CN107108043B - Unmanned vehicle and unmanned vehicle are taken photo by plane method - Google Patents
Unmanned vehicle and unmanned vehicle are taken photo by plane method Download PDFInfo
- Publication number
- CN107108043B CN107108043B CN201680004025.6A CN201680004025A CN107108043B CN 107108043 B CN107108043 B CN 107108043B CN 201680004025 A CN201680004025 A CN 201680004025A CN 107108043 B CN107108043 B CN 107108043B
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- China
- Prior art keywords
- fuselage
- unmanned vehicle
- capture apparatus
- holder
- rotating member
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- 238000000034 method Methods 0.000 title claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 10
- 230000002459 sustained effect Effects 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
A kind of unmanned vehicle (1), it include: fuselage (10), including bottom surface (110), top surface (120) and the side (130) between the bottom surface (110) and the top surface (120)；Holder (30) is connect with the fuselage (10), and is located at the side (130) of the fuselage (10), and the holder (30) is for carrying capture apparatus (50)；Wherein, the holder (30) is able to drive the capture apparatus (50) and moves relative to the fuselage (10), and the working condition of the holder (30) includes top shooting state and lower section shooting state；When the holder (30) are in the top shooting state, the capture apparatus (50) at least partly protrudes the top surface (120) of the fuselage (10)；When the holder (50) are in the lower section shooting state, the capture apparatus (50) at least partly protrudes the bottom surface (110) of the fuselage (10).
Description
Technical field
It takes photo by plane method the present invention relates to aircraft field more particularly to a kind of unmanned vehicle and a kind of unmanned vehicle.
Background technique
Unmanned vehicle is usually used in taking photo by plane, and generally includes holder and the bat connecting with the holder that one connect with fuselage
Take the photograph equipment such as camera or video camera.But current holder is all set to the lower section of unmanned vehicle, is limited to unmanned vehicle machine
The shooting visual range of the blocking of body or horn, capture apparatus is small.
Summary of the invention
In view of this, it is necessary to provide a kind of unmanned vehicles with larger shooting visual range and unmanned vehicle to navigate
Shooting method.
The present invention relates to a kind of unmanned vehicles, comprising:
Fuselage, including bottom surface, top surface and the side between the bottom surface and the top surface；And
Holder is connect with the fuselage, and is located at the side of the fuselage, and the holder is for carrying capture apparatus；
Wherein, the holder is able to drive the capture apparatus and moves relative to the fuselage, and the work of the holder
It include top shooting state and lower section shooting state as state；When the holder is in the top shooting state, the cloud
Platform makes the capture apparatus at least partly protrude the top surface of the fuselage；When the holder is in the lower section shooting state,
The holder makes the capture apparatus at least partly protrude the bottom surface of the fuselage.
The invention further relates to a kind of unmanned vehicles, comprising:
Fuselage, including head and the tail opposite with the head；And
Holder is mounted on the head or tail, and the holder is for carrying capture apparatus；
Wherein, the holder includes rotating mechanism, and the rotating mechanism includes multiple rotating members interconnected, and described turn
Motivation structure includes the first rotating member for being mounted on the head or tail position, and the shaft of first rotating member is parallel to
The plane that the pitch axis and roll axis of the unmanned vehicle are constituted；
The holder drives the capture apparatus movement, make the capture apparatus be located at the height of the bottom of the fuselage with
The above position of height at lower position or the top of the fuselage.
It takes photo by plane method the invention further relates to a kind of unmanned vehicle, wherein the unmanned vehicle includes fuselage, is mounted on
The holder of the peripheral part of the fuselage and the capture apparatus being carried on the holder, the holder are able to drive described
Capture apparatus makes the capture apparatus be located at the height of the bottom of the fuselage or less the height at position or the top of the fuselage
Spend or more position；
The holder is controlled, the capture apparatus is made to be located at the height of the bottom of the fuselage or less position and the machine
One of position of the above position of the height at the top of body；
It controls the capture apparatus and shoots the first image in current location；
The holder is controlled, the capture apparatus is made to be located at the height of the bottom of the fuselage or less position and the machine
Another position of the above position of the height at the top of body；
It controls the capture apparatus and shoots the second image in current location；And
By the first image and second image mosaic at panoramic picture.
Compared with the prior art, unmanned vehicle and unmanned vehicle of the present invention method of taking photo by plane pass through the rotating member of the holder
Rotation, so that the capture apparatus for being connected to the holder is located at the bottom surface of for example described fuselage of different height of the relatively described fuselage
The top of the top surface of lower section, the side side of the fuselage and the fuselage, expands shooting visual range.
Detailed description of the invention
Fig. 1 is an a kind of stereoscopic schematic diagram of unmanned vehicle that embodiment of the present invention provides, wherein the aircraft
Holder be in first state.
Fig. 2 is the schematic perspective view of the holder of unmanned vehicle and capture apparatus in Fig. 1.
Fig. 3 is another stereoscopic schematic diagram of unmanned vehicle shown in FIG. 1, wherein the holder of the aircraft is in the
Two-state.
Fig. 4 is a floor map of unmanned vehicle shown in FIG. 1, wherein the holder of the aircraft is in third
State.
Fig. 5 is another stereoscopic schematic diagram of unmanned vehicle shown in FIG. 1, wherein the holder of the aircraft is in the
Four states.
Fig. 6 is another stereoscopic schematic diagram of unmanned vehicle shown in FIG. 1, wherein at the holder of the unmanned vehicle
In the 5th state.
Fig. 7 is a floor map of unmanned vehicle shown in fig. 6.
Fig. 8 is another stereoscopic schematic diagram of unmanned vehicle shown in fig. 6, wherein the shooting of the unmanned vehicle is set
It is standby towards different visual angles.
Main element symbol description
Unmanned vehicle 1
Fuselage 10
Bottom surface 110
Top surface 120
Side 130
Horn 20
Holder 30
First rotating member 31
First rotating shaft 311
First linking arm 313
First connecting portion 315
Second rotating member 33
Second shaft 331
Second linking arm 333
Second connecting portion 335
Third rotating member 35
Third shaft 351
Turntable 37
Connector 40
Capture apparatus 50
Camera lens 51
Second motor 60
Third motor 70
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig. 1, embodiment of the present invention provides a kind of unmanned vehicle 1.The unmanned vehicle 1 includes fuselage
10, from the outwardly extending horn 20 of the fuselage 10, be connected to the holder 30 of the fuselage 10 and be connected to the holder 30
Capture apparatus 50.Specifically, holder 30 is connect by connector 40 with fuselage 10.
The fuselage 10 includes opposite head and tail.Specifically in the illustrated embodiment, by the unmanned flight
The fuselage 10 end opposite with the head is made as head in the end of the corresponding fuselage 10 of line direction before device 1
For tail.
The fuselage 10 is including bottom surface 110, the top surface 120 opposite with the bottom surface 110 and is located at the bottom surface 110 and institute
State the side 130 between top surface 120.In one embodiment, the side 130 is four.It is in normal in unmanned vehicle 1
When under state of flight, the bottom surface 110 is the fuselage 10 close to a side surface on ground, and the top surface 120 is the fuselage
10 deviate from a side surface on ground.
In present embodiment, the fuselage 10 is substantially in rectangular shape, the bottom surface 110, the top surface 120 and institute
Stating side 130 is plane.It is appreciated that the fuselage 10 or any other suitable shape, therefore, the bottom surface
110, the top surface 120 and the side 130 can be curved surface and the surface of other irregular shapes, according to the fuselage
The quantity of the difference of 10 shape, the side 130 can also be different.
The horn 20 extends outwardly from the side 130 of the fuselage 10.Specifically in the illustrated embodiment, the machine
Arm 20 is four, is extended outwardly respectively from the junction of four sides 130.The quantity of the horn 20 can also for six,
Eight or other quantity.Power device (not shown) can be set on the horn 20.The power device can be the nothing
People's aircraft 1 provides the power of flight.In one embodiment, the power device can be rotor assemblies.The rotor assemblies packet
Include propeller and the motor for driving the propeller rotational.In one embodiment, the unmanned vehicle 1 flies for more rotors
Row device.
The holder 30 is installed at the side 130 of the fuselage 10 by the connector 40.The holder 30 is used for
Carry the capture apparatus 50.The holder 30 is able to drive the capture apparatus 50 and moves relative to the fuselage 10.It is described
The working condition of holder 30 includes at least top shooting state and lower section shooting state.It is clapped when the holder 30 is in the top
When taking the photograph state, the holder 30 makes the capture apparatus 50 at least partly protrude the top surface 120 of the fuselage 10；When the holder
30 when being in the lower section shooting state, and the holder 30 makes the capture apparatus 50 at least partly protrude the bottom of the fuselage 10
Face 110.
In one embodiment, the side 130 for installing the holder 30 is head or the corresponding side of tail of the fuselage 10
Face, i.e., the described unmanned vehicle 1 is towards the side of preset direction of advance or opposite with towards the side of preset direction of advance
Side.Also that is, the holder 30 is mounted on the head or tail.Referring to Fig. 4, when the holder 30 is in the lower section
When shooting state, the holder 30 make the capture apparatus 50 be completely disposed at the fuselage 10 bottom surface 110 height with bottom
It sets.Referring to Fig. 7, the holder 30 keeps the capture apparatus 50 complete when the holder 30 is in the top shooting state
It is placed in the above position of height of the top surface 120 of the fuselage 10 entirely.
Referring to Fig. 2, the holder 30 includes the rotating mechanism for driving the capture apparatus 50 to rotate (figure is not marked).
The rotating mechanism is connected to the side 130 of the fuselage 10.Specifically, the rotating mechanism by be located at the holder 30 with
The connector 40 between the side 130 of the fuselage 10 is fixedly mounted in the side 130 of the fuselage 10.
The rotating mechanism drives the capture apparatus 50 to rotate, and the capture apparatus 50 can at least be made to be located at opposite institute
At the different height for stating fuselage 10.Specifically, the rotating mechanism drives the capture apparatus 50 to rotate, and sets the shooting
Standby 50 protrude out to 110 lower section of bottom surface of the fuselage 10,130 side of side of the fuselage 10 or the top surface of the fuselage 10
120 tops.In one embodiment, the rotation of the rotating mechanism drives the capture apparatus 50 to be located under the horn 20
Side or the top of the horn 20.Further, the rotation of the rotating mechanism drives the capture apparatus 50 to be located at described dynamic
Height position below or above position where power device.
Specifically in the illustrated embodiment, the rotating mechanism includes multiple interconnection rotating members.Each rotation
The actuator that part packet shaft and the driving rotating member are rotated relative to the fuselage or another rotating member.The multiple rotating member two
Two are mutually perpendicular to.In one embodiment, the number of the rotating member is three, and mutually vertical.In present embodiment, institute
State rotating mechanism include the first rotating member 31, the second rotating member 33 being connect with first rotating member 31 and with described second turn
The third rotating member 35 that moving part 33 connects.
First rotating member 31 is connected to the side 130 of the fuselage 10.In one embodiment, first rotating member
31 are mounted on the head or the corresponding side 130 of tail.First rotating member 31 is axially parallel to the unmanned vehicle 1
Roll axis and pitch axis constitute plane setting.First rotating member 31 drives the capture apparatus 50 to rotate, and makes described
Capture apparatus 50 is located at the different height of the relatively described fuselage 10.First rotating member 31 includes first rotating shaft 311, first
Linking arm 313 and first connecting portion 315.First linking arm 313 connects the first rotating shaft 311 and the first connecting portion
315。
The first rotating shaft 311 is connected to the side 130 of the fuselage 10.Specifically, one end of the first rotating shaft 311
It is rotatably connected to the connector 40, and then is connected to the side 130 of the fuselage 10 by the connector 40.Institute
State the plane that the centerline axis parallel of first rotating shaft 311 is constituted in the 1 roll axis of unmanned vehicle and pitch axis.This embodiment party
In formula, the centerline axis parallel of the first rotating shaft 311 is arranged in the roll axis of the unmanned vehicle 1.One way of example
In, the first rotating shaft 311 can rotate clockwise or counterclockwise 0-360 degree around center axis thereof.The first rotating shaft 311 can be by
The driving of first motor (not shown), the first motor can be controlled by a control system (not shown).In the present embodiment, described
The outer peripheral surface of one shaft 311 is also connected with turntable 37.The turntable 37 is equipped with mutually to be blocked with the auxiliary section of the end of the shaft 311
The holding section of conjunction makes the auxiliary section phase of the holding section of the turntable 37 with 311 end of shaft by rotating the turntable 37
Engaging or separation, so that first rotating shaft 311 and connector 40 are detachably connected, facilitate Quick Release.
First linking arm 313 extends outwardly from the other end of the first rotating shaft 311.It is described in one embodiment
First linking arm 313 is extended outwardly from the periphery of the other end of the first rotating shaft 311.First linking arm 313 is in curved
It is curved, specifically in the present embodiment, the general " l "-shaped bending of first linking arm 313.
The first connecting portion 315 is connected to the end of first linking arm 313.In one embodiment, described first
The outer peripheral surface of interconnecting piece 315 is cylindrical surface.
Second rotating member 33 is rotatably connected to first rotating member 31.The axis of second rotating member 33
The plane constituted to the course axis and the roll axis that are parallel to the unmanned vehicle 1, alternatively, the unmanned vehicle 1
The plane that course axis and the pitch axis are constituted.Specifically, second rotating member 33 is axially parallel to the unmanned flight
The course axis of device 1.The rotation of second rotating member 33 drives the capture apparatus 50 to be located at the same of the relatively described fuselage 10
At the different location of height.Second rotating member 33 includes the second shaft 331, the second linking arm 333 and second connecting portion
335.Second linking arm 333 connects second shaft 331 and the second connecting portion 335.
One end of second shaft 331 is rotatably connected to the first connecting portion 315.Second shaft
The plane that 311 centerline axis parallel is constituted in the course axis of the unmanned vehicle 1 and the roll axis, alternatively, the nothing
The plane that the course axis and the pitch axis of people's aircraft 1 are constituted.Specifically, the central axis upright of second shaft 331
In the central axis of the first rotating shaft 311, i.e., described second shaft 331 is perpendicular to the first rotating shaft 311.
In the illustrated embodiment, the central axis of second shaft 331 is roughly parallel to the installation holder 30
Side 130, i.e., described second shaft 331 are roughly parallel to the side 130 for installing the holder 30.It is described in one embodiment
Second shaft 331 is generally corresponding to the bottom surface 110 of the fuselage 10 and the middle position of top surface 120, that is, is generally corresponding to installation cloud
The middle position of the side 130 of platform 30.The relatively described first connecting portion 315 of second shaft 331 can the clockwise or inverse time
Needle rotates 360 degree.Second shaft 331 can be driven by the second motor 60.Second motor 60 is installed on described first and connects
Socket part 315 and the one end for being located at second shaft 331.Second motor 60 can be controlled by the control system.
Second linking arm 333 extends outwardly from second shaft 331.In one embodiment, second connection
Arm 333 is extended outwardly from the periphery of second shaft 331.Second linking arm 333 is in bending.One embodiment
In, the distance between opposite end of second linking arm 333 is greater than between the bottom surface 110 and top surface 120 of the fuselage 10
Distance half.
The second connecting portion 335 is extended from the end of second linking arm 333.It is described in one embodiment
The outer peripheral surface of second connecting portion 335 is cylindrical surface.
In one embodiment, second shaft 331, second linking arm 333 and the second connecting portion 335 are one
Forming structure.
The third rotating member 35 is rotatably connected to second rotating member 33.The axis of the third rotating member 35
The plane setting constituted to the roll axis and pitch axis for being parallel to the unmanned vehicle 1.In one embodiment, the third turns
The pitch axis setting for being axially parallel to the unmanned vehicle 1 of moving part 35.The third rotating member 35 is for connecting the bat
Take the photograph equipment 50.The rotation drive capture apparatus 35 of the third rotating member 35 is located at the sustained height of the relatively described fuselage 10
Same position when its camera lens direction it is different.
The third rotating member 35 includes a third shaft 351.The centerline axis parallel of the third shaft 351 is in described
The pitch axis of unmanned vehicle 1.
One end of the third shaft 351 is rotatably connected to the second connecting portion 335.The third shaft
351 central axis falls in the central axis of central axis and second shaft 331 in the first rotating shaft 311, i.e. institute
Third shaft 351 is stated to fall in the first rotating shaft 311 and second shaft 331.The central axis of the third shaft 351
It is roughly parallel to the side 130 for installing the holder 30, i.e., the described third shaft 351 is roughly parallel to the installation holder 30
Side 130.The relatively described second connecting portion 335 of the third shaft 351 can rotate clockwise or counterclockwise 360 degree.Described
Three shafts 351 can be driven by third motor 70.The third motor 70 is installed on the second connecting portion 335 and is located at described the
One end of three shafts 351.The third motor 70 can be controlled by the control system.
The capture apparatus 50 is connected to the end of the third shaft 351.The camera lens 51 of the capture apparatus 50 is vertical
In the distal end faces of the third shaft 351.
In use, please refer to Fig. 4 to Fig. 7, first rotating member 31 along the relatively described fuselage of the first rotating shaft 311
10 rotation 0-360 degree, and then entire holder 30 is driven to rotate relative to the fuselage 10.The holder 30 rotates corresponding angle
Degree, and project at the different height relative to the fuselage 10, that is, project to lower section, the position of the bottom surface 110 of the fuselage 10
In the side of the fuselage 10 side and project to the fuselage 10 top surface 120 top, to make to be connected to the cloud
The capture apparatus 50 of platform 30 rotates corresponding angle and is located under the different direction of the fuselage 10 such as the bottom surface 110 of fuselage 10
The top of the top surface 120 of side, the side of the fuselage 10 and the fuselage 10, i.e., the described capture apparatus 50 are located at the relatively described machine
At the different height of body 10, the visual range with different height shoots the scenery of relatively described 10 different height of fuselage.
In use, please referring to Fig. 1, Fig. 3 and Fig. 4, the second shaft 331 of second rotating member 33 is first turn relatively described
The first connecting portion 315 of moving part 31 rotates 0-360 degree, and the capture apparatus 50 is driven to rotate corresponding angle, and sets shooting
Standby 50 are located at the different location in an orientation of the fuselage 10, that is, are located at the different location of relatively described 10 sustained height of fuselage
Place, to make the camera lens 51 of capture apparatus 50 towards different directions, i.e. the camera lens 51 of capture apparatus 50 is being located at the relatively described machine
Towards different directions at the different location of 10 sustained height of body, and then capture apparatus 50 is made to be located at the same of the relatively described fuselage 10
Visual range with 0-360 degree at one height.In one embodiment, the rotation band of the second shaft 331 of the second rotating member 33
The camera lens 51 is moved in the horizontal plane towards different.
In use, Fig. 6 and Fig. 8 are please referred to, relatively described second rotating member of the third shaft 351 of the third rotating member 35
33 second connecting portion 335 rotates 0-360 degree, and the capture apparatus 50 is driven to rotate corresponding angle, and makes capture apparatus 50
When being located at the same position of relatively described 10 sustained height of fuselage, camera lens 51 makes capture apparatus towards different directions
50 have the visual range of 0-360 degree at the same position of sustained height for being located at the relatively described fuselage 10.One embodiment
In, the rotation of the third shaft 351 of third rotating member 35 drives the camera lens 51 in vertical plane towards different.
In use, first rotating member 31, the second rotating member 33 and third rotating member 35 can be rotated individually, two-by-two one
It plays rotation or three rotates together, so that capture apparatus 50 obtains at the relatively described 10 different height different location of fuselage
Comprehensive perspective view.
Fig. 1, Fig. 3 and Fig. 4 are please referred to, the second linking arm 333 of second rotating member 33 is by first rotating member 31
First connecting portion 315 protrude out to the lower section of the bottom surface of the fuselage 10 110, the capture apparatus 50 is located at the bottom of the fuselage 10
The lower section in face 110.In one embodiment, the capture apparatus 50 is located at bottom surface 110 and the horn 20 of the fuselage 10
Lower section, when shooting, lower section and surrounding the blocking without the unmanned vehicle 1 of the capture apparatus 50.
Referring to Fig. 1, the relatively described fuselage 10 of the holder 30 is in first state.The camera lens 51 of the capture apparatus 50
Make its shooting visual angle towards the front of the fuselage 10 away from the side 130 of the fuselage 10, in use, can shoot
Scenery in front of fuselage.
Referring to Fig. 3, the relatively described fuselage 10 of the holder 30 is in the second state.Second rotating member of the holder 30
33 rotate 90 degree relative to first rotating member 31 from first state, and the capture apparatus 50 is by 35 band of third rotating member
Dynamic that 90 degree are rotated from first state, the camera lens 51 of capture apparatus 50 makes its shooting visual angle court towards the lateral of the fuselage 10
To the side of the fuselage 10, the scenery of 10 side of fuselage can be shot.
Referring to Fig. 4, the relatively described fuselage 10 of the holder 30 is in the third state.Second rotating member of the holder 30
33 rotate 180 degree relative to first rotating member 31 from first state, and the capture apparatus 50 is by the third rotating member 35
It drives and rotates 180 degree from first state, the camera lens 51 of capture apparatus 50 makes its shooting view towards the rear of the fuselage 10
Angle can shoot the scenery at 10 rear of fuselage towards the rear of the fuselage 10.
Referring to Fig. 5, the relatively described fuselage 10 of the holder 30 is in the 4th state.The first of first rotating member 31
Shaft 311 rotates 90 degree relative to the side 130 of the fuselage 10 from the third state, drives entire holder 30 from the third state
90 degree of rotation, the holder 30 are described to being located at by the rotated down of the bottom surface 110 for projecting to the fuselage 10 of the third state
The side of the side 130 of fuselage 10, so that the capture apparatus 50 for being connected to the holder 30 be driven to rotate 90 from the third state
Degree, by the third state the bottom surface 110 for projecting to the fuselage 10 rotated down to the side 130 for being located at the fuselage 10
Side, when shooting, top, lower section and front the blocking without the unmanned vehicle 1 of the capture apparatus 50.
Fig. 6 and Fig. 7 are please referred to, the relatively described fuselage 10 of the holder 30 is in the 5th state.First rotating member 31
First rotating shaft 311 180 degree is rotated from the third state relative to the side 130 of the fuselage 10, drive entire holder 30 from
At three condition rotate 180 degree, the holder 30 by the third state the bottom surface 110 for projecting to the fuselage 10 rotated down extremely
Positioned at the top of the top surface 120 of the fuselage 10, the capture apparatus 50 of the holder 30 is connected to from the third state to drive
Place's rotation 180 degree, by the third state the bottom surface 110 for projecting to the fuselage 10 rotated down to being located at the fuselage 10
The top of top surface 120.In one embodiment, the capture apparatus 50 is located at top surface 120 and the horn 20 of the fuselage 10
Top, when shooting, the camera lens 51 of the capture apparatus 50 be located at the fuselage 10 top surface 120 and the horn 20 it is upper
Side, top and surrounding the blocking without the unmanned vehicle 1 of the capture apparatus 50.
Fig. 7 and Fig. 8 are please referred to, when the relatively described fuselage 10 of the holder 30 is in the 5th state, the unmanned vehicle 1
When needing to realize different visual angles, the second of relatively described second rotating member 33 of the third shaft 351 of the third rotating member 35
Interconnecting piece 335 rotates 0-360 degree, so that the camera lens 51 of the capture apparatus 50 be driven to rotate relative to the second connecting portion 335
0-360 degree.When the unmanned vehicle 1 needs to realize visual angle vertically upward, the third shaft of the third rotating member 35
351 states as described in Fig. 7 rotate 90 degree relative to the second connecting portion 335 of the second rotating member 33, so that the shooting be driven to set
Standby 50 camera lens 51 rotates, and the camera lens 51 front shown in Fig. 7 towards the fuselage 10 is turned to towards the fuselage
10 top, to realize the visual angle of the unmanned vehicle 1 vertically upward.
Embodiment of the present invention also provides a kind of unmanned vehicle and takes photo by plane method.The unmanned vehicle is taken photo by plane method, packet
Include following steps.
Firstly, providing a foregoing unmanned vehicle 1.
The unmanned vehicle 1 includes fuselage 10, is installed on the holder 30 of the peripheral part of the fuselage, and be carried on
Capture apparatus 50 on the holder 30.The holder 30 is able to drive the capture apparatus 50, makes the capture apparatus 50
The above position of the height at position or the top of the fuselage 10 below the height of the bottom of the fuselage 10.
Then, the holder 30 is controlled, the capture apparatus 50 is made to be located at the height of the bottom of the fuselage 10 with bottom
It sets and one of position of the above position of the height at the top of the fuselage 10.
Then, it controls the capture apparatus 50 and shoots the first image in current location.
Then, continue to control the holder 30, make the capture apparatus 50 be located at the height of the bottom of the fuselage 10 with
Another position of the above position of height at lower position and the top of the fuselage 10.
Then, it controls the capture apparatus 50 and shoots the second image in current location.
Then, by the first image and second image mosaic at panoramic picture.
It is appreciated that the holder 30 can also drive the capture apparatus 50, it is located at the capture apparatus 50 described
The side of the peripheral part of fuselage 10.The unmanned vehicle method of taking photo by plane further includes controlling the holder 30, sets the shooting
Standby 50 are located at the side of the peripheral part of the fuselage 10, and the control capture apparatus 50 shoots third figure in current location
Picture.
In conclusion compared with the existing technology, the side of the relatively described fuselage 10 of the first rotating member 31 of the holder 30
130 rotations, drive the holder 30 to project at the different height relative to the fuselage 10, that is, project to the fuselage 10
The lower section of bottom surface 110, positioned at the fuselage 10 side and project to the fuselage 10 top surface 120 top, to make to connect
The capture apparatus 50 for being connected to the holder 30 is located at bottom surface 110 at the different height of the relatively described fuselage 10 such as the fuselage 10
Lower section, the fuselage 10 side and the fuselage 10 top surface 120 top, with different height visual range.It is special
When not being the top for the top surface 120 that the capture apparatus 50 is located at the fuselage 10, screening of the top without the unmanned vehicle 1
Gear, is able to achieve visual angle vertically upward.
In addition, the rotation of second rotating member 33 drives the capture apparatus 50 to be located at the same of the relatively described fuselage 10
At the different location of height, the shooting visual range of the 0-360 degree of 1 sustained height of unmanned vehicle is realized.
In addition, the rotation of the third rotating member 35 drives the capture apparatus 50 to be located at the same of the relatively described fuselage 10
Its camera lens 51 realizes the 0-360 degree of the 1 sustained height same position of unmanned vehicle towards difference when the same position of height
Shooting visual angle range.
In addition, first rotating member 31, the second rotating member 33 and third rotating member 35 can be rotated individually, two-by-two together
Rotation or three rotate together, and the capture apparatus 50 is driven to be in different height, different location, its camera lens 51 towards difference,
Realize the comprehensive stereoscopic shooting visual angle of the unmanned vehicle 1.
It is to be appreciated that the side for being not limited to be installed on the fuselage 10 of the holder 30, can also be installed on described
At the side of horn 20 or other side positions of the unmanned vehicle 1.The rotation of first rotating member 31 of the holder 30
It is not limited to the different height for driving the capture apparatus 50 to be located relative to the fuselage 10, the capture apparatus can also be driven
50, which are located relative to the fuselage 10 and the horn 20, is located at the relatively described fuselage 10 and institute as whole different height
Horn 20 is stated as the top of the whole lower section of bottom surface, the side of side and top surface.
For those of ordinary skill in the art, it can make in accordance with the technical idea of the present invention various other corresponding
Change and deformation, and all these changes and deformation all should belong to the protection scopes of the claims in the present invention.
Claims (33)
1. a kind of unmanned vehicle characterized by comprising
Fuselage, including bottom surface, top surface and the side between the bottom surface and the top surface；And
Holder is connect with the fuselage, and is located at the side of the fuselage, and the holder is for carrying capture apparatus；
Wherein, the holder is able to drive the capture apparatus and moves relative to the fuselage, and the work shape of the holder
State includes top shooting state and lower section shooting state；When the holder is in the top shooting state, the holder makes
The capture apparatus at least partly protrudes the top surface of the fuselage；It is described when the holder is in the lower section shooting state
Holder makes the capture apparatus at least partly protrude the bottom surface of the fuselage；
Wherein, when the holder is in the top shooting state, the capture apparatus is completely disposed at the top surface of the fuselage
The above position of height；When the holder is in the lower section shooting state, the capture apparatus is completely disposed at the bottom of the fuselage
Position below the height in face.
2. unmanned vehicle as described in claim 1, which is characterized in that the holder includes for driving the capture apparatus
The rotating mechanism of rotation, the rotating mechanism are connected to the side of the fuselage；The rotating mechanism drives the capture apparatus
Rotation, is located at the capture apparatus at the different height of the relatively described fuselage.
3. unmanned vehicle as claimed in claim 2, which is characterized in that the rotating mechanism drives the capture apparatus to turn
It is dynamic, and the capture apparatus is made to protrude out to the subjacent of the fuselage, the side side of the fuselage or the top of the fuselage
Above face.
4. unmanned vehicle as claimed in claim 2, which is characterized in that the rotating mechanism includes the first rotating member, described
First rotating member is connected to the side of the fuselage, and first rotating member drives the capture apparatus rotation, makes the shooting
Equipment is located at the different height of the relatively described fuselage.
5. unmanned vehicle as claimed in claim 4, which is characterized in that first rotating member includes being connected to the fuselage
The first rotating shaft of side, the first linking arm extended outward from the first rotating shaft and positioned at first linking arm end
First connecting portion, the plane that the roll axis for being axially parallel to the unmanned vehicle and pitch axis of the first rotating shaft are constituted are set
It sets.
6. unmanned vehicle as claimed in claim 5, which is characterized in that the first rotating shaft be axially parallel to it is described nobody
The roll axis of aircraft is arranged.
7. unmanned vehicle as claimed in claim 5, which is characterized in that first linking arm is in bending.
8. unmanned vehicle as claimed in claim 4, which is characterized in that the rotating mechanism further includes rotatably connecting
To the second rotating member of first rotating member, it is relatively described that the rotation of second rotating member drives the capture apparatus to be located at
At the different location of the sustained height of fuselage.
9. unmanned vehicle as claimed in claim 8, which is characterized in that second rotating member includes the second shaft, from institute
It states the second shaft and extends outward the second linking arm and the second connecting portion positioned at second linking arm end, described second turn
Axis is rotatably connected to first rotating member.
10. unmanned vehicle as claimed in claim 9, which is characterized in that second shaft is axially parallel to the nothing
The plane that the course axis and roll axis of people's aircraft are constituted, alternatively, what the course axis of the unmanned vehicle and pitch axis were constituted
Plane.
11. unmanned vehicle as claimed in claim 9, which is characterized in that second linking arm is in bending.
12. unmanned vehicle as claimed in claim 9, which is characterized in that second shaft corresponds to the side of the fuselage
Middle position, the distance between opposite end of second linking arm is greater than distance between the bottom surface and the top surface
Half.
13. unmanned vehicle as claimed in claim 8, it is characterised in that: the rotating mechanism further includes rotatably connecting
It is connected to the third rotating member of second rotating member, the capture apparatus is connected to the third rotating member, the capture apparatus
Including camera lens, the rotation drive capture apparatus of the third rotating member is located at the same of the sustained height of the relatively described fuselage
The direction of its camera lens is different when position.
14. unmanned vehicle as claimed in claim 13, it is characterised in that: being axially parallel to for the third rotating member is described
The plane setting that the roll axis and pitch axis of unmanned vehicle are constituted.
15. unmanned vehicle as claimed in claim 13, it is characterised in that: the third rotating member includes shaft, and described turn
The centerline axis parallel of axis is in the pitch axis of the unmanned vehicle.
16. unmanned vehicle as claimed in claim 2, it is characterised in that: the unmanned vehicle further includes connector, described
Between the holder and the side of the fuselage, the rotating mechanism can be fixedly mounted connector by the connector
In the side of the fuselage.
17. unmanned vehicle as claimed in claim 2, it is characterised in that: the unmanned vehicle further includes from the fuselage
Outwardly extending horn, the rotating mechanism rotate the lower section for driving the capture apparatus to be located at the horn or the machine
The top of arm.
18. unmanned vehicle as described in claim 1, which is characterized in that the side is located at the head or machine of the fuselage
Tail portion position.
19. a kind of unmanned vehicle characterized by comprising
Fuselage, including head and the tail opposite with the head；And
Holder is mounted on the head or tail, and the holder is for carrying capture apparatus；
Wherein, the holder includes rotating mechanism, and the rotating mechanism includes multiple rotating members interconnected, the rotating machine
Structure includes the first rotating member for being mounted on the head or tail position, and the shaft of first rotating member be parallel to it is described
The plane that the pitch axis and roll axis of unmanned vehicle are constituted；
The holder drives the capture apparatus movement, and the capture apparatus is made to be located at the height of the bottom of the fuselage with bottom
It sets and the above position of the height at the top of the fuselage.
20. unmanned vehicle as claimed in claim 19, which is characterized in that the rotating mechanism further includes the second rotating member,
Second rotating member is connect with first rotating member far from one end of the fuselage.
21. unmanned vehicle as claimed in claim 20, which is characterized in that being axially parallel to for second rotating member is described
The plane that the course axis and roll axis of unmanned vehicle are constituted, alternatively, the course axis of the unmanned vehicle and pitch axis are constituted
Plane.
22. unmanned vehicle as claimed in claim 21, which is characterized in that being axially parallel to for second rotating member is described
The course axis of unmanned vehicle.
23. unmanned vehicle as claimed in claim 20, which is characterized in that the rotating mechanism further includes third rotating member,
The third rotating member is connect with second rotating member far from one end of first rotating member.
24. unmanned vehicle as claimed in claim 23, which is characterized in that being axially parallel to for the third rotating member is described
The plane setting that the roll axis and pitch axis of unmanned vehicle are constituted.
25. unmanned vehicle as claimed in claim 24, which is characterized in that being axially parallel to for the third rotating member is described
The pitch axis of unmanned vehicle is arranged.
26. unmanned vehicle as claimed in claim 19, which is characterized in that two two-phase of multiple rotating members of the rotating mechanism
It is mutually vertical.
27. unmanned vehicle as claimed in claim 26, which is characterized in that the multiple rotating member is three, and homogeneous
It is mutually vertical.
28. unmanned vehicle as claimed in claim 19, which is characterized in that the unmanned vehicle further includes and the fuselage
The horn of connection and power device set on the horn, the holder drive the capture apparatus movement, make the shooting
Position or the above position below height where equipment is located at the power device.
29. unmanned vehicle as claimed in claim 28, which is characterized in that the power device includes propeller and for driving
Move the motor of the propeller rotational.
30. unmanned vehicle as claimed in claim 19, which is characterized in that the unmanned vehicle is multi-rotor aerocraft.
31. unmanned vehicle as claimed in claim 19, which is characterized in that each rotating member includes shaft and described turn of driving
The actuator that moving part is rotated relative to the fuselage or another rotating member.
A kind of method 32. unmanned vehicle is taken photo by plane, which is characterized in that the unmanned vehicle includes fuselage, is mounted on the machine
The holder of the peripheral part of body and the capture apparatus being carried on the holder, the holder are able to drive the shooting and set
It is standby, make the capture apparatus be located at the height of the bottom of the fuselage or less the height at position and the top of the fuselage with
Upper position；The described method includes:
The holder is controlled, the capture apparatus is made to be located at the height of the bottom of the fuselage or less position and the fuselage
One of position of the above position of the height at top；
It controls the capture apparatus and shoots the first image in current location；
The holder is controlled, the capture apparatus is made to be located at the height of the bottom of the fuselage or less position and the fuselage
Another position of the above position of the height at top；
It controls the capture apparatus and shoots the second image in current location；And
By the first image and second image mosaic at panoramic picture.
The method 33. unmanned vehicle as claimed in claim 32 is taken photo by plane, which is characterized in that the holder is able to drive the bat
Equipment is taken the photograph, the capture apparatus is made to be located at the side of the peripheral part of the fuselage, the unmanned vehicle method of taking photo by plane further includes
The holder is controlled, so that the capture apparatus is located at the side of the peripheral part of the fuselage, controls the capture apparatus current
Position shoots third image, and by the first image, the second image and third image mosaic at panoramic picture.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/072876 WO2017128317A1 (en) | 2016-01-29 | 2016-01-29 | Unmanned aerial vehicle and aerial photographing method for unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107108043A CN107108043A (en) | 2017-08-29 |
| CN107108043B true CN107108043B (en) | 2019-03-22 |
Family
ID=59397253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004025.6A Expired - Fee Related CN107108043B (en) | 2016-01-29 | 2016-01-29 | Unmanned vehicle and unmanned vehicle are taken photo by plane method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107108043B (en) |
| WO (1) | WO2017128317A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207826581U (en) * | 2017-11-22 | 2018-09-07 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle |
| CN207631491U (en) * | 2017-11-22 | 2018-07-20 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle |
| CN108058827A (en) * | 2017-12-26 | 2018-05-22 | 昆山优尼电能运动科技有限公司 | A kind of unmanned plane |
| CN117755547A (en) * | 2018-03-28 | 2024-03-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle with panoramic camera |
| WO2022027313A1 (en) * | 2020-08-05 | 2022-02-10 | 深圳市大疆创新科技有限公司 | Panoramic image generation method, photography apparatus, flight system, and storage medium |
| WO2022198608A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市大疆创新科技有限公司 | Aerial vehicle |
| CN117284519A (en) * | 2022-09-20 | 2023-12-26 | 兰州山河上空智能科技有限公司 | Lifting cradle head and unmanned aerial vehicle |
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| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
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| CN204250379U (en) * | 2014-09-24 | 2015-04-08 | 深圳市大疆创新科技有限公司 | The imaging device of The Cloud Terrace and use thereof and unmanned plane |
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| GB2455374B (en) * | 2008-06-16 | 2009-11-04 | Middlesex University Higher Ed | Unmanned aerial vehicle comprising a triangular array of rotors |
| CN202953178U (en) * | 2012-11-26 | 2013-05-29 | 北京兰亭华谊文化传媒有限责任公司 | Minitype electric unmanned helicopter aerial photo system based on proposed triple axel type cloud platform |
| CN106132826B (en) * | 2014-03-25 | 2018-04-13 | 瓦斯菲·阿希达法特 | Police unmanned plane |
| CN204979215U (en) * | 2015-07-23 | 2016-01-20 | 致导科技（北京）有限公司 | Foldable unmanned aerial vehicle |
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- 2016-01-29 WO PCT/CN2016/072876 patent/WO2017128317A1/en active Application Filing
- 2016-01-29 CN CN201680004025.6A patent/CN107108043B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
| CN103419942A (en) * | 2013-09-10 | 2013-12-04 | 北京臻迪科技有限公司 | Unmanned aerial vehicle |
| US9004396B1 (en) * | 2014-04-24 | 2015-04-14 | Fatdoor, Inc. | Skyteboard quadcopter and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017128317A1 (en) | 2017-08-03 |
| CN107108043A (en) | 2017-08-29 |
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