CN205469826U - Unmanned vehicles and many meshes imaging system - Google Patents
Unmanned vehicles and many meshes imaging system Download PDFInfo
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- CN205469826U CN205469826U CN201620073705.0U CN201620073705U CN205469826U CN 205469826 U CN205469826 U CN 205469826U CN 201620073705 U CN201620073705 U CN 201620073705U CN 205469826 U CN205469826 U CN 205469826U
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Abstract
The utility model provides an unmanned vehicles and many meshes imaging system, includes organism and the many meshes module of making a video recording. Many meshes are made a video recording the module and are included two at least camera unit, camera unit set up in in the organism and with the organism is fixed to link to each other. The organism include corresponding to camera unit's light trap, camera unit sees through respectively and corresponds light trap sensing object information.
Description
Technical field
This utility model relates to aircraft field, particularly relates to a kind of unmanned vehicle and many mesh imaging system.
Background technology
Nowadays, unmanned vehicle be used to carry out taking photo by plane, monitor, explore, the task such as search and rescue.In order to avoidance, test the speed, position, the purpose such as navigation, unmanned vehicle generally carries sensing photographic head, and described sensing photographic head can sense the environment around unmanned vehicle and measure the attitude of aircraft self.For obtaining the depth information of environment, described sensing photographic head is usually arranged as multiple, the most mesh camera module.
Existing many mesh camera module typically connects assembly and arranges the hull outside of unmanned vehicle.But, described many mesh camera module is easily affected by non-rigid vibrations, causes the credibility of obtained information to decline.
Utility model content
In view of this, it is necessary to a kind of unmanned vehicle avoiding the problems referred to above and many mesh imaging system are provided.
A kind of unmanned vehicle, including body and many mesh camera module.Described many mesh camera module includes that at least two image unit, described image unit are arranged in described body and are fixedly linked with described body.Described body includes the loophole corresponding to described image unit, and described image unit is respectively through corresponding described loophole sensing object information.
Further, described body includes fuselage and the foot rest being connected with described fuselage.
Further, described image unit is fixedly linked with described fuselage.
Further, described image unit is connected to described fuselage near described foot rest position.
Further, described image unit is fixedly linked with described foot rest.
Further, described foot rest can be connected with described fuselage rotationally, and by the distance rotated between the described image unit of adjustment relative to described fuselage.
Further, described foot rest includes Part I and the Part II can being connected rotationally with described Part I, described Part I is connected with described fuselage, described image unit is fixedly installed in described Part II, and described Part II is by the distance rotated between the described image unit of adjustment relative to described Part I.
Further, described many mesh camera module includes that bracing frame, described many mesh camera module are fixedly installed in described body by support frame as described above.
Further, support frame as described above includes frame section and the arm being connected with described frame section, described many mesh camera module includes that the panel electrically connected with described image unit, described image unit are fixedly installed on described arm, and described panel is fixedly installed on described frame section.
Further, the framework that described frame section is polyhedron-shaped, described panel is arranged on a side surface of described frame section.
Further, described unmanned vehicle also includes that Inertial Measurement Unit, described Inertial Measurement Unit are arranged on the opposite side surface of described frame section.
Further, it is provided with vibration absorption unit between described Inertial Measurement Unit and described frame section.
Further, described vibration absorption unit is elastic shock absorption ball.
Further, described panel electrically connects with described Inertial Measurement Unit.
Further, described arm extends preset distance from described frame section, and the end of each described arm is formed with installation portion, and described image unit is resisted against on the installation portion of correspondence.
Further, described installation portion deviates from a side surface of described arm is plane；And/or
Described installation portion is convexly equipped in the end of described arm.
After further, described arm is connected rotationally with described frame section, and described arm rotates at least one predetermined angular relative to described frame section, described arm can be fixed relative to described frame section.
Further, it is provided with cushion between described image unit and described arm.
Further, at least one in foam, sponge, rubber, silica gel of described cushion.
Further, described panel is electrically connected with described image unit by flexible circuit board, and described flexible circuit board extends to the image unit of correspondence along corresponding arm and electrically connects with corresponding image unit.
Further, each described image unit includes sensing head and keeper, and corresponding described sensing head is fixed on the support frame as described above being held in correspondence by described keeper.
Further, described keeper includes retainer and the connecting portion being connected with described retainer, and described retainer will house and keep the described sensing head of correspondence, and described connecting portion is fixing with described arm to be connected.
Further, described retainer offers the host cavity suitable with described sensing, and described sensing head is contained in described host cavity.
Further, described keeper deviates from a side surface of described sensing head and offers the opening connected with described host cavity, and described opening allows light to pass and enter described sensing head.
Further, described keeper also includes that eyeglass, described eyeglass are arranged at the opening part of described retainer and close described opening.
Further, described eyeglass is optical filter.
Further, described fuselage includes the first housing and the second housing, and described first housing mutually fastens with described second housing and forms the receiving space housing described many mesh camera module.
A kind of many mesh imaging system, including foregoing unmanned vehicle.
A kind of many mesh imaging system, including many mesh camera module and the movable carrier that carries described many mesh imaging system.Described movable carrier includes that body, described many mesh camera module include at least two image unit.In described image unit is arranged at described body and it is fixedly linked with described body.Described body includes the loophole corresponding to described image unit, and described image unit is respectively through corresponding described loophole sensing object information.
Further, described movable carrier is unmanned vehicle or unmanned boat.
Relative to prior art, described unmanned vehicle and binocular imaging system are by being fixedly installed on many mesh camera module in body, when many mesh camera module works, it will not be relative to described body movement, therefore the impact that certainty of measurement that many mesh camera module causes, reliability decline can be avoided relative to the motion of the body of described unmanned vehicle, it is ensured that certainty of measurement and reliability.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the unmanned vehicle of this utility model the first embodiment.
Fig. 2 is the unmanned vehicle partial exploded view of Fig. 1.
Fig. 3 is the axonometric chart of many mesh camera module of the unmanned vehicle of Fig. 2.
Fig. 4 is the partial enlarged drawing of many mesh camera module of Fig. 3.
Fig. 5 is the schematic diagram of the unmanned vehicle of this utility model the second embodiment.
Fig. 6 is the schematic diagram of the unmanned vehicle of this utility model the 3rd embodiment.
Fig. 7 is the schematic diagram of the unmanned vehicle of this utility model the 4th embodiment.
Main element symbol description
| Unmanned vehicle | 100、200、300、400 |
| Body | 10 |
| Loophole | 101、101’ |
| Fuselage | 11、11’、11’’、11’’’ |
| Receiving space | 110 |
| First receiving space | 110a |
| Second receiving space | 110b |
| First housing | 111 |
| First main part | 1111 |
| First arm | 1112 |
| Second housing | 112 |
| Second main part | 1121 |
| Second arm | 1122 |
| Foot rest | 12、12’、12’’、12’’’ |
| Part I | 121 |
| Part II | 122 |
| Connector | 13 |
| Rotor assemblies | 14 |
| Motor | 141 |
| Many mesh camera module | 20 |
| Image unit | 21、21’、21’’、21’’’ |
| Sensing head | 210 |
| Pedestal | 211 |
| Camera lens | 212 |
| Bracing frame | 22 |
| Frame section | 221 |
| Department of assembly | 2211 |
| Perforation | 2211a |
| Arm | 222 |
| Installation portion | 2221 |
| Panel | 23 |
| Flexible circuit board | 24 |
| Keeper | 25 |
| Retainer | 251 |
| Host cavity | 2511 |
| Opening | 2512 |
| Connecting portion | 252 |
| Eyeglass | 253 |
| Securing member | 26 |
| Cushion | 27 |
| Inertial Measurement Unit | 30 |
| Shooting camera unit | 40 |
| The Cloud Terrace | 50 |
Following detailed description of the invention will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Referring to Fig. 1 to Fig. 2, the unmanned vehicle 100 of a kind of embodiment of this utility model includes body 10 and many mesh camera module 20.Described many mesh camera module 20 is positioned at described body 10 and is fixedly linked with described body 10.
In present embodiment, described unmanned vehicle 100 is quadrotor, i.e. has the aircraft of four rotor assemblies 14.Being appreciated that described unmanned vehicle 100 can also be for six rotorcraft, eight-rotary wing aircraft, 12 rotor crafts etc., even, described unmanned vehicle 100 can be single rotor craft；It addition, in other embodiments, described unmanned vehicle 100 can be Fixed Wing AirVehicle, or the aircraft of fixed-wing-rotor mixing.Described rotor assemblies 14 includes motor 141 and the propeller (not shown) being connected with described motor 141, and in the illustrated embodiment, the propeller of described rotor assemblies 14 does not shows that, it is not intended that described rotor assemblies 14 can save described propeller.Described motor 141 can drive propeller rotational, with the power providing described unmanned vehicle 100 to fly.
Described body 10 includes fuselage 11 and the foot rest 12 being connected with described fuselage 11.Described fuselage 11 is main support and the installation structure of described unmanned vehicle 100, such as support described rotor assemblies 14, antenna module (not shown), sensor (not shown) etc., be formed with receiving space 110 in described fuselage 11, circuit board (not shown) can be housed in described receiving space 110, Inertial Measurement Unit (IMU) 30(refers to Fig. 3), fly to control module (not shown), sensor (not shown) etc..According to the difference of the configuration design of described unmanned vehicle 100, described fuselage 11 can have different shapes, such as, and square, polygon, the streamlined of rule and other regularly or irregularly shapes etc..
In present embodiment, described fuselage 11 includes that the first housing 111 and the second housing 112, described first housing 111 mutually fasten the described receiving space 110 of formation with described second housing 112.It is connected, as being spirally connected it is understood that may be used without other connected modes between described first housing 111 and the second housing 112.
Described first housing 111 includes one first main part 1111 and multiple first arm 1112 extended from described first main part 1111.Described first main part 1111 depression forms the first receiving space 110a.The quantity of described first arm 1112 is corresponding to the quantity of the rotor assemblies 14 of described unmanned vehicle 100, for corresponding rotor assemblies 14 is supported in the pre-position around described fuselage 11.In present embodiment, described first arm 1112 extends radially from described first main part 1111, more specifically, multiple described first arm 1112 is about the centrosymmetry setting of described first main part 1111.
Described second housing 112 has similar shape with described first housing 111, including one second main part 1121 and multiple second arm 1122.Described second main part 1121 depression forms the second receiving space 110b.When described first housing 111 mutually fastens with described second housing 112, described first receiving space 110a and described second receiving space 110b is collectively forming described receiving space 110；Each described first arm 1112 fastens with second corresponding arm 1122 respectively and forms a complete support arm.
In present embodiment, it is provided with connector 13 on described first housing 111, it is provided with the adapter (not shown) corresponding with described connector 13 between described second housing 112, when described first housing 111 mutually fastens with described second housing 112, described connector 13 connects with corresponding described adapter adaptation, enable to the connection between described first housing 111 and described second housing 112 more firm, simultaneously, described connector 13 can play the effect of location with corresponding described adapter, make the assembly precision between described first housing 111 and described second housing 112 higher.In present embodiment, described connector 13 is projection, and described adapter is the shrinkage pool adaptive with described projection.The quantity of described connector 13 is multiple and particular number can be adjusted according to actual demand.Being appreciated that in other embodiments, described connector 13 can be arranged on described second housing 112, and described adapter can be arranged at described first housing；Or, a part in described connector 13 is arranged on described first housing 111, and another part is arranged on described second housing 112, corresponding, a part for described adapter is arranged on described first housing 111, and another part is arranged on described second housing 112.
It is appreciated that, described connector 13 can be the projection of hollow, and described adapter is also projection, when described first housing 111 mutually fastens with described second housing 112, described adapter is inserted in connector 13, is connected with described second the firm of housing 112 realizing described first housing 111.
It is appreciated that, described first housing 111 can be one-body molded with described second housing 112, the most described first housing 111 and/or described second housing 112 can offer opening, for arranging in described receiving space 110, installing other assemblies (such as, circuit board, support, sensor etc.).
Offer when described foot rest 12 lands for described unmanned vehicle 100 supports.In one embodiment, described foot rest 12 is fixing relative to described fuselage 11 to be connected；Connection angle adjustable in another embodiment, between described foot rest 12 and described fuselage 11；In a further embodiment, a part for described foot rest 12 is relative to the connection angle adjustable of another part.
See also Fig. 3 and Fig. 4, described many mesh camera module 20 can sense the environment around described unmanned vehicle 100 and measure the attitude of unmanned vehicle 100 self, for for the avoidance of unmanned vehicle, test the speed, position, offer information and the data such as navigation.Described many mesh camera module 20 includes two image units 21, bracing frame 22 and a panel 23.Two described sensings 210 and described panel 23 all on be fixedly installed on support frame as described above 22, support frame as described above 22 is fixedly installed in described body 10.
In present embodiment, the quantity of described image unit 21 is two, it will be understood that according to different demands, and the quantity of described image unit 21 can be three, four, five or more.
Each described image unit 21 includes sensing 210 and a keeper 25, and corresponding described sensing 210 is fixed and is held on support frame as described above 22 by described keeper 25.
Each described sensing 210 all includes pedestal 211 and a camera lens 212 being connected with described pedestal 211.It is provided with CIS (not shown) in described pedestal 211, described CIS can sense light and the light sensed is converted to the signal of telecommunication, and described CIS can be but be not limited to discussed below any one or combination: charge coupled cell (Charge-Coupled
Device, CCD), complementary metal oxide semiconductors (CMOS) (Complementary
Metal-Oxide-Semiconductor, CMOS), N-type metal-oxide semiconductor (MOS) (N-type Metal-Oxide-Semiconductor, NMOS).Described camera lens 212 is for capturing the image of object and image projecting described CIS, and described camera lens 212 can be that digital singly anti-camera lens, pinhole lens, zoom lens, tight shot, fish eye lens, wide-angle lens are first-class.
It addition, described sensing 210 can have different functions in different application scenarios, such as, thermograph, produce multispectral image, infrared detecting, gamma detecting, X-ray detecting etc..
Described keeper 25 includes retainer 251 and the connecting portion 252 being connected with described retainer 251.Described retainer 251 offers host cavity 2511, and described host cavity 2511 is used for housing described sensing 210.Should be appreciated that the shape of described host cavity 2511 is all suitable with described sensing 210 with size, when described sensing 210 houses to described host cavity 2511, described sensing 210 is difficult to produce relative to described retainer 251 loosen.Described keeper 25 deviates from a side surface of described sensing 210 and offers the opening 2512 connected with described host cavity 2511, and described opening 2512 allows light to pass and enters described sensing 210.
Described connecting portion 252 is for being fixedly connected on support frame as described above 22 by described retainer 251.In present embodiment, described connecting portion 252 is two the connection sheets extended from described retainer 251 sidepiece, and each described connecting portion 252 offers a through hole 2521.In present embodiment, described keeper 25 is by being fixed on support frame as described above 22 through the securing member 26 of described through hole 2521.
It is appreciated that described keeper 25 can also use the mode such as engaging, glued connection, welding to fix with support frame as described above 22 and be connected.Therefore, described connecting portion 252 and described securing member 26 are not necessarily required to.
In present embodiment, described camera head 21 also includes that eyeglass 253, described eyeglass 253 are arranged at the opening 2512 of described retainer 251 and close described opening, and described eyeglass 253 can protect described sensing 210 from the pollution of dust, steam etc..It addition, in other implementations, described eyeglass 253 can have filtering functions, and described eyeglass 253 can be infrared fileter, ultraviolet filter etc..Additionally, described eyeglass 253 can also have the surface configurations such as plane, sphere, aspheric surface.
In present embodiment, between each described image unit 21 and support frame as described above 22, it is provided with a cushion 27.Specifically, described cushion 27 is arranged between described sensing 210 and the support frame as described above 22 of correspondence.Described cushion 27 can buffer or eliminate the vibrations that described sensing 210 is subject to so that the data that described sensing 210 is obtained are the most accurate and reliable.Described cushion 27 is to have certain elastic material to make, such as foam, sponge, rubber, silica gel etc..
Support frame as described above 22 includes frame section 221 and the arm 222 being fixedly linked with described frame section 221.In present embodiment, the framework that described frame section 221 is the most polyhedron-shaped, different functional modules can be provided with, such as Inertial Measurement Unit 30, described panel 23, power panel (sign), image processing module (sign), image transmission module (sign) and fly to control module (sign) etc. at the not ipsilateral of described frame section 221.Difference in functionality module can be connected, so that different functional modules carries out data, signal exchange and/or data fusion by soft arranging wire 29.Described frame section 221 is arranged to polyhedral frame shape, is possible not only to the functional module of multiple difference in functionality be may be contained within described frame section 221, reaches to save space-efficient purpose, and the heat radiation of beneficially functional module.In addition, owing to described frame section 221 is arranged to polyhedron-shaped, the functional module of difference in functionality can be arranged at the different surfaces of described frame section 221, therefore, various functional modules can be with in pre-assembly and described frame section 221, again the described described frame section 221 groups being equipped with difference in functionality module is entered in described body 10, avoid and assemble, in narrow and small body 10 space, the inconvenience that described functional module is brought, the efficiency of assembling can be promoted, and, complete owing to the assembling of functional module not be used in the small space in body 10, therefore the quality assembled can also be guaranteed.
In present embodiment, it is provided with vibration absorption unit 31 between described Inertial Measurement Unit 30 and support frame as described above 22, described vibration absorption unit 31 can buffer or eliminate the vibrations from described body 10 that described Inertial Measurement Unit 30 is subject to so that described Inertial Measurement Unit 30 is obtained or the most accurate and reliable.In present embodiment, described vibration absorption unit 31 is shock-absorbing ball, and its material can be rubber, silica gel etc..
In present embodiment, described frame section 221 being formed with department of assembly 2211, described frame section 221 is fixedly linked with described body 10 by described department of assembly 2211.Specifically, described department of assembly 2211 offers perforation 2211a.Described frame section 221 is by being fixedly connected on described body 10 through the securing member (not shown) of described perforation 2211a.Be appreciated that described frame section 221 can also by being connected together, the mode such as glued connection, welding is fixedly linked with described body 10, however it is not limited to embodiment of above.
Described arm 222 extends preset distance from described frame section 221, to be supported at predetermined relative distance by corresponding described image unit 21.The end of each described arm 222 is formed with installation portion 2221, and it is plane that described installation portion 2221 deviates from a side surface of described arm 222, be available for correspondence described image unit 21 against.In present embodiment, described installation portion 2221 is convexly equipped in the end of described arm 222, it will be understood that described installation portion 2221 can be recessed in the end of described arm 222, or described installation portion 2221 can omit, and directly described image unit 210 is resisted against the end of described arm 222.In present embodiment, described cushion 27 is arranged between described sensing 210 and the corresponding described arm 222 of correspondence, to slow down the vibrations that described sensing 210 is subjected to.
In present embodiment, the end of described arm 222 offers the fixing hole 2222 corresponding to described through hole 2521, and described fixing hole 2222 is screwed hole.Described keeper 25 is fixed on described arm 222 by securing member 26.Described securing member 26 is threaded with corresponding fixing hole 2222 through corresponding through hole 2521.
Corresponding in the described through hole 2521 of described keeper 25, the end of described arm 222 has fixing hole 2222, and in present embodiment, described fixing hole 2222 is screwed hole.Described keeper 25 is fixed on described arm 222 by described securing member 26.In present embodiment, described securing member 26 is bolt, and described securing member 26 is threaded with corresponding fixing hole 2222 through corresponding through hole 2521.
Generally, line between the center of two of many mesh camera module 20 different image units 21 is referred to as baseline, the different lengths of base is applicable to sense the object of different distance, such as, for distant object thing, the length of described baseline should be the longest, too short, easily makes many mesh camera module 20 deteriorate to monocular, it is impossible to obtains the depth information of object；And for close-in target thing, the length of base can suitably shorten.In present embodiment, the described length of base is 11cm-15cm, preferably 13cm, has many mesh camera module 20 that the length of base is 13cm and can have wide adaptability, it is possible to the depth information of the object in the range of satisfied acquisition relatively large distance.
It addition, be to make the baseline of described many mesh camera module 20 adjustable, described arm 222 also can be connected with described frame section 221 rotationally, to adjust the distance between the end of described arm 222.Further, adjusting predetermined angular, (this predetermined angular can be multiple, such as, 1 °, 2 °, 3 °, 5 °, 10 ° 20 °, 30 °, 45 °, 60 ° etc.) after, described arm 222 can be fixed relative to described frame section 221, to avoid the motion relative to described body 10 of the described many mesh camera module 20 so that the data that described many mesh camera module 20 obtains are the most accurate and reliable.
It is appreciated that described installation portion 2221 can be one-body molded with described arm 222, it is also possible to after separately formed, be installed on the end of described arm 222.
Described panel 23 electrically connects with described image unit 21, swaps for processing the data of the data that described image unit 21 obtained the data obtained by described image unit 21 and other functional modules, merges.In present embodiment, described panel 23 is electrically connected with described sensing 210 by flexible circuit board 24, and described flexible circuit board 24 extends to the sensing 210 of correspondence along corresponding arm 222.
In present embodiment, corresponding to the image unit 21 of described many mesh camera module 20, described body 10 offers loophole 101, after being completed, described image unit 21 is directed at the described loophole 101 of correspondence, and described loophole 101 allows across and into corresponding described image unit 21.Described loophole 101 is opened on described fuselage 11, more specifically, described loophole 101 is opened in described fuselage 11 at described foot rest 12, so the vibrations of rotor assemblies 14 can be reduced to the impact of described many mesh camera module 20 in comparatively ideal scope.In addition, owing to image unit 21 is arranged at described fuselage 11 at described foot rest 12 and away from described rotor assemblies 14, on the one hand can reduce owing to described rotor assemblies 14 rotates the vibrations brought, additionally, described image unit 21 can be avoided to photograph the propeller of described rotor assemblies 14, and interfere.
It is appreciated that, described many mesh camera module 20 could be included for processing the graphics processing unit (not shown) of the image acquired in described image unit 21, specifically, described graphics processing unit can the information such as distance based on the length of base between different image units 21 and object, the image/video acquired in different described image units 21 is synthesized the image/video with depth of view information.Preferably, described graphics processing unit can be arranged on described panel 23.
Referring again to Fig. 1 and Fig. 2, described unmanned vehicle 100 also includes shooting camera unit 40 and described shooting camera unit 40 being connected to the The Cloud Terrace 50 on described body 10, described shooting camera unit 40 is used for shooting bidimensional image, described The Cloud Terrace 50 can change shooting angle and the direction of described shooting camera unit 40, and provides shock-absorbing function for described shooting camera unit 40.In present embodiment, described The Cloud Terrace 50 is three axle The Cloud Terraces, and it can be around shooting angle and the direction shooting camera unit 40 described in roll axle, pitch axis and course axial adjustment.
Refer to Fig. 5, it show the schematic diagram of the unmanned vehicle 200 of this utility model the second embodiment, compare the first embodiment, the image unit 21 ' of described unmanned vehicle 200 is fixedly installed in described foot rest 12 ', correspondingly, the loophole 101 ' that described image unit 21 ' is corresponding is opened on foot rest 12 '.Described foot rest 12 ' is connected with fuselage 11 ' rotationally, and described foot rest 12 ', by adjusting the distance between described image unit 21 ' relative to the rotation of described fuselage 11 ', i.e. adjusts the length of baseline between described image unit 21 '.Unmanned vehicle 200 described in present embodiment can be adjusted flexibly the length of described baseline according to the distance of object, substantially increases the suitability of many mesh camera module, it is ensured that all accurately reliable in the measurement of the object to different distance.Such as, described unmanned vehicle 200 takes off or during low altitude flight, and described foot rest 12 ' puts down, close together between the most described image unit 21 ', i.e. the baseline of many mesh camera module is shorter, is suitable for measuring closer object；And described unmanned vehicle 200 is when high-altitude flight, described foot rest 12 ' rises, and the distance between the most described image unit 21 ' becomes big, i.e. the baseline of many mesh camera module is elongated, is suitable for telemeasurement.
And, described image unit 21 ' is arranged at the upper also following benefit of described foot rest 12 ': first, described image unit 21 ' shooting degree of freedom is big, and visual angle is broad, can not be blocked by described unmanned vehicle 200 miscellaneous part；Secondly, owing to the foot rest 12 ' self of described unmanned vehicle 200 is the most flexible, can freely adjust the angle relative to machine 11 ' body, therefore can adjust the length of base of many mesh camera module at any time according to the information such as flying height of the distance of object, unmanned vehicle 200 at any time.
Refer to Fig. 6, it show the schematic diagram of the unmanned vehicle 300 of this utility model the 3rd embodiment, compare the second embodiment, described foot rest 12 ' ' can be along not coaxial line relative to described fuselage 11 ' ' rotate, the length of the baseline between the rotation of described foot rest 12 ' ' by relative to described fuselage 11 ' ' adjusts described image unit 21 ' ' between distance, i.e. adjust described image unit 21 ' '.Unmanned vehicle 300 described in present embodiment can be adjusted flexibly the length of described baseline equally according to the distance of object, substantially increases the suitability of many mesh camera module, it is ensured that all accurately reliable in the measurement of the object to different distance.
Refer to Fig. 7, it show the schematic diagram of the unmanned vehicle 400 of this utility model the 4th embodiment, compare second and third embodiment, described foot rest 12 ' ' ' include Part I 121 and the Part II 122 being rotationally connected with described Part I, described Part I 121 is fixedly connected on described fuselage 11 ' ' ' on, described image unit 21 ' ' ' it is fixedly installed in Part II 122, correspondingly, described image unit 21 ' ' ' corresponding loophole 101 ' ' ' is opened on foot rest 12 '.Distance between the described foot rest 12 ' rotation of ' Part II 122 by relative to described fuselage 11 ' ' ' ' adjust described image unit 21 ' ' ', i.e. adjusts described image unit 21 ' ' ' between the length of baseline.Unmanned vehicle 400 described in present embodiment can be adjusted flexibly the length of described baseline equally according to the distance of object, substantially increases the suitability of many mesh camera module, it is ensured that all accurately reliable in the measurement of the object to different distance.
Described unmanned vehicle is by being fixedly installed on many mesh camera module in body, when many mesh camera module works, it will not be relative to described body movement, therefore the impact that certainty of measurement that many mesh camera module causes, reliability decline can be avoided relative to the motion of the body of described unmanned vehicle, it is ensured that certainty of measurement and reliability.
It is to be understood that, above-mentioned many mesh camera module 20 is possible not only to be arranged on unmanned vehicle, it is equally applicable on other movable carriers, constitute many mesh imaging system, as long as described many mesh camera module is fixedly connected in the body (alternatively referred to as housing, shell) of described movable carrier, such as, described many mesh camera module 20 can apply to unmanned vehicle, unmanned boat etc..
It is understood that those skilled in the art also can do other change etc. in this utility model spirit is used in design of the present utility model, without departing from technique effect of the present utility model.These are according to this utility model changes of being done of spirit, all should be included in this utility model claimed within the scope of.
Claims (29)
1. a unmanned vehicle, including body and many mesh camera module, described many mesh camera module includes at least two image unit, it is characterized in that: in described image unit is arranged at described body and be fixedly linked with described body, described body includes the loophole corresponding to described image unit, and described image unit is respectively through corresponding described loophole sensing object information.
2. unmanned vehicle as claimed in claim 1, it is characterised in that: described body includes fuselage and the foot rest being connected with described fuselage.
3. unmanned vehicle as claimed in claim 2, it is characterised in that: described image unit is fixedly linked with described fuselage.
4. unmanned vehicle as claimed in claim 3, it is characterised in that: described image unit is connected to described fuselage near described foot rest position.
5. unmanned vehicle as claimed in claim 2, it is characterised in that: described image unit is fixedly linked with described foot rest.
6. unmanned vehicle as claimed in claim 5, it is characterised in that: described foot rest can be connected with described fuselage rotationally, and by the distance rotated between the described image unit of adjustment relative to described fuselage.
7. unmanned vehicle as claimed in claim 5, it is characterized in that: described foot rest includes Part I and the Part II can being connected rotationally with described Part I, described Part I is connected with described fuselage, described image unit is fixedly installed in described Part II, and described Part II is by the distance rotated between the described image unit of adjustment relative to described Part I.
8. unmanned vehicle as claimed in claim 1, it is characterised in that: described many mesh camera module includes that bracing frame, described many mesh camera module are fixedly installed in described body by support frame as described above.
9. unmanned vehicle as claimed in claim 8, it is characterized in that: support frame as described above includes frame section and the arm being connected with described frame section, described many mesh camera module includes the panel electrically connected with described image unit, described image unit is fixedly installed on described arm, and described panel is fixedly installed on described frame section.
10. unmanned vehicle as claimed in claim 9, it is characterised in that: the framework that described frame section is polyhedron-shaped, described panel is arranged on a side surface of described frame section.
11. unmanned vehicles as claimed in claim 10, it is characterised in that: described unmanned vehicle also includes that Inertial Measurement Unit, described Inertial Measurement Unit are arranged on the opposite side surface of described frame section.
12. unmanned vehicles as claimed in claim 11, it is characterised in that: it is provided with vibration absorption unit between described Inertial Measurement Unit and described frame section.
13. unmanned vehicles as claimed in claim 12, it is characterised in that: described vibration absorption unit is elastic shock absorption ball.
14. unmanned vehicles as claimed in claim 11, it is characterised in that: described panel electrically connects with described Inertial Measurement Unit.
15. unmanned vehicles as claimed in claim 9, it is characterised in that: described arm extends preset distance from described frame section, and the end of each described arm is formed with installation portion, and described image unit is resisted against on the installation portion of correspondence.
16. unmanned vehicles as claimed in claim 15, it is characterised in that: it is plane that described installation portion deviates from a side surface of described arm；And/or
Described installation portion is convexly equipped in the end of described arm.
17. unmanned vehicles as claimed in claim 9, it is characterised in that: after described arm is connected rotationally with described frame section, and described arm rotates at least one predetermined angular relative to described frame section, described arm can be fixed relative to described frame section.
18. unmanned vehicles as claimed in claim 9, it is characterised in that: it is provided with cushion between described image unit and described arm.
19. unmanned vehicles as claimed in claim 9, it is characterised in that: described panel is electrically connected with described image unit by flexible circuit board, and described flexible circuit board extends to the image unit of correspondence along corresponding arm and electrically connects with corresponding image unit.
20. unmanned vehicles as claimed in claim 9, it is characterised in that: each described image unit includes sensing head and keeper, and corresponding described sensing head is fixed on the support frame as described above being held in correspondence by described keeper.
21. unmanned vehicles as claimed in claim 20, it is characterized in that: described keeper includes retainer and the connecting portion being connected with described retainer, described retainer will house and keep the described sensing head of correspondence, and described connecting portion is fixing with described arm to be connected.
22. unmanned vehicles as claimed in claim 21, it is characterised in that: described retainer offers the host cavity suitable with described sensing, and described sensing head is contained in described host cavity.
23. unmanned vehicles as claimed in claim 22, it is characterised in that: described keeper deviates from a side surface of described sensing head and offers the opening connected with described host cavity, and described opening allows light to pass and enter described sensing head.
24. unmanned vehicles as claimed in claim 23, it is characterised in that: described keeper also includes that eyeglass, described eyeglass are arranged at the opening part of described retainer and close described opening.
25. unmanned vehicles as claimed in claim 24, it is characterised in that: described eyeglass is optical filter.
26. unmanned vehicles as claimed in claim 2, it is characterised in that: described fuselage includes the first housing and the second housing, and described first housing mutually fastens with described second housing and forms the receiving space housing described many mesh camera module.
Mesh imaging system more than 27. 1 kinds, it is characterised in that include the unmanned vehicle as described in any one of claim 1-26.
Mesh imaging system more than 28. 1 kinds, including many mesh camera module and the movable carrier that carries described many mesh imaging system, described movable carrier includes body, described many mesh camera module includes at least two image unit, it is characterized in that: in described image unit is arranged at described body and be fixedly linked with described body, described body includes the loophole corresponding to described image unit, and described image unit is respectively through corresponding described loophole sensing object information.
29. many mesh imaging systems as claimed in claim 28, it is characterised in that: described movable carrier is unmanned vehicle or unmanned boat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620073705.0U CN205469826U (en) | 2016-01-26 | 2016-01-26 | Unmanned vehicles and many meshes imaging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620073705.0U CN205469826U (en) | 2016-01-26 | 2016-01-26 | Unmanned vehicles and many meshes imaging system |
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| CN205469826U true CN205469826U (en) | 2016-08-17 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106154280A (en) * | 2016-08-31 | 2016-11-23 | 易瓦特科技股份公司 | Can be used for the unmanned plane of laser ranging |
| CN106199621A (en) * | 2016-08-31 | 2016-12-07 | 易瓦特科技股份公司 | Device for laser ranging |
| CN107380472A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of unmanned plane of taking photo by plane that there is shooting to increase steady cradle head device |
| WO2021115166A1 (en) * | 2019-12-13 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Determining device, flying object, determining method, and program |
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2016
- 2016-01-26 CN CN201620073705.0U patent/CN205469826U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106154280A (en) * | 2016-08-31 | 2016-11-23 | 易瓦特科技股份公司 | Can be used for the unmanned plane of laser ranging |
| CN106199621A (en) * | 2016-08-31 | 2016-12-07 | 易瓦特科技股份公司 | Device for laser ranging |
| CN106154280B (en) * | 2016-08-31 | 2019-02-01 | 易瓦特科技股份公司 | It can be used for the unmanned plane of laser ranging |
| CN106199621B (en) * | 2016-08-31 | 2019-02-01 | 易瓦特科技股份公司 | Device for laser ranging |
| CN107380472A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of unmanned plane of taking photo by plane that there is shooting to increase steady cradle head device |
| WO2021115166A1 (en) * | 2019-12-13 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Determining device, flying object, determining method, and program |
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