WO2018000696A1 - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
WO2018000696A1
WO2018000696A1 PCT/CN2016/106072 CN2016106072W WO2018000696A1 WO 2018000696 A1 WO2018000696 A1 WO 2018000696A1 CN 2016106072 W CN2016106072 W CN 2016106072W WO 2018000696 A1 WO2018000696 A1 WO 2018000696A1
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WO
WIPO (PCT)
Prior art keywords
camera
drone according
disposed
cameras
fuselage
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Application number
PCT/CN2016/106072
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French (fr)
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
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Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018000696A1 publication Critical patent/WO2018000696A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • B64U2101/30UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to a drone, in particular to a drone having a plurality of cameras.
  • the existing drones usually use a gimbal to mount a camera under the drone, and the camera is rotated to realize the framing of the camera at different angles.
  • the head of the drone drives the camera to move, the center of gravity of the drone changes and affects the stability of the drone.
  • the main object of the present invention is to provide a drone that aims to improve the stability of the drone during flight and image acquisition.
  • the present invention provides a drone, including a body, the body is provided with an image capture device, the image capture device includes a plurality of cameras, and the camera is fixed on a surface of the body The camera is used to capture images around the fuselage.
  • the camera comprises at least three first cameras, the first camera is evenly arranged around the fuselage and is located on the same horizontal plane.
  • a protection device equivalent to the number of the cameras is disposed on the body, the protection device has an accommodation space therein, and the accommodation space is provided with a shooting window extending to the surface of the body, the camera setting Within the accommodation space, and the lens of the camera extends from the photographing window to the surface of the body.
  • the camera further comprises at least one second camera disposed on the top of the fuselage and/or at least one third camera disposed on the bottom of the fuselage.
  • the lens is a wide-angle lens.
  • the inner side of the fuselage is provided with at least one duct passing through the upper and lower sides of the fuselage, and at least one propeller is disposed in each of the ducts.
  • the number of the ducts is six or eight, and a propeller bracket supporting the propeller is disposed in the duct.
  • the plurality of ducts are uniformly disposed on the body at an angle.
  • the cross section of the fuselage is circular, and the surface of the fuselage is streamlined.
  • the camera is disposed outside the fuselage, which can protect the propeller, prevent the camera from obstructing the camera angle of view, and reduce the visual dead angle of the camera.
  • the camera of the invention is fixed on the surface of the fuselage, can not rotate and also moves, which ensures the constant center of gravity of the fuselage and improves the stability during flight.
  • Figure 1 is a front elevational view of the drone of the present invention
  • FIG. 2 is a top plan view of the drone of FIG. 1.
  • first, second, and the like in the present invention are used for the purpose of description only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms "connected”, “fixed” and the like should be understood broadly, unless otherwise clearly defined and limited.
  • “fixed” may be a fixed connection, or may be a detachable connection, or may be integrated; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the invention proposes a drone.
  • the unmanned aerial vehicle of the present embodiment includes a fuselage 10, and the inside of the fuselage 10 is provided with at least one duct 11 extending through the upper and lower sides of the fuselage 10, and at least one of the ducts 11 is provided in each of the ducts 11 a propeller 12, the body 10 is provided with an image capture device (not shown), the image capture device includes a plurality of cameras 13, the camera 13 is fixed to the surface of the body 10, the camera 13 Used to capture images around the body 10.
  • the UAV of the present embodiment places the propeller 12 in the duct 11, which can effectively protect the propeller 12 and prevent the propeller 12 from being damaged due to the drone falling or touching other objects during the flight.
  • the propeller 12 is more versatile in the passage 11 than the existing cantilever propeller, and is also less susceptible to airflow, and the flight process is more stable.
  • the duct 11 may be cylindrical. More preferably, the duct 11 may be an inverted cone or a truncated cone.
  • the diameter of the opening of the duct 11 on the upper surface of the fuselage 10 should be larger than that under the fuselage 10. The opening diameter of the surface helps to adjust the flow velocity of the surface of the fuselage 10, further improving the stability of the fuselage during flight.
  • a plurality of cameras 13 on the body 10 are disposed around the periphery of the body 10 to ensure image collection efficiency and quality.
  • a plurality of cameras 13 are fixed on the surface of the body 10, and each camera 13 collects images in a fixed direction.
  • the camera 13 in multiple directions on the 10 can collect image information of each direction of the upper and lower sides of the body 10, and can complete image collection in all directions without rotating.
  • the existing UAV collects images, it is necessary to control the pan/tilt to drive the camera to rotate.
  • the technical solution of the embodiment effectively reduces the operation complexity.
  • the existing drone needs to constantly adjust the direction of the camera through the pan/tilt suspended from the lower part of the drone.
  • the rotation of the external camera causes the center of gravity and aerodynamic layout of the drone to change.
  • the drone When the airflow changes, the drone is likely to be out of control, and the camera 13 in this embodiment is all fixed on the body 10, cannot be rotated and moved, and only needs to adjust the focal length and the like without affecting the center of gravity and shape of the drone. Operation, so it is not susceptible to interference and high stability.
  • a protective device having the same number as the camera 13 is disposed on the body 10.
  • the protective device has an accommodation space (not shown) inside, and the receiving space is provided with an extension.
  • the camera 13 is disposed in the accommodating space, and a lens (not labeled) of the camera extends from the photographing window to a surface of the body.
  • At least three first cameras 13A are uniformly disposed at an angle in the horizontal direction around the body 10, and preferably, six first cameras 13A are provided. More preferably, the top of the body 10 is provided with at least one second camera 13B for collecting the top image of the body 10, and the bottom of the body 10 is provided with at least one third for collecting the bottom image of the body 10. Camera 13B.
  • the camera 13 of the present invention does not need to be rotated, and thus can be hidden inside the body 10, that is, does not affect image acquisition, and can also reduce the influence on the aerodynamic layout and prevent the influence of the airflow during the flight.
  • the front end of the lens of the camera 13 is flush with the surface of the body 10, and the surface of the body 10 may be slightly protruded to enlarge the angle of view of the lens, and may be completely recessed into the inner side of the surface of the body 10 without affecting the angle of view. To protect the lens.
  • the lens is a wide-angle lens.
  • the existing fisheye lens has a large viewing angle, and 360° framing can be realized by using three fisheye lens. Therefore, at least three first cameras 13A are disposed on the body 10 of the drone in the horizontal direction. However, the image quality of the fisheye lens is poor, and the picture is severely deformed. Therefore, in order to ensure the picture quality, a general wide-angle lens should be used. Considering the wide angle lens of the existing image quality, the lateral angle of the image is 30° ⁇ 70°. A better imaging effect can be achieved by using the six first cameras 13A.
  • the first camera 13A is disposed in the same plane, and the images collected by the plurality of first cameras 13A are also in the same plane, which facilitates splicing and post-processing of the images.
  • the present embodiment sets six first cameras 13A in the horizontal direction. Further, since the upper part of the fuselage 10 is the sky and the lower part is the ground during the flight, the quality of the image directly above and below the collected body 10 is not high, so in the present embodiment, in the upper part of the body 10.
  • Each of the lower portion and the lower portion are respectively provided with a second camera 13B and a third camera 13C. The number of the second camera 13B and the third camera 13C may be increased or decreased depending on the specific situation, and the present invention is not limited thereto.
  • the ducts 11 are uniformly disposed on the body 10 at an angle.
  • the number of the ducts 11 is six or eight, and each of the ducts 11 is provided with at least one propeller 12 for power supply via a propeller holder 14.
  • the body 10 has a circular cross section, and the surface of the body 10 is streamlined.
  • the body 10 of the present embodiment has a disk shape as a whole, and the upper surface of the upper surface of the body 10 is slightly convex upward, and the lower surface of the body 10 is a plane or an approximately flat surface.
  • the length of the upper surface of the fuselage 10 should be greater than the length of the lower surface. This design ensures that when the airflow passes through the surface of the fuselage 10, the airflow velocity in the upper portion of the fuselage 10 is greater than the velocity of the bottom airflow. It then provides a certain lift for the drone, which helps to improve the stability of the drone during flight.
  • the upper and lower surfaces of the fuselage 10 are streamlined, which can reduce the air resistance.

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  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

Disclosed is an unmanned aerial vehicle comprising a body (10), wherein the body (10) is provided with an image collection apparatus, the image collection apparatus comprises multiple cameras (13), the cameras (13) are fixed on a surface of the body (10), and the cameras (13) are used for collecting images around the body (10). The cameras (13) of the unmanned aerial vehicle are arranged on an outer side of the body (10), thus reducing dead angles of the cameras (13). The multiple cameras (13) can simultaneously collect images in multiple directions, and can complete image collection in various directions without rotating the body (10).

Description

无人机  Drone
技术领域Technical field
本发明涉及一种无人机,尤其是一种具有多个摄像头的无人机。The invention relates to a drone, in particular to a drone having a plurality of cameras.
背景技术Background technique
现有的无人机通常利用云台在无人机下方搭载摄像头,通过云台旋转实现摄像头对不同角度的取景。这种无人机的云台带动摄像头移动时会造成无人机的重心发生变化,影响无人机的稳定性。The existing drones usually use a gimbal to mount a camera under the drone, and the camera is rotated to realize the framing of the camera at different angles. When the head of the drone drives the camera to move, the center of gravity of the drone changes and affects the stability of the drone.
发明内容Summary of the invention
本发明的主要目的是提供一种无人机,旨在提高无人机在飞行及采集图像过程中的稳定性。The main object of the present invention is to provide a drone that aims to improve the stability of the drone during flight and image acquisition.
为实现上述目的,本发明提出一种无人机,包括机身,所述机身上设有图像采集装置,所述图像采集装置包括多个摄像头,所述摄像头固定于所述机身的表面,所述摄像头用于采集机身周围的图像。To achieve the above object, the present invention provides a drone, including a body, the body is provided with an image capture device, the image capture device includes a plurality of cameras, and the camera is fixed on a surface of the body The camera is used to capture images around the fuselage.
优选的,所述摄像头包括至少三个第一摄像头,所述第一摄像头围绕所述机身一周均匀布置,且位于同一水平面上。Preferably, the camera comprises at least three first cameras, the first camera is evenly arranged around the fuselage and is located on the same horizontal plane.
优选的,在所述机身上设置有与所述摄像头数量等同的保护装置,所述保护装置内部具有容纳空间,所述容纳空间上设有延伸至机身表面的拍摄窗口,所述摄像头设置于所述容纳空间内,且所述摄像头的镜头从所述拍摄窗口延伸至机身表面。Preferably, a protection device equivalent to the number of the cameras is disposed on the body, the protection device has an accommodation space therein, and the accommodation space is provided with a shooting window extending to the surface of the body, the camera setting Within the accommodation space, and the lens of the camera extends from the photographing window to the surface of the body.
优选的,所述摄像头还包括至少一个设置于所述机身顶部的第二摄像头和/或至少一个设置于所述机身底部的第三摄像头。Preferably, the camera further comprises at least one second camera disposed on the top of the fuselage and/or at least one third camera disposed on the bottom of the fuselage.
优选的,所述镜头为广角镜头。Preferably, the lens is a wide-angle lens.
优选的,所述机身内侧设有至少一个贯穿机身上下的涵道,每个所述涵道内设有至少一个螺旋桨。Preferably, the inner side of the fuselage is provided with at least one duct passing through the upper and lower sides of the fuselage, and at least one propeller is disposed in each of the ducts.
优选的,所述涵道的数量为六个或八个,所述涵道内设有支撑所述螺旋桨的螺旋桨支架。Preferably, the number of the ducts is six or eight, and a propeller bracket supporting the propeller is disposed in the duct.
优选的,所述多个涵道按角度均匀的设置于机身上。Preferably, the plurality of ducts are uniformly disposed on the body at an angle.
优选的,所述机身的横向截面为圆形,所述机身表面呈流线形。Preferably, the cross section of the fuselage is circular, and the surface of the fuselage is streamlined.
本发明的技术方案中,摄像头设于机身外侧,既能起到保护螺旋桨的作用,可以防止机身对摄像头视角产生遮挡,减小摄像头的视觉死角。同时本发明的摄像头固定于机身表面,无法旋转也移动,保证了机身重心的恒定,提高了飞行过程中的稳定性。In the technical solution of the present invention, the camera is disposed outside the fuselage, which can protect the propeller, prevent the camera from obstructing the camera angle of view, and reduce the visual dead angle of the camera. At the same time, the camera of the invention is fixed on the surface of the fuselage, can not rotate and also moves, which ensures the constant center of gravity of the fuselage and improves the stability during flight.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图示出的结构获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain other drawings according to the structures shown in the drawings without any creative work.
图1为本发明的无人机的主视图;Figure 1 is a front elevational view of the drone of the present invention;
图2为图1的无人机的俯视图。2 is a top plan view of the drone of FIG. 1.
附图标号说明:
标号 名称 标号 名称
10 机身 13A 第一摄像头
11 涵道 13B 第二摄像头
12 螺旋桨 13C 第三摄像头
13 摄像头 14 螺旋桨支架
Description of the reference numerals:
Label name Label name
10 body 13A First camera
11 Tuning 13B Second camera
12 propeller 13C Third camera
13 camera 14 Propeller bracket
本发明目的的实现、功能特点及优点将结合实施例,参照附图做进一步说明。The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.
具体实施方式detailed description
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的一部分实施例,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作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。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, and not all of the 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.
需要说明,本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等,如果该特定姿态发生改变时,则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back, ...) in the embodiments of the present invention are only used to explain between components in a certain posture (as shown in the drawing). Relative positional relationship, motion situation, etc., if the specific posture changes, the directional indication also changes accordingly.
另外,在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的,而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, the descriptions of "first", "second", and the like in the present invention are used for the purpose of description only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.
在本发明中,除非另有明确的规定和限定,术语“连接”、“固定”等应做广义理解,例如,“固定”可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, the terms "connected", "fixed" and the like should be understood broadly, unless otherwise clearly defined and limited. For example, "fixed" may be a fixed connection, or may be a detachable connection, or may be integrated; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
另外,本发明各个实施例之间的技术方案可以相互结合,但是必须是以本领域普通技术人员能够实现为基础,当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在,也不在本发明要求的保护范围之内。In addition, the technical solutions between the various embodiments of the present invention may be combined with each other, but must be based on the realization of those skilled in the art, and the combination of technical solutions should be considered when the combination of technical solutions is contradictory or impossible to implement. It does not exist and is not within the scope of protection required by the present invention.
本发明提出一种无人机。The invention proposes a drone.
参见图1~图2,本实施例的无人机包括机身10,所述机身10内侧设有至少一个贯穿机身10上下的涵道11,每个所述涵道11内设有至少一个螺旋桨12,所述机身10上设有图像采集装置(图未示),所述图像采集装置包括多个摄像头13,所述摄像头13固定于所述机身10的表面,所述摄像头13用于采集机身10周围的图像。Referring to FIG. 1 to FIG. 2, the unmanned aerial vehicle of the present embodiment includes a fuselage 10, and the inside of the fuselage 10 is provided with at least one duct 11 extending through the upper and lower sides of the fuselage 10, and at least one of the ducts 11 is provided in each of the ducts 11 a propeller 12, the body 10 is provided with an image capture device (not shown), the image capture device includes a plurality of cameras 13, the camera 13 is fixed to the surface of the body 10, the camera 13 Used to capture images around the body 10.
本实施例的无人机将螺旋桨12设置于涵道11中,可以有效起到保护螺旋桨12的作用,防止因为无人机坠落或飞行过程中触碰到其他物体而损坏螺旋桨12,同时在涵道11中设置螺旋桨12相对于现有的悬臂式螺旋桨动力更充足,也不易受到气流的影响,飞行过程更稳定。所述涵道11可以为圆柱状,更为优选的,所述涵道11可以是倒置的锥形或圆台状,其中涵道11位于机身10上表面的开口直径应当大于位于机身10下表面的开口直径,这种结构有助于调整机身10表面的气流流速,进一步提高机身飞行过程中的稳定性。The UAV of the present embodiment places the propeller 12 in the duct 11, which can effectively protect the propeller 12 and prevent the propeller 12 from being damaged due to the drone falling or touching other objects during the flight. The propeller 12 is more versatile in the passage 11 than the existing cantilever propeller, and is also less susceptible to airflow, and the flight process is more stable. The duct 11 may be cylindrical. More preferably, the duct 11 may be an inverted cone or a truncated cone. The diameter of the opening of the duct 11 on the upper surface of the fuselage 10 should be larger than that under the fuselage 10. The opening diameter of the surface helps to adjust the flow velocity of the surface of the fuselage 10, further improving the stability of the fuselage during flight.
进一步的,机身10上的多个摄像头13环绕机身10外围设置,可以保证图像采集效率和质量,多个摄像头13固定在机身10表面,每个摄像头13采集固定方向的图像,机身10上的多个方向的摄像头13可以采集机身10上下左右每个方向的图像信息,飞行时不需要转动就可以完成对各个方向的图像采集。现有的无人机采集图像时,需要控制云台带动摄像头旋转,本实施例的技术方案有效降低了操作复杂程度。进一步的,现有的无人机则需要不断通过悬挂于无人机下部的云台调整摄像头的方向,这种外挂式摄像头的转动会导致无人机的重心和气动布局发生变化,当空中的气流变化时,很可能导致无人机失去控制,而本实施例中的摄像头13全部固定于机身10上,不能旋转和移动,仅需要进行调整焦距等不会影响无人机重心和外形的操作,因此不易受到干扰,稳定性高。Further, a plurality of cameras 13 on the body 10 are disposed around the periphery of the body 10 to ensure image collection efficiency and quality. A plurality of cameras 13 are fixed on the surface of the body 10, and each camera 13 collects images in a fixed direction. The camera 13 in multiple directions on the 10 can collect image information of each direction of the upper and lower sides of the body 10, and can complete image collection in all directions without rotating. When the existing UAV collects images, it is necessary to control the pan/tilt to drive the camera to rotate. The technical solution of the embodiment effectively reduces the operation complexity. Further, the existing drone needs to constantly adjust the direction of the camera through the pan/tilt suspended from the lower part of the drone. The rotation of the external camera causes the center of gravity and aerodynamic layout of the drone to change. When the airflow changes, the drone is likely to be out of control, and the camera 13 in this embodiment is all fixed on the body 10, cannot be rotated and moved, and only needs to adjust the focal length and the like without affecting the center of gravity and shape of the drone. Operation, so it is not susceptible to interference and high stability.
优选的,在所述机身10上设置有与所述摄像头13数量等同的保护装置(图未示),所述保护装置内部具有容纳空间(图未示),所述容纳空间上设有延伸至机身表面的拍摄窗口(未标识),所述摄像头13设置于所述容纳空间内,且所述摄像头的镜头(未标识)从所述拍摄窗口延伸至机身表面。Preferably, a protective device (not shown) having the same number as the camera 13 is disposed on the body 10. The protective device has an accommodation space (not shown) inside, and the receiving space is provided with an extension. To a photographing window (not identified) of the surface of the body, the camera 13 is disposed in the accommodating space, and a lens (not labeled) of the camera extends from the photographing window to a surface of the body.
所述机身10周围的水平方向上按角度均匀的设有至少三个第一摄像头13A,优选的,设有六个第一摄像头13A。更为优选的,所述机身10顶部设有至少一个用于采集机身10顶部图像的第二摄像头13B,所述机身10底部设有至少一个用于采集机身10底部图像的第三摄像头13B。At least three first cameras 13A are uniformly disposed at an angle in the horizontal direction around the body 10, and preferably, six first cameras 13A are provided. More preferably, the top of the body 10 is provided with at least one second camera 13B for collecting the top image of the body 10, and the bottom of the body 10 is provided with at least one third for collecting the bottom image of the body 10. Camera 13B.
本发明的摄像头13不需要转动,因此可以隐藏于机身10内部,即不影响图像采集,也能减少对气动布局的影响,防止飞行过程中受到气流的影响。优选的,摄像头13的镜头最前端与机身10表面平齐,也可以略微突出机身10的表面以扩大镜头的视角,在不影响视角的情况下还可以完全凹入机身10表面的内侧以保护镜头。The camera 13 of the present invention does not need to be rotated, and thus can be hidden inside the body 10, that is, does not affect image acquisition, and can also reduce the influence on the aerodynamic layout and prevent the influence of the airflow during the flight. Preferably, the front end of the lens of the camera 13 is flush with the surface of the body 10, and the surface of the body 10 may be slightly protruded to enlarge the angle of view of the lens, and may be completely recessed into the inner side of the surface of the body 10 without affecting the angle of view. To protect the lens.
优选的,所述镜头为广角镜头。Preferably, the lens is a wide-angle lens.
现有的鱼眼镜头视角较大,使用三个鱼眼镜头就可以实现360°取景,所以本发明中无人机的机身10上在水平方向上至少要设置三个第一摄像头13A。但是这种鱼眼镜头成像质量较差,画面变形严重,所以为了保证画面质量,应使用普通广角镜头为佳,考虑到现有成像质量较好的广角镜头成像的横向视角在30°~70°,因此,使用六个第一摄像头13A即可以达到较佳的成像效果。所述第一摄像头13A设置于同一面内,多个第一摄像头13A采集的也是同一面内的图像,便于对图像的拼接和后期处理。虽然增加第一摄像头13A的数量有助于提升成像效果,但是也会增加成本和整体重量,所以,本实施例在水平方向上设置了六个第一摄像头13A。进一步的,由于飞行过程中,机身10上部是天空,下部为地面,所以对采集的机身10正上方和正下方的图像的质量要求不高,因此本实施例中,在机身10的上部和下部各自仅分别设置了一个第二摄像头13B和第三摄像头13C。该第二摄像头13B和第三摄像头13C的数量可以视具体情况增加或减少,本发明对此不做限制。The existing fisheye lens has a large viewing angle, and 360° framing can be realized by using three fisheye lens. Therefore, at least three first cameras 13A are disposed on the body 10 of the drone in the horizontal direction. However, the image quality of the fisheye lens is poor, and the picture is severely deformed. Therefore, in order to ensure the picture quality, a general wide-angle lens should be used. Considering the wide angle lens of the existing image quality, the lateral angle of the image is 30°~70°. A better imaging effect can be achieved by using the six first cameras 13A. The first camera 13A is disposed in the same plane, and the images collected by the plurality of first cameras 13A are also in the same plane, which facilitates splicing and post-processing of the images. Although increasing the number of the first cameras 13A contributes to an improvement in the imaging effect, it also increases the cost and the overall weight, so the present embodiment sets six first cameras 13A in the horizontal direction. Further, since the upper part of the fuselage 10 is the sky and the lower part is the ground during the flight, the quality of the image directly above and below the collected body 10 is not high, so in the present embodiment, in the upper part of the body 10. Each of the lower portion and the lower portion are respectively provided with a second camera 13B and a third camera 13C. The number of the second camera 13B and the third camera 13C may be increased or decreased depending on the specific situation, and the present invention is not limited thereto.
优选的,所述涵道11按角度均匀的设置于机身10上。所述涵道11的数量为六个或八个,每个所述涵道11内通过螺旋桨支架14架设有至少一个提供动力的螺旋桨12。更为优选的,所述机身10的横向截面为圆形,所述机身10表面呈流线形。Preferably, the ducts 11 are uniformly disposed on the body 10 at an angle. The number of the ducts 11 is six or eight, and each of the ducts 11 is provided with at least one propeller 12 for power supply via a propeller holder 14. More preferably, the body 10 has a circular cross section, and the surface of the body 10 is streamlined.
本实施例中,本实施例的机身10整体呈圆盘状,机身10的上表面中间位置略向上凸起,机身10下表面的为一平面或近似平面。机身10的每一纵向截面中,机身10的上表面的长度应当大于下表面的长度,这种设计可以保证当气流经过机身10表面时,机身10上部气流速度大于底部气流速度,继而为无人机提供一定的升力,有助于提高无人机飞行过程中的稳定性。机身10上下表面均为流线形,可以起到减小空气阻力的作用。In this embodiment, the body 10 of the present embodiment has a disk shape as a whole, and the upper surface of the upper surface of the body 10 is slightly convex upward, and the lower surface of the body 10 is a plane or an approximately flat surface. In each longitudinal section of the fuselage 10, the length of the upper surface of the fuselage 10 should be greater than the length of the lower surface. This design ensures that when the airflow passes through the surface of the fuselage 10, the airflow velocity in the upper portion of the fuselage 10 is greater than the velocity of the bottom airflow. It then provides a certain lift for the drone, which helps to improve the stability of the drone during flight. The upper and lower surfaces of the fuselage 10 are streamlined, which can reduce the air resistance.
以上所述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,凡是在本发明的发明构思下,利用本发明说明书及附图内容所作的等效结构变换,或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structural transformation, or direct/indirect use, of the present invention and the contents of the drawings are used in the inventive concept of the present invention. It is included in the scope of the patent protection of the present invention in other related technical fields.

Claims (17)

  1. 一种无人机,包括机身,其特征在于,所述机身上设有图像采集装置,所述图像采集装置包括多个摄像头,所述摄像头固定于所述机身的表面,所述摄像头用于采集机身周围的图像。 An unmanned aerial vehicle includes a body, wherein the body is provided with an image capturing device, the image capturing device includes a plurality of cameras, and the camera is fixed on a surface of the body, the camera Used to capture images around the fuselage.
  2. 如权利要求1所述的无人机,其特征在于,所述摄像头包括至少三个第一摄像头,所述第一摄像头围绕所述机身一周均匀布置,且位于同一水平面上。The drone according to claim 1, wherein said camera comprises at least three first cameras, said first cameras being evenly arranged around the body one week and on the same horizontal plane.
  3. 如权利要求2所述的无人机,其特征在于,在所述机身上设置有与所述摄像头数量等同的保护装置,所述保护装置内部具有容纳空间,所述容纳空间上设有延伸至机身表面的拍摄窗口,所述摄像头设置于所述容纳空间内,且所述摄像头的镜头从所述拍摄窗口延伸至机身表面。The drone according to claim 2, wherein a protection device equivalent to the number of the cameras is provided on the body, the protection device has an accommodation space inside, and the accommodation space is provided with an extension To a shooting window of the surface of the body, the camera is disposed in the receiving space, and a lens of the camera extends from the shooting window to a surface of the body.
  4. 如权利要求2所述的无人机,其特征在于,所述摄像头还包括至少一个设置于所述机身顶部的第二摄像头和/或至少一个设置于所述机身底部的第三摄像头。The drone according to claim 2, wherein said camera further comprises at least one second camera disposed on the top of said body and/or at least one third camera disposed on the bottom of said body.
  5. 如权利要求4所述的无人机,其特征在于,在所述机身上设置有与所述摄像头数量等同的保护装置,所述保护装置内部具有容纳空间,所述容纳空间上设有延伸至机身表面的拍摄窗口,所述摄像头设置于所述容纳空间内,且所述摄像头的镜头从所述拍摄窗口延伸至机身表面。The drone according to claim 4, wherein a protection device equivalent to the number of the cameras is provided on the body, the protection device has an accommodation space inside, and the accommodation space is provided with an extension To a shooting window of the surface of the body, the camera is disposed in the receiving space, and a lens of the camera extends from the shooting window to a surface of the body.
  6. 如权利要求5所述的无人机,其特征在于,所述镜头为广角镜头。The drone according to claim 5, wherein said lens is a wide-angle lens.
  7. 如权利要求4所述的无人机,其特征在于,所述机身内侧设有至少一个贯穿机身上下的涵道,每个所述涵道内设有至少一个螺旋桨。The drone according to claim 4, wherein the inside of the fuselage is provided with at least one duct passing through the upper and lower sides of the fuselage, and at least one propeller is disposed in each of the ducts.
  8. 如权利要求7所述的无人机,其特征在于,所述涵道的数量为六个或八个,所述涵道内设有支撑所述螺旋桨的螺旋桨支架。The drone according to claim 7, wherein said number of said ducts is six or eight, and said propeller is provided with a propeller holder for supporting said propeller.
  9. 如权利要求8所述的无人机,其特征在于,所述多个涵道按角度均匀的设置于机身上。The drone according to claim 8, wherein said plurality of ducts are uniformly disposed on the body at an angle.
  10. 如权利要求9所述的无人机,其特征在于,所述机身的横向截面为圆形,所述机身表面呈流线形。The drone according to claim 9, wherein said body has a circular cross section and said body surface is streamlined.
  11. 如权利要求1所述的无人机,其特征在于,所述摄像头包括至少一个设置于所述机身顶部的第二摄像头和/或至少一个设置于所述机身底部的第三摄像头。The drone of claim 1 wherein said camera comprises at least one second camera disposed on top of said fuselage and/or at least one third camera disposed on a bottom of said fuselage.
  12. 如权利要求11所述的无人机,其特征在于,在所述机身上设置有与所述摄像头数量等同的保护装置,所述保护装置内部具有容纳空间,所述容纳空间上设有延伸至机身表面的拍摄窗口,所述摄像头设置于所述容纳空间内,且所述摄像头的镜头从所述拍摄窗口延伸至机身表面。The drone according to claim 11, wherein a protection device equivalent to the number of the cameras is provided on the body, the protection device has an accommodation space inside, and the accommodation space is provided with an extension To a shooting window of the surface of the body, the camera is disposed in the receiving space, and a lens of the camera extends from the shooting window to a surface of the body.
  13. 如权利要求12所述的无人机,其特征在于,所述镜头为广角镜头。The drone according to claim 12, wherein said lens is a wide-angle lens.
  14. 如权利要求1所述的无人机,其特征在于,所述机身内侧设有至少一个贯穿机身上下的涵道,每个所述涵道内设有至少一个螺旋桨。The drone according to claim 1, wherein the inside of the fuselage is provided with at least one duct passing through the upper and lower sides of the fuselage, and at least one propeller is disposed in each of the ducts.
  15. 如权利要求14所述的无人机,其特征在于,所述涵道的数量为六个或八个,所述涵道内设有支撑所述螺旋桨的螺旋桨支架。The drone according to claim 14, wherein said number of said ducts is six or eight, and said propeller is provided with a propeller holder for supporting said propeller.
  16. 如权利要求15所述的无人机,其特征在于,所述多个涵道按角度均匀的设置于机身上。The drone according to claim 15, wherein said plurality of ducts are uniformly disposed on the body at an angle.
  17. 如权利要求16所述的无人机,其特征在于,所述机身的横向截面为圆形,所述机身表面呈流线形。The drone according to claim 16, wherein said body has a circular cross section and said body surface is streamlined.
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