无人机起升、降落、俯冲、转向等。该无人机的航电系统还可以控制无人机上安装的传感器工作，以获取影像、位置、海拔等周围环境的信息。
无人机的航电系统可以安装在无人机的机身的外部或内部。无人机的航电系统也可以安装在无人机的机身的顶部、底部、机头、机尾或者两侧。具体在本实施方式中，无人机的航电系统安装在机身的外部，并且位于机头部位，以便于搭载无人飞行器的前视觉模块，例如，视觉传感装置500。
壳体内形成有用于安装飞行控制电路板201、无线通信电路板202
(SDR，Software Defination Radio)、以及定位模块300的密闭空间。其中，飞行控制电路板201和无线通信电路板202集成在一个PCB板200上，定位模块300可以设置在该PCB板200的上方或者下方。在本实施例中，壳体可以由金属、塑料、或者其他材料等制作成为矩形、圆柱形、或者其他形状。
具体的，壳体可以包括上壳体和下壳体，上壳体和下壳体的侧壁通过卡接或者螺栓连接等方式固定在一起，从而由上壳体和下壳体围合成用于安装PCB板200和定位模块300的密闭空间。
PCB板200和定位模块300可以通过螺栓固定在密闭空间的内壁上。可选地，上壳体和下壳体可以通过冲压或者注塑等方式在内表面形成多个安装区域，PCB板200和定位模块300固定在不同的安装区域内。例如，可以将PCB板200和定位模块300安装在外观形状与这二者相匹配的安装区域内。
在上壳体的侧壁、或者下壳体的侧壁上、或者在上壳体和下壳体的连接处开设有安装孔，连接PCB板200和电子调速器的连接线400从该安装孔内穿过。可选的，连接线400包括针式插头或者针式插座，在PCB板200上设置有与连接线400上的针式插头或者针式插座相配套的针式插座或者针 式插头。
在上壳体和下壳体的连接处可以设置密封圈104以提高壳体的密封性能，从而阻止灰尘或者液体进入壳体内，以提高无人机的航电系统的使用寿命和稳定性。
本实施例的无人机的航电系统，通过将飞行控制电路板201和无线通信电路板202集成在一个PCB板200上，并将这个PCB板200和定位模块300安装到壳体内，然后用于连接飞行控制电路板201和电子调速器的连接线400从壳体侧壁上设置的安装孔中穿出，这样就将电子调速器、电机和螺旋桨与飞行控制电路板201、无线通信电路板202以及定位模块300隔离开，使得动力组件工作时产生的磁场变化信号不会叠加到无人机的航电系统中，从而降低了后续滤波的工作难度，提高了无人机的航电系统信息传输的可靠性，使得无人机能够稳定工作，进而降低无人机的潜在安全威胁。
此外，由于动力组件通过连接线400与无人机的航电系统通信连接，使得无人机的弱电部分和强电部分隔离开，减少了无人机的航电系统中强弱电转换和隔离部件的数量，而且使得无人机的航电系统线束量减少、布线也变得简单易行，从而降低了无人机的航电系统的体积，制造装配、维修、或者测试都更加的方便简单，降低了线路复杂对于信号传输的干扰，进一步提高了无人机的稳定性，降低了无人机的安全隐患。而且还大幅度降低了无人机的航电系统的散热量，使得无人机的航电系统中的电子零部件能够在额定工作温度内工作，从而提高了无人机的航电系统的稳定性。
实施例二
本实施例与实施例一的区别在于壳体的结构不同，本实施例的壳体，包括主体和上盖101，其中，主体包括底壁和沿底壁外边缘设置的侧壁，上盖101盖设在主体的上开口处并通过螺栓或者卡扣连接等方式与主体的侧壁固定在一起，从而由上盖101和主体围合成用于安装PCB板200、以及定位模块300的密闭空间。
PCB板200和定位模块300可以通过螺栓固定在主体的内壁上。可选地，在主体的底壁上通过冲压或者注塑等方式形成有多个安装区域，其中一个安装区域用来安装PCB板200，定位模块300则安装在另一个安装区 域。当然，本实施例也不排除将定位模块300和PCB板200安装在同一个安装区域内，例如，可以将PCB板200和定位模块300上下叠置、或者左右排列在同一个安装区域内。在对主体的底壁进行冲压或者注塑时，可以根据PCB板200和定位模块300的外观形状进行相应的冲压或者注塑操作，从而使壳体的密闭空间能够合理高效的被利用。
在主体的侧壁上开设有安装孔，用于与电子调速器通信连接的连接线400(例如总线)穿过该安装孔与飞行控制电路板201连接。可选的，连接线400包括针式插头或者针式插座，在PCB板200上设置有与连接线400上的针式插头或者针式插座相配套的针式插座或者针式插头。
在主体的侧壁和上盖101之间可以设置密封圈104以提高壳体的密封性，防止水或者灰尘进入壳体的密闭空间内，提高壳体内安装的PCB板200和定位模块300等电子器件的使用寿命。举例来说，可以在主体的开口处或者上盖101的下表面开设用于安装密封圈104的凹槽。
本实施例的无人机的航电系统，通过将壳体设置为包括上盖101和主体部分，使得水和灰尘不容易从侧面进入无人机的航电系统中，可以提高无人机的航电系统的密闭性。
实施例三
本实施例与实施例一和二的区别在于壳体的结构不同，本实施例的壳体包括上盖101、中框103和下盖102，如图1所示。
上盖101盖设在中框103的上开口处并通过螺栓或者卡扣连接等方式固定在一起，从而由上盖101和中框103围合而成一个上密闭空间。同理的，下盖102盖设在中框103的下开口处并通过螺栓或者卡扣连接等方式固定在一起，从而由下盖102和中框103围合成一个下密闭空间。在装配时，PCB板200可以安装在上密闭空间内，定位模块300可以安装在下密闭空间内，二者之间再通过线束通信连接。可以理解，为了安装连接PCB板200和定位模块300的线束，可以在中框103上开设供线束穿过的过孔。
中框103包括安装板以及沿安装板的外边缘设置的侧壁，在安装板上通过冲压或者注塑等方式形成有多个安装区域，这些安装区域的一部分位于安装板的上表面，另一部分位于安装板的下表面。具体在安装PCB板200 和定位模块300时，可以将PCB板200通过螺栓固定在安装板上方的安装区域内，定位模块300则可以通过螺栓固定在安装板下方的安装区域内。可以理解，安装区域设置为与PCB板200和定位模块300外观形状相匹配，可以降低壳体的体积大小。
在中框103的侧壁上开设有安装孔，用于与电子调速器通信连接的连接线400(例如总线)穿过该安装孔与飞行控制电路板201连接。可选地，连接线400包括针式插头或者针式插座，在PCB板200上设置有与连接线400上的针式插头或者针式插座相配套的针式插座或者针式插头。
在上盖101、中框103和下盖102的连接处设置有密封圈104，以提高壳体的密封性，避免灰尘或者液体进入壳体内，从而保证壳体内安装的PCB板200和定位模块300等电子器件的使用寿命。例如，在一些实施方式中，可以在上盖101、中框103和下盖102的连接处开设用于安装密封圈104的凹槽。
本实施例的无人机的航电系统，通过将壳体设计成包括上盖101、下盖102和中框103，使得密闭空间分成了上下两部分，从而避免电子零部件堆叠在同一个表面上，从而降低了无人机的航电系统的体积，并提高了散热性能。
实施例四
本实施例是在上述任一实施例的基础上进行改进，主要区别在于壳体的前侧壁上固定有视觉传感装置500。
如图1至图4所示，壳体的包括朝向无人机前进方向的前侧壁、背离前侧壁的后侧壁，以及连接前侧壁和后侧壁的左侧壁以及右侧壁。例如，图1中示出了中框103包括前侧壁、后侧壁、以及左侧壁和右侧壁的壳体结构。
在壳体的前侧壁上可选地固定有视觉传感装置500。具体的，在前侧壁上开设有安装口，视觉传感装置500固定在安装口处，其接头穿过安装口与飞行控制电路板201的接口电连接，以实现视觉传感装置500与飞行控制电路板201之间的信号传输。
可选地，视觉传感装置500包括双目摄像头501和图传模块502(FPV， First Person View)，其中，双目摄像头501的两个镜头可选地分设在图传模块502的两侧，在图传模块502的前方还可选地设置有指示灯503。以图2为例，图传模块502固定在中框103的前侧壁的中间，双目摄像头501的两个镜头则分别安装在图传模块502的左右两侧。
可选地，继续参考图1和图2，在中框103的前端设有双目安装支架600，双目安装支架600用于承载视觉传感装置500。
可选地，穿设连接线400的安装口设置在壳体的后侧壁上，从而可以避免与壳体的前侧壁上设置的视觉传感装置500相互干涉。
本实施例的无人机的航电系统，通过在壳体的前侧壁上安装视觉传感装置500，可以使得视觉传感装置500获得最佳的位置，以提高视觉传感装置500获取图像的角度范围，并且由于视觉传感装置500安装在中框103的前侧壁上，减少了无人机其他结构的干涉，因此，对视觉传感装置500进行维修保养也更加的方便。当视觉传感装置500包括双目摄像头501和图传模块502时，可以通过双目摄像头501获取到更多的图像信息，并通过图传模块502将实时影像传输到地面的接收装置，例如遥控器或者地面站。而且，如果图传模块502的前方安装有指示灯503，则操作者可以通过指示灯503方便的直接观察到视觉传感装置500是否在工作、以及图传模块502是否在传输影像数据等。
实施例五
本实施例是在上述任一实施例的基础上进行改进，其主要区别在于本实施例的定位模块300包括RTK定位模块301和GPS定位模块302。
具体的，RTK定位模块301和GPS定位模块302的相对位置，以及这二者与PCB板200的相对位置可以根据实际需要进行设置。以图1所示的无人机的航电系统为例，PCB板200固定在安装板的上方，在安装板的下方、对应无线通信电路板202的位置处设置RTK定位模块301和GPS定位模块302。换句话说PTK定位模块300和GPS定位模块302位于安装板和下盖102之间的下密闭空间内。可选地，RTK定位模块301设置在GPS定位模块302的上方。具体在安装时，可以是将RTK定位模块301和GPS定位模块302集成在一起并固定在安装板的下表面或者下盖102的内壁上。
本实施例的无人机的航电系统，通过设置RTK定位模块301和GPS定位模块302可以提高无人机的定位精度，此外，将GPS模块集成在RTK定位模块301的下方可以充分利用壳体内的空间，以缩减无人机的航电系统的体积。
实施例六
本实施例是在上述任一个实施例的基础上进行改进，其主要区别在于无人机的航电系统还可选地安装有惯性传感模块700和天线800中的至少一个。
如图1至所示，惯性传感模块700可以安装在壳体内，并且其安装位置可以位于RTK定位模块301的下方，以充分利用壳体内的空间，从而缩减无人飞行系统的体积。
天线800可以固定在壳体的左侧壁和右侧壁上，该天线800通过无线通信电路板202上设置的接口与该无线通信电路板202通信连接。具体来说，在壳体的左侧壁和右侧壁上开设有天线800安装口，天线800的接头穿过天线800安装口伸入壳体的密闭空间内并与无线通信电路板202上的接口直接藕接或者通过线束连接在一起，从而实现无线信号的收发。应当理解，本实施例的天线800也可以仅固定在壳体的左侧壁或者右侧壁上。
具体的，继续参考图1和图3，在壳体的左侧壁和右侧壁上所开设的天线800安装口的位置可以与PCB板200的位置错开，从而可以缩小无人机的航电系统的体积。
可选地，在壳体的左侧壁和右侧壁上可以各安装两个天线800，以提高天线800的信号发送和接收功率。可以理解的是，在壳体的左侧壁和右侧壁上分别安装的天线800也可以是一个或者两个以上。
本实施例的无人机的航电系统，当壳体内安装有惯性传感模块700可以实现对无人机加速度、倾斜、冲击、振动、旋转和多自由度运动的检测和测量；当壳体的左侧壁和右侧壁的至少一个安装有与无线通信电路板202通信连接的天线800时，可以提高无人机的航电系统无线通信的能力。
实施例七
本实施例在上述任一实施例的基础上进行改进，其主要区别在于在壳体 的外侧设置有用于对壳体降温的风扇900。
如图1所示，风扇900可以设置在壳体的上方，例如将风扇900固定在壳体的上盖101的顶面上。可选地，壳体可以由金属制成，在其上盖101的顶面沿长度方向或者宽度方向往上延伸形成有多个散热鳍，相邻两个散热鳍之间形成有散热风道，空气可以在散热风道内流动。具体的，壳体的密闭空间内的电子零件所散发的热量传递到壳体的上盖101的散热鳍上，然后传递到散热风道内的空气中。安装在散热鳍中间的风扇900转动可以带动空气在散热风道和外部环境之间循环，从而将散热鳍上的热量快速带走，以实现对无人机的航电系统的降温。
可以理解，本实施例的散热鳍的形状和数量可以根据实际需要进行设置，例如，如图1所示，散热鳍沿长度方向排列，并且散热鳍包括左边部分和右边部分，风扇900通过螺栓固定在左边部分和右边部分之间。
本实施例的无人机的航电系统，通过在壳体的外侧安装风扇900，从而可以对壳体以及壳体内安装的PCB板200和定位模块300等进行降温，以保证壳体内的飞行控制电路板201、无线通信电路板202以及定位模块300等稳定正常的工作。
实施例八
图7为本实施例提供的无人机的结构示意图。如图7所示本实施例提供的无人机，包括：机架1、动力组件3、以及连接机架1和动力组件3的机臂2。
机架1内安装有无人机的航电系统10，该无人机的航电系统10可以是上述任一实施例的无人机的航电系统，其结构、工作原理和能够产生的有益效果可以参见上述实施例，在此不再进行赘述。
动力组件3包括：电子调速器31、与电子调速器31通信连接的电机32、以及由电机32带动旋转的螺旋桨33。电子调速器31通过连接线11与无人机的航电系统10中的飞行控制电路板通信连接，从而能够根据飞行控制电路板发出的指令向电机32输出控制信号，以控制电机32的转速、转向等。本实施例的电子调速器31、电机32和螺旋桨33可以使用现有技术中的任意结构，在此不再赘述。
本实施例的无人机，通过将无人机的航电系统中的飞行控制电路板和无线通信电路板集成在一个PCB板上，并将这个PCB板和定位模块安装到壳体内，然后用于连接飞行控制电路板和电子调速器的连接线从壳体侧壁上设置的安装孔中穿出，这样就将电子调速器、电机和螺旋桨与飞行控制电路板、无线通信电路板以及定位模块隔离开，使得动力组件工作时产生的磁场变化信号不会叠加到无人机的航电系统中，从而降低了后续滤波的工作难度，提高了无人机的航电系统信息传输的可靠性，使得无人机能够稳定工作，进而降低无人机的潜在安全威胁。
此外，由于动力组件通过连接线与无人机的航电系统通信连接，使得无人机的弱电部分和强电部分隔离开，减少了无人机的航电系统中强弱电转换和隔离部件的数量，而且使得无人机的航电系统线束量减少、布线也变得简单易行，从而降低了无人机的航电系统的体积，制造装配、维修、或者测试都更加的方便简单，降低了线路复杂对于信号传输的干扰，进一步提高了无人机的稳定性，降低了无人机的安全隐患。而且还大幅度降低了无人机的航电系统的散热量，使得无人机的航电系统中的电子零部件能够在额定工作温度内工作，从而提高了无人机的航电系统的稳定性。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (36)

  1. 一种无人机的航电系统，用于控制设置有电子调速器的无人机飞行，其特征在于，包括：壳体、飞行控制电路板、无线通信电路板、定位模块、以及连接线；
    所述飞行控制电路板、无线通信电路板以及定位模块安装在所述壳体内；
    所述飞行控制电路板和无线通信电路板集成在一个PCB板上；
    所述定位模块设置在所述PCB板的上方或者下方；
    所述壳体上开设有供所述连接线穿过的安装孔，所述飞行控制电路板通过所述连接线与所述壳体外的电子调速器通信连接。
  2. 根据权利要求1所述的无人机的航电系统，其特征在于，还包括视觉传感装置，所述视觉传感装置固定在所述壳体的前侧壁上，所述前侧壁为朝向所述无人机前进方向的侧壁。
  3. 根据权利要求2所述的无人机的航电系统，其特征在于，所述视觉传感装置包括：双目摄像头和图传模块。
  4. 根据权利要求3所述的无人机的航电系统，其特征在于，所述双目摄像头的两个镜头分设在所述图传模块的两侧。
  5. 根据权利要求3所述的无人机的航电系统，其特征在于，所述图传模块的前端安装有用于显示所述图传模块工作状态的指示灯。
  6. 根据权利要求2所述的无人机的航电系统，其特征在于，还包括双目安装支架，所述双目安装支架用于承载所述视觉传感装置。
  7. 根据权利要求1所述的无人机的航电系统，其特征在于，所述定位模块包括：RTK定位模块和GPS定位模块，所述RTK定位模块设置在所述GPS定位模块的上方。
  8. 根据权利要求7所述的无人机的航电系统，其特征在于，所述RTK定位模块设置在所述PCB板的下方。
  9. 根据权利要求7所述的无人机的航电系统，其特征在于，还包括惯性传感模块，所述惯性传感模块设置在所述壳体内、且位于所述RTK定位模块的下方。
  10. 根据权利要求1所述的无人机的航电系统，其特征在于，还包括天线，所述天线固定在所述壳体的左侧壁和/或右侧壁，所述天线通过所述无线 通信电路板上设置的接口与所述无线通信电路板通信连接。
  11. 根据权利要求1所述的无人机的航电系统，其特征在于，所述安装孔设置在所述壳体的后侧壁上。
  12. 根据权利要求1所述的无人机的航电系统，其特征在于，所述连接线包括针式插头或者针式插座，所述PCB板上设置有与所述针式插头或者针式插座配套的针式插座或者针式插头。
  13. 根据权利要求1所述的无人机的航电系统，其特征在于，还包括风扇，所述风扇设置在所述壳体的外侧，用于为所述壳体降温。
  14. 根据权利要求13所述的无人机的航电系统，其特征在于，所述风扇安装在所述壳体的顶面。
  15. 根据权利要求1-14任一项所述的无人机的航电系统，其特征在于，所述壳体包括：上盖以及下盖，所述上盖和下盖之间围合成用于安装所述PCB板和定位模块的密闭空间。
  16. 根据权利要求15所述的无人机的航电系统，其特征在于，所述壳体还包括中框，所述上盖盖合在所述中框的上开口处，所述下盖盖合在所述中框的下开口处；所述PCB板和定位模块固定在所述中框上。
  17. 根据权利要求15所述的无人机的航电系统，其特征在于，所述壳体内还设置有密封圈。
  18. 根据权利要求17所述的无人机的航电系统，其特征在于，所述PCB板安装在所述上盖和中框形成的上密闭空间内，所述定位模块安装在所述下盖和中框形成的下密闭空间内。
  19. 一种无人机，其特征在于，包括航电系统、以及电子调速器；
    所述航电系统包括：壳体、飞行控制电路板、无线通信电路板、定位模块、以及连接线；
    所述飞行控制电路板、无线通信电路板以及定位模块安装在所述壳体内；
    所述飞行控制电路板和无线通信电路板集成在一个PCB板上；
    所述定位模块设置在所述PCB板的上方或者下方；
    所述壳体上开设有供所述连接线穿过的安装孔，所述飞行控制电路板通过所述连接线与设置在所述壳体外的电子调速器通信连接。
  20. 根据权利要求19所述的无人机，其特征在于，还包括视觉传感装置， 所述视觉传感装置固定在所述壳体的前侧壁上，所述前侧壁为朝向所述无人机前进方向的侧壁。
  21. 根据权利要求20所述的无人机，其特征在于，所述视觉传感装置包括：双目摄像头和图传模块。
  22. 根据权利要求21所述的无人机，其特征在于，所述双目摄像头的两个镜头分设在所述图传模块的两侧。
  23. 根据权利要求21所述的无人机，其特征在于，所述图传模块的前端安装有用于显示所述图传模块工作状态的指示灯。
  24. 根据权利要求20所述的无人机，其特征在于，还包括双目安装支架，所述双目安装支架用于承载所述视觉传感装置。
  25. 根据权利要求19所述的无人机，其特征在于，所述定位模块包括：RTK定位模块和GPS定位模块，所述RTK定位模块设置在所述GPS定位模块的上方。
  26. 根据权利要求25所述的无人机，其特征在于，所述RTK定位模块设置在所述PCB板的下方。
  27. 根据权利要求25所述的无人机，其特征在于，还包括惯性传感模块，所述惯性传感模块设置在所述壳体内、且位于所述RTK定位模块的下方。
  28. 根据权利要求19所述的无人机，其特征在于，还包括天线，所述天线固定在所述壳体的左侧壁和/或右侧壁，所述天线通过所述无线通信电路板上设置的接口与所述无线通信电路板通信连接。
  29. 根据权利要求19所述的无人机，其特征在于，所述安装孔设置在所述壳体的后侧壁上。
  30. 根据权利要求19所述的无人机，其特征在于，所述连接线包括针式插头或者针式插座，所述PCB板上设置有与所述针式插头或者针式插座配套的针式插座或者针式插头。
  31. 根据权利要求19所述的无人机，其特征在于，还包括风扇，所述风扇设置在所述壳体的外侧，用于为所述壳体降温。
  32. 根据权利要求31所述的无人机，其特征在于，所述风扇安装在所述壳体的顶面。
  33. 根据权利要求19-32任一项所述的无人机，其特征在于，所述壳体 包括：上盖以及下盖，所述上盖和下盖之间围合成用于安装所述PCB板和定位模块的密闭空间。
  34. 根据权利要求33所述的无人机，其特征在于，所述壳体还包括中框，所述上盖盖合在所述中框的上开口处，所述下盖盖合在所述中框的下开口处；所述PCB板和定位模块固定在所述中框上。
  35. 根据权利要求33所述的无人机，其特征在于，所述壳体内还设置有密封圈。
  36. 根据权利要求35所述的无人机，其特征在于，所述PCB板安装在所述上盖和中框形成的上密闭空间内，所述定位模块安装在所述下盖和中框形成的下密闭空间内。
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