CN215514168U - Visual sensing device and aircraft - Google Patents
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- CN215514168U CN215514168U CN202121482316.0U CN202121482316U CN215514168U CN 215514168 U CN215514168 U CN 215514168U CN 202121482316 U CN202121482316 U CN 202121482316U CN 215514168 U CN215514168 U CN 215514168U
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Abstract
The embodiment of the utility model provides a visual sensing device and an aircraft, belonging to the technical field of aircraft. The shell is provided with an accommodating space, and the shell is provided with a first lens hole, a second lens hole and a third lens hole which are communicated with the accommodating space. The FPV camera is installed in the accommodation space to be used for receiving shooting light from the third lens hole. The binocular camera assembly comprises a first camera and a second camera, the first camera and the second camera are both installed in the accommodating space, the first camera is used for receiving shooting light from the first lens hole, and the second camera is used for receiving shooting light from the second lens hole. The optical axis of first camera and the optical axis of second camera are in same plane of making a video recording, and the optical axis of FPV camera intersects with the plane of making a video recording. When the vision sensing device is installed on the aircraft, the visual angle of the binocular camera shooting assembly can be simultaneously met, and the visual angle of the binocular camera shooting assembly is opposite to the right front of the aircraft and the visual angle of the FPV camera is opposite to the lower side of the aircraft.
Description
Technical Field
The utility model relates to the technical field of aircrafts, in particular to a visual sensing device and an aircraft.
Background
In recent years, along with the development of unmanned equipment, the unmanned equipment has attracted attention due to the advantages of flexibility, quick response, unmanned flight, low operation requirement and the like, and is applied to multiple fields of agriculture, surveying and mapping, exploration and the like.
When an existing unmanned aerial vehicle automatically executes a task, the existing unmanned aerial vehicle needs to rely on visual sensing equipment to detect an external environment. However, current FPV camera and binocular camera are different modules separately, bring inconvenience for each module of unmanned aerial vehicle overall arrangement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a visual sensing device and an unmanned aerial vehicle, which integrate a binocular camera shooting assembly and an FPV camera and facilitate the layout of the unmanned aerial vehicle.
The embodiment of the utility model is realized by the following steps:
in a first aspect, the utility model provides a visual sensing device, comprising a shell, a binocular camera assembly and a FPV camera;
the shell is provided with an accommodating space, and a first lens hole, a second lens hole and a third lens hole which are communicated with the accommodating space are formed in the shell;
the FPV camera is arranged in the accommodating space and used for receiving shooting light from the third lens hole;
the binocular camera assembly comprises a first camera and a second camera, the first camera and the second camera are both arranged in the accommodating space, the first camera is used for receiving shooting light from the first lens hole, and the second camera is used for receiving the shooting light from the second lens hole;
the optical axis of first camera with the optical axis of second camera is at same camera plane, the optical axis of FPV camera with it is crossing to make a video recording the plane.
In an alternative embodiment, the optical axis of the FPV camera is at an angle of 30 ° to 55 ° to the camera plane.
In an optional embodiment, the housing includes a first housing and a second housing, the second housing covers the first housing and encloses to form the accommodating space, the first lens hole, the second lens hole, and the third lens hole are respectively opened in the first housing, and the third lens hole is located between the first lens hole and the second lens hole.
In an optional embodiment, the first casing includes a first wall surface and a second wall surface, a plane where the first wall surface is located intersects a plane where the second wall surface is located, an included angle between the first wall surface and the second wall surface is 30 ° to 55 °, the first lens hole and the second lens hole are both disposed in the first wall surface, the third lens hole is disposed in the second wall surface, the first camera is housed in the first lens hole, the second camera is housed in the second lens hole, and the FPV camera is housed in the third lens hole.
In an optional implementation manner, the first shell is provided with a protruding portion protruding outwards, an accommodating space is arranged in the protruding portion, the protruding portion comprises a side wall and a top wall connected with a second wall surface, the side wall, the top wall and the second wall surface enclose to form the accommodating space, the FPV camera is installed in the accommodating space, and the accommodating space is communicated with the accommodating space.
In an optional implementation manner, the accommodating space includes a first accommodating cavity, the first accommodating cavity is concavely disposed at one end of the first casing, which is far away from the first wall surface, the first camera and the second camera are mounted in the first accommodating cavity, and the accommodating space is communicated with the first accommodating cavity.
In an optional implementation manner, the visual sensing device further includes a circuit board, the circuit board is installed in the accommodating space, and the first camera, the second camera and the FPV camera are respectively connected to the circuit board.
In an optional embodiment, the accommodating space further includes a second accommodating cavity, the second accommodating cavity is concavely disposed on one side of the second housing close to the first housing, and the circuit board is mounted in the second accommodating cavity.
In an optional embodiment, the visual sensing device further includes a first lens, a second lens and a third lens, the first lens, the second lens and the third lens are all mounted on the housing, the first lens is used for sealing the first lens hole, the second lens is used for sealing the second lens hole, and the third lens is used for sealing the third lens hole.
In a second aspect, the present invention provides an aircraft comprising a body;
and the visual sensing device of any one of the preceding embodiments, mounted to the body.
The embodiment of the utility model provides a visual sensing device and unmanned aerial vehicle, which has the beneficial effects that:
this application is through offering first lens hole, second lens hole and the third lens hole with the accommodation space intercommunication on the casing, installs the FPV camera in the accommodation space to be used for receiving shooting light from the third lens hole, all install first camera and second camera in the accommodation space, first camera is used for receiving shooting light from first lens hole, and the second camera is used for certainly shooting light is received to the second lens hole, thereby has carried out the integration with FPV camera and two mesh camera components, makes the structure compacter, also is convenient for overall arrangement on unmanned equipment during the use. The optical axis of first camera and the optical axis of second camera are in same camera plane, the optical axis of FPV camera intersects with camera plane, when using, the shooting direction of FPV camera is different with the shooting direction of two mesh cameras, thereby make two camera downward slopping, shoot the environment of unmanned aerial vehicle below better, two mesh cameras are facing to the place ahead of flight equipment, the better environment in shooting unmanned aerial vehicle the place ahead, make this vision sensing device's overall arrangement more reasonable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a visual sensor device according to an embodiment of the present invention;
FIG. 2 is an exploded view of the structure of a visual sensor apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first housing according to an embodiment of the utility model;
fig. 4 is a schematic view illustrating the circuit board mounted on the second housing according to the embodiment of the utility model.
Icon 100-visual sensing means; 110-a housing; 111-an accommodating space; 112-a side wall; 113-a first lens hole; 114-a top wall; 115-a second lens hole; 116-a first housing cavity; 117-third lens hole; 118-a second receiving cavity; 119-a first housing; 120-a mount; 121-a second housing; 122 — a first mounting stage; 123-a first wall; 124-a second mounting station; 125-a second wall; 126-a first mounting groove; 127-a projection; 128-a second mounting groove; 129-a housing space; 130-binocular camera components; 131-a first camera; 132-a third mounting groove; 133-a second camera; 150-FPV camera; 170-a circuit board; 190-a first lens; 210-a second lens; 230-third lens.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present embodiment provides an aircraft (not shown) that includes a body and a vision sensing device mounted to the body. In particular, the aircraft may be a drone, an airship, or the like. The vision sensing device 100 can simultaneously acquire image data of the environment surrounding the aircraft undersurface and acquire impact data of the environment in front of the aircraft.
In this embodiment, the aircraft is unmanned aerial vehicle, and vision sensing device installs in the aircraft nose position of unmanned aerial vehicle's fuselage to can avoid unmanned aerial vehicle to the sheltering from of vision sensing device, also the better vision sensing device 100 of being convenient for acquires the image. In other embodiments of this application, visual sensing device can install in the outside or the inside of unmanned aerial vehicle's fuselage, also can install in unmanned aerial vehicle's bottom, tail or both sides.
Referring to fig. 1 and 2, in the present embodiment, the vision sensing apparatus 100 includes a housing 110, a binocular camera assembly 130, and an FPV camera 150. The housing 110 has an accommodating space 111, and the housing 110 has a first lens hole 113, a second lens hole 115 and a third lens hole 117 communicating with the accommodating space 111. The FPV camera 150 is installed in the accommodating space 111, and is configured to receive the photographing light from the third lens hole 117. Binocular camera subassembly 130 is used for unmanned aerial vehicle's vision to keep away the barrier, and it includes first camera 131 and second camera 133, and first camera 131 and second camera 133 are all installed in accommodation space 111, and first camera 131 is used for receiving from first lens hole 113 and shoots light, and second camera 133 is used for receiving from second lens hole 115 and shoots light. The optical axis of the first camera 131 and the optical axis of the second camera 133 are in the same imaging plane. The optical axis of the FPV camera 150 intersects the camera plane.
The imaging plane refers to a plane defined by the optical axis of the first camera 131 and the optical axis of the second camera 133, and may be defined by the axis of the first camera 131 and the axis of the second camera 133, and is perpendicular to the planes of the first camera 131 and the second camera 133 for receiving the shooting light.
Referring to fig. 2, in the present embodiment, the visual sensing apparatus 100 further includes a circuit board 170, the circuit board 170 is mounted in the accommodating space 111, the first camera 131, the second camera 133 and the FPV camera 150 are respectively connected to the circuit board 170, and the circuit board 170 is used for image processing and image transmission.
Referring to fig. 2, in the present embodiment, the shooting angles of the first camera 131 and the second camera 133 are toward the front of the drone, and the shooting angle of the FPV camera 150 is toward the lower side or obliquely lower side of the drone. Unmanned aerial vehicle is when flying, and the cooperation of binocular camera subassembly 130 cooperation FPV camera 150 is used, makes unmanned aerial vehicle can avoid surrounding barrier when flying through binocular camera subassembly 130, acquires the surrounding environment of unmanned aerial vehicle preceding below and sends for ground terminal equipment through FPV camera 150, and the person of being convenient for more knows unmanned aerial vehicle's the surrounding environment condition and the condition of barrier. In practical applications, the ground terminal device may be a computer, a mobile phone or other electronic devices. When unmanned aerial vehicle flies, acquire the image data of the all ring edge borders of unmanned aerial vehicle preceding below through FPV camera 150, pass the module with image data transmission for ground terminal equipment through the picture of circuit board 170 to the person of controlling knows unmanned aerial vehicle's surrounding environment condition and meet emergency and can in time make the judgement, meet emergency's the ability to meet emergency and improve flight safety when increasing the unmanned aerial vehicle operation.
Through set up the first lens hole 113 with accommodation space 111 intercommunication, second lens hole 115 and third lens hole 117 on casing 110, install FPV camera 150 in accommodation space 111, and be used for receiving shooting light from third lens hole 117, all install first camera 131 and second camera 133 in accommodation space 111, first camera 131 is used for receiving shooting light from first lens hole 113, second camera 133 is used for receiving shooting light from second lens hole 115, thereby integrated FPV camera 150 and binocular camera subassembly 130, make the structure compacter, also be convenient for when using overall arrangement on the aircraft. Install when unmanned aerial vehicle at visual sensing device, the optical axis of first camera 131 and the optical axis of second camera 133 are at same camera plane, FPV camera 150's optical axis intersects with camera plane, when using, it can satisfy simultaneously and let FPV camera 150's the shooting visual angle of shooting visual angle different with two mesh camera subassembly 130, and make FPV camera 150's shooting visual angle downward sloping, its better environment of shooting unmanned aerial vehicle below, two mesh camera subassembly 130 are facing to unmanned aerial vehicle's the place ahead, better environment in shooting unmanned aerial vehicle the place ahead, be favorable to unmanned aerial vehicle's obstacle avoidance, thereby make visual sensing device 100's overall arrangement more reasonable.
Referring to fig. 2, in the present embodiment, an included angle between the optical axis of the FPV camera 150 and the image capturing plane is 30 ° to 55 °. Thereby guaranteed that FPV camera 150 can acquire the image of unmanned aerial vehicle preceding below when the better image in shooting unmanned aerial vehicle the place ahead of binocular camera subassembly 130.
Referring to fig. 2, in the embodiment, the housing 110 includes a first housing 119 and a second housing 121, the second housing 121 covers the first housing 119 and encloses to form the accommodating space 111, the first lens hole 113, the second lens hole 115, and the third lens hole 117 are respectively opened in the first housing 119, and the third lens hole 117 is located between the first lens hole 113 and the second lens hole 115. Since the first camera 131 and the second camera 133 of the binocular camera assembly 130 need to be spaced apart when being arranged, the three-dimensional geometric information of the surrounding environment or the object to be detected is acquired through a plurality of images for obstacle avoidance by using the visual difference between the first camera 131 and the second camera 133 at different positions, and the third lens hole 117 for the FPV camera 150 to acquire the photographing light is disposed between the first lens hole 113 and the second lens hole 115, so that the utilization rate of the space is higher, and the visual sensing device 100 is more compact.
Referring to fig. 2, in the embodiment, the first casing 119 includes a first wall 123 and a second wall 125, a plane of the first wall 123 intersects a plane of the second wall 125, an included angle between the first wall 123 and the second wall 125 is 30 ° -55 °, the first lens hole 113 and the second lens hole 115 are both disposed on the first wall 123, the third lens hole 117 is disposed on the second wall 125, the first camera 131 is partially disposed in the first lens hole 113, the second camera 133 is partially disposed in the second lens hole 115, and the FPV camera 150 is partially disposed in the third lens hole 117.
It should be noted that the intersection between the plane of the first wall surface 123 and the plane of the second wall surface 125 may be the intersection between the first wall surface 123 and the second wall surface 125, or the intersection between the first wall surface 123 and the second wall surface 125 may be the intersection between the plane of the first wall surface 123 and the plane of the second wall surface 125.
The first wall surface 123 and the second wall surface 125 which are intersected are arranged on the first shell 119, the first wall surface 123 is provided with the first lens hole 113 and the second lens hole 115, the second wall surface 125 is provided with the third lens hole 117, and as the included angle between the first wall surface 123 and the second wall surface 125 is 30-55 degrees, the first camera 131 is partially accommodated in the first lens hole 113, the second camera 133 is partially accommodated in the second lens hole 115, and the FPV camera 150 is partially accommodated in the third lens hole 117, the included angle between the binocular camera assembly 130 and the FPV camera 150 is ensured, so that the FPV camera 150 can obtain images of the front and the lower sides of the unmanned aerial vehicle when better shooting images in front of the unmanned aerial vehicle.
Referring to fig. 2 and fig. 3, in the present embodiment, the first housing 119 is provided with a protruding portion 127 protruding outward, the protruding portion 127 has an accommodating space 129 therein, the protruding portion 127 includes a side wall 112 and a top wall 114 connected to the second wall 125, the side wall 112, the top wall 114 and the second wall 125 enclose to form an accommodating space 129, the FPV camera 150 is installed in the accommodating space 129, and the accommodating space 129 is communicated with the accommodating space 111.
In the present embodiment, the convex portion 127 is protruded from the first wall surface 123 and is located in the middle of the first wall surface 123. The inner wall of the protrusion 127 is provided with a mounting seat 120, the FPV camera 150 is fixed to the mounting seat 120, and the lens of the FPV camera 150 is accommodated in the third lens hole 117.
In this embodiment, the accommodating space 111 includes a first accommodating cavity 116, the first accommodating cavity 116 is concavely disposed at an end of the first casing 119 away from the first wall 123, the first camera 131 and the second camera 133 are mounted in the first accommodating cavity 116, and the accommodating space 129 is communicated with the first accommodating cavity 116.
In this embodiment, a first mounting stage 122 and a second mounting stage 124 are protruded from an inner wall of the first housing 119. The first camera 131 is mounted to the first mounting stage 122, and a lens portion of the first camera 131 is received in the first lens hole 113. The second camera 133 is mounted to the second mounting stage 124, and a lens portion of the second camera 133 is received in the second lens hole 115.
In other embodiments of the present application, the first housing 119 has a trapezoidal cross section, and includes a third wall surface connected to the first wall surface 123 and the second wall surface 125, the first wall surface 123, the second wall surface 125, and the third wall surface enclose and form the first accommodating cavity 116, the FPV camera 150 is installed in the first accommodating cavity 116, and the lens of the FPV camera 150 is accommodated in the third lens hole 117.
In this embodiment, the vision sensing device 100 further includes a first lens 190, a second lens 210, and a third lens 230. The first lens 190, the second lens 210 and the third lens 230 are all mounted on the housing 110, the first lens 190 is used for closing the first lens hole 113, the second lens 210 is used for closing the second lens hole 115, and the third lens 230 is used for closing the third lens hole 117.
In the present embodiment, the first wall surface 123 is provided with a first mounting groove 126 corresponding to the first lens hole 113 and a second mounting groove 128 corresponding to the second lens hole 115. The second wall 125 is provided with a third mounting groove 132 corresponding to the third lens hole 117, the first lens 190 is mounted in the first mounting groove 126, the second lens 210 is mounted in the second mounting groove 128, and the third lens 230 is mounted in the third lens groove 132.
In the present embodiment, the first lens 190, the second lens 210, and the third lens 230 are all made of glass. In other embodiments of the present disclosure, the first lens 190, the second lens 210, and the third lens 230 may also be made of other transparent materials, such as acrylic, resin, etc.
Referring to fig. 4, in the present embodiment, the accommodating space 111 further includes a second accommodating cavity 118, the second accommodating cavity 118 is concavely disposed on one side of the second housing 121 close to the first housing 119, and the circuit board 170 is mounted in the second accommodating cavity 118.
In the present embodiment, the second housing 121 is detachably attached to the first housing 119. Specifically, the first housing 119 and the second housing 121 may be detachably mounted by means of screws or the like.
In this embodiment, the second housing 121 further includes a connecting portion (not shown), and the second housing 121 is mounted at the head of the unmanned aerial vehicle body by connection.
The working principle of the visual sensing device 100 and the aircraft provided by the embodiment comprises:
this application is through offering the first lens hole 113 with accommodation space 111 intercommunication on casing 110, second lens hole 115 and third lens hole 117, install FPV camera 150 in accommodation space 111, and be used for receiving shooting light from third lens hole 117, all install first camera 131 and second camera 133 in accommodation space 111, first camera 131 is used for receiving shooting light from first lens hole 113, second camera 133 is used for receiving shooting light from second lens hole 115, thereby integrated FPV camera 150 and binocular camera subassembly 130, make the structure compacter, also be convenient for the vision sensing device 100 overall arrangement on the aircraft during use. Let the optical axis of first camera 131 and the optical axis of second camera 133 at same camera plane, FPV camera 150's optical axis intersects with camera plane, when using, FPV camera 150's the shooting direction of shooting direction and binocular camera is different, thereby accomplish simultaneously and make FPV camera 150 downward sloping, the better environment of shooting unmanned aerial vehicle below, also possible let binocular camera subassembly 130 face the dead ahead of aircraft, the better environment in shooting unmanned aerial vehicle dead ahead, let this vision sensing device 100's overall arrangement more reasonable, the vision is wider.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A visual sensing device is characterized by comprising a shell, a binocular camera assembly and an FPV camera;
the shell is provided with an accommodating space, and a first lens hole, a second lens hole and a third lens hole which are communicated with the accommodating space are formed in the shell;
the FPV camera is arranged in the accommodating space and used for receiving shooting light from the third lens hole;
the binocular camera assembly comprises a first camera and a second camera, the first camera and the second camera are both arranged in the accommodating space, the first camera is used for receiving shooting light from the first lens hole, and the second camera is used for receiving the shooting light from the second lens hole;
the optical axis of first camera with the optical axis of second camera is at same camera plane, the optical axis of FPV camera with it is crossing to make a video recording the plane.
2. A visual sensor arrangement according to claim 1, wherein the optical axis of the FPV camera is at an angle of 30 ° -55 ° to the camera plane.
3. The vision sensing device of claim 2, wherein the housing includes a first housing and a second housing, the second housing covers the first housing and encloses the accommodating space, the first lens hole, the second lens hole and the third lens hole are respectively disposed in the first housing, and the third lens hole is disposed between the first lens hole and the second lens hole.
4. The visual sensing device of claim 3, wherein the first housing comprises a first wall and a second wall, a plane of the first wall intersects a plane of the second wall, an included angle between the first wall and the second wall is 30 ° to 55 °, the first lens hole and the second lens hole are both disposed on the first wall, the third lens hole is disposed on the second wall, the first camera is received in the first lens hole, the second camera is received in the second lens hole, and the FPV camera is received in the third lens hole.
5. The visual sensor device of claim 4, wherein the first housing has a protrusion protruding outward, the protrusion has a receiving space therein, the protrusion includes a side wall and a top wall connected to a second wall, the side wall, the top wall and the second wall enclose the receiving space, the FPV camera is mounted in the receiving space, and the receiving space is communicated with the receiving space.
6. The visual sensing device of claim 5, wherein the receiving space comprises a first receiving cavity recessed in an end of the first housing away from the first wall, the first camera and the second camera are mounted in the first receiving cavity, and the receiving space is in communication with the first receiving cavity.
7. The visual sensing device of claim 3 or 4, further comprising a circuit board, wherein the circuit board is mounted in the accommodating space, and the first camera, the second camera and the FPV camera are respectively connected to the circuit board.
8. The visual sensor device of claim 7, wherein the receiving space further comprises a second receiving cavity, the second receiving cavity is recessed in a side of the second housing close to the first housing, and the circuit board is mounted in the second receiving cavity.
9. The vision sensing device of claim 1, further comprising a first lens, a second lens, and a third lens, wherein the first lens, the second lens, and the third lens are mounted to the housing, the first lens is configured to close the first lens aperture, the second lens is configured to close the second lens aperture, and the third lens is configured to close the third lens aperture.
10. An aircraft, comprising a body;
and the visual sensing device of any one of claims 1-9, mounted to the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121482316.0U CN215514168U (en) | 2021-06-30 | 2021-06-30 | Visual sensing device and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121482316.0U CN215514168U (en) | 2021-06-30 | 2021-06-30 | Visual sensing device and aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN215514168U true CN215514168U (en) | 2022-01-14 |
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| CN202121482316.0U Active CN215514168U (en) | 2021-06-30 | 2021-06-30 | Visual sensing device and aircraft |
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| CN (1) | CN215514168U (en) |
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- 2021-06-30 CN CN202121482316.0U patent/CN215514168U/en active Active
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