CN206265327U - A kind of unmanned aerial vehicle for underwater photograph technical - Google Patents
A kind of unmanned aerial vehicle for underwater photograph technical Download PDFInfo
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- CN206265327U CN206265327U CN201621257884.XU CN201621257884U CN206265327U CN 206265327 U CN206265327 U CN 206265327U CN 201621257884 U CN201621257884 U CN 201621257884U CN 206265327 U CN206265327 U CN 206265327U
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- Stereoscopic And Panoramic Photography (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The utility model discloses a kind of unmanned aerial vehicle for underwater photograph technical, including fuselage, camera, height measuring device, drive device, posture system imperial device and camera balance detecting device, when unmanned plane is moved in the horizontal plane, the optical axis of camera balance detecting device detection camera and shooting object relation out of square, the imperial device of posture system on camera changes camera and unmanned aerial vehicle angle by drive device, with the variation of compensating glass head mould group optical axis, so as to ensure good shooting visual angle.
Description
Technical field
The utility model is related to unmanned aerial vehicle technical field, more particularly to a kind of unmanned aerial vehicle for underwater photograph technical.
Background technology
At present, using fish-eye camera work and it is equipped with the unmanned aerial vehicle of video camera public domain.In nothing
When carrying video camera on people's aircraft, selection under normal circumstances is carried wide-angle lens and is shot, to be obtained in being photographed in single
Substantial amounts of information.Carry the image information that fish eye lens once shoots surrounding using a video camera.Conventional unmanned aerial vehicle
Photography is only limitted to aerophotography, it is impossible to shoot the image in water.
Using unmanned aerial vehicle shooting image under water, at least need to consider following problem：First, how accurately to survey
The distance of amount unmanned aerial vehicle and the water surface, makes body position keep camera lens while in the air submerged in water, so that nobody fly this
Machine can be realized being photographed in water under state of flight.Above-mentioned state of flight not only includes floating state, is additionally included in horizontal direction
The state of upper motion.
Secondly, when the unmanned aerial vehicle for employing rotor structure is moved in the horizontal direction, fuselage can run-off the straight.How to support
It is a difficult point to disappear because the optical axis that fuselage inclines brought camera changes.Carryings different according to optical axis direction, common
Camera can be divided into two types on unmanned aerial vehicle：One kind is optical axis direction almost parallel with horizontal plane, and another kind is light
Direction of principal axis is substantially vertical with horizontal plane.Because the angle of optical axis direction and the unmanned aerial vehicle direction of motion in the horizontal plane is different, on
State two kinds of camera face how to compensate fuselage motion bring optical axis change problem also have larger difference.Specifically
For, the latter is more sensitive to the angle change of optical axis, but can approximately ignore because of the unmanned plane and photography dress that zoom is brought
Put the change of overall center of gravity.When carrying is provided with the camera of fish eye lens module on unmanned aerial vehicle, in order to avoid by fuselage
Block, generally select the optical axis direction of the fish eye lens module configuration mode substantially vertical with horizontal plane.Then how to solve to work as
When optical axis is vertical with horizontal plane holding, it is one quickly and accurately to compensate because the optical axis of the camera that fuselage tilting band is come changes
There is problem to be solved.
Utility model content
Technical problem to be solved in the utility model be to provide it is a kind of automatically adjust shooting visual angle for underwater photograph technical
Unmanned aerial vehicle.
To solve the technical scheme that above-mentioned technical problem is used：A kind of unmanned aerial vehicle for underwater photograph technical, including machine
Body；Camera, it is arranged on fuselage lower section, and the camera includes camera lens module；Height measuring device, it is arranged on machine
Body bottom, for measuring the distance between fuselage and lower section water surface；Drive device, it is arranged on fuselage or camera,
For changing angle of the camera relative to fuselage；Posture system drives device, and it is arranged on fuselage or camera, is used for
Control drive device；And camera balance detecting device, it is arranged on camera, for the light of detector lens module
Deflection angle between direction of principal axis and horizontal plane.
Further, also including fuselage balance detecting device, it is arranged on fuselage, for detect fuselage and horizontal plane it
Between deflection angle；Memory, the optical axis of be stored with fuselage or camera lens module deflection angle with respect to the horizontal plane and fuselage or
Corresponding relation of the camera relative to the height of the water surface where camera lens module；And control unit, for controlling and monitor
The running status of unmanned aerial vehicle.
Further, also at least one is included in the horizontal direction relative to the outwardly directed rotation of fuselage including the fuselage
Wing support arm, the height measuring device is arranged on rotor leg extremities bottom.
Further, the camera balance detecting device be electrolevel or free gyroscope, the camera lens module
Lens surface scribbles water proofing property or hydrophily coating.
Further, the camera lens module of the camera is fish eye lens module of the visual angle more than or equal to 180 degree, institute
State camera and be provided with floodometer and/or floating drum, the camera is provided with the optical axis direction phase in direction and camera lens module
With the light compensating lamp to underwater lighting.
Further, the height measuring device is phase type ultrasonic height measuring instrument.
Further, the fuselage bottom is provided with to connect the support arm of camera, and the drive device is arranged on
On support arm, the support arm is provided with the telescoping mechanism for elongating or shortening its length.
Beneficial effect：When unmanned plane is moved in the horizontal plane, camera balance detecting device detection camera
Optical axis with shoot object relation out of square, the imperial device of posture system on camera by drive device change camera and
Unmanned aerial vehicle angle, with the variation of compensating glass head mould group optical axis, so as to ensure good shooting visual angle.
Brief description of the drawings
The utility model is described further with reference to the accompanying drawings and examples；
Fig. 1 is the structural representation of the utility model embodiment；
Fig. 2 is the schematic diagram that the utility model embodiment is moved in the horizontal direction.
Specific embodiment
Fig. 1 is the structural representation of the utility model embodiment unmanned aerial vehicle, and unmanned aerial vehicle can be by outside is manipulated
The baby plane for flying in the air, unmanned aerial vehicle possesses fuselage 200 and the camera 300 loaded by fuselage 200.So
And, unmanned aerial vehicle can also be built-in GPS, and the half of the control program related to course line etc. is incorporated into advance from type of law aircraft, or
Person can be that all do not need the complete from type of law aircraft of user's operation, and unmanned aerial vehicle is mounted with battery.
User can be sent to unmanned aerial vehicle by radio communication using operation device and be instructed, so as to manipulate unmanned aerial vehicle
Take off, airflight and landing.In addition it is also possible to operate the camera 300 being loaded on unmanned aerial vehicle.
Exemplary, camera 300 is employed can be with shooting figure more than or equal to 180 degree wide-angle fish eye lens with visual angle
The camera of picture, the optical axis movement of the camera lens that camera 300 can be loaded along fuselage 200, launches past from camera 300
The image signal of operation device, both can continuously launch, it is also possible to according under user from before the power supply of unmanned aerial vehicle is to off
Instruction to operation device 50 is launched.
Fuselage 200 is X word shapes, is 4 rotor support arms in 4 ends of X words, and loading respectively can be in each rotary shaft
The 1st rotor, the 2nd rotor, the 3rd rotor and the 4th rotor that surrounding rotates, fuselage 200 possess and have energy
Make each rotor respectively around rotary shaft rotate the 1st wing drive mechanism, the 2nd wing drive mechanism, the 3rd wing drive mechanism with
And the 4th wing drive mechanism, the built-in DC motors such as the 1st wing drive mechanism, the 1st wing driving machine is rotated by the spinning force of DC motors
Structure etc., fuselage 200 includes the control unit of the working condition for controlling and monitoring 1-4 wing drive mechanisms respectively, the control unit
By the direction of motion and speed that adjust the rotary speed of each wing drive mechanism respectively to control unmanned aerial vehicle.In 4 rotor branch
The distal end of arm（Away from one end of fuselage 200）Be respectively arranged below with 4 height measuring devices 290, for measure nobody fly
Height of the machine apart from the water surface.When unmanned aerial vehicle hovers above the water surface, the X words main shaft and plane-parallel of fuselage 200, four
Support arm is apart from the highly identical of the water surface；When unmanned aerial vehicle is moved in water surface upper horizontal, the X-type main shaft of fuselage 200 is rolled, most
Low spot is always positioned at the distal end of rotor support arm, therefore height measuring device 290 is arranged on the distal end of rotor support arm and can protect
The minimum point moment for demonstrate,proving fuselage 200 there is not upstream face.When unmanned aerial vehicle adjoined water surface flight, to aforementioned height measurement apparatus
290 require that certainty of measurement reaches millimeter rank.In unmanned aerial vehicle field, generally using the height of pressure-altitude sensor detection flight
Degree.The error of pressure-altitude sensor is larger, it is difficult to which satisfaction accurately surveys requirement high, and near the ground（The water surface）, wind-engaging, temperature
Degree, humidity, dust granules etc. influence, and the precision for measuring height is greatly affected.Part is used for the unmanned aerial vehicle of geographical mapping
Laser ceilometer is employed, but the directive property of laser is strong, is difficult to when the inclination angle between unmanned aerial vehicle fuselage and horizontal plane is larger
Receive the laser signal for returning, and be not appropriate for, it is necessary to pre-set floating target on the water surface when fuselage is measured apart from the water surface
Near the ground（The water surface）In the range of use.Pulse type supersonic measuring instrument certainty of measurement is too low and blind area scope is big（It is with rice
Unit）, cannot equally be competent at requirement of the present utility model.Therefore, height measuring device 290 has selected survey in the utility model
Accuracy of measurement is high（Error about 2-6mm）, blind area is smaller（2-40mm）Phase type ultrasonic height measuring instrument.Additionally, can be above-mentioned
Ultrasonic height measuring instrument adds temperature compensation means, to reduce the big influence for bringing of subaerial temperature change.Each ultrasonic wave
Height-gauge should use different carrier frequencies, to prevent crosstalk.Preferably, exist to measure fuselage 200 during adjoined water surface
Apart from the accurate distance of the water surface when magnitude of inclination is larger, the gradient that fuselage balance detecting device detects fuselage can also be used, when
When the gradient is more than a predetermined threshold value, using the rotor support arm of above-mentioned ultrasonic height measuring instrument detection fuselage 200 to the water surface
Distance, according to above-mentioned angle of inclination and distance, carried out using aftermentioned control unit 250 or other modules with computing function
Triangulate decomposition method, to obtain exact height of the unmanned aerial vehicle 200 during adjoined water surface away from the water surface.
Fuselage 200 possesses control unit 250 and drive device 260.Control unit 250 controls the action of unmanned aerial vehicle, drives
Dynamic device 260 can make camera 300 relative to fuselage 200 by specified direction movement and/or rotation.The quilt of control unit 250
It is incorporated into the micro-multi-purpose computer being built in the main part of fuselage 200 in X words center.Drive device 260 is arranged on
On the front end of support arm 270, to reduce burden when rotating camera 300.Support arm 270 is from this main part of fuselage 200
The underface divided is risen and is hung down, and can be rotated relative to fuselage 200.Support arm 270 from fuselage 200 this main part just under
Side rises and hangs down, and can in a plurality of directions be rotated relative to fuselage 200, to cause fuselage 200 relative relative to camera 300
Remains stationary state, so as to prevent unmanned aerial vehicle, operationally fuselage rocks, it is to avoid the frame stabilization of influence photography.Additionally,
Drive device 260 may also be arranged on inside camera 300.
Fuselage 200 is kept while in the air, and the camera 300 for being provided with camera lens module is submerged in water, to shoot water
In image.Equipped with the flake mirror containing visual angle more than or equal to 180 degree on the camera 300 loaded by fuselage 200
Head mould group 320.The bottom surface of camera 300 is frustro-pyramidal, to prevent from blocking the visual of the first camera lens of flake module 320
Angle.There is camera balance detecting device in camera 300, camera balance detecting device can use electronic horizon
Instrument, optics free gyroscope, gyroscope etc., for the angle between the posture and horizontal plane that detect camera 300.Posture system is driven
Device is located on fuselage 200 or camera 300, and it connects camera balance detecting device and drive device 260 respectively.Appearance
The imperial device of gesture system can use microcontroller.Fuselage 200 can drive device using posture system, by camera balance detecting device
The angle between camera 300 and horizontal plane is obtained, drive device 260 is controlled according to the angle, control drive device 260 to make
Camera 300 is rotated relative to the incline direction of fuselage 200, to compensate the angle of inclination of fuselage 200, is made on camera 300
Camera lens module 320 optical axis with the horizontal same right-angle relationship.Camera 300 shoots and comes from fish eye lens module 320
Image.Camera 300 also includes photography portion, and the photography portion is configured in the light incident side of the light for inciding camera lens module 320
On the optical axis of offside, to shoot the image from camera lens module 320.Photography portion refers to that such as CCD or CMOS images are passed
Sensor.Additionally, the lens surface of the camera lens module 320 is also coated with water proofing property or hydrophily coating, dredging for camera lens surface is improved
Aqueous, to prevent erosion of the moisture to eyeglass, and the globule remained after camera lens module leaves the water surface evaporates to form large area
It is water stain, and then influence imaging.Exemplarily, physical vaporous deposition or sputtering method can be used, material will be crossed and be plated in
On the outermost lens surface of camera lens module 320, wherein the result that the selection for crossing material is suitably selected for those skilled in the art.
The one side of drive device 260 is used as loader mechanism and loads camera 300, while changing fuselage as drive mechanism
200 relative to camera 300 angle.Loader mechanism refer to can with loading part and can with 360 ° rotation mechanisms, example
Such as, the optical axis direction orthogonal direction with camera lens module 320 is formed on the outside of the camera 300 on the opposite of drive device 260
On central shaft extend bearing, can possess in drive device 260 extend in the same direction with bearing and be entrenched in bearing
On rotary shaft.In this case, drive device 260 is entrenched on bearing by making rotary shaft, so as to support camera
300, by rotary shaft and bearing, so that camera 300 rotates.On the other hand, as drive mechanism, for example, driving
Formed on the outside of the camera 300 on the opposite of device 260 with above-mentioned rotary shaft as pivot and periphery has possessed multiple teeth
Not coaxial sector gear group, drive device 260 can possess the rotation for having and controlling stepper motor or servomotor etc
Turn the motor and circular gear of number of times.The gear is supported that have on its periphery is with sector teeth by the rotary shaft of motor
The tooth of the shape that complements each other.In this case, drive device 260 makes the tooth of circular gear and sector teeth mutually sting
Close, the revolving force of sector gear is transformed to by making the revolving force of motor, so as to change fuselage 200 relative to camera 300
Angle.At least two groups of sector gear, its gear shaft is mutually orthogonal, to realize the rotation on a pair of orthogonal direction.
The control unit 250 of fuselage 200 possesses control unit, holder, communication unit and image processing apparatus.Holder is stored
There is the optical axis of unmanned aerial vehicle fuselage that training in advance is obtained or camera lens module deflection angle with respect to the horizontal plane, with unmanned aerial vehicle
Corresponding relation data of the camera relative to the height of the water surface where fuselage or camera lens module.When detection unmanned aerial vehicle fuselage
Or after the optical axis of camera lens module deflection angle with respect to the horizontal plane, can be inquired about in holder according to the value of the deflection angle
Corresponding relation, obtain the valuation of the height apart from the water surface of fuselage 200 or camera lens module 320 such that it is able to quickly adjust nothing
The flying height of people's aircraft.Additionally, holder can also store the flying speed and corresponding camera lens module 320 for representing unmanned aerial vehicle
The corresponding relation of optical axis compensation angle, after obtaining the flying speed of unmanned aerial vehicle using sensor, is obtained by way of tabling look-up
The valuation of the optical axis compensation angle of camera lens module 320, carries out angle compensation.Communication unit passes through radio communication and PERCOM peripheral communication.Fuselage
The fuselage balance detecting device of the compositions such as electrolevel or free gyroscope is additionally provided with 200, for detecting the fuselage and level
Deflection angle between face.
Control unit receives the instruction from operation device by communication unit, will shoot the image from camera lens module 320
The image signal in photography portion issues operation device.Control unit controls the 1st rotor drive mechanism according to the instruction of operation device
Deng to control taking off, fly and landing for unmanned aerial vehicle.
Control unit controls lens driving portion according to the instruction of operation device.The instruction is except that can be and camera lens module 320
Optical axis change outside the relevant instruction of operation, can also be the heeling condition behaviour that manually changes optical axis containing camera lens module 320
Make relevant instruction.Further, the optical axis of camera lens module 320 can also automatically be adjusted according to by the geodata of photographic objects
Section.
Control unit controls drive device 260, makes the angle of the camera 300 relative to fuselage 200 change to mend
Repay the variation because of the photographic objects direction of motion or geographical position.Control unit can both control to drive according to set control program
Dynamic device 260, it is also possible to drive device 260 is controlled according to the signal from camera or fuselage balance detecting device, may be used also
Drive device 260 is controlled with the list data with reference to storage in memory.Additionally, control unit can also be by the imperial dress of posture system
Put control control drive device 260.
Unmanned aerial vehicle is controlled according to default program or manual remote control, the top from airborne to the water surface.In the mistake of landing
Cheng Zhong, unmanned aerial vehicle distinguishes the height of the detecting distance water surface using 4 height measuring devices 290 being located on rotor support arm, refers to
Lead the degree of unmanned aerial vehicle decline so that fuselage 200 hovers on the water surface, while camera 300 is partly or entirely immersed in
In water.Because unmanned aerial vehicle is in geo-stationary, the fish eye lens mould of camera 300 in the horizontal direction under current state
Group 320 is 90 degree with the angle of horizontal direction, and now fish eye lens module 320 has reached the viewfinder range of maximum, therefore is not required to
Compensate.
The schematic diagram that unmanned aerial vehicle in Fig. 2 is moved in the direction of the arrow, direction shown in arrow is direct of travel.When nobody flies
When machine is moved in the horizontal direction, two rotors reduction rotating speed of direction of motion side, fuselage 200 is sent out in the movement direction
Raw to incline, the camera 300 being connected on fuselage 200 is also inclined therewith.Now, if not carrying out light to camera 300
Axle is compensated, and the image absorbed by camera 300 will deflect, and the image of the incline direction side of fuselage 200 can be scarce
Lose.
When the optical axis direction that camera balance detecting device measures fish eye lens module 320 is not vertical with horizontal direction
When, the imperial device of posture system adjusts photography dress according to the optical axis direction of fish eye lens module 320 and the change of horizontal direction angle
Put 300 relative to fuselage 200 angle, make the optical axis direction of fish eye lens module 320 vertical with horizontal direction.
When the unmanned aerial vehicle with rotor hovers or move near the water surface, due to ground effect（Wing ground effect）Work
With the lift coefficient of unmanned aerial vehicle is drastically raised, and dump power occurs, is ultimately resulted in unmanned plane and drift phenomenon is occurred.Imitate on ground
Should be because ground or the water surface are produced to the reaction of unmanned aerial vehicle rotor wake, by rotor radius, unmanned aerial vehicle distance ground
The factors such as the flatness of height, ground or the water surface of face or the water surface influence.Measured through experiment, when the timing of rotor radius one, lift
Distance between coefficient and unmanned aerial vehicle and the water surface is within the specific limits non-linear relation（About from close to the water surface to apart from the water surface
Distance is in the range of 3.5 times of rotor radius）, within the range, it is difficult to realize compensation using the algorithm of rotor control, nobody
Aircraft is difficult to realize stably hovering.When flying height is slightly above the scope, lift coefficient tends to nearly quasi-stationary constant, compared with
The control of hovering is easily realized, lift coefficient when lift coefficient now is still greater than away from the water surface has in height section flight
Beneficial to the energy consumption for reducing unmanned aerial vehicle, cruising time is improved；When flying height is higher than 4.5 times of rotor radius, unmanned aerial vehicle
The influence of ground effect is substantially broken away from.Additionally, when the unmanned aerial vehicle hovered near the water surface switchs to water on sustained height
During flat motion, lift coefficient is equally susceptible to significantly change, lift coefficient now and the distance between unmanned aerial vehicle and the water surface
The scope of non-linear relation when being hovered on the water surface is slightly less than in the scope of non-linear relation.Therefore, being taken on support arm 270
Carried the telescoping mechanism that using motor it can be driven to elongate or shorten, the telescoping mechanism can using driving stepper motor gear and
The combination of tooth bar realizes that elongation is shortened, it would however also be possible to employ spiral helicine track is engraved on the inside of outer retracting cylinder, motor pushing is used
Interior retracting cylinder is along major axes orientation screw propulsion.When telescoping mechanism is extended to maximum, the maximum length of support arm is rotor radius
3.5 times -4.5 times, so as to using the stability region of ground effect, both nothing can be extended again with stability contorting state of flight
The cruising time of people's aircraft.Additionally, unmanned aerial vehicle fuselage or camera lens module that the training in advance that can be stored with memory is obtained
Optical axis deflection angle with respect to the horizontal plane, and the corresponding relation data between the elongation degree of the telescoping mechanism of support arm
Table, when unmanned aerial vehicle hovering is changed into horizontal movement, unmanned aerial vehicle fuselage or camera lens mould is measured according to each balance detecting device
The optical axis of group deflection clip with respect to the horizontal plane, by the corresponding data table inquired about in memory, obtains the flexible of telescoping mechanism
Length, with cause unmanned aerial vehicle from hovering be changed into horizontal movement when, the underwater penetration of camera module keeps constant.It is described flexible
Mechanism is also prevented from unmanned aerial vehicle and flies too low in addition to preventing unmanned aerial vehicle and being influenceed by ground effect, and entry altitude is surveyed
Measure device 290 check frequency and air crash.
Camera can also be equipped with floodometer and/or floating drum（Do not show in figure）, floodometer detection be
Measured value, using the teaching of the invention it is possible to provide than the more accurately underwater penetration of the camera 300 detection of height measuring device 290, so that institute
State when camera 300 shoots in water and remain at same depth, also with floodometer height can also be overcome to survey
Measure the check frequency of device 290.When using the support arm for carrying telescoping mechanism, can be obtained using height measuring device 290
Accurate collapsing length, floating drum inside has the cavity full of air, using the teaching of the invention it is possible to provide buoyancy, prevent camera enter water it is too fast and
It is too deep, to improve security.Additionally, camera to be provided with direction identical with the optical axis direction of the camera lens module, under water
The light compensating lamp of illumination.Light compensating lamp is preferably greater than equal to 4, is equally spaced around the configuration of camera lens module, in so that improving water
Visibility, and reduce fish eye lens module under half-light environment easily occur corner loss of gloss.
Implementation method of the present utility model is explained in detail above in conjunction with accompanying drawing, but the utility model is not limited to
Implementation method is stated, in the ken that the technical field those of ordinary skill possesses, this practicality can also not departed from
Various changes can be made on the premise of new objective.
Claims (7)
1. a kind of unmanned aerial vehicle for underwater photograph technical, it is characterised in that including：
Fuselage；
Camera, it is arranged on fuselage lower section, and the camera includes camera lens module；
Height measuring device, it is arranged on fuselage bottom, for measuring the distance between fuselage and lower section water surface；
Drive device, it is arranged on fuselage or camera, for changing angle of the camera relative to fuselage；
Posture system drives device, and it is arranged on fuselage or camera, for controlling drive device；And
Camera balance detecting device, it is arranged on camera, for the optical axis direction and level of detector lens module
Deflection angle between face.
2. the unmanned aerial vehicle for underwater photograph technical according to claim 1, it is characterised in that also include：
Fuselage balance detecting device, it is arranged on fuselage, for detecting the deflection angle between fuselage and horizontal plane；
Memory, the optical axis of be stored with fuselage or camera lens module deflection angle with respect to the horizontal plane and fuselage or camera lens module institute
Corresponding relation of the camera relative to the height of the water surface；And
Control unit, for controlling and monitors the running status of unmanned aerial vehicle.
3. the unmanned aerial vehicle for underwater photograph technical according to claim 1, it is characterised in that：Also include including the fuselage
At least one in the horizontal direction relative to the outwardly directed rotor support arm of fuselage, and the height measuring device is arranged on rotor branch
Arm end bottom.
4. the unmanned aerial vehicle for underwater photograph technical according to claim 1, it is characterised in that：The camera balance inspection
It is electrolevel or free gyroscope to survey device, and the lens surface of the camera lens module scribbles water proofing property or hydrophily coating.
5. the unmanned aerial vehicle for underwater photograph technical according to claim 1, it is characterised in that：The camera lens of the camera
Module is fish eye lens module of the visual angle more than or equal to 180 degree, and the camera is provided with floodometer and/or floating drum,
The camera is provided with the direction light compensating lamp to underwater lighting identical with the optical axis direction of camera lens module.
6. the unmanned aerial vehicle for underwater photograph technical according to claim 1, it is characterised in that：The height measuring device is
Phase type ultrasonic height measuring instrument.
7. the unmanned aerial vehicle for underwater photograph technical according to claim any one of 1-6, it is characterised in that：The fuselage bottom
Portion is provided with to connect the support arm of camera, and the drive device is arranged on support arm, and the support arm is provided with elongation
Or shorten the telescoping mechanism of its length.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621257884.XU CN206265327U (en) | 2016-11-18 | 2016-11-18 | A kind of unmanned aerial vehicle for underwater photograph technical |
| PCT/CN2017/111264 WO2018090943A1 (en) | 2016-11-18 | 2017-11-16 | Unmanned aerial vehicle for underwater photographing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621257884.XU CN206265327U (en) | 2016-11-18 | 2016-11-18 | A kind of unmanned aerial vehicle for underwater photograph technical |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206265327U true CN206265327U (en) | 2017-06-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018090943A1 (en) * | 2016-11-18 | 2018-05-24 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle for underwater photographing |
| CN110139038A (en) * | 2019-05-22 | 2019-08-16 | 深圳市道通智能航空技术有限公司 | It is a kind of independently to surround image pickup method, device and unmanned plane |
| CN112236360A (en) * | 2018-06-04 | 2021-01-15 | 株式会社爱隆未来 | Electronic component and flying object mounted with the same |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102671961B1 (en) * | 2022-09-23 | 2024-06-05 | 주식회사 한국니코 | Flying drone with underwater wireless detection function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1114354A (en) * | 1997-06-25 | 1999-01-22 | Mitsubishi Electric Corp | Photographing apparatus |
| JP5618840B2 (en) * | 2011-01-04 | 2014-11-05 | 株式会社トプコン | Aircraft flight control system |
| CN102501979B (en) * | 2011-11-10 | 2013-10-16 | 河北汉光重工有限责任公司 | Airborne navigation nacelle |
| WO2015085499A1 (en) * | 2013-12-10 | 2015-06-18 | 深圳市大疆创新科技有限公司 | Non-orthogonal axis carrier |
| CN203780798U (en) * | 2014-04-11 | 2014-08-20 | 陕西科技大学 | Quadrocopter-based air quality detector |
| CN205691921U (en) * | 2016-04-21 | 2016-11-16 | 捷西迪（广州）光学科技有限公司 | The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle |
| CN105759535B (en) * | 2016-04-21 | 2018-12-07 | 捷西迪（广州）光学科技有限公司 | The optical axis of the lens module of unmanned aerial vehicle changes compensation device and its compensation method |
| CN106303240A (en) * | 2016-08-16 | 2017-01-04 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle optical axis variation compensation device, method and panoramic shooting system |
| CN206265327U (en) * | 2016-11-18 | 2017-06-20 | 捷西迪（广州）光学科技有限公司 | A kind of unmanned aerial vehicle for underwater photograph technical |
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2016
- 2016-11-18 CN CN201621257884.XU patent/CN206265327U/en not_active Expired - Fee Related
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2017
- 2017-11-16 WO PCT/CN2017/111264 patent/WO2018090943A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018090943A1 (en) * | 2016-11-18 | 2018-05-24 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle for underwater photographing |
| CN112236360A (en) * | 2018-06-04 | 2021-01-15 | 株式会社爱隆未来 | Electronic component and flying object mounted with the same |
| CN110139038A (en) * | 2019-05-22 | 2019-08-16 | 深圳市道通智能航空技术有限公司 | It is a kind of independently to surround image pickup method, device and unmanned plane |
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| WO2018090943A1 (en) | 2018-05-24 |
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