WO2017128317A1 - 无人飞行器及无人飞行器航拍方法 - Google Patents

无人飞行器及无人飞行器航拍方法 Download PDF

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Publication number
WO2017128317A1
WO2017128317A1 PCT/CN2016/072876 CN2016072876W WO2017128317A1 WO 2017128317 A1 WO2017128317 A1 WO 2017128317A1 CN 2016072876 W CN2016072876 W CN 2016072876W WO 2017128317 A1 WO2017128317 A1 WO 2017128317A1
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WO
WIPO (PCT)
Prior art keywords
pan
uav
rotating member
photographing device
rotating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/072876
Other languages
English (en)
French (fr)
Inventor
陈翔宇
陈汉平
王铭熙
周琦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2016/072876 priority Critical patent/WO2017128317A1/zh
Priority to CN201680004025.6A priority patent/CN107108043B/zh
Publication of WO2017128317A1 publication Critical patent/WO2017128317A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the field of aircrafts, and in particular to an unmanned aerial vehicle and an aerial photography method of an unmanned aerial vehicle.
  • Unmanned aerial vehicles are commonly used for aerial photography, and generally include a pan/tilt connected to the body and a photographing device such as a camera or a camera connected to the pan/tilt.
  • a photographing device such as a camera or a camera connected to the pan/tilt.
  • the current pan/tilt is disposed under the unmanned aerial vehicle, which is limited by the obstruction of the UAV body or the arm, and the shooting range of the shooting device is small.
  • the invention relates to an unmanned aerial vehicle comprising:
  • a fuselage comprising a bottom surface, a top surface, and a side surface between the bottom surface and the top surface;
  • pan/tilt head connected to the fuselage and located at a side of the fuselage, the pan/tilt head being used for carrying a photographing device;
  • the pan/tilt can drive the photographing device to move relative to the body, and the working state of the pan/tilt includes an upper shooting state and a lower shooting state; when the pan/tilt is in the upper shooting state, The pan/tilt causes the photographing device to at least partially protrude from a top surface of the body; and when the pan/tilt is in the lower photographing state, the pan/tilt causes the photographing device to at least partially protrude from the body Bottom surface.
  • the invention also relates to an unmanned aerial vehicle comprising:
  • a fuselage comprising a handpiece and a tail opposite the handpiece
  • pan/tilt head mounted on the nose or the tail, the pan/tilt head being used to carry a photographing device
  • the pan/tilt includes a rotating mechanism
  • the rotating mechanism includes a plurality of interconnecting rotating members
  • the rotating mechanism includes a first rotating member mounted on the nose or the tail portion, and the first rotation
  • the rotation axis of the piece is parallel to the plane formed by the pitch axis and the roll axis of the UAV;
  • the pan/tilt drives the photographing device to move, such that the photographing device is located at a position below a height of a bottom of the body, or a position above a height of a top of the body.
  • the present invention also relates to an unmanned aerial vehicle aerial photography method, wherein the unmanned aerial vehicle includes a fuselage, a pan/tilt mounted at a peripheral portion of the fuselage, and a photographing device carried on the pan/tilt,
  • the pan/tilt can drive the photographing device such that the photographing device is located below a height of a bottom of the fuselage or at a position above a height of a top of the fuselage;
  • the first image and the second image are spliced into a panoramic image.
  • the unmanned aerial vehicle and the unmanned aerial vehicle aerial photographing method of the present invention by the rotation of the rotating member of the pan/tilt head, causes the photographing equipment connected to the pan head to be located at different heights relative to the fuselage, such as the machine
  • the lower side of the bottom surface of the body, the side of the side of the body, and the top surface of the body expand the viewing range.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention, wherein the head of the aircraft is in a first state.
  • FIG. 2 is a schematic perspective view of the head of the unmanned aerial vehicle of FIG. 1 and a photographing apparatus.
  • FIG. 3 is another perspective view of the UAV shown in FIG. 1 in which the head of the aircraft is in a second state.
  • FIG. 4 is a plan view of the unmanned aerial vehicle of FIG. 1 in which the head of the aircraft is in a third state.
  • FIG. 5 is another perspective view of the UAV shown in FIG. 1, wherein the head of the aircraft is in a fourth state.
  • FIG. 6 is another perspective view of the UAV shown in FIG. 1, wherein the head of the UAV is in a fifth state.
  • Figure 7 is a plan view of the unmanned aerial vehicle of Figure 6.
  • FIG. 8 is another perspective view of the UAV shown in FIG. 6, wherein the imaging device of the UAV is oriented at different viewing angles.
  • Unmanned aerial vehicle 1 body 10 Bottom 110 Top surface 120 side 130 Arm 20 Yuntai 30 First rotating member 31 First shaft 311 First connecting arm 313 First connection 315 Second rotating member 33 Second shaft 331 Second connecting arm 333 Second connection 335 Third rotating member 35 Third axis 351 Turntable 37 Connector 40 Shooting equipment 50 Lens 51 Second motor 60 Third motor 70
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides an unmanned aerial vehicle 1 .
  • the UAV 1 includes a body 10, an arm 20 extending outward from the body 10, a platform 30 coupled to the body 10, and a photographing device 50 coupled to the platform 30.
  • the platform 30 is coupled to the body 10 via a connector 40.
  • the body 10 includes opposing noses and tails. Specifically, in the illustrated embodiment, the end of the body 10 corresponding to the forward direction of the UAV 1 is used as a handpiece, and the end of the body 10 opposite to the nose is used as The tail.
  • the body 10 includes a bottom surface 110, a top surface 120 opposite the bottom surface 110, and a side surface 130 between the bottom surface 110 and the top surface 120.
  • the side faces 130 are four.
  • the bottom surface 110 is a side surface of the body 10 close to the ground
  • the top surface 120 is a side surface of the body 10 facing away from the ground.
  • the body 10 has a substantially rectangular parallelepiped shape, and the bottom surface 110, the top surface 120, and the side surface 130 are all planar. It can be understood that the body 10 can also be any other suitable shape. Therefore, the bottom surface 110, the top surface 120, and the side surface 130 can be curved surfaces and other irregularly shaped surfaces, according to the airframe. The number of the side faces 130 may also differ depending on the shape of 10.
  • the arm 20 extends outwardly from a side 130 of the body 10. Specifically, in the illustrated embodiment, the arms 20 are four, extending outward from the junction of the four sides 130, respectively. The number of arms 20 can also be six, eight or other quantities.
  • a power unit (not shown) may be disposed on the arm 20. The power unit is capable of providing the unmanned aerial vehicle 1 with the power of flight. In one embodiment, the power unit can be a rotor assembly. The rotor assembly includes a propeller and a motor for driving the propeller to rotate. In one embodiment, the UAV 1 is a multi-rotor aircraft.
  • the platform 30 is mounted to the side 130 of the body 10 through the connector 40.
  • the pan/tilt head 30 is used to mount the photographing device 50.
  • the pan/tilt head 30 can drive the photographing device 50 to move relative to the body 10.
  • the working state of the pan/tilt head 30 includes at least an upper shooting state and a lower shooting state. When the pan/tilt head 30 is in the upper shooting state, the pan/tilt head 30 causes the photographing device 50 to at least partially protrude from the top surface 120 of the body 10; when the pan/tilt head 30 is in the lower photographing state The pan/tilt head 30 causes the photographing device 50 to at least partially protrude from the bottom surface 110 of the body 10.
  • the side surface 130 on which the pan/tilt head 30 is mounted is the side corresponding to the nose or the tail of the fuselage 10, that is, the side of the unmanned aerial vehicle 1 facing the preset heading direction or preset with respect to the orientation.
  • the side of the forward direction is opposite to the side. That is, the pan/tilt head 30 is mounted at the nose or the tail.
  • the pan head 30 when the pan/tilt head 30 is in the lower photographing state, the pan head 30 causes the photographing device 50 to be completely placed below the height of the bottom surface 110 of the body 10.
  • FIG. 7 when the pan/tilt head 30 is in the upper photographing state, the pan head 30 causes the photographing device 50 to be completely placed above the height of the top surface 120 of the body 10 .
  • the pan/tilt head 30 includes a rotating mechanism (not labeled) for driving the photographing device 50 to rotate.
  • the rotating mechanism is coupled to the side 130 of the fuselage 10. Specifically, the rotating mechanism is fixedly mounted to the side surface 130 of the body 10 by the connecting member 40 between the platform 30 and the side 130 of the body 10.
  • the rotating mechanism drives the photographing device 50 to rotate, at least enabling the photographing device 50 to be located at different heights relative to the body 10. Specifically, the rotating mechanism drives the photographing device 50 to rotate, and the photographing device 50 protrudes below the bottom surface 110 of the body 10, and the side 130 side of the body 10 or the body Above the top surface 120 of 10. In one embodiment, the rotation of the rotating mechanism drives the imaging device 50 below the arm 20 or above the arm 20. Further, the rotation of the rotating mechanism drives the imaging device 50 at a position below the height of the power device or at a position above.
  • the rotating mechanism includes a plurality of interconnecting rotating members.
  • Each of the rotating members includes a rotating shaft and a driving member that drives the rotating member to rotate relative to the body or the other rotating member.
  • the plurality of rotating members are perpendicular to each other.
  • the number of the rotating members is three and are perpendicular to each other.
  • the rotating mechanism includes a first rotating member 31, a second rotating member 33 connected to the first rotating member 31, and a third rotating member 35 connected to the second rotating member 33.
  • the first rotating member 31 is coupled to the side 130 of the body 10. In one embodiment, the first rotating member 31 is mounted on a corresponding side 130 of the nose or the tail. The first rotating member 31 is disposed axially parallel to a plane formed by the roll axis and the pitch axis of the UAV 1 . The first rotating member 31 drives the photographing device 50 to rotate, so that the photographing device 50 is located at different heights relative to the body 10.
  • the first rotating member 31 includes a first rotating shaft 311 , a first connecting arm 313 , and a first connecting portion 315 .
  • the first connecting arm 313 is connected to the first rotating shaft 311 and the first connecting portion 315 .
  • the first rotating shaft 311 is coupled to the side surface 130 of the body 10. Specifically, one end of the first rotating shaft 311 is rotatably connected to the connecting member 40, and is further connected to the side surface 130 of the body 10 through the connecting member 40.
  • the central axis of the first rotating shaft 311 is parallel to a plane formed by the roll axis and the pitch axis of the UAV 1 . In this embodiment, the central axis of the first rotating shaft 311 is parallel to the roll axis of the UAV 1 .
  • the first rotating shaft 311 can be rotated 0-360 degrees clockwise or counterclockwise about its central axis.
  • the first rotating shaft 311 can be driven by a first motor (not shown), and the first motor can be controlled by a control system (not shown).
  • the outer peripheral surface of the first rotating shaft 311 is further connected with a turntable 37.
  • the turntable 37 is provided with an engaging portion that engages with the engaging portion of the end portion of the rotating shaft 311. By rotating the turntable 37, the engaging portion of the turntable 37 and the end portion of the rotating shaft 311 are matched. The parts are engaged or disengaged, so that the first rotating shaft 311 and the connecting member 40 are detachably connected to facilitate quick release.
  • the first connecting arm 313 extends outward from the other end of the first rotating shaft 311. In one embodiment, the first connecting arm 313 extends outward from the outer circumferential surface of the other end of the first rotating shaft 311.
  • the first connecting arm 313 has a curved shape. Specifically, in the embodiment, the first connecting arm 313 is bent in an "L" shape.
  • the first connecting portion 315 is connected to an end of the first connecting arm 313.
  • the outer peripheral surface of the first connecting portion 315 is a cylindrical surface.
  • the second rotating member 33 is rotatably coupled to the first rotating member 31.
  • the axial direction of the second rotating member 33 is parallel to a plane formed by the heading axis of the UAV 1 and the roll axis, or a plane formed by the heading axis of the UAV 1 and the pitch axis .
  • the axial direction of the second rotating member 33 is parallel to the heading axis of the UAV 1 .
  • the rotation of the second rotating member 33 drives the photographing device 50 at different positions at the same height with respect to the body 10.
  • the second rotating member 33 includes a second rotating shaft 331, a second connecting arm 333 and a second connecting portion 335.
  • the second connecting arm 333 connects the second rotating shaft 331 and the second connecting portion 335 .
  • the central axis of the second rotating shaft 311 is parallel to a plane formed by the heading axis of the UAV 1 and the roll axis, or a plane formed by the heading axis of the UAV 1 and the pitch axis. Specifically, the central axis of the second rotating shaft 331 is perpendicular to the central axis of the first rotating shaft 311, that is, the second rotating shaft 331 is perpendicular to the first rotating shaft 311.
  • the central axis of the second rotating shaft 331 is substantially parallel to the side surface 130 on which the platform 30 is mounted, that is, the second rotating shaft 331 is substantially parallel to the side 130 on which the platform 30 is mounted.
  • the second rotating shaft 331 substantially corresponds to an intermediate position of the bottom surface 110 and the top surface 120 of the body 10, that is, substantially corresponding to an intermediate position of the side surface 130 of the mounting platform 30.
  • the second rotating shaft 331 can be rotated 360 degrees clockwise or counterclockwise with respect to the first connecting portion 315.
  • the second rotating shaft 331 can be driven by the second motor 60.
  • the second motor 60 is mounted on the first connecting portion 315 and located at one end of the second rotating shaft 331.
  • the second electric machine 60 can be controlled by the control system.
  • the second connecting arm 333 extends outward from the second rotating shaft 331. In one embodiment, the second connecting arm 333 extends outward from the outer circumferential surface of the second rotating shaft 331.
  • the second connecting arm 333 has a curved shape. In one embodiment, the distance between opposite ends of the second connecting arm 333 is greater than half the distance between the bottom surface 110 and the top surface 120 of the body 10.
  • the second connecting portion 335 extends from the end of the second connecting arm 333.
  • the outer peripheral surface of the second connecting portion 335 is a cylindrical surface.
  • the second rotating shaft 331, the second connecting arm 333 and the second connecting portion 335 are integrally formed.
  • the third rotating member 35 is rotatably coupled to the second rotating member 33.
  • the axial direction of the third rotating member 35 is parallel to a plane formed by the roll axis and the pitch axis of the UAV 1 .
  • the axial direction of the third rotating member 35 is parallel to the pitch axis of the UAV 1 .
  • the third rotating member 35 is used to connect the photographing device 50.
  • the rotation of the third rotating member 35 causes the photographing device 35 to have a different orientation of the lens when it is at the same position with respect to the same height of the body 10.
  • the third rotating member 35 includes a third rotating shaft 351.
  • the central axis of the third rotating shaft 351 is parallel to the pitch axis of the UAV 1 .
  • the third rotating shaft 351 is rotatably coupled to the second connecting portion 335.
  • the central axis of the third rotating shaft 351 is perpendicular to the central axis of the first rotating shaft 311 and the central axis of the second rotating shaft 331, that is, the third rotating shaft 351 is perpendicular to the first rotating shaft 311 and the The second rotating shaft 331 is described.
  • the central axis of the third rotating shaft 351 is substantially parallel to the side surface 130 on which the platform 30 is mounted, that is, the third rotating shaft 351 is substantially parallel to the side surface 130 on which the platform 30 is mounted.
  • the third rotating shaft 351 can be rotated 360 degrees clockwise or counterclockwise with respect to the second connecting portion 335.
  • the third rotating shaft 351 can be driven by the third motor 70.
  • the third motor 70 is mounted to the second connecting portion 335 and located at one end of the third rotating shaft 351.
  • the third motor 70 can be controlled by the control system.
  • the photographing device 50 is coupled to an end of the third rotating shaft 351.
  • the lens 51 of the photographing apparatus 50 is perpendicular to the end end surface of the third rotating shaft 351.
  • the rotation of the first rotating member 31 along the first rotating shaft 311 relative to the body 10 is 0-360 degrees, thereby driving the entire pan/tilt head 30 relative to the fuselage. 10 turns.
  • the pan/tilt head 30 rotates at a corresponding angle and protrudes to different heights relative to the body 10, that is, protrudes below the bottom surface 110 of the body 10, and is located laterally of the body 10.
  • One side of the camera body 10 protrudes above the top surface 120 of the body 10 such that the camera device 50 connected to the platform 30 rotates at a corresponding angle and is located at a different orientation of the body 10 such as the body 10.
  • the photographing device 50 is located at different heights relative to the body 10, and has different heights. Depending on the range, scenes of different heights relative to the body 10 are taken.
  • the second rotating shaft 331 of the second rotating member 33 is rotated by 0-360 degrees with respect to the first connecting portion 315 of the first rotating member 31 to drive the shooting.
  • the apparatus 50 rotates at a corresponding angle, so that the photographing apparatus 50 is located at different positions of an orientation of the body 10, that is, at different positions at the same height with respect to the body 10, thereby causing the lens 51 of the photographing apparatus 50 to face
  • the different directions, that is, the lenses 51 of the photographing apparatus 50 are oriented in different directions at different positions at the same height with respect to the body 10, thereby causing the photographing apparatus 50 to have 0-360 degrees at the same height with respect to the body 10.
  • the rotation of the second rotating shaft 331 of the second rotating member 33 drives the lens 51 to face differently in the horizontal plane.
  • the third rotating shaft 351 of the third rotating member 35 is rotated by 0-360 degrees with respect to the second connecting portion 335 of the second rotating member 33 to drive the photographing device 50 to rotate.
  • the lens 51 faces in different directions, thereby causing the photographing device 50 to be at the same position relative to the same height of the body 10. It has a visual range of 0-360 degrees.
  • the rotation of the third rotating shaft 351 of the third rotating member 35 drives the lens 51 to face differently in the vertical plane.
  • the first rotating member 31, the second rotating member 33 and the third rotating member 35 can be rotated separately, rotated together or three together, so that the photographing device 50 is at different heights relative to the body 10. Get a full range of stereoscopic views at different locations.
  • the second connecting arm 333 of the second rotating member 33 protrudes from the first connecting portion 315 of the first rotating member 31 to the bottom surface 110 of the body 10 .
  • the photographing device 50 is located below the bottom surface 110 of the body 10.
  • the imaging device 50 is located below the bottom surface 110 of the body 10 and the arm 20 . When capturing, the UAV 1 is not obstructed below and around the imaging device 50 .
  • the platform 30 is in a first state relative to the body 10.
  • the lens 51 of the photographing device 50 faces away from the side surface 130 of the body 10 such that the photographing angle thereof faces the front of the body 10, so that when in use, the scene in front of the body can be photographed.
  • the platform 30 is in a second state relative to the body 10.
  • the second rotating member 33 of the pan/tilt head 30 is rotated by 90 degrees from the first state relative to the first rotating member 31, and the photographing device 50 is rotated by the third rotating member 35 from the first state by 90 degrees.
  • the lens 51 of the imaging device 50 faces the side of the body 10 such that the imaging angle of view is directed to the side of the body 10, and the scene on the side of the body 10 can be captured.
  • the platform 30 is in a third state with respect to the body 10.
  • the second rotating member 33 of the pan/tilt head 30 is rotated by 180 degrees from the first state relative to the first rotating member 31, and the photographing device 50 is rotated by the third rotating member 35 from the first state by 180 degrees.
  • the lens 51 of the imaging device 50 faces the rear of the body 10 such that the imaging angle of view is toward the rear of the body 10, and the scene behind the body 10 can be captured.
  • the platform 30 is in a fourth state with respect to the body 10.
  • the first rotating shaft 311 of the first rotating member 31 is rotated 90 degrees from the third state with respect to the side surface 130 of the body 10, and the entire pan/tilt head 30 is rotated 90 degrees from the third state, and the pan/tilt head 30 is rotated by 90 degrees.
  • the third state protrudes below the bottom surface 110 of the body 10 and rotates to the side of the side surface 130 of the body 10, thereby driving the photographing device 50 connected to the pan head 30 from the third state.
  • the pan/tilt head 30 is in a fifth state with respect to the body 10.
  • the first rotating shaft 311 of the first rotating member 31 is rotated 180 degrees from the third state with respect to the side surface 130 of the body 10, and the entire pan/tilt head 30 is rotated 180 degrees from the third state, and the pan/tilt head 30 is rotated by
  • the third state protrudes below the bottom surface 110 of the body 10 to be rotated above the top surface 120 of the body 10, thereby driving the photographing device 50 connected to the pan head 30 from the third state
  • Rotating 180 degrees, from the projection of the third state to the lower side of the bottom surface 110 of the fuselage 10, is rotated above the top surface 120 of the fuselage 10.
  • the photographing device 50 is located above the top surface 120 of the body 10 and the arm 20 .
  • the lens 51 of the photographing device 50 is located on the top surface 120 of the body 10 .
  • the third rotating shaft 351 of the third rotating member 35 The second connecting portion 335 of the second rotating member 33 is rotated by 0-360 degrees, thereby rotating the lens 51 of the photographing device 50 by 0-360 degrees with respect to the second connecting portion 335.
  • the third rotating shaft 351 of the third rotating member 35 is rotated by 90 degrees from the second connecting portion 335 of the second rotating member 33 by the state described in FIG.
  • the lens 51 of the photographing apparatus 50 is rotated, and the lens 51 is rotated from the front side of the body 10 shown in FIG. 7 to the upper side of the body 10, thereby realizing the unmanned aerial vehicle 1 to be vertical. Upward perspective.
  • Embodiments of the present invention also provide an aerial photography method for an unmanned aerial vehicle.
  • the unmanned aerial vehicle aerial photography method includes the following steps.
  • an unmanned aerial vehicle 1 as described above is provided.
  • the UAV 1 includes a body 10, a platform 30 mounted on a peripheral portion of the body, and a photographing device 50 carried on the platform 30.
  • the pan/tilt head 30 can drive the photographing device 50 such that the photographing device 50 is located below the height of the bottom of the body 10 or at a position above the height of the top of the body 10.
  • the pan/tilt head 30 is controlled such that the photographing device 50 is located at a position below the height of the bottom of the body 10 and at a position above the height of the top of the body 10.
  • the photographing device 50 is controlled to take a first image at the current position.
  • the pan/tilt head 30 is continuously controlled such that the photographing device 50 is located at a position below the height of the bottom of the body 10 and at another position above the height of the top of the body 10.
  • the photographing device 50 is controlled to take a second image at the current position.
  • the first image and the second image are spliced into a panoramic image.
  • the pan/tilt head 30 can also drive the photographing device 50 such that the photographing device 50 is located at one side of the peripheral portion of the body 10.
  • the unmanned aerial vehicle aerial photography method further includes controlling the pan/tilt head 30 such that the photographing apparatus 50 is located at one side of a peripheral portion of the body 10, and controlling the photographing apparatus 50 to take a third image at a current position.
  • the first rotating member 31 of the pan/tilt head 30 rotates relative to the side surface 130 of the body 10 to drive the pan/tilt head 30 to protrude relative to the body 10 .
  • the photographing device 50 of the pan/tilt 30 is located at a different height relative to the body 10, such as below the bottom surface 110 of the body 10, the side of the body 10, and the top surface 120 of the body 10. , with a visual range of different heights.
  • the photographing device 50 is located above the top surface 120 of the body 10, there is no obstruction of the UAV 1 above it, and a vertical upward viewing angle can be achieved.
  • the rotation of the second rotating member 33 drives the photographing device 50 at different positions at the same height relative to the body 10, thereby realizing the shooting of the unmanned aerial vehicle 1 at the same height of 0-360 degrees. range.
  • the rotation of the third rotating member 35 drives the photographing device 50 to be at the same position relative to the same height of the body 10, the lens 51 faces differently, and the same height of the unmanned aerial vehicle 1 is realized. - 360 degree shooting angle range.
  • first rotating member 31, the second rotating member 33 and the third rotating member 35 can be rotated separately, rotated together or three together to drive the photographing device 50 at different heights, different positions, and the lens thereof.
  • the orientation of 51 is different, and the stereoscopic shooting angle of the unmanned aerial vehicle 1 is realized.
  • the pan/tilt head 30 is not limited to being mounted on the side of the fuselage 10, and may be mounted on the side of the arm 20 or other side positions of the UAV 1 .
  • the rotation of the first rotating member 31 of the pan/tilt head 30 is not limited to driving the photographing device 50 at different heights relative to the body 10, and the photographing device 50 may also be driven relative to the body 10 and
  • the arms 20 are located at different heights of the whole body and are located below the bottom surface of the body 10 and the arm 20 as a whole, on one side of the side surface and above the top surface.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Accessories Of Cameras (AREA)
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Abstract

一种无人飞行器（1），包括：机身（10），包括底面（110）、顶面（120）及位于所述底面（110）和所述顶面（120）之间的侧面（130）；云台（30），与所述机身（10）连接，并且位于所述机身（10）的侧面（130），所述云台（30）用于搭载拍摄设备（50）；其中，所述云台（30）能够带动所述拍摄设备（50）相对于所述机身（10）运动，并且所述云台（30）的工作状态包括上方拍摄状态及下方拍摄状态；当所述云台（30）处于所述上方拍摄状态时，所述拍摄设备（50）至少部分突出所述机身（10）的顶面（120）；当所述云台（50）处于所述下方拍摄状态时，所述拍摄设备（50）至少部分突出所述机身（10）的底面（110）。

Description

无人飞行器及无人飞行器航拍方法 技术领域
本发明涉及飞行器领域，尤其涉及一种无人飞行器及一种无人飞行器航拍方法。
背景技术
无人飞行器常用于航拍，其通常包括一与机身连接的云台及与所述云台连接的拍摄设备如相机或摄像机。但目前的云台都设置于无人飞行器的下方，受限于无人飞行器机身或机臂的阻挡，拍摄设备的拍摄可视范围小。
发明内容
有鉴于此，有必要提供一种具有较大拍摄可视范围的无人飞行器及无人飞行器航拍方法。
本发明涉及一种无人飞行器，包括：
机身，包括底面、顶面及位于所述底面和所述顶面之间的侧面；以及
云台，与所述机身连接，并且位于所述机身的侧面，所述云台用于搭载拍摄设备；
其中，所述云台能够带动所述拍摄设备相对于所述机身运动，并且所述云台的工作状态包括上方拍摄状态及下方拍摄状态；当所述云台处于所述上方拍摄状态时，所述云台使所述拍摄设备至少部分突出所述机身的顶面；当所述云台处于所述下方拍摄状态时，所述云台使所述拍摄设备至少部分突出所述机身的底面。
本发明还涉及一种无人飞行器，包括：
机身，包括机头及与所述机头相对的机尾；以及
云台，安装在所述机头或机尾，所述云台用于搭载拍摄设备；
其中，所述云台包括转动机构，所述转动机构包括多个相互连接的转动件，所述转动机构包括安装在所述机头或机尾部位的第一转动件，并且所述第一转动件的转轴平行于所述无人飞行器的俯仰轴与横滚轴构成的平面；
所述云台带动所述拍摄设备运动，使所述拍摄设备位于所述机身的底部的高度以下位置、或所述机身的顶部的高度以上位置。
本发明还涉及一种无人飞行器航拍方法，其中，所述无人飞行器包括机身、安装在所述机身的周缘部位的云台、以及承载在所述云台上的拍摄设备，所述云台能够带动所述拍摄设备，使所述拍摄设备位于所述机身的底部的高度以下位置、或所述机身的顶部的高度以上位置；
控制所述云台，使所述拍摄设备位于所述机身的底部的高度以下位置、及所述机身的顶部的高度以上位置的其中一个位置；
控制所述拍摄设备在当前位置拍摄第一图像；
控制所述云台，使所述拍摄设备位于所述机身的底部的高度以下位置、及所述机身的顶部的高度以上位置的另外一个位置；
控制所述拍摄设备在当前位置拍摄第二图像；以及
将所述第一图像及所述第二图像拼接成全景图像。
相对现有技术，本发明无人飞行器及无人飞行器航拍方法通过所述云台的转动件的转动，使连接至所述云台的拍摄设备位于相对所述机身的不同高度如所述机身的底面的下方、所述机身的侧面一侧及所述机身的顶面的上方，扩大了拍摄可视范围。
 附图说明
图1是本发明实施方式提供的一种无人飞行器的一立体示意图，其中，所述飞行器的云台处于第一状态。
图2是图1中无人飞行器的云台及拍摄设备的立体结构示意图。
图3是图1所示的无人飞行器的另一立体示意图，其中，所述飞行器的云台处于第二状态。
图4是图1所示的无人飞行器的一平面示意图，其中，所述飞行器的云台处于第三状态。
图5是图1所示的无人飞行器的另一立体示意图，其中，所述飞行器的云台处于第四状态。
图6是图1所示的无人飞行器的另一立体示意图，其中，所述无人飞行器的云台处于第五状态。
图7是图6所示的无人飞行器的一平面示意图。
图8是图6所示的无人飞行器的另一立体示意图，其中，所述无人飞行器的拍摄设备朝向不同的视角。
主要元件符号说明
无人飞行器 1
机身 10
底面 110
顶面 120
侧面 130
机臂 20
云台 30
第一转动件 31
第一转轴 311
第一连接臂 313
第一连接部 315
第二转动件 33
第二转轴 331
第二连接臂 333
第二连接部 335
第三转动件 35
第三转轴 351
转盘 37
连接件 40
拍摄设备 50
镜头 51
第二电机 60
第三电机 70
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，本发明实施方式提供一种无人飞行器1。所述无人飞行器1包括机身10、从所述机身10向外延伸的机臂20、连接于所述机身10的云台30及连接于所述云台30的拍摄设备50。具体地，云台30通过连接件40与机身10连接。
所述机身10包括相对的机头及机尾。具体在图示的实施方式中，将所述无人飞行器1前行方向对应的所述机身10的端部作为机头，将所述机身10与所述机头相背的端部作为机尾。
所述机身10包括底面110、与所述底面110相对的顶面120及位于所述底面110和所述顶面120之间的侧面130。一实施方式中，所述侧面130为四个。在无人飞行器1处于正常的飞行状态下时，所述底面110为所述机身10靠近地面的一侧表面，所述顶面120为所述机身10背离地面的一侧表面。
本实施方式中，所述机身10大致呈长方体形状，所述底面110、所述顶面120以及所述侧面130均为平面。可以理解，所述机身10也可以为其他任意合适的形状，因此，所述底面110、所述顶面120以及所述侧面130可以为曲面以及其他不规则形状的表面，依据所述机身10的形状的不同，所述侧面130的数量也可以不同。
所述机臂20从所述机身10的侧面130向外延伸。具体在图示的实施方式中，所述机臂20为四个，分别从四个所述侧面130的连接处向外延伸。所述机臂20的数量也可为六个、八个或其他数量。所述机臂20上可以设置动力装置（图未示）。所述动力装置能够为所述无人飞行器1提供飞行的动力。一实施方式中，所述动力装置可为旋翼组件。所述旋翼组件包括螺旋桨及用于驱动所述螺旋桨转动的电机。一实施方式中，所述无人飞行器1为多旋翼飞行器。
所述云台30通过所述连接件40安装于所述机身10的侧面130处。所述云台30用于搭载所述拍摄设备50。所述云台30能够带动所述拍摄设备50相对于所述机身10运动。所述云台30的工作状态至少包括上方拍摄状态及下方拍摄状态。当所述云台30处于所述上方拍摄状态时，所述云台30使所述拍摄设备50至少部分突出所述机身10的顶面120；当所述云台30处于所述下方拍摄状态时，所述云台30使所述拍摄设备50至少部分突出所述机身10的底面110。
一实施方式中，安装所述云台30的侧面130为所述机身10的机头或机尾对应的侧面，即所述无人飞行器1朝向预设的前进方向的侧面或与朝向预设的前进方向的侧面相背的侧面。亦即，所述云台30安装在所述机头或机尾。请参阅图4，当所述云台30处于所述下方拍摄状态时，所述云台30使所述拍摄设备50完全置于所述机身10的底面110的高度以下位置。请参阅图7，当所述云台30处于所述上方拍摄状态时，所述云台30使所述拍摄设备50完全置于所述机身10的顶面120的高度以上位置。
请参阅图2，所述云台30包括用于带动所述拍摄设备50转动的转动机构（图未标）。所述转动机构连接至所述机身10的侧面130。具体地，所述转动机构通过位于所述云台30与所述机身10的侧面130之间的所述连接件40固定地安装在所述机身10的侧面130。
所述转动机构带动所述拍摄设备50转动，至少能够使所述拍摄设备50位于相对所述机身10的不同高度处。具体地，所述转动机构带动所述拍摄设备50转动，而使所述拍摄设备50凸伸至所述机身10的底面110下方，所述机身10的侧面130一侧或所述机身10的顶面120上方。一实施方式中，所述转动机构的转动带动所述拍摄设备50位于所述机臂20的下方、或所述机臂20的上方。进一步地，所述转动机构的转动带动所述拍摄设备50位于所述动力装置所在高度以下的位置、或以上的位置。
具体在图示的实施例中，所述转动机构包括多个相互连接转动件。每个所述转动件包转轴及驱动所述转动件相对所述机身或另一转动件转动的驱动件。所述多个转动件两两相互垂直。一实施方式中，所述转动件的数目为三个，并且均相互垂直。本实施方式中，所述转动机构包括第一转动件31、与所述第一转动件31连接的第二转动件33及与所述第二转动件33连接的第三转动件35。
所述第一转动件31连接至所述机身10的侧面130。一实施方式中，所述第一转动件31安装在所述机头或机尾对应的侧面130。所述第一转动件31轴向平行于所述无人飞行器1的横滚轴及俯仰轴构成的平面设置。所述第一转动件31带动所述拍摄设备50转动，使所述拍摄设备50位于相对所述机身10的不同高度处。所述第一转动件31包括第一转轴311、第一连接臂313及第一连接部315。所述第一连接臂313连接所述第一转轴311及所述第一连接部315。
所述第一转轴311连接至所述机身10的侧面130。具体地，所述第一转轴311的一端能够转动地连接至所述连接件40，进而通过所述连接件40连接至所述机身10的侧面130。所述第一转轴311的中心轴线平行于所述无人飞行器1横滚轴与俯仰轴构成的平面。本实施方式中，所述第一转轴311的中心轴线平行于所述无人飞行器1的横滚轴设置。一实施例方式中，所述第一转轴311可绕其中心轴线顺时针或逆时针转动0-360度。所述第一转轴311可由第一电机(图未示)驱动，所述第一电机可由一控制系统(图未示)控制。本实施例中，所述第一转轴311的外周面还连接有转盘37。所述转盘37设有与所述转轴311的端部的配合部相卡合的卡合部，通过转动所述转盘37，使所述转盘37的卡合部与所述转轴311端部的配合部相卡合或分离，从而将第一转轴311与连接件40可拆卸连接起来，方便快拆。
所述第一连接臂313从所述第一转轴311的另一端向外延伸。一实施方式中，所述第一连接臂313从所述第一转轴311的另一端的外周面向外延伸。所述第一连接臂313呈弯曲状，具体在本实施方式中，所述第一连接臂313大致呈“L”形弯曲。
所述第一连接部315连接于所述第一连接臂313的末端。一实施方式中，所述第一连接部315的外周面为圆柱面。
所述第二转动件33能够转动地连接至所述第一转动件31。所述第二转动件33的轴向平行于所述无人飞行器1的航向轴与所述横滚轴构成的平面，或者，所述无人飞行器1的航向轴与所述俯仰轴构成的平面。具体地，所述第二转动件33的轴向平行于所述无人飞行器1的航向轴。所述第二转动件33的转动带动所述拍摄设备50位于相对所述机身10的同一高度的不同位置处。所述第二转动件33包括第二转轴331、第二连接臂333及第二连接部335。所述第二连接臂333连接所述第二转轴331及所述第二连接部335。
所述第二转轴331的一端能够转动地连接至所述第一连接部315。所述第二转轴311的中心轴线平行于所述无人飞行器1的航向轴与所述横滚轴构成的平面，或者，所述无人飞行器1的航向轴与所述俯仰轴构成的平面。具体地，所述第二转轴331的中心轴线垂直于所述第一转轴311的中心轴线，即所述第二转轴331垂直于所述第一转轴311。
在图示的实施例中，所述第二转轴331的中心轴线大致平行于安装所述云台30的侧面130，即所述第二转轴331大致平行于安装所述云台30的侧面130。一实施方式中，所述第二转轴331大致对应所述机身10的底面110和顶面120的中间位置处，即大致对应安装云台30的侧面130的中间位置处。所述第二转轴331相对所述第一连接部315可顺时针或逆时针转动360度。所述第二转轴331可由第二电机60驱动。所述第二电机60安装于所述第一连接部315并位于所述第二转轴331的一端。所述第二电机60可由所述控制系统控制。
所述第二连接臂333从所述第二转轴331向外延伸。一实施方式中，所述第二连接臂333从所述第二转轴331的外周面向外延伸。所述第二连接臂333呈弯曲状。一实施方式中，所述第二连接臂333的相对两端之间的距离大于所述机身10的底面110和顶面120之间的距离的一半。
所述第二连接部335从所述第二连接臂333的末端延伸而出。一实施方式中，所述第二连接部335的外周面为圆柱面。
一实施方式中，所述第二转轴331、所述第二连接臂333及所述第二连接部335为一体成型结构。
所述第三转动件35能够转动地连接至所述第二转动件33。所述第三转动件35的轴向平行于所述无人飞行器1的横滚轴及俯仰轴构成的平面设置。一实施方式中，所述第三转动件35的轴向平行于所述无人飞行器1的俯仰轴设置。所述第三转动件35用于连接所述拍摄设备50。所述第三转动件35的转动带动所述拍摄设备35位于相对所述机身10的同一高度的同一位置时其镜头的朝向不同。
所述第三转动件35包括一第三转轴351。所述第三转轴351的中心轴线平行于所述无人飞行器1的俯仰轴。
所述第三转轴351的一端能够转动地连接至所述第二连接部335。所述第三转轴351的中心轴线垂于于所述第一转轴311的中心轴线及所述第二转轴331的中心轴线，即所述第三转轴351垂于于所述第一转轴311及所述第二转轴331。所述第三转轴351的中心轴线大致平行于安装所述云台30的侧面130，即所述第三转轴351大致平行于安装所述云台30的侧面130。所述第三转轴351相对所述第二连接部335可顺时针或逆时针转动360度。所述第三转轴351可由第三电机70驱动。所述第三电机70安装于所述第二连接部335并位于所述第三转轴351的一端。所述第三电机70可由所述控制系统控制。
所述拍摄设备50连接至所述第三转轴351的末端。所述拍摄设备50的镜头51垂直于所述第三转轴351的末端端面。
使用时，请参阅图4至图7，所述第一转动件31的沿所述第一转轴311相对所述机身10的转动0-360度，进而带动整个云台30相对所述机身10转动。所述云台30转动相对应角度，而凸伸到相对于所述机身10的不同高度处，即凸伸到所述机身10的底面110的下方、位于所述机身10的侧方的一侧及凸伸到所述机身10的顶面120的上方，从而使连接至所述云台30的拍摄设备50转动相对应角度而位于所述机身10的不同方位如机身10的底面110的下方、所述机身10的侧方及所述机身10的顶面120的上方，即所述拍摄设备50位于相对所述机身10的不同高度处，具有不同高度的可视范围，拍摄相对所述机身10不同高度的景物。
使用时，请参阅图1、图3和图4，所述第二转动件33的第二转轴331相对所述第一转动件31的第一连接部315转动0-360度，带动所述拍摄设备50转动相对应角度，而使拍摄设备50位于所述机身10的一方位的不同位置处，即位于相对所述机身10同一高度的不同位置处，从而使拍摄设备50的镜头51朝向不同方向，即拍摄设备50的镜头51在位于相对所述机身10同一高度的不同位置处朝向不同方向，进而使拍摄设备50在位于相对所述机身10的同一高度处具有0-360度的可视范围。一实施方式中，第二转动件33的第二转轴331的转动带动所述镜头51在水平面内朝向不同。
使用时，请参阅图6和图8，所述第三转动件35的第三转轴351相对所述第二转动件33的第二连接部335转动0-360度，带动所述拍摄设备50转动相对应角度，而使拍摄设备50在位于相对所述机身10同一高度的同一位置时，其镜头51朝向不同方向，进而使拍摄设备50在位于相对所述机身10的同一高度的同一位置处具有0-360度的可视范围。一实施方式中，第三转动件35的第三转轴351的转动带动所述镜头51在竖直面内朝向不同。
使用时，所述第一转动件31、第二转动件33及第三转动件35可以单独转动、两两一起转动或三个一起转动，从而使得拍摄设备50在相对所述机身10不同高度不同位置处获得全方位的立体视角。
请参阅图1、图3和图4，所述第二转动件33的第二连接臂333由所述第一转动件31的第一连接部315凸伸向所述机身10的底面110下方，所述拍摄设备50位于所述机身10的底面110的下方。一实施方式中，所述拍摄设备50位于所述机身10的底面110及所述机臂20的下方，拍摄时，所述拍摄设备50的下方及四周无所述无人飞行器1的遮挡。
请参阅图1，所述云台30相对所述机身10处于第一状态。所述拍摄设备50的镜头51背离所述机身10的侧面130而使其拍摄视角朝向所述机身10的前方，从而使用时，可以拍摄机身前方的景物。
请参阅图3，所述云台30相对所述机身10处于第二状态。所述云台30的第二转动件33相对所述第一转动件31从第一状态处转动90度，所述拍摄设备50由所述第三转动件35带动从第一状态处转动90度，拍摄设备50的镜头51朝向所述机身10的侧向而使其拍摄视角朝向所述机身10的侧方，可拍摄所述机身10侧方的景物。
请参阅图4，所述云台30相对所述机身10处于第三状态。所述云台30的第二转动件33相对所述第一转动件31从第一状态处转动180度，所述拍摄设备50由所述第三转动件35带动从第一状态处转动180度，拍摄设备50的镜头51朝向所述机身10的后方而使其拍摄视角朝向所述机身10的后方，可拍摄所述机身10后方的景物。
请参阅图5，所述云台30相对所述机身10处于第四状态。所述第一转动件31的第一转轴311相对所述机身10的侧面130从第三状态处转动90度，带动整个云台30从第三状态处转动90度，所述云台30由第三状态的凸伸到所述机身10的底面110的下方转动至位于所述机身10的侧面130的侧方，从而带动连接至所述云台30的拍摄设备50从第三状态处转动90度，由第三状态的凸伸到所述机身10的底面110的下方转动至位于所述机身10的侧面130的侧方，拍摄时，所述拍摄设备50的上方、下方及前方无所述无人飞行器1的遮挡。
请参阅图6和图7，所述云台30相对所述机身10处于第五状态。所述第一转动件31的第一转轴311相对所述机身10的侧面130从第三状态处转动180度，带动整个云台30从第三状态处转动180度，所述云台30由第三状态的凸伸到所述机身10的底面110的下方转动至位于所述机身10的顶面120的上方，从而带动连接至所述云台30的拍摄设备50从第三状态处转动180度，由第三状态的凸伸到所述机身10的底面110的下方转动至位于所述机身10的顶面120的上方。一实施方式中，所述拍摄设备50位于所述机身10的顶面120及所述机臂20的上方，拍摄时，所述拍摄设备50的镜头51位于所述机身10的顶面120及所述机臂20的上方，所述拍摄设备50的上方及四周无所述无人飞行器1的遮挡。
请参阅图7和图8，当所述云台30相对所述机身10处于第五状态，所述无人飞行器1需要实现不同的视角时，所述第三转动件35的第三转轴351相对所述第二转动件33的第二连接部335转动0-360度，从而带动所述拍摄设备50的镜头51相对所述第二连接部335转动0-360度。当所述无人飞行器1需要实现垂直向上的视角时，所述第三转动件35的第三转轴351由图7所述的状态相对第二转动件33的第二连接部335转动90度，从而带动所述拍摄设备50的镜头51转动，所述镜头51从图7所示的朝向所述机身10的前方转动至朝向所述机身10的上方，从而实现所述无人飞行器1垂直向上的视角。
本发明实施方式还提供一种无人飞行器航拍方法。所述无人飞行器航拍方法，包括以下步骤。
首先，提供一个如前所述的无人飞行器1。
所述无人飞行器1包括机身10，安装于所述机身的周缘部位的云台30，以及承载在所述云台30上的拍摄设备50。所述云台30能够带动所述拍摄设备50，使所述拍摄设备50位于所述机身10的底部的高度以下位置，或者所述机身10的顶部的高度以上位置。
接着，控制所述云台30，使所述拍摄设备50位于所述机身10的底部的高度以下位置、及所述机身10的顶部的高度以上位置的其中一个位置。
接着，控制所述拍摄设备50在当前位置拍摄第一图像。
接着，继续控制所述云台30，使所述拍摄设备50位于所述机身10的底部的高度以下位置、及所述机身10的顶部的高度以上位置的另外一个位置。
接着，控制所述拍摄设备50在当前位置拍摄第二图像。
接着，将所述第一图像及所述第二图像拼接成全景图像。
可以理解，所述云台30还能够带动所述拍摄设备50，使所述拍摄设备50位于所述机身10的周缘部的一侧。所述无人飞行器航拍方法还包括控制所述云台30，使所述拍摄设备50位于所述机身10的周缘部的一侧，以及控制所述拍摄设备50在当前位置拍摄第三图像。
综上所述，相对于现有技术，所述云台30的第一转动件31相对所述机身10的侧面130转动，带动所述云台30凸伸到相对于所述机身10的不同高度处，即凸伸到所述机身10的底面110的下方、位于所述机身10的侧方及凸伸到所述机身10的顶面120的上方，从而使连接至所述云台30的拍摄设备50位于相对所述机身10的不同高度处如所述机身10的底面110的下方、所述机身10的侧方及所述机身10的顶面120的上方，具有不同高度的可视范围。特别是所述拍摄设备50位于所述机身10的顶面120的上方时，其上方无所述无人飞行器1的遮挡，能实现垂直向上的视角。
另外，所述第二转动件33的转动带动所述拍摄设备50位于相对所述机身10的同一高度的不同位置处，实现所述无人飞行器1同一高度的0-360度的拍摄可视范围。
另外，所述第三转动件35的转动带动所述拍摄设备50位于相对所述机身10的同一高度的同一位置时其镜头51朝向不同，实现所述无人飞行器1同一高度同一位置的0-360度的拍摄视角范围。
另外，所述第一转动件31、第二转动件33及第三转动件35可以单独转动、两两一起转动或三个一起转动，带动所述拍摄设备50处于不同高度、不同位置、其镜头51朝向不同，实现所述无人飞行器1全方位的立体拍摄视角。
可以理解地，所述云台30的不限于安装于所述机身10的侧面，也可以安装于所述机臂20的侧面或所述无人飞行器1的其他侧方位置处。所述云台30的第一转动件31的转动不限于带动所述拍摄设备50位于相对于所述机身10的不同高度，也可以带动所述拍摄设备50位于相对于所述机身10和所述机臂20做为整体的不同高度而位于相对所述机身10和所述机臂20做为整体的底面的下方、侧面的一侧及顶面的上方。
对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (35)

  1. 一种无人飞行器，其特征在于，包括：
    机身，包括底面、顶面及位于所述底面和所述顶面之间的侧面；以及
    云台，与所述机身连接，并且位于所述机身的侧面，所述云台用于搭载拍摄设备；
    其中，所述云台能够带动所述拍摄设备相对于所述机身运动，并且所述云台的工作状态包括上方拍摄状态及下方拍摄状态；当所述云台处于所述上方拍摄状态时，所述云台使所述拍摄设备至少部分突出所述机身的顶面；当所述云台处于所述下方拍摄状态时，所述云台使所述拍摄设备至少部分突出所述机身的底面。
  2. 如权利要求1所述的无人飞行器，其特征在于，所述云台包括用于带动所述拍摄设备转动的转动机构，所述转动机构连接至所述机身的侧面；所述转动机构带动所述拍摄设备转动，使所述拍摄设备位于相对所述机身的不同高度处。
  3. 如权利要求2所述的无人飞行器，其特征在于，所述转动机构带动所述拍摄设备转动，而使所述拍摄设备凸伸至所述机身的底面下方，所述机身的侧面一侧或所述机身的顶面上方。
  4. 如权利要求2所述的无人飞行器，其特征在于，所述转动机构包括第一转动件，所述第一转动件连接至所述机身的侧面，所述第一转动件带动所述拍摄设备转动，使所述拍摄设备位于相对所述机身的不同高度处。
  5. 如权利要求4所述的无人飞行器，其特征在于，所述第一转动件包括连接至所述机身侧面的第一转轴、从所述第一转轴向外延伸出的第一连接臂及位于所述第一连接臂末端的第一连接部，所述第一转轴的轴向平行于所述无人飞行器的横滚轴及俯仰轴构成的平面设置。
  6. 如权利要求5所述的无人飞行器，其特征在于，所述第一转轴的轴向平行于所述无人飞行器的横滚轴设置。
  7. 如权利要求5所述的无人飞行器，其特征在于，所述连接臂呈弯曲状。
  8. 如权利要求4所述的无人飞行器，其特征在于，所述转动机构还包括能够转动地连接至所述第一转动件的第二转动件，所述第二转动件的转动带动所述拍摄设备位于相对所述机身的同一高度的不同位置处。
  9. 如权利要求8所述的无人飞行器，其特征在于，所述第二转动件包括第二转轴、从所述第二转轴向外延伸出第二连接臂及位于所述第二连接臂末端的第二连接部，所述第二转轴能够转动地连接至所述第一转动件。
  10. 如权利要求9所述的无人飞行器，其特征在于，所述第二转轴的轴向平行于所述无人飞行器的航向轴与所述横滚轴构成的平面，或者，所述无人飞行器的航向轴与所述俯仰轴构成的平面。
  11. 如权利要求9所述的无人飞行器，其特征在于，所述连接臂呈弯曲状。
  12. 如权利要求9所述的无人飞行器，其特征在于，所述第二转轴对应所述机身的侧面的中间位置处，所述第二连接臂的相对两端之间的距离大于所述底面和所述顶面之间距离的一半。
  13. 如权利要求8所述的无人飞行器，其特征在于：所述转动机构还包括能够转动地连接至所述第二转动件的第三转动件，所述拍摄设备连接至所述第三转动件，所述拍摄设备包括镜头，所述第三转动件的转动带动所述拍摄设备位于相对所述机身的同一高度的同一位置时其镜头的朝向不同。
  14. 如权利要求13所述的无人飞行器，其特征在于：所述第三转动件的轴向平行于所述无人飞行器的横滚轴及俯仰轴构成的平面设置。
  15. 如权利要求13所述的无人飞行器，其特征在于：所述第三转动件包括转轴，所述转轴的中心轴线平行于所述无人飞行器的俯仰轴。
  16. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器还包括连接件，所述连接件位于所述云台和所述机身的侧面之间，所述连接件能够将所述转动机构固定地安装在所述机身的侧面。
  17. 如权利要求1所述的无人飞行器，其特征在于：所述无人飞行器还包括从所述机身向外延伸的机臂，所述转动机构的转动带动所述拍摄设备位于所述机臂的下方、或所述机臂的上方。
  18. 如权利要求1所述的无人飞行器，其特征在于，所述云台处于所述上方拍摄状态时，所述拍摄设备完全置于所述机身的顶面的高度以上位置。
  19. 如权利要求1所述的无人飞行器，其特征在于，所述云台处于所述下方拍摄状态时，所述拍摄设备完全置于所述机身的底面的高度以下位置。
  20. 如权利要求1所述的无人飞行器，其特征在于，所述侧面位于所述机身的机头或机尾部位。
  21. 一种无人飞行器，其特征在于，包括：
    机身，包括机头及与所述机头相对的机尾；以及
    云台，安装在所述机头或机尾，所述云台用于搭载拍摄设备；
    其中，所述云台包括转动机构，所述转动机构包括多个相互连接的转动件，所述转动机构包括安装在所述机头或机尾部位的第一转动件，并且所述第一转动件的转轴平行于所述无人飞行器的俯仰轴与横滚轴构成的平面；
    所述云台带动所述拍摄设备运动，使所述拍摄设备位于所述机身的底部的高度以下位置、或所述机身的顶部的高度以上位置。
  22. 如权利要求21所述的无人飞行器，其特征在于，所述转动机构还包括第二转动件，所述第二转动件与所述第一转动件远离所述机身的一端连接。
  23. 如权利要求22所述的无人飞行器，其特征在于，所述第二转动件的轴向平行于所述无人飞行器的航向轴与所述横滚轴构成的平面，或者，所述无人飞行器的航向轴与所述俯仰轴构成的平面。
  24. 如权利要求23所述的无人飞行器，其特征在于，所述第二转动件的轴向平行于所述无人飞行器的航向轴。
  25. 如权利要求22所述的无人飞行器，其特征在于，所述转动机构还包括第三转动件，所述第三转动件与所述第二转动件远离所述第一转动件的一端连接。
  26. 如权利要求25所述的无人飞行器，其特征在于，所述第三转动件的轴向平行于所述无人飞行器的横滚轴及俯仰轴构成的平面设置。
  27. 如权利要求26所述的无人飞行器，其特征在于，所述第三转动件的轴向平行于所述无人飞行器的俯仰轴设置。
  28. 如权利要求21所述的无人飞行器，其特征在于，所述转动机构的多个转动件两两相互垂直。
  29. 如权利要求28所述的无人飞行器，其特征在于，所述多个转动件为三个，并且均相互垂直。
  30. 如权利要求21所述的无人飞行器，其特征在于，所述无人飞行器还包括与所述机身连接的机臂以及设于所述机臂的动力装置，所述云台带动所述拍摄设备运动，使所述拍摄设备位于所述动力装置所在高度以下位置、或以上位置。
  31. 如权利要求31所述的无人飞行器，其特征在于，所述动力装置包括螺旋桨及用于驱动所述螺旋桨转动的电机。
  32. 如权利要求21所述的无人飞行器，其特征在于，所述无人飞行器为多旋翼飞行器。
  33. 如权利要求21所述的无人飞行器，其特征在于，每个转动件包括转轴及驱动所述转动件相对所述机身或另一转动件转动的驱动件。
  34. 一种无人飞行器航拍方法，其特征在于，所述无人飞行器包括机身、安装在所述机身的周缘部位的云台、以及承载在所述云台上的拍摄设备，所述云台能够带动所述拍摄设备，使所述拍摄设备位于所述机身的底部的高度以下位置、或所述机身的顶部的高度以上位置；所述方法包括：
    控制所述云台，使所述拍摄设备位于所述机身的底部的高度以下位置、及所述机身的顶部的高度以上位置的其中一个位置；
    控制所述拍摄设备在当前位置拍摄第一图像；
    控制所述云台，使所述拍摄设备位于所述机身的底部的高度以下位置、及所述机身的顶部的高度以上位置的另外一个位置；
    控制所述拍摄设备在当前位置拍摄第二图像；以及
    将所述第一图像及所述第二图像拼接成全景图像。
  35. 如权利要求35所述的无人飞行器航拍方法，其特征在于，所述云台能够带动所述拍摄设备，使所述拍摄设备位于所述机身的周缘部的一侧，所述无人飞行器航拍方法还包括控制所述云台，使所述拍摄设备位于所述机身的周缘部的一侧，控制所述拍摄设备在当前位置拍摄第三图像，以及将所述第一图像、第二图像及第三图像拼接成全景图像。
PCT/CN2016/072876 2016-01-29 2016-01-29 无人飞行器及无人飞行器航拍方法 Ceased WO2017128317A1 (zh)

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