Movable platform

Abstract

A movable platform (100), comprising a main body (10) and a detection sensor (20), wherein the main body (10) comprises a head portion (11) and a tail portion (12), and the top of the main body (10) comprises a first region (13) and a second region (14), the second region (14) being closer to the tail portion (12) than the first region (13); and the detection sensor (20) is arranged in the first region (13). The second region (14) is inclined by a preset inclination angle in the direction from the head portion (11) to the tail portion (12) and relative to a roll axis of the movable platform (100), the preset inclination angle being greater than or equal to an angle between a lower boundary of a vertical field of view of the detection sensor (20) and the roll axis. When the movable platform (100) is in a preset state, the first region (13) is higher than the second region (14), the preset state comprising an unactivated state or a state in which the position remains unchanged in a windless environment.

Description

Mobile platform Technical Field

[0001] This application relates to the field of mobile device technology, and more particularly to a mobile platform. Background Technology

[0002] Currently, mobile platforms are being used more and more widely in the industry. However, in existing technologies, the structural design of mobile platforms is often not very reasonable, resulting in a poor user experience when multiple workloads are carried on the mobile platform. Summary of the Invention

[0003] This application provides a mobile platform designed to make the structural design of the mobile platform reasonable.

[0004] The first embodiment of this application provides a mobile platform, including:

[0005] The main body includes a head and a tail, and the top of the main body includes a first region and a second region, wherein the second region is closer to the tail than the first region;

[0006] A detection sensor is located in the first area;

[0007] Wherein, the second region is tilted at a preset angle relative to the roll axis of the movable platform in the direction from the head to the tail, and the preset angle is greater than or equal to the angle between the lower boundary of the vertical field of view of the detection sensor and the roll axis;

[0008] When the mobile platform is in a preset state, the first area is higher than the second area. The preset state includes a non-activated state or a state in which the position remains unchanged in a windless environment.

[0009] The movable platform provided in this application embodiment enables the main body of the movable platform to not fall into the sensing range of the detection sensor, thereby increasing the sensing range of the detection sensor for sensing the area around the movable platform.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 is a schematic diagram of the structure of a mobile platform provided in an embodiment of this application;

[0013] Figure 2 is a partial structural schematic diagram of a mobile platform provided in an embodiment of this application;

[0014] Figure 3 is a schematic diagram of the structure of a mobile platform provided in an embodiment of this application;

[0015] Figure 4 is a partial schematic diagram of a mobile platform provided in an embodiment of this application;

[0016] Figure 5 is a partial structural schematic diagram of a mobile platform provided in an embodiment of this application, showing at least a portion of the main body;

[0017] Figure 6 is a partial structural schematic diagram of a mobile platform provided in an embodiment of this application, showing at least a portion of the main body;

[0018] Figure 7 is a partial structural schematic diagram of a mobile platform provided in an embodiment of this application, showing at least a portion of the main body;

[0019] Figure 8 is an exploded view of a mobile platform provided in an embodiment of this application;

[0020] Figure 9 is a schematic diagram of a heat dissipation structure provided in an embodiment of this application;

[0021] Figure 10 is a cross-sectional view of a heat dissipation structure provided in an embodiment of this application;

[0022] Figure 11 is a partial structural schematic diagram of a heat dissipation structure provided in an embodiment of this application;

[0023] Figure 12 is an exploded view of a heat dissipation structure provided in an embodiment of this application;

[0024] Figure 13 is a partial structural schematic diagram of a mobile platform provided in an embodiment of this application, showing at least a portion of the main body;

[0025] Figure 14 is a schematic diagram of the structure of a movable platform provided in an embodiment of this application, wherein the robotic arm is folded;

[0026] Figure 15 is a partial cross-sectional view of a movable platform provided in an embodiment of this application;

[0027] Figure 16 is a cross-sectional view of the middle frame provided in an embodiment of this application.

[0028] Explanation of reference numerals in the attached drawings: 100, Movable platform; 10, Main body; 11, Head; 12, Tail; 13, First area; 14, Second area; 16, Arm; 161, Front arm; 162, Rear arm; 17, Power system; 171, Rotor assembly; 171a, Front rotor assembly; 171b, Rear rotor assembly; 1711, Power motor; 1712, Propeller; 17121, Blade; 17122, Front blade; 17123, Rear blade; 18, Mid-frame; 181, Crossbeam; 182, Mounting section; 183, Plastic part; 184, Reinforcing member; 191, Landing gear; 1911, Landing legs; 192, Avionics bay outer shell; 193, Battery; 1931, Lug; 194, Battery compartment outer shell; 101, Connecting port; 20. Detection sensor; 30. Vision sensor; 31. First vision sensor; 32. Second vision sensor; 40. Radar sensor; 50. TOF sensor; 60. Circuit board structure; 60a. Circuit board; 61. First circuit board; 62. Second circuit board; 621. First interface; 63. Third circuit board; 631. Second interface; 70. Heat dissipation structure; 71. Air duct body; 72. Air duct; 721. First sub-air duct; 722. Second sub-air duct; 723. First air outlet; 724. Second air outlet; 73. Heat sink; 731. Substrate; 7311. First side; 7312. Second side; 732. Fin section; 7321. Heat dissipation fin; 7322. Channel; 733. First heat sink; 734. Second heat sink; 735. Third heat sink; 74. Fan; 80. Load system. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0030] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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 of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a," "an," and "the" are intended to include the plural forms. In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented as: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be a single item or multiple items.

[0032] This application provides a mobile platform. The mobile platform may include at least one of the following: an aircraft, a robot, a mobile vehicle, a mobile vessel, etc. The aircraft may include a rotorcraft, a fixed-wing aircraft, or a hybrid fixed-wing / rotorcraft. The aircraft may include manned or unmanned aircraft. The rotorcraft may include a single-rotor or multi-rotor aircraft, and the multi-rotor aircraft may include: a dual-rotor, a tri-rotor, a quadcopter, a hexacopter, an octacopter, a decacopter, a dodecacopter, etc. The robot includes at least one of the following: a cleaning robot, a service robot, etc. The cleaning robot can be used for cleaning operations, improving cleaning efficiency and reducing manual labor. The cleaning robot may include at least one of the following: a sweeper, a floor scrubber, a mop, etc. The service robot is used for at least one of the following: catering, delivery, transportation, etc., to provide convenient services.

[0033] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] Understandably, detection sensors such as radar can be used to detect the surrounding environment of a mobile platform to obtain at least one of the following information: the azimuth, distance, normal vector, velocity, and shape of targets in the surrounding environment. However, in related technologies, due to unreasonable structural design of the mobile platform, the field of view of the detection sensors is often severely obstructed by the main body of the mobile platform, resulting in a large blind zone for the detection sensors and insufficient overall perception capability of the detection sensors regarding the surrounding environment of the mobile platform.

[0035] Referring to Figures 1 and 2, one embodiment of this application provides a movable platform 100, including a main body 10 and a detection sensor 20. The main body 10 includes a head 11 and a tail 12. The top of the main body 10 includes a first region 13 and a second region 14, with the second region 14 being closer to the tail 12 than the first region 13. The detection sensor 20 is disposed in the first region 13. The second region 14 is tilted at a preset angle α relative to the roll axis of the movable platform 100 from the head 11 to the tail 12. The preset angle α is greater than or equal to the angle between the lower boundary of the vertical field of view of the detection sensor 20 and the roll axis. In a preset state, the first region 13 is higher than the second region 14. The preset state includes an inactive state or a state where the position remains unchanged in a windless environment.

[0036] In the above embodiment of the movable platform 100, since the detection sensor 20 is located in the first region 13 at the top of the main body 10, and the second region 14 is tilted at a preset angle α relative to the roll axis of the movable platform 100 from the head 11 to the tail 12, the preset angle α is greater than or equal to the angle between the lower boundary of the vertical field of view of the detection sensor 20 and the roll axis. When the movable platform 100 is in a preset state, the first region 13 is higher than the second region 14. Therefore, the field of view of the detection sensor 20 can effectively avoid the second region 14 and / or other structural components of the movable platform 100. This reduces the probability that the oblique downward field of view of the detection sensor 20 will be blocked by the main body 10, thus forming a blind spot. This is beneficial for the detection sensor 20 to obtain a larger detection range, minimizes the perception blind spot of the detection sensor 20, greatly improves the overall perception capability of the movable platform 100, and effectively improves the safety performance and task execution capability of the movable platform 100. The structural design of the movable platform 100 is reasonable.

[0037] For example, the second region 14 is located outside the detection range of the detection sensor 20 to prevent the second region 14 or the main body 10 from obstructing the field of view of the detection sensor 20, so that the detection sensor 20 can obtain a larger detection range.

[0038] For example, the head 11 of the main body 10 may be a load-bearing portion, such as a main imaging sensor, which can be directly mounted or mounted on the main body 10 via an attitude adjustment structure (e.g., a gimbal or robotic arm). For example, the head 11 of the main body 10 may be a default-defined main portion. For example, the head 11 of the main body 10 may be a forward portion along the direction of travel when the movable platform 100 moves. For example, if the movable platform 100 includes an aircraft, the head 11 of the main body 10 may also be the nose of the aircraft. The tail 12 of the main body 10 may be a portion positioned rearward relative to the head 11 of the main body 10. For example, if the movable platform 100 includes an aircraft, the tail 12 of the main body 10 may be the tail of the aircraft.

[0039] For example, the top of the body 10 may include at least a portion of the top of the head 11 and / or at least a portion of the top of the tail 12. For instance, the top of the body 10 connects the head 11 and the tail 12.

[0040] For example, in a preset state, the plane formed by the roll axis and pitch axis of the movable platform 100 is parallel to the horizontal plane.

[0041] The position of the roll axis of the mobile platform 100 changes with the attitude of the mobile platform 100; that is, the relative position of the roll axis to the mobile platform remains constant. For example, the mobile platform 100 includes an aircraft; when the aircraft is hovering, the position of the aircraft's roll axis relative to the external environment is different from the position of the aircraft's roll axis relative to the external environment when the aircraft is in forward or backward flight, but the position of the roll axis relative to the aircraft does not change with the attitude of the aircraft. For example, when the aircraft is hovering, the position of the aircraft's roll axis is parallel to the horizontal plane; when the aircraft is in forward or backward flight, the angle between the aircraft's roll axis and the horizontal plane is an acute angle, a right angle, or an obtuse angle.

[0042] For example, the roll axis of the movable platform 100 refers to the axis that runs from the head 11 of the movable platform 100 through the tail 12 of the movable platform 100. The pitch axis of the movable platform 100 is perpendicular to the roll axis, and the pitch axis of the movable platform 100 may be the axis that runs from the left side of the movable platform 100 through the right side of the movable platform 100. The yaw axis of the movable platform 100 is perpendicular to both the roll axis and the pitch axis, and the yaw axis of the movable platform 100 may be the axis that runs from the top of the movable platform 100 through the bottom of the movable platform 100.

[0043] For example, the mobile platform 100 includes an aircraft, and preset states include an inactive state or a state in which the aircraft remains stationary in a windless environment. The state in which the aircraft remains stationary in a windless environment includes a hovering state.

[0044] For example, the mobile platform 100 includes a mobile vehicle, robot, or mobile vessel, and its preset states include an inactive state or a state in which its position remains unchanged in a windless environment. The state in which its position remains unchanged in a windless environment includes a state in which it is activated but not moving in place.

[0045] Referring to Figure 3, the detection sensor 20 is disposed on the main body 10. Exemplarily, the movable platform 100 also includes a robotic arm 16 connected to the main body 10. The robotic arm 16 and the main body 10 may be detachably connected; alternatively, they may be non-detachably connected. The robotic arm 16 and the main body 10 may be movably connected, and their relative position can be adjusted when connected. In some embodiments, the robotic arm 16 is movably connected to the main body 10 so that the robotic arm 16 can be deployed or folded. The number of robotic arms 16 can be designed according to actual needs, such as one, two, three, four, or more. Exemplarily, the number of robotic arms 16 includes multiple arms extending radially from the main body 10.

[0046] Referring to Figure 3, in some embodiments, the main body 10 includes a power system 17 for driving the movable platform 100 to move. The power system 17 can be a power mechanism that utilizes an electric motor, engine, electronic components, magnetic mechanisms, gravity, wind power, fuel, and / or other substances or components to provide a power source. Referring to Figure 3, exemplarily, the power system 17 may include a rotor assembly 171 for providing operational power to the movable platform 100. Exemplarily, the movable platform 100 includes an aircraft, and the rotor assembly 171 includes a power motor 1711 (not shown) and a propeller 1712. The power motor 1711 drives the propeller 1712 to rotate, thereby providing power for the aircraft's flight. The propeller 1712 includes blades 17121.

[0047] Referring to Figure 2, exemplarily, the angle between the lower boundary m of the vertical field of view of the detection sensor 20 and the roll axis is β, and the preset tilt angle α is greater than or equal to the angle β. Exemplarily, the roll axis of the movable platform 100 is parallel to the r direction in Figure 3.

[0048] Referring to Figure 2, by way of example, the second region 14, from the head 11 to the tail 12, is inclined downward relative to the roll axis of the movable platform 100, and the second region 14, from the head 11 to the tail 12, is inclined at a preset tilt angle α relative to the roll axis of the movable platform 100. The lower boundary m of the vertical field of view of the detection sensor 20 is inclined downward relative to the roll axis, and the lower boundary m of the vertical field of view of the detection sensor 20 has an angle β with the roll axis, and the preset tilt angle α is greater than or equal to the angle β.

[0049] For example, the shapes of the first region 13 and / or the second region 14 can be designed according to actual needs, such as including planes or curved surfaces. Referring to Figure 4, for example, when the second region 14 includes a curved surface, the portion of the second region 14 that is most likely to block the oblique downward field of view of the detection sensor 20 is tilted relative to the roll axis at a preset tilt angle α, and the preset tilt angle α is greater than or equal to the angle β between the lower boundary m of the vertical field of view of the detection sensor 20 and the roll axis.

[0050] The preset tilt angle α can be designed according to actual needs. For example, the range of the preset tilt angle α is (0°, 40°], that is, greater than 0° and less than or equal to 40°, such as a preset tilt angle of 5°, 10°, 20°, 30°, 40°, or any other suitable value between 0° and 40°. A preset tilt angle α within this range can minimize the sensing blind zone of the detection sensor 20 while also ensuring the stability and reliability of the mobile platform 100 during operation. For example, the range of the preset tilt angle is [10°, 25°], such as a preset tilt angle of 10°, 15°, 20°, 25°, or any other suitable value between 10° and 25°.

[0051] Referring to Figure 2, in some embodiments, when the movable platform 100 is in a preset state, the lower boundary m of the vertical field of view of the detection sensor 20 is inclined downward relative to the roll axis from the head 11 to the tail 12. The angle β between the lower boundary m of the vertical field of view of the detection sensor 20 and the roll axis ranges from [0°, 40°]. Thus, the detection sensor 20 can sense both the surrounding environment above and below the movable platform 100, which helps to increase the detection range of the detection sensor 20 and improve the sensing capability of the movable platform 100. When the movable platform 100 is in a preset state, the angle β between the lower boundary m of the vertical field of view of the detection sensor 20 and the roll axis is 0°, 10°, 20°, 30°, 40°, or any other suitable value between 0° and 40°.

[0052] Referring to Figure 2, in some embodiments, when the movable platform 100 is in a preset state, the upper boundary n of the vertical field of view of the detection sensor 20 is tilted upward relative to the roll axis, and the angle θ between the upper boundary n of the vertical field of view of the detection sensor 20 and the roll axis is in the range of [0°, 90°], such as 0°, 10°, 30°, 45°, 60°, 90° or any other suitable value between 0° and 90°. Thus, the detection sensor 20 can be used to perceive the surrounding environment above the movable platform 100. In some embodiments, the angle θ between the upper boundary n of the vertical field of view of the detection sensor 20 and the roll axis is in the range of [0°, 45°], such as the angle θ being in the range of 0°, 10°, 20°, 30°, 40°, 45° or any other suitable value between 0° and 45°.

[0053] In some embodiments, the horizontal field of view of the detection sensor 20 is equal to 360°. Thus, the detection sensor 20 can perform omnidirectional perception of the surrounding environment of the mobile platform 100 in a horizontal 360° range, and while achieving omnidirectional perception in a horizontal 360° range, it can also reduce the number of detection sensors 20, thereby reducing the hardware cost of the mobile platform 100 and reducing the weight and volume of the mobile platform 100.

[0054] In some embodiments, the detection sensor 20 includes at least one of the following: radar, visual perception sensor, etc. In some embodiments, the detection sensor 20 includes radar, which includes at least one of the following: lidar, millimeter-wave radar, ultrasonic radar, etc. Exemplarily, the detection sensor 20 includes lidar. In some embodiments, the visual perception sensor includes at least one of the following: fisheye camera, TOF (Time of Flight) sensor.

[0055] The number of detection sensors 20 can be designed according to actual needs, such as one, two or more.

[0056] In some embodiments, the detection sensor 20 is fixedly mounted on the main body 10. In this way, the detection sensor 20 is not easily detached from the main body 10, and the connection between the detection sensor 20 and the main body 10 is reliable.

[0057] In some embodiments, the detection sensor 20 is detachably connected to the main body 10. This allows the detection sensor 20 to be installed and removed as needed. When the detection sensor 20 is not required, it can be removed from the main body 10, allowing the main body 10 to be used independently without the detection sensor 20 installed, thus reducing the weight of the mobile platform 100 and extending its battery life. When the detection sensor 20 is needed, it can be quickly assembled to the main body 10. Replacement or maintenance of the detection sensor 20 is also convenient, as it can be quickly installed and removed.

[0058] Referring to Figure 5, in some embodiments, the mobile platform 100 further includes a vision sensor 30, which is disposed on the main body 10. The vision sensor 30 and the detection sensor 20 are spaced apart. The vision sensor 30 and the detection sensor 20 are of different types to broaden the application range of the mobile platform 100 and improve its perception capability. For example, the mobile platform 100 may also include a vision sensor 30, and the detection sensor 20 may include radar. Since the vision sensor 30 is easily affected by environmental changes, such as changes in lighting or obstructions, it may be difficult to perceive accurately. When the mobile platform 100 is in strong light or in adverse weather conditions such as rain or snow, the perception capability of the vision sensor 30 is limited. In this case, the detection sensor 20 can be used to accurately perceive the surrounding environment of the mobile platform 100, ensuring the safety, accuracy, and reliability of the mobile platform 100's operation.

[0059] In some embodiments, the vision sensor 30 includes a fisheye camera. Since a fisheye camera has a large sensing range, including a fisheye camera in the vision sensor 30 can reduce the number of vision sensors 30 required, thereby reducing the hardware cost of the mobile platform 100 and decreasing its weight and size.

[0060] The horizontal and / or vertical field of view of the vision sensor 30 can be designed according to actual needs. In some embodiments, the horizontal field of view of the vision sensor 30 ranges from [180° to 190°]. This large horizontal field of view helps to minimize the number of vision sensors 30 required, thus reducing the hardware cost, weight, and volume of the mobile platform 100, while maintaining a fixed horizontal sensing range. In some embodiments, the vertical field of view of the vision sensor 30 also ranges from [180° to 190°]. This large horizontal field of view further helps to minimize the number of vision sensors 30 required, while maintaining a fixed vertical sensing range, thus reducing the hardware cost, weight, and volume of the mobile platform 100.

[0061] Referring to Figure 5, in some embodiments, the visual sensor 30 of the movable platform 100 includes a first visual sensor 31, which is disposed on the top of the main body 10. This helps to reduce the probability that the main body 10 obstructs the field of view of the first visual sensor 31, thus reducing the blind spot of the first visual sensor 31. In some embodiments, the first visual sensor 31 is disposed in a first region 13. Since the first region 13 is higher than the second region 14 when the movable platform 100 is in a preset state, disposing the first visual sensor 31 in the first region 13 helps to minimize the probability that the main body 10 obstructs the field of view of the first visual sensor 31, thus minimizing the blind spot of the first visual sensor 31.

[0062] Referring to Figure 5, in some embodiments, the sensing direction of the first visual sensor 31 is away from the detection sensor 20 to avoid mutual interference between the first visual sensor 31 and the detection sensor 20, which is beneficial to improving the perception accuracy of the visual sensor 30 and / or the detection sensor 20. For example, the detection sensor 20 includes a lidar, and the sensing direction of the first visual sensor 31 is away from the lidar. In this way, the light signal emitted by the lidar can be prevented from heading towards the visual sensor 30, which is beneficial to improving the perception accuracy of the visual sensor 30.

[0063] In some embodiments, the number of first vision sensors 31 includes multiple sensors, which are arranged at intervals around the detection sensor 20. Thus, the movable platform 100 has a reasonable structural design, enabling the use of a smaller number of first vision sensors 31 while maximizing the sensing range of all first vision sensors 31. Fewer first vision sensors 31 also reduce the hardware cost, weight, and volume of the movable platform 100.

[0064] Referring to Figure 6, in some embodiments, when the mobile platform 100 is in a preset state, the optical axis q of the first vision sensor 31 is tilted upward relative to the roll axis. This increases the sensing range of the first vision sensor 31, allowing for the perception of a larger area of ​​the surrounding environment of the mobile platform 100 with a smaller number of first vision sensors 31. A smaller number of first vision sensors 31 also reduces the number of hardware components and the overall space occupied, while also reducing the overall weight and cost. For example, the number of first vision sensors 31 may include multiple sensors, each capable of perceiving at least the surrounding environment to the sides of the mobile platform 100. For instance, multiple first vision sensors 31 may be able to perceive the surrounding environment to the front, rear, left, and right of the mobile platform 100, ensuring the safe, reliable, and accurate operation of the mobile platform 100. The number of first vision sensors 31 includes multiple sensors. When the movable platform 100 is in a preset state, the optical axes of all first vision sensors 31 are tilted upward relative to the roll axis. In this way, multiple first vision sensors 31 can not only perceive the surrounding environment to the side of the movable platform 100, but also perceive the surrounding environment above the movable platform 100, without the need for an additional first vision sensor 31 for perceiving the surrounding environment above the movable platform 100. In some embodiments, the tilt angle δ of the optical axis q of the first vision sensor 31 relative to the roll axis is in the range of (0°, 60°), that is, greater than 0° and less than or equal to 60°. For example, the tilt angle δ of the optical axis q of the first vision sensor 31 relative to the roll axis is 5°, 10°, 30°, 45°, 60° or any other suitable angle between 0° and 60°.

[0065] In other embodiments, when the movable platform 100 is in a preset state, the optical axis of the first visual sensor 31 may also be parallel to the roll axis.

[0066] In some implementations, the number of first vision sensors 31 may be multiple, and any two adjacent first vision sensors 31 constitute a binocular system. In this way, the ranging accuracy of the first vision sensors 31 is higher, and they can perceive the depth information of the template object more accurately in complex environments, thus ensuring that the mobile platform 100 can operate more reliably.

[0067] Please refer to Figure 5. In some embodiments, the number of first vision sensors 31 includes four. The four first vision sensors 31 are used to collect environmental images of the main body 10 in five directions: front, back, left, right, and top. Therefore, the use of four first vision sensors 31 can effectively perceive objects in five directions, which improves the safety and accuracy of the operation of the mobile platform 100. In addition, the number of first vision sensors 31 is small, which helps to reduce the hardware cost of the mobile platform 100 and reduce the size and weight of the mobile platform 100.

[0068] Referring to Figure 5, in some embodiments, the number of first visual sensors 31 includes four, with two first visual sensors 31 located on one side of the first region 13 or head 11, and the other two first visual sensors 31 located on the opposite side of the first region 13 or head 11. This increases the sensing range of the four first visual sensors 31, improving the sensing capability of the movable platform 100.

[0069] Please refer to Figure 5. In some embodiments, the number of first vision sensors 31 includes four, with two first vision sensors 31 spaced apart on the front side of the first region 13 or the head 11, and the other two first vision sensors 31 spaced apart on the rear side of the first region 13 or the head 11.

[0070] Please refer to Figure 5. In some embodiments, the number of first vision sensors 31 includes four, with two first vision sensors 31 spaced apart on the left side of the first region 13 or the head 11, and the other two first vision sensors 31 spaced apart on the right side of the first region 13 or the head 11.

[0071] Referring to Figure 5, in some embodiments, the number of first visual sensors 31 includes four. The four first visual sensors 31 are respectively disposed at the four opposite corners of the first region 13 or the head 11, so as to minimize or avoid the main body 10 from obstructing the perception range of the first visual sensors 31, reduce the perception blind zone of the first visual sensors 31, and provide a guarantee for the mobile platform 100 to have good perception capabilities.

[0072] For example, when the mobile platform 100 is in a preset state, the second region 14 is tilted at a preset angle α relative to the roll axis of the mobile platform 100 from the head 11 to the tail 12. The preset angle α is greater than or equal to the angle ε between the lower boundary k of the vertical field of view of the first visual sensor 31 and the roll axis. Therefore, the field of view of the first visual sensor 31 can effectively avoid the second region 14 and / or other structural components of the mobile platform 100, which can reduce the probability that the oblique downward field of view of the first visual sensor 31 is blocked by the main body 10 and forms a blind spot. This is beneficial for the first visual sensor 31 to obtain a larger detection range, minimize the perception blind spot of the first visual sensor 31 as much as possible, greatly improve the overall perception capability of the mobile platform 100, and effectively improve the safety performance and task execution capability of the mobile platform 100.

[0073] Referring to Figure 6, in some embodiments, when the mobile platform 100 is in a preset state, the angle ε between the lower boundary k of the vertical field of view of the first visual sensor 31 and the roll axis is in the range of [0°, 40°]. For example, the angle ε can be 0°, 10°, 20°, 30°, 40°, or any other suitable value between 0° and 40°. For example, the mobile platform 100 includes an aircraft. When the mobile platform 100 is in a hovering state, the angle ε between the lower boundary k of the vertical field of view of the first visual sensor 31 and the roll axis is in the range of [0°, 40°]. Having the angle ε between the lower boundary k of the vertical field of view of the first visual sensor 31 and the roll axis within this range ensures both the stability and reliability of the mobile platform 100 during operation and minimizes the blind spot of the first visual sensor 31.

[0074] Referring to Figure 6, in some embodiments, the number of visual sensors 30 includes multiple sensors, including a first visual sensor 31 and a second visual sensor 32. The first visual sensor 31 is located on the top of the main body 10, and the second visual sensor 32 is located on the bottom of the main body 10. The first visual sensor 31 located on the top of the main body 10 is capable of sensing at least the surrounding environment of the top of the movable platform 100, and the second visual sensor 32 located on the bottom of the main body 10 is capable of sensing at least the surrounding environment of the bottom of the movable platform 100. Therefore, the arrangement of the first visual sensor 31 and the second visual sensor 32 can improve the sensing capability of the movable platform 100.

[0075] Referring to Figure 6, in some embodiments, the second visual sensor 32 is located at the bottom of the tail 12. Thus, the field of view of the second visual sensor 32 can cover not only the bottom of the mobile platform 100, but also, to a certain extent, the rear and / or rear-side of the mobile platform 100. This improves the perception capability of the mobile platform 100 without increasing the number of visual sensors 30, thereby enhancing the operational safety and reliability of the mobile platform 100. For example, the mobile platform 100 includes an aircraft, and the second visual sensor 32 is located at the bottom of the tail of the aircraft.

[0076] In some embodiments, the first vision sensor 31 and the second vision sensor 32 cooperate to perform omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions within a 360° range. Thus, the first vision sensor 31 and the second vision sensor 32 can achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions, effectively improving the operational safety, environmental adaptability, and task execution capability of the mobile platform 100.

[0077] Referring to Figures 5 and 7, in some embodiments, the number of first visual sensors 31 includes four, and the number of second visual sensors 32 includes two. Thus, the total sensing range of all visual sensors 30 is large, and the number of visual sensors 30 is small, reducing the hardware cost, weight, and volume of the mobile platform 100. For example, the four first visual sensors 31 and the two second visual sensors 32 enable 360° omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions.

[0078] Referring to Figure 7, in some embodiments, the number of second vision sensors 32 includes two, and the two second vision sensors 32 constitute a binocular system. In this way, the ranging accuracy of the second vision sensors 32 is higher, and they can more accurately perceive the depth information of the target object in complex environments, thus ensuring that the mobile platform 100 can operate more reliably.

[0079] Referring to Figure 6, in some embodiments, when the movable platform 100 is in a preset state, the optical axis p1 of the second vision sensor 32 is tilted downward relative to the roll axis, so that the field of view of the second vision sensor 32 can cover the bottom of the movable platform 100 as much as possible, thereby maximizing the sensing range of the bottom of the movable platform 100 and improving the sensing capability of the movable platform 100. In some embodiments, when the movable platform 100 is in the preset state, the tilt angle η of the optical axis p1 of the second vision sensor 32 relative to the roll axis is in the range of [60°, 120°], for example, the tilt angle is 60°, 70°, 80°, 90°, 100°, 110°, 120° or any other suitable angle between 60° and 120°. In other embodiments, when the movable platform 100 is in the preset state, the tilt angle η of the optical axis p1 of the second vision sensor 32 relative to the roll axis may also be less than 60° and greater than 0°.

[0080] Referring to Figure 6, in some embodiments, when the movable platform 100 is in a preset state, the optical axis p1 of the second vision sensor 32 is oriented toward the bottom of the movable platform 100, so that the field of view of the second vision sensor 32 can cover the bottom of the movable platform 100.

[0081] Referring to Figure 6, in some embodiments, when the movable platform 100 is in a preset state, the optical axis p1 of the second vision sensor 32 faces the bottom of the movable platform 100, and the rear boundary p2 of the vertical field of view of the second vision sensor 32 is tilted upward relative to the roll axis of the movable platform 100. Thus, the field of view of the second vision sensor 32 can cover not only the bottom of the movable platform 100, but also, to a certain extent, the rear and / or rear-side areas of the movable platform 100. This improves the perception capability of the movable platform 100 without increasing the number of vision sensors 30, thereby enhancing the operational safety and reliability of the movable platform 100. In other embodiments, when the movable platform 100 is in the preset state, the rear boundary p2 of the vertical field of view of the second vision sensor 32 can also be tilted downward relative to the roll axis of the movable platform 100, or the rear boundary p2 of the vertical field of view of the second vision sensor 32 can be parallel to the roll axis of the movable platform 100.

[0082] Referring to Figure 6, in some embodiments, when the movable platform 100 is in a preset state, the optical axis p1 of the second vision sensor 32 is oriented toward the bottom of the movable platform 100, and the front boundary p3 of the vertical field of view of the second vision sensor 32 is tilted downward relative to the roll axis of the movable platform 100. For example, when the movable platform 100 is in a preset state, the front boundary p3 of the vertical field of view of the second visual sensor 32 is tilted downward relative to the roll axis of the movable platform 100, and the lower boundary k of the vertical field of view of the first visual sensor 31 is tilted downward relative to the roll axis of the movable platform 100. The angle between the lower boundary k of the vertical field of view of the first visual sensor 31 and the roll axis of the movable platform 100 is ε, and the angle between the front boundary p3 of the vertical field of view of the second visual sensor 32 and the roll axis of the movable platform 100 is μ. The angle ε is approximately equal to or greater than the angle μ, so that the field of view of the first visual sensor 31 closest to the head 11 and the field of view of the second visual sensor 32 can at least cover the top, front, lower front and bottom of the movable platform 100, reducing the perception blind spot. This ensures that multiple first visual sensors 31 and at least two second visual sensors 32 can cooperate to achieve omnidirectional perception of the surrounding environment of the movable platform 100 in the vertical direction. In other embodiments, when the movable platform 100 is in a preset state, the front boundary p3 of the vertical field of view of the second visual sensor 32 is tilted upward relative to the roll axis of the movable platform 100, or the front boundary p3 of the vertical field of view of the second visual sensor 32 is parallel to the roll axis of the movable platform 100.

[0083] The number of vision sensors 30, the first vision sensor 31, and the second vision sensor 32 can be designed according to actual needs. For example, the number of vision sensors 30 can be one, two, three, four, five, six, or more. The number of first vision sensors 31 can be one, two, three, four, or more. The number of second vision sensors 32 can be one, two, or more.

[0084] Please refer to Figure 6. In some embodiments, the mobile platform 100 also includes a radar sensor 40, which is spaced apart from the detection sensor 20. In this embodiment, in addition to the detection sensor 20, a radar sensor 40 is also provided, which can improve the perception capability of the mobile platform 100 and broaden the application scope of the mobile platform 100.

[0085] In some embodiments, the radar sensor 40 includes a millimeter-wave radar. Millimeter-wave radar has a strong ability to identify metallic objects (such as metal wires); in addition, it can still operate normally in adverse weather conditions such as rain, snow, or fog, and can accurately perceive the surrounding environment of the mobile platform 100. Exemplarily, the mobile platform 100 also includes millimeter-wave radar, and the detection sensor 20 includes a lidar. Understandably, lidar has a weaker ability to identify metallic objects (such as metal wires); furthermore, its performance is easily affected by adverse weather conditions such as rain, snow, or fog, making it difficult to accurately perceive the surrounding environment of the mobile platform 100. The mobile platform 100 of this embodiment is equipped with a detection sensor 20 and a radar sensor 40, which can be used in combination to take advantage of their respective strengths, enabling the mobile platform 100 to obtain a more comprehensive and reliable perception capability, making it suitable for more scenarios. For example, the detection sensor 20 includes a lidar, the vision sensor 30 includes a fisheye camera, and the radar sensor 40 includes a millimeter-wave radar. In this way, the mobile platform 100 can make reasonable use of three different sensors to achieve accurate perception in different application scenarios, making the mobile platform 100 suitable for a variety of different application scenarios.

[0086] The number of radar sensors 40 can be designed according to actual needs, such as one, two, three, four, five, six, or more. In some embodiments, the number of radar sensors 40 includes at least three, such as three, four, five, six, or more. For example, referring to Figures 3 and 7, at least one of all radar sensors 40 is located at the head 11, at least another of all radar sensors 40 is located at the tail 12, and at least another of all radar sensors 40 is located at the arm 16 of the movable platform 100. In this way, a smaller number of radar sensors 40 can be used to detect the largest possible range. While achieving large-range detection, this reduces the number of radar sensors 40, lowers the hardware cost of the movable platform 100, and reduces its weight and size. Referring to Figures 3 and 7, in some embodiments, the number of radar sensors 40 includes six, with three radar sensors 40 respectively located in front of, to the left of, and to the right of the head 11, two radar sensors 40 respectively located behind and below the tail 12, and a third radar sensor 40 located on the front arm 161 of the movable platform 100. Exemplarily, the movable platform 100 includes an aircraft, the head 11 includes the nose of the aircraft, the tail 12 includes the tail of the aircraft, and the number of radar sensors 40 includes six, with three radar sensors 40 respectively located in front of, to the left of, and to the right of the nose, two radar sensors 40 respectively located behind and below the tail, and a third radar sensor 40 located on the front arm 161 of the aircraft.

[0087] Referring to Figure 5, in some embodiments, the mobile platform 100 further includes a TOF (Time of Flight) sensor 50, which is disposed on the main body 10 and spaced apart from the detection sensor 20. By providing the TOF sensor 50, the sensing capability of the mobile platform 100 can be improved.

[0088] In some embodiments, the position of at least one TOF sensor 50 is determined based on the position of the detection sensor 20. At least one TOF sensor 50 can cover the blind spot of the detection sensor 20, thus filling the blind spot and improving the perception capability of the mobile platform 100. For example, the angle between the upper boundary of the vertical field of view of the detection sensor 20 and the roll axis is θ, where θ is less than 90° and greater than 0°, such as θ2 being 20°, 30°, 45°, 60°, or 80°. The spatial range corresponding to the angle between the upper boundary of the vertical field of view of the detection sensor 20 and the heading axis of the aircraft is the blind spot of the detection sensor 20. At least one TOF sensor 50 can detect the surrounding environment within this blind spot, effectively improving the perception capability of the mobile platform 100.

[0089] Referring to Figures 5 and 7, in some embodiments, the number of TOF sensors 50 includes two, with one TOF sensor 50 located at the top of the main body 10 and the other TOF sensor 50 located at the bottom of the main body 10. The TOF sensor 50 located at the top of the main body 10 can cover the blind spot of the detection sensor 20, thus filling the blind spot. The TOF sensor 50 located at the bottom of the main body 10 can measure the ground elevation to obtain high-precision terrain data and / or altitude information, which not only ensures the safety and stability of the mobile platform 100 operation, but also plays an important role in fields such as terrain mapping, agricultural monitoring, urban planning, or disaster monitoring.

[0090] Referring to Figure 5, in some embodiments, one of the TOF sensors 50 is located in the first region 13 to minimize the obstruction of the field of view of the TOF sensor 50 by the subject 10, which is beneficial to improving the sensing capability of the mobile platform 100.

[0091] The number of TOF sensors 50 can be designed according to actual needs, such as one, two, three, four or more.

[0092] Referring to Figure 8, in some embodiments, the movable platform 100 further includes a circuit board structure 60 and a heat dissipation structure 70, with the heat dissipation structure 70 being thermally connected to the circuit board structure 60. In this way, heat from the circuit board structure 60 can be conducted to the heat dissipation structure 70 and dissipated promptly through the heat dissipation structure 70, thereby ensuring the normal operation of the circuit board structure 60 and providing a guarantee for the reliable, safe, and stable operation of the movable platform 100.

[0093] Referring to Figure 9, in some embodiments, the heat dissipation structure 70 includes an air duct body 71 and a heat sink 73. The air duct body 71 forms an air duct 72; the heat sink 73 is connected to the air duct body 71 and is thermally connected to the circuit board structure 60. Heat at the circuit board structure 60 can be conducted to the heat sink 73, and the heat at the heat sink 73 can directly or indirectly exchange heat with the airflow in the air duct 72, thereby allowing the heat at the circuit board structure 60 to dissipate in a timely manner.

[0094] Referring to Figure 10, in some embodiments, the heat sink 73 cooperates with the air duct body 71 to form an air duct 72. In this way, the heat sink 73 is part of the air duct 72, and the area in the air duct body 71 where the heat sink 73 is located can be designed with a hollowed-out shape, which helps to reduce the weight and volume of the heat dissipation structure 70, and thus reduce the weight and volume of the movable platform 100.

[0095] In some embodiments, the heat sink 73 and the air duct body 71 are either separately disposed or integrally formed. Exemplarily, the heat sink 73 and the air duct body 71 are separately disposed, thus the heat sink 73 can be made of a material with good thermal conductivity (such as metal or any other suitable thermally conductive material), and the air duct body 71 can be made of a low-cost, lightweight material (such as plastic or any other suitable material), which helps to reduce costs and lighten the weight of the heat dissipation structure 70 and the movable platform 100. The connection method between the heat sink 73 and the air duct body 71 can include at least one of the following: adhesive connection, snap-fit ​​connection, screw locking connection, magnetic connection, etc. In other embodiments, the heat sink 73 can also be integrally formed with the air duct body 71, thus reducing the assembly steps of the heat dissipation structure 70 and improving the assembly efficiency of the movable platform 100.

[0096] The shape of the air duct 72 can be designed to any suitable shape according to actual needs. In some embodiments, the shape of the air duct 72 includes a straight line or a curved line. For example, if the shape of the air duct 72 is curved, the spatial layout of the heat dissipation structure 70 and the movable platform 100 can be optimized. While achieving the same heat dissipation effect, the space of the movable platform 100 can be better utilized, which is beneficial for saving space and improving space utilization. It can be flexibly laid out according to actual needs to adapt to different installation positions and directions, making the overall design of the movable platform 100 more reasonable. For example, if the shape of the air duct 72 is straight, the resistance to airflow within the air duct 72 can be reduced, making the airflow within the air duct 72 smoother and improving the heat dissipation efficiency of the circuit board structure 60.

[0097] Referring to Figure 10, in some embodiments, the air duct 72 has an L-shaped shape. This optimizes the spatial layout of the heat dissipation structure 70 and the movable platform 100, saving space and improving space utilization while achieving the same heat dissipation effect. It also allows for flexible layout according to actual needs, adapting to different installation positions and orientations, making the overall design of the movable platform 100 more rational. In other embodiments, the air duct 72 can also be any other suitable shape, such as U-shaped, S-shaped, Z-shaped, T-shaped, or C-shaped.

[0098] Referring to Figure 11, in some embodiments, the heat sink 73 includes a substrate 731, which includes a first surface 7311 and a second surface 7312 facing each other. The first surface 7311 is disposed away from the air duct 72, and the circuit board 60a of the circuit board structure 60 is thermally connected to the first surface 7311. Fin portions 732 are disposed on the second surface 7312. The fin portions 732 can increase the heat dissipation area of ​​the heat sink 73, increase the contact area between the heat sink 73 and the airflow in the air duct 72, improve the heat dissipation efficiency of the heat sink 73, and thus improve the heat dissipation efficiency of the circuit board structure 60. The circuit board 60a of the circuit board structure 60 can be directly thermally connected to the heat sink 73, or it can be indirectly thermally connected through an intermediate thermally conductive component (such as a thermally conductive adhesive layer).

[0099] Referring to Figure 11, in some embodiments, the fin portion 732 includes a plurality of heat dissipation fins 7321, which are spaced apart on the second surface 7312. Adjacent heat dissipation fins 7321 form a channel 7322, which communicates with the air duct 72. In this way, airflow in the air duct 72 can enter the channel 7322 to carry away the heat of the heat sink 73, thereby enabling the heat of the heat sink 73 to be dissipated in a timely manner.

[0100] For example, the heat dissipation fins 7321 and the substrate 731 are an integral structure, which reduces the number of components and improves the assembly efficiency of the movable platform 100. In other embodiments, the heat dissipation fins 7321 may also be separately disposed from the substrate 731, and the two may be connected by at least one of the following methods: adhesive connection, snap-fit ​​connection, screw fastening connection, magnetic connection, etc.

[0101] Referring to Figure 11, in some embodiments, multiple heat dissipation fins 7321 form multiple channels 7322, which are parallel to each other. Thus, the multiple parallel channels 7322 can provide better airflow rectification, causing little or no airflow turbulence, allowing airflow to pass through the multiple channels 7322 more quickly, resulting in better heat dissipation for the heat sink 73.

[0102] In other embodiments, the fin portion 732 may also be omitted.

[0103] For example, the circuit board structure 60 includes at least one of the following: a sensing board, a core board, an ESC board, a power board, etc.

[0104] Please refer to Figure 10. The number of circuit boards 60a in the circuit board structure 60 can be set according to actual needs, such as one, two, three, or more. When the number of circuit boards 60a in the circuit board structure 60 includes multiple circuit boards 60a, at least two of the multiple circuit boards 60a can be arranged alternately or adjacently.

[0105] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a first circuit board 61, and the heat sink 73 of the heat dissipation structure 70 includes a first heat sink 733, which is thermally connected to the first circuit board 61. Thus, the heat from the first circuit board 61 can be conducted to the first heat sink 733, and the heat from the first heat sink 733 can directly or indirectly exchange heat with the airflow within the air duct 72, thereby allowing the heat from the first circuit board 61 to dissipate in a timely manner.

[0106] Referring to Figure 10, in some embodiments, the first circuit board 61 is positioned corresponding to the detection sensor 20. This helps to reduce the length and volume of the electrical connection structure (such as electrical connection wires or FPCs) used to electrically connect the first circuit board 61 and the detection sensor 20, simplifies the structure of the electrical connection structure, and makes the overall layout of the movable platform 100 more reasonable.

[0107] Referring to Figure 10, in some embodiments, in a preset state, the first circuit board 61 is disposed on top of the heat dissipation structure 70, so that the first circuit board 61 can be better connected to the detection sensor 20 disposed on top of the main body 10. Exemplarily, in the preset state, the first circuit board 61 is located between the detection sensor 20 and the heat dissipation structure 70.

[0108] In some embodiments, the first circuit board 61 includes a sensing board, which is at least configured to communicate with the detection sensor 20. Exemplarily, the sensing board may also be configured to communicate with at least one of other sensors, such as radar sensor 40, vision sensor 30, TOF sensor 50, etc.

[0109] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a second circuit board 62, and the heat sink 73 of the heat dissipation structure 70 includes a second heat sink 734, which is thermally connected to the second circuit board 62. Thus, the heat from the second circuit board 62 can be conducted to the second heat sink 734, and the heat from the second heat sink 734 can directly or indirectly exchange heat with the airflow within the air duct 72, thereby allowing the heat from the second circuit board 62 to dissipate in a timely manner.

[0110] Referring to Figures 10 and 12, in some embodiments, in a preset state, the second circuit board 62 is disposed on the front side of at least part of the heat dissipation structure 70. Thus, while effectively dissipating heat from the second circuit board 62, the movable platform 100 has a compact structure and a reasonable spatial layout.

[0111] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a first circuit board 61 and a second circuit board 62, both of which are thermally connected to the heat dissipation structure 70. In a preset state, the second circuit board 62 is positioned lower than the first circuit board 61. Thus, the heat dissipation structure 70 is rationally designed, allowing heat dissipation for both the first and second circuit boards 62 to be achieved through a single structure 70. This eliminates the need for separate heat dissipation structures 70, reducing the number of components, which helps lower the hardware cost, weight, and volume of the mobile platform 100, and makes the structure of the mobile platform 100 more compact.

[0112] In some embodiments, the second circuit board 62 includes a core board, which is used at least to control the operation of the mobile platform 100. For example, the mobile platform 100 includes an aircraft, and the core board is used at least to control the flight of the mobile platform 100.

[0113] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a second circuit board 62. The second circuit board 62 has a first interface 621 for connecting a load, thus allowing the load to be connected via the first interface 621 to expand the functionality of the movable platform 100. The load may be, for example, a main camera sensor, which can be directly mounted on the platform or mounted on the platform via an attitude adjustment structure (e.g., a gimbal or robotic arm). The load can be connected to the second circuit board 62 via the first interface 621.

[0114] Referring to Figure 13, in some embodiments, the first interface 621 is located at the bottom of the main body 10. This allows for efficient use of the bottom space of the movable platform 100; additionally, it facilitates placing the load at the bottom of the main body 10, minimizing obstruction of the field of view of at least one of the detection sensor 20, vision sensor 30, and other sensors. In other embodiments, the first interface 621 may also be located at any other suitable location on the main body 10.

[0115] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a third circuit board 63, and the heat sink 73 of the heat dissipation structure 70 includes a third heat sink 735, which is thermally connected to the third circuit board 63. Thus, the heat from the third circuit board 63 can be conducted to the third heat sink 735, and the heat from the third heat sink 735 can directly or indirectly exchange heat with the airflow within the air duct 72, thereby allowing the heat from the third circuit board 63 to dissipate in a timely manner.

[0116] In some embodiments, the position of the third circuit board 63 is determined based on the positions of the front arm 161 and the rear arm 162 of the movable platform 100. Exemplarily, the movable platform 100 includes an aircraft, and the third circuit board 63 is electrically connected to at least one of the aircraft's power motors 1711. Exemplarily, both the power motor 1711 located on the front arm 161 and the power motor 1711 located on the rear arm 162 are electrically connected to the third circuit board 63. To minimize the sum of the lengths of the electrical connectors connecting each power motor 1711 to the third circuit board 63, the third circuit board 63 can be positioned between the front arm 161 and the rear arm 162 of the aircraft, thus minimizing the sum of the lengths of the electrical connectors.

[0117] Please refer to Figures 10 and 12. In some embodiments, in a preset state, the third circuit board 63 is located on the rear side of the heat dissipation structure 70 to ensure that the third circuit board 63 can be located between the front arm 161 and the rear arm 162 of the movable platform 100.

[0118] In some embodiments, the third circuit board 63 includes an electronic speed controller (ESC). The ESC is electrically connected at least to the power motor 1711 of the aircraft's propulsion system 17.

[0119] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes at least two of the following: a first circuit board 61, a second circuit board 62, and a third circuit board 63. The first circuit board 61 is thermally connected to a first heat sink 733, the second circuit board 62 is thermally connected to a second heat sink 734, and the third circuit board 63 is thermally connected to a third heat sink 735. Thus, the heat dissipation structure 70 is rationally designed, and at least two of the first circuit board 61, the second circuit board 62, and the third circuit board 63 can be cooled using a single heat dissipation structure 70. This eliminates the need for a separate heat dissipation structure 70 for each circuit board 60a, reducing the number of components, which helps to reduce the hardware cost and weight of the mobile platform 100, and makes the structure of the mobile platform 100 more compact.

[0120] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a first circuit board 61, a second circuit board 62, and a third circuit board 63. The heat dissipation structure 70 includes a first heat sink 733, a second heat sink 734, and a third heat sink 735. The first circuit board 61 is thermally connected to the first heat sink 733, the second circuit board 62 is thermally connected to the second heat sink 734, and the third circuit board 63 is thermally connected to the third heat sink 735. Thus, the heat dissipation structure 70 has a reasonable structural design, and heat dissipation for the first circuit board 61, the second circuit board 62, and the third circuit board 63 can be achieved through a single heat dissipation structure 70, eliminating the need for three separate heat dissipation structures 70 to dissipate heat from the three circuit boards 60a. This reduces the number of components, which helps to reduce the hardware cost and weight of the mobile platform 100, and makes the structure of the mobile platform 100 more compact.

[0121] Referring to Figures 10 and 12, in some embodiments, a fan 74 is provided within the air duct 72 of the heat dissipation structure 70, and the number of fans 74 is one or more. The fan 74 can create airflow within the air duct 72, improving the heat dissipation effect. For example, the circuit board structure 60 includes a first circuit board 61, a second circuit board 62, and a third circuit board 63, and the heat dissipation structure 70 includes a first heat sink 733, a second heat sink 734, and a third heat sink 735. One fan 74 is provided within the same heat dissipation structure 70. Thus, one fan 74 can dissipate heat from the first circuit board 61, the second circuit board 62, and the third circuit board 63, eliminating the need for two or more fans 74 to dissipate heat from all three circuit boards 60a. This reduces the number of components, lowers hardware costs, reduces size and weight, and makes the structure more compact.

[0122] Referring to Figures 10 and 12, in some embodiments, the circuit board structure 60 includes a third circuit board 63. The third circuit board 63 has a second interface 631 for connecting a load, thus allowing the load to be connected via the second interface 631 to expand the functionality of the movable platform 100. The load may be, for example, a main camera sensor, which can be directly mounted or mounted on the platform via an attitude adjustment structure (e.g., a gimbal or robotic arm). The load can be connected to the third circuit board 63 via the second interface 631.

[0123] Referring to Figure 13, in some embodiments, the second interface 631 is located at the bottom of the main body 10. This allows for efficient use of the bottom space of the movable platform 100; additionally, it facilitates placing the load at the bottom of the main body 10, minimizing obstruction of the field of view of at least one of the detection sensor 20, vision sensor 30, and other sensors. In other embodiments, the second interface 631 may also be located at any other suitable location on the main body 10.

[0124] Understandably, the load connected to the first interface 621 and the load connected to the second interface 631 may or may not be the same load. The structure of the load connected to the first interface 621 and the structure of the load connected to the second interface 631 may be the same or different.

[0125] Referring to Figures 10 and 12, in some embodiments, the heat dissipation structure 70 further includes a fan 74 disposed within the air duct 72. Exemplarily, when the fan 74 is operating, outside air can flow into the air duct 72 through its inlet, forming an airflow within the air duct 72. Heat at the circuit board structure 60 can be conducted to the heat sink 73, and the airflow through the air duct 72 can exchange heat with the heat sink 73 and / or the air duct body 71. The airflow within the air duct 72 can be discharged through its outlet, thereby dissipating the heat at the circuit board structure 60 in a timely manner.

[0126] Referring to Figure 10, in some embodiments, the air duct 72 includes a first sub-air duct 721 and a second sub-air duct 722, with the fan 74 disposed within the first sub-air duct 721; the second sub-air duct 722 extends from one end of the first sub-air duct 721 by a bend, and the second sub-air duct 722 communicates with the first sub-air duct 721. Thus, while ensuring that the heat dissipation structure 70 can effectively dissipate heat from the circuit board structure 60, the structure of the heat dissipation structure 70 is compact, which is beneficial for making the structure of the movable platform 100 more compact and miniaturized.

[0127] Referring to Figure 10, in some embodiments, the second circuit board 62 and the third circuit board 63 of the circuit board structure 60 are located on opposite sides of the second sub-air duct 722. This facilitates simultaneous heat dissipation of the second circuit board 62 and the third circuit board 63 through the same heat dissipation structure 70 or the same air duct 72, and makes the structure of the movable platform 100 more compact. In some embodiments, in a preset state, the first circuit board 61 of the circuit board structure 60 is located at the top of the first sub-air duct 721 and / or the second sub-air duct 722 to fully utilize space and bring the first circuit board 61 closer to the detection sensor 20, resulting in a more rational overall layout of the movable platform 100.

[0128] Please refer to Figures 12 and 13. For example, the air duct 72 has a first air inlet 723 and a second air inlet 724 at both ends. One of the first air inlet 723 and the second air inlet 724 is an air inlet, and the other is an air outlet. For example, the first air inlet 723 and the second air inlet 724 can be set in any suitable position according to actual needs. For example, the first air inlet 723 faces the front of the head 11, and the second air inlet 724 is located at the bottom of the movable platform 100. For example, the main body 10 has a connecting opening 101, and the first air inlet 723 is connected to the connecting opening 101, allowing external airflow to enter the air duct 72 through the connecting opening 101 and the first air inlet 723. For example, the first sub-air duct 721 is connected to the first air inlet 723, and the second sub-air duct 722 is connected to the second air inlet 724.

[0129] Referring to Figure 14, in some embodiments, the mobile platform 100 includes an aircraft, comprising a front arm 161 and a rear arm 162, with the front arm 161 being longer than the rear arm 162. This facilitates avoidance of the front rotor blade 17122 on the front arm 161 and minimizes the obstruction of the front rotor blade 17122 on the field of view of the load, such as the gimbal camera, thus reducing blind spots.

[0130] Referring to Figures 1 and 14, in some embodiments, the mobile platform 100 includes an aircraft. The front arm 161 and rear arm 162 of the mobile platform 100 can be folded relative to the main body 10. When the front arm 161 and rear arm 162 are in the folded state and the mobile platform 100 is in a preset state, the angle between the front arm 161 and the roll axis is greater than the angle between the rear arm 162 and the roll axis. This is beneficial to reduce the thickness of the main body 10 in the yaw axis direction of the mobile platform 100, such as reducing the thickness of the part of the main body 10 connected to the front arm 161, thereby reducing the overall size and weight of the aircraft.

[0131] Referring to Figure 14, in some embodiments, the mobile platform 100 includes a front arm 161, a rear arm 162, and a plurality of rotor devices 171, which are used to provide flight power; the plurality of rotor devices 171 include a front rotor device 171a and a rear rotor device 171b, the front rotor device 171a being disposed on the front arm 161; the rear rotor device 171b being disposed on the rear arm 162; wherein, the blade plane φ1 of the front blade 17122 of the front rotor device 171a is lower than the blade plane φ2 of the rear blade 17123 of the rear rotor device 171b. For example, the front arm 161 and rear arm 162 of the movable platform 100 can be folded relative to the main body 10; when the movable platform 100 is in a preset state and the arm 16 is in the unfolded state, the blade plane φ1 of the front blade 17122 of the front rotor device 171a is lower than the blade plane φ2 of the rear blade 17123 of the rear rotor device 171b, so as to avoid the field of view of the detection sensor 20 and / or the vision sensor 30, and to prevent the front blade 17122 of the front rotor device 171a from obstructing the field of view of the detection sensor 20 and / or the vision sensor 30.

[0132] Referring to Figure 14, in some embodiments, the mobile platform 100 includes a front arm 161, a rear arm 162, and a plurality of rotor units 171, which provide flight power. The plurality of rotor units 171 include a front rotor unit 171a and a rear rotor unit 171b, with the front rotor unit 171a disposed on the front arm 161 and the rear rotor unit 171b disposed on the rear arm 162. The blade plane φ1 of the front blade 17122 of the front rotor unit 171a is inclined upwards from the head 11 to the tail 12; and / or, the blade plane φ2 of the rear blade 17123 of the rear rotor unit 171b is inclined downwards from the head 11 to the tail 12. This allows the front rotor blade 17122 of the front rotor assembly 171a and the rear rotor blade 17123 of the rear rotor assembly 171b to be staggered, thereby minimizing interference between the blades 17121 of the front rotor assembly 171a and the rear rotor assembly 171b when folding, unfolding or rotating, while making full use of the space.

[0133] Referring to Figure 8, in some embodiments, the main body 10 includes a middle frame 18, which includes a crossbeam portion 181 and a mounting portion 182. The mounting portion 182 is connected to the middle frame 18 and is used to mount the landing gear 191 of the movable platform 100. Thus, the structural design of the main body 10 is reasonable.

[0134] In related designs, the middle frame 18 is typically made of plastic material, which can easily lead to insufficient strength of the middle frame 18 and affect the performance of the movable platform 100. Therefore, referring to Figures 15 and 16, in some embodiments, the middle frame 18 includes a plastic part 183 and a reinforcing member 184. The plastic part 183 at least partially covers the reinforcing member 184, which can strengthen the middle frame 18, improving its strength and rigidity, thereby ensuring good performance of the movable platform 100. Exemplarily, the reinforcing member 184 includes at least one of the following: carbon fiber tube, metal part, etc.

[0135] Please refer to Figure 16. In some embodiments, the reinforcing member 184 is embedded in the plastic part 183, so that the main body 10 has an aesthetically pleasing appearance and can effectively improve the strength of the middle frame 18.

[0136] Referring to Figures 15 and 16, in some embodiments, the middle frame 18 is inclined upwards from the head 11 to the tail 12. This allows the front rotor assembly 171a of the front arm 161 and the rear rotor assembly 171b of the rear arm 162 of the movable platform 100 to be misaligned, reducing interference between the front blade 17122 of the front rotor assembly 171a and the rear blade 17123 of the rear rotor assembly 171b during folding, unfolding, or rotation. Exemplarily, the reinforcing member 184 of the middle frame 18 is inclined upwards from the head 11 to the tail 12; when the movable platform 100 is in a preset state, the angle between the reinforcing member 184 and the roll axis ranges from (0°, 20°), for example, 3°, 5°, 10°, 15°, 20°, or any other suitable angle between 0° and 20°.

[0137] The mounting part 182 can be integrally formed with at least part of the middle frame 18, for example, the mounting part 182 can be integrally formed with the plastic part 183. In this way, the number of parts in the main body 10 is reduced, the main body 10 is more integrated, and it is beneficial to improve the assembly efficiency of the movable platform 100. In other embodiments, the mounting part 182 can also be separately provided with the plastic part 183, and the two are connected by at least one of the following methods: adhesive connection, screw fastening connection, etc.

[0138] Referring to Figure 2, the mobile platform 100, exemplarily, includes an aircraft. The aircraft comprises at least the following major systems: a main body 10, a sensing system, an avionics system, and a payload system 80. It should be noted that the above systems are categorized by function, and their specific structures may overlap, be nested, or reused to some extent.

[0139] The main body 10, or the "bare body" of the multi-rotor aircraft, undertakes the most basic flight and landing functions. It serves as the foundation for all subsequent systems and determines the overall appearance and layout of various sensors and loads.

[0140] Referring to Figure 8, the aircraft also includes, by way of example, an arm assembly and a landing gear 191. The main body 10 includes a mid-frame 18, an avionics bay housing 192, a battery 193, and a battery compartment housing 194. The arm assembly is connected to the mid-frame 18. The landing gear 191 is connected to the mid-frame 18.

[0141] For example, the mid-frame 18 is roughly rectangular in top view, with four arms 16 connected to its four corners. It bears the weight of modules such as the avionics system, battery 193, sensing system, and load system, and transmits the lift of the arms 16. The interior of the rectangle is divided into two sections, front and rear. The front section is smaller and also serves as the lower half of the avionics bay; the bottom of the front section is also the main location for load hardpoints. The rear section is larger and is the main load-bearing structure of the battery compartment. The mid-frame 18 includes a plastic component 183, which includes a crossbeam 181 running through the front and rear and a mounting section 182 connecting the landing gear 191. The mounting section 182 is connected to the crossbeam 181 and includes a column section. The interior of the plastic component 183 is reinforced with a reinforcing member 184 through an in-mold injection molding process to increase specific strength and specific stiffness. The column section has a mounting interface for the detachable landing gear 191, directly bearing the impact force during landing. The arm 16 is connected to the plastic part 183, and the landing gear 191 is connected to the plastic part 183.

[0142] The avionics bay outer shell 192 forms the upper half of the avionics bay, serving a sealing and waterproof function to protect the reliable operation of the avionics system. The avionics bay outer shell 192 is connected to the mid-frame 18. Exemplarily, the heat dissipation structure 70 is supported by the mid-frame 18. Exemplarily, the heat dissipation structure 70 is at least partially located within the avionics bay outer shell 192. Exemplarily, the avionics bay outer shell 192 and the mid-frame 18 cooperate to form the avionics bay, and the heat dissipation structure 70 is at least partially located within the avionics bay.

[0143] Referring to Figure 8, for example, the battery 193 has a side jack 1931, which transmits force to the battery compartment section of the load-bearing mid-frame 18. The battery compartment shell 194 is a non-load-bearing component, which wraps and protects the lower half of the battery 193. It also serves as part of the tail auxiliary avionics bay, providing a mounting structure and waterproof protection for devices such as the vision sensor 30, TOF sensor 50, and supplementary lighting inside the auxiliary avionics bay. The battery 193 is inserted into the battery compartment of the mid-frame 18 from the back of the aircraft downwards and forwards, which is more ergonomic for inserting and removing the battery 193. Furthermore, the battery 193 will be tightly connected to the mid-frame 18 under its own weight, which is gravity-locked. Combined with some conventional buckle designs, this greatly reduces the risk of the battery 193 coming loose from the battery compartment during violent aircraft movements, improving reliability and safety.

[0144] Referring to Figure 8, the arm assembly, exemplarily, includes an arm 16 and a power system 17. The power system 17 includes a motor 1711 and a propeller 1712, with the motor 1711 driving the propeller 1712 to rotate. The arm 16 is connected to the middle frame 18 via an arm mounting bracket. Exemplarily, a motor mount is provided at the end of the arm 16 away from the middle frame 18, and the motor 1711 is connected to the motor mount. Exemplarily, the arm 16 can be rotatably connected to the arm mounting bracket via a folding pivot, allowing the arm 16 to be folded. When the arm 16 is folded, viewed from the side, the arm 16 is substantially parallel to the length direction of the main body 10, resulting in a compact overall design. Furthermore, the front arm 161 and the rear arm 162 are staggered vertically, preventing interference during folding and / or unfolding.

[0145] Referring to Figure 8, the landing gear 191, exemplarily, includes an inverted T-shaped leg 1911 composed of two carbon tubes, providing cushioning during landing and ensuring the stability of the aircraft after landing. Exemplarily, the landing gear 191 can be detachably connected to the mid-frame 18 or non-detachably connected to it. For example, the landing gear 191 can be detachably connected to the mid-frame 18, thus improving portability during relocation and transportation.

[0146] Referring to Figures 5 and 15, exemplarily, the main body 10 of the aircraft is approximately rectangular when viewed from the side, but the length direction of the reinforcing member 184 of the mid-frame 18 is not parallel to the belly of the fuselage. The reinforcing member 184 extends from the lower front end of the main body 10 to the upper rear end of the main body 10. When the aircraft is hovering, the length direction of the reinforcing member 184 forms a small angle with the horizontal plane, approximately 5°. In the side view, it consists of a crossbeam 181 running through the front and rear and a mounting section 182 connecting the landing gear 191. The reinforcing member 184 (such as carbon fiber tubing) is embedded inside the crossbeam 181 through an in-mold injection molding process to increase specific strength and specific stiffness. The mounting section 182 includes a column portion and is provided with a mounting interface for the detachable landing gear 191, directly bearing the impact force during landing.

[0147] It should be noted that, referring to Figures 1 and 15, the main body 10 of the aircraft in this embodiment presents a tilted-back posture when viewed from the side in hovering and landing states, that is, the back (e.g., the second region 14) and / or the belly of the aircraft form an angle of about 20° with the horizontal plane, which is beneficial to the subsequent layout of the sensing system.

[0148] The perception system mainly includes at least one of the following sensors: a detection sensor 20, a radar sensor 40, a vision sensor 30, a TOF sensor 50, an FPV (First Person View) camera, etc., to achieve an omnidirectional, multispectral (such as infrared laser, millimeter wave, and / or visible light), complementary visual perception system. For example, the detection sensor 20 may include a lidar.

[0149] For example, the number of detection sensors 20 can be one. The detection sensor 20 is arranged at the top of the nose of the aircraft, located at the highest point of the entire aircraft. For example, the entire aircraft is tilted back 20° relative to the horizontal plane, providing the detection sensor 20 with a certain rearward and downward field of view (the field of view above -20° is unobstructed), and overall providing the detection sensor 20 with an unobstructed circumferential field of view (-20° to 90°*360°), maximizing the detection capability of the lidar.

[0150] The visual sensors 30 comprise six units, divided into Group A and Group B. Group A includes four first visual sensors 31, positioned at the nose of the aircraft and surrounding the detection sensor 20. From a top view, the optical axes of the first visual sensors 31 point to the left front, left rear, right front, and right rear, respectively. Adjacent first visual sensors 31 form a binocular vision system, with each of the four sensors responsible for binocular visual perception in the forward, backward, left, and right directions. From a side view, the optical axes of each first visual sensor 31 are tilted upwards by approximately 20°, ensuring that the binocular visual perception range of the first visual sensors 31 covers the area directly above the aircraft. From a side view, the aircraft's rear is tilted upwards by 20°, providing a certain degree of rear-facing and downward field of view (the field of view above -20° is unobstructed). The binocular visual perception range formed by the four first visual sensors 31 can cover the entire upper hemisphere (0° to 90°*360°) and part of the lower hemisphere (-20° to 0°*360°) of the aircraft. For example, the first visual sensor 31 includes a fisheye camera.

[0151] Group B visual sensors 30 include two second visual sensors 32, which are arranged at the lower part of the tail of the aircraft. The optical axes of the two second visual sensors 32 are parallel to each other and point downwards and backwards, with an angle of approximately 80° to the horizontal plane. The perception range of the binocular vision system formed by the two second visual sensors 32 can cover the lower hemisphere of the aircraft. Exemplarily, the second visual sensors 32 include fisheye cameras. Exemplarily, the six visual sensors 30 (Group A and Group B) can cover the entire spherical binocular visual perception range, thus achieving omnidirectional binocular perception.

[0152] For example, the radar sensor 40 may include a millimeter-wave radar. The number of radar sensors 40 is 6. The radar sensor 40 may include a millimeter-wave radar, which may be rectangular plate-shaped or other any other suitable shape. Each millimeter-wave radar has a detection angle of approximately 90°*90°. In this embodiment, the millimeter-wave radars are respectively arranged at the front, left, and right of the nose, and at the rear of the tail, below the belly, and above the left (or right) front arm 161, respectively responsible for radar perception in six directions: front, left, right, rear, down, and up.

[0153] For example, the TOF sensor 50 may include a 3D TOF (Three-Dimensional Time-of-Flight) sensor. For example, there are two TOF sensors 50. The two TOF sensors 50 are respectively arranged above the nose of the aircraft and below the belly of the aircraft, and are used for blind spot filling in the vertical direction and ground altitude measurement in the vertical direction, respectively.

[0154] Avionics is short for aviation electronics, which in aircraft mainly refers to the PCB boards of various electronic components. For example, an avionics system includes a heat dissipation structure 70, a core board, an electronic speed control board, a sensing board, and a radio frequency antenna.

[0155] Please refer to Figures 9 and 10. The heat dissipation structure 70 includes three heat sinks 73 and a 7-shaped or L-shaped air duct body 71. The heat sinks 73 are embedded in the air duct body 71, which is a sealed pipe and belongs to the "external environment" connected to the atmosphere, preventing water and moisture from entering the interior of the body 10. The PCB board is mounted on the heat dissipation structure 70. That is, the heat dissipation structure 70 is a 7-shaped or L-shaped skeleton, and different PCB boards (such as core boards, ESC boards, or sensing boards) are mounted on the upper, front, and rear parts of the heat dissipation structure 70.

[0156] The core board is mounted at the front of the heat dissipation structure 70. The power slewing board is mounted at the rear of the heat dissipation structure 70, close to the battery 193. The sensing board is mounted at the top of the heat dissipation structure 70, and is connected to the various sensing sensors of the head 11 nearby. The radio frequency antenna includes at least one of an SDR antenna, a 4G antenna, an RTK antenna, etc.

[0157] Payload system 80 generally refers to devices carried by an aircraft to complete specific tasks, such as a multi-functional gimbal camera in an inspection mission, a lidar in a scanning and modeling mission, a thrower and searchlight in a rescue mission, and a loudspeaker in a patrol mission. Other payloads include cellular communication modules, edge computing modules, gas detectors, etc. These payloads can be used individually or in multiples simultaneously. The aircraft platform needs to provide specific mechanical and electronic connection interfaces for the payload system. For example, the connection interfaces of payload system 80 include at least one of the following: a first interface 621, a second interface 631, and other interfaces. The first interface 621 and / or the second interface 631 are located at the lower front of the nose. For example, the first interface 621 and / or the second interface 631 include a universal USB interface.

[0158] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling between two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Mechanical coupling between two components can be understood as the existence of a mechanical connection and / or mechanical interaction between the two components. Mechanical connection includes, but is not limited to, at least one of the following: rotational connection, movable connection, sliding connection, and abutment. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0159] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0160] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0161] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0162] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mobile platform, characterized in that, include: The main body includes a head and a tail, and the top of the main body includes a first region and a second region, wherein the second region is closer to the tail than the first region; A detection sensor is located in the first area; Wherein, the second region is tilted at a preset angle relative to the roll axis of the movable platform in the direction from the head to the tail, and the preset angle is greater than or equal to the angle between the lower boundary of the vertical field of view of the detection sensor and the roll axis; When the mobile platform is in a preset state, the first area is higher than the second area. The preset state includes a non-activated state or a state in which the position remains unchanged in a windless environment.

2. The mobile platform according to claim 1, characterized in that, The mobile platform includes at least one of the following: aircraft, mobile vehicle, robot, and mobile vessel.

3. The mobile platform according to claim 1, characterized in that, The range of the preset tilt angle is (0°, 40°).

4. The mobile platform according to claim 3, characterized in that, The preset tilt angle ranges from [10° to 25°].

5. The mobile platform according to claim 1, characterized in that, When the movable platform is in the preset state, the lower boundary of the vertical field of view of the detection sensor is inclined downward relative to the roll axis from the head to the tail, and the angle between the lower boundary of the vertical field of view of the detection sensor and the roll axis is in the range of [0°, 40°].

6. The mobile platform according to claim 1, characterized in that, When the movable platform is in the preset state, the upper boundary of the vertical field of view of the detection sensor is inclined upward relative to the roll axis, and the angle between the upper boundary of the vertical field of view of the detection sensor and the roll axis is in the range of [0°, 90°].

7. The mobile platform according to claim 6, characterized in that, The angle between the upper boundary of the vertical field of view of the detection sensor and the roll axis is in the range of [0°, 45°].

8. The mobile platform according to claim 1, characterized in that, The horizontal field of view of the detection sensor is 360°.

9. The mobile platform according to claim 1, characterized in that, The detection sensor includes at least one of the following: radar and visual perception sensor.

10. The mobile platform according to claim 9, characterized in that, The radar includes at least one of the following: lidar, millimeter-wave radar, and ultrasonic radar.

11. The mobile platform according to claim 9, characterized in that, The visual perception sensor includes at least one of the following: a fisheye camera and a TOF perception sensor.

12. The mobile platform according to claim 1, characterized in that, The detection sensor is fixedly installed on the main body.

13. The mobile platform according to claim 1, characterized in that, The detection sensor is detachably connected to the main body.

14. The mobile platform according to any one of claims 1-13, characterized in that, Also includes: A visual sensor is disposed on the main body and spaced apart from the detection sensor. The visual sensor and the detection sensor are of different types.

15. The mobile platform according to claim 14, characterized in that, The visual sensor includes a fisheye camera.

16. The mobile platform according to claim 14, characterized in that, The horizontal field of view of the vision sensor is in the range of [180°, 190°]; and / or, the vertical field of view of the vision sensor is in the range of [180°, 190°].

17. The mobile platform according to claim 14, characterized in that, The visual sensors of the mobile platform include: The first visual sensor is located on the top of the main body.

18. The mobile platform according to claim 17, characterized in that, The first visual sensor is located in the first area.

19. The mobile platform according to claim 18, characterized in that, The sensing direction of the first visual sensor is opposite to that of the detection sensor.

20. The mobile platform according to claim 17, characterized in that, The number of the first visual sensors includes multiple sensors, which are arranged at intervals around the detection sensor.

21. The mobile platform according to claim 17, characterized in that, When the movable platform is in a preset state, the optical axis of the first visual sensor is tilted upward relative to the roll axis.

22. The mobile platform according to claim 21, characterized in that, The tilt angle of the optical axis of the first vision sensor relative to the roll axis is in the range of (0°, 60°).

23. The mobile platform according to claim 17, characterized in that, The number of the first vision sensors includes multiple sensors, and any two adjacent first vision sensors constitute a binocular system.

24. The mobile platform according to claim 17, characterized in that, The number of the first visual sensors includes four, which are used to acquire environmental images of the subject from five directions: front, back, left, right, and top.

25. The mobile platform according to claim 17, characterized in that, The number of the first visual sensors includes four, with two of the first visual sensors located on one side of the first region or the head, and the other two located on the opposite side of the first region or the head; or, The number of the first visual sensors includes four, wherein two of the first visual sensors are spaced apart at the front of the first region or the head, and the other two are spaced apart at the rear of the first region or the head; or, The number of the first vision sensors includes four, with two of the first vision sensors spaced apart on the left side of the first region or the head, and the other two of the first vision sensors spaced apart on the right side of the first region or the head.

26. The mobile platform according to claim 17, characterized in that, The number of the first visual sensors includes four, and the four first visual sensors are respectively disposed at the four opposite corners of the first region or the head.

27. The mobile platform according to claim 17, characterized in that, When the movable platform is in a preset state, the angle between the lower boundary of the vertical field of view of the first visual sensor and the roll axis is in the range of [0°, 40°].

28. The mobile platform according to claim 14, characterized in that, The number of the visual sensors includes multiple sensors, and the multiple visual sensors include: The first visual sensor is located at the top of the main body; The second visual sensor is located at the bottom of the main body.

29. The mobile platform according to claim 28, characterized in that, The second visual sensor is located at the bottom of the tail.

30. The mobile platform according to claim 28, characterized in that, The first and second visual sensors work together to perform omnidirectional perception of the surrounding environment of the mobile platform in both horizontal and vertical directions (360°).

31. The mobile platform according to claim 28, characterized in that, The number of the first vision sensors includes 4, and the number of the second vision sensors includes 2.

32. The mobile platform according to claim 28, characterized in that, The number of the second vision sensors includes two, and the two second vision sensors constitute a binocular system.

33. The mobile platform according to claim 28, characterized in that, When the movable platform is in a preset state, the optical axis of the second vision sensor is tilted downward relative to the roll axis.

34. The mobile platform according to claim 33, characterized in that, When the movable platform is in a preset state, the tilt angle of the optical axis of the second vision sensor relative to the roll axis is in the range of [60°, 120°].

35. The mobile platform according to any one of claims 1-13, characterized in that, Also includes: The radar sensor is spaced apart from the detection sensor.

36. The mobile platform according to claim 35, characterized in that, The radar sensor includes millimeter-wave radar.

37. The mobile platform according to claim 35, characterized in that, The number of radar sensors includes at least three, with at least one of the radar sensors located at the head, at least another of the radar sensors located at the tail, and at least one more of the radar sensors located at the arm of the movable platform.

38. The mobile platform according to any one of claims 1-13, characterized in that, The mobile platform also includes: A TOF sensor is disposed on the main body and spaced apart from the detection sensor.

39. The mobile platform according to claim 38, characterized in that, The position of at least one of the TOF sensors is determined based on the position of the detection sensor.

40. The mobile platform according to claim 38, characterized in that, The number of TOF sensors includes two, one of which is located on the top of the main body and the other is located on the bottom of the main body.

41. The mobile platform according to claim 40, characterized in that, One of the TOF sensors is located in the first region.

42. The mobile platform according to any one of claims 1-13, characterized in that, Also includes: Circuit board structure; The heat dissipation structure is thermally connected to the circuit board structure.

43. The mobile platform according to claim 42, characterized in that, The heat dissipation structure includes: The main body of the air duct, used to form the air duct; The heat sink is connected to the air duct body and is thermally connected to the circuit board structure.

44. The mobile platform according to claim 43, characterized in that, The heat sink and the air duct body cooperate to form the air duct.

45. The mobile platform according to claim 44, characterized in that, The heat sink and the air duct body are either separately configured or integrally formed.

46. ​​The mobile platform according to claim 43, characterized in that, The shape of the air duct can be straight or curved.

47. The mobile platform according to claim 43, characterized in that, The shape of the air duct includes an L-shape.

48. The mobile platform according to claim 43, characterized in that, The heat sink includes: The substrate includes a first side and a second side facing each other, the first side being disposed away from the air duct, and the circuit board structure being thermally connected to the first side; The fin portion is located on the second surface.

49. The mobile platform according to claim 48, characterized in that, The fin portion includes: Multiple heat dissipation fins are spaced apart on the second surface, and adjacent two heat dissipation fins form a channel, which is connected to the air duct.

50. The mobile platform according to claim 49, characterized in that, The plurality of heat dissipation fins form a plurality of channels, and the plurality of channels are parallel to each other.

51. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a first circuit board, and the heat dissipation structure includes a first heat sink, which is thermally connected to the first circuit board.

52. The mobile platform according to claim 51, characterized in that, The first circuit board is positioned corresponding to the location of the detection sensor.

53. The mobile platform according to claim 51, characterized in that, In the preset state, the first circuit board is disposed on top of the heat dissipation structure.

54. The mobile platform according to claim 51, characterized in that, The first circuit board includes a sensing board, which is at least used for communicative connection with the detection sensor.

55. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a second circuit board, and the heat sink of the heat dissipation structure includes a second heat sink, which is thermally connected to the second circuit board.

56. The mobile platform according to claim 55, characterized in that, In the preset state, the second circuit board is disposed on the front side of at least part of the heat dissipation structure.

57. The mobile platform according to claim 55, characterized in that, The circuit board structure includes a first circuit board and a second circuit board, both of which are thermally connected to the heat dissipation structure; in the preset state, the position of the second circuit board is lower than that of the first circuit board.

58. The mobile platform according to claim 55, characterized in that, The second circuit board includes a core board, which is used at least to control the operation of the mobile platform.

59. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a second circuit board, which has a first interface for connecting a load.

60. The mobile platform according to claim 59, characterized in that, The first interface is located at the bottom of the main body.

61. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a third circuit board, and the heat sink of the heat dissipation structure includes a third heat sink, which is thermally connected to the third circuit board.

62. The mobile platform according to claim 61, characterized in that, The position of the third circuit board is determined based on the positions of the front and rear arms of the movable platform.

63. The mobile platform according to claim 61, characterized in that, In the preset state, the third circuit board is located on the rear side of the heat dissipation structure.

64. The mobile platform according to claim 61, characterized in that, The third circuit board includes an electronic control board.

65. The mobile platform according to claim 42, characterized in that, The circuit board structure includes at least two of the following: a first circuit board, a second circuit board, and a third circuit board, wherein the first circuit board is thermally connected to a first heat sink, the second circuit board is thermally connected to a second heat sink, and the third circuit board is thermally connected to a third heat sink.

66. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a first circuit board, a second circuit board, and a third circuit board. The heat dissipation structure includes a first heat sink, a second heat sink, and a third heat sink. The first circuit board is thermally connected to the first heat sink, the second circuit board is thermally connected to the second heat sink, and the third circuit board is thermally connected to the third heat sink.

67. The mobile platform according to claim 65 or 66, characterized in that, The heat dissipation structure has a fan installed in its air duct, and the number of the fans is one or more.

68. The mobile platform according to claim 42, characterized in that, The circuit board structure includes a third circuit board, which has a second interface for connecting a load.

69. The mobile platform according to claim 68, characterized in that, The second interface is located at the bottom of the main body.

70. The mobile platform according to claim 43, characterized in that, The heat dissipation structure also includes: The fan is located inside the air duct.

71. The mobile platform according to claim 70, characterized in that, The air duct includes: The first sub-air duct, wherein the fan is installed inside the first sub-air duct; The second sub-air duct extends from one end of the first sub-air duct by bending and connecting with the first sub-air duct.

72. The mobile platform according to claim 71, characterized in that, The second and third circuit boards of the circuit board structure are located on opposite sides of the second sub-duct.

73. The mobile platform according to claim 72, characterized in that, In the preset state, the first circuit board of the circuit board structure is disposed on top of the first sub-air duct and / or the second sub-air duct.

74. The mobile platform according to any one of claims 1-13, characterized in that, The mobile platform includes an aircraft, and the mobile platform includes a front arm and a rear arm, the length of which is greater than ...

75. The mobile platform according to any one of claims 1-13, characterized in that, The mobile platform includes an aircraft, and the front and rear arms of the mobile platform are foldable relative to the main body. When the front and rear arms are in the folded state and the mobile platform is in the preset state, the angle between the front arm and the roll axis is greater than the angle between the rear arm and the roll axis.

76. The mobile platform according to any one of claims 1-13, characterized in that, The mobile platform includes a front arm, a rear arm, and multiple rotor units, which provide flight propulsion; the multiple rotor units include: The front rotor assembly is located on the front arm; A rear rotor assembly is located on the rear arm; wherein the blade plane of the front blade of the front rotor assembly is lower than the blade plane of the rear blade of the rear rotor assembly.

77. The mobile platform according to any one of claims 1-13, characterized in that, The mobile platform includes a front arm, a rear arm, and multiple rotor units, which provide flight propulsion; the multiple rotor units include: The front rotor assembly is located on the front arm; A rear rotor assembly is provided on the rear arm; wherein the blade plane of the front rotor assembly's front blade is inclined upwards from the head to the tail; and / or, the blade plane of the rear rotor assembly's rear blade is inclined downwards from the head to the tail.

78. The mobile platform according to any one of claims 1-13, characterized in that, The main body includes a middle frame, the middle frame comprising: Crossbeam section; The mounting section, connected to the crossbeam section, is used to mount the landing gear of the movable platform.

79. The mobile platform according to claim 78, characterized in that, The middle frame includes: Plastic parts; A reinforcement, wherein the plastic part at least partially encloses the reinforcement.

80. The mobile platform according to claim 79, characterized in that, The reinforcing member is embedded within the plastic part.

81. The mobile platform according to claim 79, characterized in that, The middle frame is inclined upwards from the head to the tail.

82. The mobile platform according to claim 81, characterized in that, The reinforcing member of the middle frame is inclined upward from the head to the tail; when the movable platform is in a preset state, the angle between the reinforcing member and the roll axis is in the range of (0°, 20°).

Images