WO2017219199A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2017219199A1
WO2017219199A1 PCT/CN2016/086397 CN2016086397W WO2017219199A1 WO 2017219199 A1 WO2017219199 A1 WO 2017219199A1 CN 2016086397 W CN2016086397 W CN 2016086397W WO 2017219199 A1 WO2017219199 A1 WO 2017219199A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
uav
target
photographing device
Prior art date
Application number
PCT/CN2016/086397
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English (en)
French (fr)
Inventor
李珂悦
Original Assignee
李珂悦
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 李珂悦 filed Critical 李珂悦
Priority to PCT/CN2016/086397 priority Critical patent/WO2017219199A1/zh
Publication of WO2017219199A1 publication Critical patent/WO2017219199A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes

Definitions

  • the invention relates to the field of flight technology, and in particular to an unmanned aerial vehicle.
  • An unmanned aerial vehicle is an unmanned aerial vehicle that is operated by a radio remote control device or its own program control device.
  • Unmanned aerial vehicles are divided into large unmanned aerial vehicles and small unmanned aerial vehicles. According to their functions, they can be divided into military and civilian.
  • the flying hand manually controls the unmanned aerial vehicle, which is not only inefficient, the captured image is blurred and not coherent, and the manual operation is easy to cause a safety hazard.
  • the main object of the present invention is to provide an unmanned aerial vehicle, which aims to solve the technical defect that the existing unmanned aerial vehicle cannot track the target for shooting.
  • the present invention provides an unmanned aerial vehicle including an unmanned aerial vehicle main body, a plurality of rotors, and a photographing device, wherein the unmanned aerial vehicle main body is connected to the rotor and the photographing device, a photographing device disposed at a lower position of the unmanned aerial vehicle main body, wherein: the rotor provides flight power to the unmanned aerial vehicle to fly the unmanned aerial vehicle in the air; the unmanned aerial vehicle host is used according to an initial target The image controls the photographing device to track a live image of the photographing target in the air.
  • the invention can track the target in real time, and shoot the target in real time, improve the shooting efficiency of the unmanned aerial vehicle, avoid the manual control of the unmanned aerial vehicle tracking target by the flying hand, and reduce the flying hand control.
  • the difficulty of the aircraft improves the safety factor of the unmanned aerial vehicle.
  • Figure 1 is a schematic view showing the structure of a preferred embodiment of the unmanned aerial vehicle of the present invention
  • Figure 2 is a diagram showing the internal structure of a preferred embodiment of the UAV host in the UAV of the present invention. intention.
  • Fig. 1 is a schematic structural view of a preferred embodiment of the unmanned aerial vehicle of the present invention.
  • the unmanned aerial vehicle includes, but is not limited to, an unmanned aerial vehicle main body 1, a plurality of rotors 2 (for example, four rotors), a plurality of tripods 3 (for example, two tripods), and photographing.
  • Device 4 for example, a plurality of rotors 2 (for example, four rotors), a plurality of tripods 3 (for example, two tripods), and photographing.
  • Device 4 for example, two tripods
  • the UAV main engine 1 is connected to the rotor 2, the stand 3 and the imaging device 4. Specifically, the stand 3 and the imaging device 4 are disposed below the UAV main unit 1.
  • a connecting rod (not labeled) is disposed between the photographing device 4 and the UAV host 1.
  • the rotor 2 provides flight power to the unmanned aerial vehicle.
  • the stand 3 is used to provide support for the UAV to dock on the ground.
  • Each rotor 2 includes a support arm 20, a motor 22, and a propeller 24 that is driven by a motor 22.
  • One end of the support arm 20 is connected to the UAV main body 1 , the other end of the support arm 20 is fixed to the motor 22 , and the propeller 24 is disposed above the motor 22 .
  • the photographing device 4 is used to track a live image of a photographing target in the air.
  • the target refers to a human body or a specific object (for example, a car, a soccer field, etc.).
  • the UAV host 1 is configured to control the photographing device 4 to track a real-time image of the target in the air according to the initial target image.
  • the unmanned aerial vehicle is a small unmanned aerial vehicle operated by a radio remote control device or a self-program control device, such as a small unmanned aerial vehicle such as an unmanned fixed wing aircraft, an unmanned multi-rotor aircraft, and an unmanned wing aircraft.
  • the UAV also includes a battery 5 that is coupled to the UAV host 1 to provide power to the UAV host 1. Furthermore, the battery 5 is also connected to the rotor 2 to provide power to the rotor 2.
  • the battery 5 can be mounted inside or outside the UAV main unit 1. In other embodiments, the electricity 5 may also be disposed on the support arm 20 on which the rotor 2 is disposed.
  • the battery may be, but not limited to, a rechargeable battery (eg, a lithium ion battery) or the like.
  • Fig. 2 is a schematic view showing the internal structure of a preferred embodiment of the unmanned aerial vehicle main unit 1 in the unmanned aerial vehicle of the present invention.
  • the UAV host 1 includes, but is not limited to, a target setting unit 202, a flight control unit 203, and a communication unit 204.
  • the UAV host 1 is also connected to the imaging device 4 and the battery 5.
  • the target setting unit 202 is configured to set an initial target image. Specifically, the target setting unit 202 controls the photographing device 4 to take an initial image taken by an aiming target (for example, a human body or a specific object), which is an initial target image, before starting aerial photography.
  • an aiming target for example, a human body or a specific object
  • the flight control unit 203 controls the unmanned aerial vehicle to track the target in real time in the air according to the initial target image and perform real-time shooting of the target through the photographing device 4.
  • the communication unit 204 is a wireless communication interface with remote wireless communication function, for example, a communication interface supporting communication technologies such as GSM, GPRS, CDMA, WiMAX, FDD-LTE, TD-LTE, and the display with the remote end.
  • the terminal (not shown) performs wireless communication.
  • the communication unit 204 transmits the real-time image of the target to the remote display terminal and displays it on the display terminal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

一种无人飞行器，所述无人飞行器包括无人飞行器主机(1)、多个旋翼(2)及拍摄装置(4)，所述无人飞行器主机(1)与所述旋翼(2)及拍摄装置(4)连接，所述拍摄装置(4)设置于所述无人飞行器主机(1)的下方位置，其中：所述旋翼(2)为所述无人飞行器提供飞行动力以使所述无人飞行器在空中飞行；所述无人飞行器主机(1)用于根据初始目标图像控制所述拍摄装置(4)在空中跟踪拍摄所述目标的实时图像。该无人飞行器能够实时跟踪目标，并对目标进行实时拍摄，提高了无人飞行器的拍摄效率，避免飞手手动控制无人飞行器跟踪目标进行拍摄，降低了飞手控制无人飞行器的难度，提高了无人飞行器的安全系数。

Description

无人飞行器 技术领域
本发明涉及飞行技术领域，尤其涉及一种无人飞行器。
背景技术
无人飞行器是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。无人飞行器分为大型无人飞行器和小型无人飞行器，按其功能可以分为军用和民用两类。现有的无人飞行器对目标进行跟踪拍摄时，都是飞手手动控制无人飞行器，不仅效率低下，拍摄的图像模糊且也不够连贯，且采用人工操作容易引起安全隐患。
发明内容
本发明的主要目的在于提供一种无人飞行器，旨在解决现有无人飞行器无法跟踪目标进行拍摄的技术缺陷。
为实现上述目的，本发明提供了一种无人飞行器，所述无人飞行器包括无人飞行器主机、多个旋翼及拍摄装置，所述无人飞行器主机与所述旋翼及拍摄装置连接，所述拍摄装置设置于所述无人飞行器主机的下方位置，其中：所述旋翼为所述无人飞行器提供飞行动力以使所述无人飞行器在空中飞行；所述无人飞行器主机用于根据初始目标图像控制所述拍摄装置在空中跟踪拍摄目标的实时图像。
相较于现有技术，本发明能够实时跟踪目标，并对目标进行实时拍摄，提高了无人飞行器的拍摄效率，避免飞手手动控制无人飞行器跟踪目标进行拍摄，降低了飞手控制无人飞行器的难度，提高了无人飞行器的安全系数。
附图说明
图1是本发明无人飞行器优选实施例的结构示意图；
图2是本发明无人飞行器中无人飞行器主机的优选实施例的内部结构示 意图。
本发明目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
为更进一步阐述本发明为达成上述目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本发明的具体实施方式、结构、特征及其功效进行细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1所示，图1是本发明无人飞行器优选实施例的结构示意图。在本实施例中，所述无人飞行器包括，但不仅限于，无人飞行器主机1、多个旋翼2(例如，四个旋翼)、多个脚架3(例如，两个脚架)及拍摄装置4。
所述无人飞行器主机1与所述旋翼2、脚架3及拍摄装置4连接。具体地说，所述脚架3及所述拍摄装置4设置于所述无人飞行器主机1的下方。所述拍摄装置4与所述无人飞行器主机1之间设置有连接杆(图中未标号)。
所述旋翼2为所述无人飞行器提供飞行动力。
所述脚架3用于为所述无人飞行器停靠于地面提供支撑。
每个旋翼2包括支撑臂20、电机22及由电机22驱动的螺旋桨24。所述支撑臂20的一端连接所述无人飞行器主机1，所述支撑臂20的另一端固定所述电机22，所述电机22的上方设置所述螺旋桨24。
所述拍摄装置4用于在空中跟踪拍摄目标的实时图像。所述目标是指人体或特定物体(例如，汽车、足球场等)。
所述无人飞行器主机1用于根据所述初始目标图像控制所述拍摄装置4在空中跟踪拍摄所述目标的实时图像。
所述的无人飞行器是一种由无线电遥控设备或自身程序控制装置操纵的小型无人驾驶飞行器，例如无人固定翼机、无人多旋翼飞行器、无人伞翼机等小型无人飞行器。
所述无人飞行器还包括电池5，所述电池5与所述无人飞行器主机1连接，为所述无人飞行器主机1提供电力。此外，所述电池5还与所述旋翼2连接，为所述旋翼2提供电力。
该电池5可以安装于所述无人飞行器主机1的内部或外部。在其它实施例中，所述电5也可以设置于设置所述旋翼2的支撑臂20上。所述电池可以是，但不限于，可充电电池(例如，锂离子电池)等。
如图2所示，图2是本发明无人飞行器中无人飞行器主机1的优选实施例的内部结构示意图。在本实施例中，所述无人飞行器主机1包括，但不仅限于，目标设置单元202、飞行控制单元203及通讯单元204。所述无人飞行器主机1还与所述拍摄装置4及电池5连接。
所述目标设置单元202用于设定初始目标图像。具体地说，在开始进行空中拍摄之前，所述目标设置单元202控制所述拍摄装置4拍摄对准目标(例如，人体或特定物体)拍摄的初始图像，该初始图像即为初始目标图像。
所述飞行控制单元203根据所述初始目标图像控制无人飞行器在空中实时跟踪目标并通过所述拍摄装置4对目标进行实时拍摄。
所述通讯单元204为一种具有远程无线通讯功能的无线通讯接口，例如支持GSM、GPRS、CDMA、WiMAX、FDD-LTE、TD-LTE等通讯技术的通讯接口，能够与所述远端的显示终端(图中未示出)进行无线通讯。所述通讯单元204将所述目标的实时图像发送给远端的显示终端，并在显示终端显示。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效功能变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (5)

  1. 一种无人飞行器，其特征在于，所述无人飞行器包括无人飞行器主机、多个旋翼及拍摄装置，所述无人飞行器主机与所述旋翼及拍摄装置连接，所述拍摄装置设置于所述无人飞行器主机的下方位置，其中：
    所述旋翼为所述无人飞行器提供飞行动力以使所述无人飞行器在空中飞行；及
    所述无人飞行器主机用于根据初始目标图像控制所述拍摄装置在空中跟踪拍摄目标的实时图像。
  2. 如权利要求1所述的无人飞行器，其特征在于，所述无人飞行器主机包括目标设置单元、飞行控制单元及通讯单元，所述飞行控制单元还与所述拍摄装置连接，其中：
    所述目标设置单元，用于设定初始目标图像；
    所述飞行控制单元，根据所述初始目标图像控制无人飞行器在空中实时跟踪目标并通过所述拍摄装置对目标进行实时拍摄；及
    所述通讯单元，将所述目标的实时图像发送给远端的显示终端显示。
  3. 如权利要求1所述的无人飞行器，其特征在于，每个旋翼包括一支撑臂、一电机及一由电机驱动的螺旋桨。
  4. 如权利要求3所述的无人飞行器，其特征在于，所述支撑臂的一端连接所述无人飞行器主机，所述支撑臂的另一端固定所述电机，所述螺旋桨设置在所述电机的上方。
  5. 如权利要求1所述的无人飞行器，其特征在于，所述无人飞行器设置多个脚架，所述脚架设置于所述无人飞行器主机的下方。
PCT/CN2016/086397 2016-06-20 2016-06-20 无人飞行器 WO2017219199A1 (zh)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104052914A (zh) * 2013-03-14 2014-09-17 董亮 一种利用飞行器进行自动跟随目标拍摄系统
CN104859857A (zh) * 2015-06-02 2015-08-26 宋南 一种单镜头全景无人机系统
CN204660022U (zh) * 2015-04-07 2015-09-23 徐鸿博 一种八旋翼飞行器
CN104943872A (zh) * 2015-06-10 2015-09-30 刘亚敏 一种无人驾驶飞行器及其保护方法
CN204822096U (zh) * 2015-06-10 2015-12-02 刘亚敏 一种无人驾驶飞行器
US20160122018A1 (en) * 2014-10-29 2016-05-05 Denso Corporation Observation Device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104052914A (zh) * 2013-03-14 2014-09-17 董亮 一种利用飞行器进行自动跟随目标拍摄系统
US20160122018A1 (en) * 2014-10-29 2016-05-05 Denso Corporation Observation Device
CN204660022U (zh) * 2015-04-07 2015-09-23 徐鸿博 一种八旋翼飞行器
CN104859857A (zh) * 2015-06-02 2015-08-26 宋南 一种单镜头全景无人机系统
CN104943872A (zh) * 2015-06-10 2015-09-30 刘亚敏 一种无人驾驶飞行器及其保护方法
CN204822096U (zh) * 2015-06-10 2015-12-02 刘亚敏 一种无人驾驶飞行器

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