WO2022095188A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2022095188A1
WO2022095188A1 PCT/CN2020/133926 CN2020133926W WO2022095188A1 WO 2022095188 A1 WO2022095188 A1 WO 2022095188A1 CN 2020133926 W CN2020133926 W CN 2020133926W WO 2022095188 A1 WO2022095188 A1 WO 2022095188A1
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WO
WIPO (PCT)
Prior art keywords
radar
rod
mounting
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2020/133926
Other languages
English (en)
French (fr)
Inventor
黄稀荻
农贵升
唐照成
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
Publication of WO2022095188A1 publication Critical patent/WO2022095188A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/04—Arrangement or disposition on aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the embodiments of the present application relate to the technical field of mechanical structure design, and in particular, to unmanned aerial vehicles.
  • a radar installation part will be set under the UAV to facilitate obstacle avoidance, etc.
  • the UAV also has a tripod, which is supported to the ground by the tripod to facilitate the landing support of the UAV.
  • both the radar installation part and the tripod block the radar signal, which limits the direction in which the radar detects obstacles.
  • embodiments of the present application provide an unmanned aerial vehicle.
  • the embodiment of the present application provides an unmanned aerial vehicle, including:
  • the tripod located below the main body of the fuselage, the tripod includes a plurality of vertical rods connected with the main body of the fuselage, wherein at least two vertical rods are arranged diagonally;
  • the radar installation part is used to install the radar under the main body of the fuselage, the radar installation part includes at least one installation rod, the installation rod is connected with the vertical rods arranged diagonally, and the central axis of each installation rod is connected to the The central axis of the vertical rod connected thereto is coplanar, and the center of the radar is located in the plane defined by the central axis of each of the mounting rods and the central axis of the vertical rod connected to the mounting rod.
  • the radar mount includes at least two mounting bars, the radar being located at the intersection of each mounting bar.
  • the radar mounting portion is a center-symmetric structure, and the radar is located at the center of the radar mounting portion.
  • the shape of the radar mounting portion includes at least one of the following: X-shape, cross-shape, and rice-shape.
  • the radar is detachably connected to the radar mount.
  • a first mounting member is fixed on the radar mounting portion
  • a second mounting member is fixed on the radar
  • the first mounting member and the second mounting member are detachably connected to The radar is fixed to the radar mounting portion.
  • the first mounting member comprises a plastic member
  • the second mounting member includes a metal member
  • the second mounting member is integrally formed with the housing of the radar, or the second mounting member and the housing of the radar are welded together.
  • the first mounting member includes a plurality of cladding parts covering the outside of each mounting rod of the radar installation part, and a connecting part connecting the plurality of cladding parts, the cladding parts
  • the contour shape of the part matches the contour shape of the mounting rod.
  • the cladding portion and the mounting rod are connected by a first fastener, and the connecting portion and the second mounting member are connected by a second fastener.
  • the connecting portion of the first mount includes a first surface facing the second mount
  • the second mount includes a second surface facing the first mount
  • the first mount Every part of one surface and the second surface opposite to each other is in close contact.
  • the connecting portion of the first mounting member is substantially plate-shaped; and/or the second mounting member is substantially plate-shaped.
  • the radar mounting portion is fixedly connected with the tripod.
  • connection between the radar mounting portion and the foot frame is elastically connected.
  • the vertical rod of the tripod includes a first sub-rod and a second sub-rod, one side of the first sub-rod is connected to the main body of the fuselage, and the other side of the first sub-rod is connected to the main body of the fuselage. The side is connected with the second sub-rod.
  • the first sub-rod is elastically connected to the second sub-rod.
  • the radar mounting portion is connected to the connection of the first sub-rod and the second sub-rod.
  • the first sub-rod, the second sub-rod and the radar mounting portion are elastically connected.
  • the first sub-rod, the second sub-rod, and the radar mounting portion are connected by elastic plastic parts, and the elastic plastic parts wrap the first sub-rod and the second sub-rod respectively. rod and the radar mount.
  • the elastic plastic member is connected with the first sub-rod, the second sub-rod and the radar mounting portion by fasteners.
  • the first sub-rod includes a plastic part; and/or the second sub-rod includes a metal part.
  • the tripod includes a horizontal bar connecting two vertical bars, and the connection between the vertical bar and the horizontal bar is an arc transition.
  • connection between the vertical bar and the cross bar includes a plastic part
  • an elastic buffer member is provided on the outer side of the cross bar.
  • the distance between the radar and the bottommost end of the tripod is greater than 6 cm;
  • the unmanned aerial vehicle includes agricultural drones.
  • the radar installation part and the tripod share the blocking area, thereby reducing the blocking of the radar by the unmanned aerial vehicle, thereby improving the performance of the radar, making the detection of the radar in the surrounding area more comprehensive, and the detection distance is longer.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 2 is a bottom view of an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 3 is a partial exploded view of a tripod and a radar installation part of an unmanned aerial vehicle according to an embodiment of the present application.
  • connection herein includes any direct and indirect means of connection. Therefore, if it is described herein that a first device is connected to a second device, it means that the first device can be directly connected to the second device or indirectly connected to the second device through another device.
  • the inventor found that the tripod of the unmanned aerial vehicle in the related art and the radar mounting part used to install the radar respectively block the radar, which makes the radar block more areas and affects the performance of the radar. Reduced radar detection range.
  • this embodiment provides an unmanned aerial vehicle to reduce the occlusion area of the radar.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application
  • FIG. 2 is a bottom view of an unmanned aerial vehicle provided by an embodiment of the application
  • FIG. 3 is a tripod and a radar installation of the unmanned aerial vehicle provided by an embodiment of the application Partial exploded view of the part.
  • the present embodiment provides an unmanned aerial vehicle, including: a fuselage main body 10 , a tripod 20 and a radar installation portion 30 .
  • the unmanned aerial vehicle of this embodiment is preferably an agricultural unmanned aerial vehicle, and a large box is usually mounted under the main body 10 of the fuselage of the agricultural unmanned aerial vehicle.
  • the box is usually used to accommodate pesticides for agricultural spraying, or Seed granules or powder, etc. for sowing.
  • the unmanned aerial vehicle in this embodiment may also be of other types, for example, some consumer-grade unmanned aerial vehicles.
  • the main body 10 of the fuselage has a propeller 11, and may have a flight control system, a processor, a power device, and the like of an unmanned aerial vehicle.
  • the tripod 20 is located below the main body 10 of the fuselage, so as to provide support for the UAV when it descends.
  • the tripod 20 includes a plurality of vertical rods 21 connected to the main body 10 of the fuselage, wherein at least two vertical rods are arranged diagonally.
  • the tripod 20 may be constituted by a hollow rod, so as to improve the lightness of the unmanned aerial vehicle.
  • the stand 20 may include a first stand 20 a and a second stand 20 b that are oppositely disposed along the first direction, the first stand 20 a may include two vertical bars 21 , and the second stand 20 b may include two vertical bars 21 .
  • One of the vertical rods 21 of the first leg frame 20a may be arranged diagonally with one of the vertical rods 21 of the second leg frame 20b, and the other vertical rod 21 of the first leg frame 20a may be arranged with the other vertical rod 21 of the second leg frame 20b.
  • the vertical rods 21 are arranged diagonally.
  • the structures of the first stand 20a and the second stand 20b may be completely the same.
  • the first stand 20a and the second stand 20b may be fixedly connected to the main body 10 respectively.
  • first leg frame 20a and the second leg frame 20b are rotatably connected to the main body 10, respectively, so that the first leg frame 20a and the second leg frame 20b have a retracted state and an unfolded state. It is worth noting that no matter whether the first tripod 20a and the second tripod 20b are fixedly connected to the main body 10, or the first tripod 20a and the second tripod 22 are rotatably connected to the main body 10, there is no Before the human aircraft lands on the ground, the first leg stand 20a and the second tripod 20b should be at least in an unfolded state to prepare for the landing of the unmanned aircraft.
  • the radar is in the installed state and the tripod 20 is in the unfolded state.
  • the distance between the radar 40 and the bottom end of the tripod 20 is greater than 6 cm. Therefore, the tripod 20 has a certain protective effect on the radar 40, which can effectively and reliably ensure that the radar 40 will not collide during the flight of the unmanned aerial vehicle. to the ground.
  • the radar mounting portion 30 is used to mount the radar 40 below the fuselage main body 10 .
  • the radar 40 can be detachably connected to the radar mounting part 30 , thereby facilitating the disassembly, maintenance or replacement of the radar 40 .
  • the radar mounting part 30 includes at least one mounting rod 31, the central axis of each mounting rod 31 is coplanar with the central axis of the vertical rod 21 connected to it, each mounting rod 31 is connected to the diagonally arranged vertical rods 21, and the radar 40 The center is located on the plane defined by the central axis of each mounting rod 31 and the central axis of the vertical rod 21 connected to the mounting rod 31 (for example, in FIG. within the plane formed by the central axis of the rod 21).
  • the mounting rod 31 is connected with the vertical rod 21 of the corresponding tripod 20 , that is to say, the radar mounting portion 30 and the tripod 20 are connected together, so as to effectively avoid establishing another connection on the main body 10 of the fuselage.
  • a hole is used to connect the radar mounting part 30 .
  • the radar mounting portion 30 is connected to the tripod 20.
  • the radar mounting portion 30 and the tripod 20 can be assembled first, and then the assembly of the radar mounting portion 30 and the tripod 20 can be assembled as a whole. It is connected with the fuselage main body 10 ; or, the tripod 20 is first connected with the fuselage main body 10 , and then the radar mounting part 30 is installed on the tripod 20 .
  • the other end of the mounting rod 31 may also be directly connected to the main body 10 of the fuselage.
  • each installation rod 31 of the radar installation part 30 can be parallel to the rotation plane of the propeller 11 on the fuselage body 10, and the installation rod 31 can also be inclined relative to the rotation plane of the propeller 11, and each installation rod 31 is relative to the rotation plane of the propeller 11.
  • the inclination angles of the rotation planes of the propellers 11 may be consistent, so that the balance and stability of the entire unmanned aerial vehicle are better.
  • the cross-sections of the mounting rod 31 and the vertical rod 21 may be in the shape of a circle, a square, a regular hexagon, etc., which are not limited in this embodiment.
  • the central axis of the mounting rod 31 and the vertical rod 21 refers to the line connecting the centers of the respective cross sections.
  • each mounting rod 31 and the central axis of the corresponding vertical rod 21 respectively define a plane, for example, as shown in FIG. 2 , when there are four mounting rods 31 , each mounting rod 31 corresponds to the corresponding The vertical rods 21 form planes so that four planes are formed.
  • the center of the radar 40 is located in the plane defined by the central axis of each mounting rod 31 and the central axis of the vertical rod 21 connected to the mounting rod 31 , that is to say, the radar 40 is located in the plane formed by the plurality of mounting rods 31 and the vertical rods 21 In this way, the signal sent from the center of the radar 40 can be transmitted along the plane determined by the central axis of the installation rod 31 and the central axis of the vertical rod 21, and the feedback signal can be transmitted along the center of the installation rod 31.
  • the plane defined by the axis and the central axis of the vertical rod 21 is returned to the radar 40 . Therefore, the vertical rod 21 of the tripod 20 and the mounting rod 31 of the radar mounting part share the shielding area of the radar. It can be understood that the position setting of the radar 40 allows a certain deviation, and the center of the radar 40 is basically located in the plane determined by the central axis of each mounting rod 31 and the central axis of the vertical rod 21 connecting the mounting rod 31 .
  • the tripod 20 is a necessary structure, it is unavoidable for the tripod 20 to block the signal transmission and reception of the radar 40 .
  • the mounting rod 31 of the radar mounting part 30 is vertically positioned with the tripod 20 The rods 21 share the shielding area, so that the arrangement of the radar mounting portion 30 will not increase the influence on the signal transmission and reception of the radar 40 .
  • the radar installation part and the tripod share the blocking area, thereby reducing the blocking of the radar by the unmanned aerial vehicle, thereby improving the performance of the radar, making the detection of the radar in the surrounding area more comprehensive and the detection distance longer.
  • the radar mounting portion 30 includes at least two mounting rods 31 , and the radar 40 is located at the intersection of each mounting rod 31 .
  • the number of the mounting rods 31 may be two, three or more.
  • the number of the mounting rods 31 may be equal to or less than the number of the vertical rods 21 of the tripod 20 , so that each mounting rod 31 can share a shielding area with the corresponding vertical rods 21 of the tripod 20 .
  • the radar mounting part 30 includes at least two mounting rods 31 , and the radar 40 may be located at the intersection of the mounting rods 31 .
  • the number of the mounting rods 31 of the radar mounting part 30 is four, one end of the four mounting rods 31 is connected together, and the radar 40 can be fixed at the center of the connection point of the four mounting rods 31 location.
  • the radar mounting portion 30 is a center-symmetric structure, and the radar 40 may be located at the center of the radar mounting portion 30 .
  • the center of gravity of the entire unmanned aerial vehicle can be concentrated at the center position of the main body 10 of the fuselage, which ensures the balance and stability of the flying of the unmanned aerial vehicle.
  • the radar mounting part 30 has four mounting rods 31 , two of which are shorter in length, and the other two are longer in length, and the radar 40 is located at four mounting rods 31 .
  • the purpose of sharing the shielding area between the mounting rods 31 and the vertical rods 21 of the tripod 20 can also be achieved.
  • the shape of the radar mounting portion 30 may include at least one of the following: X-shape, cross-shape, and rice-shape.
  • the above-mentioned shapes are all formed by a plurality of mounting rods 31 .
  • One ends of the plurality of mounting rods 31 are connected together, and are radially connected to the vertical rods 21 of the tripod 20 with the radar 40 as the center.
  • the shape of the radar mounting portion 30 can also be a straight-line shape or the like.
  • a first mounting member 50 may be fixed on the radar mounting portion 30
  • a second mounting member 60 may be fixed on the radar 40
  • the first mounting member 50 and the second mounting member 60 may be detachably connected to connect the radar 40 is fixed to the radar mounting portion 30
  • the first mounting member 50 and the second mounting member 60 may be plate-shaped. After the first mounting member 50 and the second mounting member 60 are fastened together, the first mounting member 50 and the second mounting member 60 clamp each One end of the rod 31 is installed.
  • the first mount 50 may comprise a plastic piece; in some embodiments, the second mount 60 may comprise a metal piece. Since the first mounting part 50 is a plastic part and the second mounting part 60 is a metal part, when the unmanned aerial vehicle collides and falls, the plastic first mounting part 50 can play a role in the second mounting part 60 and the radar 40 . A certain buffering effect protects the radar 40 to a certain extent.
  • the second mounting member 60 may be integrally formed with the housing of the radar 40 , or the second mounting member 60 and the housing of the radar 40 may be welded together.
  • the second mounting member 60 and the radar 40 are connected together in a non-detachable manner, so that the connection between the two is reliable, and the processing and installation costs are reduced.
  • the first mounting member 50 includes a plurality of covering portions 51 covering the outer sides of each mounting rod of the radar installation portion, and a connecting portion 52 connecting the plurality of covering portions 51 .
  • the contour shape matches that of the mounting rod 31 .
  • the covering portion 51 and the mounting rod 31 may be connected by a first fastener (eg, screw, bolt, etc.), and the connecting portion 52 and the second mounting member 60 may be connected by a second fastener (eg, screw, bolt, etc.). That is to say, the connection point between the first mounting member 50 and the mounting rod 31 and the connection point between the first mounting member 50 and the second mounting member 60 are not coaxial, and the mounting rod 31 only has the connection point connected with the first mounting member 50 . There are no connecting holes for connecting with the radar 40 and the second mounting member 60, thereby reducing the number of connecting holes opened on the mounting rod 31, thereby reducing the strength of the mounting rod 31 due to the opening of the connecting holes risk of weakening.
  • a first fastener eg, screw, bolt, etc.
  • a second fastener eg, screw, bolt, etc.
  • the connecting portion of the first mounting member 50 includes a first surface facing the second mounting member 60
  • the second mounting member 60 includes a second surface facing the first mounting member 50
  • the first surface is opposite to the second surface. Fit and touch everywhere.
  • the first mounting member 50 and the second mounting member 60 are in close contact with each other as much as possible, so that the contact area of the two is as large as possible, thereby further improving the stability of the connection between the two.
  • the connecting portion 52 of the first mounting member 50 is substantially plate-shaped; and/or the second mounting member 60 is substantially plate-shaped.
  • the first mounting part 50 can be injection molded, and the second mounting part 60 can be cast molding.
  • the first mounting part 50 and the second mounting part 60 adopt a simple plate-like structure, and the plate-like structure is usually The thickness is not large, which is conducive to reducing the weight of the first mounting member 50 and the second mounting member 60, thereby reducing the weight of the entire unmanned aerial vehicle, and meeting the lightweight requirements of the unmanned aerial vehicle.
  • the radar mounting part 30 and the tripod 20 can be fixedly connected. More specifically, the connection between the radar mounting portion 30 and the tripod 20 is elastically connected.
  • the radar mounting part 30 and the tripod 20 can be connected by an elastic plastic part 70.
  • the radar mounting part 30 and the tripod 20 can be connected by a T-shaped elastic plastic sleeve, and the elastic plastic part 70 and The radar mounting part 30 and the tripod 20 can be connected by screws to facilitate disassembly and assembly.
  • the radar mounting portion 30 and the tripod 20 in this embodiment are elastically connected by the elastic plastic parts 70 , so that when the unmanned aerial vehicle collides or falls, the elastic plastic parts 70 can provide buffers to effectively protect the radar 40 .
  • the vertical rod 31 of the tripod 20 may include a first sub-rod 211 and a second sub-rod 212 .
  • One side of the first sub-rod 211 is connected to the main body 10 , and the first sub-rod 211 The other side of 211 is connected with the second sub-rod 212 .
  • the first sub-rod 211 and the second sub-rod 212 can be elastically connected. Therefore, when the unmanned aerial vehicle collides or falls, the elastic connection between the first sub-rod 211 and the second sub-rod 212 can be buffered, so as to protect the electronic components or structural parts on the main body 10 as much as possible Not damaged, effectively solve the maintenance and repair costs.
  • the radar mounting portion 30 can be connected to the connection between the first sub-rod 211 and the second sub-rod 212 .
  • the first sub-rod 211 , the second sub-rod 212 and the radar mounting portion 30 are elastically connected.
  • the three joints are concentrated. Once the UAV hits or falls, the three joints will give a reverse force to the first sub-rod 211, the second sub-rod 212 and the radar mounting part 30, effectively protecting the three.
  • the position of the connection point can be saved, and when the user disassembles and assembles the tripod 20 and the radar mounting part 30, the operation positions are concentrated, which can effectively reduce the labor intensity.
  • the first sub-rod 211 , the second sub-rod 212 and the radar mounting part 30 are connected by an elastic plastic part 70 , and the elastic plastic part 70 wraps the first sub-rod 211 , the second sub-rod 212 and the radar mounting part 30 respectively .
  • the elastic plastic part 70 may be cylindrical and include the first sub-rod 211 , the second sub-rod 212 and the radar mounting part 30 , whereby the elastic plastic part 70 is connected to the first sub-rod 211 , the second sub-rod 212 and the radar mounting part 30 .
  • the contact area is increased, and the connection stability and reliability of the three are improved.
  • the elastic plastic member 70 can be connected with the first sub-rod 211, the second sub-rod 212 and the radar mounting part 30 by fasteners, for example, by bolts or screws.
  • the first sub-rod 211 may comprise a plastic part; and/or the second sub-rod 212 may comprise a metal part.
  • the second sub-rod 212 is made of metal parts because it is close to the ground to ensure that the overall structural strength of the tripod 20 meets the requirements, while the first sub-rod 211 is made of plastic parts 211 so that no When the human aircraft crashes or falls, the first sub-rod 211 can play a larger buffering effect on the fuselage main body 10 to protect the fuselage main body 10 to a greater extent.
  • the tripod 20 further includes a cross bar 22 connecting the two vertical bars 21 , and the connection between the vertical bar 21 and the cross bar 22 is an arc transition (as shown by R in FIG. 1 ).
  • the arc transition structure itself can reduce the risk of stress concentration between the vertical bar 21 and the horizontal bar 22 and improve the structural stability.
  • the connection between the vertical bar 21 and the horizontal bar 22 includes a plastic part. It can be understood that the connection between the vertical bar 21 and the horizontal bar 22 is a plastic part, which matches the arc of the connection between the vertical bar 21 and the horizontal bar 22
  • the transition structure can buffer the unmanned aerial vehicle to a greater extent, avoiding hard collision with the impact surface and causing damage to the whole machine.
  • an elastic buffer member 221 is provided on the outer side of the cross bar 22 .
  • the elastic buffer member 221 can be wrapped around the outer side of the crossbar 22, and the elastic buffer member 221 can be a rubber member.
  • the tripod 20 is supported on the ground by the elastic buffer member 221, so as to ensure the stability of the UAV when it falls to the ground and prevent the unmanned aerial vehicle from landing on the ground. Excessive impact on the electronic components and mechanical structural parts on the unmanned aerial vehicle will affect the performance of the electronic components and the assembly relationship of the mechanical structural parts. Moreover, it can also protect the whole aircraft in the event of an abnormal situation of collision or fall of the unmanned aerial vehicle.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种无人飞行器，包括机身主体，脚架，位于所述机身主体下方，所述脚架包括与所述机身主体连接的多个竖杆，其中，至少两个竖杆呈对角设置；雷达安装部，用于将雷达安装于所述机身主体下方，所述雷达安装部包括至少一个安装杆，所述安装杆连接对角设置的竖杆，每个所述安装杆的中轴线与与其相连接的竖杆的中轴线共面，且所述雷达的中心位于每个所述安装杆的中轴线与所述安装杆相连接的竖杆的中轴线所确定的平面内。

Description

无人飞行器
交叉引用
本申请要求于2020年11月09日提交中国专利局、申请号为2020225769625、申请名称为“无人飞行器”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
本申请实施例涉及机械结构设计技术领域，尤其涉及无人飞行器。
背景技术
无人飞行器下方会设置雷达安装部以雷达，以便于避障等，而无人飞行器还具有脚架，通过脚架支撑到地面上，以便于无人飞行器的降落支撑。但是相关技术中，雷达安装部与脚架对雷达的信号均会造成遮挡，导致雷达检测障碍物的方向受限。
发明内容
针对现有技术中的上述缺陷，本申请实施例提供一种无人飞行器。
本申请实施例提供一种无人飞行器，包括：
机身主体；
脚架，位于所述机身主体下方，所述脚架包括与所述机身主体连接的多个竖杆，其中，至少两个竖杆呈对角设置；
雷达安装部，用于将雷达安装于所述机身主体下方，所述雷达安装部包括至少一个安装杆，所述安装杆连接对角设置的竖杆，每个所述安装杆的中轴线与与其相连接的竖杆的中轴线共面，且所述雷达的中心位于每个所述安装杆的中轴线与所述安装杆相连接的竖杆的中轴线所确定的平面内。
在一些实施例中，所述雷达安装部包括至少两个安装杆，所述雷达位于各安装杆的交点处。
在一些实施例中，所述雷达安装部为中心对称结构，所述雷达位于所述雷达安装部的中心位置。
在一些实施例中，所述雷达安装部的形状包括以下至少一种：X形、十字形、米字形。
在一些实施例中，所述雷达与所述雷达安装部可拆卸地连接。
在一些实施例中，所述雷达安装部上固定有第一安装件，所述雷达上固定有第二安装件，所述第一安装件与所述第二安装件可拆卸地连接，以将所述雷达固定于所述雷达安装部。
在一些实施例中，所述第一安装件包括塑料件；
及/或，所述第二安装件包括金属件；
及/或，所述第二安装件与所述雷达的外壳一体成型，或者，所述第二安装件与所述雷达的外壳焊接在一起。
在一些实施例中，所述第一安装件包括多个包覆于所述雷达安装部的各个安装杆外侧的包覆部，以及连接所述多个包覆部的连接部，所述包覆部的轮廓形状与所述安装杆的轮廓形状相匹配。
在一些实施例中，所述包覆部与所述安装杆通过第一紧固件连接，所述连接部与所述第二安装件通过第二紧固件连接。
在一些实施例中，所述第一安装件的连接部包括朝向所述第二安装件的第一表面，所述第二安装件包括朝向所述第一安装件的第二表面，所述第一表面与所述第二表面相对的各处均贴合接触。
在一些实施例中，所述第一安装件的连接部大致呈板状；和/或，所述第二安装件大致呈板状。
在一些实施例中，所述雷达安装部与所述脚架固定连接。
在一些实施例中，所述雷达安装部与所述脚架的连接处弹性连接。
在一些实施例中，所述脚架的竖杆包括第一分杆和第二分杆，所述第一分杆的一侧与所述机身主体连接，所述第一分杆的另一侧与所述第 二分杆连接。
在一些实施例中，所述第一分杆与所述第二分杆弹性连接。
在一些实施例中，所述雷达安装部连接于所述第一分杆与所述第二分杆的连接处。
在一些实施例中，所述第一分杆、所述第二分杆以及所述雷达安装部三者弹性连接。
在一些实施例中，所述第一分杆、所述第二分杆以及所述雷达安装部三者通过弹性塑料件连接，所述弹性塑料件分别包裹所述第一分杆、第二分杆和所述雷达安装部。
在一些实施例中，所述弹性塑料件与所述第一分杆、第二分杆和所述雷达安装部通过紧固件连接。
在一些实施例中，所述第一分杆包括塑料件；及/或，所述第二分杆包括金属件。
在一些实施例中，所述脚架包括连接两个竖杆的横杆，所述竖杆与所述横杆的连接处为圆弧过渡。
在一些实施例中，所述竖杆与所述横杆的连接处包括塑料件；
及/或，在所述横杆外侧设有弹性缓冲件。
在一些实施例中，在所述雷达处于安装状态下，且所述脚架处于展开状态下，所述雷达与所述脚架最底端的距离大于6cm；
及/或，所述无人飞行器包括农业无人机。
基于上述，本申请提供的无人飞行器，雷达安装部与脚架共用遮挡区域，从而减少无人飞行器对雷达的遮挡，从而提升雷达的性能，使得雷达在四周的探测更加全面，探测距离更远。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附 图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的无人飞行器的结构示意图；
图2为本申请实施例提供的无人飞行器的仰视图；
图3为本申请实施例提供的无人飞行器的脚架和雷达安装部的局部爆炸图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
在通篇说明书及权利要求当中所提及的“包括”为一开放式用语，故应解释成“包括但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。
此外，“连接”一词在此包含任何直接及间接的连接手段。因此，若文中描述一第一装置连接于一第二装置，则代表所述第一装置可直接连接于所述第二装置，或通过其它装置间接地连接至所述第二装置。
应当理解，本文中使用的术语“及/或、和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，50及/或B1，可以表示：单独存在50，同时存在50和B1，单独存在B1这三种情况。另外，本文 中字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，对本申请的一些实施方式作详细说明。在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
发明人经过创造性地劳动发现，相关技术中的无人飞行器的脚架，以及用于安装雷达的雷达安装部，两者分别对雷达造成遮挡，使得雷达的遮挡区域较多，影响雷达的性能，缩减了雷达的探测范围。
为解决相关技术中的上述技术问题，本实施例提供一种无人飞行器，以减少雷达的遮挡区域。
图1为本申请实施例提供的无人飞行器的结构示意图；图2为本申请实施例提供的无人飞行器的仰视图；图3为本申请实施例提供的无人飞行器的脚架和雷达安装部的局部爆炸图。请参照附图1～附图3，本实施例提供一种无人飞行器，包括：机身主体10、脚架20和雷达安装部30。本实施例的无人飞行器优选为农业无人机，农业无人机的机身主体10下方通常会挂载有较大的箱体，该箱体通常用于容纳用于农业喷洒的农药，或者用于播撒的种子颗粒或粉末等。当然，可选的，本实施例的无人飞行器也可以为其他类型，例如为某些消费级无人机。
其中，机身主体10上具有螺旋桨11，并可以具有无人机的飞行控制系统、处理器、动力装置等。脚架20位于机身主体10下方，以可以为无人飞行器降落时提供支撑。脚架20包括与机身主体10连接的多个竖杆21，其中，至少两个竖杆呈对角设置。具体的，脚架20可以由空心杆构成，以提高无人飞行器的轻量化程度。
脚架20可以包括沿第一方向相对设置的第一脚架20a和第二脚架20b，第一脚架20a可以包括两个竖杆21，第二脚架20b可以包括两个竖杆21。第一脚架20a的其中一个竖杆21可以与第二脚架20b的其中一个竖杆21呈对角设置，第一脚架20a的另一个竖杆21可以与第二脚架20b 的另一个竖杆21呈对角设置。第一脚架20a与第二脚架20b的结构可以完全相同。第一脚架20a和第二脚架20b可以分别与机身主体10分别固定连接。或者第一脚架20a与第二脚架20b与机身主体10分别可转动地连接，以使得第一脚架20a和第二脚架20b具有收拢状态和展开状态。值得注意的是，无论第一脚架20a和第二脚架20b是与机身主体10固定连接，还是第一脚架20a和第二脚架22与机身主体10可转动地连接，而无人飞行器在降落到地面之前，第一脚架20a和第二脚架20b至少应该处于展开状态，以为无人飞行器降落做准备。
值得注意的是，无人飞行器在飞行过程中，由于所需要飞跃的地面或地形不确定，为避免在飞行过程中雷达40撞击到地面，在雷达处于安装状态下，且脚架20处于展开状态下，雷达40与脚架20最底端的距离大于6cm，由此，通过脚架20对雷达40起到一定的保护作用，能够有效可靠地保证无人飞行器在飞行过程中，雷达40不会撞击到地面。
雷达安装部30用于将雷达40安装于机身主体10下方。雷达40可以与雷达安装部30可拆卸地连接，由此，以便于雷达40的拆装检修或更换。
雷达安装部30包括至少一个安装杆31，每个安装杆31的中轴线与与其相连接的竖杆21的中轴线共面，每个安装杆31连接对角设置的竖杆21，且雷达40的中心位于每个安装杆31的中轴线与安装杆31相连接的竖杆21的中轴线所确定的平面(例如图1中，虚线平行四边形所示为其中一个安装杆31的中轴线与竖杆21的中轴线所构成的平面)内。
可以理解的是，安装杆31与对应的脚架20的竖杆21连接，也就是说将雷达安装部30与脚架20连接在一起，从而能够有效避免在机身主体10上再另外开设连接孔来连接雷达安装部30。将雷达安装部30连接在脚架20上，在对无人飞行器进行组装时，可以先将雷达安装部30与脚架20组装，然后再将雷达安装部30与脚架20的组装件，整体与机身主体10 连接在一起；或者，先将脚架20与机身主体10连接在一起，然后再将雷达安装部30安装在脚架20上。
当然，不可排除的，在一些实施例中，安装杆31的另一端也可以直接与机身主体10连接。
值得注意的是，雷达安装部30的每个安装杆31可以与机身主体10上螺旋桨11的转动平面平行，安装杆31也可以相对于螺旋桨11的转动平面倾斜，每个安装杆31相对于螺旋桨11的转动平面的倾斜角度可以一致，以使得整个无人飞行器的平衡性和稳定性较好。
其中，安装杆31和竖杆21的横截面可以为圆形、方形、正六边形等形状，本实施例不做限定。安装杆31和竖杆21的中轴线是指各横截面中心的连线。
能够理解的是，两条相交的直线可以组成一个平面，或者，两条相交的曲线所在平面为同一个平面。由于每个安装杆31的中轴线与对应的竖杆21的中轴线分别确定一个平面，因此，例如，如图2所示，当有四个安装杆31时，每个安装杆31与对应的竖杆21形成平面，从而形成有四个平面。雷达40的中心位于每个安装杆31的中轴线与安装杆31相连接的竖杆21的中轴线所确定的平面内，也就是说雷达40位于多个安装杆31与竖杆21形成的平面的交线处，这样一来，从雷达40中心所发出的信号能够沿着安装杆31的中轴线与竖杆21的中轴线所确定的平面发射出去，反馈信号能够沿着安装杆31的中轴线与竖杆21的中轴线所确定的平面返回至雷达40。因此，实现了脚架20的竖杆21与雷达安装部的安装杆31共用雷达的遮挡区域。可以理解，雷达40的位置设置允许有一定的偏差，雷达40的中心基本位于每个安装杆31的中轴线与安装杆31相连接的竖杆21的中轴线所确定的平面内即可。
由于脚架20是必要结构，因此脚架20对雷达40的信号收发的遮挡是无法避免的，而本实施例所提供的技术方案，由于雷达安装部30的安 装杆31与脚架20的竖杆21共用遮挡区域，使得雷达安装部30的设置并不会另外增加对雷达40信号收发的影响。
基于上述，本实施例提供的无人飞行器，雷达安装部与脚架共用遮挡区域，从而减少无人飞行器对雷达的遮挡，从而提升雷达的性能，使得雷达在四周的探测更加全面，探测距离更远。
在一优选实施例中，雷达安装部30包括至少两个安装杆31，雷达40位于各安装杆31的交点处。具体的，安装杆31的数量可以为两个，三个或者更多。当然，可以理解的是，在保证雷达40能够被稳固固定的前提下，安装杆31的数量无需过多。安装杆31的数量可以等于或少于脚架20的竖杆21的数量，以使得每个安装杆31均能够与对应的脚架20的竖杆21共用遮挡区域。
进一步的，雷达安装部30包括至少两个安装杆31，雷达40可以位于各安装杆31的交点处。如图1和图2所示，雷达安装部30的安装杆31的数量为四个，四个安装杆31的一端连接在一起，而雷达40可以固定的四个安装杆31的连接点的中心位置处。
如图2中实线所示，优选的，雷达安装部30为中心对称结构，雷达40可以位于雷达安装部30的中心位置。这样一来，可以使得整个无人飞行器的重心集中在机身主体10的中心位置，保证了无人飞行器飞行的平衡性和稳定性。可选的，如图2中虚线所示，雷达安装部30具有四个安装杆31，其中两个安装杆31的长度较短，另外两个安装杆31的长度较长，雷达40位于四个安装杆31的交点处，同样地，也能够实现安装杆31与脚架20的竖杆21共用遮挡区域的目的。
在一些具体实施例中，雷达安装部30的形状可以包括以下至少一种：X形、十字形、米字形。上述的形状均由多个安装杆31形成，多个安装杆31的一端连接在一起，并以雷达40为中心向外呈辐射状连接至脚架20的竖杆21。当然，本领域技术人员还可以根据具体需要设计雷达安 装部30的形状，例如，还可以为一字型等。
如图3所示，雷达安装部30上可以固定有第一安装件50，雷达40上固定有第二安装件60，第一安装件50与第二安装件60可拆卸地连接，以将雷达40固定于雷达安装部30。具体的，第一安装件50和第二安装件60可以呈板状，当第一安装件50与第二安装件60扣合后，第一安装件50与第二安装件60夹持住各个安装杆31的一端。
在一些实施例中，第一安装件50可以包括塑料件；在一些实施例中，第二安装件60包括金属件。由于第一安装件50为塑料件，第二安装件60为金属件，因此，当无人飞行器出现撞击，坠落时，塑料的第一安装件50能够对第二安装件60及雷达40起到一定的缓冲作用，在一定程度上保护雷达40。
第二安装件60可以与雷达40的外壳一体成型，或者，第二安装件60与雷达40的外壳焊接在一起。第二安装件60与雷达40采用不可拆卸的方式连接在一起，使得两者的连接可靠，且降低了加工和安装成本。
请继续参照附图3，第一安装件50包括多个包覆于雷达安装部的各个安装杆外侧的包覆部51，以及连接多个包覆部51的连接部52，包覆部51的轮廓形状与安装杆31的轮廓形状相匹配。通过包覆部51包覆安装杆31，能够有效地增大第一安装件50与安装杆31的接触面积，并且，包覆部51包覆住安装杆31，安装杆31也能够防止第一安装件50相对于第二安装件60转动或晃动，在一定程度上提高了雷达安装的稳定性，进而提高了雷达的精准性。
包覆部51与安装杆31可以通过第一紧固件(例如螺钉、螺栓等)连接，连接部52与第二安装件60可以通过第二紧固件(例如螺钉、螺栓等)连接。也就是说，第一安装件50与安装杆31的连接点，以及第一安装件50与第二安装件60的连接点不共轴，安装杆31上仅仅具有与第一安装件50连接的连接孔，而不具备与雷达40及第二安装件60连接的连接孔，由 此能够减少在安装杆31上所开设的连接孔的数量，进而降低因开设连接孔而导致安装杆31的强度变弱的风险。
更进一步的，第一安装件50的连接部包括朝向第二安装件60的第一表面，第二安装件60包括朝向第一安装件50的第二表面，第一表面与第二表面相对的各处均贴合接触。第一安装件50与第二安装件60尽量贴合接触，使得两者的接触面积尽量大，进而也进一步提高两者连接的稳定性。
在本实施例中，优选的，第一安装件50的连接部52大致呈板状；和/或，第二安装件60大致呈板状。第一安装件50可以采用注塑成型，第二安装件60可以采用铸造成型，在保证结构强度的前提下，第一安装件50和第二安装件60采用简单的板状结构，板状结构通常厚度不大，有利于减轻第一安装件50和第二安装件60的重量，进而减轻整个无人飞行器的重量，有满足无人飞行器的轻量化要求。
在一些实施例中，如图3所示，雷达安装部30与脚架20可以固定连接。更具体的，雷达安装部30与脚架20的连接处弹性连接。雷达安装部30与脚架20之间可以通过弹性塑料件70连接，如图3所示，雷达安装部30与脚架20可以通过T字形的弹性塑料套管连接，并且，弹性塑料件70与雷达安装部30和脚架20可以通过螺钉连接，以便于拆装。本实施例的雷达安装部30与脚架20通过弹性塑料件70弹性连接，能够使得当无人飞行器出现撞击或坠落时，弹性塑料件70能够给以缓冲，以有效地保护雷达40。
更具体的，如图3所示，脚架20的竖杆31可以包括第一分杆211和第二分杆212，第一分杆211的一侧与机身主体10连接，第一分杆211的另一侧与第二分杆212连接。第一分杆211与第二分杆212可以弹性连接。由此，当无人飞行器出现撞击或坠落时，第一分杆211与第二分杆212之间的弹性连接能够给以缓冲，以尽量保护机身主体10上的电子元 器件，或结构件不受损坏，有效地解决维护维修成本。
优选的，雷达安装部30可以连接于第一分杆211与第二分杆212的连接处。第一分杆211、第二分杆212以及雷达安装部30三者弹性连接。使得三者连接处集中，一旦无人飞行器撞击或坠落，三者连接处会给第一分杆211、第二分杆212以及雷达安装部30一个反向作用力，有效保护三者。并且，将三者集中连接，能够节省连接点的位置，用户在对脚架20和雷达安装部30进行拆装时，操作位置集中，能够有效降低劳动程度。
类似的，第一分杆211、第二分杆212以及雷达安装部30三者通过弹性塑料件70连接，弹性塑料件70分别包裹第一分杆211、第二分杆212和雷达安装部30。弹性塑料件70可以呈筒状包括第一分杆211、第二分杆212和雷达安装部30，由此，弹性塑料件70与第一分杆211、第二分杆212和雷达安装部30的接触面积，提高三者连接稳定性和可靠性。另外，进一步的，弹性塑料件70与第一分杆211、第二分杆212和雷达安装部30可以通过紧固件连接，例如，可通过螺栓、螺钉连接。
在一些实施例中，优选的，第一分杆211可以包括塑料件；及/或，第二分杆212包括金属件。在无人飞行器降落时，第二分杆212由于靠近地面，第二分杆212采用金属件，以保证脚架20的整体结构强度满足要求，而第一分杆211采用塑料件211可以使得无人飞行器在发生撞击或坠落的意外时，第一分杆211能够对机身主体10起到一个较大的缓冲作用，以更大程度上保护机身主体10。
如图1所示，脚架20还包括连接两个竖杆21的横杆22，竖杆21与横杆22的连接处为圆弧过渡(如图1中R所示)。圆弧过渡的结构本身可以降低竖杆21与横杆22之间的应力集中的风险，提高结构稳定性。进一步的，竖杆21与横杆22的连接处包括塑料件，可以理解的是，竖杆21与横杆22的连接处为塑料件，配合竖杆21与横杆22的连接处的圆弧过 渡结构，能够更大程度上对无人飞行器进行缓冲，避免与撞击面硬碰撞，而对整机造成损伤。
在一些实施例中，在横杆22外侧设有弹性缓冲件221。该弹性缓冲件221可以包裹于横杆22的外侧，该弹性缓冲件221可以为橡胶件，脚架20通过弹性缓冲件221支撑于地面，以使得无人飞行器降落至地面时的平稳性，防止对无人飞行器上的电子元器件和机械结构件产生过大冲击，而影响电子元器件的性能，以及机械结构件的装配关系。并且，也能够在无人飞行器发生撞击或坠落的异常情况时，保护整机。
在本申请所提供的几个实施例中，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (23)

  1. 一种无人飞行器，其特征在于，包括：
    机身主体；
    脚架，位于所述机身主体下方，所述脚架包括与所述机身主体连接的多个竖杆，其中，至少两个竖杆呈对角设置；
    雷达安装部，用于将雷达安装于所述机身主体下方，所述雷达安装部包括至少一个安装杆，所述安装杆连接对角设置的竖杆，每个所述安装杆的中轴线与与其相连接的竖杆的中轴线共面，且所述雷达的中心位于每个所述安装杆的中轴线与所述安装杆相连接的竖杆的中轴线所确定的平面内。
  2. 根据权利要求1所述的无人飞行器，其特征在于，所述雷达安装部包括至少两个安装杆，所述雷达位于各安装杆的交点处。
  3. 根据权利要求1所述的无人飞行器，其特征在于，所述雷达安装部为中心对称结构，所述雷达位于所述雷达安装部的中心位置。
  4. 根据权利要求3所述的无人飞行器，其特征在于，所述雷达安装部的形状包括以下至少一种：X形、十字形、米字形。
  5. 根据权利要求1所述的无人飞行器，其特征在于，所述雷达与所述雷达安装部可拆卸地连接。
  6. 根据权利要求5所述的无人飞行器，其特征在于，所述雷达安装部上固定有第一安装件，所述雷达上固定有第二安装件，所述第一安装件与所述第二安装件可拆卸地连接，以将所述雷达固定于所述雷达安装部。
  7. 根据权利要求6所述的无人飞行器，其特征在于，所述第一安装件包括塑料件；
    及/或，所述第二安装件包括金属件；
    及/或，所述第二安装件与所述雷达的外壳一体成型，或者，所述第 二安装件与所述雷达的外壳焊接在一起。
  8. 根据权利要求6所述的无人飞行器，其特征在于，所述第一安装件包括多个包覆于所述雷达安装部的各个安装杆外侧的包覆部，以及连接所述多个包覆部的连接部，所述包覆部的轮廓形状与所述安装杆的轮廓形状相匹配。
  9. 根据权利要求8所述的无人飞行器，其特征在于，所述包覆部与所述安装杆通过第一紧固件连接，所述连接部与所述第二安装件通过第二紧固件连接。
  10. 根据权利要求8所述的无人飞行器，其特征在于，所述第一安装件的连接部包括朝向所述第二安装件的第一表面，所述第二安装件包括朝向所述第一安装件的第二表面，所述第一表面与所述第二表面相对的各处均贴合接触。
  11. 根据权利要求10所述的无人飞行器，其特征在于，所述第一安装件的连接部大致呈板状；和/或，所述第二安装件大致呈板状。
  12. 根据权利要求1所述的无人飞行器，其特征在于，所述雷达安装部与所述脚架固定连接。
  13. 根据权利要求12所述的无人飞行器，其特征在于，所述雷达安装部与所述脚架的连接处弹性连接。
  14. 根据权利要求12所述的无人飞行器，其特征在于，所述脚架的竖杆包括第一分杆和第二分杆，所述第一分杆的一侧与所述机身主体连接，所述第一分杆的另一侧与所述第二分杆连接。
  15. 根据权利要求14所述的无人飞行器，其特征在于，所述第一分杆与所述第二分杆弹性连接。
  16. 根据权利要求14所述的无人飞行器，其特征在于，所述雷达安装部连接于所述第一分杆与所述第二分杆的连接处。
  17. 根据权利要求16所述的无人飞行器，其特征在于，所述第一分 杆、所述第二分杆以及所述雷达安装部三者弹性连接。
  18. 根据权利要求17所述的无人飞行器，其特征在于，所述第一分杆、所述第二分杆以及所述雷达安装部三者通过弹性塑料件连接，所述弹性塑料件分别包裹所述第一分杆、第二分杆和所述雷达安装部。
  19. 根据权利要求18所述的无人飞行器，其特征在于，所述弹性塑料件与所述第一分杆、第二分杆和所述雷达安装部通过紧固件连接。
  20. 根据权利要求14所述的无人飞行器，其特征在于，所述第一分杆包括塑料件；及/或，所述第二分杆包括金属件。
  21. 根据权利要求1所述的无人飞行器，其特征在于，所述脚架包括连接两个竖杆的横杆，所述竖杆与所述横杆的连接处为圆弧过渡。
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述竖杆与所述横杆的连接处包括塑料件；
    及/或，在所述横杆外侧设有弹性缓冲件。
  23. 根据权利要求1所述的无人飞行器，其特征在于，在所述雷达处于安装状态下，且所述脚架处于展开状态下，所述雷达与所述脚架最底端的距离大于6cm；
    及/或，所述无人飞行器包括农业无人机。
PCT/CN2020/133926 2020-11-09 2020-12-04 无人飞行器 WO2022095188A1 (zh)

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CN206502027U (zh) * 2017-02-08 2017-09-19 江苏大成航空科技有限公司 一种植保无人机
CN209739375U (zh) * 2018-12-20 2019-12-06 天津聚飞创新科技有限公司 无人机
CN211766270U (zh) * 2019-11-04 2020-10-27 深圳市大疆创新科技有限公司 无人飞行器
CN211844926U (zh) * 2019-11-05 2020-11-03 深圳市大疆创新科技有限公司 无人机

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US20140222246A1 (en) * 2011-11-18 2014-08-07 Farrokh Mohamadi Software-defined multi-mode ultra-wideband radar for autonomous vertical take-off and landing of small unmanned aerial systems
CN205534947U (zh) * 2016-01-29 2016-08-31 深圳市大疆创新科技有限公司 固定支架、云台、无人飞行器及成像装置
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