A suspended loadable unmanned aerial vehicle

Abstract

The application discloses a kind of unmanned aerial vehicle of suspending load, unmanned aerial vehicle includes: fuselage main body, including upper cover plate, lower cover plate, intermediate connecting piece and the multiple machine arms being arranged around intermediate connecting piece in circumference, upper cover plate and lower cover plate are respectively located in the upper and lower sides of intermediate connecting piece and multiple machine arms, and upper cover plate, lower cover plate, intermediate connecting piece and multiple machine arms are fixedly connected as a whole;Force measuring unit, including multiple pressure sensors installed on fuselage main body;Load-bearing plate, for loading load, load-bearing plate is set above upper cover plate and is supported on force measuring unit;Force measuring unit is used to measure the weight and load distribution of load.By setting fuselage main body with higher overall stability and force measuring unit capable of real-time monitoring of load weight and load distribution, the application can be used to load in hovering state, thereby reducing the time-consuming of repeated take-off and landing operations and adapting to more application scenarios.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle technology, specifically to an unmanned aerial vehicle that can be suspended and loaded. Background Technology

[0002] Unmanned Aerial Vehicles (UAVs) are aircraft that do not require a pilot to operate, and can fly and perform missions through remote control or autonomous program control. In recent years, UAVs have seen rapid development and application in logistics delivery, emergency rescue, and industrial inspection, and the payload requirements of UAVs in these application scenarios are increasing. Currently, for payload-carrying UAVs, it is necessary to control the UAV to land and stop flying before placing the payload. However, in complex operating environments (rugged mountains or water surfaces such as lakes and oceans without flat ground) and with high frequency of operations, the operation of landing, stopping, and then loading is inconvenient and time-consuming. Summary of the Invention

[0003] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a hoverable, loadable unmanned aerial vehicle.

[0004] To achieve the above objectives, this application adopts the following technical solution: a hoverable unmanned aerial vehicle, the unmanned aerial vehicle comprising:

[0005] The main body of the fuselage includes an upper cover plate, a lower cover plate, a middle connecting member, and multiple machine arms arranged around the middle connecting member in a circumferential direction. The upper cover plate and the lower cover plate are located on the upper and lower sides of the middle connecting member and the multiple machine arms, respectively, and the upper cover plate, the lower cover plate, the middle connecting member and the multiple machine arms are fixedly connected as a whole.

[0006] The force measuring unit includes multiple pressure sensors installed on the main body of the fuselage;

[0007] A load-bearing plate, used for loading loads, is disposed above the upper cover plate and supported on the force measuring unit;

[0008] The force measuring unit is used to measure the weight of the load and the load distribution.

[0009] The application of this application has the following beneficial effects: By setting up a fuselage body with high overall stability and a force measuring unit that can monitor the load weight and load distribution in real time, the unmanned aerial vehicle (UAV) provided by this application can achieve loading while hovering, thereby reducing the time spent on repeated take-off and landing operations and adapting to more application scenarios. Specifically, by connecting multiple arms into one unit through the cooperation of the upper cover plate, lower cover plate, and intermediate connecting parts, the overall stability of the fuselage body is high, making it less prone to tilting during loading. In addition, by setting up a force measuring unit to directly detect the weight and load distribution of the load, the flight control can directly adjust the motor power according to the load conditions, reducing the time spent in the feedback link, enabling the UAV to make adjustments more quickly according to the load conditions, thereby avoiding significant tilting of the UAV at the moment of load placement.

[0010] Optionally, the intermediate connector has a mating surface formed in its circumference, each of the robotic arms has a mating surface, and the mating surfaces on multiple robotic arms surround and fit against the mating surface; the intermediate connector has a first connecting hole along its thickness direction, the robotic arms have a second connecting hole along their thickness direction, the upper cover plate and the lower cover plate each have a third connecting hole corresponding to the first connecting hole and a fourth connecting hole corresponding to the second connecting hole along their thickness direction, the intermediate connector is connected to the upper cover plate and the lower cover plate by screws passing through the first connecting hole and the third connecting hole, and the robotic arms are connected to the upper cover plate and the lower cover plate by screws passing through the second connecting hole and the fourth connecting hole.

[0011] Optionally, the intermediate connector is rectangular and has arc-shaped segments at its four corners. The mating surface includes a rectangular mating surface formed on the sidewall of the intermediate connector and an arc-shaped mating surface formed at the arc-shaped segments. The machine arm is provided with four arms. Each of the four machine arms has a first mating portion extending in a first direction and a second mating portion extending in a second direction at one end facing the intermediate connector. The first direction is perpendicular to the second direction. The mating surface includes a first mating surface formed on the first mating portion, a second mating surface formed on the second mating portion, and an arc-shaped mating surface formed between the first mating portion and the second mating portion.

[0012] Optionally, the arm includes two sets of first support arms and two sets of second support arms, the length of the first support arms is greater than the length of the second support arms, and the two sets of first support arms are symmetrically distributed about their contact surfaces, and the two sets of second support arms are symmetrically distributed about their contact surfaces.

[0013] Optionally, the first support arm is further provided with a reinforcing arm at its distal end. The reinforcing arms on the two sets of the first support arms extend toward each other and abut at their ends. The reinforcing arm is provided with a fifth connecting hole. The upper cover plate and the lower cover plate are both provided with a sixth connecting hole corresponding to the fifth connecting hole along the thickness direction. The reinforcing arm is connected to the upper cover plate and the lower cover plate by screws passing through the fifth connecting hole and the sixth connecting hole.

[0014] Optionally, the arm is provided with a first mounting hole and a second mounting hole at the middle position and the far end position, respectively. The number of pressure sensors is the same as the number of arms, and the pressure sensors are located on the outside of the upper cover plate in the horizontal direction. The pressure sensors can be selectively installed in the first mounting hole or the second mounting hole.

[0015] Optionally, the load-bearing plate is provided with a first mounting bracket corresponding to the first mounting hole and a second mounting bracket corresponding to the second mounting hole, and the pressure sensor can be selectively fixed to the first mounting bracket or the second mounting bracket by adhesive or screws.

[0016] Optionally, the unmanned aerial vehicle further includes a power unit disposed at the outer end of the arm, the power unit including a motor and a propeller driven by the motor to rotate, and the edge of the load-bearing plate extends downward to form a protective plate at the position corresponding to the propeller.

[0017] Optionally, the load-bearing plate has a grid-like hollow structure and is made of carbon fiber.

[0018] Optionally, both the upper and lower cover plates are provided with heat dissipation notches, and both the upper and lower cover plates are provided with a seventh connection hole and an eighth connection hole around the heat dissipation notches; the unmanned aerial vehicle also includes a flight control unit, an electronic speed controller (ESC) unit, and a main control unit. The seventh connection hole on the upper cover plate is used to install the flight control unit with screws, and the seventh connection hole on the lower cover plate is used to install the ESC unit with screws. The main control unit is fixedly installed between the upper and lower cover plates by screws that pass through its edge and the eighth connection hole, and the main control unit is located at the heat dissipation notch.

[0019] Optionally, the unmanned aerial vehicle further includes a battery unit and a battery box for mounting the battery unit, the battery box being locked to the lower cover plate by studs.

[0020] Optionally, the unmanned aerial vehicle further includes an image acquisition unit, which includes a head-up camera mounted on the side wall of the battery box, a downward-facing camera mounted on the bottom wall of the battery box, and an optical flow sensor mounted on the bottom wall of the battery.

[0021] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. Preferred embodiments or means of this application will be illustrated in detail with reference to the accompanying drawings, but are not intended to limit the technical solutions of this application. Furthermore, each of these features, elements, and components appearing in the following text and drawings is a plurality, and different symbols or numbers are used for convenience of representation, but all represent components with the same or similar structure or function. Attached Figure Description

[0022] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0023] Figure 1 This is a schematic diagram of the structure of an unmanned aerial vehicle provided in an embodiment of this application;

[0024] Figure 2 A top-down view of the unmanned aerial vehicle;

[0025] Figure 3 This is a side view of the unmanned aerial vehicle.

[0026] Figure 4 This is a schematic diagram of the assembly of the fuselage arm and intermediate connecting parts.

[0027] Figure 5 This is a top view of the fuselage main body, showing the arms and intermediate connecting parts.

[0028] Figure 6 This is a schematic diagram of the upper cover plate.

[0029] Figure 7 This is a schematic diagram of the structure of the first support arm in the machine arm;

[0030] Figure 8 This is a schematic diagram of the structure of the second support arm in the machine arm;

[0031] Figure 9 This is a structural diagram of the load-bearing plate;

[0032] Figure 10 This is a schematic diagram of the battery box structure;

[0033] Figure 11 This is a bottom view of the battery box.

[0034] Among them, 1. Upper cover plate; 10. Third connecting hole; 11. Fourth connecting hole; 12. Sixth connecting hole; 13. Heat dissipation notch; 14. Seventh connecting hole; 15. Eighth connecting hole; 2. Lower cover plate; 3. Machine arm; 30. Second connecting hole; 31. First support arm; 310. First mating part; 311. Second mating part; 32. Second support arm; 33. Reinforcing arm; 330. Fifth connecting hole; 34. First mounting hole; 35. Second mounting hole; 3 6. Third mounting hole; 37. Mating surface; 38. Blade; 4. Intermediate connector; 40. First connecting hole; 5. Load-bearing plate; 50. First mounting bracket; 51. Second mounting bracket; 52. Protective plate; 6. Battery box; 60. Fourth mounting hole; 61. Slot; 62. First mounting slot; 63. Second mounting slot; 64. Snap-fit ​​structure; 7. Pressure sensor; 8. Image acquisition unit; 80. Head-up camera; 81. Downward-facing camera; 9. Landing gear. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0036] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0037] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] Through research and analysis, the inventors discovered that controlling the loading operation of the unmanned aerial vehicle (UAV) while it is hovering can solve the problems encountered during landing and loading. Further research revealed that the difficulties in achieving hover loading for UAVs lie in two aspects: First, the existing structural stability of heavy-duty UAVs is insufficient, making them prone to swaying and tilting during hover loading operations. Second, the flight control systems of existing heavy-duty UAVs rely solely on attitude sensors such as gyroscopes and accelerometers to indirectly calculate load changes. That is, the sensors only detect changes in the aircraft's attitude (such as tilting or displacement) after the load placed by the operator causes such changes, and the flight control system then uses algorithms to reverse-calculate the load situation and adjust the motor power. This indirect feedback loop of "attitude change → indirect calculation → power adjustment" is slow to react when placing loads while hovering, causing the UAV to tilt significantly or even briefly lose control at the moment of load placement.

[0040] To address the aforementioned problems, this embodiment provides a hoverable unmanned aerial vehicle, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the unmanned aerial vehicle (UAV) includes a fuselage, a force measuring unit, and a load-bearing plate 5. The fuselage includes an upper cover plate 1, a lower cover plate 2, an intermediate connecting member 4, and multiple arms 3 arranged circumferentially around the intermediate connecting member 4. The upper cover plate 1 and lower cover plate 2 are located on the upper and lower sides of the intermediate connecting member 4 and the multiple arms 3, respectively, and are fixedly connected as a single unit. The force measuring unit includes multiple pressure sensors 7 mounted on the fuselage. The load-bearing plate 5 is positioned above the upper cover plate 1 and supports the force measuring unit. The load-bearing plate 5 is used to load a load, and the force measuring unit is used to measure the weight and load distribution of the load.

[0041] By incorporating a highly stable fuselage and a force-measuring unit capable of real-time monitoring of load weight and distribution, the UAV provided in this embodiment can achieve loading while hovering. This reduces the time spent on repeated takeoffs and landings and adapts to more application scenarios. Specifically, multiple arms 3 are connected as a single unit via the upper cover 1, lower cover 2, and intermediate connector 4, resulting in high overall fuselage stability and reducing the likelihood of tilting during loading. Furthermore, the force-measuring unit directly detects the load weight and distribution, allowing the flight control system to adjust motor power directly based on the load conditions. This reduces feedback loop time and enables the UAV to adjust more quickly according to the load, thus preventing significant tilting when the load is placed.

[0042] The force measurement unit can be connected to a separate embedded processor. The data measured by the force measurement unit is processed by the embedded processor through signal acquisition and filtering, and then transmitted to the host computer via IIC. The disturbance rejection control algorithm is calculated on the host computer, ultimately generating control commands for the unmanned aerial vehicle (UAV). The host computer sends the commands to the flight control system via a specific protocol, and the flight control system adjusts the motor thrust to achieve stable flight control. Specifically, the response rate of the feedforward information obtained by the force measurement unit into the feedback link is higher than the response rate of estimating disturbances through changes in the UAV's state and then performing feedback control. Therefore, using the UAV provided in this embodiment can reduce the time consumed by the feedback link, thereby improving the response rate to disturbances and the disturbance rejection performance.

[0043] It should be noted that the design focus of the unmanned aerial vehicle provided in this embodiment is to enhance the overall stability of the fuselage through structural design and to input feedforward information obtained through force measurement units into the data transmission link. The embedded processor, host computer, and flight control system are all existing technologies, as are their data processing, disturbance rejection control algorithms, and data transmission protocols. Examples are given below:

[0044] The force measurement unit (pressure sensor 7) is electrically connected to the flight control system via the aforementioned embedded processor and host computer. When the UAV is hovering, the force measurement unit measures in real time the total weight (ΣF) of the load on the support plate 5 and the pressure distribution (F1, F2, F3, F4) at the support points of the four arms 3. The flight control system receives this pressure data through its built-in I / O interface or AD conversion module and executes the following processing and control strategies:

[0045] Data processing: The flight control system filters the raw pressure signal (such as Kalman filtering) to eliminate vibration noise, and converts the pressure values ​​of the four support points into the net external torque (Mx, My) and the offset of the center of gravity (Δx, Δy) of the load in the main body coordinate system of the fuselage through coordinate transformation.

[0046] Power adjustment strategy:

[0047] a. Total lift compensation: The flight control system adds the total load weight (ΣF) to the unmanned aerial vehicle's own weight as the new target total lift, and maintains the hovering altitude by adjusting the reference speed of all motors;

[0048] b. Attitude Torque Feedforward Compensation: Based on the calculated torque (Mx, My) caused by the load center of gravity shift, the flight control system uses this as a feedforward quantity and directly adds it to the output of the attitude control loop (usually a PID controller). Specifically, the flight control system pre-calculates the speed differences (Δn1, Δn2, Δn3, Δn4) between the four motors required to counteract this torque according to a preset "torque-motor differential" mapping relationship, and immediately applies them to the corresponding motors. This is equivalent to actively outputting a reverse torque to counteract the attitude tilt caused by the load torque before the UAV tilts.

[0049] c. Rapid Closed-Loop Fine-Tuning: Feedforward compensation is combined with feedback control from traditional attitude sensors (such as IMUs). After applying feedforward compensation, if a small attitude error still exists, the IMU will quickly detect it, and the attitude control loop will perform rapid closed-loop correction. This mode of "direct force / torque measurement → feedforward compensation" combined with "attitude feedback fine-tuning" transforms the traditional passive, lagging response into active, pre-compensation control, thereby significantly reducing the feedback link time from load change to dynamic adjustment, achieving faster and smoother levitation loading.

[0050] The unmanned aerial vehicle provided in this embodiment can be used in environments such as mountains, hills, water surfaces, high-altitude power lines, bridges, and tall buildings for material transfer and distribution.

[0051] Combination Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, in this embodiment, the intermediate connector 4 has a mating surface formed in its circumference, and each arm 3 has a mating surface 37. The mating surfaces 37 on multiple arms 3 surround and fit against the mating surface. Simultaneously, the intermediate connector 4 has a first connecting hole 40 along its thickness direction, the arm 3 has a second connecting hole 30 along its thickness direction, and both the upper cover plate 1 and the lower cover plate 2 have a third connecting hole 10 and a fourth connecting hole 11 along their thickness directions. The third connecting hole 10 corresponds to the first connecting hole 40, and the fourth connecting hole 11 corresponds to the second connecting hole 30. The intermediate connector 4 is connected to the upper cover plate 1 and the lower cover plate 2 by screws passing through the first connecting hole 40 and the third connecting hole 10, and the arm 3 is connected to the upper cover plate 1 and the lower cover plate 2 by screws passing through the second connecting hole 30 and the fourth connecting hole 11.

[0052] In other words, in this embodiment, the upper cover plate 1 and the lower cover plate 2 clamp the arm 3 and the intermediate connecting piece 4. Screws passing through the upper cover plate 1, the arm 3, and the lower cover plate 2 are used to lock and fix these components in place. Similarly, screws passing through the upper cover plate 1, the intermediate connecting piece 4, and the lower cover plate 2 are used to lock and fix these components in place. Simultaneously, the close surface-to-surface contact between the intermediate connecting piece 4 and the arm 3 provides a limiting effect on the arm 3, effectively reducing vibration during flight. This prevents the screws connecting the various components of the fuselage from loosening due to vibration, further ensuring the stability of the fuselage.

[0053] Furthermore, to improve the limiting effect of the intermediate connector 4 on each of the robotic arms 3, the intermediate connector 4 in this embodiment is designed as a rectangular structure, and arc-shaped segments are provided at the four corners of the rectangular intermediate connector 4. Thus, the aforementioned mating surfaces include a rectangular mating surface formed on the sidewall of the intermediate connector 4 and an arc-shaped mating surface formed at the arc-shaped segments. Correspondingly, for the end-fitting design of the robotic arms 3, four robotic arms 3 are provided in this embodiment, and each of the four robotic arms 3 has a first mating portion 310 extending in a first direction and a second mating portion 311 extending in a second direction at one end facing the intermediate connector 4. Figure 7 The example shown is of one of the machine arms 3, illustrating the first mating part 310 and the second mating part 311. Therefore, the aforementioned mating surface 37 includes a first mating surface formed in the first mating part 310, a second mating surface formed in the second mating part 311, and an arcuate mating surface formed between the first mating part 310 and the second mating part 311. Thus, as... Figure 5 As shown, the arc-shaped mating surfaces on the four robotic arms 3 are tightly fitted to the arc-shaped mating surfaces at the four corners of the intermediate connecting member 4, respectively. The first and second mating surfaces are also tightly fitted to portions of the rectangular mating surfaces on both sides of the arc-shaped mating surfaces. Through this structural design, the intermediate connecting member 4 can limit the movement of each robotic arm 3 along the first and second directions, achieving a good limiting effect. The first and second directions are perpendicular to each other.

[0054] It should be noted that in this embodiment, the lower cover plate 2 and the upper cover plate 1 have the same structure and dimensions, therefore only... Figure 6 The diagram shows the structure of the upper cover plate 1.

[0055] In this embodiment, the four robotic arms are divided into two groups, specifically, combined with... Figure 5 , Figure 7 and Figure 8As shown, the robotic arm 3 in this embodiment includes two sets of first support arms 31 and two sets of second support arms 32. The length of the first support arms 31 is greater than the length of the second support arms 32, and the two sets of first support arms 31 are symmetrically distributed about their contact surfaces, as are the two sets of second support arms 32. By differentiating the lengths of the two sets of robotic arms 3, the center of gravity of the main body can be optimized as needed.

[0056] Furthermore, in this embodiment, the first support arm 31 is also provided with a reinforcing arm 33 at its distal end. The reinforcing arms 33 on both sets of first support arms 31 extend toward each other and their ends abut against each other. In this embodiment, a fifth connecting hole 330 is provided on the reinforcing arm 33. Correspondingly, the upper cover plate 1 and the lower cover plate 2 are each provided with a sixth connecting hole 12 along the thickness direction, corresponding to the fifth connecting hole 330. The reinforcing arm 33 is connected to the upper cover plate 1 and the lower cover plate 2 by screws passing through the fifth connecting hole 330 and the sixth connecting hole 12. Through the above structural design, on the one hand, the connection between the arm 3 and the upper cover plate 1 and the lower cover plate 2 can be improved, and on the other hand, the rigidity of the distal end of the first support arm 31 can be increased, preventing the distal end of the first support arm 31 from bending due to force.

[0057] In this embodiment, the side of the robotic arm 3 closest to the intermediate connecting member 4 is called the proximal end, and the side of the robotic arm 3 furthest from the intermediate connecting member 4 is called the distal end. Figure 1 and Figure 5 As shown, in this embodiment, the arm 3 has a first mounting hole 34 and a second mounting hole 35 at its middle and distal ends, respectively. The number of pressure sensors 7 is the same as the number of arms 3, and the pressure sensors 7 are located horizontally on the outer side of the upper cover plate 1. The pressure sensors 7 can be selectively mounted in either the first mounting hole 34 or the second mounting hole 35. Combined with... Figure 9 As shown, in this embodiment, a first mounting bracket 50 and a second mounting bracket 51 are also provided on the load-bearing plate 5. The first mounting bracket 50 corresponds to the first mounting hole 34, and the second mounting bracket 51 corresponds to the second mounting hole 35. The pressure sensor 7 can be selectively fixed to the first mounting bracket 50 or the second mounting bracket 51 by adhesive or screws.

[0058] The above structural design allows for easy adjustment of the pressure sensor 7's placement based on the weight and volume of the load in the application scenario. Specifically, when the load volume is large, the pressure sensor 7 can be placed at the relatively outer second mounting hole 35; when the load volume is small, the pressure sensor 7 can be placed at the relatively inner first mounting hole 34. This ensures that the pressure sensor 7 is positioned appropriately relative to the load, thereby obtaining more accurate information on load weight and load distribution.

[0059] It should be noted that setting different installation positions for the pressure sensor 7 is a preferred implementation method. The choice of installation position for the pressure sensor 7 needs to be determined by the operator during specific use. There is no clear standard for whether the load volume is "large" or "small," but it depends on the product application scenario. For example, when the product is used as an indoor small item transportation platform, such as transporting small objects like coffee, water cups, and tissues (specifically, the size is less than 0.7 times the radius of the main body), it can be placed in the relatively inner first mounting hole 34. When the product is used as a logistics transportation platform, such as transporting express delivery, irregularly shaped structural parts, or when the placement position will be at the edge, it is recommended to place the pressure sensor 7 in the relatively outer second mounting hole 35 during product assembly. This helps the sensor to be closer to the effective support area of ​​the load, improving the sensitivity and accuracy of torque detection. For smaller loads, whose center of gravity is usually closer to the center, placing the pressure sensor 7 in the relatively inner first mounting hole 34 can reduce the interference caused by the deformation of the arm 3 structure on the measurement, obtaining a more stable weight measurement value. Figure 1 and Figure 2 As shown, the unmanned aerial vehicle provided in this embodiment also includes a power unit disposed at the outer end of the arm 3. The power unit includes a motor (not shown in the figure) and a propeller 38 driven by the motor to rotate. Simultaneously, in this embodiment, a protective plate 52 extends downward from the edge of the load-bearing plate 5 corresponding to the position of the propeller 38. The protective plate 52 prevents the propeller 38 from causing injury to operators near the unmanned aerial vehicle. It also prevents debris from contacting the propeller 38 and causing damage. In this embodiment, a third mounting hole 36 is also provided on the arm 3, and the propeller 38 of the power unit is mounted in the third mounting hole 36. Furthermore, in this embodiment, the third mounting hole 36 is located between the first mounting hole 34 and the second mounting hole 35, with the propeller 38 facing downwards and the pressure sensor 7 facing upwards, ensuring that they do not interfere with each other and facilitating assembly operations.

[0060] In this embodiment, the protective plate 52 is formed at the four corners of the load-bearing plate 5. In other alternative embodiments, the protective plate 52 may also be formed around the circumference of the load-bearing plate 5.

[0061] In this embodiment, the load-bearing plate 5 has a grid-like perforated structure and is made of carbon fiber. This allows the load-bearing plate 5 to combine the advantages of light weight and high rigidity, while avoiding problems such as disturbed airflow that could affect the operation of the power unit. In addition, the perforated structure also helps to dissipate heat from heat-generating electronic components such as flight controllers, ESCs, main controllers, and batteries in the unmanned aerial vehicle.

[0062] like Figure 6As shown, in this embodiment, both the upper cover plate 1 and the lower cover plate 2 are provided with heat dissipation notches 13, and both the upper cover plate 1 and the lower cover plate 2 are provided with a seventh connection hole 14 and an eighth connection hole 15 around the heat dissipation notches 13. The unmanned aerial vehicle also includes a flight control unit, an electronic speed controller (ESC) unit, and a main control unit. The seventh connection hole 14 on the upper cover plate 1 is used to install the flight control unit with screws, and the seventh connection hole 14 on the lower cover plate 2 is used to install the ESC unit with screws. The main control unit is fixedly installed between the upper cover plate 1 and the lower cover plate 2 by screws passing through its edge and the eighth connection hole 15, and the main control unit is located at the heat dissipation notch 13. This structural design facilitates the assembly of the flight control unit, ESC unit, and main control unit, and also achieves better heat dissipation.

[0063] Combination Figure 3 and Figure 10 As shown, the unmanned aerial vehicle provided in this embodiment also includes a battery unit (not shown in the figure) and a battery box 6 for mounting the battery unit. The battery box 6 is locked and fixed to the lower cover plate 2 by studs. Specifically, in this embodiment, four fourth mounting holes 60 are provided at the upper end of the battery box 6, and corresponding screw holes are provided on the lower cover plate 2. Copper studs are used to pass through the fourth mounting holes 60 to lock and fix the battery box 6 to the lower cover plate 2.

[0064] Furthermore, in combination Figure 3 and Figure 11 As shown, the unmanned aerial vehicle provided in this embodiment also includes an image acquisition unit 8. The image acquisition unit 8 includes a head-up camera 80 mounted on the side wall of the battery box 6, a downward-looking camera 81 mounted on the bottom wall of the battery box 6, and an optical flow sensor (not shown in the figure) mounted on the bottom wall of the battery box 6. Specifically, in this embodiment, an extended mounting plate is provided at one end of the battery box 6. A slot 61 is provided on the mounting plate, which can be used to snap the head-up camera 80 into the slot 61. The head-up camera 80 can be further locked and fixed to the mounting plate by screws. A first mounting groove 62 and a second mounting groove 63 are provided on the bottom wall of the battery box 6. The downward-looking camera 81 and the optical flow sensor can be inserted into the first mounting groove 62 and the second mounting groove 63 respectively and locked and fixed to the bottom wall of the battery box 6 by screws.

[0065] By setting up the image acquisition unit 8, the unmanned aerial vehicle can meet the needs of detecting the surrounding environment during flight, and can also detect the approaching operators in a timely manner while hovering, which facilitates the hovering loading operation.

[0066] Furthermore, the unmanned aerial vehicle provided in this embodiment also includes a landing gear 9 installed on the bottom wall of the battery box 6. Specifically, in this embodiment, four snap-fit ​​structures 64 are also provided on the bottom wall of the battery box 6, and the landing gear 9 can be snapped and fixed to the bottom wall of the battery box 6 through the snap-fit ​​structures 64.

[0067] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A hovering unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle includes: The main body of the fuselage includes an upper cover plate, a lower cover plate, a middle connecting member, and multiple machine arms arranged around the middle connecting member in a circumferential direction. The upper cover plate and the lower cover plate are located on the upper and lower sides of the middle connecting member and the multiple machine arms, respectively, and the upper cover plate, the lower cover plate, the middle connecting member and the multiple machine arms are fixedly connected as a whole. The force measuring unit includes multiple pressure sensors installed on the main body of the fuselage; A load-bearing plate, used for loading loads, is disposed above the upper cover plate and supported on the force measuring unit; The force measuring unit is used to measure the weight of the load and the load distribution. The intermediate connector is provided with a first connecting hole along the thickness direction, the arm is provided with a second connecting hole along the thickness direction, the upper cover plate and the lower cover plate are both provided with a third connecting hole corresponding to the first connecting hole and a fourth connecting hole corresponding to the second connecting hole along the thickness direction, the intermediate connector is connected to the upper cover plate and the lower cover plate by screws passing through the first connecting hole and the third connecting hole, and the arm is connected to the upper cover plate and the lower cover plate by screws passing through the second connecting hole and the fourth connecting hole; The arm has a first mounting hole and a second mounting hole at the middle and distal ends, respectively. The load-bearing plate has a first mounting bracket corresponding to the first mounting hole and a second mounting bracket corresponding to the second mounting hole. The pressure sensor can be selectively fixed to the first mounting bracket or the second mounting bracket by adhesive or screws.

2. The hoverable unmanned aerial vehicle as described in claim 1, characterized in that, The intermediate connector has a mating surface in its circumference, and each of the arms has a mating surface, with the mating surfaces on multiple arms surrounding and fitting the mating surface.

3. The hoverable unmanned aerial vehicle as described in claim 2, characterized in that, The intermediate connector is rectangular and has arc-shaped segments at its four corners. The mating surface includes a rectangular mating surface formed on the sidewall of the intermediate connector and an arc-shaped mating surface formed at the arc-shaped segments. The machine arm is provided with four arms. Each of the four arms has a first mating part extending in a first direction and a second mating part extending in a second direction at one end facing the middle connector. The first direction is perpendicular to the second direction. The mating surface includes a first mating surface formed in the first mating part, a second mating surface formed in the second mating part, and an arc-shaped mating surface formed between the first mating part and the second mating part.

4. The hoverable unmanned aerial vehicle as described in claim 1, characterized in that, The arm includes two sets of first support arms and two sets of second support arms. The length of the first support arms is greater than that of the second support arms. The two sets of first support arms are symmetrically distributed about their contact surfaces, and the two sets of second support arms are symmetrically distributed about their contact surfaces.

5. The hoverable unmanned aerial vehicle as described in claim 4, characterized in that, The first support arm is also provided with a reinforcing arm at its distal end. The reinforcing arms on the two sets of the first support arms extend toward each other and abut at their ends. The reinforcing arm is provided with a fifth connecting hole. The upper cover plate and the lower cover plate are both provided with a sixth connecting hole corresponding to the fifth connecting hole along the thickness direction. The reinforcing arm is connected to the upper cover plate and the lower cover plate by screws that pass through the fifth connecting hole and the sixth connecting hole.

6. The hoverable unmanned aerial vehicle as described in claim 1, characterized in that, The number of pressure sensors is the same as the number of arms, and the pressure sensors are located on the outside of the upper cover plate in the horizontal direction. The pressure sensors can be selectively installed in the first mounting hole or the second mounting hole.

7. The hoverable unmanned aerial vehicle as described in any one of claims 1 to 6, characterized in that, The unmanned aerial vehicle also includes a power unit located at the outer end of the arm. The power unit includes a motor and a propeller that is driven to rotate by the motor. The edge of the load-bearing plate extends downward to form a protective plate at a position corresponding to the propeller.

8. The hoverable unmanned aerial vehicle as described in claim 7, characterized in that, The load-bearing plate has a grid-like hollow structure and is made of carbon fiber.

9. The hoverable unmanned aerial vehicle as described in any one of claims 1 to 6, characterized in that, Both the upper and lower cover plates are provided with heat dissipation notches, and both the upper and lower cover plates are provided with a seventh connection hole and an eighth connection hole around the heat dissipation notches; The unmanned aerial vehicle also includes a flight control unit, an electronic speed controller (ESC) unit, and a main control unit. The seventh connecting hole on the upper cover is used to install the flight control unit with screws, and the seventh connecting hole on the lower cover is used to install the ESC unit with screws. The main control unit is fixedly installed between the upper and lower cover by screws that pass through its edge and the eighth connecting hole, and the main control unit is located at the heat dissipation notch.

10. The hoverable unmanned aerial vehicle as described in any one of claims 1 to 6, characterized in that, The unmanned aerial vehicle also includes a battery unit and a battery box for mounting the battery unit, the battery box being secured to the lower cover plate by studs.

11. The hoverable unmanned aerial vehicle as described in claim 10, characterized in that, The unmanned aerial vehicle also includes an image acquisition unit, which includes a head-up camera mounted on the side wall of the battery box, a downward-facing camera mounted on the bottom wall of the battery box, and an optical flow sensor mounted on the bottom wall of the battery.

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