WO2017128317A1 - Unmanned aerial vehicle and aerial photographing method for unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle (1), comprising: a body (10), comprising a bottom surface (110), a top surface (120) and a side surface (130) located between the bottom surface (110) and the top surface (120); and a cradle head (30), connected to the body (10) and located on the side surface (130) of the body (10), the cradle head (30) being used for carrying photographing equipment (50). The cradle head (30) is capable of driving the photographing equipment (50) to move with respect to the body (10), operating states of the cradle head (30) comprising an upper photographing state and a lower photographing state. When the cradle head (30) is in the upper photographing state, the photographing equipment (50) at least partially protrudes over the top surface (120) of the body (10); and when the cradle head (30) is in the lower photographing state, the photographing equipment (50) at least partially protrudes over the bottom surface (110) of the body (10).

Description

Unmanned aerial vehicle and unmanned aerial vehicle aerial photography method Technical field

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.

Background technique

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. However, 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.

Summary of the invention

In view of this, it is necessary to provide an unmanned aerial vehicle and an unmanned aerial vehicle aerial photography method with a larger shooting range.

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;

a 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;

a pan/tilt head mounted on the nose or the tail, the pan/tilt head being used to carry a photographing device;

Wherein 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;

Controlling the pan/tilt such that the photographing device is located at a position below a height of a bottom of the body and at a position above a height of a top of the body;

Controlling the photographing device to take a first image at a current location;

Controlling the pan/tilt such that the photographing device is located at a position below a height of a bottom of the body and at another position above a height of a top of the body;

Controlling the photographing device to take a second image at a current location;

The first image and the second image are spliced into a panoramic image.

Compared with the prior art, 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.

DRAWINGS

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.

2 is a schematic perspective view of the head of the unmanned aerial vehicle of FIG. 1 and a photographing apparatus.

3 is another perspective view of the UAV shown in FIG. 1 in which the head of the aircraft is in a second state.

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.

5 is another perspective view of the UAV shown in FIG. 1, wherein the head of the aircraft is in a fourth state.

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.

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.

Main component symbol description

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

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central 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.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Referring to FIG. 1 , 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. Specifically, 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. In one embodiment, the side faces 130 are four. When the UAV 1 is in a normal flight state, the bottom surface 110 is a side surface of the body 10 close to the ground, and the top surface 120 is a side surface of the body 10 facing away from the ground.

In this embodiment, 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.

In one embodiment, 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. Referring to FIG. 4, 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. Referring to 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 .

Referring to FIG. 2, 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.

In particular, in the illustrated embodiment, 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. In one embodiment, the number of the rotating members is three and are perpendicular to each other. In the embodiment, 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 . In an embodiment, 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). In this embodiment, 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. In one embodiment, 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 . Specifically, 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 .

One end of the second rotating shaft 331 is rotatably coupled to the first connecting portion 315. 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.

In the illustrated embodiment, 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. In one embodiment, 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. In one embodiment, the outer peripheral surface of the second connecting portion 335 is a cylindrical surface.

In one embodiment, 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 . In one embodiment, 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 .

One end of 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.

In use, please refer to FIG. 4 to FIG. 7 , 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. Below the bottom surface 110, the side of the body 10 and the top surface 120 of the body 10, that is, 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.

In use, referring to FIG. 1 , FIG. 3 and FIG. 4 , 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 visual range. In one embodiment, 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.

In use, referring to FIG. 6 and FIG. 8 , 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. Corresponding to the angle, when the photographing device 50 is at the same position relative to the same height of the body 10, 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. In one embodiment, 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.

In use, 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.

Referring to FIG. 1 , FIG. 3 and FIG. 4 , 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. In one embodiment, 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 .

Referring to FIG. 1, 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.

Referring to FIG. 3, 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.

Referring to FIG. 4, 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.

Referring to FIG. 5, 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. Rotating 90 degrees, rotating from the third state to the lower side of the bottom surface 110 of the body 10 to the side of the side surface 130 of the body 10, above and below the photographing device 50 when photographing There is no obstruction of the UAV 1 in front.

Referring to FIGS. 6 and 7, 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. In an embodiment, the photographing device 50 is located above the top surface 120 of the body 10 and the arm 20 . When photographing, the lens 51 of the photographing device 50 is located on the top surface 120 of the body 10 . Above the arm 20, there is no obstruction of the UAV 1 above and around the imaging device 50.

Referring to FIG. 7 and FIG. 8, when the pan/tilt head 30 is in the fifth state with respect to the airframe 10, and the unmanned aerial vehicle 1 needs to realize different viewing angles, 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. When the UAV 1 needs to achieve a vertical upward viewing angle, 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. Thereby, 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.

First, 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.

Next, 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.

Next, the photographing device 50 is controlled to take a first image at the current position.

Next, 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.

Next, the photographing device 50 is controlled to take a second image at the current position.

Then, the first image and the second image are spliced into a panoramic image.

It can be understood that 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.

In summary, 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 . At different heights, that is, protruding below the bottom surface 110 of the fuselage 10, on the side of the fuselage 10 and protruding above the top surface 120 of the fuselage 10, thereby connecting to the 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. In particular, when 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.

In addition, 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.

In addition, when 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.

In addition, 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 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.

It can be understood that 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.

It will be apparent to those skilled in the art that various changes and modifications can be made in accordance with the technical concept of the present invention, and all such changes and modifications are intended to fall within the scope of the appended claims.

Claims (35)

1.  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;

   a 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.
2.  The UAV according to claim 1, wherein said pan/tilt includes a rotating mechanism for driving rotation of said photographing device, said rotating mechanism being coupled to a side of said body; said rotating mechanism The photographing device is rotated such that the photographing device is located at different heights relative to the fuselage.
3.  The UAV according to claim 2, wherein the rotating mechanism drives the photographing device to rotate, and the photographing device protrudes below the bottom surface of the body, and the side of the body is On the side or above the top surface of the fuselage.
4.  The UAV according to claim 2, wherein said rotating mechanism comprises a first rotating member, said first rotating member being coupled to a side of said body, said first rotating member driving said shooting The device is rotated such that the photographing device is located at different heights relative to the fuselage.
5.  The UAV according to claim 4, wherein said first rotating member comprises a first rotating shaft coupled to a side of said fuselage, and a first connecting arm extending outwardly from said first rotating shaft And a first connecting portion located at an end of the first connecting arm, wherein an axial direction of the first rotating shaft is parallel to a plane formed by a roll axis and a pitch axis of the UAV.
6.  The UAV according to claim 5, wherein an axial direction of said first rotating shaft is disposed parallel to a roll axis of said UAV.
7.  The UAV according to claim 5, wherein said connecting arm is curved.
8.  The UAV according to claim 4, wherein said rotating mechanism further comprises a second rotating member rotatably coupled to said first rotating member, said second rotating member rotating said shooting The devices are located at different locations relative to the same height of the fuselage.
9.  The UAV according to claim 8, wherein said second rotating member comprises a second rotating shaft, a second connecting arm is extended from said second rotating shaft, and is located at an end of said second connecting arm a second connecting portion, the second rotating shaft being rotatably coupled to the first rotating member.
10.  The UAV according to claim 9, wherein an axis of the second rotating shaft is parallel to a plane formed by a heading axis of the UAV and the roll axis, or the UAV The plane of the heading axis and the pitch axis.
11.  The UAV according to claim 9, wherein said connecting arm is curved.
12.  The UAV according to claim 9, wherein said second rotating shaft corresponds to an intermediate position of a side surface of said body, and a distance between opposite ends of said second connecting arm is larger than said bottom surface Half the distance from the top surface.
13.  The UAV according to claim 8, wherein said rotating mechanism further comprises a third rotating member rotatably coupled to said second rotating member, said photographing device being coupled to said third rotating member The photographing apparatus includes a lens, and the rotation of the third rotating member drives the photographing apparatus to have different orientations of the lens when they are at the same position with respect to the same height of the body.
14.  The UAV according to claim 13, wherein the axial direction of the third rotating member is parallel to a plane formed by the roll axis and the pitch axis of the UAV.
15.  The UAV according to claim 13, wherein said third rotating member includes a rotating shaft, and a central axis of said rotating shaft is parallel to a pitch axis of said unmanned aerial vehicle.
16.  The UAV according to claim 1, wherein said UAV further comprises a connector, said connector being located between said pan and said side of said body, said connector being capable of The rotating mechanism is fixedly mounted to a side of the fuselage.
17.  The UAV according to claim 1, wherein said UAV further comprises an arm extending outward from said body, said rotation of said rotating mechanism driving said photographing device at said arm Below, or above the arm.
18.  The UAV according to claim 1, wherein said photographing apparatus is completely placed at a position above a height of a top surface of said body when said pan/tilt is in said upper photographing state.
19.  The UAV according to claim 1, wherein said photographing apparatus is completely placed below a height of a bottom surface of said body when said pan head is in said lower photographing state.
20.  The UAV according to claim 1 wherein said side is located at a nose or tail of said fuselage.
21.  An unmanned aerial vehicle, comprising:

    a fuselage comprising a handpiece and a tail opposite the handpiece;

    a pan/tilt head mounted on the nose or the tail, the pan/tilt head being used to carry a photographing device;

    Wherein 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.
22.  The UAV according to claim 21, wherein said rotating mechanism further comprises a second rotating member, said second rotating member being coupled to an end of said first rotating member away from said body.
23.  The UAV according to claim 22, wherein an axial direction of said second rotating member is parallel to a plane formed by a heading axis of said UAV and said roll axis, or said unmanned person A plane formed by the heading axis of the aircraft and the pitch axis.
24.  The UAV according to claim 23, wherein the second rotating member has an axial direction parallel to a heading axis of the UAV.
25.  The unmanned aerial vehicle according to claim 22, wherein said rotating mechanism further comprises a third rotating member, said third rotating member being coupled to an end of said second rotating member away from said first rotating member.
26.  The UAV according to claim 25, wherein the axial direction of the third rotating member is parallel to a plane formed by the roll axis and the pitch axis of the UAV.
27.  The UAV according to claim 26, wherein an axial direction of said third rotating member is disposed parallel to a pitch axis of said UAV.
28.  The UAV according to claim 21, wherein the plurality of rotating members of the rotating mechanism are perpendicular to each other.
29.  The UAV according to claim 28, wherein said plurality of rotating members are three and each are perpendicular to each other.
30.  The UAV according to claim 21, wherein said UAV further comprises a robot arm coupled to said body and a power unit disposed on said arm, said pan/tilt driving said photographing The device is moved such that the photographing device is located at a position below the height of the power device or at a position above.
31.  The UAV according to claim 31, wherein said power unit comprises a propeller and a motor for driving said propeller to rotate.
32.  The UAV according to claim 21, wherein said UAV is a multi-rotor aircraft.
33.  The UAV according to claim 21, wherein 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.
34.  An unmanned aerial vehicle aerial photography method, characterized in that the unmanned aerial vehicle includes a fuselage, a pan/tilt mounted on a peripheral portion of the fuselage, and a photographing device carried on the pan/tilt, the pan/tilt head The photographing device can be driven to be located at a position below a height of a bottom of the fuselage or a height above a top of the fuselage; the method comprising:

    Controlling the pan/tilt such that the photographing device is located at a position below a height of a bottom of the body and at a position above a height of a top of the body;

    Controlling the photographing device to take a first image at a current location;

    Controlling the pan/tilt such that the photographing device is located at a position below a height of a bottom of the body and at another position above a height of a top of the body;

    Controlling the photographing device to take a second image at a current location;

    The first image and the second image are spliced into a panoramic image.
35.  The aerial photography method for an unmanned aerial vehicle according to claim 35, wherein said pan/tilt head is capable of driving said photographing apparatus such that said photographing apparatus is located at one side of a peripheral portion of said body, said unmanned aerial vehicle The aerial photography method further includes controlling the pan/tilt to make the photographing device be located at one side of a peripheral portion of the body, controlling the photographing device to take a third image at a current position, and the first image, the second image The image and the third image are stitched into a panoramic image.

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