WO2019028871A1 - Ensemble cadre et véhicule aérien sans pilote - Google Patents

Ensemble cadre et véhicule aérien sans pilote Download PDF

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Publication number
WO2019028871A1
WO2019028871A1 PCT/CN2017/097188 CN2017097188W WO2019028871A1 WO 2019028871 A1 WO2019028871 A1 WO 2019028871A1 CN 2017097188 W CN2017097188 W CN 2017097188W WO 2019028871 A1 WO2019028871 A1 WO 2019028871A1
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WO
WIPO (PCT)
Prior art keywords
frame
support
support frame
center frame
center
Prior art date
Application number
PCT/CN2017/097188
Other languages
English (en)
Chinese (zh)
Inventor
任冠男
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780005218.8A priority Critical patent/CN108698706B/zh
Priority to PCT/CN2017/097188 priority patent/WO2019028871A1/fr
Publication of WO2019028871A1 publication Critical patent/WO2019028871A1/fr

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Classifications

    • 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
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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 present invention relates to the field of aircraft, and in particular to a rack assembly and a drone.
  • the drone can be used for aerial photography.
  • the fuselage of the drone is provided with a landing gear, and the landing gear supports the drone on the ground when the drone is landing.
  • the landing gear will block the camera's line of sight, affecting the camera's shooting range, and it is difficult to achieve 360-degree shooting.
  • Embodiments of the present invention provide a rack assembly and a drone.
  • the rack including a center frame, and a stand that is movably coupled to the center frame;
  • a support frame movably coupled to the stand, the support frame for carrying a load of the drone
  • connection mechanism of the support frame and the center frame Connecting a connection mechanism of the support frame and the center frame, the support frame being movably connected to the center frame by the connection mechanism, so that the support frame can be lifted and lowered relative to the center frame;
  • the tripod includes a support end for contacting the landing surface; when the support end is raised, the tripod drives the support frame to descend relative to the center frame, when the support end is lowered, The tripod drives the support frame to rise relative to the center frame;
  • the support frame drives the support end to descend
  • the connecting mechanism drives the support frame to descend relative to the center frame.
  • the support frame drives the support end to rise.
  • the support end of the stand when the support frame is lowered, the support end of the stand is raised, and when the support frame is raised, the support end of the stand is lowered, and the camera device can be mounted to the support frame.
  • the camera device When the drone is in a navigation state, the camera device is supported by the support device.
  • the frame is lowered away from the center frame, and the support end of the stand is raised close to the center frame, so that the support end of the stand does not block the line of sight of the camera when shooting, so as to achieve 360-degree shooting.
  • a power assembly mounted on the frame assembly for providing flight power.
  • the support frame when the support frame is lowered, the support end of the tripod is raised, and when the support frame is raised, the support end of the tripod is lowered, and the camera device can be mounted to the support frame.
  • the camera device When the drone is in a navigation state, the camera device is supported by the support device.
  • Rack away from the center The support end of the tripod rises close to the center frame, so that the support end of the tripod does not block the line of sight of the camera when shooting, so as to achieve 360-degree shooting.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention when the support frame is away from the center frame;
  • FIG. 2 is a schematic plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;
  • FIG 3 is another schematic plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;
  • FIG. 4 is a top plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;
  • FIG. 5 is a perspective view of the drone of the embodiment of the present invention when the support frame is close to the center frame;
  • FIG. 6 is a schematic plan view of the drone of the embodiment of the present invention when the support frame is close to the center frame;
  • FIG. 7 is another schematic plan view of the drone of the embodiment of the present invention when the support frame is close to the center frame;
  • Figure 8 is a bottom plan view of the drone of the embodiment of the present invention with the support frame near the center frame.
  • UAV 100 rack assembly 10, frame 12, center frame 122, stand 124, support end 1242, connection end 1244, support frame 14, connection mechanism 16, link 162, first sub-rod 1622, second The sub-rod 1624, the connecting rod 17, the extension bracket 18, the arm 19, the power unit 20, the propeller 22, the pan-tilt unit 40, the pan/tilt head 42, the shaft mechanism 422, and the camera unit 200.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or only It is only indicated that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
  • the rack assembly 10 of the embodiment of the present invention includes a frame 12 , a support frame 14 , and a connecting mechanism 16 .
  • the frame 12 includes a center frame 122 and a stand 124 movably coupled to the center frame 122 .
  • the support frame 14 is movably coupled to the stand 124 for carrying the load of the drone 100.
  • the connecting mechanism 16 connects the support frame 14 and the center frame 122.
  • the support frame 14 is movably connected to the center frame 122 through the connecting mechanism 16 to enable the support frame 14 to be lifted and lowered relative to the center frame 122.
  • the stand 124 includes a support end 1242 for contacting the landing surface.
  • the stand 124 drives the support frame 14 to descend relative to the center frame 122.
  • the stand 124 drives the support frame 14 to rise relative to the center frame 122; or, when the connecting mechanism 16 drives the support
  • the support frame 14 drives the support end 1242 to descend.
  • the connecting mechanism 16 drives the support frame 14 to descend relative to the center frame 122, the support frame 14 drives the support end 1242 to rise.
  • the support end 1242 of the stand 124 is raised, and when the support frame 14 is raised, the support end 1242 of the stand 124 is lowered, and the camera device 200 can be mounted to the support frame 14 as a drone.
  • the camera 200 is lowered away from the center frame 122 with the support frame 14, and the support end 1242 of the stand 124 is raised closer to the center frame 122, so that the support end 1242 of the stand 124 does not block when the camera 200 is photographed.
  • the line of sight of the imaging device 200 is used to achieve 360 degree shooting.
  • the support end 1242 of the stand 124 is lowered, and the support frame 14 is raised.
  • the drone 100 descends, and the stand 124 surrounds the image pickup apparatus 200, so that the image pickup apparatus 200 can be protected.
  • the stand 124 is rotatably coupled to the center frame 122;
  • the stand 124 is slidably coupled to the center frame 122;
  • the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16;
  • the support frame 14 is slidably coupled to the center frame 122 by a coupling mechanism 16.
  • the support frame 14 and the support frame 14 of the stand 124 can be moved up and down relative to the center frame 122.
  • the movable connection may be a rotary connection or a sliding connection.
  • the movable connection is not limited to the above connection manner.
  • the stand 124 can be rotatably connected to the center frame 122, and the support frame 14 can be rotatably connected to the center frame 122 through the connecting mechanism 16.
  • the stand 124 can be rotatably connected to the center frame 122, and the support frame 14 can be connected.
  • the mechanism 16 is slidably connected to the center frame 122; the stand 124 can be slidably connected to the center frame 122, and the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16; and the stand 124 and the center frame 122 can be
  • the support frame 14 is slidably coupled to the center frame 122 by a joint mechanism 16 .
  • the stand 124 is rotatably connected to the center frame 122, and the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16.
  • the attachment mechanism 16 includes a link 162 that is movably coupled to the support frame 14 and the center frame 122.
  • the link 162 drives the support frame 14 up and down relative to the center frame 122.
  • the link 162 can be slidably coupled to the center frame 122, and the link 162 slides up and down to raise and lower the support frame 14 relative to the center frame 122.
  • the link 162 can also be rotatably coupled to the center frame 122, and the link 162 rotates to drive the support frame 14 up and down relative to the center frame 122. It may also be a telescopic link 162 that extends up and down to drive the support frame 14 up and down relative to the center frame 122.
  • the link 162 is rotatably coupled to the center frame 122, and the link 162 is rotated to drive the support frame 14 to move up and down relative to the center frame 122.
  • each of the links 162 includes a first sub-rod 1622 and a second sub-rod 1624, the first sub-rod 1622 and the second sub-rod 1624 are rotatably connected, the first sub- The rod 1622 is movably coupled to the center frame 122, the second sub-rod 1624 is movably coupled to the support frame 14, and the first sub-rod 1622 is rotated relative to the second sub-rod 1624 to change the distance between the support frame 14 and the center frame 122 to drive the support.
  • the frame 14 is raised and lowered for the center frame 122.
  • the link 162 is caused to move the support frame 14 up and down relative to the center frame 122 with a relatively simple structure.
  • first sub-rod 1622 is rotatably coupled to the center frame 122
  • second sub-rod 1624 is rotatably coupled to the support frame 14.
  • the first sub-rod 1622 is rotatably connected to the center frame 122, and the number of the connecting rods 162 is two, that is, the number of the first sub-rods 1622 is two, and the two first sub-rods 1622 are disposed.
  • the second sub-rod 1624 is also rotatably connected to the two first sub-rods 1622 and the other end is rotatably connected to the support frame 14 .
  • the two first sub-rods 1622 and the two second sub-bars 1624 are provided such that the strength of the connecting rod 162 is better and the carrying capacity is stronger.
  • the number of the links 162 is not limited to two, and may be one or two or more.
  • the first sub-rod 1622 is directly movably connected to the second sub-rod 1624. It can be understood that in other embodiments, an additional sub-bar may be disposed between the first sub-rod 1622 and the second sub-rod 1624 to movably connect the first sub-rod 1622 and the second sub-rod 1624.
  • the attachment mechanism 16 includes a lead screw (not shown), the screw includes a screw and a threaded member that is sleeved on the screw, one of the screw and the threaded member is coupled to the support frame 14, and the other is coupled to the center frame. 122.
  • the lead screw is extended and contracted relative to the center frame 122 to drive the support frame 14 to move up and down relative to the center frame 122.
  • the support frame 14 is lifted and lowered relative to the center frame 122 by the relative rotation of the screw and the screw.
  • it may be a screw connection support frame 14, the screw member is connected to the center frame 122, or a screw connection center frame 122, and the screw member is connected to the support frame 14.
  • the stand 124 includes a connecting end 1244 opposite the support end 1242.
  • the connecting end 1244 is movably coupled to the support frame 14.
  • the support frame 14 drives the connection end.
  • the support frame 14 drives the connection end 1244 to descend to raise the support end 1242.
  • the support end 1242 descends relative to the center frame 122; when the support frame 14 is lowered relative to the center frame 122, the support end 1242 rises relative to the center frame 122.
  • the stand 124 is rotatably coupled to the center frame 122.
  • the connection end 1244 rises with the support frame 14, and the stand 124 rotates, so that the support end 1242 descends relative to the center frame 122;
  • the connection end The 1244 descends with the support frame 14, and the stand 124 rotates, thereby causing the support end 1242 to rise relative to the center frame 122.
  • the frame assembly 10 includes a connecting rod 17 that is movably coupled to the connecting end 1244 and the support frame 14.
  • connection between the support frame 14 and the stand 124 is made more flexible.
  • the support frame 14 when the support frame 14 is raised to be closest to the center frame 122, the connecting rod 17 and the connecting end 1244 are in a locked state, and the connecting rod 17 and the supporting frame 14 are in a locked state. As such, the support frame 14 is made more stable, so that the image pickup apparatus 200 mounted on the support frame 14 is more stable.
  • the connecting rod 17 is rotatably connected to the connecting end 1244, and the connecting rod 17 is rotatably connected to the supporting frame 14.
  • the connecting rod 17 may be slidably connected to the connecting end 1244, the connecting rod 17 is rotatably connected to the supporting frame 14; the connecting rod 17 may be rotatably connected to the connecting end 1244, and the connecting rod 17 is slidably connected to the supporting frame 14; It is also possible that the connecting rod 17 is slidably connected to the connecting end 1244, and the connecting rod 17 is slidably connected to the supporting frame 14.
  • the connecting rod 17 and the stand 124 are substantially in line.
  • the first sub-rod 1622 and the second sub-rod 1624 are substantially on the same straight line, as shown in FIG. In this way, the support frame 14 is made more stable.
  • the frame assembly 10 includes an extension bracket 18 that connects the center frame 122 and the foot frame 124.
  • the connection between the extension bracket 18 and the foot frame 124 is between the connection end 1244 and the support end 1242, extending
  • the bracket 18 is movably coupled to at least one of the center frame 122 and the stand 124.
  • the structure of the frame assembly 10 is made more reasonable.
  • the active connection can be a rotary connection or a sliding connection.
  • the extension bracket 18 may be movably connected to the center frame 122, and the extension bracket 18 is fixedly connected to the base frame 124.
  • the extension bracket 18 may be fixedly connected to the center frame 122, the extension bracket 18 is movably connected to the stand 124, and may also be an extension bracket. 18 is movably coupled to the center frame 122, and the extension bracket 18 is movably coupled to the stand 124.
  • the extension bracket 18 and the center frame 122 are fixedly connected, and the extension bracket 18 and the foot frame 124 are rotatably connected.
  • the stand 124 rotates relative to the extension bracket 18 such that the support end 1242 rises or falls relative to the center frame 122.
  • the support frame 14 is lowered to the farthest from the center frame 122 when the support end 1242 is aligned with the height of the center frame 122. As shown in FIG. 2, the support frame 14 is raised to the support frame 14 when it is closest to the center frame 122. The height is higher than the height of the support end 1242, as shown in FIG.
  • the support end 1242 does not block the support frame 14, so that the image pickup apparatus 200 mounted on the support frame 14 can realize 360 shooting.
  • the support frame 14 is raised to the nearest position to the center frame 122, the support end 1242 is supported on the landing surface, and the support frame 14 is higher than the landing surface, effectively protecting the image pickup device 200 on the support frame 14 and the support frame 14.
  • the frame assembly 10 includes at least two legs 124 that are angularly distributed along the central axis X of the center frame 122.
  • the stand 124 can support the drone 100 more stably.
  • the rack assembly 10 can include two legs 124, and can also include three legs 124, and can also include any other two or more legs 124.
  • the number of the frame assemblies 10 is two, and the axis is symmetrically disposed about the central axis of the center frame 122.
  • the lifting and lowering of the support ends 1242 of the plurality of legs 124 relative to the center frame 122 is synchronous.
  • the support ends 1242 of the plurality of stand 124 are on the same level. In this way, the drone 100 can land smoothly.
  • the frame assembly 10 includes a drive assembly (not shown) that is coupled to the attachment mechanism 16 and that is used to drive the linkage mechanism 16 to move the support frame 14 up and down relative to the center frame 122.
  • the drive assembly 16 drives the connection mechanism 16 to lift and lower the support frame 14 relative to the center frame 122, and drives the support end 1242 to move up and down relative to the center frame 122, thereby facilitating automatic control, simplifying the user operation process, and improving the user experience.
  • the screw When the connecting mechanism 16 includes a screw, the screw includes a screw and a screw sleeved on the screw.
  • the driving assembly can move the screw to move up and down relative to the screw by driving the screw to drive the support frame 14 to move up and down relative to the center frame 122.
  • the drive assembly can also move the screw up and down relative to the threaded member by driving the screw member to move the support frame 14 up and down relative to the center frame 122.
  • the frame assembly 10 includes a drive assembly (not shown) that is coupled to the stand 124 and It is used to drive the support end 1242 to lift.
  • the support end 1242 is lifted and lowered relative to the center frame 122 by the driving member, and the support frame 14 is lifted and lowered relative to the center frame 122, which facilitates automatic control, simplifies the user operation process, and improves the user experience.
  • the drive assembly can be coupled to the support end 1242 of the stand 124, and the support end 1242 of the drive stand 124 can be raised or lowered relative to the center frame 122.
  • the drive assembly can also be coupled to the connection end 1244 of the stand 124.
  • the support end 1242 can be lowered or raised relative to the center frame 122 by raising or lowering the connection end 1244 of the drive stand 124 relative to the center frame 122.
  • the drive assembly includes a steering gear coupled to the stand 124.
  • the steering gear driving tripod 124 raises or lowers the support end 1242 of the tripod 124 relative to the center frame 122, and the driving method is simple and reliable.
  • a drone 100 according to an embodiment of the present invention includes the rack assembly 10 and the power assembly 20 of any of the above embodiments, and the power assembly 20 is mounted on the rack assembly 10 for providing flight. power.
  • the support frame 14 when the support frame 14 is lowered, the support end 1242 of the stand 124 is raised, and when the support frame 14 is raised, the support end 1242 of the stand 124 is lowered, and the camera 200 can be mounted to the support frame 14 as a drone.
  • the camera 200 When the 100 is in the navigation state, the camera 200 is lowered away from the center frame 122 with the support frame 14, and the support end 1242 of the stand 124 is raised closer to the center frame 122, so that the support end 1242 of the stand 124 does not block when the camera 200 is photographed.
  • the line of sight of the imaging device 200 is used to achieve 360 degree shooting.
  • the frame assembly 10 includes a boom 19 that is coupled to a center frame 122 and a power assembly 20 that is mounted to the arm 19.
  • the arm 19 provides mounting support for the power assembly 20 such that the power assembly 20 provides flight power to the drone 100.
  • the power assembly 20 includes a propeller 22 that is located furthest from the center frame 122 when the support end 1242 is located outside of the propeller 22 .
  • the support end 1242 can function to protect the propeller 22, the center frame 122, and the arm 19 when the support frame 14 is furthest from the center frame 122.
  • the support end 1242 is elongated, and the drone 100 includes four propellers 22 disposed around the central axis of the center frame 122.
  • the length of the support end 1242 is greater than the maximum distance between the ends of two adjacent propellers 22. . In this way, the propeller 22 is effectively protected, and the collision of the propeller 22 with the outside is reduced.
  • the drone 100 includes a flight controller (not shown) that is pre-set with a takeoff mode and a drop mode of the drone 100, and when the drone 100 is in a landing mode, flight control The controller is used to control the connecting mechanism 16 to drive the support frame 14 to rise relative to the center frame 122 to cause the support frame 14 to lower the support end 1242 of the stand 124; and when the drone 100 is in the take-off mode, the flight controller is used to control the connection mechanism 16 Drive the support frame 14 phase Lowering the center frame 122 to cause the support frame 14 to raise the support end 1242 of the stand 124; or
  • the flight controller When the drone 100 is in the take-off mode, the flight controller is used to control the support end 1242 of the stand 124 to rise so that the stand 124 drives the support frame 14 to descend relative to the center frame 122; and when the drone 100 is in the landing mode, The flight controller is used to control the support end 1242 of the stand 124 to descend such that the stand 124 drives the support frame 14 to rise relative to the center frame 122.
  • the rack assembly 10 includes a drive assembly.
  • the drive assembly is coupled to the attachment mechanism 16 and is used to drive the linkage mechanism 16 to cause the support frame 14 to move up and down relative to the center frame 122.
  • the flight controller is used to control the drive assembly driving connection mechanism 16 to drive the support frame 14 to rise relative to the center frame 122 to cause the support frame 14 to lower the support end 1242 of the stand 124;
  • the flight controller is used to control the drive assembly drive connection mechanism 16 to drive the support frame 14 down relative to the center frame 122 to cause the support frame 14 to raise the support end 1242 of the stand 124.
  • the drive assembly is coupled to the stand 124 and is used to drive the support end 1242 up and down.
  • the flight controller is used to control the support end 1242 of the drive assembly driving stand 124 to raise the support end 1242 so that the stand 124 drives the support frame 14 to descend relative to the center frame 122;
  • the flight controller is used to control the support end 1242 of the drive assembly driving stand 124 to lower the support end 1242 so that the stand 124 drives the support frame 14 to rise relative to the center frame 122.
  • the drone 100 includes a pan-tilt device 40 that includes a pan-tilt 42 for carrying the camera device 200, the pan-tilt 42 being mounted to the support frame 14.
  • pan/tilt head 42 provides mounting support for the imaging device 200, so that the drone device 100 can mount the imaging device 200.
  • the pan/tilt head 42 includes a spindle mechanism 422 for adjusting the angle of view of the camera device 200.
  • the spindle mechanism 422 includes at least one of the following: a pitch axis mechanism, a roll axis mechanism, and a translation axis mechanism.
  • the imaging device 200 provided on the pan/tilt head 42 can adjust the imaging angle, and the imaging device 200 can capture a wider range, and the imaging effect is better.
  • the pitch axis mechanism can be used to adjust the rotation around the x-axis of the imaging device 200; the translation axis mechanism can be used to adjust the rotation around the y-axis of the imaging device 200; the roll axis mechanism can be used to adjust the camera device 200.
  • the x-axis, the y-axis, and the z-axis are perpendicular to each other.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include at least one feature, either explicitly or implicitly.
  • a plurality means at least two, for example two, three, unless specifically defined otherwise.

Abstract

L'invention concerne un ensemble cadre (10) et un véhicule aérien sans pilote (100). L'ensemble cadre (10) comprend un cadre (12), un cadre support (14) et un mécanisme de liaison (16). Le cadre (12) comprend un cadre central (122) et des contrefiches (124) reliées de façon mobile au cadre central (122). Le cadre support (14) est relié de façon mobile aux contrefiches (124) et il est utilisé pour supporter une charge du véhicule aérien sans pilote (100). Le mécanisme de liaison (16) est relié au cadre support (14) et au cadre central (122). Le cadre support (14) est relié de manière mobile au cadre central (122) par le mécanisme de liaison (16), de telle sorte que le cadre support (14) peut se déplacer verticalement par rapport au cadre central (122). Les contrefiches (124) comprennent des extrémités de support (1242) utilisées pour entrer en contact avec une surface d'atterrissage. Lorsque les extrémités de support (1242) des contrefiches (124) s'élèvent, les contrefiches (124) abaissent le cadre support (14) par rapport au cadre central (122), et lorsque les extrémités de support (1242) des contrefiches (124) sont abaissées, les contrefiches (124) soulèvent le cadre support (14) par rapport au cadre central (122). En variante, lorsque le mécanisme de liaison (16) lève le cadre support (14) par rapport au cadre central (122), le cadre support (14) abaisse les extrémités de support (1242), et lorsque le mécanisme de liaison (16) abaisse le cadre support (14) par rapport au cadre central (122), le cadre support (14) lève les extrémités de support (1242). Lorsque le véhicule aérien sans pilote (100) est en vol, un dispositif d'appareil de prise de vues (200) est abaissé conjointement avec le cadre support (14) pour s'éloigner du cadre central (122), et les extrémités de support (1242) des contrefiches (124) s'élèvent vers le cadre central (122), de telle sorte que lorsque le dispositif d'appareil de prise de vues (200) effectue une capture d'images, les extrémités de support (1242) des contrefiches (1242) ne bloquent pas la ligne de visée du dispositif d'appareil de prise de vues (200), réalisant ainsi une capture d'images sur 360 degrés.
PCT/CN2017/097188 2017-08-11 2017-08-11 Ensemble cadre et véhicule aérien sans pilote WO2019028871A1 (fr)

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Application Number Priority Date Filing Date Title
CN201780005218.8A CN108698706B (zh) 2017-08-11 2017-08-11 机架组件及无人机
PCT/CN2017/097188 WO2019028871A1 (fr) 2017-08-11 2017-08-11 Ensemble cadre et véhicule aérien sans pilote

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PCT/CN2017/097188 WO2019028871A1 (fr) 2017-08-11 2017-08-11 Ensemble cadre et véhicule aérien sans pilote

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CN117775343A (zh) * 2024-02-27 2024-03-29 西安玖安科技有限公司 一种应用于工地深基坑检测的测量无人机
CN117775343B (en) * 2024-02-27 2024-04-30 西安玖安科技有限公司 Be applied to measurement unmanned aerial vehicle that building site deep basal pit detected

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