WO2019127047A1 - 无人飞行器及无人飞行器的装配方法 - Google Patents

无人飞行器及无人飞行器的装配方法 Download PDF

Info

Publication number
WO2019127047A1
WO2019127047A1 PCT/CN2017/118749 CN2017118749W WO2019127047A1 WO 2019127047 A1 WO2019127047 A1 WO 2019127047A1 CN 2017118749 W CN2017118749 W CN 2017118749W WO 2019127047 A1 WO2019127047 A1 WO 2019127047A1
Authority
WO
WIPO (PCT)
Prior art keywords
baking
bracket
grounding member
uav
circuit board
Prior art date
Application number
PCT/CN2017/118749
Other languages
English (en)
French (fr)
Inventor
黄通尧
冯建刚
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 CN201780026322.5A priority Critical patent/CN109071039A/zh
Priority to PCT/CN2017/118749 priority patent/WO2019127047A1/zh
Publication of WO2019127047A1 publication Critical patent/WO2019127047A1/zh

Links

Images

Classifications

    • 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
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • 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

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, and in particular to an assembly method of an unmanned aerial vehicle and an unmanned aerial vehicle.
  • the prior art unmanned aerial vehicle mainly comprises: a body and a multi-purpose component mounted on the body, the multi-eye component comprises a visual module and a support frame supporting the visual module, wherein the support frame and the visual module are respectively provided with a screw
  • the holes, the support frame and the vision module are connected together by screws that are threaded into the two screw holes.
  • the looseness of the screws can cause the relative position of the vision module to change, which in turn causes the entire vision system of the UAV to malfunction.
  • the invention provides an assembly method of an unmanned aerial vehicle and an unmanned aerial vehicle, which can improve the stability of the connection between the visual module and the bracket.
  • the present invention provides an unmanned aerial vehicle comprising: a body and a multi-eye assembly, the multi-eye assembly comprising a vision module and a bracket, the vision module being bonded to the bracket by an adhesive.
  • the unmanned aerial vehicle provided by the invention firmly connects the visual module and the bracket through the adhesive, thereby improving the stability of the connection between the visual module and the bracket, and the assembly process is simple and reliable, so that the unmanned aerial vehicle is flying.
  • the relative position of the visual module is not affected by the environment, which ensures the accuracy and reliability of the information acquired by the visual module.
  • the visual module includes a visual sensor, and the visual sensor is adhered to the bracket by the adhesive.
  • the bracket is provided with a receiving cavity matched with the visual sensor, and the visual sensor is received in the receiving cavity.
  • the bracket is provided with an opening communicating with the receiving cavity, the opening allowing light to pass through to enter the vision sensor.
  • the visual sensor comprises a seat body, and at least part of the wall of the seat body is bonded to the cavity wall of the receiving cavity by the adhesive.
  • the binder is a moisture-temperature curing acrylic glue.
  • the vision module further includes a flexible circuit board electrically connected to the vision sensor.
  • the UAV further includes a circuit board electrically connected to the flexible circuit board.
  • the UAV further includes a grounding member for accessing a zero potential point, the grounding member being electrically connected to the circuit board and the bracket, respectively.
  • the grounding member is electrically connected to the body that is connected to the zero potential point.
  • the grounding member has a first mounting portion, and the body is provided with a second mounting portion that is matched with the first mounting portion.
  • the first mounting portion is a through hole formed in the grounding member
  • the second mounting portion is a heat-melting column that can pass through the through hole, and the grounding member passes through a heat fusion The way is connected to the body.
  • the grounding member is a conductive sheet.
  • the grounding member is a metal piece.
  • one end of the grounding member is located at a top of the bracket, and at least a portion of the grounding member is in contact with the bracket; and the other end of the grounding member is located on the circuit board.
  • the circuit board is provided with a pressing member for fixing the flexible circuit board, and the other end of the grounding member has a bent portion, and the bent portion is in contact with the pressing member.
  • each segment of the grounding member matches the shape of the corresponding position in the body.
  • the body includes a first housing and a second housing under the first housing, the first housing and the second housing are fastened to each other to form the multi-head assembly Containment space.
  • the second mounting portion is disposed on an inner wall of the first housing.
  • the present invention provides a method of assembling an unmanned aerial vehicle, the unmanned aerial vehicle comprising: a body and a multi-eye assembly, the multi-eye assembly comprising a vision module and a bracket, the method comprising:
  • the binder is cured to attach the vision module to the stent by a cured adhesive.
  • the method for assembling an unmanned aerial vehicle when assembling the visual module on the bracket, first fixes the bracket on the fixture, and applies a binder on at least one of the bracket and the vision module, and then The adhesive is cured, and the visual module and the bracket are firmly connected by the cured adhesive, thereby improving the stability of the connection between the visual module and the bracket, and the assembly process is simple and reliable, so that the unmanned aerial vehicle is flying.
  • the relative position of the visual module is not affected by the environment, which ensures the accuracy and reliability of the information acquired by the visual module.
  • the curing the adhesive agent comprises:
  • the baking conditions of the first baking and the second baking are different, and the baking conditions include at least one of a baking time, a baking temperature, and a baking humidity.
  • the baking time of the first baking is 10 minutes to 30 minutes, and the baking temperature of the first baking is 60 ° C to 70 ° C;
  • the baking time of the second baking is 1 hour to 12 hours
  • the baking temperature of the second baking is 60 ° C to 70 ° C
  • the baking humidity of the second baking is 80%. ⁇ 95%.
  • the binder is a moisture-temperature curing acrylic glue.
  • FIG. 1 is a schematic overall structural view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is an exploded view showing the structure of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a multi-head assembly, a circuit board, and a grounding member in an airframe of an unmanned aerial vehicle according to an embodiment of the present invention
  • Figure 4 is an enlarged view of the structure of Figure 3;
  • FIG. 5 is a schematic structural view of a multi-head assembly, a circuit board, and a grounding member in an airframe of an unmanned aerial vehicle according to an embodiment of the present invention
  • Figure 6 is a side view corresponding to Figure 5;
  • FIG. 7 is a flowchart of a method for assembling an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an overall structure of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a structural exploded view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a multi-head assembly, a circuit board, and a grounding member in an airframe of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 4 is an enlarged view of the structure of Figure 3 in Figure 3.
  • FIG. 5 is a schematic structural view of a multi-head assembly, a circuit board, and a grounding member in an airframe of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 6 is a side view corresponding to Figure 5. Referring to Figures 1 to 6, the embodiment provides an unmanned aerial vehicle.
  • the UAV includes: a body 1 and a multi-head assembly 2.
  • the multi-eye assembly 2 is located in the body 1 and is fixedly connected to the body 1 .
  • the multi-eye assembly 2 is capable of sensing the environment around the unmanned aerial vehicle and measuring the attitude of the aircraft itself for providing information and data for obstacle avoidance, speed measurement, positioning, navigation, and the like of the unmanned aerial vehicle.
  • the multi-object assembly 2 in the body 1 may be one or two or more.
  • the UAV is specifically a quadrotor UAV, i.e., an aircraft having four rotor assemblies 13.
  • the UAV can also be a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, etc., of course, the unmanned aerial vehicle can also be a single-rotor aircraft.
  • the UAV can also be a fixed-wing aircraft, or a fixed-rotor-mixed aircraft.
  • the rotor assembly 13 specifically includes a motor 132 and a propeller 131 connected to the motor 132.
  • the motor 132 can drive the propeller 131 to rotate to provide power for the UAV to fly.
  • the body 1 is a main supporting and accommodating structure of the unmanned aerial vehicle, for example, a supporting rotor assembly 13, an antenna assembly (not shown), a sensor (not shown), etc., and a housing space is formed in the body 1, and the receiving space can be
  • the multi-object assembly 2, the circuit board 3, the sensor, and the like are housed.
  • the body 1 may have a different shape.
  • the body 1 is a regular square, a streamlined shape, a polygonal shape, or the like, or the body 1 has an irregular shape, which is not limited by the present invention.
  • a tripod can also be provided on the body 1, and the tripod provides support for the landing of the unmanned aerial vehicle.
  • the body 1 specifically includes a first housing 11 and a second housing 12 located below the first housing 11.
  • the first housing 11 and the second housing 12 are interlocked with each other.
  • the accommodating space that can accommodate the multi-object assembly 2 is formed.
  • the first housing 11 and the second housing 12 may also be connected together by screwing.
  • the first housing 11 and the second housing 12 may also be integrally formed. In this case, an opening may be formed in the first housing 11 or the second housing 12 to facilitate the first housing 11 and
  • the circuit board 3, a sensor, and the like are mounted in the accommodating space formed by the second casing 12.
  • the multi-head assembly 2 includes a vision module 20 and a bracket 23, and the vision module 20 is fixedly connected to the bracket 23.
  • the vision module 20 is bonded to the bracket 23 by a bonding agent.
  • the binder is a curable binder: a wet temperature curing acrylic glue.
  • the adhesive has strong adhesive force, is not easily affected by the external environment, and has low cost.
  • the visual module 20 can be reliably connected to the bracket 23 by the adhesive, so that the relative position of the visual module 20 is not changed by the environment during the flight of the unmanned aerial vehicle, and the visual module 20 is ensured. The accuracy and reliability of the information obtained.
  • the bonding agent may also be an ultraviolet ray (Ultraviolet Rays glue) or a black plastic, and the bonding between the visual module 20 and the bracket 23 is also achieved.
  • the vision module 20 includes a vision sensor 21 that is bonded to the bracket 23 by an adhesive. 3 to 5, in the present embodiment, the number of the visual sensors 21 is specifically two. Each of the vision sensors 21 is bonded to a corresponding position on the bracket 23 by a bonding agent. It can be understood that the number of the visual sensors 21 can also be three, four or more, and can be set according to actual needs.
  • the bracket 23 is provided with a receiving cavity 231 matched with the visual sensor 21, and the visual sensor 21 is received in the receiving cavity 231. It can be understood that each of the vision sensors 21 is respectively received and bonded in the corresponding receiving cavity 231.
  • the shape and size of the accommodating cavity 231 can be matched with the visual sensor 21, so that the visual sensor 21 can be more easily positioned during assembly, and the visual sensor 21 can be prevented from shaking, thereby further improving the assembly convenience.
  • the bracket 23 is provided with an opening 232 communicating with the receiving cavity 231, and the opening 232 allows light to pass through into the visual sensor 21.
  • the opening 232 is opened on the side of the bracket 23 facing away from the visual sensor 21, the light passes through the opening 232, and then enters the visual sensor 21, so that the visual sensor 21 captures an image of the object.
  • the opening 232 may not be opened, but the position of the corresponding visual sensor 21 of the bracket 23 is made of a light transmissive material.
  • the position of the corresponding visual sensor 21 of the bracket 23 is made of glass, and the light can also enter the visual sensor. twenty one.
  • the visual sensor 21 includes a seat body 211, and at least a portion of the wall of the seat body 211 is bonded to the cavity wall of the receiving chamber 231 by a bonding agent.
  • a bonding agent For example, dispensing is performed on the wall of the chamber 231 that is in contact with the seat body 211, or dispensing is performed in the circumferential direction of the seat body 211, and then the vision sensor 21 is placed in the housing chamber 231, at which time the seat body 211 passes.
  • the binder is connected to the cavity wall of the accommodating chamber 231. That is to say, the visual module 20 is stably connected to the bracket 23 by the adhesion between the seat body 211 and the cavity wall of the accommodating chamber 231.
  • the multi-eye assembly 2 further includes a lens 236 disposed at the opening 232 of the bracket 23 and closing the opening 232.
  • the lens 236 can protect the vision sensor 21 from contamination by dust, moisture, and the like.
  • the lens 236 may have a surface shape such as a flat surface, a spherical surface, or an aspheric surface.
  • the bracket 23 is further provided with an annular buffer cotton 237, and the buffer cotton 237 is sleeved on the outer circumference of the lens 236, and the buffer cotton 237 functions as a blackout and dustproof.
  • the lens 236 and the vision sensor 21 can be effectively protected.
  • the outer side of the opening 232 of the bracket 23 has a step, and the cushion cotton 237 is sleeved on the step.
  • the visual module 20 further includes a flexible printed circuit board (FPC), and the flexible circuit board 22 is electrically connected to the visual sensor 21.
  • the UAV also includes a circuit board 3 that is electrically coupled to the flexible circuit board 22. That is, the visual sensor 21 is electrically connected to the circuit board 3 through the flexible circuit board 22, thereby performing data, signal transmission or exchange, and the like.
  • the circuit board 3 is provided with a control module 31.
  • the control module 31 is electrically connected to the visual sensor 21 for processing data obtained by the visual sensor 21, and exchanging and merging data obtained by the visual sensor 21 with data of other functional modules.
  • the one end of the flexible circuit board 22 connected to the circuit board 3 has a conductive foam 221, and the circuit board 3 has a connector, and the conductive foam 221 is connected to the reinforcement of the connector of the circuit board 3.
  • the circuit board 3 has a pressing member 5 which is press-fitted on the conductive foam 221 of the flexible circuit board 22.
  • the pressing member 5 has a screw hole 51, and the pressing member 5 is connected to the body 1 by a screw 52 that is inserted into the screw hole 51.
  • the pressing member 5 can also be engaged with the body 1.
  • the pressing member 5 has a card hole, and the inner wall of the body 1 has a buckle that can be inserted into the card hole, and the pressing member 5 and the body 1 is fixed by the cooperation of the buckle and the card hole.
  • the multi-eye assembly 2 is specifically fixed in the body 1 by screws 234.
  • the bracket 23 of the multi-head assembly 2 is provided with a screw hole 233.
  • the bracket 23 is fixedly connected to the body 1 by a screw 234 disposed in the screw hole 233.
  • the screw hole is provided.
  • 233 is specifically two, and two screw holes 233 are disposed between the two openings 232.
  • the buffer holes 235 are also sleeved in the screw holes 233. That is to say, when assembling, the cushioning member 235 is sleeved in the screw hole 233, and then the screw 234 is passed through the buffering member 235, so that the vibration from the body 1 received by the visual module 20 can be buffered or eliminated.
  • the cushioning member 235 is made of a material having a certain elasticity.
  • the buffering member 235 is specifically a buffering silica gel.
  • the buffering member 235 may also be a buffer rubber or a sponge. The invention is not limited thereto.
  • the unmanned aerial vehicle of the embodiment further includes: a grounding member 4 for accessing a zero potential point.
  • the grounding member 4 is specifically electrically connected to the body 1.
  • the grounding member 4 is electrically connected to the circuit board 3 and the bracket 23, respectively. That is, the grounding of the vision module 20 is achieved by the grounding member 4.
  • the grounding member 4 is electrically connected to the circuit board 3 and the bracket 23 respectively. It can be understood that the grounding member 4 is only in contact with the circuit board 3 and the bracket 23, and of course, in other implementations, The grounding member 4 is directly connected to the bracket 23 and the circuit board 3.
  • the grounding member 4 is specifically a conductive sheet, such as a metal sheet. It should be noted that in other implementations, the grounding member 4 may also be a conductive foam.
  • the grounding member 4 has a first mounting portion 41, and the body 1 has a second mounting portion (not shown) that can be matched with the first mounting portion 41.
  • the grounding member 4 is coupled to the body 1 by the mutual engagement of the first mounting portion 41 and the second mounting portion.
  • the first mounting portion 41 is specifically a through hole formed in the grounding member 4, and the second mounting portion is a heat-melting column that can pass through the through hole.
  • the grounding member 4 is thermally fused.
  • the body 1 is connected. That is, at the time of assembly, the heat-melting column on the inner wall of the body 1 is aligned with the through hole, the heat-melting column is passed through the through-hole, and then the grounding member 4 is attached to the body 1 by a hot-melt process.
  • the through holes may be arranged in plurality, and the plurality of through holes are arranged on the grounding member 4 at intervals. It can be understood that there are also a plurality of hot-melting columns, and one hot-melting column corresponds to one through hole.
  • the second mounting portion is specifically disposed on the inner wall of the first housing 11 .
  • the first mounting portion 41 may be a card hole.
  • the second mounting portion is a buckle extending on the inner wall of the body 1 toward the inner cavity of the body 1 .
  • the electrical connection between the grounding member 4 and the body 1 is also achieved in the card slot.
  • the specific structure of the first mounting portion 41 and the second mounting portion of the present invention is not limited thereto.
  • the grounding member 4 has a recessed portion 40 when no After the human aircraft is assembled, the recess 40 of the grounding member 4 is in contact with the bracket 23.
  • the other end of the grounding member 4 is located on the circuit board 3.
  • the other end of the grounding member 4 has a bent portion 42.
  • the bent portion 42 is specifically overlapped on the pressing member 5 to be in contact with the pressing member 5, thereby The electrical connection of the grounding member 4 to the circuit board 3 and the bracket 23 is achieved.
  • the recessed portion 40 of the grounding member 4 is in contact with the bracket 23, and at the same time, the other end of the grounding member 4 is made.
  • the bent portion 42 is overlapped on the pressing member 5, and then the heat-melting column on the inner wall of the first casing 11 is aligned with the through hole on the grounding member 4, so that the heat-melting column penetrates into the through hole and then passes through The thermal fusion means to achieve an electrical connection between the grounding member 4 and the body 1.
  • the shape of each segment of the grounding member 4 matches the shape of the corresponding position in the body 1, so that not only the grounding member 4 can be conveniently used.
  • the body 1 is connected, and the space inside the body 1 is effectively utilized, so that the grounding member 4 can be better adapted to the internal space of the body 1, and the appearance can be improved.
  • the body 1 is provided with a light-transmitting hole 15.
  • two visual sensors 21 are provided in the embodiment, and two light-transmissive holes 15 and one light-transmitting hole 15 are opened in the body 1.
  • the visual sensor 21 is aligned with the corresponding light-transmissive aperture 15 which allows light to pass through and into the corresponding visual sensor 21.
  • the unmanned aerial vehicle of the present embodiment further includes: a photographing camera unit 16.
  • a cloud platform is connected to the body 1, and the camera unit 16 is connected to the pan/tilt.
  • the photographing camera unit 16 is used to capture a two-dimensional image
  • the pan/tilt head can change the photographing angle and direction of the photographing camera unit 16, and the pan/tilt head can provide a shock absorbing function for the photographing camera unit 16.
  • the pan/tilt can be a three-axis pan/tilt that is capable of adjusting the shooting angle and direction of the camera unit 16 about the roll axis, the pitch axis, and the heading axis.
  • the visual module 20 and the bracket 23 are firmly connected together by the adhesive, thereby improving the stability of the connection between the visual module 20 and the bracket 23, and the assembly process is simple and reliable, so that During the flight of the UAV, the relative position of the visual module 20 is not affected by the environment, which ensures the accuracy and reliability of the information acquired by the visual module 20.
  • FIG. 7 is a flowchart of a method for assembling an unmanned aerial vehicle according to an embodiment of the present invention.
  • the embodiment provides an assembly method of an unmanned aerial vehicle.
  • the assembly method of the unmanned aerial vehicle includes:
  • the bracket 23 is first fixed to the fixture, and the dispenser is dispensed with an automatic dispenser.
  • dispensing is performed directly at the position where the visual sensor 21 is mounted correspondingly to the holder 23, and then the visual sensor 21 is placed at the position.
  • the wall of the chamber of the accommodating chamber 231 of the holder 23 is dispensed, and then the vision sensor 21 is placed in the accommodating chamber 231.
  • the visual sensor 21 may also be dispensed, for example, on at least part of the wall of the seat body 211 of the visual sensor 21, and then the visual sensor 21 is placed in the holder 23 for accommodation.
  • the visual sensor 21 is bonded to the cavity wall of the accommodating chamber 231 by the adhesive.
  • dispensing can be performed simultaneously on the holder 23 and the visual sensor 21. It will be appreciated that the dispensing position avoids the position of the received light of the visual sensor 21 when dispensing on the visual sensor 21.
  • the adhesive is specifically: a moisture-temperature curing acrylic glue.
  • the adhesive has strong adhesive force and is not easily affected by the external environment, and can further ensure the reliability and stability of the bonding between the visual module 20 and the bracket 23, and the cost is low.
  • the curing of the bonding agent specifically includes: performing the first baking on the pre-fixed visual module 20 and the bracket 23, and after the first baking, the visual module 20 and the bracket 23 for the second baking.
  • the baking conditions of the first baking and the second baking are different, and the baking conditions include at least one of a baking time, a baking temperature, and a baking humidity.
  • the first baking is performed: high temperature baking.
  • the baking time of the first baking is preferably 10 minutes to 30 minutes.
  • the baking temperature for the first baking is preferably 60 ° C to 70 ° C.
  • the second baking is performed through the high temperature and high humidity box.
  • the baking time of the second baking is preferably 1 hour to 12 hours, and the baking temperature of the second baking is preferably 60 ° C to 70 ° C, and the second
  • the baking humidity of the secondary baking is preferably 80% to 95%, and the visual module 20 and the holder 23 are reliably connected by two baking.
  • the bracket 23 is first fixed on the fixture, and the bracket 23 and the visual module 20 are coated on at least one of the brackets 23 and the visual module 20.
  • a bonding agent is disposed, and then the bonding agent is cured, and the visual module 20 and the bracket 23 are firmly connected together by the cured bonding agent, thereby improving the stability of the connection between the visual module 20 and the bracket 23, and the assembly process. It is simple and reliable, so that the relative position of the visual module 20 is not changed by the environment during the flight of the UAV, and the accuracy and reliability of the information acquired by the visual module 20 are ensured.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Studio Devices (AREA)

Abstract

一种无人飞行器及无人飞行器的装配方法，本发明的无人飞行器，包括：机体(1)以及多目组件(2)，所述多目组件(2)包括视觉模组(20)和支架(23)，所述视觉模组(20)通过黏结剂粘接在所述支架(23)上。本发明能够提高视觉模组与支架之间连接的稳定性。

Description

无人飞行器及无人飞行器的装配方法 技术领域
本发明涉及无人飞行器技术领域，尤其涉及一种无人飞行器及无人飞行器的装配方法。
背景技术
随着科技的进步，无人飞行器受到了广泛的关注。无人飞行器简称：无人机，是利用无线电遥控设备或者自身程序控制装置操纵的不载人飞机。其具有机动灵活、反应快速、无人飞行等优点。无人飞行器通常应用于军事领域和民用领域，具体在气象、农业、勘探、摄影、输运、娱乐等领域应用非常广泛。
现有技术的无人飞行器主要包括：机体以及安装在机体上的多目组件，多目组件包括视觉模组以及支撑视觉模组的支撑架，其中，支撑架和视觉模组上分别设置有螺孔，支撑架和视觉模组通过穿设在两个螺孔中的螺钉连接在一起。
然而，由于螺钉容易松动，螺钉松动会导致视觉模组的相对位置发生变化，进而导致无人飞行器的整个视觉系统发生故障。
发明内容
本发明提供一种无人飞行器及无人飞行器的装配方法，能够提高视觉模组与支架之间连接的稳定性。
第一方面，本发明提供一种无人飞行器，包括：机体以及多目组件，所述多目组件包括视觉模组和支架，所述视觉模组通过黏结剂粘接在所述支架上。
本发明提供的无人飞行器，通过黏结剂将视觉模组和支架牢固地连接在一起，从而提高了视觉模组和支架之间连接的稳定性，装配过程简单且可靠，使得无人飞行器在飞行过程中，视觉模组的相对位置不会受环境的影响而发 生变化，保证了视觉模组所获取的信息的准确性和可靠性。
可选的，所述视觉模组包括视觉传感器，所述视觉传感器通过所述黏结剂粘接在所述支架上。
可选的，所述支架上开设有与所述视觉传感器相匹配的容纳腔，所述视觉传感器收容在所述容纳腔中。
可选的，所述支架上开设有与所述容纳腔连通的开口，所述开口允许光线穿过而进入所述视觉传感器。
可选的，所述视觉传感器包括座体，所述座体的至少部分壁与所述容纳腔的腔壁通过所述黏结剂粘接。
可选的，所述黏结剂为湿温固化丙烯酸类胶水。
可选的，所述视觉模组还包括柔性电路板，所述柔性电路板与所述视觉传感器电连接。
可选的，所述无人飞行器还包括与所述柔性电路板电连接的电路板。
可选的，所述无人飞行器还包括用于接入零电势点的接地件，所述接地件分别与所述电路板和所述支架电连接。
可选的，所述接地件与接入零电势点的所述机体电连接。
可选的，所述接地件上具有第一安装部，所述机体上设置有可与所述第一安装部相匹配的第二安装部。
可选的，所述第一安装部为开设在所述接地件上的通孔，所述第二安装部为可穿设在所述通孔中的热熔柱，所述接地件通过热熔的方式与所述机体连接。
可选的，所述接地件为导电片。
可选的，所述接地件为金属片。
可选的，所述接地件的一端位于所述支架的顶部，且所述接地件的至少部分与所述支架相接触；所述接地件的另一端位于所述电路板上。
可选的，所述电路板上设置有用于固定所述柔性电路板的压紧件，所述接地件的另一端上具有弯折部，所述弯折部与所述压紧件相接触。
可选的，所述接地件的各段的形状与所述机体内对应位置的形状相匹配。
可选的，所述机体包括第一壳体和位于所述第一壳体下方的第二壳体，所述第一壳体和所述第二壳体相互扣合形成收容所述多目组件的收容空间。
可选的，所述第二安装部设置在所述第一壳体的内壁上。
第二方面，本发明提供一种无人飞行器的装配方法，所述无人飞行器包括：机体以及多目组件，所述多目组件包括视觉模组和支架，所述方法包括：
将所述支架固定在工装治具上；
在所述支架和所述视觉模组的至少一者上涂设黏结剂；
对所述黏结剂进行固化，以将所述视觉模组通过固化后的黏结剂连接在所述支架上。
本发明提供的无人飞行器的装配方法，在将视觉模组装配在支架上时，先将支架固定在工装治具上，在支架和视觉模组的至少一者上涂设黏结剂，然后对黏结剂进行固化，通过固化后的黏结剂将视觉模组和支架牢固地连接在一起，从而提高了视觉模组和支架之间连接的稳定性，装配过程简单且可靠，使得无人飞行器在飞行过程中，视觉模组的相对位置不会受环境的影响而发生变化，保证了视觉模组所获取的信息的准确性和可靠性。
可选的，所述对所述黏结剂进行固化包括：
对所述视觉模组和所述支架进行第一次烘烤；
对所述视觉模组和所述支架进行第二次烘烤；
其中，所述第一次烘烤和所述第二次烘烤的烘烤条件不同，所述烘烤条件包括：烘烤时间、烘烤温度、烘烤湿度中的至少一项。
可选的，所述第一次烘烤的烘烤时间为10分钟～30分钟，所述第一次烘烤的烘烤温度为60℃～70℃；
所述第二次烘烤的烘烤时间为1小时～12小时，所述第二次烘烤的烘烤温度为60℃～70℃，所述第二次烘烤的烘烤湿度为80％～95％。
可选的，所述黏结剂为湿温固化丙烯酸类胶水。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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为本发明一实施例提供的无人飞行器的整体结构示意图；
图2为本发明一实施例提供的无人飞行器的结构爆炸图；
图3为本发明一实施例提供的无人飞行器的机体内的多目组件、电路板以及接地件的结构示意图；
图4为图3中I处的结构放大图；
图5为本发明一实施例提供的无人飞行器的机体内的多目组件、电路板以及接地件装配在一起后的结构示意图；
图6为图5对应的侧视图；
图7为本发明一实施例提供的无人飞行器的装配方法的流程图。
附图标记说明：
1—机体；
11—第一壳体；
12—第二壳体；
13—旋翼组件；
131—螺旋桨；
132—电机；
15—透光孔；
16—拍摄相机单元；
2—多目组件；
20—视觉模组；
21—视觉传感器；
211—座体；
22—柔性电路板；
221—导电泡棉；
23—支架；
231—容纳腔；
232—开口；
233—螺孔；
234—螺钉；
235—缓冲件；
236—镜片；
237—缓冲棉；
3—电路板；
31—控制模块；
4—接地件；
41—第一安装部；
42—弯折部；
40—凹陷部；
5—压紧件；
51—螺孔；
52—螺钉。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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作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。
图1为本发明一实施例提供的无人飞行器的整体结构示意图。图2为本发明一实施例提供的无人飞行器的结构爆炸图。图3为本发明一实施例提供的无人飞行器的机体内的多目组件、电路板以及接地件的结构示意图。图4为图3中I处的结构放大图。图5为本发明一实施例提供的无人飞行器的机体内的多目组件、电路板以及接地件装配在一起后的结构示意图。图6为图5对应的侧视图。参照图1至图6所示，本实施例提供一种无人飞行器。
该无人飞行器包括：机体1以及多目组件2。其中，多目组件2位于机体1内，且与机体1固定连接。多目组件2能够感测无人飞行器周围的环境以及测量飞行器自身的姿态，用于为无人飞行器的避障、测速、定位、导航等提供信息及数据。机体1内的多目组件2可以是一个，也可以是两个或两个以上。
参照图1所示，在本实施例中，无人飞行器具体为四旋翼无人飞行器，即，具有四个旋翼组件13的飞行器。需要说明的是，无人飞行器也可以为六 旋翼飞行器、八旋翼飞行器、十二旋翼飞行器等，当然，无人飞行器也可以为单旋翼飞行器。另外，该无人飞行器也可以为固定翼飞行器，或者固定翼—旋翼混合的飞行器。其中，旋翼组件13具体包括：电机132以及与电机132相连的螺旋桨131，电机132能够驱动螺旋桨131转动，以提供无人飞行器飞行的动力。
机体1为无人飞行器的主要支撑和收容结构，例如支撑旋翼组件13、天线组件(图中未示出)、传感器(图中未示出)等，机体1内形成有收容空间，收容空间可以收纳多目组件2、电路板3、传感器等等。机体1可以有不同的形状，比如，机体1为规则的方形、流线形、多边形等，或者，机体1为不规则的形状，本发明对此不作限定。机体1上还可以设置脚架，脚架为无人飞行器着陆时提供支撑。
参照图2所示，在本实施例中，机体1具体包括：第一壳体11和位于第一壳体11下方的第二壳体12，第一壳体11和第二壳体12相互扣合形成可收容多目组件2的收容空间。需要说明的是，在其他实现方式中，第一壳体11和第二壳体12也可以通过螺接的方式连接在一起。或者，第一壳体11和第二壳体12也可以一体成型，在该种情况下，可以在第一壳体11或者第二壳体12上开设开口，以方便在第一壳体11和第二壳体12形成的收容空间内安装电路板3、传感器等部件。
其中，多目组件2包括：视觉模组20和支架23，视觉模组20与支架23固定连接。在本实施例中，视觉模组20通过黏结剂粘接在支架23上。在本实施例中，该黏结剂为可固化的黏结剂：湿温固化丙烯酸类胶水。该黏结剂的粘力强，不易受外界环境的影响，而且成本较低。通过该黏结剂能够将视觉模组20可靠地连接在支架23上，使得无人飞行器在飞行过程中，视觉模组20的相对位置不会受环境的影响而发生变化，保证了视觉模组20所获取的信息的准确性和可靠性。
需要说明的是，在其他实现方式中，黏结剂也可以是无影胶(Ultraviolet Rays glue，简称UV胶)或者黑胶等，同样可实现视觉模组20与支架23之间的粘接。
视觉模组20包括：视觉传感器21，视觉传感器21通过黏结剂粘接在支架23上。继续参照图3至图5所示，在本实施例中，视觉传感器21的数量 具体为两个。各视觉传感器21分别通过黏结剂粘接在支架23上的对应位置。可以理解的是，视觉传感器21的数量也可以为三个、四个或者更多个，具体可根据实际需求进行设定。
具体地，支架23上开设有与视觉传感器21相匹配的容纳腔231，视觉传感器21收容在该容纳腔231中。可以理解的是，各视觉传感器21分别收容并粘接在各自对应的容纳腔231中。具体实现时，可以使该容纳腔231的形状和尺寸与视觉传感器21相匹配，这样在装配时，更易对视觉传感器21进行定位，可防止视觉传感器21晃动，进一步提高了装配的方便性。
其中，支架23上开设有与容纳腔231连通的开口232，该开口232允许光线穿过而进入视觉传感器21。可以理解的是，开口232开设在支架23的背离视觉传感器21的一侧表面，光线从开口232穿过，然后进入至视觉传感器21，从而使视觉传感器21捕获到目标物的影像。当然，也可以不开设开口232，而是将支架23的对应视觉传感器21的位置由透光材料制成，比如，支架23的对应视觉传感器21的位置为玻璃材质，同样可以使光线进入视觉传感器21。
在本实施例中，视觉传感器21包括座体211，座体211的至少部分壁与容纳腔231的腔壁通过黏结剂粘接。比如，在容纳腔231的与座体211接触的腔壁上进行点胶，或者，在座体211的周向上进行点胶，然后将视觉传感器21放置在容纳腔231中，此时座体211通过黏结剂与容纳腔231的腔壁连接。也就是说，通过座体211与容纳腔231的腔壁之间的粘接，从而将视觉模组20稳定地连接在支架23上。
其中，多目组件2还包括镜片236，镜片236设置在支架23的开口232处，并封闭该开口232。镜片236能够保护视觉传感器21，使视觉传感器21免受灰尘、水汽等的污染。镜片236可以具有平面、球面、非球面等表面形状。
参照图4和图5所示，在本实施例中，支架23上还设置有环状的缓冲棉237，缓冲棉237套设在镜片236的外周，该缓冲棉237起遮光防尘的作用，可对镜片236和视觉传感器21进行有效保护。具体地，支架23的开口232外侧具有台阶，缓冲棉237套设在台阶上。
在本实施例中，视觉模组20还包括柔性电路板22(Flexible Printed Circuit  Board，简称FPC)，柔性电路板22与视觉传感器21电连接。该无人飞行器还包括与柔性电路板22电连接的电路板3。也就是说，视觉传感器21通过柔性电路板22与电路板3电连接，从而进行数据、信号的传输或交换等。电路板3设置有控制模块31，控制模块31与视觉传感器21电连接，用于处理视觉传感器21所获得的数据，并将视觉传感器21获得的数据与其他功能模块的数据进行交换、融合。
其中，柔性电路板22的与电路板3连接的一端具有导电泡棉221，电路板3上具有连接器，导电泡棉221连接至电路板3的连接器的补强上。电路板3上具有压紧件5，压紧件5压设在柔性电路板22的导电泡棉221上。压紧件5上具有螺孔51，压紧件5通过穿设在该螺孔51中的螺钉52与机体1连接。当然，在其他实现方式中，压紧件5也可以与机体1卡接，比如压紧件5上具有卡孔，机体1的内壁上具有可卡入该卡孔中的卡扣，压紧件5和机体1通过卡扣与卡孔的配合固定在一起。
在本实施例中，多目组件2具体通过螺钉234固定在机体1内。具体地，多目组件2的支架23上开设有螺孔233，支架23通过穿设在螺孔233中的螺钉234与机体1固定连接，参照图4所示，在本实施例中，螺孔233具体为两个，两个螺孔233设置在两个开口232之间。
为了缓冲或消除支架23受到的来自机体1的震动，使得视觉传感器21获得的信息更加准确和可靠，在本实施例中，各螺孔233中还套设有缓冲件235。也就是说，在装配时，将缓冲件235套设在螺孔233中，然后使螺钉234从缓冲件235中穿过即可，从而能够缓冲或消除视觉模组20受到的来自机体1的震动。可以理解的是，该缓冲件235为具有一定弹性的材料制成。在本实施例中，该缓冲件235具体为缓冲硅胶，当然，缓冲件235也可以是缓冲橡胶、海绵等，本发明并不以此为限。
进一步地，为了防止电磁干扰，本实施例的无人飞行器还包括：用于接入零电势点的接地件4。在本实施例中，接地件4具体与机体1电连接。同时，该接地件4分别与电路板3和支架23电连接。即，通过接地件4实现视觉模组20的接地。需要说明的是，此处的接地件4分别与电路板3和支架23电连接，可以理解为，接地件4仅与电路板3和支架23接触，当然，在其他实现方式中，也可以是，接地件4与支架23和电路板3直接连接。参照 图3至图6所示，在本实施例中，接地件4具体为导电片，比如金属片。需要说明的是，在其他实现方式中，接地件4也可以为导电泡棉。
具体实现时，接地件4上具有第一安装部41，机体1上具有可与该第一安装部41相匹配的第二安装部(图中未示出)。通过第一安装部41和第二安装部的相互配合，从而将接地件4连接在机体1上。
在本实施例中，第一安装部41具体为开设在接地件4上的通孔，第二安装部为可穿设在该通孔中的热熔柱，接地件4通过热熔的方式与机体1连接。也就是说，在装配时，将机体1内壁上的热熔柱与通孔对准，使热熔柱从通孔中穿过，然后通过热熔工艺将接地件4连接在机体1上。具体实现时，可将通孔设置为多个，多个通孔间隔排布在接地件4上，可以理解的是，热熔柱也为多个，一个热熔柱对应一个通孔。
其中，第二安装部具体设置在第一壳体11的内壁上。需要说明的是，在其他实现方式中，第一安装部41也可以为卡孔，相应地，第二安装部为位于机体1内壁上的朝向机体1内腔延伸的卡扣，装配时，使卡扣卡在卡孔中同样可实现接地件4与机体1之间的电连接，本发明对第一安装部41和第二安装部的具体结构并不以此为限。
继续参照图3至图5所示，其中，接地件4的一端位于支架23的顶部，且接地件4的至少部分与支架23相接触，具体地，接地件4上具有凹陷部40，当无人飞行器装配好之后，接地件4的凹陷部40与支架23相接触。接地件4的另一端位于电路板3上，具体地，接地件4的另一端具有弯折部42，弯折部42具体搭接在压紧件5上，与压紧件5相接触，从而实现了接地件4与电路板3和支架23的电连接。通过在电路板3的另一端上设置弯折部42，使得接地件4可根据机体1内部的空间进行适应性改变，在有限的空间内实现接地连接。
也就是说，在将视觉模组20和支架23装配好之后，使接地件4的一端位于支架23的顶部，接地件4的凹陷部40与支架23相接触，同时，使接地件4另一端的弯折部42搭接在压紧件5上，然后使第一壳体11内壁上的热熔柱与接地件4上的通孔对准，使热熔柱穿入通孔中，然后通过热熔的方式实现接地件4与机体1之间的电连接。
为了使接地件4能够更好地适应机体1的内部空间，在本实施例中，接 地件4的各段的形状与机体1内对应位置的形状相匹配，这样不仅能够方便地对接地件4和机体1进行连接，且有效利用了机体1内的空间，使接地件4能够更好地适应机体1的内部空间，而且可提高美观性。
其中，对应于各视觉传感器21，机体1上开设有透光孔15，比如，本实施例中的视觉传感器21为两个，机体1上开设有两个透光孔15，一个透光孔15对应一个视觉传感器21。该无人飞行器组装完成后，视觉传感器21对准对应的透光孔15，透光孔15允许光线穿过并进入对应的视觉传感器21。
此外，参照图1所示，本实施例的无人飞行器还包括：拍摄相机单元16。具体实现时，机体1上连接有云台，拍摄相机单元16连接在云台上。拍摄相机单元16用于拍摄二维图像，云台能够改变拍摄相机单元16的拍摄角度及方向，同时，云台能够为拍摄相机单元16提供减震功能。示例性的，云台可以为三轴云台，其能够绕横滚轴、俯仰轴以及航向轴调整拍摄相机单元16的拍摄角度及方向。
本实施例提供的无人飞行器，通过黏结剂将视觉模组20和支架23牢固地连接在一起，从而提高了视觉模组20和支架23之间连接的稳定性，装配过程简单且可靠，使得无人飞行器在飞行过程中，视觉模组20的相对位置不会受环境的影响而发生变化，保证了视觉模组20所获取的信息的准确性和可靠性。
图7为本发明一实施例提供的无人飞行器的装配方法的流程图。参照图7所示，本实施例提供一种无人飞行器的装配方法。该无人飞行器的装配方法包括：
S101、将支架固定在工装治具上。
S102、在支架和视觉模组的至少一者上涂设黏结剂。
具体地，在装配时，将支架23先固定在工装治具上，用自动点胶机进行点胶。本实施例中，是直接在支架23的对应安装视觉传感器21的位置上进行点胶，然后将视觉传感器21放置在该位置处。比如，在支架23的容纳腔231的腔壁上点胶，然后将视觉传感器21放置在该容纳腔231中。需要说明的是，在其他实现方式中，也可以在视觉传感器21上点胶，比如，在视觉传感器21的座体211的至少部分壁上点胶，然后将视觉传感器21放置在支架 23的容纳腔231中，使视觉传感器21通过黏结剂与容纳腔231的腔壁粘接。或者，也可以在支架23和视觉传感器21上同时进行点胶。可以理解的是，在视觉传感器21上点胶时，点胶位置避开视觉传感器21的接收光线的位置。
在本实施例中，该黏结剂具体为：湿温固化丙烯酸类胶水。该黏结剂的粘力强，不易受外界环境的影响，能够进一步保证视觉模组20与支架23之间粘接的可靠性和稳定性，而且成本较低。
S103、对黏结剂进行固化，以将视觉模组通过固化后的黏结剂连接在支架上。
在将视觉模组20和支架23预固定在一起后，对黏结剂进行固化。在本实施例中，对黏结剂进行固化具体包括：对预固定在一起的视觉模组20和支架23进行第一次烘烤，在第一次烘烤结束后，对视觉模组20和支架23进行第二次烘烤。其中，第一次烘烤和第二次烘烤的烘烤条件不同，该烘烤条件包括：烘烤时间、烘烤温度、烘烤湿度中的至少一项。
也就是说，在支架23和视觉模组20点胶后，先进行第一次烘烤：高温烘烤，在本实施例中，第一次烘烤的烘烤时间优选为10分钟～30分钟，第一次烘烤的烘烤温度优选为60℃～70℃。然后再经过高温高湿箱进行第二次烘烤，第二次烘烤的烘烤时间优选为1小时～12小时，第二次烘烤的烘烤温度优选为60℃～70℃，第二次烘烤的烘烤湿度优选为80％～95％，通过两次烘烤，从而将视觉模组20与支架23可靠的连接在一起。
本实施例提供的无人飞行器的装配方法，在将视觉模组20装配在支架23上时，先将支架23固定在工装治具上，在支架23和视觉模组20的至少一者上涂设黏结剂，然后对黏结剂进行固化，通过固化后的黏结剂将视觉模组20和支架23牢固地连接在一起，从而提高了视觉模组20和支架23之间连接的稳定性，装配过程简单且可靠，使得无人飞行器在飞行过程中，视觉模组20的相对位置不会受环境的影响而发生变化，保证了视觉模组20所获取的信息的准确性和可靠性。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并 不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (23)

  1. 一种无人飞行器，包括：机体以及多目组件，所述多目组件包括视觉模组和支架，其特征在于，所述视觉模组通过黏结剂粘接在所述支架上。
  2. 根据权利要求1所述的无人飞行器，其特征在于，所述视觉模组包括视觉传感器，所述视觉传感器通过所述黏结剂粘接在所述支架上。
  3. 根据权利要求2所述的无人飞行器，其特征在于，所述支架上开设有与所述视觉传感器相匹配的容纳腔，所述视觉传感器收容在所述容纳腔中。
  4. 根据权利要求3所述的无人飞行器，其特征在于，所述支架上开设有与所述容纳腔连通的开口，所述开口允许光线穿过而进入所述视觉传感器。
  5. 根据权利要求3所述的无人飞行器，其特征在于，所述视觉传感器包括座体，所述座体的至少部分壁与所述容纳腔的腔壁通过所述黏结剂粘接。
  6. 根据权利要求1所述的无人飞行器，其特征在于，所述黏结剂为湿温固化丙烯酸类胶水。
  7. 根据权利要求2所述的无人飞行器，其特征在于，所述视觉模组还包括柔性电路板，所述柔性电路板与所述视觉传感器电连接。
  8. 根据权利要求7所述的无人飞行器，其特征在于，所述无人飞行器还包括与所述柔性电路板电连接的电路板。
  9. 根据权利要求8所述的无人飞行器，其特征在于，所述无人飞行器还包括用于接入零电势点的接地件，所述接地件分别与所述电路板和所述支架电连接。
  10. 根据权利要求9所述的无人飞行器，其特征在于，所述接地件与接入零电势点的所述机体电连接。
  11. 根据权利要求10所述的无人飞行器，其特征在于，所述接地件上具有第一安装部，所述机体上设置有可与所述第一安装部相匹配的第二安装部。
  12. 根据权利要求11所述的无人飞行器，其特征在于，所述第一安装部为开设在所述接地件上的通孔，所述第二安装部为可穿设在所述通孔中的热熔柱，所述接地件通过热熔的方式与所述机体连接。
  13. 根据权利要求9所述的无人飞行器，其特征在于，所述接地件为导电片。
  14. 根据权利要求13所述的无人飞行器，其特征在于，所述接地件为金 属片。
  15. 根据权利要求9所述的无人飞行器，其特征在于，所述接地件的一端位于所述支架的顶部，且所述接地件的至少部分与所述支架相接触；所述接地件的另一端位于所述电路板上。
  16. 根据权利要求15所述的无人飞行器，其特征在于，所述电路板上具有压设在所述柔性电路板上的压紧件，所述接地件的另一端上具有弯折部，所述弯折部与所述压紧件相接触。
  17. 根据权利要求13所述的无人飞行器，其特征在于，所述接地件的各段的形状与所述机体内对应位置的形状相匹配。
  18. 根据权利要求11所述的无人飞行器，其特征在于，所述机体包括第一壳体和位于所述第一壳体下方的第二壳体，所述第一壳体和所述第二壳体相互扣合形成收容所述多目组件的收容空间。
  19. 根据权利要求18所述的无人飞行器，其特征在于，所述第二安装部设置在所述第一壳体的内壁上。
  20. 一种无人飞行器的装配方法，所述无人飞行器包括：机体以及多目组件，所述多目组件包括视觉模组和支架，其特征在于，所述方法包括：
    将所述支架固定在工装治具上；
    在所述支架和所述视觉模组的至少一者上涂设黏结剂；
    对所述黏结剂进行固化，以将所述视觉模组通过固化后的黏结剂连接在所述支架上。
  21. 根据权利要求20所述的装配方法，其特征在于，所述对所述黏结剂进行固化包括：
    对所述视觉模组和所述支架进行第一次烘烤；
    对所述视觉模组和所述支架进行第二次烘烤；
    其中，所述第一次烘烤和所述第二次烘烤的烘烤条件不同，所述烘烤条件包括：烘烤时间、烘烤温度、烘烤湿度中的至少一项。
  22. 根据权利要求21所述的装配方法，其特征在于，所述第一次烘烤的烘烤时间为10分钟～30分钟，所述第一次烘烤的烘烤温度为60℃～70℃；
    所述第二次烘烤的烘烤时间为1小时～12小时，所述第二次烘烤的烘烤温度为60℃～70℃，所述第二次烘烤的烘烤湿度为80％～95％。
  23. 根据权利要求20所述的装配方法，其特征在于，所述黏结剂为湿温固化丙烯酸类胶水。
PCT/CN2017/118749 2017-12-26 2017-12-26 无人飞行器及无人飞行器的装配方法 WO2019127047A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780026322.5A CN109071039A (zh) 2017-12-26 2017-12-26 无人飞行器及无人飞行器的装配方法
PCT/CN2017/118749 WO2019127047A1 (zh) 2017-12-26 2017-12-26 无人飞行器及无人飞行器的装配方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/118749 WO2019127047A1 (zh) 2017-12-26 2017-12-26 无人飞行器及无人飞行器的装配方法

Publications (1)

Publication Number Publication Date
WO2019127047A1 true WO2019127047A1 (zh) 2019-07-04

Family

ID=64822099

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/118749 WO2019127047A1 (zh) 2017-12-26 2017-12-26 无人飞行器及无人飞行器的装配方法

Country Status (2)

Country Link
CN (1) CN109071039A (zh)
WO (1) WO2019127047A1 (zh)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101055754A (zh) * 2007-04-04 2007-10-17 福群电子(深圳)有限公司 一种硬盘驱动架点胶工艺及其装配闭循环生产线
CN102980584A (zh) * 2011-09-02 2013-03-20 深圳市大疆创新科技有限公司 一种无人飞行器惯性测量模块
CN106695328A (zh) * 2017-02-20 2017-05-24 西安爱生技术集团公司 一种无人机柔性装配工装结构
CN107000840A (zh) * 2016-01-26 2017-08-01 深圳市大疆创新科技有限公司 无人飞行器及多目成像系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101055754A (zh) * 2007-04-04 2007-10-17 福群电子(深圳)有限公司 一种硬盘驱动架点胶工艺及其装配闭循环生产线
CN102980584A (zh) * 2011-09-02 2013-03-20 深圳市大疆创新科技有限公司 一种无人飞行器惯性测量模块
CN107000840A (zh) * 2016-01-26 2017-08-01 深圳市大疆创新科技有限公司 无人飞行器及多目成像系统
CN106695328A (zh) * 2017-02-20 2017-05-24 西安爱生技术集团公司 一种无人机柔性装配工装结构

Also Published As

Publication number Publication date
CN109071039A (zh) 2018-12-21

Similar Documents

Publication Publication Date Title
CN110282132B (zh) 无人飞行器及多目成像系统
CN204289684U (zh) 天线组件、起落架及无人飞行器
EP3171131A1 (en) Sensor unit, electronic apparatus, and mobile body
US11370531B1 (en) Unmanned aerial vehicle with ports configured to receive swappable components
JP6575181B2 (ja) センサーユニット、電子機器、および移動体
JP2013109188A (ja) 撮像装置
US20170146766A1 (en) Imaging device and method of assembly
EP3741661A1 (en) Anmanned aerial vehicle
CN106603898B (zh) 多拍摄角度的一体式摄像头模组
CN108989631A (zh) 包括由致动器驱动的被驱动体的摄像设备和移动体
CN109186588B (zh) 一种微型多模星敏感器
CN109562837B (zh) 无人飞行器及电池仓组件与电池仓
US11254444B2 (en) Gimbal, photographing apparatus having same, and unmanned aerial vehicle
JPH11239288A (ja) ビデオカメラの筐体構造
CN205469826U (zh) 无人飞行器及多目成像系统
WO2019127047A1 (zh) 无人飞行器及无人飞行器的装配方法
CN112758338B (zh) 一种一体化结构的微小型光电吊舱
CN207631513U (zh) 无人飞行器
CN109421925B (zh) 无人机
EP3422064B1 (en) Multi-lens camera module and assembling process thereof
WO2019140649A1 (zh) 视觉模组集成模块与无人机
KR20170086992A (ko) 무인항공기를 이용한 입체공간 이미지 획득 시스템
TW202022477A (zh) 車載攝像頭及交通工具
EP2942238B1 (en) Pane bracket and a method for manufacturing a pane bracket of a vehicle
JP2022534987A (ja) カメラモジュール

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17936359

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17936359

Country of ref document: EP

Kind code of ref document: A1