WO2019062139A1 - 一种无人飞行器 - Google Patents

一种无人飞行器 Download PDF

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Publication number
WO2019062139A1
WO2019062139A1 PCT/CN2018/086725 CN2018086725W WO2019062139A1 WO 2019062139 A1 WO2019062139 A1 WO 2019062139A1 CN 2018086725 W CN2018086725 W CN 2018086725W WO 2019062139 A1 WO2019062139 A1 WO 2019062139A1
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WO
WIPO (PCT)
Prior art keywords
arm
unmanned aerial
assembly
aerial vehicle
camera
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PCT/CN2018/086725
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English (en)
French (fr)
Inventor
张正力
Original Assignee
深圳市道通智能航空技术有限公司
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Publication of WO2019062139A1 publication Critical patent/WO2019062139A1/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
    • 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
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle having a photographing function.
  • Unmanned Aerial Vehicle UAV
  • Unmanned aerial vehicles can realize real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the commonly used camera components for panoramic shooting have a narrow viewing angle and are easily blocked by the body or other equipped equipment, and cannot fully meet the needs of use.
  • an embodiment of the present invention provides an unmanned aerial vehicle capable of realizing panoramic shooting and capturing an open angle of view.
  • An unmanned aerial vehicle includes: a fuselage, an arm assembly, a power assembly, and a first camera assembly.
  • the arm assembly is mounted to the airframe; the power assembly is mounted to the arm assembly for providing flight power to the unmanned aerial vehicle; at least two of the first camera assemblies are respectively mounted to the The arm assembly is provided with at least one of the first camera assemblies on opposite sides of the body.
  • each of the first camera assemblies includes a first camera device, and the first camera device includes at least one lens.
  • the first camera assembly includes a mounting rod and a first cloud platform, one end of the mounting rod is mounted on the arm assembly, and the other end of the mounting rod is detachably mounted on the first cloud
  • the first camera device is mounted on the first cloud platform.
  • the first pan/tilt head is a three-axis stabilization pan/tilt head, and includes a first motor, a second motor, and a third motor;
  • a stator of the third motor is detachably mounted at an end of the mounting rod away from the arm assembly, a rotor of the third motor is coupled to a stator of the second motor, and a rotor of the second motor is coupled to the first motor a stator, the first camera device being fixedly mounted to a rotor of the first motor.
  • the mounting rod is a length adjustable structure.
  • the unmanned aerial vehicle includes at least one second camera assembly, the second camera assembly is mounted to the airframe; and when the unmanned aerial vehicle is in a flight attitude, the second camera assembly is located at the aircraft The underside of the body.
  • each of the second camera assemblies includes a second cloud platform and a second camera device, the second cloud platform is fixedly mounted to the body, and the second camera device is mounted to the second camera station.
  • the arm assembly includes a drive assembly and an arm;
  • One ends of the two arms are hinged to each other, and the two arms are respectively located on opposite sides of the body;
  • the drive assembly is mounted to the fuselage, and the drive assembly is coupled to the two arms for driving the two arms such that an angle between the two arms is increased or Reduced.
  • the driving component comprises: a driving device, a movable member and a driving member;
  • the driving device is fixedly mounted to the air body for driving the movable member to perform a reciprocating linear motion
  • the number of the driving members is two, one end of one of the driving members is hinged to one end of the movable member, and the other end of the driving member is hinged to the other end of the movable member, and each of the driving members is away from each other.
  • One end of the movable member is hinged to a corresponding one of the arms.
  • the drive assembly includes a screw
  • the driving device is connected to the screw for driving the screw to rotate;
  • the movable member is sleeved on the screw and can reciprocate linearly along the axis of the screw as the screw rotates.
  • each of the driving members includes a body portion, a first connecting portion and a second connecting portion;
  • Two of the first connecting portions extend from one side of the body portion, and ends of the two first connecting portions are spaced apart, and ends of the two first connecting portions are hinged to a corresponding one of the machines arm;
  • Two of the second connecting portions extend from the other side of the body portion, the ends of the two second connecting portions are spaced apart, and the ends of the two second connecting portions are located at the movable member Both sides are hinged to one end of the movable member.
  • each of the arms includes an arm body and a mount
  • One end of the arm body is fixed to the mounting seat;
  • each of the driving members is hinged to a corresponding one of the mounting seats away from an end of the movable member.
  • the mount includes a tubular body portion and a hinge portion
  • One end of the arm body is inserted into and fixed to the tube body portion;
  • Two hinges extending from one end of the tubular body portion, the ends of the two hinge portions being spaced apart, wherein the ends of the two hinge portions of one of the mounts and the other of the mounts The ends of the two hinges are alternately overlapped, and the ends of the hinges of the two of the mounts are hinged to each other.
  • the arm assembly includes a mounting arm, and a middle portion of each of the mounting arms is connected to a corresponding one end of the arm away from the body;
  • One of the first camera assemblies is mounted in the middle of a corresponding one of the mounting arms.
  • the arm assembly includes a fixing rod
  • the fixing rod includes a rod body and a connecting member, one end of the rod body hinges the body, and the other end of the rod body hinges one end of the connecting member, The other end of the connector hinges a corresponding one of the mounting arms.
  • the unmanned aerial vehicle includes a landing gear assembly, and the landing gear assembly includes a landing rod and a support rod;
  • One end of the landing rod is fixedly mounted to the mounting arm, and an acute angle between the landing rod and the mounting arm;
  • One end of the support rod is fixedly mounted on the mounting arm, and the other end of the support rod is fixedly mounted on the landing rod and spaced apart from the end of the landing rod by a predetermined distance.
  • At least two of the first camera assemblies located on opposite sides of the fuselage can collectively complete 360-degree panoramic shooting, ensuring the same
  • the 360-degree panoramic image is acquired in time, which can satisfy the 3-dimensional stereo experience in virtual reality.
  • At least two of the first camera assemblies are mounted to the arm assembly such that the viewing angle is wide and is not blocked by the body, and the panoramic view without dead angle can be achieved.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a front elevational view of the unmanned aerial vehicle of Figure 1;
  • Figure 3 is a perspective view of the fuselage and arm assembly of the UAV shown in Figure 1, wherein a portion of the fuselage is omitted;
  • Figure 4 is a side view of the fuselage and arm assembly shown in Figure 3;
  • Figure 5 is a cross-sectional view taken along line A-A of Figure 4.
  • Figure 6 is an exploded view of the fuselage and arm assembly of Figure 3.
  • an unmanned aerial vehicle 100 includes a body 10 , an arm assembly 20 , a power assembly 30 , a first camera assembly 40 , and a second camera assembly 50 .
  • Drop frame assembly 60 The arm assembly 20 is mounted to the fuselage 10, and the power assembly 30 is mounted to the arm assembly 20 for providing flight power to the unmanned aerial vehicle 100, and the two first camera assemblies 40 Mounted on the arm assembly 20 and on opposite sides of the body 10, the second camera assembly 50 is mounted to the body 10, and the landing gear assembly 60 is mounted to the arm assembly 20.
  • the body 10 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, such as a control module for controlling the arm assembly 20 to be stowed or lowered, for A flight control module that controls the flight attitude of the UAV 100, a positioning module for navigating the UAV 100, and a data processing module for processing environmental information acquired by the associated onboard device.
  • a control module for controlling the arm assembly 20 to be stowed or lowered
  • a flight control module that controls the flight attitude of the UAV 100
  • a positioning module for navigating the UAV 100
  • data processing module for processing environmental information acquired by the associated onboard device.
  • the body 10 defines a receiving slot 102 for partially receiving the arm assembly 20 .
  • the arm assembly 20 includes a drive assembly 210, a boom 220, a fixed rod 230 and a mounting arm 240.
  • the driving component 210 is disposed in the receiving slot 102 of the body 10, and the driving component 210 is coupled to the arm 220 to provide power to the arm 220 to drive the arm 220 to be put down or lowered.
  • the arm 220 is coupled to the mounting arm 240 for mounting the power assembly 30, the first camera assembly 40, and the landing gear assembly 60.
  • the two ends of the fixing rod 230 respectively articulate the body 10 and the mounting arm 240 for applying a pulling force to the arm 12 and the mounting arm 240 toward the body 10, so that the arm 220 It can be stowed or lowered stably.
  • the drive assembly 210 is mounted to the body 10.
  • the driving assembly 210 includes a driving device 212, a screw 214, a movable member 216, and a driving member 218.
  • the driving device 212 is fixedly mounted to the body 10 and coupled to the screw 214 for driving the screw 214 to rotate.
  • the screw 214 is fixedly connected to the rotating shaft of the driving device 212 at one end, and is rotatably connected to the body 10 at the other end.
  • the movable member 216 is sleeved on the screw 214 and can reciprocate linearly along the axis of the screw 214 as the screw 214 rotates.
  • the number of the driving members 218 is two, one end of one of the driving members 218 is hinged to one end of the movable member 216, and the other end of the driving member 218 is hinged to the other end of the movable member 216.
  • the driving device 212 includes a motor for driving the screw 214 to rotate, so that the movable member 216 reciprocates along the axis of the screw 214 as the screw 214 rotates. motion.
  • the screw 214 can be omitted, the driving device 212 can be one of a cylinder or a hydraulic cylinder, and the driving device 212 is connected to the movable member 216 for The movable member 216 is driven to perform a reciprocating linear motion.
  • the number of the arms 220 is two, and the two arms 220 have an angle therebetween, and the two arms 220 are respectively located on opposite sides of the body 10.
  • Each of the arms 220 includes an arm body 222 and a mounting seat 224, and one end of the arm body 222 is inserted into and fixed to the mounting seat 224.
  • the two mounting seats 224 are hinged to each other, and one end of each of the driving members 218 away from the movable member 216 is hinged with a corresponding one of the mounting seats 224.
  • the driving device 212 drives the screw 214 to rotate, and drives the movable member 216 to reciprocate linearly along the axis of the screw 214, driven by the movable member 216.
  • the driving member 218 drives the two arms 220 to be stowed or lowered, so that the angle between the two arms 220 is reduced or increased.
  • each of the driving members 218 includes a body portion 2180 , a first connecting portion 2182 and a second connecting portion 2184 .
  • the first connecting portion 2182 has a rod shape, and the two first connecting portions 2182 extend from one side of the main body portion 2180, and the ends of the two first connecting portions 2182 are spaced apart from each other.
  • the second connecting portion 2184 is also in the shape of a rod, and the two second connecting portions 2184 extend from the other side of the main body portion 2180, and the ends of the two second connecting portions 2184 are spaced apart. Settings.
  • the ends of the two second connecting portions 2184 are located on both sides of the movable member 216 and are hinged to one end of the movable member 216.
  • the mount 224 includes a tubular body portion 2242, a pin 2244, and a hinge portion 2246.
  • the tubular body portion 2242 is provided with a mounting hole (not shown), and one end of the arm body 222 is inserted into and fixed to the mounting hole.
  • the number of the pins 2244 is two, and the two pins 2244 are fixedly mounted on opposite sides of the tube portion 2242, respectively, and each of the pins 2244 and a corresponding first connecting portion
  • the end of the 2182 is hinged such that the drive member 218 is hinged to the mount 224.
  • the hinges 2246 are generally triangular plate-like in number, and the two hinge portions 2246 extend from one end of the tubular body portion 2242, and the ends of the two hinge portions 2246 are spaced apart.
  • the ends of the two hinges 2246 of one of the mounts 224 are alternately overlapped with the ends of the two hinges 2246 of the other of the mounts 224, and the hinges 2246 of the two mounts 224 The ends are hinged to each other.
  • the fixing rod 230 includes a rod body 232 and a connecting member 234. One end of the rod body 232 is hinged to the body 10. The other end of the rod body 232 is hinged to one end of the connecting member 234, and the other end of the connecting member 234 is The arm 240 is hinged.
  • the power assembly 30 provides an upward pulling force to the end of the arm 220 away from the fuselage 10 and the mounting arm 240, the fixing rod 230 is directed to the arm 220 and
  • the mounting arm 240 provides a pulling force toward the body 10 to prevent further rotation of the arm 220 relative to the body 10 such that the arm 220 is in a steady state.
  • the number of the mounting arms 240 is two, and each of the mounting arms 240 is substantially a straight rod, and a middle portion thereof is connected to an end of the arm 220 away from the body 10. Two of the mounting arms 240 are disposed in parallel with each other on opposite sides of the body 10. It can be understood that in some other embodiments, the shape and arrangement of the mounting arm 240 may vary according to actual needs. For example, the mounting arm 240 may be a curved rod or the like.
  • the power assembly 30 includes a motor and a propeller mounted to the motor for providing flight power to the UAV 100.
  • the number of the power components 30 is four, and each of the two power components 30 is respectively mounted at opposite ends of a corresponding one of the mounting arms 240.
  • the number of power assemblies 30 may be increased or decreased depending on the situation, for example, reduced to 1, 2, or increased to 6, 8 or the like, for example, when the power is When the number of the components 30 is two, the mounting arm 240 may be omitted, and each of the power components 30 may be fixedly mounted to one end of the arm 220 away from the body 10; for example, when the number of the power components 30 is When it is 6, 8 times, the number of the arm 220 and the mounting arm 240 can be increased accordingly.
  • the number of the first camera assemblies 40 is two, and each of the first camera assemblies 40 includes a mounting rod 42, a first platform 44, and a first camera 46.
  • One end of the mounting rod 42 is fixedly mounted to the middle of the mounting arm 240, and the other end of the mounting rod 42 is detachably mounted to the first platform 44.
  • the mounting bar 42 is a length adjustable structure, for example, a telescoping structure to accommodate different sizes of the UAV 100.
  • the first pan/tilt head 44 is a three-axis stabilization pan/tilt that stabilizes the first camera device 46 in flight on three axes: a heading axis (Yaw), pitching Pitch and roll.
  • the pitch axis is perpendicular to the roll axis
  • the heading axis is perpendicular to the pitch axis and the roll axis.
  • the first platform 44 includes a first motor, a second motor, and a third motor.
  • the central axis of the rotor of the first motor is coaxial with the roll axis.
  • the central axis of the rotor of the second motor is coaxial with the pitch axis, and the central axis of the rotor of the third motor is coaxial with the heading axis.
  • the stator of the third motor is detachably mounted to one end of the mounting rod 42 away from the mounting arm 240 by a fixing base, the rotor of the third motor is coupled to the stator of the second motor, and the rotor of the second motor is coupled to the first motor stator.
  • the third motor can be omitted, and the stator of the second motor is detachably mounted to the other end of the mounting rod 42 through a fixing seat.
  • the first imaging device 46 is fixed to the rotor of the first motor mounted on the first platform 44.
  • the first camera device 46 can be a camera, a camera, a camera, etc., which can include at least one lens, for example each of the first camera devices 46 includes two lenses disposed away from each other.
  • the two first camera devices 46 are located on the same plane.
  • the number of the first camera assemblies 40 may be at least two, as long as at least one of the camera assemblies 40 are disposed on opposite sides of the body 10 to complete panoramic shooting.
  • the first camera devices 46 of at least two of the first camera assemblies 40 are located in the same plane.
  • the first pan/tilt head 44 may also be a single-axis pan/tilt head; or the first pan-tilt head 44 is omitted, and the first camera device 46 is directly mounted on the Mounting rod 42.
  • the second camera assembly 50 includes a second cloud platform 54 and a second camera device 56.
  • the second camera platform 54 is mounted on the body 10, and the second camera device 56 is mounted on the second camera platform. 54.
  • the second camera assembly 50 is located on the lower side of the body 10 when the UAV 100 is flying.
  • the second pan/tilt head 54 is a three-axis stabilization pan/tilt that stabilizes the second camera device 56 in flight on three axes: a heading axis (Yaw), pitching Pitch and roll.
  • the pitch axis is perpendicular to the roll axis
  • the heading axis is perpendicular to the pitch axis and the roll axis.
  • the second platform 54 includes a first motor, a second motor, and a third motor.
  • the central axis of the rotor of the first motor is coaxial with the roll axis.
  • the central axis of the rotor of the second motor is coaxial with the pitch axis, and the central axis of the rotor of the third motor is coaxial with the heading axis.
  • the stator of the third motor is mounted to the fuselage 10 through a mount, the rotor of the third motor is coupled to the stator of the second motor, and the rotor of the second motor is coupled to the stator of the first motor. It can be understood that in some other embodiments, the third motor can be omitted, and the stator of the second motor is mounted to the body 10 through a mount.
  • the second imaging device 56 is fixed to the rotor of the first motor mounted on the second platform 54.
  • the second camera device 56 can be a camera, a camera, a camera, etc., which can include at least one lens, for example each of the second camera devices 56 includes two lenses disposed away from each other.
  • the number of the second camera assembly 50 is not limited to one, and may be correspondingly increased according to actual needs, for example, increased to 2 or 4, and 2 or 4 of the second camera assemblies 50 are installed in the office.
  • the second pan/tilt head 54 may also be a single-axis pan/tilt head; or the second pan-tilt head 54 is omitted, and the second camera device 56 is directly mounted on the Body 10.
  • the landing gear assembly 60 includes a landing bar 602 and a support bar 604.
  • One end of the landing rod 602 is fixedly mounted on one end of the mounting arm 240, the landing rod 602 is at an acute angle with the mounting arm 240, and one end of the supporting rod 604 is fixedly mounted to the mounting arm 240.
  • the other end of the support rod 604 is fixedly mounted to the landing rod 602 and spaced apart from the end of the landing rod 602 by a predetermined distance.
  • the support rod 604 forms a triangle with a portion of the landing rod 602 and a portion of the mounting arm 240.
  • the landing gear assembly 60 can further include a drive device, which can be a cylinder or a hydraulic cylinder mounted to the mounting arm 240, the support rod 604 One end is mounted to the drive device and the other end is mounted to the landing bar 602, and one end of the landing bar 602 is hinged to the mounting arm 240.
  • the drive device can drive the support rod 604 to move linearly along the axis of its drive rod, thereby driving the landing rod 602 to rotate relative to the mounting arm 240 such that the landing rod 602 can be lowered or Collapse.
  • the two first camera assemblies 40 located on opposite sides of the body 10 can collectively complete 360-degree panoramic shooting to ensure 360-degree panoramic view at the same time.
  • the image can satisfy the 3-dimensional stereo experience in virtual reality.
  • the two first camera assemblies 40 are mounted on the arm assembly 20, and have a wide viewing angle, are not blocked by the body 10 or the mounting device, and can realize panoramic shooting without dead angle.
  • the mounting bar 42 is a length adjustable structure that can accommodate different sizes of the UAV 100.
  • the driving assembly 210 can drive the two armes 220 such that the angle between the two arms 220 is increased or decreased, so that between the two first camera assemblies 40 can be adjusted.
  • the spacing is adapted to suit different shooting requirements.

Abstract

一种无人飞行器，包括：机身，机臂组件，动力组件以及第一摄像组件。所述机臂组件安装于所述机身；所述动力组件安装于所述机臂组件，用于为所述无人飞行器提供飞行动力；至少两个所述第一摄像组件分别安装于所述机臂组件，所述机身的相对两侧各设置至少一个所述第一摄像组件。无人飞行器飞行时，位于所述机身的相对两侧的至少两个所述第一摄像组件可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像。至少两个所述第一摄像组件安装于所述机臂组件，使得其视角开阔，不会被所述机身或机载设备遮挡，可实现无死角全景拍摄。

Description

一种无人飞行器
申请要求于2017年9月30日申请的、申请号为201710939715.7、申请名称为“一种无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及飞行器领域，尤其涉及一种具有拍摄功能的无人飞行器。
【背景技术】
无人驾驶飞机，简称无人飞行器(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人飞行器通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。
在目前的无人飞行器中，常用的实现全景拍摄的摄像组件视角较窄，容易被机身或其它搭载设备遮挡，不能完全满足使用需求。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种可实现全景拍摄并且拍摄视角开阔的无人飞行器。
本发明实施例解决其技术问题采用以下技术方案：
一种无人飞行器，包括：机身，机臂组件，动力组件以及第一摄像组件。所述机臂组件安装于所述机身；所述动力组件安装于所述机臂组件，用于为所述无人飞行器提供飞行动力；至少两个所述第一摄像组件分别安装于所述机臂组件，所述机身的相对两侧各设置至少一个所述第一摄像组件。
可选地，每个所述第一摄像组件包括第一摄像装置，所述第一摄像装置包括至少一个镜头。
可选地，所述第一摄像组件包括安装杆和第一云台，所述安装杆的一端安装于所述机臂组件，所述安装杆的另一端可拆卸地安装于所述第一云台，所述第一摄像装置安装于所述第一云台。
可选地，所述第一云台为三轴增稳云台，包括第一电机、第二电机以及第三电机；
所述第三电机的定子可拆卸地安装于所述安装杆远离所述机臂组件的一端，所述第三电机的转子连接第二电机的定子，而第二电机的转子连接第一电机的定子，所述第一摄像装置固定安装于所述第一电机的转子。
可选地，所述安装杆为长度可调整结构。
可选地，上述无人飞行器包括至少一个第二摄像组件，所述第二摄像组件安装于所述机身；在所述无人飞行器处于飞行姿态时，所述第二摄像组件位于所述机身的下侧。
可选地，每个所述第二摄像组件包括第二云台和第二摄像装置，所述第二云台固定安装于所述机身，所述第二摄像装置安装于所述第二云台。
可选地，所述机臂组件包括驱动组件和机臂；
两个所述机臂的一端相互铰接，两个所述机臂分别位于所述机身的相对两侧；
所述驱动组件安装于所述机身，并且所述驱动组件与两个所述机臂连接，用于驱动两个所述机臂，使得两个所述机臂之间的夹角增大或减小。
可选地，所述驱动组件包括：驱动装置、活动件以及驱动件；
所述驱动装置固定安装于所述机身，用于驱动所述活动件做往复直线运动；
所述驱动件的数量为两个，其中一个所述驱动件的一端铰接所述活动件 的一端，另一个所述驱动件的一端铰接所述活动件的另一端，每个所述驱动件远离所述活动件的一端铰接一个相应的所述机臂。
可选地，所述驱动组件包括螺杆；
所述驱动装置与所述螺杆连接，用于驱动所述螺杆转动；
所述活动件套设于所述螺杆，并可随着所述螺杆的转动，沿所述螺杆的轴线做往复直线运动。
可选地，每个所述驱动件包括本体部，第一连接部和第二连接部；
两个所述第一连接部从所述本体部的一侧延伸而出，两个所述第一连接部的末端间隔设置，两个所述第一连接部的末端铰接一个相应的所述机臂；
两个所述第二连接部从所述本体部的另一侧延伸而出，两个所述第二连接部的末端间隔设置，两个所述第二连接部的末端位于所述活动件的两侧，并与所述活动件的一端铰接。
可选地，每个所述机臂包括臂体和安装座；
所述臂体的一端固定于所述安装座；
两个所述安装座相互铰接，每个所述驱动件远离所述活动件的一端铰接一个相应的所述安装座。
可选地，所述安装座包括管体部以及铰接部；
所述臂体的一端插入并固定于所述管体部；
两个所述铰接部从所述管体部的一端延伸而出，两个所述铰接部的末端间隔设置，其中一个所述安装座的两个铰接部的末端与另一个所述安装座的两个铰接部的末端交替重叠设置，并且两个所述安装座的所述铰接部的末端相互铰接。
可选地，所述机臂组件包括安装臂，每个所述安装臂的中部与一个对应的所述机臂远离所述机身的一端连接；
一个所述第一摄像组件安装于一个相应的所述安装臂的中部。
可选地，所述机臂组件包括固定杆，所述固定杆包括杆体和连接件，所述杆体的一端铰接所述机身，所述杆体的另一端铰接所述连接件的一端，所述连接件的另一端铰接一个相应的所述安装臂。
可选地，上述无人飞行器包括起落架组件，所述起落架组件包括着落杆和支撑杆；
所述着落杆的一端固定安装于所述安装臂，所述着落杆与所述安装臂之间呈锐角；
所述支撑杆的一端固定安装于所述安装臂，所述支撑杆的另一端固定安装于所述着落杆，并与所述着落杆的末端相隔预设的距离。
与现有技术相比较，在本发明实施例的无人飞行器飞行时，位于所述机身的相对两侧的至少两个所述第一摄像组件可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像，进而能满足虚拟现实中的3维立体体验感。至少两个所述第一摄像组件安装于所述机臂组件，使得其视角开阔，不会被所述机身遮挡，可实现无死角全景拍摄。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的一种无人飞行器的立体图；
图2为图1所示的无人飞行器的主视图；
图3为图1所示的无人飞行器的机身与机臂组件的立体图，其中所述机身的一部分被省略；
图4为图3所示的机身与机臂组件的侧视图；
图5为图4中沿A-A线的剖视图；
图6为图3所示的机身与机臂组件的分解图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1和图2，本发明其中一实施例提供的一种无人飞行器100，包括机身10，机臂组件20，动力组件30，第一摄像组件40，第二摄像组件50以及起落架组件60。所述机臂组件20安装于所述机身10，所述动力组件30安装于所述机臂组件20，用于为所述无人飞行器100提供飞行动力，两个所述第一摄像组件40分别安装于所述机臂组件20，并位于所述机身10的相对两侧，所述第二摄像组件50安装于所述机身10，所述起落架组件60安装于所述机臂组件20。
所述机身10内包括由MCU等电子元器件组成的控制电路组件，该控制电路组件包括多个控制模块，如，用于控制所述机臂组件20收起或放下的控制模块，用于控制所述无人飞行器100飞行姿态的飞行控制模块、用于导航所述无人飞行器100的定位模块、以及用于处理相关机载设备所获取的环境信息的数据处理模块等。
请一并参阅图3至图5，所述机身10开设收容槽102，用于部分收容所述机臂组件20。
所述机臂组件20包括驱动组件210，机臂220，固定杆230和安装臂240。 所述驱动组件210设置于所述机身10的收容槽102，并且所述驱动组件210与所述机臂220连接，向所述机臂220提供动力，驱动所述机臂220收起或放下。所述机臂220与所述安装臂240连接，所述安装臂240用于安装所述动力组件30，所述第一摄像组件40以及所述起落架组件60。所述固定杆230的两端分别铰接所述机身10和所述安装臂240，用于向所述机臂220和安装臂240施加朝向所述机身10的拉力，使得所述机臂220可以稳定地收起或放下。
所述驱动组件210安装于所述机身10。所述驱动组件210包括：驱动装置212、螺杆214，活动件216以及驱动件218。所述驱动装置212固定安装于所述机身10，其与所述螺杆214连接，用于驱动所述螺杆214转动。所述螺杆214一端固定连接所述驱动装置212的转轴，另一端转动连接于所述机身10。所述活动件216套设于所述螺杆214，并可随着所述螺杆214的转动，沿所述螺杆214的轴线做往复直线运动。所述驱动件218的数量为两个，其中一个所述驱动件218的一端铰接所述活动件216的一端，另一个所述驱动件218的一端铰接所述活动件216的另一端。
在本实施例中，所述驱动装置212包括一电机，用于驱动所述螺杆214转动，进而使得所述活动件216随着所述螺杆214的转动，沿所述螺杆214的轴线做往复直线运动。
可以理解的是，在一些其它实施例中，所述螺杆214可以省略，所述驱动装置212可以是气缸或液压缸中的一种，所述驱动装置212与所述活动件216连接，用于驱动所述活动件216做往复直线运动。
所述机臂220的数量为两个，两个所述机臂220之间具有夹角，两个所述机臂220分别位于所述机身10的相对两侧。每个所述机臂220包括臂体222和安装座224，所述臂体222的一端插入并固定于所述安装座224。两个所述安装座224相互铰接，每个所述驱动件218远离所述活动件216的一端铰接一个相应的所述安装座224。在所述驱动装置212工作时，所述驱动装置212驱动所述螺杆214转动，带动所述活动件216沿所述螺杆214的轴线做往复直线运动，在所述活动件216的驱动下，所述驱动件218驱动两个所述机臂220收起或放下，使得两个所述机臂220之间的夹角减小或增大。
请参阅图6，每个所述驱动件218包括本体部2180，第一连接部2182和第二连接部2184。所述第一连接部2182为杆状，两个所述第一连接部2182从所述本体部2180的一侧延伸而出，两个所述第一连接部2182的末端间隔设置。相似地，所述第二连接部2184亦为杆状，两个所述第二连接部2184从所述本体部2180的另一侧延伸而出，两个所述第二连接部2184的末端间隔设置。两个所述第二连接部2184的末端位于所述活动件216的两侧，并与所述活动件216的一端铰接。
所述安装座224包括管体部2242，销轴2244以及铰接部2246。所述管体部2242开设有安装孔(图未示)，所述臂体222的一端插入并固定于所述安装孔。所述销轴2244的数量为两个，两个所述销轴2244分别固定安装于所述管体部2242的相对两侧，每个所述销轴2244与一个相应的所述第一连接部2182的末端铰接，使得所述驱动件218铰接于所述安装座224。所述铰接部2246大致为三角形板状，数量为两个，两个所述铰接部2246从所述管体部2242的一端延伸而出，两个所述铰接部2246的末端间隔设置。其中一个所述安装座224的两个铰接部2246的末端与另一个所述安装座224的两个铰接部2246的末端交替重叠设置，并且两个所述安装座224的所述铰接部2246的末端相互铰接。
所述固定杆230包括杆体232和连接件234，所述杆体232的一端铰接所述机身10，所述杆体232的另一端铰接所述连接件234的一端，所述连接件234的另一端铰接安所述装臂240。当无人飞行器100处于飞行状态时，所述动力组件30向所述机臂220远离所述机身10的一端和安装臂240提供向上的拉力，所述固定杆230向所述机臂220和安装臂240提供朝向所述机身10的拉力，以阻止所述机臂220相对于所述机身10进一步的转动，从而使得所述机臂220处于稳定状态。
所述安装臂240的数量为两个，每个所述安装臂240大致为直杆，其中部与所述机臂220远离机身10的一端连接。两个所述安装臂240相互平行设置于所述机身10的相对两侧。可以理解的是，在一些其它实施例中，所述安装臂240的形状以及设置方式可根据实际需求变化，例如，所述安装臂240可以为弯杆等。
请复参阅图1和图2，所述动力组件30包括电机和安装于所述电机的螺旋桨，用于为所述无人飞行器100提供飞行动力。所述动力组件30的数量为四个，每两个所述动力组件30分别安装于一个对应的所述安装臂240的相对两端。
可以理解的是，在一些其他实施例中，所述动力组件30的数量可根据情况增加或减少，例如，减少至1个、2个或者增加至6、8个等，例如，当所述动力组件30的数量为两个时，所述安装臂240可以省略，每个所述动力组件30可固定安装于所述机臂220远离机身10的一端；例如，当所述动力组件30的数量为6、8个时，可相应增加所述机臂220和安装臂240的数量。
所述第一摄像组件40的数量为两个，每个所述第一摄像组件40包括安装杆42，第一云台44以及第一摄像装置46。所述安装杆42的一端固定安装于所述安装臂240的中部，所述安装杆42的另一端可拆卸地安装于所述第一云台44。所述安装杆42为长度可调整结构，例如，采用伸缩结构，以适配不同尺寸的无人飞行器100。
所述第一云台44为三轴增稳云台，所述三轴增稳云台在三个轴上对飞行中的所述第一摄像装置46进行增稳：航向轴(Yaw)，俯仰轴(Pitch)和翻滚轴(Roll)。所述俯仰轴垂直于翻滚轴，航向轴垂直于俯仰轴和翻滚轴。
所述第一云台44包括：第一电机、第二电机以及第三电机。第一电机的转子的中心轴与翻滚轴同轴。第二电机的转子的中心轴与俯仰轴同轴，而第三电机的转子的中心轴与航向轴同轴。第三电机的定子通过固定座可拆卸地安装于所述安装杆42远离所述安装臂240的一端，第三电机的转子连接第二电机的定子，而第二电机的转子连接第一电机的定子。
可以理解的是，在一些其它实施例中，所述第三电机可以省略，第二电机的定子通过固定座可拆卸地安装于所述安装杆42的另一端。
所述第一摄像装置46固定安装于第一云台44的第一电机的转子。所述第一摄像装置46可以为相机、摄影机、摄像头等，其可以包括至少一个镜头，例如每个所述第一摄像装置46包括两个背向设置的镜头。两个所述第一摄像装置46位于同一平面。
可以理解的是，所述第一摄像组件40的数量可以为至少两个，只要所述 机身10的相对两侧各设置至少一个所述摄像组件40即可完成全景拍摄。至少两个所述第一摄像组件40的第一摄像装置46位于同一平面。
可以理解的是，在一些其它实施例中，所述第一云台44也可为单轴云台；或者，所述第一云台44省略，所述第一摄像装置46直接安装于所述安装杆42。
所述第二摄像组件50包括第二云台54和第二摄像装置56，所述第二云台54安装于所述机身10，所述第二摄像装置56安装于所述第二云台54。在所述无人飞行器100飞行时，所述第二摄像组件50位于所述机身10的下侧。
所述第二云台54为三轴增稳云台，所述三轴增稳云台在三个轴上对飞行中的所述第二摄像装置56进行增稳：航向轴(Yaw)，俯仰轴(Pitch)和翻滚轴(Roll)。所述俯仰轴垂直于翻滚轴，航向轴垂直于俯仰轴和翻滚轴。
所述第二云台54包括：第一电机、第二电机以及第三电机。第一电机的转子的中心轴与翻滚轴同轴。第二电机的转子的中心轴与俯仰轴同轴，而第三电机的转子的中心轴与航向轴同轴。第三电机的定子通过固定座安装于所述机身10，第三电机的转子连接第二电机的定子，而第二电机的转子连接第一电机的定子。可以理解的是，在一些其它实施例中，所述第三电机可以省略，第二电机的定子通过固定座安装于所述机身10。
所述第二摄像装置56固定安装于所述第二云台54的第一电机的转子。所述第二摄像装置56可以为相机、摄影机、摄像头等，其可以包括至少一个镜头，例如每个所述第二摄像装置56包括两个背向设置的镜头。
可以理解的是，所述第二摄像组件50的数量不限于一个，可以根据实际需求相应增加，例如增加至2个或4个，2个或4个所述第二摄像组件50都安装于所述机身10。
可以理解的是，在一些其它实施例中，所述第二云台54也可为单轴云台；或者，所述第二云台54省略，所述第二摄像装置56直接安装于所述机身10。
请复参阅图3至图5，所述起落架组件60包括着落杆602和支撑杆604。所述着落杆602的一端固定安装于所述安装臂240的一端，所述着落杆602与所述安装臂240之间呈锐角，所述支撑杆604的一端固定安装于所述安装 臂240，所述支撑杆604的另一端固定安装于所述着落杆602，并与所述着落杆602的末端相隔预设的距离。所述支撑杆604与部分所述着落杆602以及部分所述安装臂240构成三角形，在所述无人飞行器100着落时，所述起落架组件60可稳固支撑所述无人飞行器100。
可以理解的是，在一些其它实施例中，所述起落架组件60还可包括驱动装置，所述驱动装置可为气缸或液压缸，其安装于所述安装臂240，所述支撑杆604的一端安装于所述驱动装置，另一端安装于所述着落杆602，所述着落杆602的一端铰接于所述安装臂240。使用时，所述驱动装置可驱动所述支撑杆604沿其驱动杆的轴线作直线运动，从而驱动所述着落杆602相对于所述安装臂240转动，使得所述着落杆602可被放下或收起。
在所述无人飞行器100飞行时，位于所述机身10的相对两侧的两个所述第一摄像组件40可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像，进而能满足虚拟现实中的3维立体体验感。两个所述第一摄像组件40安装于所述机臂组件20，其视角开阔，不会被所述机身10或搭载设备遮挡，且可实现无死角全景拍摄。
另外，所述安装杆42为长度可调整结构，可以适配不同尺寸的所述无人飞行器100。
而且，所述驱动组件210可驱动两个所述机臂220，使得两个所述机臂220之间的夹角增大或减小，从而可调整两个所述第一摄像组件40之间的间距，以适应不同的拍摄要求。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (16)

  1. 一种无人飞行器(100)，其特征在于，包括：
    机身(10)；
    机臂组件(20)，所述机臂组件(20)安装于所述机身(10)；
    动力组件(30)，所述动力组件(30)安装于所述机臂组件(20)，用于为所述无人飞行器(100)提供飞行动力；
    第一摄像组件(40)，至少两个所述第一摄像组件(40)分别安装于所述机臂组件(20)，所述机身(10)的相对两侧各设置至少一个所述第一摄像组件(40)。
  2. 根据权利要求1所述的无人飞行器(100)，其特征在于，每个所述第一摄像组件(40)包括第一摄像装置(46)，所述第一摄像装置(46)包括至少一个镜头。
  3. 根据权利要求2所述的无人飞行器(100)，其特征在于，所述第一摄像组件(40)包括安装杆(42)和第一云台(44)，所述安装杆(42)的一端安装于所述机臂组件(20)，所述安装杆(42)的另一端可拆卸地安装于所述第一云台(44)，所述第一摄像装置(46)安装于所述第一云台(44)。
  4. 根据权利要求3所述的无人飞行器(100)，其特征在于，所述第一云台(44)为三轴增稳云台，包括第一电机、第二电机以及第三电机；
    所述第三电机的定子可拆卸地安装于所述安装杆(42)远离所述机臂组件(20)的一端，所述第三电机的转子连接第二电机的定子，而第二电机的转子连接第一电机的定子，所述第一摄像装置(46)固定安装于所述第一电机的转子。
  5. 根据权利要求3或4所述的无人飞行器(100)，其特征在于，所述安装杆(42)为长度可调整结构。
  6. 根据权利要求1至5任一项所述的无人飞行器(100)，其特征在于，包括至少一个第二摄像组件(50)，所述第二摄像组件(50)安装于所述机身(10)；在所述无人飞行器(100)处于飞行姿态时，所述第二摄像组件(50)位于所述机身(10)的下侧。
  7. 根据权利要求6所述的无人飞行器(100)，其特征在于，每个所述第二摄像组件(50)包括第二云台(54)和第二摄像装置(56)，所述第二云台(54)安装于所述机身(10)，所述第二摄像装置(56)安装于所述第二云台(54)。
  8. 根据权利要求1至7任一项所述的无人飞行器(100)，其特征在于，所述机臂组件(20)包括驱动组件(210)和机臂(220)；
    两个所述机臂(220)的一端相互铰接，两个所述机臂(220)分别位于所述机身(10)的相对两侧；
    所述驱动组件(210)安装于所述机身(10)，并且所述驱动组件(210)与两个所述机臂(220)连接，用于驱动两个所述机臂(220)，使得两个所述机臂(220)之间的夹角增大或减小。
  9. 根据权利要求8所述的无人飞行器(100)，其特征在于，所述驱动组件(210)包括：驱动装置(212)、活动件(216)以及驱动件(218)；
    所述驱动装置(212)固定安装于所述机身(10)，用于驱动所述活动件(216)做往复直线运动；
    所述驱动件(218)的数量为两个，其中一个所述驱动件(218)的一端铰接所述活动件(216)的一端，另一个所述驱动件(218)的一端铰接所述活动件(216)的另一端，每个所述驱动件(218)远离所述活动件(216)的一端铰接一个相应的所述机臂(220)。
  10. 根据权利要求9所述的无人飞行器(100)，其特征在于，所述驱动组件(210)包括螺杆(214)；
    所述驱动装置(212)与所述螺杆(214)连接，用于驱动所述螺杆(214) 转动；
    所述活动件(216)套设于所述螺杆(214)，并可随着所述螺杆(214)的转动，沿所述螺杆(214)的轴线做往复直线运动。
  11. 根据权利要求9或10所述的无人飞行器(100)，其特征在于，每个所述驱动件(218)包括本体部(2180)，第一连接部(2182)和第二连接部(2184)；
    两个所述第一连接部(2182)从所述本体部(2180)的一侧延伸而出，两个所述第一连接部(2182)的末端间隔设置，两个所述第一连接部(2182)的末端铰接一个相应的所述机臂(220)；
    两个所述第二连接部(2184)从所述本体部(2180)的另一侧延伸而出，两个所述第二连接部(2184)的末端间隔设置，两个所述第二连接部(2184)的末端位于所述活动件(216)的两侧，并与所述活动件(216)的一端铰接。
  12. 根据权利要求9所述的无人飞行器(100)，其特征在于，每个所述机臂(220)包括臂体(222)和安装座(224)；
    所述臂体(222)的一端固定于所述安装座(224)；
    两个所述安装座(224)相互铰接，每个所述驱动件(218)远离所述活动件(216)的一端铰接一个相应的所述安装座(224)。
  13. 根据权利要求12所述的无人飞行器(100)，其特征在于，所述安装座(224)包括管体部(2242)以及铰接部(2246)；
    所述臂体(222)的一端插入并固定于所述管体部(2242)；
    两个所述铰接部(2246)从所述管体部(2242)的一端延伸而出，两个所述铰接部(2246)的末端间隔设置，其中一个所述安装座(224)的两个铰接部(2246)的末端与另一个所述安装座(224)的两个铰接部(2246)的末端交替重叠设置，并且两个所述安装座(224)的所述铰接部(2246)的末端相互铰接。
  14. 根据权利要求8-13任一项所述的无人飞行器(100)，其特征在于， 所述机臂组件(20)包括安装臂(240)，每个所述安装臂(240)的中部与一个对应的所述机臂(220)远离所述机身(10)的一端连接；
    一个所述第一摄像组件(40)安装于一个相应的所述安装臂(240)的中部。
  15. 根据权利要求14所述的无人飞行器(100)，其特征在于，所述机臂组件(20)包括固定杆(230)，所述固定杆(230)包括杆体(232)和连接件(234)，所述杆体(232)的一端铰接所述机身(10)，所述杆体(232)的另一端铰接所述连接件(234)的一端，所述连接件(234)的另一端铰接一个相应的所述安装臂(240)。
  16. 根据权利要求14或15所述的无人飞行器(100)，其特征在于，包括起落架组件(60)，所述起落架组件(60)包括着落杆(602)和支撑杆(604)；
    所述着落杆(602)的一端固定安装于所述安装臂(240)，所述着落杆(602)与所述安装臂(240)之间呈锐角；
    所述支撑杆(604)的一端固定安装于所述安装臂(240)，所述支撑杆(604)的另一端固定安装于所述着落杆(602)，并与所述着落杆(602)的末端相隔预设的距离。
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