CN207417173U - Unmanned vehicle - Google Patents

Abstract

The utility model is related to aircraft fields, provide a kind of unmanned vehicle, including fuselage, horn component, Power Component and camera assembly.The horn component is installed on the fuselage；The Power Component is installed on the horn component, for providing flying power for the unmanned vehicle；At least four camera assemblies are respectively arranged in the horn component, and the opposite sides of the fuselage respectively sets at least two camera assemblies.During the unmanned vehicle flight of the utility model, at least four camera assemblies positioned at the opposite sides of the fuselage can complete 360 degree of pan-shot jointly, ensure to get 360 degree of full-view image within the same time, and then the 3-dimensional stereoscopic experience sense in virtual reality can be met.At least four camera assemblies are installed on the horn component, and visual angle is open, will not be blocked by the fuselage or other carrying equipments, and can realize no dead angle pan-shot.

Description

Unmanned vehicle

【Technical field】

The utility model is related to aircraft field more particularly to a kind of unmanned vehicles with shooting function.

【Background technology】

UAV, abbreviation unmanned vehicle (UAV) are a kind of new concept equipments being in rapidly developing, Have the advantages that maneuverability, rapid reaction, it is unmanned, operation require it is low.Unmanned vehicle is by carrying multiclass sensor Or picture pick-up device, it can realize image real-time Transmission, high-risk areas detecting function, be satellite remote sensing and traditional air remote sensing has Power is supplemented.

In current unmanned vehicle, the camera assembly visual angle of common realization pan-shot is relatively narrow, easily by fuselage Or other carrying equipments block, it is impossible to fully meet use demand.

【Utility model content】

In order to solve the above-mentioned technical problem, the utility model embodiment provides a kind of achievable pan-shot and shoots and regards The open unmanned vehicle in angle.

The utility model embodiment solves its technical problem using following technical scheme：

A kind of unmanned vehicle, including fuselage, horn component, Power Component and camera assembly.The horn component peace Loaded on the fuselage；The Power Component is installed on the horn component, for providing flying power for the unmanned vehicle； At least four camera assemblies are respectively arranged in the horn component, and the opposite sides of the fuselage respectively sets at least two institutes State camera assembly.

Optionally, each camera assembly includes photographic device, and the photographic device includes at least one camera lens.

Optionally, each camera assembly includes holder, and the holder is installed on the horn component, the camera shooting dress It puts and is installed on the holder.

Optionally, the holder is three-axis stability augmentation holder, including the first motor, the second motor and the 3rd motor；

The stator of 3rd motor is installed on the horn component, rotor connection second electricity of the 3rd motor The stator of machine, and the rotor of second motor connects the stator of first motor, the photographic device are installed on described the The rotor of one motor.

Optionally, the horn component includes drive component and horn；

One end of two horns is hinged, and two horns are located at the opposite sides of the fuselage respectively；

The driving component is installed on the fuselage, and the driving component is connected with two horns, for driving Move two horns so that the angle between two horns increases or reduces.

Optionally, the driving component includes：Driving device, movable part and actuator；

The driving device is fixedly installed in the fuselage, for the movable part to be driven to do linear reciprocating motion；

The quantity of the actuator is two, and one end of one of them actuator is hinged one end of the movable part, One end of another actuator is hinged the other end of the movable part, each actuator away from the movable part one The hinged corresponding horn in end.

Optionally, the driving component includes screw rod；

The driving device is connected with the screw rod, for the screw rod to be driven to rotate；

The movable part is sheathed on the screw rod, and can be done with the rotation of the screw rod along the axis of the screw rod past Linear motion.

Optionally, each actuator includes body part, first connecting portion and second connecting portion；

Two first connecting portions are extended from the one side of the body part, the end of two first connecting portions It is arranged at intervals, the end of two first connecting portions is hinged a corresponding horn；

The opposite side of two second connecting portions from the body parts extends, the end of two second connecting portions End is arranged at intervals, and the end of two second connecting portions is located at the both sides of the movable part, and with one end of the movable part It is hinged.

Optionally, each horn includes arm body and mounting base；

The mounting base is fixed in one end of the arm body；

Two mounting bases are hinged, and each hinged one of the one end of the actuator away from the movable part is corresponding The mounting base.

Optionally, the mounting base includes tube body and articulated section；

One end of the arm body is inserted and fixed in the tube body；

Two articulated sections are extended from one end of the tube body, and the space from end of two articulated sections is set It puts, the end of two articulated sections of one of them mounting base and the end of two articulated sections of another mounting base are handed over For overlapping, and the end of the articulated section of two mounting bases is hinged.

Optionally, the horn component includes installing arm, the middle part machine corresponding with one of each installing arm One end connection of the arm away from the fuselage；

Camera assembly described in each two is respectively arranged in the opposite end of a corresponding installing arm.

Optionally, the horn component include fixed link, the fixed link include the body of rod and connector, the one of the body of rod The hinged fuselage in end, the other end of the body of rod are hinged one end of the connector, the other end hinged one of the connector A corresponding installing arm.

Optionally, above-mentioned unmanned vehicle includes landing gear assembly, and the landing gear assembly includes land bar and supporting rod；

One end of the land bar is fixedly installed in the installing arm, in sharp between the land bar and the installing arm Angle；

One end of the supporting rod is fixedly installed in the installing arm, and the other end of the supporting rod is fixedly installed in described Land bar, and it is separated by default distance with the end of the land bar.

Compared with prior art, in the unmanned vehicle flight of the utility model embodiment, positioned at the fuselage At least four camera assemblies of opposite sides can complete 360 degree of pan-shot jointly, ensure to obtain within the same time 360 degree of full-view image is got, and then the 3-dimensional stereoscopic experience sense in virtual reality can be met.At least four camera assemblies The horn component is installed on, visual angle is open, will not be blocked by the fuselage or other carrying equipments, and can realize no dead angle Pan-shot.

【Description of the drawings】

One or more embodiments are illustrated by corresponding attached drawing, these exemplary illustrations not structure The restriction of paired embodiment, the element for having same reference numbers label in attached drawing is expressed as similar element, unless there are special It declares, composition does not limit the figure in attached drawing.

Fig. 1 is a kind of stereogram for unmanned vehicle that the utility model wherein embodiment provides；

Fig. 2 is the front view of unmanned vehicle shown in FIG. 1；

Fig. 3 is stereogram of the fuselage with horn component of unmanned vehicle shown in FIG. 1, wherein a part for the fuselage It is omitted；

Fig. 4 is the side view of fuselage shown in Fig. 3 and horn component；

Fig. 5 is along the sectional view of line A-A in Fig. 4；

Fig. 6 is the exploded view of fuselage shown in Fig. 3 and horn component.

【Specific embodiment】

For the ease of understanding the utility model, in the following with reference to the drawings and specific embodiments, the utility model is carried out more detailed Thin explanation.It should be noted that when element is expressed " being fixed on " another element, it can be directly in another element Above or therebetween there may be one or more elements placed in the middle.When an element is expressed " connection " another element, it can To be directly to another element or there may be one or more elements placed in the middle therebetween.This specification is used Term " vertical ", " horizontal ", "left", "right", " interior ", " outer " and similar statement for illustrative purposes only.

Unless otherwise defined, the skill of technical and scientific term all used in this specification with belonging to the utility model The normally understood meaning of technical staff in art field is identical.It is intended merely in the term used in the description of the utility model The purpose of specific embodiment is described, is not intended to limitation the utility model.Term "and/or" includes used in this specification The arbitrary and all combination of one or more relevant Listed Items.

In addition, as long as technical characteristic involved in the utility model difference embodiment disclosed below is each other not Forming conflict can be combined with each other.

It please refers to Fig.1 and Fig. 2, a kind of unmanned vehicle 100 that the utility model wherein embodiment provides, including fuselage 10, horn component 20, Power Component 30, camera assembly 40 and landing gear assembly 50.The horn component 20 is installed on described Fuselage 10, the Power Component 30 are installed on the horn component 20, dynamic for providing flight for the unmanned vehicle 100 Power, four camera assemblies 40 are respectively arranged in the horn component 20, and camera assembly 40 described in each two is located at institute The opposite sides of fuselage 10 is stated, the landing gear assembly 50 is installed on the horn component 20.

Include the control circuit component being made of electronic components such as MCU, the control circuit component bag in the fuselage 10 Include multiple control modules, e.g., for controlling the control module that the horn component 20 is packed up or put down, for control it is described nobody The flight control modules of 100 flight attitude of aircraft, for the unmanned vehicle 100 that navigates locating module and be used for Data processing module of environmental information acquired in the related airborne equipment of processing etc..

Also referring to Fig. 3 to Fig. 5, the fuselage 10 opens up container 102, for horn component described in partial receipt 20。

The horn component 20 includes drive component 210, horn 220, fixed link 230 and installing arm 240.The driving group Part 210 is arranged in the container 102 of the fuselage 10, and the driving component 210 is connected with the horn 220, to institute It states horn 220 and power is provided, the horn 220 is driven to pack up or put down.The horn 220 is connected with the installing arm 240, institute Installing arm 240 is stated for installing the Power Component 30, the camera assembly 40 and the landing gear assembly 50.The fixation The both ends of bar 230 are respectively articulated with the fuselage 10 and the installing arm 240, for applying to the horn 220 and installing arm 240 Towards the pulling force of the fuselage 10 so that the horn 220 steadily can be packed up or put down, and reduce trembling in moving process It is dynamic.

The driving component 210 is installed on the fuselage 10.The driving component 210 includes：Driving device 212, screw rod 214, movable part 216 and actuator 218.The driving device 212 is fixedly installed in the fuselage 10, with the screw rod 214 connections, for the screw rod 214 to be driven to rotate.Described 214 one end of screw rod is fixedly connected with the shaft of the driving device 212, The other end is rotationally connected with the fuselage 10.The movable part 216 is sheathed on the screw rod 214, and can be with the screw rod 214 Rotation, do linear reciprocating motion along the axis of the screw rod 214.The quantity of the actuator 218 is two, one of institute The one end for stating actuator 218 is hinged one end of the movable part 216, and one end of another actuator 218 is hinged the work The other end of moving part 216.

In the present embodiment, the driving device 212 includes a motor, for the screw rod 214 to be driven to rotate, and then makes The movable part 216 is obtained with the rotation of the screw rod 214, linear reciprocating motion is done along the axis of the screw rod 214.

It is understood that in some other embodiments, the screw rod 214 can be omitted, the driving device 212 can To be one kind in cylinder or hydraulic cylinder, the driving device 212 is connected with the movable part 216, for driving the activity Part 216 does linear reciprocating motion.

The quantity of the horn 220 is two, is distinguished between two horns 220 in angle, two horns 220 Positioned at the opposite sides of the fuselage 10.Each horn 220 includes arm body 222 and mounting base 224, the arm body 222 One end is inserted and fixed in the mounting base 224.Two mounting bases 224 are hinged, and each actuator 218 is separate One end of the movable part 216 is hinged a corresponding mounting base 224.When the driving device 212 works, the drive Dynamic device 212 drives the screw rod 214 to rotate, and the movable part 216 is driven to do reciprocating linear fortune along the axis of the screw rod 214 Dynamic, under the drive of the movable part 216, the actuator 218 drives two horns 220 to pack up or put down.

Referring to Fig. 6, each actuator 218 includes body part 2180, first connecting portion 2182 and second connecting portion 2184.The first connecting portion 2182 is rod-shaped, and two first connecting portions 2182 are prolonged from the one side of the body part 2180 It stretches, the space from end of two first connecting portions 2182 is set.Similarly, the second connecting portion 2184 is also bar Shape, the opposite side of two second connecting portions 2184 from the body parts 2180 extend, two second connecting portions 2184 space from end is set.The end of two second connecting portions 2184 is located at the both sides of the movable part 216, and with institute The one end for stating movable part 216 is hinged.

The mounting base 224 includes tube body 2242, axis pin 2244 and articulated section 2246.The tube body 2242 opens up There is mounting hole (not shown), one end of the arm body 222 is inserted and fixed in the mounting hole.The quantity of the axis pin 2244 is Two, two axis pins 2244 are fixedly installed in the opposite sides of the tube body 2242 respectively, each axis pin 2244 The end of the first connecting portion 2182 corresponding with one is hinged so that the actuator 218 is articulated with the mounting base 224.The 2246 have a generally triangular shape plate of articulated section, quantity are two, and two articulated sections 2246 are from the tube body 2242 one end is extended, and the space from end of two articulated sections 2246 is set.The two of one of them mounting base 224 The alternately stacked setting in end of the end of a articulated section 2246 and two articulated sections 2246 of another mounting base 224, and And the end of the articulated section 2246 of two mounting bases 224 is hinged.

The fixed link 230 includes the body of rod 232 and connector 234, and one end of the body of rod 232 is hinged the fuselage 10, The other end of the body of rod 232 is hinged one end of the connector 234, and the other end of the connector 234 is hinged the dress arm 240.When the unmanned vehicle 100 is in state of flight, the Power Component 30 is to the horn 220 away from the fuselage 10 one end and installing arm 240 provide upward pulling force, and the fixed link 230 provides court to the horn 220 and installing arm 240 To the pulling force of the fuselage 10, the horn 220 to be prevented further to be rotated compared with the fuselage 10, so that described Horn 220 is in stable state.

The quantity of the installing arm 240 is two, each installing arm 240 substantially straight-bar, middle part and the machine One end connection of the arm 220 away from fuselage 10.Two installing arms 240 are arranged in parallel in opposite the two of the fuselage 10 Side.It is understood that in some other embodiments, the shape and set-up mode of the installing arm 240 can be according to reality It needs to change, for example, the installing arm 240 can be curved bar etc..

Referring back to Fig. 1 and Fig. 2, the Power Component 30 includes motor and is installed on the propeller of the motor, is used for Flying power is provided for the unmanned vehicle 100.The quantity of the Power Component 30 is four, Power Component described in each two 30 are respectively arranged in the opposite end of a corresponding installing arm 240.

It is understood that in some other embodiments, the quantity of the Power Component 30 can according to circumstances increase or It reduces, for example, 6,8 etc. are reduced to 1,2 or increase to, for example, when the quantity of the Power Component 30 is two, The installing arm 240 can be omitted, and each Power Component 30 can be fixedly installed in one of the horn 220 away from fuselage 10 End；For example, when the quantity of the Power Component 30 is 6,8, it can accordingly increase the horn 220 and the number of installing arm 240 Amount.

The quantity of the camera assembly 40 is four, and camera assembly 40 described in each two is removably installed in one accordingly The installing arm 240 opposite end.

Each camera assembly 40 includes holder 44 and photographic device 46.

The holder 44 is three-axis stability augmentation holder, and the three-axis stability augmentation holder is on three axis to the camera shooting in-flight Device 46 increase steady：Course axis (Yaw), pitch axis (Pitch) and roll axis (Roll).The pitch axis is perpendicular to rolling Axis, course axis is perpendicular to pitch axis and roll axis.

The holder 44 includes：First motor, the second motor and the 3rd motor.The central shaft of the rotor of first motor with Roll axis is coaxial.The central shaft of the rotor of second motor and pitch axis are coaxial, and the central shaft of the rotor of the 3rd motor and course Axis is coaxial.The stator of 3rd motor is removably installed in one end of the installing arm 240 by fixed seat, and the 3rd motor turns The stator of son the second motor of connection, and the rotor of the second motor connects the stator of the first motor.

It is understood that in some other embodiments, the 3rd motor can be omitted, and the stator of the second motor leads to Cross one end that fixed seat is removably installed in the installing arm 240.

The holder 44 is removably installed in one end of the installing arm 240 by fixed seat, can facilitate the camera shooting The replacement of component 40.The holder 44 can be removably installed in the one of the installing arm 240 by structures such as buckle, screw threads End.

The photographic device 46 is fixedly installed in the rotor of the first motor of the holder 44.The photographic device 46 can be with For camera, video camera, camera etc., at least one camera lens can be included, such as each photographic device 46 includes two Backwards to the camera lens of setting.Four photographic devices 46 are generally aligned in the same plane, and four photographic devices 46 are located at one Rectangular four angles, it is ensured that without shooting blind angle amount, and stronger relief full-view image can be obtained.

It is understood that the quantity of the camera assembly 40 can be at least four, as long as the fuselage 10 is opposite Both sides respectively set at least two camera assemblies 40 that pan-shot can be completed, for example, the quantity of the camera assembly 40 is Six, the opposite sides of the fuselage 10 respectively sets three camera assemblies 40, and two camera assemblies 40 are removably The opposite end of a corresponding installing arm 240 is installed on, the 3rd camera assembly 40 is removably installed in one The middle part of a corresponding installing arm 240.The photographic device 46 of at least four camera assemblies 40 is generally aligned in the same plane, and And wherein four photographic devices 46 are located at rectangular four angle.

It is understood that in some other embodiments, the holder 44 or uniaxial holder；Alternatively, the cloud Platform 44 omits, and the photographic device 46 is directly mounted at the installing arm 240.

Referring back to Fig. 3 to Fig. 5, the landing gear assembly 50 includes land bar 502 and supporting rod 504.The land bar 502 one end is fixedly installed in one end of the installing arm 240, in sharp between the land bar 502 and the installing arm 240 Angle, one end of the supporting rod 504 are fixedly installed in the installing arm 240, and the other end of the supporting rod 504 is fixedly installed in The land bar 502, and it is separated by default distance with the end of the land bar 502.Described in the supporting rod 504 and part It is triangle to fall bar 502 and the part installing arm 240, in 100 land of unmanned vehicle, the undercarriage group Part 50 can consolidate the support unmanned vehicle 100.

It is understood that in some other embodiments, the landing gear assembly 50 may also include driving device, described Driving device can be cylinder or hydraulic cylinder, be installed on the installing arm 240, and one end of the supporting rod 504 is installed on described Driving device, the other end are installed on the land bar 502, and one end of the land bar 502 is articulated with the installing arm 240.Make Used time, the driving device can drive the supporting rod 504 for linear motion along the axis of its drive rod, described so as to drive Fall bar 502 to rotate compared with the installing arm 240 so that the land bar 502 can be laid down or pack up.

In 100 flight of unmanned vehicle, positioned at four camera assemblies of the opposite sides of the fuselage 10 40 can complete 360 degree of pan-shot jointly, ensure to get 360 degree of full-view image within the same time, and then can be full 3-dimensional stereoscopic experience sense in sufficient virtual reality.Since four camera assemblies 40 are installed on the horn component 20 so that its Visual angle is open, will not be blocked by the fuselage 10 or other carrying equipments, and can realize no dead angle pan-shot.

In addition, camera assembly 40 described in each two is installed on the opposite end of a corresponding installing arm 240, four The camera assembly 40 is generally aligned in the same plane, and four camera assemblies 40 are located at rectangular four angle, can obtain Obtain stronger relief full-view image.

Moreover, the driving component 210 can drive two horns 220 so that the folder between two horns 220 Angle increases or reduces, so as to can adjust the spacing between the camera assembly 40 of the opposite sides of the fuselage 10, with Adapt to different photographing requests.

Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations； Under the thinking of the utility model, it can also be combined between the technical characteristic in above example or different embodiments, Step can be realized with random order, and many other variations of the different aspect there are the utility model as described above, be Simplicity, they do not provide in details；Although the utility model is described in detail with reference to the foregoing embodiments, this The those of ordinary skill in field should be understood：It can still modify to the technical solution recorded in foregoing embodiments, Or equivalent substitution is carried out to which part technical characteristic；And these are changed or are replaced, and do not make the sheet of appropriate technical solution Matter departs from the scope of various embodiments of the utility model technical solution.

Claims (13)

1. a kind of unmanned vehicle (100), which is characterized in that including：

Fuselage (10)；

Horn component (20), the horn component (20) are installed on the fuselage (10)；

Power Component (30), the Power Component (30) are installed on the horn component (20), for for the unmanned vehicle (100) flying power is provided；

Camera assembly (40), at least four camera assemblies (40) are respectively arranged in the horn component (20), the fuselage (10) opposite sides respectively sets at least two camera assemblies (40).

2. unmanned vehicle (100) according to claim 1, which is characterized in that each camera assembly (40) includes Photographic device (46), the photographic device (46) include at least one camera lens.

3. unmanned vehicle (100) according to claim 2, which is characterized in that each camera assembly (40) includes Holder (44), the holder (44) are installed on the horn component (20), and the photographic device (46) is installed on the holder (44)。

4. unmanned vehicle (100) according to claim 3, which is characterized in that the holder (44) is three-axis stability augmentation cloud Platform, including the first motor, the second motor and the 3rd motor；

The stator of 3rd motor is installed on the horn component (20), rotor connection second electricity of the 3rd motor The stator of machine, and the rotor of second motor connects the stator of first motor, the photographic device (46) is installed on institute State the rotor of the first motor.

5. unmanned vehicle (100) according to claim 1, which is characterized in that the horn component (20) includes driving Component (210) and horn (220)；

One end of two horns (220) is hinged, and two horns (220) are located at the phase of the fuselage (10) respectively To both sides；

The driving component (210) is installed on the fuselage (10), and the driving component (210) and two horns (220) connect, for driving two horns (220) so that the angle between two horns (220) increases or subtracts It is small.

6. unmanned vehicle (100) according to claim 5, which is characterized in that the driving component (210) includes：It drives Dynamic device (212), movable part (216) and actuator (218)；

The driving device (212) is fixedly installed in the fuselage (10), for the movable part (216) to be driven to do reciprocating linear Movement；

The quantity of the actuator (218) is two, and one end of one of them actuator (218) is hinged the movable part (216) one end, one end of another actuator (218) are hinged the other end of the movable part (216), each drive The one end of moving part (218) away from the movable part (216) is hinged a corresponding horn (220).

7. unmanned vehicle (100) according to claim 6, which is characterized in that the driving component (210) includes screw rod (214)；

The driving device (212) is connected with the screw rod (214), for the screw rod (214) to be driven to rotate；

The movable part (216) is sheathed on the screw rod (214), and can be with the rotation of the screw rod (214), along the screw rod (214) axis does linear reciprocating motion.

8. unmanned vehicle (100) according to claim 6, which is characterized in that each actuator (218) includes this Body portion (2180), first connecting portion (2182) and second connecting portion (2184)；

Two first connecting portions (2182) are extended from the one side of the body part (2180), two first connections The space from end in portion (2182) is set, and the end of two first connecting portions (2182) is hinged a corresponding horn (220)；

The opposite side of two second connecting portion (2184) from the body parts (2180) extends, and two described second connect The space from end of socket part (2184) is set, and the end of two second connecting portions (2184) is located at the movable part (216) Both sides, and be hinged with one end of the movable part (216).

9. unmanned vehicle (100) according to claim 8, which is characterized in that each horn (220) includes arm body (222) and mounting base (224)；

The mounting base (224) is fixed in one end of the arm body (222)；

Two mounting bases (224) are hinged, each one end of the actuator (218) away from the movable part (216) A hinged corresponding mounting base (224).

10. unmanned vehicle (100) according to claim 9, which is characterized in that the mounting base (224) includes tube body Portion (2242) and articulated section (2246)；

One end of the arm body (222) is inserted and fixed in the tube body (2242)；

Two articulated sections (2246) are extended from one end of the tube body (2242), two articulated sections (2246) Space from end set, the ends of two articulated sections (2246) of one of them mounting base (224) and another described peace Fill the alternately stacked setting in end of two articulated sections (2246) of seat (224), and the hinge of two mounting bases (224) The end of socket part (2246) is hinged.

11. according to claim 5-10 any one of them unmanned vehicle (100), which is characterized in that the horn component (20) installing arm (240) is included, the middle part horn (220) corresponding with one of each installing arm (240) is away from institute State one end connection of fuselage (10)；

Camera assembly described in each two (40) is respectively arranged in the opposite end of a corresponding installing arm (240).

12. unmanned vehicle (100) according to claim 11, which is characterized in that the horn component (20) includes solid Fixed pole (230), the fixed link (230) include the body of rod (232) and connector (234), and one end of the body of rod (232) is hinged institute State fuselage (10), the other end of the body of rod (232) is hinged one end of the connector (234), the connector (234) it is another One end is hinged a corresponding installing arm (240).

13. unmanned vehicle (100) according to claim 11, which is characterized in that described including landing gear assembly (50) Landing gear assembly (50) includes land bar (502) and supporting rod (504)；

One end of the land bar (502) is fixedly installed in the installing arm (240), the land bar (502) and the installation It is at an acute angle between arm (240)；

One end of the supporting rod (504) is fixedly installed in the installing arm (240), and the other end of the supporting rod (504) is consolidated Dingan County is loaded on the land bar (502), and is separated by default distance with the end of the land bar (502).