CN107891991A - Unmanned plane - Google Patents
Unmanned plane Download PDFInfo
- Publication number
- CN107891991A CN107891991A CN201710330497.7A CN201710330497A CN107891991A CN 107891991 A CN107891991 A CN 107891991A CN 201710330497 A CN201710330497 A CN 201710330497A CN 107891991 A CN107891991 A CN 107891991A
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- Prior art keywords
- unmanned plane
- camera
- master component
- lens
- battery
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- 230000000007 visual effect Effects 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000930 thermomechanical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to a kind of unmanned plane, including：Unmanned plane master component；And camera assembly；The camera assembly is removably attached on the unmanned plane master component；The camera assembly includes camera body, top lens and bottom camera lens；The top lens are fixed on one end of the camera body, and the bottom camera lens is fixed on one end relative with the top lens on the camera body；The visual angle sum of the visual angle of the top lens and the bottom camera lens forms total visual angle more than or equal to 360 degree；The position that the camera assembly is fixed on the unmanned plane master component is the position for making the visual field of the top lens and the bottom camera lens not blocked by the unmanned plane master component.Above-mentioned unmanned plane can simplify image procossing and reduce hardware cost.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of unmanned plane.
Background technology
Preferably to realize the self-navigation of unmanned plane (also referred to as unmanned vehicle), avoidance flight function, it is necessary to take the photograph
Camera carries out videorama to the environment around unmanned plane, so as to which any part in environment to be used to software at any time or later
Show detail.For traditional unmanned plane when realizing videorama, video camera needs to use the camera lens more than two (or to take the photograph
Camera sensor), so as to add image procossing difficulty and hardware cost.
The content of the invention
Based on this, it is necessary to provide a kind of unmanned plane that can simplify image procossing and reduce hardware cost.
A kind of unmanned plane, including：
Unmanned plane master component；And
Camera assembly；The camera assembly is removably attached on the unmanned plane master component；The video camera
Component includes camera body, top lens and bottom camera lens；The top lens are fixed on one end of the camera body,
The bottom camera lens is fixed on one end relative with the top lens on the camera body；The visual angle of the top lens
Total visual angle more than or equal to 360 degree is formed with the visual angle sum of the bottom camera lens；The camera assembly is fixed on described
Position on unmanned plane master component is to make the visual field of the top lens and the bottom camera lens not by the unmanned plane master component
The position blocked.
Above-mentioned unmanned plane is by the way that camera assembly is removably attached on unmanned plane master component, so that video camera
Component can be combined with unmanned plane master component or used separately as an equipment as needed, improve the use effect of equipment
Rate, reduce hardware cost.Meanwhile camera assembly includes being arranged on the top lens and bottom mirror at camera body both ends
Head, the visual angle sum of the two form total visual angle more than or equal to 360 degree, and when it is fixed on unmanned plane master component, top
Portion's camera lens and bottom camera lens are respectively provided with the position that the visual field is not blocked by unmanned plane master component, so that passing through top lens and bottom
Portion's camera lens can obtain the full-view image around unmanned plane, advantageously reduce unmanned plane weight and simplify image processing process.
In one of the embodiments, the unmanned plane master component includes unmanned plane body and is fixed on the unmanned plane machine
Undercarriage on body；The undercarriage be can receive to the unmanned plane body can folding structure.
In one of the embodiments, the undercarriage received in the unmanned plane during flying in the unmanned plane body with
The visual field of the camera assembly is not stopped.
In one of the embodiments, the bottom camera lens is retractable lens；The bottom camera lens can extend to low
In the opening position of the unmanned plane master component.
In one of the embodiments, when the camera assembly is fixed on the unmanned plane master component, the top mirror
Head and the bottom are located on the central shaft of the unmanned plane master component.
In one of the embodiments, the camera assembly also includes video camera battery；The video camera battery is fixed
In in the camera body.
In one of the embodiments, in addition to battery component；The battery component be removably attached to it is described nobody
On owner's component.
In one of the embodiments, the battery component include battery bracket, power supply and communication interface, battery unit and
Locking and unlocking mechanism；The battery bracket is detachably secured to unmanned owner's group by the locking and unlocking mechanism
On part；The power supply and communication interface are fixed on the unmanned machine support, for being connected with the unmanned plane master component；It is described
Battery compartment is additionally provided with battery bracket, with the fixation battery unit.
In one of the embodiments, formed with the space for accommodating the camera assembly in the battery bracket；
The camera assembly is inserted into the space that the battery bracket is formed.
In one of the embodiments, the camera assembly links also including fixed support and with the fixed support
Locking and unlocking mechanism；The camera assembly is fixed on the unmanned plane master component by the locking and unlocking mechanism of itself
Or it is fixed on by the battery component on the unmanned plane master component.
Brief description of the drawings
Fig. 1 is the structural representation of the unmanned plane in an embodiment；
Fig. 2 is the structural representation of the unmanned plane in another embodiment；
Fig. 3 is the schematic diagram after battery component and camera assembly separate from unmanned plane master component in an embodiment；
Fig. 4 is the structural representation of the unmanned plane master component in an embodiment；
Fig. 5 is the structural representation of the battery component in an embodiment；
Fig. 6 a~6b are the structural representation of the camera assembly in an embodiment；
Fig. 7 is structural representation of the unmanned plane in taking off in an embodiment；
Fig. 8 is structural representation of the unmanned plane in landing in embodiment illustrated in fig. 7；
Fig. 9 is structural representation of the unmanned plane in taking off in another embodiment；
Figure 10 is structural representation of the unmanned plane in landing in embodiment illustrated in fig. 9.
Embodiment
Description presented below can be such that those of ordinary skill in the art just manufacture and using the present invention.Specifically set
Standby, the description of technology and application only provides as example.Various modifications to example described herein are for the common skill in this area
Art personnel will be apparent, and without departing from the spirit and scope of the present invention, it is defined herein general former
Reason can apply to other examples and application.Therefore, embodiment of the present invention is not limited to example given in this article, and
It is to meet the scope consistent with claim.
To provide now each side of subject technology referring in detail to its example shows in the accompanying drawings, wherein identical
Reference represent identical element all the time.
Referring to Fig. 1, the unmanned plane (being also referred to as unmanned vehicle) in an embodiment, it includes unmanned plane master component 100
With camera assembly 200.Unmanned plane master component 100 is the main part of unmanned plane, for independently realizing the common work(of unmanned plane
Can such as flight function.
Camera assembly 200 is used to carry out image collection.Camera assembly 200 detachably connects with unmanned plane master component 100
Connect, so that camera assembly 200 and unmanned plane master component 100 can be attached or dismantled as needed as two solely
Vertical equipment is each independently operated, so as to maximumlly improve the service efficiency of equipment, reduces hardware cost.For example, work as
, can be by camera assembly when unmanned plane need not carry out image information collection, and when needing to use camera device elsewhere
200 disassemble from unmanned plane master component 100, to meet use demand.Camera assembly 200 can be from unmanned plane master component
100 top, either sidepiece is inserted in unmanned plane master component 100 or taken out from unmanned plane master component 100 for bottom.Accordingly
Ground, vertical through hole or fixing groove for inserting camera assembly 200 are correspondingly arranged on unmanned plane master component 100, with shape
The camera assembly 200 is placed into receiving space.
Camera assembly 200 includes camera body (not shown), top lens 210 and bottom camera lens 220.Wherein,
Top lens 210 are arranged on one end of camera body, and bottom camera lens 220 is then arranged on camera body and top lens
On 210 relative one end.Top lens 210 and the visual angle sum of bottom camera lens 220 form always regarding more than or equal to 360 degree
Angle.In the present embodiment, the visual angle of top lens 210 is 200 degree, and the visual angle of bottom camera lens 220 is 220 degree.Other real
Apply in example, the visual angle of one of them can also be set greater than to 180 degree, and the visual angle of another is less than 180 degree, or two
Person is equal to 180 degree.The position that camera assembly 200 is fixed on unmanned plane master component 100 is to make top lens 210 and bottom
The position that the visual field of camera lens 220 is not blocked by unmanned plane master component 100, so that nothing can be got by the two camera lenses
The full-view image of man-machine surrounding environment.In one embodiment, insert in the camera assembly 200 after unmanned plane master component 100
Mandrel is identical with the central shaft of unmanned plane master component 100, namely the top lens 210 and bottom camera lens 220 of camera assembly 200
On the central shaft of unmanned plane master component 100, so that it has around the symmetrical visual field of unmanned plane, and unmanned plane is ensured
Center of gravity be located near geometric center.
Above-mentioned unmanned plane by the way that camera assembly 200 is removably attached on unmanned plane master component 100 so that
Camera assembly 200 can be combined with unmanned plane master component 100 or used separately as an equipment as needed, be improved
The service efficiency of equipment, reduces hardware cost.Meanwhile camera assembly 200 includes being arranged on the top at camera body both ends
Portion's camera lens 210 and bottom camera lens 220, the visual angle sum of the two form total visual angle more than or equal to 360 degree, and when it is fixed on
When on unmanned plane master component 100, top lens 210 and bottom camera lens 220 are respectively provided with the visual field and not blocked by unmanned plane master component 100
Position so that the full-view image around unmanned plane can be obtained by top lens 210 and bottom camera lens 220, favorably
In reduction unmanned plane weight and simplify image processing process.
In one embodiment, above-mentioned unmanned plane also includes battery component 300, as shown in Figure 2.Battery component 300 is detachable
Ground is fixed on unmanned plane master component 100.Battery component 300 can be inserted from top, bottom or the side of unmanned thermomechanical components 100
Enter in unmanned plane master component 100 or taken out out of unmanned plane master component 100.
Fig. 3 is detachable battery assembly 300 and dismountable camera assembly 200 from unmanned plane master component 100
Schematic diagram after separating.In the present embodiment, battery component 300 from the insertion of the side of unmanned plane master component 100 or takes out, and takes the photograph
Camera component 200 is from the insertion of the top of unmanned plane master component 100 or takes out.
Fig. 4 is the structural representation for taking out the unmanned plane master component 100 after battery component 300 and camera assembly 200.Nothing
Man-machine master component 100 includes unmanned plane body 102, and the motor and propeller component being arranged on unmanned plane body 102
104th, the insert port 106 of battery component 300, the support 108 for locking and unlocking camera assembly 200, undercarriage 110, fly
Line control unit 112, electronic speed controller 114, GPS module 116 and sonar and optical-flow sensor 118.Wherein, unmanned plane
Body 102 needs to have enough intensity and enough memory headrooms to fix and accommodate each component on unmanned plane.Motor
It can be configured as needed with the quantity of propeller component 104, and multiple motor and propeller component 104 are on nobody
Machine body 102 is centrosymmetric distribution, to cause the center of gravity of unmanned plane to be maintained near geometric center so that on each motor
Load it is almost identical, to optimize power efficiency.Show each component in unmanned plane body 102 by fragmentary perspective in Fig. 4
Illustrate position.
Fig. 5 is the structural representation of the battery component 300 in an embodiment.In the present embodiment, battery component 300 includes
Battery bracket 302, power supply and communication interface 304, battery unit 306 and locking and unlocking mechanism 308.Battery bracket 302 passes through
Locking and unlocking mechanism 308 are removably attached to be detachably connected on unmanned plane master component or with camera assembly.Power supply
It is fixed on communication interface 304 on battery bracket 302, for being connected with unmanned plane master component, to be powered to unmanned plane master component,
And it is communicatively coupled with unmanned plane master component.In one embodiment, unmanned plane master component also with the power supply of camera assembly and
Communication interface connects, so as to be powered using the power supply of battery component 300 to camera assembly.It is additionally provided with battery bracket 302
Battery compartment 310, for self-contained battery unit 306.In one embodiment, the He of power switch 312 is additionally provided with battery component 300
Intelligent battery plate 314.Power switch 312 is used for the opening and closing for controlling battery component 300.Intelligent battery plate 314 is then used for
Battery capacity information is provided to control for takeoff and landing.In one embodiment, formed with for accommodating in battery bracket 302
The space 316 of camera assembly.In the space 316 that camera assembly insertion battery bracket 302 is formed, and pass through battery bracket
302 are removably attached on unmanned plane master component or are directly anchored on the support in unmanned plane master component.
In another embodiment, battery component 300 and camera assembly 200 insert unmanned plane master component from same direction
In 100.For example, battery component 300 and camera assembly 200 insert from the top of unmanned plane master component 100.Wherein, nobody
The center axial position of the unmanned plane body of owner's component 100 offers the through hole for inserting camera assembly 200, while
Top offers the groove structure for securing battery cell packs 300.The central shaft of battery component 300 and the center of unmanned plane body
Axle is consistent, and the through hole for inserting camera assembly 200 is equally offered on battery component 300.Now, battery component 300
It is arranged at camera assembly 200 on the central shaft of unmanned plane master component 100, so as to ensure the center of gravity position of unmanned plane as far as possible
Near geometric center.
Fig. 6 a~6b are the structural representation of the camera assembly 200 in an embodiment.The camera assembly 200 includes taking the photograph
Camera main body 230, top lens 210 and bottom camera lens 220, in addition to be arranged on the outside of camera body 230 and be used for fixed take the photograph
The fixed support 240 of camera main body 230 and the locking linked with fixed support 240 and unlocking mechanism 250.Camera assembly
300 are removably attached on unmanned plane master component or by battery component removably by locking and unlocking mechanism 250
It is fixed on unmanned plane master component.In one embodiment, camera assembly 200 also include be used for unmanned plane master component or its
The power supply and communication interface 260 of his external equipment connection.Power supply and communication interface 260 are arranged on fixed support 240.Therefore,
When camera assembly 200 is inserted into unmanned plane master component, can be connected by power supply and communication interface 260 with unmanned thermomechanical components
Connect, it is logical between camera assembly 200 and unmanned plane master component to be powered by the power supply unit in unmanned plane master component and be realized
Letter.In the present embodiment, top lens 210 and bottom camera lens 220 are respectively provided with respective camera sensor plate.Camera sensor
Camera sensor is fixed with device plate.
In one embodiment, camera assembly 200 also includes video camera battery, namely camera assembly 200 has oneself only
Vertical video camera battery, without obtaining electric energy by unmanned plane master component.Therefore, camera assembly 200 is from unmanned owner
After being dismantled on component, namely in the case where being not connected to unmanned plane master component, it can independently carry out image collection and (such as be shone
Piece, video capture etc.).In one embodiment, camera assembly 200 also includes video card, the wifi for real-time video transmission
Card and antenna etc..
In one embodiment, have between the top lens 210 in camera assembly 200 and bottom camera lens 220 it is fixed away from
From.Now, when camera assembly 200 is inserted on unmanned plane master component 100, top lens 210 and bottom camera lens 220 have
There is fixed position.Therefore, the design of the size to camera body can be passed through, it is ensured that top lens 210 and bottom after insertion
The position of portion's camera lens 220 is the position that the visual field will not be blocked by unmanned plane master component 100.In one embodiment, unmanned plane
Undercarriage 110 on master component 100 be can receive to unmanned plane body can folding structure.Undercarriage 110 can be in unmanned plane
Received during flight to unmanned plane body 102, so as to which the visual field of the camera lens in camera assembly 200 will not be stopped, as shown in Figure 7.
Top lens 210 and bottom camera lens 220 can be covered except (namely the dotted line in area of proprietary region 10 where unmanned plane
Region) outside whole spherical space.When unmanned plane lands, undercarriage 110 can extend from unmanned plane main body 102
Come, to prevent any object on the first 220 contact ground of bottom mirror or ground, so as to be played to bottom camera lens 220 well
Protective effect, as shown in Figure 8.In the present embodiment, the visual angle of top lens 210 is 200 degree, and the visual angle of bottom camera lens 220 is
220 degree.By the way that undercarriage 110 is arranged into Collapsible structure, camera structure can be simplified, it is not included any move portion
Part.
In another embodiment, the bottom camera lens 220 in camera assembly 200 is retractable lens, so that its position
Put with adjustability.Now, the undercarriage 110 on unmanned plane master component 100 can be that fixed landing gear can also be scalable
Undercarriage.In the present embodiment, the undercarriage 110 on unmanned plane master component 100 is fixed landing gear.In unmanned plane during flying,
(namely so that bottom camera lens 220 is extended to compared with low level for the position that bottom camera lens 220 may extend to less than fixed landing gear 110
Put), to cause undercarriage 110 not in the angular field of view of camera lens, the visual field of camera lens will not be stopped, as shown in Figure 9.Work as unmanned plane
During landing, bottom camera lens 220 can be retracted in unmanned plane body 102, so as to avoiding bottom camera lens 220 from being contacted with ground or
Any object contact on ground, as shown in Figure 10.This structure is when increasing the complexity of travel mechanism of camera lens
Wait, simplify the travel mechanism of undercarriage.
In one embodiment, if the distance between top lens 210 and bottom camera lens 220 are H, overlapping radius R meters
Calculate as follows：
R=H/ [tan (top lens visual angle -180 degree)+tan (bottom camera lens visual angle -180 degree)].
Therefore, upper sphere and the lower ball more than overlapping radius R can be sutured by top lens 210 and bottom camera lens 220
The image in face, as shown in Figure 10.For in principle, if bottom camera lens extends to the position undercarriage bottom of than much, it can make
It is similar with the visual angle of top lens to obtain the visual angle of bottom camera lens, is such as all 200 degree.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. unmanned plane, it is characterised in that including：Unmanned plane master component；AndCamera assembly；The camera assembly is removably attached on the unmanned plane master component；The camera assembly Including camera body, top lens and bottom camera lens；The top lens are fixed on one end of the camera body, described Bottom camera lens is fixed on one end relative with the top lens on the camera body；The visual angle of the top lens and institute State visual angle total visual angle of the sum formation more than or equal to 360 degree of bottom camera lens；The camera assembly be fixed on it is described nobody Position on owner's component is the visual field of the top lens and the bottom camera lens is not blocked by the unmanned plane master component Position.
- 2. unmanned plane according to claim 1, it is characterised in that the unmanned plane master component is including unmanned plane body and admittedly Undercarriage on the unmanned plane body；The undercarriage be can receive to the unmanned plane body can folding structure.
- 3. unmanned plane according to claim 2, it is characterised in that the undercarriage is received to institute in the unmanned plane during flying State in unmanned plane body not stop the visual field of the camera assembly.
- 4. unmanned plane according to claim 1, it is characterised in that the bottom camera lens is retractable lens；The bottom Camera lens can extend to the opening position less than the unmanned plane master component.
- 5. unmanned plane according to claim 1, it is characterised in that the camera assembly is fixed on unmanned owner's group During part, the top lens and the bottom are located on the central shaft of the unmanned plane master component.
- 6. unmanned plane according to claim 1, it is characterised in that the camera assembly also includes video camera battery；Institute Video camera battery is stated to be fixed in the camera body.
- 7. unmanned plane according to claim 1, it is characterised in that also including battery component；The battery component is detachable Ground is fixed on the unmanned plane master component.
- 8. unmanned plane according to claim 7, it is characterised in that the battery component includes battery bracket, power supply and led to Believe interface, battery unit and locking and unlocking mechanism；The battery bracket is removably solid by the locking and unlocking mechanism Due on the unmanned plane master component；The power supply and communication interface are fixed on the unmanned machine support, for the nothing Man-machine master component connection；Battery compartment is additionally provided with the battery bracket, with the fixation battery unit.
- 9. unmanned plane according to claim 8, it is characterised in that formed with for accommodating described take the photograph in the battery bracket The space of camera component；The camera assembly is inserted into the space that the battery bracket is formed.
- 10. unmanned plane according to claim 8, it is characterised in that the camera assembly also include fixed support and with The locking and unlocking mechanism that the fixed support links；The camera assembly is fixed on by the locking and unlocking mechanism of itself It is fixed on the unmanned plane master component or by the battery component on the unmanned plane master component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330497.7A CN107891991A (en) | 2017-05-11 | 2017-05-11 | Unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330497.7A CN107891991A (en) | 2017-05-11 | 2017-05-11 | Unmanned plane |
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| Publication Number | Publication Date |
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| CN107891991A true CN107891991A (en) | 2018-04-10 |
Family
ID=61802608
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710330497.7A Pending CN107891991A (en) | 2017-05-11 | 2017-05-11 | Unmanned plane |
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| JP2019201409A (en) * | 2017-11-06 | 2019-11-21 | 株式会社エアロネクスト | Flight unit and control method of flight unit |
| CN111163252A (en) * | 2020-01-07 | 2020-05-15 | 影石创新科技股份有限公司 | Panoramic shooting device, panoramic shooting system, shooting method and aircraft |
| CN113830305A (en) * | 2021-09-30 | 2021-12-24 | 山东中图软件技术有限公司 | Unmanned aerial vehicle uses geographic information collection system |
| WO2023236963A1 (en) * | 2022-06-09 | 2023-12-14 | 影石创新科技股份有限公司 | Unmanned aerial vehicle |
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Application publication date: 20180410 |