Drones

Abstract

The utility model discloses an unmanned plane, unmanned plane includes unmanned plane middle frame and attitude measurement subassembly, and attitude measurement subassembly includes attitude measurement module and positioning module, and positioning module is used as the counterweight of attitude measurement module, and attitude measurement module is connected in unmanned plane middle frame through damping structure. Thus, relative to the unmanned plane of relevant technology, the attitude measurement subassembly of unmanned plane of the application is connected with unmanned plane middle frame through damping structure, and it is unnecessary to adopt support structure, reduces the assembly link, helps to reduce the cumulative installation error of the assembly of many components, and reduces the additional adapter, thereby helping to reduce the overall weight of unmanned plane, and further helping to improve the endurance of unmanned plane.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to an unmanned aerial vehicle (UAV). Background Technology

[0002] Currently, drone motors generate high-frequency vibrations, which affect the drone's attitude measurement components. To ensure the proper functioning of these components, drones typically employ vibration damping measures. However, most drones in this technology mount the attitude measurement components to a bracket and then connect them to the drone's fuselage using shock-absorbing balls. This bracket design not only increases installation errors but also adds to the drone's weight. Utility Model Content

[0003] This invention provides an unmanned aerial vehicle (UAV) to improve at least one of the aforementioned problems.

[0004] The present invention achieves the above objectives through the following technical solutions.

[0005] In a first aspect, the present invention provides a shock-absorbing device. The drone includes a drone frame and an attitude measurement component. The attitude measurement component includes an attitude measurement module and a positioning module. The positioning module is used as a counterweight for the attitude measurement module. The attitude measurement module is connected to the drone frame through a shock-absorbing structure.

[0006] In some implementations, the UAV mid-frame includes a mid-frame shell and a mid-frame bracket, with the mid-frame bracket connected to the mid-frame shell; the attitude measurement module includes a circuit board, a positioning module is mounted on the circuit board, and the circuit board is connected to the mid-frame bracket via a shock-absorbing structure.

[0007] In some embodiments, the circuit board is spaced apart from the mid-frame support; and / or, the circuit board is spaced apart from the mid-frame housing.

[0008] In some embodiments, the middle frame housing and the middle frame bracket enclose a receiving space, the circuit board is spaced apart from the middle frame bracket, the circuit board is located on the side of the middle frame bracket away from the receiving space, the middle frame bracket is provided with heat dissipation holes, the heat dissipation holes are connected to the receiving space, and the circuit board is exposed through the heat dissipation holes.

[0009] In some embodiments, the mid-frame support is provided with a weight-reducing groove; and / or, the mid-frame support is provided with a weight-reducing through hole.

[0010] In some embodiments, the middle frame support is provided with a limiting cylinder, one end of the shock-absorbing structure is connected to the circuit board, the other end of the shock-absorbing structure is connected to the limiting cylinder, and the shock-absorbing structure is partially located inside the limiting cylinder.

[0011] In some embodiments, the damping structure includes a first stop, a damping part, and a second stop connected in sequence. The damping structure extends through the circuit board and the limiting cylinder. The circuit board abuts between the first stop and the damping part, and the limiting cylinder abuts between the damping part and the second stop. The second stop is located inside the limiting cylinder.

[0012] In some implementations, the damping structure has a central channel that extends through two opposite end faces of the damping structure.

[0013] In some embodiments, the drone mid-frame includes a top cover connecting portion and a bottom cover connecting portion, which are respectively disposed on opposite sides of the drone mid-frame. The top cover connecting portion is located between the attitude measurement component and the bottom cover connecting portion, and the attitude measurement component is located outside the drone mid-frame.

[0014] In some embodiments, the attitude measurement module includes an attitude sensor and a circuit board, and the positioning module includes a GPS antenna and a GPS chip. The circuit board has a first side and a second side arranged opposite to each other, with the GPS antenna and attitude sensor located on the first side and the GPS chip located on the second side.

[0015] The drone provided in this embodiment includes a drone frame and an attitude measurement component. The attitude measurement component includes an attitude measurement module and a positioning module. The positioning module acts as a counterweight for the attitude measurement module, and the attitude measurement module is connected to the drone frame via a shock-absorbing structure. Thus, compared to drones of related technologies, the attitude measurement component of the drone in this application is connected to the drone frame via a shock-absorbing structure, eliminating the need for a support structure, reducing assembly steps, helping to reduce cumulative installation errors caused by assembling multiple components, and reducing additional adapters, thereby helping to reduce the overall weight of the drone and thus improving its endurance. Furthermore, the drone can use the weight of the positioning module to counterweight the attitude measurement module, thereby avoiding the need for additional counterweights to reduce high-frequency vibrations, and thus helping to reduce the impact of high-frequency vibrations on the attitude measurement module. Furthermore, the attitude measurement component is connected to the drone's mid-frame via a vibration damping structure. As the main structural part of the drone, the mid-frame is directly connected to the vibration damping structure. High-frequency vibrations experienced by the mid-frame (such as high-frequency vibrations generated by the collision of external airflow with the mid-frame, or high-frequency vibrations generated by the operation of the drone's motors and transmitted to the mid-frame) can be transmitted to the vibration damping structure. This allows the vibration damping structure to absorb the high-frequency vibrations experienced by the mid-frame more efficiently. As a result, the vibration damping structure not only improves the vibration isolation effect of the attitude measurement component, but also reduces the propagation and accumulation of high-frequency vibration energy in the drone, thereby helping to reduce the potential interference of high-frequency vibrations to other electronic components. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of the UAV provided in this embodiment of the present invention is shown.

[0018] Figure 2 It shows Figure 1 A schematic diagram of part of the structure of a Chinese unmanned aerial vehicle (UAV).

[0019] Figure 3 It shows Figure 2 A cross-sectional schematic diagram of part of the structure of the Chinese unmanned aerial vehicle.

[0020] Figure 4 It shows Figure 3 Enlarged diagram of point IV in the middle.

[0021] Figure 5 It shows Figure 2 A schematic diagram of the structure of the frame of the UAV.

[0022] Figure 6 It shows Figure 2 A schematic diagram of the assembly of the circuit board, attitude sensor and positioning module.

[0023] Figure 7 It shows Figure 2 A schematic diagram of a medium-voltage damping structure.

[0024] Figure 8 It shows Figure 2 A schematic diagram of part of the structure of the Chinese drone from another perspective.

[0025] Explanation of icon numbers:

[0026] The drone 10, battery module 20, attitude measurement component 100, attitude measurement module 100a, circuit board 110, first connecting through hole 111, first side 112, second side 113, attitude sensor 120, positioning module 200, GPS antenna 210, GPS chip 220, drone mid-frame 300, accommodating space 301, mid-frame shell 310, mid-frame bracket 320, heat dissipation through hole 321, weight reduction groove 322, limiting cylinder 330, second connecting through hole 331, top cover connecting part 340, bottom cover connecting part 350, shock absorption structure 400, first stop part 410, shock absorption part 420, second stop part 430, central channel 440, arm 510, motor 520, propeller blade 530. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the utility model without creative effort are within the scope of protection of the utility model.

[0028] The technical solutions in the embodiments of the utility model will now be clearly and completely described with reference to the accompanying drawings.

[0029] Please see Figure 1 This utility model provides a drone 10, which can be a fixed-wing unmanned aircraft, a vertical take-off and landing unmanned aircraft, an unmanned airship, a multi-rotor unmanned aerial vehicle, an unmanned paraglider, etc. In the following embodiments, the drone 10 is a multi-rotor drone.

[0030] Please see Figure 1 , Figure 2 and Figure 6 The drone 10 may include a drone frame 300 and an attitude measurement component 200. The attitude measurement component 200 may include an attitude measurement module 100a and a positioning module 200. The positioning module 200 serves as a counterweight for the attitude measurement module 100a. The attitude measurement module 100a can be connected to the drone frame 300 via a shock-absorbing structure 400. Thus, compared to drones of related technologies, the attitude measurement component 100 of the drone 10 of this application is connected to the drone frame 300 via the shock-absorbing structure 400, eliminating the need for a support structure. This reduces assembly steps, helps reduce cumulative installation errors caused by assembling multiple components, and reduces additional adapters, thereby helping to reduce the overall weight of the drone 10 and thus improving its endurance.

[0031] In addition, the UAV 10 can use the weight of the positioning module 200 to counterweight the attitude measurement module 100a, thereby avoiding the need to set up additional counterweights to reduce high-frequency vibration, which in turn helps to reduce the impact of high-frequency vibration on the attitude measurement module 100a.

[0032] Furthermore, the attitude measurement component 100 is connected to the drone mid-frame 300 via the vibration damping structure 400. The drone mid-frame 300 is the main structural part of the drone 10. The vibration damping structure 400 is directly connected to the drone mid-frame 300. High-frequency vibrations experienced by the drone mid-frame 300 (such as high-frequency vibrations generated by the collision between external airflow and the drone mid-frame 300, or high-frequency vibrations generated and transmitted to the drone mid-frame 300 by the operation of the motor of the drone 10) can be transmitted to the vibration damping structure 400. This allows the vibration damping structure 400 to absorb the high-frequency vibrations experienced by the drone mid-frame 300 more efficiently. As a result, the vibration damping structure 400 can not only improve the vibration isolation effect of the attitude measurement component 100, but also reduce the propagation and accumulation of high-frequency vibration energy in the drone 10, thereby helping to reduce the potential interference of high-frequency vibrations to other electronic components.

[0033] Please see Figure 2 In some embodiments, the UAV mid-frame 300 may include a mid-frame shell 310 and a mid-frame support 320, with the support 320 connected to the shell 310. The attitude measurement module 100a may include a circuit board 110, and the positioning module 200 may be mounted on the circuit board 110. The circuit board 110 can be connected to the support 320 via a shock-absorbing structure 400. Specifically, the shell 310, as the outermost shell structure of the UAV 10, is in direct contact with the external environment. During operation, the shell 310 is susceptible to strong vibrations caused by airflow, wind pressure changes, and landing impacts. The circuit board 110 is directly connected to the support 320 via the shock-absorbing structure 400, allowing the support 320 and the shock-absorbing structure 400 to form a buffer zone. This effectively absorbs and disperses the vibration energy transmitted from the shell 310, thus helping to reduce the impact of vibration energy on the circuit board 110.

[0034] Please see Figure 2 and Figure 3 In some embodiments, the circuit board 110 may be spaced apart from the mid-frame support 320. This allows for a certain space between the circuit board 110 and the mid-frame support 320, enabling the damping structure 400 to be mounted between the circuit board 110 and the mid-frame support. Furthermore, the space between the circuit board 110 and the mid-frame support 320 provides an airflow channel for the circuit board 110, facilitating heat dissipation from the surface of the circuit board 110 and thus helping to reduce the risk of performance degradation of the circuit board 110 in high-temperature environments.

[0035] Furthermore, the circuit board 110 and the mid-frame support 320 are spaced apart. In this way, the mid-frame support 320 will not directly transmit the vibration and impact caused by the external environment to the circuit board 110, so that the mid-frame support 320 and the shock-absorbing structure 400 can disperse the vibration and impact transmitted from the mid-frame housing 310.

[0036] In some embodiments, the circuit board 110 is spaced apart from the mid-frame housing 310. This prevents the mid-frame housing 310 from directly transmitting vibrations and impacts from the external environment to the circuit board 110, allowing the mid-frame support 320 and the shock-absorbing structure 400 to disperse the vibrations and impacts transmitted from the mid-frame housing 310. Furthermore, the space between the circuit board 110 and the mid-frame housing 310 provides an airflow channel for the circuit board 110, facilitating heat dissipation from its surface and reducing the risk of performance degradation in high-temperature environments. Moreover, the spaced-apart arrangement between the circuit board 110 and the mid-frame housing 310 reduces the risk of direct physical contact between them, thus minimizing the risk of collision.

[0037] Please see Figure 2 and Figure 5 In some embodiments, the mid-frame housing 310 and the mid-frame support 320 can enclose and form a receiving space 301. The circuit board 110 can be spaced apart from the mid-frame support 320, and the circuit board 110 can be located on the side of the mid-frame support 320 opposite to the receiving space 301. The mid-frame support 320 can be provided with heat dissipation holes 321, which can communicate with the receiving space 301, and the circuit board 110 can be exposed through the heat dissipation holes 321. Specifically, the drone 10 can be provided with a heat dissipation structure such as a fan, which can drive air along the height direction of the mid-frame housing 310 to carry away the heat generated by the drone 10 during operation. In this way, the mid-frame support 320 is provided with heat dissipation holes 321, the circuit board 110 is exposed through the heat dissipation holes 321, and together with the heat dissipation structure inside the drone 10 (not shown in the figure), an efficient heat dissipation mechanism can be formed. The heat dissipation structure can drive airflow along the height direction of the mid-frame housing 310. The airflow can act on the heat-generating area of ​​the circuit board 110 through the heat dissipation holes 321, accelerating the transfer and dissipation of heat, effectively reducing the risk of performance degradation or damage to the electronic components of the drone 10 due to overheating, thereby helping to improve the continuous operation capability and stability of the drone 10.

[0038] Please see Figure 1 and Figure 5In some embodiments, the drone 10 may further include a battery module 20, which provides power to the electronic components of the drone 10. The battery module 20 may be mounted in the drone frame 300, for example, within a housing space 301, thereby helping to reduce the risk of the battery module 20 being exposed to the external environment, so that the drone frame 300 can protect the battery module 20.

[0039] Please see Figure 5 In some embodiments, the mid-frame support 320 may be provided with a weight-reducing groove 322. In this way, the weight-reducing groove 322 of the mid-frame support 320 can reduce the weight of the mid-frame support 320, thereby helping to reduce the overall weight of the drone 10.

[0040] In some embodiments, the mid-frame support 320 is provided with weight-reducing through-holes (not shown), which can extend through both opposite sides of the mid-frame support 320. In this way, the weight-reducing through-holes can reduce the weight of the mid-frame support 320, thereby contributing to a reduction in the overall weight of the drone 10. Furthermore, the shape of the weight-reducing through-holes can be designed according to actual needs, allowing them to guide airflow in a specific direction so that air can directly cool the critical heat-generating areas of the drone 10.

[0041] Please see Figures 3 to 5 In some embodiments, the mid-frame support 320 may be provided with a limiting cylinder 330. One end of the shock-absorbing structure 400 may be connected to the circuit board 110, and the other end of the shock-absorbing structure 400 may be connected to the limiting cylinder 330. The shock-absorbing structure 400 is partially located within the limiting cylinder 330. Specifically, since the shock-absorbing structure 400 is partially located within the limiting cylinder 330, the limiting cylinder 330 can control the range of motion of the shock-absorbing structure 400, so that the shock-absorbing structure 400 can deform when subjected to external force, while avoiding excessive displacement.

[0042] In some implementations, the damping structure 400 can be selected from multiple options. For example, the damping structure 400 can be a damping ball; or, for example, the damping structure 400 can be a spring. The specific choice can be made according to the actual situation.

[0043] Please see Figures 4 to 7In this embodiment, the shock-absorbing structure 400 may include a first stop 410, a shock-absorbing part 420, and a second stop 430 connected in sequence. The shock-absorbing structure 400 passes through the circuit board 110 and the limiting cylinder 330. The circuit board 110 abuts between the first stop 410 and the shock-absorbing part 420, and the limiting cylinder 330 abuts between the shock-absorbing part 420 and the second stop 430. The second stop 430 is located inside the limiting cylinder 330. Specifically, the circuit board 110 is provided with a first connecting through hole 111, and the shock-absorbing structure 400 can pass through the first connecting through hole 111, so that the shock-absorbing structure 400 can pass through the circuit board 110 through the first connecting through hole 111. The diameter of the first connecting through hole 111 can be larger than the outer diameter of the connection between the first stop portion 410 and the shock-absorbing portion 420. The diameter of the first connecting through hole 111 is smaller than the outer diameters of the first stop portion 410 and the shock-absorbing portion 420, thereby allowing the circuit board 110 to abut between the first stop portion 410 and the shock-absorbing portion 420. The limiting cylinder 330 can be provided with a second connecting through hole 331, through which the shock-absorbing structure 400 can pass, allowing the shock-absorbing structure 400 to penetrate the limiting cylinder 330. The diameter of the second connecting through hole 331 can be larger than the outer diameter of the connection between the second stop portion 430 and the shock-absorbing portion 420. The diameter of the second connecting through hole 331 is smaller than the outer diameters of the second stop portion 430 and the shock-absorbing portion 420, thereby allowing the limiting cylinder 330 to abut between the shock-absorbing portion 420 and the second stop portion 430. In this way, the shock-absorbing structure 400 can be stably connected to the circuit board 110 and the limiting cylinder 330, making it difficult for the circuit board 110 to detach from the shock-absorbing structure 400 and for the shock-absorbing structure 400 to detach from the limiting cylinder 330. This helps the circuit board 110 to be stably connected to the limiting cylinder 330 through the shock-absorbing structure 400.

[0044] In some embodiments, there are multiple shock-absorbing structures 400, each of which is connected to the circuit board 110 and the drone frame 300. Thus, having multiple shock-absorbing structures 400 helps to absorb external impacts and vibrations from multiple locations.

[0045] Please see Figure 2 In some embodiments, multiple damping structures 400 can be arranged in an array. In this way, the multiple damping structures 400 are distributed in different positions, so that the multiple damping structures 400 can absorb external impacts and vibrations more evenly.

[0046] Please see Figure 4In some embodiments, the damping structure 400 may have a central channel 440, which may extend through two opposite end faces of the damping structure 400. The central channel 440 may extend through the two end faces of the damping structure 400 along its axial direction, thereby facilitating deformation of the damping structure 400 and making it easier for the damping structure 400 to absorb the high-frequency vibration energy generated by the motor operation.

[0047] Please see Figure 8 In some embodiments, the drone frame 300 may include a top cover connecting portion 340 and a bottom cover connecting portion 350. The top cover connecting portion 340 and the bottom cover connecting portion 350 are respectively disposed on opposite sides of the drone frame 300 along the height direction of the drone frame 300. The top cover connecting portion 340 may be located between the attitude measurement component 100 and the bottom cover connecting portion 340. For example, the overall outer contour of the drone frame 300 may be roughly rectangular, and the circuit board 110, the top cover connecting portion 340, and the bottom cover connecting portion 350 are arranged sequentially along the height direction of the drone frame 300. The attitude measurement component 100 is located outside the drone frame 300. Specifically, the top cover connecting part 340 can be connected to the top cover of the drone 10, the bottom cover connecting part 350 can be connected to the bottom cover of the drone 10, and the attitude measurement component 100 can be located at the top of the drone frame 300, so that other electronic components installed in the drone frame 300 can be kept away from the attitude measurement component 100, thereby reducing the electromagnetic interference of the electronic components in the drone frame 300 to the attitude measurement component 100.

[0048] In some implementations, the positioning module 200 can be selected from multiple options. For example, the positioning module 200 can be a GPS positioning module; or, for another example, the positioning module 200 can be a BeiDou satellite positioning module.

[0049] In this embodiment, the positioning module 200 is a GPS positioning module. The positioning module 200 is located outside the UAV frame 300, which helps the positioning module 200 to receive satellite signals, thereby helping to improve the positioning accuracy and flight control stability of the UAV 10.

[0050] Please see Figure 4 and Figure 6In some embodiments, the attitude measurement module 100a may include an attitude sensor 120 and a circuit board 110, and the positioning module 200 may include a GPS antenna 210 and a GPS chip 220. The circuit board 110 has a first side 112 and a second side 113 that can be arranged opposite to each other. The GPS antenna 210 and the attitude sensor 120 may be located on the first side 112, and the GPS chip 220 may be located on the second side 113. This helps to make reasonable use of the space of the circuit board 110 by the attitude sensor 120 and the positioning module 200, thereby helping to reduce the volume of the circuit board 110 and thus helping to reduce the overall weight of the UAV 10.

[0051] In some implementations, the attitude sensor 120 can be selected from various options. For example, the attitude sensor 120 can be an inertial measurement unit (IMU); or, for example, the attitude sensor 120 can be a gyroscope.

[0052] Please see Figure 1 and Figure 2 In some embodiments, the drone 10 may further include an arm 510, which is hinged to the drone frame 300 via hinges or pivots. The arm 510 is equipped with a motor 520 and propellers 530, and the motor 520 can drive the propellers 530 to rotate. The high-frequency vibration generated by the operation of the motor 520 can be transmitted to the vibration damping structure 400 through the drone frame 300, allowing the vibration damping structure 400 to more efficiently absorb and disperse the high-frequency vibration generated by the operation of the motor 520. This not only improves the vibration isolation effect of the attitude measurement component 100, but also reduces the propagation and accumulation of high-frequency vibration energy in the drone 10, thereby further helping to reduce the potential interference of high-frequency vibration to other electronic components.

[0053] In this utility model, unless otherwise explicitly specified or limited, the terms "installation," "connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection; they can be a direct connection or an indirect connection via an intermediate medium; they can be a connection within two components; they can be merely surface contact; or a surface contact connection via an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0054] Furthermore, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as referring to specific or particular structures. The description of "some embodiments" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the utility model. In the utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate different embodiments or examples described in the utility model, as well as the features of different embodiments or examples.

[0055] The above embodiments are only used to illustrate the technical solutions of the utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the utility model, and should all be included within the protection scope of the utility model.

Claims

1. A drone, characterized in that, include: A drone mid-frame, the drone mid-frame including a mid-frame shell and a mid-frame bracket, the mid-frame bracket being connected to the mid-frame shell; as well as An attitude measurement component includes an attitude measurement module and a positioning module. The attitude measurement module includes a circuit board, and the positioning module is mounted on the circuit board and serves as a counterweight for the attitude measurement module. The circuit is directly connected to the mid-frame support through a shock-absorbing structure.

2. The drone of claim 1, wherein, The circuit board is spaced apart from the mid-frame support; and / or, the circuit board is spaced apart from the mid-frame housing.

3. The drone of claim 1, wherein, The middle frame shell and the middle frame bracket enclose a receiving space. The circuit board is spaced apart from the middle frame bracket. The circuit board is located on the side of the middle frame bracket away from the receiving space. The middle frame bracket is provided with heat dissipation holes that communicate with the receiving space. The circuit board is exposed through the heat dissipation holes.

4. The drone of claim 1, wherein, The middle frame support is provided with a weight reduction groove; and / or, the middle frame support is provided with a weight reduction through hole.

5. The drone of claim 1, wherein, The middle frame support is provided with a limiting cylinder. One end of the shock-absorbing structure is connected to the circuit board, and the other end of the shock-absorbing structure is connected to the limiting cylinder. The shock-absorbing structure is partially located inside the limiting cylinder.

6. The drone of claim 5, wherein, The shock-absorbing structure includes a first stop, a shock-absorbing part, and a second stop connected in sequence. The shock-absorbing structure passes through the circuit board and the limiting cylinder. The circuit board abuts between the first stop and the shock-absorbing part, and the limiting cylinder abuts between the shock-absorbing part and the second stop. The second stop is located inside the limiting cylinder.

7. The drone of claim 5, wherein, The shock-absorbing structure has a central channel that runs through the two opposite end faces of the shock-absorbing structure.

8. The drone of claim 1, wherein, The drone mid-frame includes a top cover connecting part and a bottom cover connecting part, which are respectively disposed on opposite sides of the drone mid-frame. The top cover connecting part is located between the attitude measurement component and the bottom cover connecting part, and the attitude measurement component is located outside the drone mid-frame.

9. The drone of claim 1, wherein, The attitude measurement module includes an attitude sensor and a circuit board, and the positioning module includes a GPS antenna and a GPS chip. The circuit board has a first side and a second side arranged opposite to each other. The GPS antenna and the attitude sensor are located on the first side, and the GPS chip is located on the second side.

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