An unmanned aerial vehicle

Abstract

The present invention discloses an unmanned aerial vehicle, comprising: a fuselage, on which the center of mass of the unmanned aerial vehicle is located; an arm connected to the fuselage; and a motor, which is obliquely installed on the arm, and the projection of the motor's inclination direction on the horizontal plane forms a preset angle with the line connecting the motor and the center of mass, and the motor's inclination direction forms an acute angle with the vertical direction. The motor is tilted, and the motor has a control component on the yaw control channel. The control component of the motor on the yaw control channel can be increased by adjusting the preset angle. In addition, the inclination direction of the motor forms an acute angle with the vertical direction, and the inclination direction of the motor forms an acute angle with the vertical direction. The cosine value of the angle between the inclination angle and the vertical direction is close to 1, which has little influence on the altitude control channel, thereby reducing the limit cycle when the unmanned aerial vehicle is hovering, and increasing the stability and control accuracy of the unmanned aerial vehicle when hovering.

Description

[Technical field]

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a multi-rotor unmanned aerial vehicle. [Background technology]

[0002] Unmanned aerial vehicles, or UAVs for short, are a new concept of equipment that is developing rapidly. They are flexible, responsive, unmanned, and require low operation. UAVs can achieve real-time image transmission and high-risk area detection by carrying multiple types of sensors or camera equipment, and are a powerful supplement to satellite remote sensing and traditional aerial remote sensing. At present, the use of UAVs has expanded to the three major fields of military, scientific research, and civil use. Specifically, they are widely used in power communications, meteorology, agriculture, ocean, exploration, photography, disaster prevention and mitigation, crop yield estimation, drug control and anti-smuggling, border patrol, public security and anti-terrorism, and other fields.

[0003] The motor of an unmanned aerial vehicle is generally mounted vertically on the fuselage of the unmanned aerial vehicle.

[0004] However, in the process of implementing the present invention, the inventors found that the motor-driven aircraft's yaw control channel has a fast performance. Therefore, the prior art needs to be improved. [Summary of the invention]

[0005] In order to solve the above technical problems, an embodiment of the present invention provides an unmanned aerial vehicle, which has the rapid performance of a yaw control channel of a motor-driven unmanned aerial vehicle.

[0006] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] Provided is an unmanned aerial vehicle, comprising: a fuselage, wherein the center of mass of the unmanned aerial vehicle is located on the fuselage; an arm connected to the fuselage; and a motor, wherein the motor is obliquely mounted on the arm, wherein a projection of the inclination direction of the motor on a horizontal plane forms a preset angle with a line connecting the motor and the center of mass, and the inclination direction of the motor forms an acute angle with a vertical direction.

[0008] In some embodiments, the fuselage includes a nose and a tail opposite to the nose, and the motor includes: a first motor and a second motor respectively located on both sides of the nose; and a third motor and a fourth motor respectively located on both sides of the tail; wherein the tilting direction of the first motor is opposite to the tilting direction of the third motor; and the tilting direction of the second motor is opposite to the tilting direction of the fourth motor.

[0009] In some embodiments, the first motor and the second motor have the same mounting plane, and the third motor and the fourth motor have the same mounting plane; there is a gap between the mounting planes of the first motor and the second motor and the mounting planes of the third motor and the fourth motor.

[0010] In some embodiments, the angle between the first motor and the vertical direction is equal to the angle between the second motor and the vertical direction, and the angle between the third motor and the vertical direction is equal to the angle between the fourth motor and the vertical direction.

[0011] In some embodiments, a mounting plane of the first motor and the second motor is higher than a mounting plane of the third motor and the fourth motor.

[0012] In some embodiments, the angle between the first motor and the vertical direction is smaller than the angle between the third motor and the vertical direction; or the angle between the second motor and the vertical direction is smaller than the angle between the fourth motor and the vertical direction.

[0013] In some embodiments, a mounting plane of the first motor and the second motor is lower than a mounting plane of the third motor and the fourth motor.

[0014] In some embodiments, the angle between the first motor and the vertical direction is greater than the angle between the third motor and the vertical direction; or the angle between the second motor and the vertical direction is greater than the angle between the fourth motor and the vertical direction.

[0015] In some embodiments, the angle between the motor and the vertical direction satisfies:

[0016]

[0017] Among them, s1 is the shortest distance from the intersection of the motor shaft of the first motor or the second motor and the horizontal plane to the central axis of the fuselage, s2 is the distance from the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane to the central axis of the fuselage, l1 is the distance from the intersection of the motor shaft of the first motor or the second motor and the horizontal plane to the plane perpendicular to the central axis of the fuselage, l2 is the distance from the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane to the plane perpendicular to the central axis of the fuselage, α1 is the angle between the first motor or the second motor and the vertical direction, and α2 is the angle between the third motor or the fourth motor and the vertical direction.

[0018] In some embodiments, the preset angle ranges from 30° to 150°.

[0019] In some embodiments, the preset angle is 90°.

[0020] In some embodiments, the angle between the motor and the vertical direction is no greater than 15°.

[0021] In some embodiments, the unmanned aerial vehicle further comprises a motor mounting seat, the motor is mounted on the motor mounting seat, the motor mounting seat is tiltedly mounted on the machine arm, and the angle between the motor mounting seat and the horizontal plane is equal to the angle between the motor and the vertical direction.

[0022] Compared with the prior art, in the unmanned aerial vehicle of the embodiment of the present invention, the motor is tilted, and the motor has a control component on the yaw control channel, which is perpendicular to the line connecting the motor and the center of mass. The projection of the tilt direction of the motor on the horizontal plane is configured to be at a preset angle to the line connecting the motor and the center of mass. By adjusting the preset angle, the control component of the motor on the yaw control channel can be increased. In addition, the tilt direction of the motor is at an acute angle to the vertical direction, and the cosine value of the angle between the tilt angle and the vertical direction is close to 1, which has little impact on the altitude control channel, thereby reducing the limit cycle of the unmanned aerial vehicle when hovering, and increasing the stability and control accuracy of the unmanned aerial vehicle when hovering.

Brief Description of the Drawings

[0023] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0024] Figure 1 A plan view of an unmanned aerial vehicle provided in one embodiment of the present invention, wherein the viewing angle of the view is along a first pitch direction;

[0025] Figure 2 for Figure 1 A perspective view of the unmanned aerial vehicle shown;

[0026] Figure 3a for Figure 2 A projection view of the tilt direction of the first motor of the unmanned aerial vehicle shown in the X1O1Z1 plane;

[0027] Figure 3b for Figure 2 A projection view of the tilt direction of the first motor of the unmanned aerial vehicle shown in the Y1O1Z1 plane;

[0028] Figure 4a for Figure 2 A projection view of the tilt direction of the second motor of the UAV shown in the X2O2Z2 plane;

[0029] Figure 4b for Figure 2A projection view of the tilt direction of the second motor of the UAV shown in the X2O2Z2 plane;

[0030] Figure 5a for Figure 2 A projection view of the tilt direction of the third motor of the UAV shown in the X3O3Z3 plane;

[0031] Figure 5b for Figure 2 A projection view of the tilt direction of the third motor of the UAV shown in the X3O3Z3 plane;

[0032] Figure 6a for Figure 2 A projection view of the tilt direction of the fourth motor of the UAV shown in the X4O4Z4 plane;

[0033] Figure 6b for Figure 2 A projection view of the tilt direction of the fourth motor of the UAV shown in the Y4O4Z4 plane;

[0034] Figure 7 for Figure 1 A schematic diagram of the rotation vector direction of each motor tilt angle of the unmanned aerial vehicle shown;

[0035] Figure 8 for Figure 1 A schematic diagram of the size parameters of the unmanned aerial vehicle shown;

[0036] Fig. 9 for Figure 1 The motor installation diagram of the unmanned aerial vehicle is shown. [Specific implementation method]

[0037] For ease of understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to another element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0039] In the field of unmanned aerial vehicles, in order to improve the control ability of the yaw channel, it is generally controlled by increasing the counter-torque of the blades. However, the counter-torque of the blades is very small and the control ability is weak. The above defects are particularly obvious when the UAV has a certain mass.

[0040] See also Figure 1 , an unmanned aerial vehicle 100 provided in one embodiment of the present invention includes a fuselage 10, a motor 20 and a propeller arm 30. The mass center G of the unmanned aerial vehicle 100 is located on the fuselage 10, the arm 30 is connected to the fuselage 10, the motor 20 is obliquely installed on the arm 30, the projection of the oblique direction of the motor 20 on the horizontal plane and the line connecting the motor 20 and the mass center G form a preset angle, and the oblique direction of the motor 20 forms an acute angle with the vertical direction.

[0041] It should be noted that the above-mentioned horizontal plane is a virtual reference plane, which is parallel to the ground and perpendicular to the ground in the vertical direction.

[0042] It is worth mentioning that the motor tilt setting, the motor has a control component on the yaw control channel, the control component is perpendicular to the line connecting the motor and the center of mass, and the projection of the motor's tilt direction on the horizontal plane is configured to be at a preset angle to the line connecting the motor and the center of mass. By adjusting the preset angle, the control component of the motor on the yaw control channel can be increased. In addition, the tilt direction of the motor is at an acute angle to the vertical direction, and the cosine value of the angle between the tilt angle and the vertical direction is close to 1, which has little impact on the altitude control channel, thereby reducing the limit cycle of the unmanned aerial vehicle when hovering, and increasing the stability and control accuracy of the unmanned aerial vehicle when hovering.

[0043] In some embodiments, the preset angle ranges from 30 degrees to 150 degrees, and preferably, the preset angle is 90 degrees. By configuring the preset angle to 90 degrees, the utilization rate of the motor's horizontal force component in the yaw control channel is 100%, and the horizontal force component will not interfere with other control channels. According to actual conditions, by adjusting a slight tilt angle, it will not cause too much impact. The present invention cannot list all tilt positions in detail, but as long as the preset angle ranges from 30 degrees to 150 degrees, it belongs to the scope of the present invention.

[0044] In some embodiments, the angle between the tilt direction of the motor 20 and the vertical direction is no greater than 15 degrees.

[0045] In some embodiments, see Fig. 9The unmanned aerial vehicle 100 further includes a motor mounting seat 40, the motor 20 is mounted on the motor mounting seat 40, the motor mounting seat 40 is tiltedly mounted on the machine arm, and the angle between the motor mounting seat 40 and the horizontal plane is equal to the angle between the motor 20 and the vertical direction.

[0046] In some embodiments, the motor 20 is fixedly mounted on the mechanical arm 30, and the inclination angle of the motor 20 is a fixed value, compared with the motor being movably mounted on the mechanical arm and driven by the tilt motor to adjust the inclination angle of the motor. The motor is fixedly mounted on the mechanical arm, avoiding the use of the tilt motor to reduce costs, and in fact the tilt motor does not improve the control performance of the unmanned aerial vehicle 100 in normal flight conditions.

[0047] Some specific implementation methods of unmanned aerial vehicles are introduced below. It should be noted that the following methods are only exemplary, and other unmanned aerial vehicles that can meet at least one of the above conditions are within the protection scope of this application.

[0048] In addition, in order to facilitate the description of the specific positions of the various components of the unmanned aerial vehicle, four directions, front, back, left and right, are introduced on the basis of the aforementioned vertical direction and horizontal plane. The front, back, left and right are all parallel to the horizontal plane, among which the front and back direction is perpendicular to the left and right direction.

[0049] The fuselage 10 is in a strip or shuttle shape as a whole, and has a nose 11 and a tail 12. The nose 11 is located in front of the mass center G, and the tail 12 is located behind the mass center G.

[0050] According to actual conditions, the fuselage 10 is not limited to the shuttle shape. For example, the fuselage 10 is a rotating body around a vertical axis, and the vertical axis is close to or passes through the center of mass G.

[0051] The motor 20 includes a first motor 20a, a second motor 20b, a third motor 20c and a fourth motor 20d. The first motor 20a and the second motor 20b are respectively located on both sides of the head 11, and the third motor 20c and the fourth motor 20d are respectively located on both sides of the tail 12. The tilting direction of the first motor is opposite to the tilting direction of the third motor, and the tilting direction of the second motor is opposite to the tilting direction of the fourth motor.

[0052] The first motor 20a is located at the front left of the center of mass G, and the first motor 20a is inclined toward the lower left; the second motor 20b is located at the upper right of the center of mass G, and the second motor 20b is inclined toward the lower right; the third motor 20c is located at the lower left of the center of mass G, and the third motor 20c is inclined toward the upper left; the fourth motor 20d is located at the lower right of the center of mass G, and the fourth motor 50 is inclined toward the upper right.

[0053] It should be noted that the motor (the first, second, third, and fourth motor) is tilted in one direction, which means that the connection point between the motor and the arm is the fulcrum, and the end of the motor equipped with the propeller rotates around the fulcrum and in that direction.

[0054] The arm 30 includes a first arm 30a, a second arm 30b, a third arm 30c and a fourth arm 30d. The first arm 30a is connected to the body 10, and the first motor 20a is obliquely mounted on the first arm 30a. Similarly, the second arm 30b is connected to the body 10, and the second motor 20b is obliquely mounted on the second arm 30b. The third arm 30c is connected to the body 10, and the third motor 20c is obliquely mounted on the third arm 30c. The fourth arm 30d is connected to the body 10, and the fourth motor 20d is obliquely mounted on the fourth arm 30d.

[0055] See also Figure 2 , Figure 3a as well as Figure 3b , a first rectangular coordinate system is constructed on the first motor 20a, and the origin of the first rectangular coordinate system is the connection point between the first motor 20a and the first arm 30a, which is set to O1. The X1 axis of the first rectangular coordinate system passes through O1 and the center of mass G, and the X1 axis points from O1 to the center of mass G. The Z1 axis of the first rectangular coordinate system passes through O1, and the Z1 axis points upward in the vertical direction. The Y1 axis of the first rectangular coordinate system passes through O1, and the Y1 axis points along the right front. The X1 axis, the Y1 axis and the Z1 axis are perpendicular to each other. The projection of the tilt direction of the first motor 20 on the X1O1Z1 plane coincides with the positive semi-axis of the Z1 axis, the projection of the tilt direction of the first motor 20 on the Y1O1Z1 plane is in the second quadrant of the Y1O1Z1 plane, and the projection of the tilt direction of the first motor 20 on the X1O1Y1 plane coincides with the negative semi-axis of the Y1 axis.

[0056] See also Figure 2 , Figure 4a as well as Figure 4b, a second rectangular coordinate system is constructed on the second motor 20b, and the origin of the second rectangular coordinate system is the connection point between the second motor 20b and the second arm 30b, which is set to O2. The X2 axis of the second rectangular coordinate system passes through O2 and the center of mass G, and the X2 axis points from O2 to the center of mass G. The Z2 axis of the second rectangular coordinate system passes through O2, and the Z2 axis points upward in the vertical direction. The Y2 axis of the second rectangular coordinate system passes through O2, and the Y2 axis points in the lower right direction. The X2 axis, the Y2 axis and the Z2 axis are perpendicular to each other. The projection of the tilt direction of the second motor 20b on the X2O2Z2 plane coincides with the positive semi-axis of the Z2 axis, the projection of the tilt direction of the second motor 20b on the Y2O2Z2 plane is in the first quadrant of the Y2O2Z2 plane, and the projection of the direction of the second motor 20b on the X2O2Y2 plane coincides with the positive semi-axis of the Y2 axis.

[0057] See also Figure 2 , Figure 5a as well as Figure 5b , a second rectangular coordinate system is constructed on the third motor 20c, and the origin of the second rectangular coordinate system is the connection point between the third motor 20c and the third arm 30c, which is set to O3. The X3 axis of the third rectangular coordinate system passes through O3 and the center of mass G, and the X3 axis points from O3 to the center of mass G. The Z3 axis of the third rectangular coordinate system passes through O3, and the Z3 axis points upward in the vertical direction. The Y3 axis of the third rectangular coordinate system passes through O3, and the Y3 axis points along the upper left. The X3 axis, the Y3 axis and the Z3 axis are perpendicular to each other. The projection of the tilt direction of the third motor 20c on the X3O3Z3 plane coincides with the positive semi-axis of the Z3 axis, the projection of the tilt direction of the third motor 20c on the Y3O3Z3 plane is in the first quadrant of the Y3O3Z3 plane, and the projection of the tilt direction of the third motor 20c on the X3O3Y3 plane coincides with the positive semi-axis of the Y3 axis.

[0058] See also Figure 2 , Figure 6a as well as Figure 6b, a fourth rectangular coordinate system is constructed on the fourth motor 20d, and the origin of the fourth rectangular coordinate system is the connection point between the fourth motor 20d and the fourth motor 30d, which is set to O4. The X4 axis of the fourth rectangular coordinate system passes through O4 and the centroid G, and the X4 axis points from O4 to the centroid G. The Z4 axis of the fourth rectangular coordinate system passes through O4, and the Z4 axis points upward in the vertical direction. The Y4 axis of the third rectangular coordinate system passes through O4, and the Y4 axis points to the lower right. The X4 axis, the Y4 axis and the Z4 axis are perpendicular to each other. The projection of the inclination direction of the fourth motor 20d in the X4O4Z4 plane coincides with the positive semi-axis of the Z4 axis, the projection of the inclination direction of the fourth motor 20d in the Y4O4Z4 plane is in the second quadrant of the Y4O4Z4 plane, and the projection of the inclination direction of the fourth motor 20d in the X4O4Y4 plane coincides with the negative semi-axis of the Y4 axis.

[0059] The first motor 20a and the second motor 20b are symmetrical to each other, and the third motor 20c and the fourth motor 20d are symmetrical to each other.

[0060] The angle between the first motor 20a and the vertical direction is equal to the angle between the second motor 20b and the vertical direction, and the angle between the third motor 20c and the vertical direction is equal to the angle between the fourth motor 20d and the vertical direction.

[0061] The first motor 20a and the second motor 20b are installed on the same plane, and the third motor 20c and the fourth motor 20d are installed on the same plane. There is a height difference d between the installation planes of the first motor 20a and the second motor 20b and the installation planes of the third motor 20c and the fourth motor 20d.

[0062] The installation plane of the first motor 20a and the second motor 20b is higher than the installation plane of the third motor 20c and the fourth motor 20d. The angle between the first motor 20a and the vertical direction is smaller than the angle between the third motor 20c and the vertical direction. The angle between the second motor 20b and the vertical direction is smaller than the angle between the fourth motor 20d and the vertical direction.

[0063] In some other embodiments, the installation plane of the first motor 20a and the second motor 20b is lower than the installation plane of the third motor 20c and the fourth motor 20d. The angle between the first motor 20a and the vertical direction is greater than the angle between the third motor 20c and the vertical direction. The angle between the second motor 20b and the vertical direction is greater than the angle between the fourth motor 20d and the vertical direction.

[0064] The first motor 20 a rotates in the same direction as the fourth motor 20 d , and the second motor 20 b and the third motor 20 c rotate in the opposite direction to the first motor 20 a .

[0065] In this embodiment, the first motor 20a and the fourth motor 20d rotate in a clockwise direction, and the second motor 20b and the third motor 20c rotate in a counterclockwise direction.

[0066] It is worth mentioning that, based on the balance and control considerations of the unmanned aerial vehicle, by configuring adjacent motors to have different rotation directions, in terms of the balance of the unmanned aerial vehicle, the component forces provided by adjacent motors offset each other, and the balance is good; in terms of the control of the unmanned aerial vehicle, when the unmanned aerial vehicle turns, it is only driven by the component forces provided by two of the motors located on the diagonal line, and the steering efficiency is high.

[0067] See also Figure 7 In the embodiment of the present invention, the angle between the tilt direction of each motor and the vertical direction, that is, the tilt angle, is described by the rotating vector method of the right-hand rule.

[0068] In the first, second, third and fourth motors 20a, 20b, 20c and 20d, the angle between the tilt direction and the vertical direction is the magnitude of the rotation vector of the tilt angle, which is set as α1, α2, α3 and α4. According to the right-hand rule, the four fingers of the right hand are bent along the rotation direction, and the thumb points to the direction of the rotation vector of the tilt angle.

[0069] The magnitude of the rotation vector of the inclination angle of the first motor 20a is α1, and the direction of the rotation vector of the inclination angle of the first motor 20a is along the line connecting the mass center G and the first motor 20b, and is directed from the first motor 20b to the mass center G.

[0070] Since the angles between the inclination directions of the second motor 20b and the first motor 20a and the vertical direction are equal, the magnitude of the rotation vector of the inclination angle of the second motor 20b is also α1, and the direction of the rotation vector of the inclination angle of the second motor 20b is along the line connecting the center of mass G and the second motor 20b, and points from the center of mass G to the second motor 20b.

[0071] The magnitude of the rotation vector of the inclination angle of the third motor 20c is α2, and the direction of the rotation vector of the inclination angle of the third motor 20c is along the line connecting the center of mass G and the third motor 20c, and points from the center of mass G to the third motor 20c.

[0072] Since the angles between the inclination directions of the fourth motor 20d and the third motor 20c and the vertical direction are equal, the magnitude of the rotation vector of the inclination angle of the fourth motor 20d is also α2, and the direction of the rotation vector of the inclination angle of the fourth motor 20d is along the line connecting the center of mass G and the fourth motor 20d, and is pointed from the fourth motor 20d to the center of mass G.

[0073] In some other embodiments, the first motor 20a and the fourth motor 20d rotate in a counterclockwise direction, and the second motor 20b and the third motor 20c rotate in a clockwise direction. The rotation vector direction of the inclination angle of the first motor 20a points from the mass center G to the second motor 20b. The rotation vector direction of the inclination angle of the second motor 20b points from the second motor 20b to the mass center G. The rotation vector direction of the inclination angle of the third motor 20c points from the third motor 20c to the mass center G. The rotation vector direction of the inclination angle of the fourth motor 20d points from the mass center G to the fourth motor 20d.

[0074] See also Figure 8 , the angle between the motor and the vertical direction satisfies:

[0075]

[0076] or

[0077]

[0078] Among them, s1 is the shortest distance from the intersection of the motor shaft of the first motor or the second motor and the horizontal plane to the central axis of the fuselage, s2 is the distance from the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane to the central axis of the fuselage, l1 is the distance from the intersection of the motor shaft of the first motor or the second motor and the horizontal plane to the plane perpendicular to the central axis of the fuselage, l2 is the distance from the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane to the plane perpendicular to the central axis of the fuselage, α1 is the angle between the first motor or the second motor and the vertical direction, and α2 is the angle between the third motor or the fourth motor and the vertical direction.

[0079] Compared with the prior art, an embodiment of the present invention provides an unmanned aerial vehicle 100, with a motor tilt setting, and the motor has a control component on the yaw control channel, which is perpendicular to the line connecting the motor and the center of mass. The projection of the tilt direction of the motor on the horizontal plane is configured to be at a preset angle to the line connecting the motor and the center of mass. By adjusting the preset angle, the control component of the motor on the yaw control channel can be increased. In addition, the tilt direction of the motor forms an acute angle with the vertical direction, and the cosine value of the angle between the tilt angle and the vertical direction is close to 1, which has little impact on the altitude control channel, thereby reducing the limit cycle of the unmanned aerial vehicle when hovering, and increasing the stability and control accuracy of the unmanned aerial vehicle when hovering.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle, characterized in that: include: a fuselage, wherein the center of mass of the UAV is located on the fuselage; An arm connected to the fuselage; as well as A motor, wherein the motor is obliquely mounted on the machine arm, a projection of the inclination direction of the motor on a horizontal plane forms a preset angle with a line connecting the motor and the mass center, and the inclination direction of the motor forms an acute angle with a vertical direction; The fuselage includes a nose and a tail opposite to the nose, The motor comprises: A first motor and a second motor respectively located on both sides of the machine head; and a third motor and a fourth motor respectively located on both sides of the tail; wherein the tilt direction of the first motor is opposite to the tilt direction of the third motor; and The inclination direction of the second motor is opposite to the inclination direction of the fourth motor; the angle between the first motor and the vertical direction is smaller than the angle between the third motor and the vertical direction; the angle between the motor and the vertical direction satisfies: in, is the shortest distance from the intersection of the motor shaft of the first motor or the second motor and the horizontal plane to the central axis of the fuselage, is the distance from the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane to the central axis of the fuselage, is the distance between the intersection of the motor shaft of the first motor or the second motor and the horizontal plane and the plane perpendicular to the central axis of the fuselage, is the distance between the intersection of the motor shaft of the third motor or the fourth motor and the horizontal plane and the plane perpendicular to the central axis of the fuselage, is the angle between the first motor or the second motor and the vertical direction, is the angle between the third motor or the fourth motor and the vertical direction.

2. The unmanned aerial vehicle according to claim 1, characterized in that: The first motor and the second motor are installed on the same plane, and the third motor and the fourth motor are installed on the same plane; There is a height difference between the installation planes of the first motor and the second motor and the installation planes of the third motor and the fourth motor.

3. The unmanned aerial vehicle according to claim 1 or 2, characterized in that: The angle between the first motor and the vertical direction is equal to the angle between the second motor and the vertical direction, and the angle between the third motor and the vertical direction is equal to the angle between the fourth motor and the vertical direction.

4. The unmanned aerial vehicle according to claim 3, characterized in that: An installation plane of the first motor and the second motor is higher than an installation plane of the third motor and the fourth motor.

5. The unmanned aerial vehicle according to claim 4, characterized in that: or The angle between the second motor and the vertical direction is smaller than the angle between the fourth motor and the vertical direction. The rotation vector direction of the inclination angle of the fourth motor is along the line connecting the center of mass and the fourth motor, and is pointed from the fourth motor to the center of mass.

6. The unmanned aerial vehicle according to claim 3, characterized in that: An installation plane of the first motor and the second motor is lower than an installation plane of the third motor and the fourth motor.

7. The unmanned aerial vehicle according to claim 6, characterized in that: The angle between the first motor and the vertical direction is greater than the angle between the third motor and the vertical direction; or An angle between the second motor and the vertical direction is greater than an angle between the fourth motor and the vertical direction.

8. The unmanned aerial vehicle according to any one of claims 4 to 7, characterized in that: The preset angle ranges from 30° to 150°.

9. The unmanned aerial vehicle according to any one of claims 4 to 7, characterized in that: The preset angle is 90°.

10. The unmanned aerial vehicle according to any one of claims 4 to 7, characterized in that: The angle between the motor and the vertical direction is no greater than 15°.

11. The unmanned aerial vehicle according to any one of claims 4 to 7, characterized in that: The unmanned aerial vehicle also includes a motor mounting seat, the motor is mounted on the motor mounting seat, the motor mounting seat is tiltedly mounted on the machine arm, and the angle between the motor mounting seat and the horizontal plane is equal to the angle between the motor and the vertical direction.

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