WO2021056194A1

WO2021056194A1 - Unmanned aerial vehicle

Info

Publication number: WO2021056194A1
Application number: PCT/CN2019/107559
Authority: WO
Inventors: 张蕾; 彭涛; 廖明星; 熊贤武; 杨飞虎; 陈俊强; 杨章选; 刘浩
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2021-04-01
Also published as: CN112154103A

Abstract

An unmanned aerial vehicle (UAV) (10), comprising: a housing (100), a flight control motherboard (700), a battery (600), and an electronic speed control (ESC) module (401). The flight control motherboard (700), battery (600), and ESC module (401) are stacked from bottom to top inside of the housing (100) such that the UAV becomes compact, which helps to achieve a smaller and more lightweight UAV.

Description

Drone

Technical field

The invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle.

Background technique

Unmanned aircraft is abbreviated as "UAV" and abbreviated as "UAV" in English. It is an unmanned aircraft controlled by remote control equipment and/or built-in programs. With the development of market demand, some UAVs tend to develop in the direction of large-scale, such as cargo UAVs or spray UAVs, while other UAVs are becoming more and more miniaturized and lightweight. , In order to meet the user's requirements for convenience. At the same time, miniaturized and lightweight UAVs, such as UAVs below 250g, can also fly directly without reporting in some areas, which can also reduce the trouble for users to use the above. However, when designing the miniaturization of the UAV, the UAV designer found that some modules in the UAV need to meet certain constraints. For example, satellite positioning modules (including but not limited to GPS, Beidou, etc.) need no coverage on the top, inertial measurement unit (Inertial measurement unit, referred to as IMU unit) needs to be counterweighted to a certain weight to reduce vibration, and the gimbal needs to have a certain reduction. Vibration space, the down-view fixed height module used to measure the height of the drone needs to be unobstructed within the FOV under the fuselage, and the flight control motherboard and ESC battery need to consider heat dissipation. How to make the UAV's internal space layout more compact while satisfying at least part of the module constraints has become one of the directions of the designers' efforts.

Summary of the invention

In order to solve the above or other potential problems in the prior art, some embodiments of the present invention provide an unmanned aerial vehicle, which includes: a housing, a flight control main board, a battery, and an ESC module; the flight control main board, the The battery and the ESC module are stacked in the casing from bottom to top.

According to the technical solutions of some embodiments of the present invention, by stacking the flight control main board, the battery, and the ESC module in the housing from bottom to top, the drone can be made compact, which is beneficial to realize the miniaturization and light weight of the drone.

In addition, by forming the first heat dissipation air duct for dissipating heat for the flight control motherboard and the second air duct for dissipating heat for the ESC module on the housing of the drone, the heat dissipation efficiency of the heating components in the housing can be improved, thereby It is possible to omit active heat dissipation components such as fans; especially when the flight control motherboard is equipped with stamped heat sinks to enhance heat dissipation, a drone with a weight of less than 250g can be manufactured.

In addition, by integrating the IMU module and the satellite positioning module on a circuit board, the satellite positioning module can be used as the counterweight of the IMU module, so there is no need to set a separate counterweight for the IMU module, which is beneficial to reduce the size and size of the drone. weight. Of course, integrating the power interface module and the ESC module on a circuit board is also conducive to the miniaturization and weight reduction of the drone, and can shorten the power supply distance of the battery to the ESC module, thereby reducing the connection lines.

The advantages of the additional aspects of the present invention will be partially given in the following description, and some will become obvious from the following description, or be understood through the practice of the present invention.

Description of the drawings

Through the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the embodiments of the present invention will become easier to understand. In the drawings, a number of embodiments of the present invention will be described in an exemplary and non-limiting manner, in which:

Figure 1 is a schematic structural view of the drone provided by an embodiment of the present invention with the bottom cover removed;

Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle according to an embodiment of the present invention after the battery is removed;

3 is a schematic diagram of the unmanned aerial vehicle provided by an embodiment of the present invention after the upper cover is disassembled;

FIG. 4 is a schematic diagram of the unmanned aerial vehicle provided by an embodiment of the present invention after the bottom cover is disassembled;

Fig. 5 is a schematic structural diagram of the unmanned aerial vehicle according to an embodiment of the present invention after the arm is disassembled;

Figure 6 is an exploded view of a drone provided by an embodiment of the present invention;

FIG. 7 is a top view of a first circuit board provided by an embodiment of the present invention;

Figure 8 is a bottom view of a first circuit board provided by an embodiment of the present invention;

9a and 9b are schematic diagrams of the first heat dissipation air duct;

10a and 10b are schematic diagrams of the second heat dissipation air duct.

Reference signs:

10-UAV; 100-shell; 110-upper cover; 1101-top plate; 1103-lower side wall; 1105-second air outlet; 130-middle frame; 1301-front side wall; 1302-left side wall; 1303-rear side wall; 1304-right side wall; 1305-battery compartment; 1306-second air inlet; 1307-rear recess; 1308-notch; 150- bottom cover; 1501- bottom plate; 1503-upper side wall; 1505- First air inlet; 1507-first air outlet; 1509-inner recess; 15091-front surface; 15093-rear surface; 170-tail cover; 200-arm module; 210-front arm module; 230-rear arm Module; 250-support module; 201-arm; 2011-front cover; 2013-rear cover; 202-mounting seat; 203-propeller; 300-pan/tilt; 400-second circuit board; 401-electronic adjustment module; 403 -Power interface module; 4031-first electrical connection part; 500-first circuit board; 501-satellite positioning module; 503-IMU module; 505-shielding cover; 600-battery; 6001-second electrical connection part; 700- Flight control main board; 800- heat sink; 8001- corrugated structure; 8003- avoidance port; 900- downward viewing fixed height module; 1000- mounting bracket; 10001- protrusion; 1100- first shock-absorbing structure; 1200- bolt .

detailed description

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between two elements, unless specifically defined otherwise. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structure, materials or features are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.

After being developed in the early 20th century, UAVs were quickly used for military purposes such as aerial bombing and reconnaissance. With the gradual maturity of drone technology, by the end of the 20th century, drones have entered a period of rapid development. By the 21st century, drones have developed from large-scale to small-scale development, and a number of models have become more compact. Smaller, more stable drones began to appear. At the same time, this period also spurred the birth of civilian unmanned aerial vehicles, and successively introduced four-axis unmanned aerial vehicles and unmanned aerial vehicles that can be used for selfies. However, although compared with the world’s first drone, the current drones have developed relatively small models. However, the weight of these drones still exceeds the control weight of aircraft in some areas. It needs to be strictly controlled by the air traffic control department, and must be registered with the air traffic control department in advance to be used normally. Even in some areas, civilian drones are required to report the flight time and flight route to the relevant departments before flying.

In view of this, UAV designers and manufacturers have begun to spend a lot of time, manpower and material resources trying to reduce the weight of existing UAVs. However, because UAVs now need to be equipped with a large number of satellite positioning modules, pan-tilt cameras, etc. Modules, ESC modules, down-view fixed height modules, etc., and equipped with a flight control motherboard with greater processing capabilities, can meet the basic needs of users. At the same time, in order to ensure that the drone has sufficient endurance, the drone also needs to be equipped A battery with sufficient capacity, and the greater the capacity of the battery, the greater its weight in general. In addition, the limitations of each module need to be taken into consideration when designing. For example, the downward fixed height module needs to be located at the bottom of the drone and its field of view needs to be unobstructed, while the satellite positioning module usually needs to be located in the unmanned area. The top of the drone, and at the same time, the heat dissipation of each module must be considered. These undoubtedly put forward a great test for the miniaturization and lightweight design of the drone.

The purpose of this embodiment is to provide an unmanned aerial vehicle that is lightweight, miniaturized, and has better heat dissipation, and especially strives to manufacture an unmanned aerial vehicle that has higher heat dissipation efficiency and weighs less than 250 g. The drone of this embodiment includes a housing, a flight control main board, a battery, and an ESC module, and the flight control main board, battery, and ESC module are stacked in the housing from bottom to top. By arranging the flight control main board and the ESC module under and above the battery respectively, it is convenient for the battery to supply power to the main board and the ESC module, and the flight control main board and the ESC module with a large heat dissipation capacity of the drone can also be separated by the battery. To avoid the mutual influence of the heat radiated by the two, it is beneficial to make the layout of the shell compact. In addition, since the flight control main board is located in the lower part of the casing, it is set under the casing. The down-view fixed height module used to measure the height of the drone can be directly fixed on the flight control main board. The down-view fixed height module can include but It is not limited to vision sensors and ultrasonic sensors and their combinations. Since the down-view fixed-height module can be directly fixed on the flight control main board at the lower level, the assembly path of the two is shortened, and the number of connecting wires, for example, is reduced, which can further realize the miniaturization and light weight of the drone. In some examples, the power interface module and the ESC module can also be arranged on the same layer to shorten the distance for the battery to supply power to the ESC module, thereby improving power supply efficiency. In some specific examples, the power interface module and the ESC module can be integrated on the same circuit board to reduce the space occupation and facilitate the miniaturization and weight reduction of the drone.

The following will be introduced in conjunction with the accompanying drawings, so that those skilled in the art can better understand the technical solutions of this embodiment.

Figure 1 is a schematic diagram of the structure of the drone provided by this embodiment with the bottom cover removed; Figure 2 is a schematic diagram of the structure of the drone of this embodiment after removing the battery; Figure 3 is a schematic diagram of the drone provided by this embodiment A schematic diagram of the upper cover after being disassembled; FIG. 4 is a schematic diagram of the drone provided by this embodiment after the bottom cover is disassembled. In the following description, the direction shown in FIG. 1 is used as the reference direction, but it should not be regarded as a specific limitation on the protection scope.

As shown in Figures 1 to 4, the drone 10 of this embodiment includes a housing 100, four arm modules 200 mounted on the housing 100 and extending radially, and a pan/tilt mounted at the front end of the housing 100 300. Image sensing equipment such as cameras and video cameras can be installed on the pan/tilt 300. Specifically, the housing 100 includes an upper cover 110 and a bottom cover 150 disposed oppositely, and a middle frame 130 located between the upper cover 110 and the bottom cover 150, and the upper cover 110, the middle frame 130 and the bottom cover 150 are enclosed by the upper cover 110 and the bottom cover 150. The space is used to install components such as the flight control motherboard 700 and battery 600. The four arm modules 200 are radially installed on the left and right sides of the middle frame 130, and a pan/tilt 300 is installed at the front end of the middle frame 130.

As shown in FIG. 3, the upper cover 110 may include a top plate 1101 and a lower side wall 1103 extending downward from the top plate 1101, wherein the lower side wall 1103 can be snap-connected to the middle frame 130. As shown in FIG. 4, the bottom cover 150 may include a bottom plate 1501 and an upper side wall 1503 extending upward from the bottom plate 1501, wherein the upper side wall 1503 can be snap-connected to the middle frame 130. It should be understood that in some other examples, the upper cover 110 and the bottom cover 150 are not limited to the above-mentioned structures, and those skilled in the art can design according to actual needs.

It should also be noted that, in other examples, the housing 100 may also include an upper housing and a lower housing that are arranged oppositely and capable of being covered together. The upper housing and the lower housing are covered together to form an installation. The accommodating space for components such as the flight control main board 700 and the battery 600. Moreover, this embodiment does not limit that the arm module 200 must be installed on the middle frame 130, and it can also be installed on the upper cover 110 or the bottom cover 150. In the same way, the pan/tilt 300 is not limited to be installed at the front end of the middle frame 130, and it can also be installed at any other suitable position of the middle frame 130, or can also be installed at any suitable position of the upper cover 110 and the bottom cover 150. In addition, this embodiment does not limit the pan/tilt 300 to be a single-axis or multi-axis pan/tilt, as long as it can be equipped with image sensing equipment.

Fig. 5 shows a schematic diagram of the unmanned aerial vehicle of this embodiment after the arm is disassembled. As shown in FIGS. 1 to 5, the arm module 200 includes a front arm module 210 provided at the front of the casing 100 and a rear arm module 230 provided at the rear of the casing 100. In this embodiment, there are two front arm modules 210 and two rear arm modules 230, respectively, which are arranged on the left and right sides of the middle frame 130. Of course, in some other examples, the number of arm modules 200 is not limited to four, and can be set according to actual needs. For example, six or eight radial arm modules 200 can be arranged around the housing 100.

Specifically, the front arm module 210 includes a front arm with a hollow rod-like structure and a front propeller mounted on the front arm. The front arm module 210 is optionally integrated with a supporting module 250 that extends downward. An antenna module can also be provided in the support module 250 for communication between the drone 10 and the remote control device. In other words, in some examples, the front arm module 210 may only be integrated with the supporting module 250 extending downward, and the supporting module 250 may not be provided with an antenna module. In some examples, the support module 250 may be a hollow rod-shaped structure that is manufactured separately and then assembled with the front arm. For example, the support module 250 and the front arm may be provided with a spiral structure that cooperates with each other, and the support module 250 Threaded connection and fixed to the front arm. In other examples, the support module 250 and the front arm can be manufactured by integral molding through a process such as injection molding.

The rear arm module 230 includes a rear arm having a hollow rod-like structure and a rear propeller mounted on the rear arm. By arranging the front arm and the rear arm into a hollow rod-like structure, not only the overall weight of the drone 10 can be reduced, but also the electrical connection between the front propeller and the rear propeller and the ESC module 401 can be facilitated. However, it should be understood that this embodiment does not limit the front and rear arms to be made into a hollow rod-like structure. In other examples, at least one of the front and rear arms may also be configured as Solid or made into a frame structure.

Specifically, the front arm and the rear arm are assembled by the front cover 2011 and the rear cover 2013 to form a hollow rod-shaped structure. Wherein, both the front cover 2011 and the rear cover 2013 can be made into a trapezoid-like structure as shown in FIG. 3. The trapezoidal structure is hollow and has an opening at one end, so that the front cover 2011 and the rear cover 2013 can be guaranteed when they are closed together. The front arm and the rear arm have sufficient structural strength and a small weight, which is beneficial to the lightweight of the drone 10. Of course, in order to assemble the front cover 2011 and the rear cover 2013 together, the front cover 2011 and the rear cover 2013 can be provided with a buckle structure that cooperates with each other, or the front cover 2011 and the rear cover can also be realized by fasteners such as bolts and screws. Fixing of the back cover 2013.

It can be understood that, in other examples, the support module 250 can also be integrated on the rear arm module 230, or, the front arm module 210 and the rear arm module 230 can also be integrated with a support module extending downward. 250.

In order to make the text more concise, if there is no special description or there are contradictions below, the front arm and the rear arm are uniformly referred to as the arm 201, and the front propeller and the rear propeller are collectively referred to as the propeller 203.

3, a mounting seat 202 is provided at the end of the front cover 2011 away from the housing 100, a motor for driving the propeller 203 to rotate is installed in the mounting seat 202, and the propeller 203 is installed on the motor shaft of the motor. Therefore, the propeller 203 can be driven to rotate by the drive of the motor, so as to provide lift for the drone 10. The electrical connection line between the motor and the ESC module 401 passes through the cavity formed by the front cover 2011 and the rear cover 2013 to realize the communication connection and/or power supply connection between the two. The propeller 203 may use a double propeller as shown in FIG. 3 or a single propeller, or, in some examples, two layers of propellers may be provided above and below the arm 201 to further improve the lift of the drone 10.

Figure 6 is an exploded view of the drone provided by this embodiment. As shown in FIG. 6, the main board 700, the battery 600, and the ESC module 401 are stacked in the casing 100 from bottom to top. Among them, in some examples, the pan/tilt 300 is located in front of the battery 600. In some examples, the battery 600 and the pan/tilt 300 are arranged on the same layer. A gap 1308 for the battery 600 to pass through is provided at the rear to achieve the purpose of arranging the battery 600 and the pan/tilt 300 on the same layer. It is easy to understand that since the pan/tilt 300 may rotate relative to the housing 100 during operation, it needs to have a certain movement clearance. In this embodiment, the length, width, and height of the battery 600 can be properly configured, and the battery 600 On the premise that it has sufficient capacity to meet the long-term endurance of the UAV 10, it can also ensure that there is enough gap between the battery 600 and the gimbal 300 for the movement of the gimbal 300 during operation, and the UAV 10 can also have a compact Structure to meet the needs of miniaturization and light weight.

In the drone 10 of this embodiment, the flight control main board 700, the battery 600, and the ESC module 401 are arranged in a three-layer structure in the vertical direction, and the flight control main board 700 is located under the battery 600, thereby being closer to the bottom. The fixed height module 900 effectively reduces the installation distance between the fixed height module 900 and the flight control main board 700, and the ESC module 401 and the flight control main board 700 are separated by the battery 600, so the heat emitted by each will not affect each other , Which is conducive to the optimization of the heat dissipation of the UAV 10.

Continuing to refer to Figure 4, the same layer of the ESC module 401 is also provided with a power interface module 403, a satellite positioning module 501, and an IMU module 503. Of course, in other examples, these modules can also have other layouts, for example, the power interface module The 403 and the flight control main board 700 are integrated on a main board. In this embodiment, the satellite positioning module 501 and the IMU module 503 are integrated on the first circuit board 500, the ESC module 401 and the power interface module 403 are integrated on the second circuit board 400, and the first circuit board 500 and the second circuit The board 400 is fixed on the top of the middle frame 130 by fasteners such as bolts 1200, rivets, etc., and the first circuit board 500 is arranged in front of the second circuit board 400 so that the ESC module 401 and the power interface module 403 can be close The battery 600 located in the middle layer also reduces the influence of the heat generated by the battery 600 on the satellite positioning module 501 and the IMU module 503. By integrating the satellite positioning module 501 and the IMU module 503 on one circuit board, and integrating the ESC module 401 and the power interface module 403 on another circuit board, the assembly efficiency of the UAV 10 can not only be improved, but also integrated in Together, the space and weight occupied by these modules are also reduced, which is conducive to the miniaturization and weight reduction of the drone 10. Moreover, after the power interface module 403 and the ESC module 401 are integrated on a circuit board, the power supply distance of the battery 600 to the ESC module 401 can be shortened. In some examples, the ESC module 401 and the motor driving the propeller 203 rotate When power supply and communication are connected, the distance that the battery 600 supplies power to the motor can also be shortened, which is beneficial to reduce the connection lines and simplify the layout, and realize the miniaturization and light weight of the drone.

In some examples, as shown in FIGS. 2 and 6, the rear end of the second circuit board 400 is provided with a first electrical connection portion 4031 extending backward, and correspondingly, the rear of the battery 600 is provided with the first electrical connection portion 4031. An electrical connection portion 4031 is matched with a second electrical connection portion 6001. For example, the first electrical connection portion 4031 and the second electrical connection portion 6001 are arranged as a contact-type first electrical connection portion, a second electrical connection portion or a pin-type first electrical connection portion. An electrical connection part and a second electrical connection part. It should be understood that in this example, the power interface module 403 integrated on the second circuit board 400 usually needs to be located behind the ESC module 401 so that it can form the first electrical connection portion 4031 extending backward. By providing the first electrical connection portion 4031 and the second electrical connection portion 6001, the stability of the electrical contact can be improved and the battery has good power supply performance.

2 and 6, in order to protect the battery 600, a tail cover 170 is also covered behind the battery 600. The tail cover 170 can be rotatably connected to the upper cover 110, or can also be detachably connected to the upper cover 110. For example, card connection. Specifically, the tail cover 170 can be hinged to the rear end of the upper cover 110 through a hinge shaft, or the tail cover 170 and the upper cover 110 can be provided with a mutually matched snap structure, so that the tail cover 170 can be detachably mounted on the upper cover 110, to cover the back of the battery 600. Of course, the tail cover 170 can also be fixed to the upper cover 110 by bolts, rivets and other methods. It should be understood that although the tail cover 170 is installed on the upper cover 110 in this embodiment, in some other examples, the tail cover 170 may also be installed on the middle frame 130 or the bottom cover 150. As shown in FIG. 2, in some examples, when the tail cover 170 is turned over and opened, the first electrical connection portion 4031 is visible.

FIG. 7 is a top view of the first circuit board in this embodiment, and FIG. 8 is a bottom view of the first circuit board in this embodiment. As shown in Figures 7 and 8, the IMU module 503 is located in front of the satellite positioning module 501, and a shielding cover 505 is provided under the satellite positioning module 501 (for example, a GPS module or a Beidou module) to avoid interference with other components in the housing 100. The work of the satellite positioning module 501 has an impact. The satellite positioning module 501 serves as the counterweight module of the IMU module 503, so there is no need to provide a separate counterweight module for the IMU module 503, which is beneficial to the miniaturization and light weight of the UAV 10. Specifically, the satellite positioning module 501 is equipped with an antenna of appropriate weight, so that when the satellite positioning module 501 and the IMU module 503 are integrated together, the weight requirement of the IMU module 503 can be reduced. For example, the satellite positioning module can be a GPS module, and the GPS module will use a ceramic antenna, so that the GPS module has a considerable weight. In this way, after the GPS module and the IMU module are integrated, the ceramic antenna of the GPS module can be used as the IMU module 503 The counterweight.

Specifically, referring to FIGS. 6 to 8, the first circuit board 500 may be fixed to the housing 100 by the mounting bracket 1000, for example, the first circuit board 500 is fixed to the middle frame 130 by the mounting bracket 1000, and the first circuit board 500 A first shock-absorbing structure 1100 is also arranged between the mounting bracket 1000 and the first shock-absorbing structure 1100 to buffer the vibration of the housing 100 and avoid affecting the normal operation of the IMU module 503. The first shock-absorbing structure 1100 may adopt any suitable structure such as rubber, spring, or other shock-absorbing structures.

Continuing to refer to FIGS. 6 to 8, the mounting bracket 1000 is also formed with a protrusion 10001 extending toward the ESC module 401, and the protrusion 10001 is fixed to the ESC module 401 by fasteners such as bolts 1200 and rivets. For example, the mounting bracket 1000 can be composed of a rectangular-like part and a triangular part. The rectangular part and the triangular part can be integrally formed by stamping, or can also be integrally formed by molding, of course, can also be formed by screwing, Connect them by welding or other means. One vertex of the triangular part is used as a protrusion 10001, which protrudes from the rectangular part and extends in the direction of the ESC module 401. The three vertices of the triangular part are provided with bolt holes, and the bolt 1200 passes through the bolt 1200 hole and the middle The frame 130 is fixed so that the first circuit board 500 is located on the top of the middle frame 130. The four vertices of the rectangular part are provided with the aforementioned first shock-absorbing structure 1100, and the first circuit board 500 is connected to the mounting bracket 1000 through the first shock-absorbing structure 1100.

It is understandable that although the mounting bracket 1000 used in this embodiment includes a rectangular-like part and a triangular-like part, in some other examples, other suitable shapes of the mounting bracket 1000, such as a rectangular bracket or a triangular bracket, may also be used. Of course, a more complex frame structure can also be used.

As shown in Figures 1, 3, 4, and 6, the middle frame 130 includes a front side wall 1301 and a rear side wall 1303 that are opposed to each other, and a left side wall 1302 and a left side wall between the front side wall 1301 and the rear side wall 1303. The right side wall 1304. The front side wall 1301 is recessed to the rear to form a rear recess 1307, and an opening is provided on the rear recess 1307. The opening can also serve as the second air inlet 1306 described in detail below. The middle frame 130 is provided at a position corresponding to the opening. In the installation part where the pan/tilt 300 is installed, the pan/tilt 300 passes through the opening and is connected to the installation part. In some examples, the pan/tilt 300 may also be connected to the mounting part through a second shock-absorbing structure. The second shock-absorbing structure may include a shock-absorbing member, wherein the shock-absorbing member is close to the connection position of the second shock-absorbing structure and the mounting portion. By providing the second shock-absorbing structure, the influence of the vibration of the body on the pan-tilt 300 can be reduced, the stability of the image sensing device installed on the pan-tilt 300 can be ensured, and the shooting quality can be ensured. At the same time, the overall second shock-absorbing structure Inverted L-shape, when the protective cover of the pan/tilt 300 is installed on the drone 10 to accommodate the drone 10, due to the elastic effect of the shock absorber, the second shock absorption structure can drive the cloud under the action of the protective cover The platform 300 is held against the middle frame 130 of the UAV 10, so that the movement of the platform 300 can be avoided in the front and rear directions, so as to protect the platform 300. Wherein, the shock-absorbing member can adopt any suitable structure such as rubber, spring or other suitable structures capable of damping vibration.

An arm 201 is respectively installed at the front and rear of the left side wall 1302, and an arm 201 is also installed at the front and the rear of the right wall 1304, respectively. The parts of the left side wall 1302 and the right side wall 1304 near the rear end and the rear side wall 1303 form a battery compartment 1305 for accommodating the battery 600. It is easy to understand that in order to form the battery compartment 1305, a partition can be arranged in the middle frame 130. When the battery 600 is installed in the battery compartment 1305, the front end of the battery 600 can be contacted with the partition to confirm whether the battery 600 is installed in place. A gap 1308 is provided on the rear side wall 1303, and the battery 600 can be installed into the battery compartment 1305 through the gap 1308 from the outside of the middle frame 130. The distance between the front end portion of the front side wall 1301 and the rear side wall 1303 and the rear recess 1307 is used as the movable gap of the pan/tilt 300, that is, the length of the battery 600 is less than the length of the left side wall 1302 and the right side wall 1304 .

As shown in FIG. 6, an upper support frame and a lower support frame can be provided at the top and bottom ends of the battery compartment 1305, respectively, and the first circuit board 500 and the second circuit board 400 can be fixed in place by fasteners such as bolts 1200. On the upper support frame, the flight control main board 700 can also be fixed on the lower support frame by fasteners such as bolts 1200.

It should be understood that the middle frame 130 is not limited to the above-mentioned structure. In some other examples, the middle frame 130 may also be configured in any other suitable structure.

As shown in FIG. 4 and FIG. 6, the bottom view height fixation module 900 is fixed on the bottom surface of the flight control main board 700, so that the lower view height fixation module 900 can detect environmental parameters, so as to realize the control of the UAV 10.

4 and 6, a heat sink 800 is provided under the flight control main board 700 to dissipate heat from the flight control main board 700. The heat sink 800 can be fixed to the flight control main board 700 by means of bolts 1200 or screws. A heat sink 800 is arranged under the control main board 700, and the heat emitted by the flight control main board 700 exchanges heat with the surrounding air through the heat sink 800, thereby reducing the temperature of the flight control main board 700 to ensure that the flight control main board 700 can work normally. The heat sink 800 may be a heat sink 800 made by a die-casting process or a heat sink 800 made by a stamping process. For example, Figures 4 and 6 show a heat sink 800 made by a stamping process, which is generally stamped from aluminum alloy, so that the density of the heat sink 800 can be as high as 2.7g/cm ³ , and the thickness can be reduced. When the thickness is below 0.05 mm, compared to the heat sink 800 with a thickness of 0.8 mm or more made of an aluminum-magnesium alloy with a density of 1.8 g/cm ³ through a die-casting process, the volume and weight of the drone 10 can be effectively reduced. In some cases, thermal silica gel can be arranged between the flight control motherboard 700 and the heat sink 800 to improve the thermal conductivity. It should be understood that since the heat sink 800 is provided under the flight control main board 700, in order to fix the lower viewing height module 900 on the bottom surface of the flight control main board 700, a relief port 8003 can be provided on the heat sink 800, so that the lower viewing height can be fixed. The module 900 can be fixed to the bottom surface of the flight control main board 700 through the escape opening 8003.

In some examples, the heat sink 800 may all have a flat-plate-like structure. In other examples, as shown in FIG. 4 and FIG. 6, the front end of the heat sink 800 may be formed as a continuous corrugated structure 8001, and the rear end of the heat sink 800 may be formed as an approximately flat structure. In some other examples, the heat sink 800 may all be a corrugated structure 8001. By arranging the heat sink 800 to have a continuous corrugated structure, the heat dissipation area can be further increased, and the heat dissipation efficiency can be improved.

Of course, in some other examples, a heat sink (such as a fin-shaped heat sink) or a heat dissipation fan can also be provided to cool the heat-generating components (such as the flight control motherboard 700, the ESC module 401, etc.) in the housing 100.

In other examples, the drone 10 may also be provided with an air duct for dissipating heat for the components in the housing 100 (including but not limited to the flight control main board 700, the ESC module 401, the battery 600, etc.). The air duct may The heat dissipation for the components in the housing 100 alone can also be combined with the aforementioned heat sink 800, fin-shaped radiator or fan to dissipate heat for the components in the housing 100.

Please refer to Figure 3, Figure 4 and Figure 6, in some specific examples, the drone 10 is provided with a first heat dissipation air duct for heat dissipation for the flight control motherboard 700 and a second heat dissipation air duct for heat dissipation for the ESC. Tao. The first heat dissipation air channel and the second heat dissipation air channel may be stacked and spaced apart from each other. For example, the first heat dissipation air channel and the second heat dissipation air channel in FIG. 3, FIG. 4, and FIG. 6 are stacked in a vertical direction. And the first heat dissipation air duct and the second heat dissipation air duct are separated by the flight control main board 700, or when the heat sink 800 is provided under the flight control main board 700, the first heat dissipation air duct and the second heat dissipation air duct can also be The radiating fins 800 are separated so as to avoid the mutual influence of the two heat dissipation air ducts. It should be understood that this example does not limit that the drone 10 must be provided with a first heat dissipation air duct and a second heat dissipation air duct. For example, the first heat dissipation air or the second heat dissipation air duct may be separately provided.

In this embodiment, the first heat dissipation air duct includes an air duct that allows wind to enter from the bottom of the housing 100 and flow out from the side of the housing 100. For example, taking the drone 10 shown in FIG. 4 as an example, its bottom cover 150 includes a bottom plate 1501 and an upper side wall 1503 extending upward from the bottom plate 1501, and a first air inlet 1505 is provided on the bottom plate 1501. The side wall 1503 is provided with a first air outlet 1507, so that the wind can enter from the first air inlet 1505 and then flow through the flight control main board 700 (when the heat sink 800 is provided under the flight control main board 700, it flows through the heat sink 800) and perform heat exchange, and the heat-exchanged wind flows out from the first air outlet 1507 provided on the upper side wall 1503, so as to achieve the purpose of cooling the flight control main board 700.

In the specific design, as shown in FIG. 4, the first air inlet 1505 extends along the width direction of the drone 10, and in some examples, the first air inlet 1505 may be provided with multiple first air inlets 1505. The air inlets 1505 can be arranged along the length of the drone 10 to increase the air intake and thereby improve the heat dissipation efficiency. The first air inlet 1505 includes a front surface 15091 and a rear surface 15093 oppositely arranged along the length direction of the drone 10, and a left side surface and a right side surface oppositely arranged along the width direction of the drone 10. In some examples, the front surface 15091, the rear surface 15093, the left side and the right side of the first air inlet 1505 may be arranged to extend toward the inside of the housing 100, for example, may be formed on the bottom plate 1501 during preparation. An inner recess 1509 recessed into the housing 100, and a first air inlet 1505 is provided in the inner recess 1509. In order to guide the wind into the first air inlet 1505 to reduce wind resistance, in some specific examples, the rear surface 15093 of the first air inlet 1505 may also be arranged to be inclined to the rear of the drone 10.

The first air outlet 1507 can be arranged at any suitable position of the upper side wall 1503. For example, the upper side wall 1503 includes an upper left side wall 1503 and an upper right side wall 1503, and the upper left side wall 1503 and the upper right side wall 1503 are both provided with a An air outlet 1507. In this embodiment, the first air outlet 1507 may extend along the length direction of the drone 10 to increase the air output, thereby increasing the ventilation efficiency in the housing 100 and improving the heat dissipation effect. It can be understood that when there are multiple first air outlets 1507, a part of the first air outlets 1507 may be provided on the upper left side wall 1503, and another part of the first air outlets 1507 may be provided on the upper right side wall 1503.

The second heat dissipation air duct includes an air duct that allows wind to enter from the front end of the housing 100 and flow out from the side near the ESC module 401. For example, in the drone 10 shown in FIGS. 3 and 4, a second air inlet 1306 is provided on the middle frame 130, and a second air outlet 1105 is provided on the upper cover 110. The wind enters from the second air inlet 1306, and then After passing through the surface of the ESC and exchanging heat with the ESC, it flows out from the second air outlet 1105 near it, so as to cool the ESC module 401 and ensure its normal operation. During preparation, a rear recess 1307 is formed on the front side wall 1301 of the middle frame 130. The rear recess 1307 includes a top surface and a side surface. An opening for installing the pan/tilt 300 is provided on the top surface. Two air inlets 1306. Of course, in some examples, the second air inlet 1306 can also be provided at other positions of the front side wall 1301, for example, openings are provided on both the top surface and the side surface of the rear recess 1307, so as to cooperate to form the second air outlet 1105. A second air outlet 1105 is provided on the lower side wall 1103 of the upper cover 110, and the second air outlet 1105 is arranged close to the ESC. It can be understood that when the lower side wall 1103 includes the left lower side wall 1103 and the right lower side wall 1103, the second air outlet 1105 may be provided on both the left lower side wall 1103 and the right lower side wall 1103, and is similar to the first air outlet 1507, The number of second air outlets 1105 provided on the lower left side wall 1103 and the lower right side wall 1103 can also be flexibly adjusted as required. The second air outlet 1105 may extend along the length direction of the drone 10 as shown in FIG. 1 to improve the ventilation efficiency.

Figures 9a and 9b illustrate the first heat dissipation air duct for dissipating heat for the flight control main board of the UAV, and Fig. 10a and Fig. 10b illustrate the second heat dissipation air duct for dissipating heat for the ESC module of the UAV. The following briefly introduces the heat dissipation mode of the drone 10 of FIGS. 3, 4, and 6 during flight in conjunction with FIGS. 9a to 10b, so as to better understand the first heat dissipation air duct and the second heat dissipation air duct provided in this embodiment. The purpose and effect.

When the drone 10 starts, the airflow at the bottom of the drone 10 can enter the inside of the housing 100 from the first air inlet 1505 of the bottom plate 1501, and then contact the heat sink 800 to exchange heat, and then move from the upper left side wall 1503 and the upper right side wall The first air outlet 1507 provided in 1503 flows out of the housing 100 to cool down the flight control main board 700 to ensure that it can work normally. When the drone 10 is working, the rotation of the propeller 203 on the arm 201 will generate upward airflow from the center to the sides at the bottom of the drone 10, by setting the first air inlet 1505 and the first air outlet. 1507, this part of the air flow can be effectively guided into the housing 100, and the temperature of the flight control main board 700 can be reduced.

The airflow flowing from the front and back of the drone 10 can enter the housing 100 from the second air inlet 1306 provided on the front side wall 1301 of the middle frame 130, and then exchange heat with the ESC module 401 from the lower left side. The wall 1103 and the lower right side wall 1103 flow out of the housing 100 to cool the ESC module 401.

Based on the above knowledge, by separately configuring heat dissipation air ducts for the flight control main board 700 and the ESC module 401, although the heat dissipation air duct of this embodiment is a natural convection duct, since the two heat dissipation air ducts are independent, it can basically satisfy The flight control motherboard 700 and the ESC module 401 have their own heat dissipation requirements, so there is no need to install a cooling fan or air pump for forced convection heat dissipation, so that the cooling fan or air pump can be omitted in the UAV housing, which is beneficial to reduce the weight of the UAV And volume, realize the miniaturization and light weight of the drone.

It can be understood that in some examples, since the satellite positioning module 501 and the IMU module 503 are both arranged in front of the ESC module 401, the airflow from the second air inlet 1306 to the second air outlet 1105 is cooling the ESC module 401. At the same time, the satellite positioning module 501 and the IMU module 503 can also be cooled, and since the second air outlet 1105 is arranged near the ESC module 401, it is basically located at the tail of the UAV 10, so it flows out from this position. The airflow will not have too much influence on the aerodynamic performance of the UAV 10, that is, the flight efficiency and heat dissipation efficiency of the UAV 10 can be taken into consideration.

Finally, although the advantages associated with this embodiment have been described in the context of these embodiments, other embodiments may also include such advantages, and not all embodiments describe all the advantages of the present invention in detail. The advantages objectively brought by the technical features in the examples should be regarded as the advantages of the present invention which are different from the prior art, and all belong to the protection scope of the present invention.

Claims

An unmanned aerial vehicle, characterized by comprising: a housing, a flight control main board, a battery, and an ESC module;

The flight control main board, the battery, and the ESC module are stacked in the casing from bottom to top.
The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle further comprises a downward-looking fixed height module, and the downward-looking fixed height module is fixed on the bottom surface of the flight control main board.
The UAV according to claim 2, wherein the UAV further comprises a heat sink, the heat sink is used to dissipate heat for the flight control main board, and the downward fixed height module passes through the The heat sink is fixed on the bottom surface of the flight control main board.
The drone of claim 3, wherein the heat sink is formed with a continuous corrugated structure.
The unmanned aerial vehicle according to claim 4, wherein the downward fixed height module is located behind the corrugated structure.
The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle further comprises a satellite positioning module and an IMU module, and the satellite positioning module and the IMU module are provided on the same layer as the ESC module.
The UAV according to claim 6, wherein the satellite positioning module and the IMU module are located in front of the ESC module.
The drone of claim 6, wherein the satellite positioning module and the IMU module are integrated on a first circuit board.
The UAV according to claim 8, wherein the IMU module is located in front of the satellite positioning module, and the satellite positioning module is also used as a counterweight module of the IMU module; the satellite positioning module A shielding cover is provided under the module.
The drone according to claim 8, wherein the first circuit board is fixed to the housing by a mounting bracket, and a first shock-absorbing structure is provided between the first circuit board and the mounting bracket .
The drone of claim 10, wherein the mounting bracket is formed with a protruding portion extending toward the ESC module, and the protruding portion is connected to the ESC module through a first fastener. fixed.
The drone of claim 1, wherein the drone further comprises a power interface module, and the ESC module and the power interface module are integrated on a second circuit board.
The unmanned aerial vehicle according to claim 12, wherein the rear end of the second circuit board is provided with a first electrical connection part extending rearward, and the rear part of the battery is provided with the first electrical connection part. The second electrical connection part matched with the connection part.
The drone according to any one of claims 1-13, wherein the drone further comprises a pan/tilt, the pan/tilt is located in front of the battery, and the pan/tilt and the battery There is a gap for the movement of the pan/tilt.
The unmanned aerial vehicle according to any one of claims 1-13, wherein the unmanned aerial vehicle further comprises a front arm module and a rear arm module, the front arm module being mounted on the housing In the front part, the rear arm module is installed at the rear part of the housing.
The UAV according to claim 15, wherein the front arm module is also integrated with a supporting module extending downward, and an antenna module of the UAV is provided in the supporting module.
The unmanned aerial vehicle according to claim 15, wherein the front arm module includes a front arm and a front propeller mounted on the front arm, and the front arm is a hollow rod-shaped structure.
The UAV according to claim 15, wherein the rear arm module includes a rear arm and a rear propeller mounted on the rear arm, and the rear arm is a hollow rod-shaped structure.
The unmanned aerial vehicle according to any one of claims 1-13, wherein the housing is further provided with a first heat dissipation air duct for dissipating heat for the flight control main board and a first heat dissipation duct for dissipating heat for the ESC module The second heat dissipation air duct for heat dissipation.
The unmanned aerial vehicle according to claim 19, wherein the first heat dissipation air duct and the second heat dissipation air duct are spaced apart and stacked.
The drone of claim 20, wherein the first heat dissipation air duct and the second heat dissipation air duct are separated by the flight control main board.
The drone according to claim 20 or 21, wherein the housing includes an upper cover and a bottom cover that are opposed to each other, and a middle frame located between the upper cover and the bottom cover, and the battery housing In the battery compartment of the middle frame, the flight control main board is fixed to the bottom of the middle frame by a second fastener, and the ESC module is fixed on the top of the middle frame by a third fastener.
The drone of claim 22, wherein the rear end of the middle frame is provided with a notch for the battery to pass through, and the housing further includes a tail cover covering the rear of the battery.
The unmanned aerial vehicle according to claim 23, wherein the tail cover is rotatably connected with the upper cover.
The drone of claim 22, wherein the bottom cover includes a bottom plate and an upper side wall extending upward from the bottom plate;

The first heat dissipation air duct includes a first air inlet provided on the bottom plate and a first air outlet provided on the upper side wall.
The drone of claim 25, wherein the first air inlet extends along the width direction of the drone.
The drone of claim 26, wherein there are multiple first air inlets, and the multiple first air inlets extend along the length direction of the drone.
The drone according to claim 26, wherein the bottom plate is recessed inwardly to form an inner recess, the first air inlet is provided in the inner recess, and the first air inlet includes an inner recess The front surface and the rear surface are arranged opposite to each other in the length direction of the man-machine, and the rear surface is arranged obliquely to the rear.
The unmanned aerial vehicle according to any one of claims 25-28, wherein the upper side wall includes an upper left side wall and an upper right side wall; the first air outlet is multiple, and part of the first air outlet The air outlet is arranged on the upper left side wall, and a part of the first air outlet is arranged on the upper right side wall.
The drone of claim 22, wherein the second heat dissipation air duct includes a second air inlet provided on the middle frame and a second air outlet provided on the upper cover.
The drone according to claim 30, wherein the middle frame includes a front side wall, a rear side wall, a left side wall and a right side wall, and the second air inlet is provided on the front side wall;

The upper cover includes a top plate and a lower side wall extending downward from the top plate. The second air outlet is arranged on the lower side wall and the second air outlet is close to the ESC module.
The drone according to claim 31, wherein the lower side wall includes a lower left side wall and a lower right side wall, and both the lower left side wall and the lower right side wall are provided with the second air outlet.
The drone of claim 31, wherein the front side wall is formed with a rear recess, the rear recess includes a top surface and a side surface, and both the top surface and the side surface are provided with openings to cooperate to form the The second air inlet.
The drone of claim 30, wherein the second air outlet extends along the length of the drone.
The UAV according to claim 30, wherein the middle frame is provided with an installation part for installing a pan/tilt of the UAV, and the pan/tilt passes through the second air inlet and the Installation part connection.