CN204250368U - A kind of mini quadrotor of Intelligent aerial photography - Google Patents
A kind of mini quadrotor of Intelligent aerial photography Download PDFInfo
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- CN204250368U CN204250368U CN201420683969.9U CN201420683969U CN204250368U CN 204250368 U CN204250368 U CN 204250368U CN 201420683969 U CN201420683969 U CN 201420683969U CN 204250368 U CN204250368 U CN 204250368U
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Abstract
The utility model relates to unmanned plane and to take photo by plane equipment technical field, especially relates to a kind of mini quadrotor of Intelligent aerial photography.Comprise frame, the frame being characterized in described is provided with four layer printed circuit boards of integrated circuit, the corner of frame is provided with motor mounting hole, on motor mounting hole, correspondence is provided with high speed hollow-cup motor respectively, high speed hollow-cup motor axle is provided with screw propeller, high speed hollow-cup motor afterbody is arranged with the shockproof mount that rises and falls, lithium cell is arranged in frame, frame front lower place is also provided with camera both view angle adjustment device, camera is arranged on camera both view angle adjustment device, four described layer printed circuit boards are provided with micro controller system, SCM peripheral is connected with Micro SD card, USB module, USB turns serial ports, camera, 2.4G+PA wireless module, attitude sensor and motor drive module, motor drive module is connected with high speed hollow-cup motor.Its light structure, is easy to carry; Cost performance is high; Have that a key is taken photo by plane, constant speed aerial photography function, efficiently simple to operate.
Description
Technical field:
The utility model relates to unmanned plane and to take photo by plane equipment technical field, especially relates to a kind of mini quadrotor of Intelligent aerial photography.
Background technology:
In numerous aircraft, the structure of quadrotor is considered to the simplest and stability contorting form the most intuitively of one.But due to the state parameter of necessary cooperation control four rotors simultaneously of this form, this brings great difficulty to the manipulation of driver.But along with the fast development of current science and technology, people reach its maturity for the control theory of quadrotor, by increasing an autonomous cruise speed system to quadrotor, it just can be made to possess good operating characteristic.Four rotor unmanned aircrafts are compared with other aircraft, and its physical construction is simply light and handy, and take action more flexible, landing conditional request is lower, most advantage be that it can realize the arbitrarily angled adjustment of vertical takeoff and landing, hovering, smooth flight and self attitude.Due to these features, quadrotor is widely used in the field of taking photo by plane.
The solution of existing quadrotor of taking photo by plane is: on four rotor platforms of a relatively high power, carry heavier and that price is high equipment of taking photo by plane.Larger power stage seriously constrains the duration performance of quadrotor, more threatens the personal safety of operator; The structure that heavy and volume is larger makes existing quadrotor of taking photo by plane be not easy to carry; In flight course, because the equipment of taking photo by plane can not transmit the graphicinformation captured by aircraft in real time, make operator can not real time inspection photographic images, finally affect shooting quality; Equipment price of taking photo by plane is high and easily damage, and four rotors being not suitable for building low cost are taken photo by plane system.These all constrain the further genralrlization application that quadrotor is taken photo by plane.
Summary of the invention:
The utility model be for prior art defect and a kind of mini quadrotor of Intelligent aerial photography is provided, its light structure, simple to operate and safe, easy to carry and cost performance is high, thus efficiently solve the problems of the prior art.
The utility model solves the scheme that its technical matters adopts: the mini quadrotor of described a kind of Intelligent aerial photography, comprise frame, the frame being characterized in described is provided with four layer printed circuit boards of integrated circuit, the corner of frame is provided with motor mounting hole, on motor mounting hole, correspondence is provided with high speed hollow-cup motor respectively, high speed hollow-cup motor axle is provided with screw propeller, high speed hollow-cup motor afterbody is arranged with the shockproof mount that rises and falls, lithium cell is arranged in frame, frame front lower place is also provided with camera both view angle adjustment device, camera is arranged on camera both view angle adjustment device, four described layer printed circuit boards are provided with micro controller system, SCM peripheral is connected with Micro SD card, USB module, USB turns serial ports, camera, 2.4G+PA wireless module, attitude sensor and motor drive module, motor drive module is connected with high speed hollow-cup motor.
Described lithium cell to be placed in immediately below frame and by the U-type groove in frame, battery is fastening with bungee, lithium battery capacity is 400MA ~ 600 MA, in order to increase flying power of the present utility model, lithium battery capacity can be increased when not affecting the utility model regular flight condition.
Described camera is 1,300,000 high-definition cameras, and camera is connected in frame by camera both view angle adjustment device, and is connected to realize image collecting function on micro controller system by utilizing camera interface, and camera regulates shooting angle by camera both view angle adjustment device.
The USB interface of described micro controller system is connected with USBDM with the USBDP port of USB module port, micro controller system and USB turn the TX of serial ports, RX pin correspondence is connected, it is corresponding with USB module connected that USB turns serial ports, the PWM1 of micro controller system, PWM2, PWM3, PWM4 pin is connected with four high speed hollow-cup motors of frame corner respectively by motor driver, the AD0 pin of micro controller system connects power management module by voltage detection module, the external lithium cell of power management module and USB charging module, lithium cell is connected with motor drive module, described 2.4G+PA wireless module is circumscribed with antenna.
Described micro controller system is as the control core of system, carry real-time embedded operating system to complete gesture stability, Intelligent aerial photography, data storage, radio communication and remote control, power detecting efficiently and to hold communication task with PC, Micro SD card is as the data storage medium of native system, micro controller system is by SPI interface and run FATFS file system directly with Micro SD cartoon letters, to complete the large data image store tasks that video capture produces.
Described micro controller system model is STM32F103CB, and the PCLK port of described camera connects the outside input capture of micro controller system, transmits with the DMA of hardware trigger micro controller system, completes collection and the storage of camera image data when CPU nonintervention; SIO_D, SIO_C of camera are caught up with by SCCB agreement and state micro controller system and carry out instruction transmission, and configuration camera register, to change contrast ratio, the gain parameter of camera; Described 2.4G+PA wireless module is connected with micro controller system by SPI interface, 2.4G+PA wireless module is integrated with less radio-frequency amplifier, remote high-rate wireless communication, possesses the ability of real-time transmission of video image and Remote; Described attitude sensor includes three axle digital accelerometer+3 axle gyroscopes, magnetometer, weather gauge, to be connected with micro controller system by I2C bus and to communicate, system, by the real-time attitude of attitude sensor perception, to carry out the gesture stability of closed loop, completes gesture stability task; Described source control unit is responsible for charge and discharge control, the voltage of voltage regulation output of lithium cell; Described motor drive module is made up of four metal-oxide-semiconductors, four metal-oxide-semiconductors are connected with four high speed hollow-cup motors respectively, micro controller system modulates pwm signal to control metal-oxide-semiconductor, changes motor both end voltage, to realize the speed governing of motor by changing pwm signal dutycycle; Described lithium battery voltage, by being linked into the AD mouth of above-mentioned micro controller system after dividing potential drop with Real-Time Monitoring electric quantity of lithium battery, prevents the unexpected air crash caused due to lithium battery quantity not sufficient.
By technique scheme, there is following effect: the mini quadrotor of described a kind of Intelligent aerial photography, its light structure in the utility model, fuselage directly uses print circuit plates making, firm light, only has 7cm*7cm size, weight only has about 40g, is easy to carry; Adopt integrated-circuit implementation, cost performance is high; Less horsepower output, ensures operator's personal safety and property safety; Adopt 2.4G+PA radio communication, remote high-speed communication, to complete realtime graphic transmission, improves shooting quality; There is the intelligent aerial photography functions such as a key is taken photo by plane, constant speed is taken photo by plane, efficiently simple to operate.
Accompanying drawing illustrates:
Fig. 1 is physical construction decomposing schematic representation of the present utility model;
Fig. 2 is that this uses novel circuit control system schematic diagram.
Shown in figure: 1, frame, 2, screw propeller, 3, high speed hollow-cup motor, 4, rise and fall shockproof mount, 5, camera both view angle adjustment device, 6, camera, 7, lithium cell, 8.Micro SD card, 9.USB module, 10.USB turns serial ports, 11. utilizing camera interfaces, 12. antennas, 13. micro controller systems, 14.2.4G+PA wireless module, 15. attitude sensors, 16. voltage detection module, 17.USB charging module, 18. power management modules, 19. motor drive modules.
Detailed description of the invention
Below in conjunction with accompanying drawing shownschematically most preferred embodiment be described in further detail:
As illustrated in fig. 1 and 2, the mini quadrotor of described a kind of Intelligent aerial photography, comprise frame 1, the frame 1 being characterized in described is provided with four layer printed circuit boards of integrated circuit, the corner of frame 1 is provided with motor mounting hole, on motor mounting hole, correspondence is provided with high speed hollow-cup motor 3 respectively, the axle of high speed hollow-cup motor 3 is provided with screw propeller 2, the afterbody of high speed hollow-cup motor 3 is arranged with the shockproof mount 4 that rises and falls, lithium cell 7 is arranged in frame 1, frame 1 front lower place is also provided with camera both view angle adjustment device 5, camera 6 is arranged on camera both view angle adjustment device 5, four described layer printed circuit boards are provided with micro controller system 13, micro controller system 13 periphery is connected with Micro SD card 8, USB module 9, USB turns serial ports 10, utilizing camera interface 11, 2.4G+PA wireless module 14, attitude sensor 15, voltage detection module 16 and motor drive module 19, motor drive module 19 is connected with high speed hollow-cup motor 3.
Described lithium cell 7 to be placed in immediately below frame 1 and with bungee by the U-type groove in frame 1 by fastening for lithium cell 7, the capacity of lithium cell 7 is 400MA ~ 600 MA, for increasing flying power of the present utility model, the capacity of lithium cell 7 suitably can be increased when not affecting the utility model regular flight condition.
Described camera 6 is 1,300,000 high-definition cameras, camera 6 is connected in frame 1 by camera both view angle adjustment device 5, and be connected on micro controller system 13 by utilizing camera interface 11, realize image collecting function, camera 6 regulates shooting angle by camera both view angle adjustment device 5.
The USB interface of described micro controller system 13 is connected with USBDM with the USBDP port of USB module 9 port, micro controller system 13 and USB turn the TX of serial ports 10, RX pin correspondence is connected, it is corresponding with USB module 9 connected that USB turns serial ports 10, the PWM1 of micro controller system 13, PWM2, PWM3, PWM4 pin is connected with four high speed hollow-cup motors 3 of frame corner respectively by motor drive module 19, the AD0 pin of micro controller system 13 is connected to power management module 18 by voltage detection module 16, the external lithium cell 7 of power management module 18 and USB charging module 17, lithium cell 7 is connected with motor drive module 19, described 2.4G+PA wireless module 14 is circumscribed with antenna 12.
Described micro controller system 13 is as the control core of system, carry real-time embedded operating system to complete gesture stability, Intelligent aerial photography, data storage, radio communication and remote control, power detecting efficiently and to hold communication task with PC, Micro SD card 8 is as the data storage medium of native system, micro controller system 13 by SPI interface and run FATFS file system directly with Micro SD card 8 communicate, to complete the large data image store tasks that video capture produces.
Described micro controller system 13 model is STM32F103CB, the PCLK port of described utilizing camera interface 11 connects the outside input capture of micro controller system 13, transmit with the DMA of hardware trigger micro controller system 13, complete collection and the storage of camera image data when CPU nonintervention; SIO_D, SIO_C of utilizing camera interface 11 are caught up with by SCCB agreement and state micro controller system 13 and carry out instruction transmission, and the register of configuration camera 6, to change contrast ratio, the gain parameter of camera 6; Described 2.4G+PA wireless module 14 is connected with micro controller system 13 by SPI interface, 2.4G+PA wireless module 14 is integrated with less radio-frequency amplifier, remote high-rate wireless communication, possesses the ability of real-time transmission of video image and Remote; Described attitude sensor 15 includes 3 three axle digital accelerometer+3 axle gyroscopes, magnetometer, weather gauge, to be connected with micro controller system 13 by I2C bus and to communicate, system, by the real-time attitude of attitude sensor 15 perception, to carry out the gesture stability of closed loop, completes gesture stability task; Described power management module 18 is responsible for charge and discharge control, the voltage of voltage regulation output of lithium cell 7; Described motor drive module 19 is made up of four metal-oxide-semiconductors, four metal-oxide-semiconductors are connected with four high speed hollow-cup motors 3 respectively, micro controller system 13 modulates pwm signal to control metal-oxide-semiconductor, high speed hollow-cup motor 3 both end voltage is changed, to realize the speed governing of high speed hollow-cup motor 3 by changing pwm signal dutycycle; The voltage of described lithium cell 7 is linked into the AD mouth of micro controller system 13 with the electricity of Real-Time Monitoring lithium cell 7 by voltage detection module 16, prevents the unexpected air crash caused due to the electricity deficiency of lithium cell 7.Described micro controller system be connected with USB and turn serial interface, micro controller system can complete firmware downloads or renewal automatically, can with PC direct communication.
Above-mentioned example is only for illustrating technical conceive of the present utility model and feature; its object is to person skilled in the art can be understood content of the present utility model and implement according to this; can not with this protection domain of the present utility model; all equivalences done according to the utility model Spirit Essence change or modify, and all should be encompassed within protection domain of the present utility model.
Claims (6)
1. the mini quadrotor of an Intelligent aerial photography, comprise frame, it is characterized in that described frame is provided with four layer printed circuit boards of integrated circuit, the corner of frame is provided with motor mounting hole, on motor mounting hole, correspondence is provided with high speed hollow-cup motor respectively, high speed hollow-cup motor axle is provided with screw propeller, high speed hollow-cup motor afterbody is arranged with the shockproof mount that rises and falls, lithium cell is arranged in frame, frame front lower place is also provided with camera both view angle adjustment device, camera is arranged on camera both view angle adjustment device, four described layer printed circuit boards are provided with micro controller system, SCM peripheral is connected with Micro SD card, USB module, USB turns serial ports, camera, 2.4G+PA wireless module, attitude sensor and motor drive module, motor drive module is connected with high speed hollow-cup motor.
2. the mini quadrotor of a kind of Intelligent aerial photography according to claim 1, it is characterized in that: described lithium cell to be placed in immediately below frame and by the U-type groove in frame, battery is fastening with bungee, lithium battery capacity is 400MA ~ 600MA, in order to increase flying power of the present utility model, lithium battery capacity can be increased when not affecting the utility model regular flight condition.
3. the mini quadrotor of a kind of Intelligent aerial photography according to claim 1, it is characterized in that: described camera is 1,300,000 high-definition cameras, camera is connected in frame by camera both view angle adjustment device, and being connected to realize image collecting function on micro controller system by utilizing camera interface, camera regulates shooting angle by camera both view angle adjustment device.
4. the mini quadrotor of a kind of Intelligent aerial photography according to claim 1, it is characterized in that: the USB interface of described micro controller system is connected with USBDM with the USBDP port of USB module port, micro controller system and USB turn the TX of serial ports, RX pin correspondence is connected, it is corresponding with USB module connected that USB turns serial ports, the PWM1 of micro controller system, PWM2, PWM3, PWM4 pin is connected with four high speed hollow-cup motors of frame corner respectively by motor driver, the AD0 pin of micro controller system connects power management module by voltage detection module, the external lithium cell of power management module and USB charging module, lithium cell is connected with motor drive module, described 2.4G+PA wireless module is circumscribed with antenna.
5. the mini quadrotor of a kind of Intelligent aerial photography according to claim 1, it is characterized in that: described micro controller system is as the control core of system, carry real-time embedded operating system to complete gesture stability, Intelligent aerial photography, data storage, radio communication and remote control, power detecting efficiently and to hold communication task with PC, Micro SD card is as the data storage medium of native system, micro controller system is by SPI interface and run FATFS file system directly with Micro SD cartoon letters, to complete the large data image store tasks that video capture produces.
6. the mini quadrotor of a kind of Intelligent aerial photography according to claim 1, it is characterized in that: described micro controller system model is STM32F103CB, the PCLK port of described camera connects the outside input capture of micro controller system, transmit with the DMA of hardware trigger micro controller system, complete collection and the storage of camera image data when CPU nonintervention; SIO_D, SIO_C of camera are caught up with by SCCB agreement and state micro controller system and carry out instruction transmission, and configuration camera register, to change contrast ratio, the gain parameter of camera; Described 2.4G+PA wireless module is connected with micro controller system by SPI interface, 2.4G+PA wireless module is integrated with less radio-frequency amplifier, remote high-rate wireless communication, possesses the ability of real-time transmission of video image and Remote; Described attitude sensor includes three axle digital accelerometer+3 axle gyroscopes, magnetometer, weather gauge, to be connected with micro controller system by I2C bus and to communicate, system, by the real-time attitude of attitude sensor perception, to carry out the gesture stability of closed loop, completes gesture stability task; Described motor drive module is made up of four metal-oxide-semiconductors, four metal-oxide-semiconductors are connected with four high speed hollow-cup motors respectively, micro controller system modulates pwm signal to control metal-oxide-semiconductor, changes motor both end voltage, to realize the speed governing of motor by changing pwm signal dutycycle; Described lithium battery voltage, by being linked into the AD mouth of above-mentioned micro controller system after dividing potential drop with Real-Time Monitoring electric quantity of lithium battery, prevents the unexpected air crash caused due to lithium battery quantity not sufficient.
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| CN201420683969.9U CN204250368U (en) | 2014-11-14 | 2014-11-14 | A kind of mini quadrotor of Intelligent aerial photography |
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| CN201420683969.9U CN204250368U (en) | 2014-11-14 | 2014-11-14 | A kind of mini quadrotor of Intelligent aerial photography |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104773289A (en) * | 2015-04-16 | 2015-07-15 | 四川理工学院 | Internet-of-things-based micro four-rotor aircraft |
| CN104875882A (en) * | 2015-05-21 | 2015-09-02 | 合肥学院 | Quadrotor |
| CN105035300A (en) * | 2015-08-27 | 2015-11-11 | 深圳市恩孚电子科技有限公司 | Vibration preventing system of unmanned aerial vehicle |
| CN105119552A (en) * | 2015-09-18 | 2015-12-02 | 上海长语信息科技有限公司 | Multi-axis aircraft asynchronous motor parallel speed regulation method and product |
| CN105151284A (en) * | 2015-08-21 | 2015-12-16 | 东莞市福莱特航空科技有限公司 | Pressure-driven multiaxial rotorcraft |
| CN105235912A (en) * | 2015-10-30 | 2016-01-13 | 深圳高启科技有限公司 | Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof |
| CN105270645A (en) * | 2015-11-11 | 2016-01-27 | 惠州市东阳智能技术股份有限公司 | Aerial photographic aircraft |
| CN105383688A (en) * | 2015-10-22 | 2016-03-09 | 张利国 | Distributed multi-rotor-wing unmanned aerial vehicle system with heavy load and long endurance |
| CN105416571A (en) * | 2015-12-11 | 2016-03-23 | 谭圆圆 | Unmanned aerial vehicle |
| CN105564647A (en) * | 2016-02-02 | 2016-05-11 | 向东 | Low-altitude aircraft |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN105955305A (en) * | 2016-07-07 | 2016-09-21 | 苏州大学 | Four-axis unmanned aerial vehicle |
| CN106904287A (en) * | 2017-03-21 | 2017-06-30 | 四川智航慧飞无人机科技有限公司 | Take photo by plane the protection structure of unmanned plane camera |
| CN107074376A (en) * | 2016-05-26 | 2017-08-18 | 深圳市大疆创新科技有限公司 | The erecting device and unmanned vehicle of motion sensor |
| CN107264065A (en) * | 2016-04-08 | 2017-10-20 | 东芝泰格有限公司 | Printing equipment and printing process |
| CN107719653A (en) * | 2017-09-25 | 2018-02-23 | 南京律智诚专利技术开发有限公司 | A kind of monitoring unmanned plane |
| WO2018045635A1 (en) * | 2016-09-06 | 2018-03-15 | 数字鹰科技盐城有限公司 | Moving photographing device for unmanned aerial vehicle |
| WO2018095159A1 (en) * | 2016-11-25 | 2018-05-31 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle and control method therefor |
| CN108474656A (en) * | 2015-12-30 | 2018-08-31 | 高通股份有限公司 | The compression fittings structure of barometertic altimeter for unmanned vehicle |
| CN108883829A (en) * | 2016-04-14 | 2018-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned vehicle |
| EP3446974A1 (en) * | 2017-08-23 | 2019-02-27 | Fat Shark Technology SEZC | Unmanned aerial vehicle |
| CN109592024A (en) * | 2016-07-05 | 2019-04-09 | 金福珍 | A kind of Intelligent unattended machine |
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- 2014-11-14 CN CN201420683969.9U patent/CN204250368U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773289A (en) * | 2015-04-16 | 2015-07-15 | 四川理工学院 | Internet-of-things-based micro four-rotor aircraft |
| CN104875882A (en) * | 2015-05-21 | 2015-09-02 | 合肥学院 | Quadrotor |
| CN105151284A (en) * | 2015-08-21 | 2015-12-16 | 东莞市福莱特航空科技有限公司 | Pressure-driven multiaxial rotorcraft |
| CN105035300A (en) * | 2015-08-27 | 2015-11-11 | 深圳市恩孚电子科技有限公司 | Vibration preventing system of unmanned aerial vehicle |
| CN105035300B (en) * | 2015-08-27 | 2017-09-19 | 深圳市恩孚电子科技有限公司 | Unmanned plane suspension system |
| CN105119552A (en) * | 2015-09-18 | 2015-12-02 | 上海长语信息科技有限公司 | Multi-axis aircraft asynchronous motor parallel speed regulation method and product |
| CN105119552B (en) * | 2015-09-18 | 2019-09-17 | 海宁伊满阁太阳能科技有限公司 | Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product |
| CN105383688A (en) * | 2015-10-22 | 2016-03-09 | 张利国 | Distributed multi-rotor-wing unmanned aerial vehicle system with heavy load and long endurance |
| CN105235912A (en) * | 2015-10-30 | 2016-01-13 | 深圳高启科技有限公司 | Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof |
| CN105270645A (en) * | 2015-11-11 | 2016-01-27 | 惠州市东阳智能技术股份有限公司 | Aerial photographic aircraft |
| CN105416571A (en) * | 2015-12-11 | 2016-03-23 | 谭圆圆 | Unmanned aerial vehicle |
| CN108474656B (en) * | 2015-12-30 | 2019-04-09 | 高通股份有限公司 | The compression fittings structure of barometertic altimeter for unmanned vehicle |
| CN108474656A (en) * | 2015-12-30 | 2018-08-31 | 高通股份有限公司 | The compression fittings structure of barometertic altimeter for unmanned vehicle |
| CN105564647A (en) * | 2016-02-02 | 2016-05-11 | 向东 | Low-altitude aircraft |
| CN107264065A (en) * | 2016-04-08 | 2017-10-20 | 东芝泰格有限公司 | Printing equipment and printing process |
| CN108883829B (en) * | 2016-04-14 | 2021-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned aerial vehicle |
| CN108883829A (en) * | 2016-04-14 | 2018-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned vehicle |
| CN107074376A (en) * | 2016-05-26 | 2017-08-18 | 深圳市大疆创新科技有限公司 | The erecting device and unmanned vehicle of motion sensor |
| CN107074376B (en) * | 2016-05-26 | 2019-02-26 | 深圳市大疆创新科技有限公司 | The mounting device and unmanned vehicle of motion sensor |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN109592024A (en) * | 2016-07-05 | 2019-04-09 | 金福珍 | A kind of Intelligent unattended machine |
| CN105955305A (en) * | 2016-07-07 | 2016-09-21 | 苏州大学 | Four-axis unmanned aerial vehicle |
| WO2018045635A1 (en) * | 2016-09-06 | 2018-03-15 | 数字鹰科技盐城有限公司 | Moving photographing device for unmanned aerial vehicle |
| WO2018095159A1 (en) * | 2016-11-25 | 2018-05-31 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle and control method therefor |
| CN106904287A (en) * | 2017-03-21 | 2017-06-30 | 四川智航慧飞无人机科技有限公司 | Take photo by plane the protection structure of unmanned plane camera |
| CN109421925A (en) * | 2017-08-23 | 2019-03-05 | 肥鲨技术 | Unmanned plane |
| EP3446974A1 (en) * | 2017-08-23 | 2019-02-27 | Fat Shark Technology SEZC | Unmanned aerial vehicle |
| CN109421925B (en) * | 2017-08-23 | 2024-03-12 | 无人机专利公司 | Unmanned plane |
| CN107719653A (en) * | 2017-09-25 | 2018-02-23 | 南京律智诚专利技术开发有限公司 | A kind of monitoring unmanned plane |
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