WO2019100825A1 - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
WO2019100825A1
WO2019100825A1 PCT/CN2018/106074 CN2018106074W WO2019100825A1 WO 2019100825 A1 WO2019100825 A1 WO 2019100825A1 CN 2018106074 W CN2018106074 W CN 2018106074W WO 2019100825 A1 WO2019100825 A1 WO 2019100825A1
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arm
camera
unmanned aerial
aerial vehicle
pitch axis
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PCT/CN2018/106074
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French (fr)
Chinese (zh)
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彭淮
张正力
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深圳市道通智能航空技术有限公司
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Priority to CN201721588509.8U priority Critical patent/CN207631492U/en
Priority to CN201721588509.8 priority
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019100825A1 publication Critical patent/WO2019100825A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras

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

无人飞行器Unmanned aerial vehicle
【相关申请的交叉引用】[Cross-reference to related applications]
本申请要求申请日为2017年11月22日、申请号为201721588509.8的中国专利申请的优先权,其全部内容通过引用结合于本文。The present application claims priority to Chinese Patent Application Serial No. No. No. No. No. No.
【技术领域】[Technical Field]
本发明涉及无人飞行器技术领域,尤其涉及一种无人飞行器。The invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle.
【背景技术】【Background technique】
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。目前,无人飞行器的使用范围已经扩宽到军事、科研、民用三大领域,具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。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.
当前增强现实(Augmented Reality,AR)和虚拟现实(Virtual Reality,VR)技术发展迅猛,其对于全景视频拍摄的需求也越来越高,利用无人飞行器进行航拍则是获取真实场景的全景图像的一种重要方式。而为了能够准确获取多个角度的图像,当利用无人飞行器进行全景摄像时,无人飞行器所搭载的摄像头需要避开起落架、螺旋桨以及无人飞行器机臂的遮挡。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.
在实现本发明的过程中,发明人发现现有技术至少存在以下问题:在现有的无人飞行器中,摄像头通过云台悬挂于无人飞行器的机身下方;由于位于该位置处的摄像头受到起落架、螺旋桨以及无人飞行器机臂的遮挡,无法进行全景摄像。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.
【发明内容】[Summary of the Invention]
为了解决上述技术问题,本发明实施例提供一种能够实现全景摄像的无 人飞行器。In order to solve the above technical problem, an embodiment of the present invention provides a human-free aircraft capable of realizing panoramic imaging.
为解决上述技术问题,本发明实施例提供以下技术方案:To solve the above technical problem, the embodiment of the present invention provides the following technical solutions:
一种无人飞行器,包括:机身;An unmanned aerial vehicle comprising: a fuselage;
机臂,所述机臂与所述机身相连;An arm that is coupled to the fuselage;
动力装置,设于所述机臂远离所述机身的一端,用于提供所述无人飞行器飞行的动力;以及a power unit disposed at an end of the arm away from the fuselage for providing power for the UAV to fly;
摄像组件,所述摄像组件安装于所述机臂远离所述机身的一端,用于拍摄图像。a camera assembly mounted on an end of the arm away from the body for capturing an image.
在一些实施例中,所述摄像组件位于所述机臂的延伸方向上,且设于所述机臂的最末端。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.
在一些实施例中,所述摄像组件包括云台和摄像装置,所述云台搭载所述摄像装置,所述云台安装于所述机臂的最末端,且位于所述机臂的延伸方向上。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.
在一些实施例中,所述云台包括:支架、与所述支架相连的俯仰轴电机和位于所述摄像装置内的横滚轴电机;所述俯仰轴电机用于驱动所述摄像装置绕俯仰轴转动,所述横滚轴电机用于驱动所述摄像装置绕横滚轴转动。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.
在一些实施例中,所述支架包括基座和连接臂,所述基座与所述机臂远离于所述机身的的一端连接,所述连接臂的一端与所述基座连接,所述连接臂的另一端与所述俯仰轴电机连接。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.
在一些实施例中,所述连接臂的数量为2,所述俯仰轴电机的数量为1,所述俯仰轴电机与其中一个所述连接臂相连。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.
在一些实施例中,所述连接臂的数量为2,所述俯仰轴电机的数量为2,两个所述俯仰轴电机分别与两个所述连接臂相连。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.
在一些实施例中,所述摄像装置包括外壳和设于所述外壳内的镜头模组,所述外壳与所述俯仰轴电机连接;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;
所述横滚轴电机安装于所述外壳内,并与所述镜头模组连接,所述横滚轴电机用于驱动所述镜头模组相对于所述外壳绕横滚轴转动。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.
在一些实施例中,所述摄像组件与所述机臂的连接处设置有减震装置,所述减震装置包括第一连接板、减震球和第二连接板,所述减震球设置于所述第一连接板和第二连接板之间;所述第一连接板与所述机臂固定连接,所 述第二连接板与所述摄像组件固定连接。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.
在一些实施例中,所述机臂共有四个,四个所述摄像组件分别设于四个所述机臂上。In some embodiments, there are four arms, and four of the camera assemblies are respectively disposed on four of the arms.
在一些实施例中,所述摄像组件共有四个,四个所述摄像组件分别设于四个所述机臂上。In some embodiments, there are four camera assemblies, and four of the camera assemblies are respectively disposed on four of the arms.
本发明实施例的一种无人飞行器,包括:机身、机臂、动力装置和摄像组件,所述机臂的一端安装于所述机身;所述动力装置安装于所述机臂远离所述机身的另一端,用于提供所述无人飞行器飞行的动力;所述摄像组件安装于所述机臂远离所述机身的一端,用于拍摄图像。通过以上方式,所述摄像组件中的摄像头可以避免受到起落架、螺旋桨以及无人飞行器机臂的遮挡,以使得该无人飞行器可以进行全景拍摄。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.
【附图说明】[Description of the Drawings]
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,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。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.
图1为本发明一实施例提供的一种无人飞行器的结构示意图;1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
图2为图1所示的无人飞行器中摄像组件的结构示意图;2 is a schematic structural view of an image pickup assembly in the unmanned aerial vehicle shown in FIG. 1;
图3为图2所示的摄像组件中摄像装置及横滚轴电机的分解图;3 is an exploded view of the image pickup device and the roll motor in the image pickup assembly shown in FIG. 2;
图4为图1所示的无人飞行器的仰视图。Figure 4 is a bottom plan view of the unmanned aerial vehicle of Figure 1.
【具体实施方式】【Detailed ways】
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“电连接”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“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限 制。此外,术语“第一”、“第二”“第三”等仅用于描述目的,而不能理解为指示或暗示相对重要性。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.
除非另有定义,本说明书所使用的所有的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。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.
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。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.
如图1所示,本发明一实施例提供的一种无人飞行器100,包括:机身10、机臂20、动力装置30和摄像组件40。本发明中的无人飞行器100可以是旋翼无人飞行器、固定翼无人飞行器或者固定翼与旋翼混合的无人飞行器。其中,旋翼无人飞行器具体可为:单旋翼无人飞行器、双旋翼无人飞行器、三旋翼无人飞行器、四旋翼无人飞行器、六旋翼无人飞行器及八旋翼无人飞行器等。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.
所述机臂20的一端安装于所述机身10。机臂20可以与机身10固定连接、一体成型或可相对于所述机身10折叠。在本发明的一实施例中,所述机臂20的个数为四个,即本发明中的无人飞行器100为四旋翼无人飞行器。四个所述机臂20的一端均与所述机身10固定连接。所述机身10和机臂20大致呈“十”字形,即,不相邻的两个所述机臂20位于同一直线上,并且相邻的两个机臂20相互垂直。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.
所述动力装置30安装于所述机臂20远离所述机身10的一端,用于提供所述无人飞行器100飞行的动力。相应的,所述动力装置30的个数也为四个,四个所述动力装置30分别安装于四个所述机臂20远离所述机身10的一端,用于提供所述无人飞行器100飞行的动力。所述动力装置30包括电机和螺旋桨,所述电机固定于所述机臂20远离所述机身10的一端,所述电机与所述螺旋桨连接,并驱动所述螺旋桨旋转。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.
所述摄像组件40安装于机臂20远离机身10的一端,所述摄像组件40用于拍摄图像。在本发明的一实施例中,摄像装置40安装于所述机身10的最末端,且位于所述机臂20的延长线上。即,所述摄像组件40比所述动力装置30更远离所述机身10。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.
在本实施例中,所述摄像组件40共有四个,四个所述摄像组件40分别设于四个所述机臂20上。可以理解的是,在其它一些实施例中,所述摄像组件40的个数还可以是五个或者五个以上,其中,四个摄像组件40与所述机臂20一一对应,其余摄像组件40可根据实际情况的需求而设置于无人飞行器100的任意位置。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.
具体的,如图2所示,在本发明的一实施例中,所述摄像组件40包括云台41和摄像装置42,所述云台41搭载所述摄像装置42,以实现摄像装置42的固定、或随意调节摄像装置42的姿态(例如,改变摄像装置42的高度、倾角和/或方向)以及使摄像装置42稳定保持在设定的姿态上。可以理解的是,在其它一些实施例中,所述摄像组件40不包括云台41,所述摄像装置42可通过所述减震装置安装于所述机身10。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.
在本发明的一实施例中,所述摄像装置42包括外壳421和设于所述外壳421内的镜头模组422。所述外壳421呈圆球状。所述摄像装置42具体可以是:相机、摄影机、摄像头等。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.
所述云台41可为单轴云台、双轴云台或三轴云台。如图2和3所示,在本实施例中,所述云台41为双轴云台。所述云台41包括:支架411、与所述支架411相连的俯仰轴电机412和设于所述摄像装置42的外壳421内的横滚轴电机413。所述俯仰轴电机412用于驱动所述摄像装置42绕俯仰轴转动,所述横滚轴电机413用于驱动摄像装置42绕横滚轴转动。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.
所述支架411大致为U形,包括基座4111和连接臂4112,所述连接臂4112的一端与所述基座4111固定连接,所述连接臂4112的另一端与所述俯仰轴电机412相连。所述横滚轴电机413与所述俯仰轴电机412转动连接。在本发明的一实施例中,连接臂4112的数量为2,俯仰轴电机412的数量为1,所述俯仰轴电机412与其中一个连接臂4112相连。可以理解的是,在其它一些实施例中,连接臂4112的数量为2,所述云台41还可以包括两个所述俯仰轴电机412,每个俯仰轴电机412安装于一个对应的所述连接臂4112的另一端。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.
所述横滚轴电机413安装于所述外壳421内,并与所述镜头模组422连接,所述横滚轴电机413用于驱动所述镜头模组422相对于所述外壳421绕横滚轴转动。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.
在一些实施例中,所述摄像组件40与所述机身10的连接处还设置有减震装置(图未示),所述减震装置包括第一连接板(图未示)、减震球和第二连接板(图未示),所述减震球设置于所述第一连接板和第二连接板之间。所述第一连接板与所述机身10的外侧面固定连接,所述第二连接板与所述摄像组件40固定连接。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.
如图4所示,在本实施例中,四个所述镜头模组422的连线构成一矩形(一个镜头模组422仅与相邻的两个镜头模组422连线)。分别位于两个不相邻的机臂20上的两个镜头模组422的光轴始终位于同一平面内。相邻的两个镜头模组422的光轴始终位于相互垂直的两个平面内。四个镜头模组422可以相互配合并共同合作,以拍摄到无人飞行器100周围360度的全景图像。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.
所述摄像组件40设置于所述机臂20的另一端,可使得摄像组件40能够更好地避开起落架、螺旋桨、机臂和机身的遮挡,使得摄像组件40能够获得更大范围的景物或图像。此外,四个摄像组件40还可以共同对同一目标进行拍摄,由于四个摄像组件40中镜头模组422的拍摄角度不同,因此四个镜头模组422拍摄同一目标的图像可用于快速对上述目标进行3D建模和/或绘制立体地图等。基于上述结构特点,可使得所述无人飞行器100在工程测量、地形测绘以及灾难应急救援等领域发挥重要作用。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.
具体的,所述机臂20远离所述机身10一端的端面与所述云台41的基座4111固定连接。所述摄像组件40安装于所述机臂20上远离于机身10的最远处,此时所述摄像组件40位于所述动力装置30远离所述机身10的一侧。所述摄像组件40中的摄像装置42可以避免受到起落架(通常安装于所述机身的正下方,其距离摄像组件较远)、螺旋桨以及无人飞行器机臂的遮挡,以使得该无人飞行器100可以进行全景拍摄(即,所述摄像装置42可以全方位地拍摄到所述无人飞行器100斜上方、上方和下方的景象)。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).
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。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 (11)

  1. 一种无人飞行器(100),其特征在于,包括:An unmanned aerial vehicle (100), comprising:
    机身(10);Body (10);
    机臂(20),所述机臂(20)与所述机身(10)相连;An arm (20), the arm (20) being connected to the body (10);
    动力装置(30),设于所述机臂(20)远离所述机身(10)的一端,用于提供所述无人飞行器(100)飞行的动力;以及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;
    摄像组件(40),所述摄像组件(40)安装于所述机臂(20)远离所述机身(10)的一端,用于拍摄图像。A camera assembly (40) is mounted on an end of the arm (20) away from the body (10) for taking an image.
  2. 根据权利要求1所述的无人飞行器(100),其特征在于,所述摄像组件(40)位于所述机臂(20)的延伸方向上,且设于所述机臂(20)的最末端。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.
  3. 根据权利要求1或2所述的无人飞行器(100),其特征在于,The UAV (100) according to claim 1 or 2, characterized in that
    所述摄像组件(40)包括云台(41)和摄像装置(42),所述云台(41)搭载所述摄像装置(42),所述云台(41)安装于所述机臂(20)的最末端,且位于所述机臂(20)的延伸方向上。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).
  4. 根据权利要求3所述的无人飞行器(100),其特征在于,The UAV (100) according to claim 3, wherein
    所述云台(41)包括:支架(411)、与所述支架(411)相连的俯仰轴电机(412)和位于所述摄像装置(42)内的横滚轴电机(413);所述俯仰轴电机(412)用于驱动所述摄像装置(42)绕俯仰轴转动,所述横滚轴电机(413)用于驱动所述摄像装置(42)绕横滚轴转动。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.
  5. 根据权利要求4所述的无人飞行器(100),其特征在于,所述支架(411)包括基座(4111)和连接臂(4112),所述基座(4111)与所述机臂(20)远离于所述机身(10)的一端连接,所述连接臂(4112)的一端与所述基座(4111)连接,所述连接臂(4112)的另一端与所述俯仰轴电机(412)连接。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.
  6. 根据权利要求5所述的无人飞行器(100),其特征在于,所述连接臂(4112)的数量为2,所述俯仰轴电机(412)的数量为1,所述俯仰轴电机(412)与其中一个所述连接臂(4112)相连。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).
  7. 根据权利要求5所述的无人飞行器(100),其特征在于,所述连接臂(4112)的数量为2,所述俯仰轴电机(412)的数量为2,两个所述俯仰轴电机(412)分别与两个所述连接臂(4112)相连。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).
  8. 根据权利要求4-7中任一项所述的无人飞行器(100),其特征在于,An unmanned aerial vehicle (100) according to any one of claims 4-7, wherein
    所述摄像装置(42)包括外壳(421)和设于所述外壳(421)内的镜头模组(422),所述外壳(421)与所述俯仰轴电机(412)连接;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);
    所述横滚轴电机(413)安装于所述外壳(421)内,并与所述镜头模组(422)连接,所述横滚轴电机(413)用于驱动所述镜头模组(422)相对于所述外壳(421)绕横滚轴转动。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).
  9. 根据权利要求1-8中任一项所述的无人飞行器(100),其特征在于,An unmanned aerial vehicle (100) according to any one of claims 1-8, wherein
    所述摄像组件(40)与所述机臂(20)的连接处设置有减震装置,所述减震装置包括第一连接板、减震球和第二连接板,所述减震球设置于所述第一连接板和第二连接板之间;所述第一连接板与所述机臂(20)固定连接,所述第二连接板与摄像组件(40)固定连接。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).
  10. 根据权利要求1至8任一项所述的无人飞行器(100),其特征在于,An unmanned aerial vehicle (100) according to any one of claims 1 to 8, wherein
    所述机臂(20)共有四个,任意相邻两个所述机臂(20)相互垂直。There are four arms (20), and any two adjacent arms (20) are perpendicular to each other.
  11. 根据权利要求10所述的无人机飞行器(100),其特征在于,所述摄像组件(40)共有四个,四个所述摄像组件(40)分别设于四个所述机臂(20)上。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.
PCT/CN2018/106074 2017-11-22 2018-09-18 Unmanned aerial vehicle WO2019100825A1 (en)

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CN207631492U (en) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 Unmanned vehicle
CN110375716A (en) * 2019-07-23 2019-10-25 深圳市道通智能航空技术有限公司 Unmanned vehicle finds information generating method and unmanned vehicle

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