WO2019140660A1 - 机身及包括该机身的无人机 - Google Patents

机身及包括该机身的无人机 Download PDF

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Publication number
WO2019140660A1
WO2019140660A1 PCT/CN2018/073512 CN2018073512W WO2019140660A1 WO 2019140660 A1 WO2019140660 A1 WO 2019140660A1 CN 2018073512 W CN2018073512 W CN 2018073512W WO 2019140660 A1 WO2019140660 A1 WO 2019140660A1
Authority
WO
WIPO (PCT)
Prior art keywords
core control
control board
casing
drone
arm
Prior art date
Application number
PCT/CN2018/073512
Other languages
English (en)
French (fr)
Inventor
同钊
冯建刚
唐尹
邓雨眠
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 PCT/CN2018/073512 priority Critical patent/WO2019140660A1/zh
Priority to CN201880012263.0A priority patent/CN110300705A/zh
Publication of WO2019140660A1 publication Critical patent/WO2019140660A1/zh
Priority to US16/932,497 priority patent/US20200346777A1/en

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Classifications

    • 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
    • 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
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • 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 
    • B64C25/40—Alighting gear characterised by elements which contact the ground or similar surface  the elements being rotated before touch-down
    • 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
    • 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
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/92—Cooling of avionics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • 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
    • H05K7/20845—Modifications to facilitate cooling, ventilating, or heating for automotive electronic casings
    • H05K7/20863—Forced ventilation, e.g. on heat dissipaters coupled to components
    • 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
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

Definitions

  • the invention relates to the technical field of drones, in particular to a fuselage and a drone including the same.
  • the assembly position of the battery of the drone is usually selected above the body, and the battery can be assembled from the upper side of the body.
  • the battery of the drone is heavy, and usually accounts for about one-third of the weight of the whole machine.
  • the layout of the battery above the fuselage makes the center of gravity of the whole machine higher, and the flight stability is not easy to guarantee.
  • the invention proposes a drone with good flight stability.
  • a body includes: a casing provided with a battery compartment; a core control board installed in the casing; and a battery installed in the battery compartment
  • the core control board is located above the battery, the front lower end of the casing is provided with a load receiving cavity, and the rear end of the casing is provided with a rear view down-view assembly electrically connected to the core control board,
  • the battery compartment is disposed at a central position below the casing.
  • a drone includes a body, a arm disposed on the body, and a power assembly disposed on the arm; the body includes: a casing, a core control board and a battery installed in the casing, the casing is provided with a battery compartment, and the battery is installed in the battery compartment; wherein the core control board is located above the battery, and the front and lower ends of the casing are provided The rear side of the casing is provided with a rear view down-view assembly electrically connected to the core control board, and the battery compartment is disposed at a middle position below the casing.
  • the drone of the invention sets the battery compartment in the middle position under the casing, so that the center of gravity of the whole machine is low and has good flight stability.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • Figure 2 is an exploded perspective view of the body of the drone shown in Figure 1;
  • Figure 3 is an exploded perspective view of another perspective of the body shown in Figure 2;
  • Figure 4 is a partial cross-sectional view showing the position of the stand of the drone of Figure 1.
  • the drone 200 can be used for aerial photography, mapping, and monitoring, but is not limited thereto. In other embodiments, the drone 200 can also be used in agriculture, express delivery, providing network services, and the like.
  • the drone 200 includes a body 100, an arm 300 disposed in the body 100, a power assembly 400 disposed on the arm 300, and a stand 500.
  • the power assembly 400 includes a propeller 45 and a motor 46.
  • the propeller 45 is rotated by the motor 46 to provide power for the ascent, advance, rotation, and the like of the drone 100.
  • the propeller 45 has a paddle and a hub, the hub is fixed to the output shaft of the motor, and the paddle is mounted on the hub.
  • the body 100 includes a casing 10, a core control board 20 mounted in the casing 10, and a battery 30.
  • the casing 10 is provided with a battery compartment 11 in which the battery 30 is mounted.
  • the core control board 20 is located above the battery 30.
  • the front and lower ends of the casing 10 are provided with a load receiving cavity 16, and the rear end of the casing 10 is provided with a rear view down-view assembly 52 electrically connected to the core control board 20.
  • the battery compartment 11 is disposed at The middle position below the casing 10. Since the weight of the battery is large, the center of gravity of the drone 200 can be centered and the center of gravity is low, which is advantageous for improving flight stability.
  • the battery compartment 11 is recessed from the bottom surface 131 of the casing 10, and the battery 30 is mounted in the battery compartment 11 by a latching structure.
  • the latch structure includes a latch pin 31 slidably disposed on two sides of the battery 30 , a latch slot 111 disposed at a corresponding position on the inner wall of the battery compartment 11 , and one end of the latch pin 31 .
  • the elastic member (not shown), when the battery 30 is installed in the battery compartment 11 of the casing 10, the elastic member pushes the locking pin 31 to cause the locking pin 31 to be caught in the locking groove 111, thereby the battery 11 It is fixed in the battery compartment 11.
  • the latch structure may also be other structures, which are not specifically limited herein.
  • the casing 10 includes a casing 13 and a cover 14 .
  • the casing 13 includes a top surface 132 opposite to the bottom surface 131 , and the top surface 132 is provided with a receiving cavity 12 for receiving the core control board 20 .
  • the cover 14 is used to enclose the core control board 20 in the accommodating cavity 12.
  • the cover body 14 is provided with an embedded portion 141 extending to the bottom of the housing 13 , and the housing 13 is correspondingly provided with a recess 136 that cooperates with the embedded portion 141 .
  • the cover body 14 and the housing 13 are nested with each other, which is advantageous for improving the strength of the drone 200.
  • the core control board 20 is electrically connected to each functional module of the drone 200 and cooperates with the operation of each functional module.
  • the core control board 20 is located between the battery 30 and the cover 14, that is, the middle layer of the body 100.
  • the distance between the core control board 20 and each functional module is reduced, thereby reducing internal routing.
  • the internal space arrangement of the drone 200 is optimized.
  • the body 100 also includes an electronic speed control board 40.
  • the electronic speed control board 40 is used to control the operation of the motor, and is electrically connected to the core control board 20 to control the motor start/stop, the rotation speed, the steering, etc. according to the control signal sent from the core control board 20, thereby controlling the flight direction of the drone 200. And flight speed.
  • the electronic speed control board 40 is mounted at the bottom of the accommodating chamber 12, and the core control board 20 is mounted at a position above the electronic speed control board 40.
  • the electronic speed control board 40 and the core control board 20 are the core components of the drone 200, and are located in the middle layer of the body 100. When the drone 200 is subjected to an impact, it is not easily damaged.
  • the body 100 further includes a front view assembly 51 electrically connected to the core control board 20, and the front view assembly 51 is disposed at the front end of the cabinet 10.
  • the front view component 51 is for detecting an obstacle in front of the drone 200 and transmitting the detection data to the core control board 20.
  • the rear view down view assembly 52 described above is used to detect obstacles behind and below the drone 200 and transmit the detected data to the core control board 20.
  • the front view assembly 51 and the rear view down view assembly 52 are located below the core control board 20, which can further reduce the center of gravity of the drone 200 and improve flight stability.
  • the front view assembly 51 and the rear view down view assembly 52 may also be located at other locations, such as at the same height as the core control board 20, and are not limited thereto.
  • the front view component 51 and the rear view down view component 52 are respectively connected to the core control board 20 through a flexible circuit board, but are not limited thereto.
  • the body 100 further includes a load 60 electrically connected to the core control board 20, and the load 60 is disposed in the load receiving cavity 16.
  • the load 60 is located below the core control board 20, which further reduces the center of gravity of the drone 200 and improves flight stability. In other embodiments, the load 60 may also be located at other locations, such as at the same height as the core control board 20, and is not limited thereto.
  • the load 60 includes a pan/tilt and an imaging device mounted on the pan/tilt, and the load 60 is coupled to the core control board 20 via a flexible circuit board.
  • the core control board 20 includes a board body 21 and a circuit assembly 23 disposed on the board body 21.
  • the circuit assembly 23 includes a flight control module, a vision module, and a camera module.
  • the flight control module is the core component of the drone 200 and acts as a central controller for the drone 200 for controlling the main functions of the drone 200.
  • the flight control module can be used to manage the operating mode of the control system of the drone 200, and is used to solve the data sent by the vision module, the camera module, or various types of sensors to the flight control module, and generate a control signal.
  • the sensors and servo systems of the drone 200 are managed for controlling and data exchange of other tasks and electronic components in the drone 200, for receiving ground commands to control the flight operations of the drone and collecting unmanned The attitude information of the machine 200, and the like.
  • the vision module is configured to process the visual image data from the image sensor according to a certain computer vision algorithm and send the processing result to the flight control module for the flight control module to make an obstacle avoidance or navigation decision.
  • the camera module is configured to process the aerial image data from the image sensor according to different requirements by using a corresponding algorithm to meet subsequent storage or transmission requirements, and simultaneously output multiplex data satisfying different requirements.
  • the core control board 20 further includes a positioning module 24.
  • the positioning module 24 is a GPS module that is located on the side of the core control board 20 that is remote from the battery compartment 11.
  • the positioning module 24 may also be other modules, such as a Beidou positioning module, and the like, without being limited thereto.
  • the core control board 20 further includes a pan/tilt control module, the pan/tilt is connected to the pan/tilt control module, and the pan/tilt control module is electrically connected to the flight control module to communicate between the pan/tilt and the flight control module. Achieve control to drive the gimbal.
  • the pan/tilt can be connected to the pan/tilt control module through a flexible circuit board.
  • the body In order to dissipate heat from the electronic components on the core control board 20, the body is also provided with a heat dissipation structure, and the heat dissipation structure will be described below.
  • the first air outlet 151 and the second air outlet 152 for dissipating heat from the core control board 20 are disposed on the casing 10; the first air outlet 151 is configured to introduce airflow outside the airframe from the first air outlet 151 into the casing.
  • the second tuyere 152 is used to discharge the airflow after heat transfer with the core control board 20 to the casing 10.
  • the side projection of the first tuyere 151 at least partially overlaps the side projection of the propeller 45.
  • the direction of the side projection here refers to the side direction of the body.
  • the direction of the side projection described herein refers to the projection of the first tuyere 151 and the projection 30 of the propeller at least when the side of the fuselage of the drone is projected, that is, when projected on the side of the fuselage of the drone. Partial overlap.
  • the propeller 45 rotates to form a plane of rotation.
  • the propeller 45 rotates while driving the surrounding air to move in the direction in which the propeller 45 rotates, and part of the airflow rotating around the propeller 45 is subjected to air resistance, and is separated from the surface of the propeller 45 and runs in a tangential direction along the plane of rotation.
  • the air around the propeller 45 can also be directed below the plane of rotation to form a downwash stream.
  • the side projection of the first tuyere 151 at least partially overlaps the side projection of the propeller 45, based on the design, the tangentially running airflow along the plane of rotation, or the tangentially running airflow along the plane of rotation and the downwash airflow can
  • the first air outlet 151 enters the casing 10.
  • the drone 100 usually flies in a high air, and the temperature of the surrounding air is generally low. Therefore, the low-temperature airflow entering the casing 10 from the first tuyere 151 can perform a good cooling and cooling effect on the core control board 20. And does not increase the noise of the drone 100.
  • the first tuyere 151 is provided in the cover 14.
  • the first tuyere 151 may also be disposed on the side wall of the drone based on the propeller 45 and other height designs of the top of the drone 100, which is not specifically limited herein.
  • the airframe 100 further includes a heat dissipating component for performing active heat dissipation.
  • the heat dissipating component is disposed on the core control board 20, and includes a heat dissipating fan 71 and a plurality of fins 72.
  • the heat dissipating fan 71 is adjacent to the second tuyere 152 for The airflow is drawn into the fuselage through the second tuyere 152, and the plurality of fins 72 are adjacent to the second tuyere 152, and the airflow flows through the plurality of fins 72 and is discharged through the second tuyere 152.
  • the core control board 20 may further include a shunt module, which can divert and guide the heat dissipating airflow, so that the heat dissipating airflow is more effectively discharged to the airframe.
  • the positioning module 24 disposed on the core control board 20 is adjacent to the first air outlet 151 and can be used for the passing airflow (the airflow generated may be the airflow generated when the propeller 30 rotates, or may be the airflow generated when the cooling fan 70 rotates).
  • the shunting guide can efficiently discharge the heat radiating airflow from the plurality of directions to the casing 40.
  • the cooling airflow can also be guided by other modules or structures.
  • the positioning module 24 includes a first portion 241 and a second portion 242 disposed on the first portion 241.
  • the first portion 241 and the second portion 242 cooperate to guide the airflow.
  • the second portion 242 may have a square structure, and the diagonal of the square structure is adjacent to the side of the first portion 241, that is, a pair of adjacent sides of the second portion 242 cooperate with the first portion 241, and may be in the first portion 241.
  • One side of the air side forms a wind direction of 45 degrees toward the adjacent side edges, and a wind flow direction is formed at the top of the second portion 242, thereby diverting the heat dissipation airflow passing through the positioning module 24 into three wind flow directions.
  • the extending direction of the two adjacent side faces of the square structure corresponds to the position direction of the corresponding first tuyere 151, so that heat can be dissipated more efficiently.
  • the second portion 242 may also have other shapes, such as a diamond structure, etc., as long as the second portion 242 has a structure for shunting the heat dissipation airflow, and its specific shape is not limited.
  • the heat dissipation assembly may further include a wind shield 80 for forming a closed air passage from the heat sink 72 to the first tuyere 151.
  • the wind deflector 80 includes a first portion 81 and a second portion 82. The first portion 81 covers the plurality of fins 72 to close the heat sink 72.
  • the second portion 82 can have a U-shaped structure and surround the positioning module 24 away from the One side of the plurality of fins 72 and the adjacent sides thereof are disposed to restrict the heat dissipating airflow to the closed air duct, and are discharged from the first tuyere 151 or the first tuyere 151 and the second tuyere 152 to the outside of the casing 10, The heat dissipation airflow is prevented from diffusing to other positions of the casing 10, thereby improving the heat dissipation efficiency of the electronic components.
  • a windshield 85 is further disposed between the heat dissipating fan 71 and the plurality of fins 72.
  • the material of the wind baffle 85 may include, but not limited to, foam.
  • the windshield boss 85 is provided with an opening corresponding to the air outlet of the heat dissipation fan 71, and the opening communicates with a plurality of heat dissipation channels formed by the plurality of fins 72.
  • the windshield boss 85 is capable of separating the hot air from the outside and the hot air after the heat transfer, thereby improving the heat dissipation efficiency of the heat dissipation fan 71.
  • the heat dissipating component is fixed on the core control board 20 and disposed opposite to the circuit component 23 on opposite sides of the core control board 20, respectively.
  • the heat dissipation structure can dissipate heat from electronic components such as the core control board 20 in the body through various heat dissipation methods.
  • the airflow generated by the rotation of the propeller is mainly used for heat dissipation, and the airflow enters the casing 10 from the first tuyere 151, and is exchanged with the electronic components and discharged through the second tuyere 152.
  • the heat dissipation fan 71 is turned on to improve the heat dissipation efficiency, and the heat dissipation fan 71 can also be turned off.
  • the cooling fan 71 can be turned on to drive the airflow from the second tuyere 152 into the casing, and the airflow is exchanged with the electronic components. It is discharged through the first tuyere 151.
  • the arm 300 is a foldable arm that is convenient for transport and storage.
  • the arm 300 includes a pair of first arm 310 disposed at one end of the fuselage and a pair of second arms 320 disposed at the other end of the fuselage, the first arm 310 being rotatable relative to the body to Closed to the outside of the fuselage, the second arm 320 includes a connecting arm 321 rotatable relative to the body and a supporting arm 322 rotatable relative to the length of the connecting arm 321, rotating the supporting arm 322 to a certain angle Rotating the connecting arm 321 enables the second arm 320 to be gathered outside the body.
  • Rotating the support arm 322 to a certain angle can make the propeller 45 and the motor 46 of the second arm 320 face downward, and the propeller 45 and the motor 46 of the first arm 310 face upward, so that the folding of the arm 300 can be avoided.
  • the propeller of the first arm 310 and the propeller of the second arm 320 form an interference.
  • the first arm 310 is located at the front end of the fuselage and the second arm 320 is located at the rear end of the fuselage.
  • the first arm 310 is located at the rear end of the fuselage and the second arm 320 is located at the front end of the fuselage.
  • the sum of the length of the first arm 310 and the length of the second arm 320 is not greater than the length of the body, such that the first arm 310 and the second arm 320 are folded. Will not interfere.
  • the first arm 310 and the second arm 320 may be located at substantially the same height or different heights of the fuselage.
  • the drone 200 further includes a stand 500 having a folded state and an open state.
  • the stand 500 includes a bracket 512 coupled to the arm 300 and a leg 510 rotatably coupled to the bracket.
  • the 510 is perpendicular to the arm, the stand 500 is in an open state, and when the leg 510 is parallel to the arm, the stand 500 is in a folded state.
  • the legs 510 are first rotated to bring the stand 500 into a folded state, and then the arm 300 is folded.
  • the stand 500 further mounts an antenna board 515.
  • the leg 510 is provided with a receiving cavity 511 for receiving and fixing the antenna plate 515.
  • the antenna board 515 is connected to the core control board 20 through an antenna.
  • the antenna board 515 receives the wireless communication signals and provides them to the core control board 20. Since the antenna board 515 is disposed in the foot 510, the wireless communication signal of the remote controller or other control terminal usually comes from the ground, that is, from the bottom of the drone to the drone, so that the antenna board 515 is set to none. In the foot 510 below the human machine, the signal can be received conveniently and quickly.
  • first arm 310 located at the front end of the fuselage is provided with a tripod 500 to pad the gimbal, so that the pan/tilt is suspended before the take-off, the gimbal self-test impact limit
  • the camera device does not touch the ground; of course, in other embodiments, the stand 500 can also be mounted on the pair of second arms 320 at the rear end of the fuselage according to actual needs, or two pairs of arms. The stand 500 is mounted on both.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种机身(100)及包括机身(100)的无人机(200)，机身(100)包括：机壳(10)，设有电池仓(11)；核心控制板(20)，安装于机壳(10)内；以及电池(30)，安装于电池仓(11)内；其中，核心控制板(20)位于电池(30)上方，机壳(10)前下端设有负载收容腔(16)，机壳(10)后端设有与核心控制板(20)电连接的后视下视组件(52)，电池仓(11)设于机壳(10)下面的中部位置，由于电池仓(11)设于机壳(10)下面的中部位置，使得整机的重心较低，具有良好的飞行稳定性。

Description

机身及包括该机身的无人机 技术领域
本发明涉及无人机技术领域，特别涉及一种机身及包括该机身的无人机。
背景技术
目前无人机的电池的装配位置通常选择在机身的上方，电池可以从机身的上方装配于机身内。而无人机的电池重量较大，通常会占到整机重量的三分之一左右。这种电池位于机身上方的布局，使得整机的重心较高，飞行稳定性较不易保证。
发明内容
本发明提出了一种具有良好飞行稳定性的无人机。
根据本发明实施例的一方面，提供一种机身，所述机身包括：机壳，设有电池仓；核心控制板，安装于所述机壳内；以及电池，安装于所述电池仓内；其中，所述核心控制板位于电池上方，所述机壳前下端设有负载收容腔，所述机壳后端设有与所述核心控制板电连接的后视下视组件，所述电池仓设于所述机壳下面的中部位置。
根据本发明实施例的一方面，提供一种无人机，所述无人机包括机身、设置于机身的机臂及设置于机臂的动力组件；所述机身包括：机壳、安装于机壳的核心控制板及电池，所述机壳设有电池仓，所述电池安装于所述电池仓内；其中，所述核心控制板位于电池上方，所述机壳前下端设 有负载收容腔，所述机壳后端设有与所述核心控制板电连接的后视下视组件，所述电池仓设于所述机壳下面的中部位置。
本发明的无人机将电池仓设于机壳下面的中部位置，使得整机的重心较低，具有良好的飞行稳定性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例示出的一种无人机的立体图；
图2是图1所示的无人机的机身的立体分解图；
图3是图2所示的机身的另一视角的立体分解图；
图4是图1所述无人机的脚架位置处的部分剖面图。
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。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似 的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明机身和无人机进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
请参阅图1至图3，无人机200可以用于航拍、测绘、监测，但不限于此。在其他一些实施例中，无人机200还可用于农业、快递送货、提供网络服务等。在本实施例中，无人机200包括机身100、设置于机身100的机臂300、设置于机臂300的动力组件400及脚架500。
动力组件400包括：螺旋桨45及电机46。螺旋桨45由电机46带动旋转，从而为无人机100的上升、前进、转动等提供动力。螺旋桨45具有桨叶和桨毂，桨毂与电机的输出轴固定，桨叶安装在桨毂上。
机身100包括机壳10、安装于机壳10内的核心控制板20及电池30，机壳10设有电池仓11，电池30安装于电池仓11内。
核心控制板20位于电池30上方，所述机壳10前下端设有负载收容腔16，机壳10后端设有与核心控制板20电连接的后视下视组件52，电池仓11设于机壳10下面的中部位置。由于电池重量较大，如此，可以使得无人机200的重心居中且重心较低，有利于提高飞行稳定性。
在图示实施例中，电池仓11自机壳10的底面131凹设而成，电池30通过锁扣结构安装于电池仓11内。请参阅图3及图4，具体地，锁扣结 构包括可滑动设置于电池30两侧面的锁扣销31、设置于电池仓11内壁对应位置处的锁扣槽111以及位于锁扣销31一端的弹性件(图未示)，当电池30装设于机壳10的电池仓11内时，弹性件推动锁扣销31而使锁扣销31卡入锁扣槽111内，从而将电池11固定于电池仓11内。当然，在其他实施例中，锁扣结构还可以是其他结构，在此不作具体限定。
请继续参阅图3及图4，机壳10包括壳体13及盖体14，壳体13包括与底面131相对的顶面132，顶面132设有收容核心控制板20的容置腔12，盖体14用于将所述核心控制板20封闭于容置腔12内。在一实施例中，盖体14设有延伸至壳体13底部位置的嵌设部141，壳体13相应设有与嵌设部141配合的凹陷136。如此，盖体14与壳体13相互嵌套，有利于提高无人机200的强度。
核心控制板20与无人机200的各个功能模块电性连接且协调配合各个功能模块的工作。在图示实施例中，核心控制板20位于电池30与盖体14之间，即机身100的中层，如此，减少了核心控制板20与各个功能模块的距离，从而可以减少内部走线，优化了无人机200的内部空间排布。
机身100还包括电子调速板40。电子调速板40用来控制电机工作，其与核心控制板20电连接，以根据核心控制板20发出的控制信号控制电机启动/停止、转速、转向等，进而控制无人机200的飞行方向和飞行速度。在图示实施例中，电子调速板40安装于容置腔12的底部，核心控制板20安装于电子调速板40上方位置。如此，电子调速板40与核心控制板20作为无人机200的核心部件，共同位于机身100的中层，当无人机200受到冲击时，不容易受到损坏。
机身100还包括与核心控制板20电连接的前视组件51，前视组件51设置于机壳10的前端。前视组件51用于检测无人机200前方的障碍物，并将检测数据传送给核心控制板20。前文所述的后视下视组件52用于检测无人机200后方及下方的障碍物，并将检测数据传送给核心控制板20。
在一实施例中，前视组件51及后视下视组件52位于所述核心控制板20下方，可以进一步降低无人机200的重心，提高飞行稳定性。在其他实施例中，前视组件51及后视下视组件52也可以位于其他位置，比如与核心控制板20位于同一高度，且不限于此。
在一实施例中，前视组件51及后视下视组件52分别通过柔性电路板与核心控制板20连接，但不限于此。
在一实施例中，机身100还包括与核心控制板20电连接的负载60，负载60设置于负载收容腔16内。
在一实施例中，负载60位于核心控制板20下方，可以进一步降低无人机200的重心，提高飞行稳定性。在其他实施例中，负载60也可以位于其他位置，比如与核心控制板20位于同一高度，且不限于此。
在一实施例中，负载60包括云台和挂载在云台上的摄像装置，负载60通过柔性电路板与核心控制板20连接。
核心控制板20包括板体21、设置于板体21的电路组件23。电路组件23包括飞行控制模块、视觉模块、摄像模块。
飞行控制模块是无人机200的核心元件，作为无人机200的中央控制器，用于对无人机200的主要功能进行控制。例如，飞行控制模块可以用于对无人机200的控制系统工作模式的管理，用于对视觉模块、摄像模块、或各类传感器发送给飞行控制模块的数据进行解算并生成控制信号，用于对无人机200中各传感器及伺服系统进行管理，用于对无人机200内其他任务和电子部件的控制及数据交换，用于接收地面指令控制无人机的飞行动作并采集无人机200的航姿信息等。
视觉模块用于对来自图像传感器的视觉图像数据按照一定的计算机视觉算法进行处理并将处理结果发送给飞行控制模块，供飞行控制模块做出避障或导航决策。
摄像模块用于对来自图像传感器的航拍图像数据按照不同需求采用相应的算法进行处理，以满足后续的存储或传输需求，可以同时输出满足不同需求的多路数据。
在一实施例中，核心控制板20还包括定位模块24。在图示实施例中，定位模块24为GPS模块，GPS模块位于核心控制板20远离电池仓11的一侧。在其他实施例中，定位模块24还可以是其他模块，比如北斗定位模块，等等，不限于此。
在一实施例中，核心控制板20还包括云台控制模块，云台与云台控制模块相连，云台控制模块与飞行控制模块电连接，以在云台和飞行控制模块之间进行通信，实现控制驱动云台。其中，云台可以通过柔性电路板与云台控制模块连接。
为了对核心控制板20上的电子元器件进行散热，机身还设有散热结构，下面对散热结构进行说明。
首先，机壳10上设置有用于对核心控制板20进行散热的第一风口151和第二风口152；第一风口151用于将机身外的的气流从所述第一风口151导入机壳10内；第二风口152用于将与核心控制板20进行热传递后的气流导出机壳10。其中，第一风口151的侧面投影与螺旋桨45的侧面投影至少部分重叠。这里所述侧面投影的方向是指机身的侧面方向。可以理解的是，这里所述侧面投影的方向是指在无人机的机身侧面方向，即在无人机的机身侧面上投影时，第一风口151的投影与螺旋桨的投影30至少存在部分重叠。
在无人机的飞行过程中，螺旋桨45旋转可以形成旋转平面。其中，一方面，螺旋桨45旋转的同时会带动周边空气按照螺旋桨45旋转的方向运动，围绕螺旋桨45旋转的部分气流，受到空气阻力，会脱离螺旋桨45表面，沿着旋转平面的切向运行。另一方面，螺旋桨45周围的空气还可以 引到旋转平面的下方形成下洗气流。由于第一风口151的侧面投影与螺旋桨45的侧面投影至少部分重叠，那么基于该设计，沿着旋转平面的切向运行的气流、或沿着旋转平面的切向运行的气流及下洗气流能够通过第一风口151进入机壳10内。而无人机100通常在较高的空中飞行，其周围空气的温度一般较低，因此，从第一风口151进入机壳10的低温气流对核心控制板20能够起到良好的降温散热的作用，且不会增加无人机100的噪音。
在图示实施例中，第一风口151设于盖体14。基于螺旋桨45与无人机100的顶部的其它高度设计，第一风口151也可以设于无人机的侧壁上，此处不做具体限定。
机身100还包括进行主动散热的散热组件，所述散热组件设置在核心控制板20上，包括散热风扇71和多个散热片72，所述散热风扇71靠近所述第二风口152，用于将气流通过第二风口152吸入机身内，所述多个散热片72靠近所述第二风口152，所述气流流过所述多个散热片72并通过所述第二风口152排出。为了更好的进行散热，核心控制板20上还可以包括分流模块，所述分流模块可以对散热气流进行分流引导，使散热气流更有效的排出机身。
设置于核心控制板20上的定位模块24靠近第一风口151，可以用于对经过的散热气流(该散热气流可以为螺旋桨30旋转时产生的气流，也可以为散热风扇70旋转时产生的气流)进行分流引导，能够高效地将散热气流从多个方向排出机壳40。当然也可以通过其他模块或结构对散热气流进行引导。
在一实施例中，定位模块24包括第一部241及设置于第一部241上的第二部242，第一部241和第二部242配合对气流进行引导。第二部242可以为方形结构，该方形结构的对角分别靠近第一部241的侧边，即第二部242的一对相邻侧边与第一部241配合，可以在第一部241的一侧边往相邻两侧边分别形成45度的风流方向，并在第二部242的顶部形成一风流 方向，由此可以对经过定位模块24的散热气流分流引导成三个风流方向，如此，方形结构的两个相邻侧面的延伸方向与对应的第一风口151的位置方向对应，从而能够更为高效地散热。当然，第二部242还可以是其他形状，比如菱形结构等，只要第二部242具有对散热气流进行分流引导的结构即可，对其具体形状不作限制。
在一实施例中，散热组件还可以包括挡风板80，挡风板80用于形成从散热片72至第一风口151之间的封闭风道。挡风板80包括第一部分81和第二部分82，第一部分81覆盖于多个散热片72上方，将散热片72上方封闭，第二部分82可以呈U型结构，围绕于定位模块24远离所述多个散热片72的一侧及其相邻的两侧，如此将散热气流限制于封闭风道内，并从第一风口151、或第一风口151及第二风口152排出机壳10外，避免散热气流扩散至机壳10的其他位置处，从而提高对电子元器件的散热效率。散热风扇71和多个散热片72之间还设有挡风凸台85，该挡风凸台85的材质可以包括但不限于泡棉。挡风凸台85设有与散热风扇71的出风口相对应的开口，且该开口与多个散热片72形成的多个散热通道连通。挡风凸台85能够隔开从外界的冷空气和热传递后的热空气，从而提高散热风扇71的散热效率。
所述散热组件固定在所述核心控制板20上，且与电路组件23分别背对设置在核心控制板20的两侧。
上述散热结构可以通过多种散热方式对机身内的核心控制板20等电子元器件进行散热。当无人机处于飞行状态时，主要利用螺旋桨旋转产生的气流进行散热，气流从第一风口151进入机壳10内，与电子元器件发生热交换后并通过第二风口152排出，此时可以开启散热风扇71以提高散热效率，也可以关闭散热风扇71。当无人机处于待机状态时(即无人机已通电开启，但尚未飞行)，则可以开启散热风扇71从第二风口152驱动气流进入壳体，气流与电子元器件发生热交换后10并通过第一风口151排出。
在一实施例中，机臂300为可折叠机臂，可方便运输储存。
进一步地，机臂300包括设置于机身一端的一对第一机臂310和设置于机身另一端的一对第二机臂320，所述第一机臂310可相对于机身转动至收拢于机身外侧，所述第二机臂320包括可相对于机身转动的连接臂321及可相对于连接臂321的长度方向转动的支撑臂322，转动所述支撑臂322至一定角度再转动所述连接臂321能够使第二机臂320收拢于机身外侧。转动所述支撑臂322至一定角度可以使第二机臂320的螺旋桨45及电机46朝向下方，而第一机臂310的螺旋桨45及电机46朝向上方，如此，可以避免机臂300折叠后，第一机臂310的螺旋桨和第二机臂320的螺旋桨形成干涉。在一实施例中，第一机臂310位于机身前端，第二机臂320位于机身后端。在另一实施例中，第一机臂310位于机身后端，第二机臂320位于机身前端。
在图示实施例中，第一机臂310的长度和所述第二机臂320的长度之和不大于所述机身的长度，如此，第一机臂310和第二机臂320折叠后不会干涉。第一机臂310和第二机臂320可以大致位于机身的同一高度或不同高度。
请参阅图4，所述无人机200还包括具有折叠状态和打开状态的脚架500，所述脚架500包括连接于机臂300的支架512及可转动连接于支架的支脚510，当支脚510垂直于机臂时，所述脚架500处于打开状态，当支脚510平行于机臂时，所述脚架500处于折叠状态。存储运输时，先转动支脚510，使脚架500处于折叠状态，然后再折叠机臂300。
所述脚架500进一步安装天线板515。所述支脚510设有收容腔511，用于收容并固定所述天线板515。当转动支脚510时，天线板515随之一起转动。天线板515通过天线与核心控制板20连接。天线板515接收无线通信信号，并提供给核心控制板20。由于天线板515设置在支脚510中，而遥控器或其他控制终端的无线通信信号通常来自于地面，也就是说是从 无人机的下方传送至无人机的，这样天线板515设置在无人机下方的支脚510中，能够方便快捷地接收信号。
在本实施例中，只有所述位于机身前端的一对第一机臂310设有脚架500，以垫高云台，使起飞前，云台自检撞击限位时，云台上挂载的摄像装置不会碰地；当然，在其它实施例中，所述脚架500也可以根据实际需要安装在所述位于机身后端的一对第二机臂320上，或者两对机臂上都安装所述脚架500。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (48)

  1. 一种机身，其特征在于，所述机身包括：
    机壳，设有电池仓；
    核心控制板，安装于所述机壳内；以及
    电池，安装于所述电池仓内；
    其中，所述核心控制板位于电池上方，所述机壳前下端设有负载收容腔，所述机壳后端设有与所述核心控制板电连接的后视下视组件，所述电池仓设于所述机壳下面的中部位置。
  2. 根据权利要求1所述的机身，其特征在于，所述电池仓自机壳的底面凹设而成。
  3. 根据权利要求2所述的机身，其特征在于，所述电池通过锁扣结构安装于电池仓内。
  4. 根据权利要求2所述的机身，其特征在于，所述机壳包括壳体及盖体，所述壳体包括与所述底面相对的顶面，所述顶面设有收容所述核心控制板的容置腔，所述盖体将所述核心控制板封闭于所述容置腔内。
  5. 根据权利要求4所述的机身，其特征在于，所述盖体设有延伸至所述壳体底部位置的嵌设部，所述壳体相应设有与嵌设部配合的凹陷。
  6. 根据权利要求4所述的机身，其特征在于，还包括电子调速板，所述电子调速板安装于容置腔的底部，所述核心控制板安装于电子调速板上方位置。
  7. 根据权利要求1所述的机身，其特征在于，还包括与核心控制板电连接的前视组件，所述前视组件设置于所述机壳的前端。
  8. 根据权利要求7所述的机身，其特征在于，所述前视组件及后视下视组件位于所述核心控制板下方。
  9. 根据权利要求7所述的机身，其特征在于，所述前视组件及后视下视组件通过柔性电路板与所述核心控制板连接。
  10. 根据权利要求1所述的机身，其特征在于，还包括与所述核心控制板电连接的负载，所述负载设置于所述负载收容腔内。
  11. 根据权利要求10所述的机身，其特征在于，所述负载位于所述核心控制板下方。
  12. 根据权利要求10所述的机身，其特征在于，所述负载包括云台及挂载在云台上的摄像装置，所述负载通过柔性电路板与所述核心控制板连接。
  13. 根据权利要求1所述的机身，其特征在于，所述核心控制板包括板体、设置于板体的电路组件。
  14. 根据权利要求13所述的机身，其特征在于，所述电路组件包括飞行控制模块、视觉模块。
  15. 根据权利要求13所述的机身，其特征在于，所述核心控制板还包括定位模块。
  16. 根据权利要求15所述的机身，其特征在于，所述定位模块包括GPS模块，所述GPS模块位于核心控制板远离所述电池仓的一侧。
  17. 根据权利要求1所述的机身，其特征在于，所述机壳上设置有用于对所述核心控制板进行散热的第一风口和第二风口；
    所述第一风口用于将机身外的的气流从所述第一风口导入所述机壳内；
    所述第二风口用于将与所述核心控制板进行热传递后的所述气流导出所述机壳。
  18. 根据权利要求17所述的机身，其特征在于，还包括散热组件，所述散热组件包括散热风扇和多个散热片，所述散热风扇靠近所述第一风口，用于将气流通过第一风口吸入机身内，所述多个散热片靠近所述第二风口，所述气流流过所述多个散热片并通过所述第二风口排出。
  19. 根据权利要求18所述的机身，其特征在于，所述核心控制板还包括定位模块，所述定位模块靠近第一风口，所述定位模块包括第一部及设置于第一部的第二部，第一部和第二部配合对气流进行引导。
  20. 根据权利要求19所述的机身，其特征在于，所述分流模块为GPS模块。
  21. 根据权利要求18所述的机身，其特征在于，所述散热组件固定在所述核心控制板上，且与所述电路组件分别背对设置在所述核心控制板的两侧。
  22. 一种无人机，其特征在于，包括机身、设置于机身的机臂及设置于机臂的动力组件；所述机身包括：机壳、安装于机壳的核心控制板及电池，所述机壳设有电池仓，所述电池安装于所述电池仓内；
    其中，所述核心控制板位于电池上方，所述机壳前下端设有负载收容腔，所述机壳后端设有与所述核心控制板电连接的后视下视组件，所述电池仓设于所述机壳下面的中部位置。
  23. 根据权利要求22所述的无人机，其特征在于，所述电池仓自机壳的底面凹设而成。
  24. 根据权利要求23所述的无人机，其特征在于，所述电池通过锁扣结构安装于电池仓内。
  25. 根据权利要求23所述的无人机，其特征在于，所述机壳包括壳体及盖体，所述壳体包括与所述底面相对的顶面，所述顶面设有收容所述核心控制板的容置腔，所述盖体将所述核心控制板封闭于所述容置腔内。
  26. 根据权利要求25所述的无人机，其特征在于，所述盖体设有延伸至所述壳体底部位置的嵌设部，所述壳体相应设有与嵌设部配合的凹陷。
  27. 根据权利要求25所述的无人机，其特征在于，还包括电子调速板，所述电子调速板安装于容置腔的底部，所述核心控制板安装于电子调速板上方位置。
  28. 根据权利要求22所述的无人机，其特征在于，还包括与核心控制板电连接的前视组件，所述前视组件设置于所述机壳的前端。
  29. 根据权利要求28所述的无人机，其特征在于，所述前视组件及后视下视组件位于所述核心控制板下方。
  30. 根据权利要求28所述的无人机，其特征在于，所述前视组件及后视下视组件通过柔性电路板与所述核心控制板连接。
  31. 根据权利要求22所述的无人机，其特征在于，还包括与所述核心控制板电连接的负载，所述负载设置于所述负载收容腔内。
  32. 根据权利要求31所述的无人机，其特征在于，所述负载位于所述核心控制板下方。
  33. 根据权利要求31所述的无人机，其特征在于，所述负载包括云台及挂载在云台上的摄像装置，所述负载通过柔性电路板与所述核心控制板连接。
  34. 根据权利要求22所述的无人机，其特征在于，所述核心控制板包括板体、设置于板体的电路组件。
  35. 根据权利要求34所述的无人机，其特征在于，所述电路组件包括飞行控制模块、视觉模块。
  36. 根据权利要求34所述的无人机，其特征在于，所述核心控制板还包括定位模块。
  37. 根据权利要求36所述的无人机，其特征在于，所述定位模块包括GPS模块，所述GPS模块位于核心控制板远离所述电池仓的一侧。
  38. 根据权利要求22所述的无人机，其特征在于，所述机壳上设置有用于对所述核心控制板进行散热的第一风口和第二风口；
    所述第一风口用于将机身外的的气流从所述第一风口导入所述机壳内；
    所述第二风口用于将与所述核心控制板进行热传递后的所述气流导出所述机壳。
  39. 根据权利要求38所述的无人机，其特征在于，还包括散热组件，所述散热组件包括散热风扇和多个散热片，所述散热风扇靠近所述第一风口，用于将气流通过第一风口吸入机身内，所述多个散热片靠近所述第二风口，所述气流流过所述多个散热片并通过所述第二风口排出。
  40. 根据权利要求38所述的无人机，其特征在于，所述核心控制板 还包括定位模块，该定位模块靠近第一风口，所述定位模块包括第一部及设置于第一部的第二部，第一部和第二部配合对气流进行引导。
  41. 根据权利要求40所述的无人机，其特征在于，所述定位模块为GPS模块。
  42. 根据权利要求39所述的无人机，其特征在于，所述散热组件固定在所述核心控制板上，且与所述电路组件分别背对设置在所述核心控制板的两侧。
  43. 根据权利要求22所述的无人机，其特征在于，所述机臂为可折叠机臂。
  44. 根据权利要求43所述的无人机，其特征在于，所述机臂包括设置于机身一端的一对第一机臂和设置于机身另一端的一对第二机臂，所述第一机臂可相对于机身转动至收拢于机身外侧，所述第二机臂包括可相对于机身转动的连接臂及可相对于连接臂的长度方向转动的支撑臂，转动所述支撑臂至一定角度再转动所述连接壁能够使第二机臂收拢于机身外侧。
  45. 根据权利要求44所述的无人机，其特征在于，所述第一机臂的长度和所述第二机臂的长度之和不大于所述机身的长度。
  46. 根据权利要求22所述的无人机，其特征在于，所述无人机还包括具有折叠状态和打开状态的脚架，所述脚架包括连接于机臂的支架及可转动连接于支架的支脚，当支脚垂直于机臂时，所述脚架处于打开状态，当脚架平行于机臂时，所述脚架处于折叠状态。
  47. 根据权利要求46所述的无人机，其特征在于，所述脚架进一步安装天线板。
  48. 根据权利要求47所述的脚架，其特征在于，所述支脚设有收容腔，用于收容并固定所述天线板。
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