WO2021212870A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2021212870A1
WO2021212870A1 PCT/CN2020/135402 CN2020135402W WO2021212870A1 WO 2021212870 A1 WO2021212870 A1 WO 2021212870A1 CN 2020135402 W CN2020135402 W CN 2020135402W WO 2021212870 A1 WO2021212870 A1 WO 2021212870A1
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WO
WIPO (PCT)
Prior art keywords
battery
drone
battery compartment
central body
unmanned aerial
Prior art date
Application number
PCT/CN2020/135402
Other languages
English (en)
French (fr)
Inventor
周中琴
高诗经
陈柏霖
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 CN202080073700.7A priority Critical patent/CN114585562A/zh
Publication of WO2021212870A1 publication Critical patent/WO2021212870A1/zh

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    • 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
    • B64U30/21—Rotary wings
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
    • 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
    • B64U50/31—Supply or distribution of electrical power generated by photovoltaics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the present disclosure relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle.
  • the battery compartment is set at a position that is biased downwards, and a connection structure between the battery compartment and the rack needs to be provided.
  • connection structure needs to be subjected to the gravity of the battery and requires high strength. Therefore, the connection structure will have a larger mass. Therefore, the connection structure will occupy a larger proportion of the mass of the whole machine, thereby making the battery itself The proportion of the whole machine is reduced, which limits the endurance of the drone.
  • the obstacle avoidance device of the UAV is at least partially arranged on the peripheral side of the battery compartment. Due to the low position of the battery compartment, the obstacle avoidance device will be under the rotor of the UAV. The rotor in the forward direction will tilt downwards. At this time, the rotor will block the obstacle avoidance device to a certain extent, which will reduce the UAV's obstacle avoidance ability.
  • the gimbal, tripod and other structures at the bottom of the UAV will also interfere with obstacle avoidance devices, further reducing the UAV's obstacle avoidance capability.
  • the embodiments of the present disclosure provide an unmanned aerial vehicle to solve the problem of poor endurance and obstacle avoidance capabilities of the unmanned aerial vehicle in the prior art.
  • An embodiment of the present disclosure provides a drone, and the drone includes:
  • the frame includes a central body and a plurality of arms connected to the central body;
  • a battery compartment which is fixedly connected to the top of the central body, and is used to fix the battery of the drone on the top of the central body;
  • the first obstacle avoidance sensor is installed on the battery compartment and is used to obtain obstacle information during the flight of the drone;
  • a plurality of rotor wing devices are respectively installed on a plurality of the aircraft arms, each of the rotor wing devices includes a motor and a blade installed on the motor.
  • the blade Located at the bottom of one end of the arm away from the central body.
  • the unmanned aerial vehicle further includes a pan/tilt mounted on the central body and extending from the central body toward a side opposite to the battery compartment for carrying a camera device.
  • the unmanned aerial vehicle further includes a landing gear installed on the central body and extending from the central body toward a side opposite to the battery compartment.
  • the drone further includes a battery, and the battery is fixed to the top of the central body through the battery compartment.
  • the battery compartment is detachably connected to the central body.
  • the battery compartment and the central body are integrally formed and extend from the top of the central body.
  • it further includes a guiding mechanism through which the battery slides into the battery compartment.
  • the guide mechanism includes a guide portion located in the battery compartment and a sliding portion located in the battery, and the sliding portion cooperates with the guide portion to make the battery follow the guide portion.
  • the extension direction can be slid.
  • one of the guiding part and the sliding part is a slider, and the other is a sliding rail, and the sliding block is matched with the sliding rail.
  • the battery can be slid into the battery compartment, and the positioning mechanism detachably fixes the battery in the battery compartment.
  • the positioning mechanism includes a positioning portion located in the battery compartment and a matching portion located in the battery, and the positioning portion is engaged with the matching portion to lock the battery in the battery compartment.
  • the positioning portion is a positioning groove provided on the inner wall of the battery compartment, and the matching portion is a first buckle provided on the battery.
  • the positioning portion is a second buckle provided on the battery compartment
  • the matching portion is a matching groove provided on the battery.
  • the first obstacle avoidance sensor includes a binocular vision camera.
  • binocular vision cameras which are respectively arranged on the four sides and the top surface of the battery compartment.
  • the drone further includes a second obstacle avoidance sensor, the second obstacle avoidance sensor is disposed at the bottom of the central body, and is used to obtain information about obstacles under the bottom during the flight of the drone .
  • the battery of the drone after the battery compartment is fixed on the top of the central body, the battery of the drone can be supported by the central body, so that the central body can bear the gravity of the battery, because the battery compartment is no longer needed to bear
  • the gravity of the battery can make the battery compartment and the connection structure between the battery compartment and the central body more portable and reduce the quality of the whole drone, so that the drone with the same quality can have more battery quality Accounted for, increase the capacity of the battery, and then increase the endurance of the drone.
  • Such a setting can also make the overall quality of the drone with the same endurance lighter.
  • the installation of the first obstacle avoidance sensor on the battery compartment can make the UAV's obstacle avoidance ability stronger.
  • the blades in the rotor device are located at the bottom of the end of the arm away from the central body, and the battery compartment is arranged on the top of the central body, so that the position of the first obstacle avoidance sensor can be set higher than the blades.
  • the rotor device in the forward direction will tilt downwards, and the first obstacle avoidance sensor higher than the rotor device will not be affected by the tilt of the rotor device, but will make the first obstacle avoidance sensor more open. Detection range, thereby improving the UAV's obstacle avoidance ability.
  • the embodiments of the present disclosure can achieve the beneficial effects of stronger endurance capability and obstacle avoidance capability of the UAV.
  • Figure 1 shows a front view of a drone provided by an embodiment of the present disclosure
  • Figure 2 shows a side view of a drone provided by an embodiment of the present disclosure
  • Figure 3 shows a top view of a drone provided by an embodiment of the present disclosure
  • Fig. 4 shows an exploded view of a drone provided by an embodiment of the present disclosure.
  • one embodiment or “an embodiment” mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present disclosure. Therefore, the appearances of "in one embodiment” or “in an embodiment” in various places throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.
  • an embodiment of the present disclosure provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
  • the frame 10 includes a central body 11 and a plurality of arms 12 connected to the central body 11;
  • the battery compartment 20 is fixedly connected to the top of the central body 11, and is used to fix the battery 21 of the drone on the top of the central body 11;
  • the first obstacle avoidance sensor 30 is installed on the battery compartment 20 and is used to obtain obstacle information during the flight of the drone;
  • a plurality of rotor wing devices 40 are respectively installed on a plurality of the arms 12, and each of the rotor wing devices 40 includes a motor and a blade mounted on the motor. When the drone is in flight, The blade is located at the bottom of one end of the arm 12 away from the central body 11.
  • the battery 21 of the drone can be supported by the central body 11, so that the central body 11 can bear the gravity of the battery 21. Since the battery compartment 20 no longer needs to bear the gravity action of the battery 21, the battery compartment 20 and the connection structure between the battery compartment 20 and the central body 11 can be made lighter, reducing the quality of the whole drone, and thus can be of the same quality.
  • the lower drone has more battery 21 mass ratio, which increases the capacity of the battery 21 and improves the endurance of the drone. Such a setting can also make the overall quality of the drone with the same endurance lighter.
  • the arrangement of the first obstacle avoidance sensor 30 installed on the battery compartment 20 can make the UAV's obstacle avoidance capability stronger.
  • the position of the first obstacle avoidance sensor 30 can be set It is higher than the rotor device 40.
  • the rotor device 40 in the forward direction will tilt downward, and the first obstacle avoidance sensor 30 higher than the rotor device 40 will not be affected by the tilt of the rotor device 40.
  • the first obstacle avoidance sensor 30 will have a wider detection range, thereby improving the obstacle avoidance capability of the UAV.
  • the embodiments of the present disclosure can achieve the beneficial effects of stronger endurance capability and obstacle avoidance capability of the UAV.
  • the arrangement of the blades at the bottom of the end of the arm 12 away from the central body 11 can make the blades farther from the first obstacle avoidance sensor 30.
  • the detection range of the first obstacle avoidance sensor 30 is further improved, thereby improving the obstacle avoidance capability of the UAV.
  • the first obstacle avoidance sensor 30 can be configured as an optical sensor, an acoustic wave sensor, an electromagnetic wave sensor, or the like. Specifically, it can be an infrared sensor, an ultrasonic sensor, an infrasonic wave sensor, a radar detector, a sonar detector, etc. Of course, it can also be set as a light and shadow device with a camera function to further improve the obstacle avoidance effect.
  • the above-mentioned types of sensors can also be provided with at least two at the same time to further improve the detection accuracy and further improve the obstacle avoidance capability of the UAV.
  • the drone further includes a pan/tilt 50 installed on the central body 11 and facing away from the battery compartment 20 from the central body 11 One side of the extension is used to carry the camera device.
  • the setting of the pan-tilt 50 can enable the drone to be loaded with a camera device, and thus can enable the drone to have the function of aerial photography, so as to record images during navigation.
  • a wireless communication device can be provided on the drone to facilitate real-time transmission of images captured by the camera device to the terminal device.
  • the terminal device can be the base station of the drone, or it can be a smart mobile terminal such as a mobile phone or a laptop.
  • the drone further includes a landing gear 60, the landing gear 60 is installed on the central body 11 and facing away from the battery compartment 20 from the central body 11 Extended on one side.
  • the setting of the landing gear 60 can facilitate the landing and the landing of the drone.
  • the entire drone can be better carried, so that the ground or workbench can be placed on the ground.
  • the drone on board is more stable and reliable.
  • the specific structure of the landing gear 60 can be set according to needs or user preferences.
  • the landing gear 60 may include a connecting arm at the bottom of the central body 11 and a support frame detachably connected to the connecting arm, at least one connecting arm is provided, and the number of support frames is the same as the number of connecting arms.
  • the support frame can include a main support frame and an auxiliary support frame connected to the main support frame.
  • the main support frame and the auxiliary support are arranged at an angle.
  • the supporting frame is arranged at one end of the main supporting frame away from the central body 11 to increase the supporting area.
  • the above description of the support frame is an exemplary description, and it can also be set as one support frame, three support frames, or four support frames as required, as long as the UAV can be supported.
  • the position of the first obstacle avoidance sensor 30 is in a direction away from the gimbal 50, landing gear 60 and other structures, so the first obstacle avoidance sensor 30 will not be affected by the gimbal 50, landing gear 60 and other structures. Interference can further strengthen the UAV's obstacle avoidance capabilities.
  • the drone further includes a battery 21, and the battery 21 is fixed to the top of the central body 11 through the battery compartment 20.
  • the arrangement of the battery 21 is used to provide electrical energy for working of other functional components of the drone.
  • the battery 21 can be an independent storage battery or a battery pack composed of multiple storage batteries.
  • the battery compartment 20 is provided with a charging interface connected to the battery 21.
  • an induction coil for wireless charging can also be provided on the battery compartment 20, and the battery 21 can be charged by placing the wireless charger above the battery compartment 20. Or place the battery compartment 20 in an area where it can perform inductive charging with a wireless charger for charging.
  • the surface of the battery compartment 20 can also be covered with a photovoltaic device to facilitate the charging of the battery 21 by solar energy. Under the condition of sufficient light, the effect of charging while sailing can be achieved, which greatly increases the endurance of the drone.
  • the installation of photovoltaic devices can also improve the applicability of drones through solar charging when charging is inconvenient.
  • the battery compartment 20 and the central body 11 are detachably connected.
  • the disassembly and maintenance of the battery compartment 20 can be facilitated.
  • Such an arrangement can facilitate quick maintenance by replacing the backup battery compartment 20 after the battery compartment 20 fails or is damaged, so that the effective working time of the drone is longer.
  • the battery compartment 20 can be used as a charger for the battery 21, so that the battery compartment 20 can only be moved to the charging position for charging, and there is no need to adjust the drone. The movement of the machine.
  • the battery compartment 20 and the central body 11 are integrally formed, and extend from the top of the central body 11.
  • the reliability of the connection between the battery compartment 20 and the central body 11 can be ensured, and at the same time, the production process of the drone can be reduced, and the drone's performance can be improved. Production efficiency, reduce production costs.
  • the embodiment of the present disclosure further includes a guiding mechanism through which the battery 21 slides into the battery compartment 20.
  • the setting of the guide mechanism can facilitate the disassembly and assembly of the battery 21, and the guide mechanism can also partially position the battery 21 to ensure the stability of the battery 21 after being installed relative to the battery compartment 20.
  • the setting of the guide mechanism can make the disassembly and assembly of the battery 21 more convenient and faster by sliding, reduce the assembly and disassembly time of the battery 21, and improve the working efficiency of the drone.
  • the guide mechanism includes a guide part located in the battery compartment 20 and a sliding part located in the battery 21, and the sliding part cooperates with the guide part so that the The battery 21 is slidable along the extending direction of the guide portion.
  • the coordinated arrangement of the guide part and the sliding part can make the relative sliding of the battery 21 and the battery compartment 20 more stable.
  • one of the guide part and the sliding part is a sliding block, and the other is a sliding rail, and the sliding block is matched with the sliding rail.
  • the cooperation of the sliding block and the sliding rail can ensure the relative sliding of the battery 21 and the battery compartment 20.
  • the specific setting positions of the slider and the sliding rail can be set as required.
  • the slider can be set on the battery 21 or on the battery compartment 20.
  • the sliding block can be set as a block-shaped structure adapted to the sliding groove; when the sliding rail is set as a sliding edge, the sliding block is provided with a groove-shaped structure adapted to the sliding edge structure.
  • one of the guide part and the sliding part may be configured as a sliding rod, and the other may be configured as a sliding hole, and the sliding rod may penetrate the sliding hole.
  • the embodiment of the present disclosure further includes a positioning mechanism, the battery 21 can be slid into the battery compartment 20, and the positioning mechanism detachably fixes the battery 21 in the battery compartment 20.
  • the positioning mechanism can fix the battery 21 in the battery compartment 20, thereby preventing the battery 21 from accidentally detaching from the battery compartment 20, and ensuring the safety and reliability of the drone.
  • the positioning mechanism includes a positioning portion located in the battery compartment 20 and a matching portion located in the battery 21, and the positioning portion is engaged with the matching portion, thereby locking the The battery 21 is locked in the battery compartment 20.
  • the positioning portion and the matching portion can be configured to lock the battery 21, and the matching state of the positioning portion and the matching portion includes a locked state and an unlocked state.
  • the locked state the battery 21 can be fixed in the battery compartment 20; in the unlocked state, the battery 21 can be detached from the battery compartment 20.
  • the positioning mechanism can be configured as a buckle mechanism, a magnetic attraction mechanism, a screw and threaded hole matching structure, or a lockable plug-in structure.
  • the positioning mechanism is a snap mechanism
  • one of the positioning portion and the matching portion is a snap
  • the other is a corresponding snap slot.
  • the positioning mechanism is a magnetic attraction mechanism
  • one of the positioning portion and the matching portion is an electromagnet
  • the other is a suitable magnetic material.
  • the electromagnet can be set as a reverse electromagnet, and the reverse electromagnet can realize: the magnetic attraction mechanism is in a locked state when it is powered off; when it is powered on, it is in an unlocked state.
  • it can also be a combination of a permanent magnet and a magnetic material, or a combination of two permanent magnets, or a combination of two electromagnets, or a combination of an electromagnet and a permanent magnet.
  • the positioning mechanism may also be a coordination mechanism of a flexible belt and a clamping structure.
  • the positioning portion is a positioning groove provided on the inner wall of the battery compartment 20, and the matching portion is a first buckle provided on the battery 21.
  • the cooperation of the positioning groove and the first buckle can realize the locking of the battery 21 and the battery compartment 20 in a buckle manner.
  • the specific structure of the positioning slot and the first buckle can be selected according to the actual situation, as long as the effect of the buckle can be achieved. If necessary, a corresponding elastic member can be added to assist the buckle and ensure the buckle effect, or directly set the first buckle as a buckle structure with elasticity.
  • the positioning portion is a second buckle provided on the battery compartment 20, and the matching portion is a matching groove provided on the battery 21.
  • the cooperation of the second buckle and the mating groove can also realize the locking of the battery 21 and the battery compartment 20 in a buckle manner.
  • the specific structure of the second buckle and the matching groove can also be selected according to the actual situation, as long as the effect of the buckle can be achieved.
  • corresponding elastic parts can be added to assist the buckle and ensure the buckle effect.
  • a corresponding elastic member can also be added to assist the buckle and ensure the buckle effect, or directly set the second buckle as a buckle structure with elasticity.
  • the above-mentioned two buckles can be provided with two respectively.
  • two opposite first buckles are provided, and the elastic member is matched to form a spring similar to a spring.
  • the structure of the clamp is used to clamp the battery 21.
  • a pair of positioning grooves corresponding to the first buckle are also provided with a pair.
  • the first buckle will move toward the positioning groove and form a lock. Only when the received external force is large enough, the first buckle and the positioning groove can be separated from each other, and then the battery 21 can be disassembled.
  • the first buckle can be configured as an elastic structure, such as an elastic sheet with a protruding structure, so that no additional elastic element is required.
  • the second buckle and the mating groove can also be arranged in a similar structure to the above.
  • the first obstacle avoidance sensor 30 includes a binocular vision camera.
  • the binocular vision camera can have better visual effects and positioning effects, and can quickly locate the distance of the target object through two different lines of sight, thereby ensuring the obstacle avoidance effect of the drone.
  • five binocular vision cameras can detect the front, rear, left, and top of the UAV, thereby ensuring the obstacle avoidance effect in these five directions.
  • the drone further includes a second obstacle avoidance sensor, and the second obstacle avoidance sensor is arranged at the bottom of the central body 11 and is used to obtain the flight process of the drone. Obstacle information at the bottom of the center.
  • the arrangement of the second obstacle avoidance sensor can ensure that the drone can avoid obstacles at the bottom, and further improve the obstacle avoidance ability of the drone.
  • the second obstacle avoidance sensor can also be configured as an optical sensor, an acoustic wave sensor, an electromagnetic wave sensor, and so on. Specifically, it can be an infrared sensor, an ultrasonic sensor, an infrasonic wave sensor, a radar detector, a sonar detector, etc. Of course, it can also be set as a light and shadow device with a camera function to further improve the obstacle avoidance effect.
  • the second obstacle avoidance sensor may also be a binocular vision camera.
  • the binocular vision camera may include two cameras arranged at intervals and a mounting frame for installing the two cameras, and the mounting frame is fixed on the battery compartment 20 or the central body 11.
  • the mounting frame can be one integrated, or two corresponding to the two cameras.
  • the binocular vision camera in this embodiment can be used in conjunction with other obstacle avoidance sensors.
  • infrared sensors, ultrasonic sensors, infrasound sensors, and radar detection are set in the middle of the two cameras in the binocular vision camera.
  • At least one of the detector and the sonar detector to further improve the positioning accuracy and thereby improve the obstacle avoidance ability.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种无人机，涉及无人飞行器技术领域，以解决在先技术中无人机的续航能力和避障能力较弱的问题。所述无人机包括：机架（10），包括中心体（11）以及与所述中心体（11）连接的多个机臂（12）；电池仓（20），与所述中心体（11）的顶部固定连接，用于将所述无人机的电池（21）固定于所述中心体（11）的顶部；第一避障传感器（30），安装在所述电池仓（20）上，用于获取所述无人机飞行过程中的障碍物信息；多个旋翼装置（40），分别安装在多个所述机臂（12），每个所述旋翼装置（40）包括电机、以及安装在所述电机上的桨叶，当所述无人机处于飞行状态时，所述桨叶位于所述机臂（20）远离所述中心体（11）的一端的底部，其能够得到无人机续航能力及避障能力更强的有益效果。

Description

无人机
本申请要求在2020年04月20日提交中国专利局、申请号为202020593479.5、发明名称为“无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及无人飞行器技术领域，尤其涉及一种无人机。
背景技术
随着无人机技术的发展，各种各样的无人机被应用在社会生活的方方面面。对于行业应用无人机、农业无人机等中大型无人机而言，因为对载荷及续航要求的提高，往往对所用电池的容量要求也提高，在现有电池技术条件下，高容量电池通常对应着大质量大体积。
在先技术中，电池仓设置在无人机偏向下方的位置，需要设置电池仓和机架的连接结构。
但是，该连接结构需要受到电池的重力作用，需要较高的强度，因此该连接结构将会具有较大的质量，因此该连接结构会占用较大的整机质量占比，进而使电池本身在整机的占比降低，使无人机的续航能力受到限制。并且，无人机的避障器件至少部分的是设置在电池仓的周侧，由于电池仓位置较低，避障器件将会处于无人机旋翼的下方，在无人机前进过程中，处于前进方向的旋翼会向下倾斜，此时的旋翼将会对避障器件产生一定的遮挡，使无人机的避障能力降低。再者，处于无人机底部的云台、脚架等结构也会对避障器件产生干扰，进一步降低无人机的避障能力。
概述
本公开实施例提供一种无人机，以解决在先技术中无人机的续航能力和避障能力较弱的问题。
为了解决上述技术问题，本公开是这样实现的：
本公开实施例提供一种无人机，所述无人机包括：
机架，包括中心体以及与所述中心体连接的多个机臂；
电池仓，与所述中心体的顶部固定连接，用于将所述无人机的电池固定 于所述中心体的顶部；
第一避障传感器，安装在所述电池仓上，用于获取所述无人机飞行过程中的障碍物信息；
多个旋翼装置，分别安装在多个所述机臂，每个所述旋翼装置包括电机、以及安装在所述电机上的桨叶，当所述无人机处于飞行状态时，所述桨叶位于所述机臂远离所述中心体的一端的底部。
可选地，所述无人机还包括云台，所述云台安装于所述中心体，并自所述中心体朝与所述电池仓相背的一侧延伸，用于承载摄像装置。
可选地，所述无人机还包括起落架，所述起落架安装于所述中心体，且自所述中心体朝与所述电池仓相背的一侧延伸。
可选地，所述无人机还包括电池，所述电池通过所述电池仓固定于所述中心体的顶部。
可选地，所述电池仓与所述中心体可拆卸连接。
可选地，所述电池仓与所述中心体一体成型，且自所述中心体的顶部延伸出来。
可选地，还包括导向机构，所述电池通过所述导向机构滑入所述电池仓内。
可选地，所述导向机构包括位于所述电池仓的导向部以及位于所述电池的滑动部，所述滑动部与所述导向部相配合，以使所述电池沿着所述导向部的延伸方向可滑动。
可选地，所述导向部以及所述滑动部中的一个为滑块，另一个为滑轨，所述滑块与所述滑轨相配合。
可选地，还包括定位机构，所述电池能够滑入所述电池仓内，所述定位机构将所述电池可拆卸地固定在所述电池仓内。
可选地，所述定位机构包括位于所述电池仓的定位部以及位于所述电池的配合部，所述定位部与所述配合部相卡合，从而将所述电池锁定在所述电池仓内。
可选地，所述定位部为设于所述电池仓内壁的定位槽，所述配合部为设于所述电池上的第一卡扣。
可选地，所述定位部为设于所述电池仓的第二卡扣，所述配合部为设于所述电池上的配合槽。
可选地，所述第一避障传感器包括双目视觉相机。
可选地，所述双目视觉相机为5个，分别设置于所述电池仓的四个侧面以及顶面上。
可选地，所述无人机还包括第二避障传感器，所述第二避障传感器设置于所述中心体的底部，用于获取所述无人机飞行过程中底部下方的障碍物信息。
在本公开实施例中，通过将电池仓固定在中心体的顶部后，可以通过中心体对无人机的电池进行支撑，这样就可以通过中心体来承受电池的重力，由于电池仓不在需要承受电池的重力作用，这样就可以使电池仓及电池仓与中心体的连接结构制作得更加轻便，降低无人机整机的质量，进而可以在同等质量下的无人机具有更多的电池质量占比，提高电池的容量，进而提高无人机的续航能力。这样的设置也可以是同等续航的无人机的整机质量更加轻便。第一避障传感器安装在电池仓上的设置，可以使无人机的避障能力更强。具体地，旋翼装置中的桨叶位于机臂远离中心体的一端的底部，而电池仓是设置在中心体顶部的，这样就可以使第一避障传感器的设置位置是高于桨叶的，在无人机前进时，处于前进方向的旋翼装置会向下倾斜，高于旋翼装置的第一避障传感器将不会受到旋翼装置倾斜的影响，反而会使第一避障传感器具有更开阔的探测范围，进而提高无人机的避障能力。本公开的实施例能够实现的无人机续航能力及避障能力更强的有益效果。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
为了更清楚地说明本公开实施例的技术方案，下面将对本公开实施例的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公开的一些实施例，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表示本公开实施例提供的无人机的主视图；
图2表示本公开实施例提供的无人机的侧视图；
图3表示本公开实施例提供的无人机的俯视图；
图4表示本公开实施例提供的无人机的爆炸图。
附图标记说明：
10、机架；11、中心体；12、机臂；20、电池仓；21、电池；30、第一避障传感器；40、旋翼装置；50、云台；60、起落架。
详细描述
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本公开的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。
参见图1至图4，本公开一实施例提供了一种无人机，所述无人机包括：
机架10，包括中心体11以及与所述中心体11连接的多个机臂12；
电池仓20，与所述中心体11的顶部固定连接，用于将所述无人机的电池21固定于所述中心体11的顶部；
第一避障传感器30，安装在所述电池仓20上，用于获取所述无人机飞行过程中的障碍物信息；
多个旋翼装置40，分别安装在多个所述机臂12，每个所述旋翼装置40包括电机、以及安装在所述电机上的桨叶，当所述无人机处于飞行状态时，所述桨叶位于所述机臂12远离所述中心体11的一端的底部。
在本公开实施例中，通过将电池仓20固定在中心体11的顶部后，可以通过中心体11对无人机的电池21进行支撑，这样就可以通过中心体11来承受电池21的重力，由于电池仓20不在需要承受电池21的重力作用，这样就可以使电池仓20及电池仓20与中心体11的连接结构制作得更加轻便，降低无人机整机的质量，进而可以在同等质量下的无人机具有更多的电池 21质量占比，提高电池21的容量，提高无人机的续航能力。这样的设置也可以是同等续航的无人机的整机质量更加轻便。第一避障传感器30安装在电池仓20上的设置，可以使无人机的避障能力更强。具体地，由于旋翼装置中40的桨叶位于机臂12远离中心体11的一端的底部，而电池仓20是设置在中心体11顶部的，这样就可以使第一避障传感器30的设置位置是高于旋翼装置40的，在无人机前进时，处于前进方向的旋翼装置40会向下倾斜，高于旋翼装置40的第一避障传感器30将不会受到旋翼装置40倾斜的影响，反而会使第一避障传感器30具有更开阔的探测范围，进而提高无人机的避障能力。本公开的实施例能够实现的无人机续航能力及避障能力更强的有益效果。
需要说明的是，当所述无人机处于飞行状态时，桨叶位于机臂12远离所述中心体11的一端的底部的设置，可以使桨叶距离第一避障传感器30更远，这样进一步提高第一避障传感器30的探测范围，进而提高无人机的避障能力。使无人机即便是相对静止于空中时，也可以具有较大的探测范围，更大的探测区域可以为无人机预备航行更具充分的准备，进而可以保证无人机的安全可靠。
需要说明的是，第一避障传感器30可以设置为光学传感器、声波传感器、电磁波传感器等。具体可以为红外传感器、超声波传感器、次声波传感器、雷达探测器、声呐探测器等。当然也可以设置为具有摄像功能的光影器件，以进一步提高避障效果。上述种类的传感器也可以同时设置至少两种，以进一步提高探测精度，进而进一步提高无人机的避障能力。
可选地，本公开实施例中，所述无人机还包括云台50，所述云台50安装于所述中心体11，并自所述中心体11朝与所述电池仓20相背的一侧延伸，用于承载摄像装置。
在本公开的实施例中，云台50的设置可以使无人机能够装载摄像装置，进而可以使无人机具有航拍的功能，以便于记录航行过程中的影像。
可选地，无人机上可以设置无线通信装置，以便于将摄像装置拍摄的影像实时传输至终端设备，终端设备可以使无人机的基站，也可以是手机、笔记本电脑等智能移动终端。
可选地，本公开实施例中，所述无人机还包括起落架60，所述起落架60安装于所述中心体11，且自所述中心体11朝与所述电池仓20相背的一侧延伸。
在本公开的实施例中，起落架60的设置可以方便无人机的起落，通过将起落架60安装于中心体11，可以更好地承载无人机的整机，使放置地面或者工作台上的无人机更加稳定可靠。起落架60的具体结构可以根据需要或者用户的喜好进行设置。
可选地，起落架60可以包括处于中心体11底部的连接臂以及与连接臂可拆卸连接的支撑架，连接臂设置为至少一个，支撑架的数量与连接臂的数量相同。比如，可以设置两个位置相对的连接臂，并对应设置两个支撑架，支撑架可以包括主支撑架以及与主支撑架连接的辅助支撑架，主支撑架与辅助支撑件呈角度设置，辅助支撑架设置在主支撑架远离中心体11的一端，以增加支撑面积。上述支撑架的描述是示例性的描述，也可以根据需要设置为一个支撑架、三个支撑架或四个支撑架，只要可以实现对无人机的支撑即可。
需要说明的是，第一避障传感器30位置是处于与云台50、起落架60等结构的背离方向的，因此第一避障传感器30也不会受到云台50、起落架60等结构的干扰，可以使无人机的避障能力进一步加强。
可选地，本公开实施例中，所述无人机还包括电池21，所述电池21通过所述电池仓20固定于所述中心体11的顶部。
在本公开的实施例中，电池21的设置用于对无人机的其他功能部件提供用以工作的电能。电池21可以为一个独立的蓄电池，也可以设置为多个蓄电池组成的电池组。电池仓20上设置有与电池21连接的充电接口。
可选地，在电池仓20上也可以设置无线充电的感应线圈，可以通过将无线充电器放置到电池仓20上方进行电池21的充电。或者将电池仓20放置于可以和无线充电器进行感应充电的区域进行充电。
当然，也可以在电池仓20表面覆盖光伏装置，以便于通过太阳能进行电池21的充电，在光照充足的情况下，可以实现边航行边充电的效果，极大地增加无人机的续航。光伏装置的设置也可以在充电不方便的情况下， 通过太阳能充电，提高无人机的适用性。
可选地，本公开实施例中，所述电池仓20与所述中心体11可拆卸连接。
在本公开的实施例中，电池仓20与中心体11可拆卸连接后，可以方便电池仓20的拆装和维护。这样的设置可以便于在电池仓20出现故障或者破损后，通过更换备用电池仓20进行快速维修，使无人机的有效工作时间更长。
需要说明的是，电池仓20与中心体11可拆卸连接后，可以把电池仓20作为电池21的充电器，这样就可以仅移动电池仓20至充电位置进行充电，不用对无人机进行整机的移动。
可选地，本公开实施例中，所述电池仓20与所述中心体11一体成型，且自所述中心体11的顶部延伸出来。
在本公开的实施例中，电池仓20与中心体11一体成型的情况下，可以保证电池仓20和中心体11连接的可靠性，同时可以减少无人机的生产工序，提高无人机的生产效率，降低生产成本。
可选地，本公开实施例中，还包括导向机构，所述电池21通过所述导向机构滑入所述电池仓20内。
在本公开的实施例中，导向机构的设置可以方便电池21的拆装，并且导向机构还可以对电池21进行部分定位，保证电池21相对电池仓20安装后的稳定性。导向机构的设置可以通过滑动的方式使电池21的拆装更加方便快捷，减少电池21的装配和拆卸时间，提高无人机的工作效率。
可选地，本公开实施例中，所述导向机构包括位于所述电池仓20的导向部以及位于所述电池21的滑动部，所述滑动部与所述导向部相配合，以使所述电池21沿着所述导向部的延伸方向可滑动。
在本公开的实施例中，导向部和滑动部的配合设置可以使电池21和电池仓20的相对滑动更加稳定。
可选地，本公开实施例中，所述导向部以及所述滑动部中的一个为滑块，另一个为滑轨，所述滑块与所述滑轨相配合。
在本公开的实施例中，滑块和滑轨的配合可以保证电池21和电池仓20 的相对滑动。滑块和滑轨的具体设置位置可以根据需要进行设置，比如：滑块可以设置在电池21上，也可以设置在电池仓20上。在滑轨设置为滑动槽的情况下，滑块可以设置为与滑动槽适配的块状结构；在滑轨设置为滑动棱的情况下，滑块上开设有与滑动棱适配的槽状结构。
可选地，也可以将导向部和滑动部中的一者设置为滑杆，另一者设置为滑孔，滑杆可以贯穿滑孔。
可选地，本公开实施例中，还包括定位机构，所述电池21能够滑入所述电池仓20内，所述定位机构将所述电池21可拆卸地固定在所述电池仓20内。
在本公开的实施例中，定位机构的设置可以将电池21固定在电池仓20内，进而避免电池21意外脱离电池仓20，保证无人机的安全可靠。
可选地，本公开实施例中，所述定位机构包括位于所述电池仓20的定位部以及位于所述电池21的配合部，所述定位部与所述配合部相卡合，从而将所述电池21锁定在所述电池仓20内。
在本公开的实施例中，定位部和配合部的设置可以实现电池21的锁定，定位部和配合部的配合状态包括锁定状态和解锁状态。在锁定状态下，可以将电池21固定在电池仓20内；在解锁状态下，可以将电池21从电池仓20拆卸下来。
需要说明的是，定位机构可以设置为卡扣机构、磁吸机构、螺钉与螺纹孔的配合结构、或者可锁定的插接结构。其中，在定位机构为卡扣机构的情况下，定位部和配合部中的一者为卡扣，另一者为对应的卡槽。
定位机构为磁吸机构的情况下，定位部和配合部中的一者为电磁体，另一者为适配的亲磁材料。其中，电磁体可以设置为反向电磁体，反向电磁铁可以实现：磁吸机构在失电时，处于锁定状态；得电时，处于解锁状态。当然，也可以是永磁体和亲磁材料的配合，或者两个永磁体的配合，或者两个电磁铁的配合，或者电磁铁与永磁体的配合。
需要说明的是，定位机构也可以为柔性带和卡接结构的配合机构。
可选地，本公开实施例中，所述定位部为设于所述电池仓20内壁的定位槽，所述配合部为设于所述电池21上的第一卡扣。
在本公开的实施例中，定位槽和第一卡扣的配合可以通过卡扣的方式实现电池21和电池仓20的锁定。定位槽和第一卡扣的具体结构可以根据实际情况选用，只要可以实现卡扣的效果即可。必要时，可以增加对应的弹性件，以辅助卡扣，保证卡扣效果，或者直接将第一卡扣设置为具有弹性的卡扣结构。
可选地，本公开实施例中，所述定位部为设于所述电池仓20的第二卡扣，所述配合部为设于所述电池21上的配合槽。
在本公开的实施例中，第二卡扣和配合槽的配合也可以通过卡扣的方式实现电池21和电池仓20的锁定。第二卡扣和配合槽的具体结构也可以根据实际情况选用，只要可以实现卡扣的效果即可。必要时，可以增加对应的弹性件，以辅助卡扣，保证卡扣效果。必要时，也可以增加对应的弹性件，以辅助卡扣，保证卡扣效果，或者直接将第二卡扣设置为具有弹性的卡扣结构。
需要说明的是，上述的两个卡扣，具体包括第一卡扣和第二卡扣，可以分别设置有两个，比如设置相对的两个第一卡扣，配合弹性件后形成类似于弹簧夹的结构，用于夹紧电池21，与第一卡扣对应的定位槽也适应地设置有一对，当两个第一卡扣与两个定位槽配合时，在弹力的作用下第一卡扣会朝向定位槽移动，并形成锁定。只有受到的外力足够大时，才可以使第一卡扣和定位槽相互脱离，进而对电池21进行拆卸。可以将第一卡扣设置为弹性结构，比如带有凸起结构的弹片，这样就不需要设置额外的弹性件。第二卡扣与配合槽也可以设置为与上述类似的结构。
可选地，本公开实施例中，所述第一避障传感器30包括双目视觉相机。
在本公开的实施例中，双目视觉相机可以具有更好的视觉效果和定位效果，可以通过两个不同的视线对目标物体的距离进行快速定位，进而保证无人机的避障效果。
可选地，本公开实施例中，所述双目视觉相机为5个，分别设置于所述电池仓20的四个侧面以及顶面上。
在本公开的实施例中，5个双目视觉相机可以对无人机的前后左右以及 上方进行探测，进而保证这5个方向的避障效果。
可选地，本公开实施例中，所述无人机还包括第二避障传感器，所述第二避障传感器设置于所述中心体11的底部，用于获取所述无人机飞行过程中底部下方的障碍物信息。
在本公开的实施例中，第二避障传感器的设置可以保证无人机对底部障碍物的规避，使无人机的避障能力进一步地提高。
需要说的是，第二避障传感器也可以设置为光学传感器、声波传感器、电磁波传感器等。具体可以为红外传感器、超声波传感器、次声波传感器、雷达探测器、声呐探测器等。当然也可以设置为具有摄像功能的光影器件，以进一步提高避障效果。第二避障传感器也可以为双目视觉相机。
可选地，双目视觉相机可以包括间隔设置的两个摄像头和安装两个摄像头的安装架，安装架固定在电池仓20或中心体11上。安装架可以使一体设置的一个，也可以与两个摄像头对应地设置两个。
需要说明的是，本实施例中的双目视觉相机是可以与其他避障传感器配合使用的，比如，在双目视觉相机中的两个摄像头中部设置红外传感器、超声波传感器、次声波传感器、雷达探测器、声呐探测器中的至少一种，以进一步提高定位精度，进而提高避障能力。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本公开的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
需要说明的是，在本文中，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、物品或者装置不仅包括那些要素，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、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件 项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
上面结合附图对本公开的实施例进行了描述，但是本公开并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本公开的启示下，在不脱离本公开宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本公开的保护之内。

Claims (16)

  1. 一种无人机，其特征在于，所述无人机包括：
    机架，包括中心体以及与所述中心体连接的多个机臂；
    电池仓，与所述中心体的顶部固定连接，用于将所述无人机的电池固定于所述中心体的顶部；
    第一避障传感器，安装在所述电池仓上，用于获取所述无人机飞行过程中的障碍物信息；
    多个旋翼装置，分别安装在多个所述机臂，每个所述旋翼装置包括电机、以及安装在所述电机上的桨叶，当所述无人机处于飞行状态时，所述桨叶位于所述机臂远离所述中心体的一端的底部。
  2. 根据权利要求1所述的无人机，所述无人机还包括云台，所述云台安装于所述中心体，并自所述中心体朝与所述电池仓相背的一侧延伸，用于承载摄像装置。
  3. 根据权利要求1所述的无人机，其特征在于，所述无人机还包括起落架，所述起落架安装于所述中心体，且自所述中心体朝与所述电池仓相背的一侧延伸。
  4. 根据权利要求1所述的无人机，其特征在于，所述无人机还包括电池，所述电池通过所述电池仓固定于所述中心体的顶部。
  5. 根据权利要求4所述的无人机，其特征在于，所述电池仓与所述中心体可拆卸连接。
  6. 根据权利要求4所述的无人机，其特征在于，所述电池仓与所述中心体一体成型，且自所述中心体的顶部延伸出来。
  7. 根据权利要求5或6所述的无人机，其特征在于，还包括导向机构，所述电池通过所述导向机构滑入所述电池仓内。
  8. 根据权利要求7所述的无人机，其特征在于，所述导向机构包括位于所述电池仓的导向部以及位于所述电池的滑动部，所述滑动部与所述导向部相配合，以使所述电池沿着所述导向部的延伸方向可滑动。
  9. 根据权利要求8所述的无人机，其特征在于，所述导向部以及所述滑动部中的一个为滑块，另一个为滑轨，所述滑块与所述滑轨相配合。
  10. 根据权利要求7所述的无人机，其特征在于，还包括定位机 构，所述电池能够滑入所述电池仓内，所述定位机构将所述电池可拆卸地固定在所述电池仓内。
  11. 根据权利要求10所述的无人机，其特征在于，所述定位机构包括位于所述电池仓的定位部以及位于所述电池的配合部，所述定位部与所述配合部相卡合，从而将所述电池锁定在所述电池仓内。
  12. 根据权利要求11所述的无人机，其特征在于，所述定位部为设于所述电池仓内壁的定位槽，所述配合部为设于所述电池上的第一卡扣。
  13. 根据权利要求11所述的无人机，其特征在于，所述定位部为设于所述电池仓的第二卡扣，所述配合部为设于所述电池上的配合槽。
  14. 根据权利要求1所述的无人机，其特征在于，所述第一避障传感器包括双目视觉相机。
  15. 根据权利要求14所述的无人机，其特征在于，所述双目视觉相机为5个，分别设置于所述电池仓的四个侧面以及顶面上。
  16. 根据权利要求1所述的无人机，其特征在于，其特征在于，所述无人机还包括第二避障传感器，所述第二避障传感器设置于所述中心体的底部，用于获取所述无人机飞行过程中底部下方的障碍物信息。
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