WO2019100825A1

WO2019100825A1 - Unmanned aerial vehicle

Info

Publication number: WO2019100825A1
Application number: PCT/CN2018/106074
Authority: WO
Inventors: 彭淮; 张正力
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-11-22
Filing date: 2018-09-18
Publication date: 2019-05-31
Also published as: CN207631492U

Abstract

An unmanned aerial vehicle (100) comprises a fuselage (10), an arm (20), a power device (30), and a photographing assembly (40). One end of the arm (20) is installed at the fuselage (10). The power device (30) is installed at the other end of the arm (20) away from the fuselage (10), and is used to provide flight power to the unmanned aerial vehicle (100). The photographing assembly (40) is installed at the other end of the arm (20) away from the fuselage (10), and is used to capture images. The above arrangement can prevent a camera of the photographing assembly (40) from being blocked by a landing gear, a propeller and the arm (20) of the unmanned aerial vehicle, such that the unmanned aerial vehicle (100) can perform panoramic photographing.

Description

Unmanned aerial vehicle

[Cross-reference to related applications]

The present application claims priority to Chinese Patent Application Serial No. No. No. No. No. No.

[Technical Field]

The invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle.

【Background technique】

Unmanned Aerial Vehicle (UAV) is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements. 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. At present, the scope of use of unmanned aerial vehicles has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order. The field of anti-terrorism and other fields are widely used.

At present, Augmented Reality (AR) and Virtual Reality (VR) technologies are developing rapidly, and their demand for panoramic video shooting is also increasing. The use of unmanned aerial vehicles for aerial photography is to obtain panoramic images of real scenes. An important way. In order to accurately capture images at multiple angles, when using an unmanned aerial vehicle for panoramic imaging, the camera mounted on the UAV needs to avoid the occlusion of the landing gear, the propeller, and the UAV arm.

In the process of implementing the present invention, the inventors have found that the prior art has at least the following problem: in the existing unmanned aerial vehicle, the camera is suspended under the fuselage of the unmanned aerial vehicle through the gimbal; because the camera located at the position is subjected to Panoramic gearing is not possible with the landing gear, propellers, and the UAV arm.

[Summary of the Invention]

In order to solve the above technical problem, an embodiment of the present invention provides a human-free aircraft capable of realizing panoramic imaging.

To solve the above technical problem, the embodiment of the present invention provides the following technical solutions:

An unmanned aerial vehicle comprising: a fuselage;

An arm that is coupled to the fuselage;

a power unit disposed at an end of the arm away from the fuselage for providing power for the UAV to fly;

a camera assembly mounted on an end of the arm away from the body for capturing an image.

In some embodiments, the camera assembly is located in an extending direction of the arm and is disposed at an extreme end of the arm.

In some embodiments, the camera assembly includes a pan/tilt head and an image pickup device, and the pan/tilt head is mounted with the camera device, and the pan/tilt head is mounted at an extreme end of the arm and located at an extending direction of the arm on.

In some embodiments, the pan/tilt head includes: a bracket, a pitch axis motor coupled to the bracket, and a roll axis motor located in the camera device; the pitch axis motor is configured to drive the camera device to pitch The shaft rotates, and the roll motor is used to drive the camera to rotate about a roll axis.

In some embodiments, the bracket includes a base and a connecting arm, the base being coupled to an end of the arm away from the body, one end of the connecting arm being coupled to the base, The other end of the connecting arm is coupled to the pitch axis motor.

In some embodiments, the number of the connecting arms is two, the number of the pitch axis motors is one, and the pitch axis motor is connected to one of the connecting arms.

In some embodiments, the number of the connecting arms is two, and the number of the pitch axis motors is two, and the two pitch axis motors are respectively connected to the two connecting arms.

In some embodiments, the camera device includes a housing and a lens module disposed in the housing, the housing being coupled to the pitch axis motor;

The roll motor is mounted in the housing and connected to the lens module, and the roll motor is used to drive the lens module to rotate relative to the housing about a roll axis.

In some embodiments, a damper device is disposed at a connection between the camera assembly and the arm, the damper device includes a first connecting plate, a damper ball, and a second connecting plate, and the damper ball is disposed Between the first connecting plate and the second connecting plate; the first connecting plate is fixedly connected to the arm, and the second connecting plate is fixedly connected to the camera assembly.

In some embodiments, there are four arms, and four of the camera assemblies are respectively disposed on four of the arms.

In some embodiments, there are four camera assemblies, and four of the camera assemblies are respectively disposed on four of the arms.

An unmanned aerial vehicle according to an embodiment of the present invention includes: a fuselage, an arm, a power unit, and a camera assembly, wherein one end of the arm is mounted to the body; and the power device is mounted on the arm away from the The other end of the fuselage is configured to provide power for the UAV to fly; the camera assembly is mounted at an end of the arm away from the body for capturing an image. In the above manner, the camera in the camera assembly can be shielded from the landing gear, the propeller and the UAV arm, so that the UAV can perform panoramic shooting.

[Description of the Drawings]

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a schematic structural view of an image pickup assembly in the unmanned aerial vehicle shown in FIG. 1;

3 is an exploded view of the image pickup device and the roll motor in the image pickup assembly shown in FIG. 2;

Figure 4 is a bottom plan view of the unmanned aerial vehicle of Figure 1.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more central elements can be present. When an element is referred to as being "electrically connected" to another element, it can be directly connected to the other element, or one or more. The orientation or positional relationship of the terms "upper", "lower", "inner", "outer", "bottom" and the like as used in the specification is based on the orientation or positional relationship shown in the drawings, only for convenience of description. The invention and the simplification of the invention are not to be construed as limiting or limiting the invention. Moreover, the terms "first", "second", "third", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in the specification are the same meaning The terms used in the description of the present invention are for the purpose of describing the specific embodiments and are not intended to limit the invention. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

Further, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

As shown in FIG. 1 , an unmanned aerial vehicle 100 according to an embodiment of the present invention includes a body 10 , an arm 20 , a power unit 30 , and a camera assembly 40 . The UAV 100 of the present invention may be a rotary wing unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, or an unmanned aerial vehicle in which a fixed wing and a rotor are mixed. Among them, the rotorcraft unmanned aerial vehicle can be specifically: single-rotor unmanned aerial vehicle, double-rotor unmanned aerial vehicle, three-rotor unmanned aerial vehicle, quadrotor unmanned aerial vehicle, six-rotor unmanned aerial vehicle and eight-rotor unmanned aerial vehicle.

One end of the arm 20 is mounted to the body 10. The arm 20 can be fixedly coupled to the body 10, integrally formed, or foldable relative to the body 10. In an embodiment of the invention, the number of the arms 20 is four, that is, the unmanned aerial vehicle 100 in the present invention is a quadrotor unmanned aerial vehicle. One end of each of the four arms 20 is fixedly coupled to the body 10. The fuselage 10 and the arm 20 are substantially in the shape of a "ten", that is, two non-adjacent arms 20 are on the same straight line, and the adjacent two arms 20 are perpendicular to each other.

The power unit 30 is mounted at an end of the arm 20 away from the body 10 for providing power for the UAV 100 to fly. Correspondingly, the number of the power devices 30 is also four, and the four power devices 30 are respectively mounted on one ends of the four armes 20 away from the airframe 10 for providing the unmanned aerial vehicle. 100 flying power. The power unit 30 includes a motor and a propeller. The motor is fixed to an end of the arm 20 away from the body 10. The motor is coupled to the propeller and drives the propeller to rotate.

The camera assembly 40 is mounted on an end of the arm 20 away from the body 10, and the camera assembly 40 is used to capture an image. In an embodiment of the invention, the camera device 40 is mounted at the extreme end of the body 10 and is located on an extension of the arm 20. That is, the camera assembly 40 is farther from the body 10 than the power unit 30.

In the embodiment, the camera assembly 40 has four, and the four camera assemblies 40 are respectively disposed on the four armes 20. It can be understood that, in some other embodiments, the number of the camera components 40 may be five or more, wherein four camera components 40 are in one-to-one correspondence with the arm 20, and the remaining camera components are 40 can be placed at any position of the UAV 100 according to actual needs.

Specifically, as shown in FIG. 2, in an embodiment of the present invention, the camera assembly 40 includes a pan/tilt head 41 and an imaging device 42. The pan/tilt head 41 carries the camera device 42 to implement the camera device 42. The posture of the image pickup device 42 is fixed or arbitrarily adjusted (for example, changing the height, inclination, and/or direction of the image pickup device 42) and the image pickup device 42 is stably held in the set posture. It can be understood that, in other embodiments, the camera assembly 40 does not include a pan/tilt head 41, and the camera device 42 can be mounted to the body 10 through the damper device.

In an embodiment of the invention, the camera device 42 includes a housing 421 and a lens module 422 disposed in the housing 421. The outer casing 421 has a spherical shape. The imaging device 42 may specifically be a camera, a camera, a camera, or the like.

The pan/tilt head 41 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head. As shown in FIGS. 2 and 3, in the present embodiment, the pan/tilt head 41 is a two-axis pan/tilt head. The pan/tilt head 41 includes a bracket 411, a pitch axis motor 412 connected to the bracket 411, and a roll motor 413 provided in the outer casing 421 of the image pickup device 42. The pitch axis motor 412 is configured to drive the imaging device 42 to rotate about a pitch axis, and the roll axis motor 413 is configured to drive the camera device 42 to rotate about a roll axis.

The bracket 411 is substantially U-shaped and includes a base 4111 and a connecting arm 4112. One end of the connecting arm 4112 is fixedly connected to the base 4111, and the other end of the connecting arm 4112 is connected to the pitch axis motor 412. . The roll axis motor 413 is rotatably coupled to the pitch axis motor 412. In one embodiment of the invention, the number of connecting arms 4112 is two, the number of pitch axis motors 412 is one, and the pitch axis motor 412 is coupled to one of the connecting arms 4112. It can be understood that in other embodiments, the number of connecting arms 4112 is two, and the pan/tilt head 41 may further include two pitch axis motors 412, each of which is mounted on a corresponding one. The other end of the arm 4112 is connected.

The roll motor 413 is mounted in the outer casing 421 and connected to the lens module 422. The roll motor 413 is used to drive the lens module 422 to roll relative to the outer casing 421. The shaft rotates.

In some embodiments, the connection between the camera assembly 40 and the body 10 is further provided with a damping device (not shown), the damping device includes a first connecting plate (not shown), and shock absorption. The ball and a second connecting plate (not shown) are disposed between the first connecting plate and the second connecting plate. The first connecting plate is fixedly connected to the outer side of the body 10, and the second connecting plate is fixedly connected to the camera assembly 40.

As shown in FIG. 4, in the embodiment, the connections of the four lens modules 422 form a rectangle (one lens module 422 is only connected to the adjacent two lens modules 422). The optical axes of the two lens modules 422 located on the two non-adjacent arms 20 are always in the same plane. The optical axes of the adjacent two lens modules 422 are always located in two planes perpendicular to each other. The four lens modules 422 can cooperate and cooperate to capture a 360 degree panoramic image around the UAV 100.

The camera assembly 40 is disposed at the other end of the arm 20, so that the camera assembly 40 can better avoid the occlusion of the landing gear, the propeller, the arm, and the body, so that the camera assembly 40 can obtain a wider range. Scenery or image. In addition, the four camera assemblies 40 can also jointly capture the same target. Since the shooting angles of the lens modules 422 in the four camera assemblies 40 are different, the four lens modules 422 can capture images of the same target for quick targeting. Perform 3D modeling and/or draw stereoscopic maps, etc. Based on the above structural features, the UAV 100 can play an important role in engineering measurement, terrain mapping, and disaster emergency rescue.

Specifically, an end surface of the arm 20 away from one end of the body 10 is fixedly connected to the base 4111 of the platform 41. The camera assembly 40 is mounted on the arm 20 at a farthest distance from the body 10, and the camera assembly 40 is located on a side of the power unit 30 away from the body 10. The camera device 42 in the camera assembly 40 can be protected from the landing gear (usually mounted directly below the fuselage, which is far from the camera assembly), the propeller and the unmanned aerial vehicle arm, so that the unmanned The aircraft 100 can perform panoramic shooting (i.e., the camera 42 can capture images of the UAV 100 obliquely above, above, and below in all directions).

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; in the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the invention as described above, which are not provided in the details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features; and the modifications or substitutions do not deviate from the embodiments of the present invention. The scope of the technical solution.

Claims

An unmanned aerial vehicle (100), comprising:

Body (10);

An arm (20), the arm (20) being connected to the body (10);

a power unit (30) disposed at an end of the arm (20) away from the fuselage (10) for providing power for the UAV (100) to fly;

A camera assembly (40) is mounted on an end of the arm (20) away from the body (10) for taking an image.
The unmanned aerial vehicle (100) according to claim 1, wherein the camera assembly (40) is located in an extending direction of the arm (20) and is disposed at the most of the arm (20) End.
The UAV (100) according to claim 1 or 2, characterized in that

The camera assembly (40) includes a pan/tilt (41) and an imaging device (42), the pan/tilt (41) is equipped with the camera device (42), and the pan/tilt (41) is mounted on the arm ( The last end of 20) is located in the extending direction of the arm (20).
The UAV (100) according to claim 3, wherein

The pan/tilt (41) includes: a bracket (411), a pitch axis motor (412) connected to the bracket (411), and a roll motor (413) located in the camera device (42); A pitch axis motor (412) is configured to drive the camera device (42) to rotate about a pitch axis, and the roll axis motor (413) is configured to drive the camera device (42) to rotate about a roll axis.
The UAV (100) according to claim 4, wherein the bracket (411) comprises a base (4111) and a connecting arm (4112), the base (4111) and the arm ( 20) being connected away from one end of the fuselage (10), one end of the connecting arm (4112) is connected to the base (4111), and the other end of the connecting arm (4112) is connected to the pitch axis motor (412) Connection.
The unmanned aerial vehicle (100) according to claim 5, wherein the number of the connecting arms (4112) is two, the number of the pitch axis motors (412) is one, and the pitch axis motor (412) ) is connected to one of the connecting arms (4112).
The UAV (100) according to claim 5, wherein the number of the connecting arms (4112) is two, the number of the pitch axis motors (412) is two, and the two pitch axis motors (412) is respectively connected to the two connecting arms (4112).
An unmanned aerial vehicle (100) according to any one of claims 4-7, wherein

The camera device (42) includes a housing (421) and a lens module (422) disposed in the housing (421), the housing (421) being coupled to the pitch axis motor (412);

The roll motor (413) is mounted in the casing (421) and connected to the lens module (422), and the roll motor (413) is used to drive the lens module (422) Rotating about the roll axis with respect to the outer casing (421).
An unmanned aerial vehicle (100) according to any one of claims 1-8, wherein

A damper device is disposed at a connection between the camera assembly (40) and the arm (20), the damper device includes a first connecting plate, a damper ball and a second connecting plate, and the damper ball is disposed Between the first connecting plate and the second connecting plate; the first connecting plate is fixedly connected to the arm (20), and the second connecting plate is fixedly connected to the camera assembly (40).
An unmanned aerial vehicle (100) according to any one of claims 1 to 8, wherein

There are four arms (20), and any two adjacent arms (20) are perpendicular to each other.
The UAV aircraft (100) according to claim 10, wherein the camera assembly (40) has four, and the four camera assemblies (40) are respectively disposed on four of the arms (20). )on.