WO2019119939A1

WO2019119939A1 - Unmanned aerial vehicle

Info

Publication number: WO2019119939A1
Application number: PCT/CN2018/109765
Authority: WO
Inventors: 余春
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-12-22
Filing date: 2018-10-11
Publication date: 2019-06-27
Also published as: CN108100243A

Abstract

Provided is an unmanned aerial vehicle (100), comprising a fuselage (10), a fuselage driving assembly (20) and an arm assembly (30). The fuselage driving assembly (20) is mounted on the fuselage (10). The arm assembly (30) is coupled to the fuselage driving assembly (20) that can drive the fuselage (10) to rotate 360 degrees relative to the arm assembly (30). It can drive the camera assembly mounted on the unmanned aerial vehicle to rotate 360 degrees, so that the camera assembly can adjust the working position and angle as needed, thereby achieving multi-angle shooting.

Description

Unmanned aerial vehicle

[Cross-reference to related applications]

The present application claims the priority of the Japanese Patent Application No. JP-A------

[Technical Field]

The present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle having a photographing function.

【Background technique】

The drone, referred to as the 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. The UAV is equipped with a variety of sensors or camera devices through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.

In the process of implementing the present invention, the inventor has found that the gimbal is usually installed under the fuselage of the unmanned aerial vehicle, and the working angle of the gimbal is limited. The camera mounted on the gimbal can only be used for horizontal or oblique downward shooting. The shooting angle of the camera device is limited.

[Summary of the Invention]

In order to solve the above technical problem, an embodiment of the present invention provides a UAV that can be rotated by a fuselage, so that a shooting component mounted on the UAV can achieve multi-angle shooting.

The embodiments of the present invention solve the technical problems and adopt the following technical solutions:

An unmanned aerial vehicle comprising:

body;

An arm assembly coupled to the body;

a motor mounted to the arm assembly;

a propeller connected to a motor shaft of the motor;

a camera assembly mounted to the body;

a fuselage drive assembly mounted to the fuselage;

The arm assembly is configured to drive the body and the camera assembly to rotate relative to the arm assembly.

In an embodiment of the invention, the body drive assembly includes a motor, a worm, a worm wheel, and a drive shaft;

The motor is housed in the fuselage;

The worm is coupled to a rotating shaft of the motor, a central axis of the worm is coincident with an axis of rotation of a rotating shaft of the motor, and is perpendicular to the driving shaft;

The worm wheel is sleeved on the drive shaft, and the worm wheel meshes with the worm;

The drive shaft is disposed through the fuselage, and the arm assembly is fixedly coupled to an end of the drive shaft;

When the motor is in operation, the motor and the worm can rotate together around the worm wheel and the drive shaft, thereby driving the body and the camera assembly to rotate relative to the arm assembly about the drive shaft. .

In an embodiment of the invention, the outer surface of the worm has a first helical tooth;

The outer surface of the worm wheel has a second helical tooth that meshes with the second helical tooth.

In an embodiment of the invention, the worm gear is hollow cylindrical with an axis that is perpendicular but not intersecting the axis of rotation.

In an embodiment of the invention, the central axis of the drive shaft is perpendicular but not intersecting the axis of rotation.

In an embodiment of the invention, the body drive assembly includes a motor, a first bevel gear, a second bevel gear, and a drive shaft;

The motor is housed in the fuselage;

The first bevel gear is fixedly mounted to a rotating shaft of the motor;

The second bevel gear is sleeved on the drive shaft, and the first bevel gear meshes with the second bevel gear;

The drive shaft is disposed through the fuselage, the arm assembly is fixedly coupled to an end of the drive shaft, and a central axis of the drive shaft is perpendicular to an axis of rotation of a rotating shaft of the motor;

When the motor is in operation, the motor and the first bevel gear are rotatable together about the drive shaft to drive the body and the camera assembly to rotate relative to the arm assembly about the drive shaft.

In an embodiment of the invention, the body drive assembly includes a motor, a first spur gear, a second spur gear, and a drive shaft;

The motor is housed in the fuselage;

The first spur gear is fixedly mounted to a rotating shaft of the motor;

The second spur gear is sleeved on the drive shaft, and the first spur gear meshes with the second spur gear;

The drive shaft is disposed in parallel with the rotation axis of the motor, the drive shaft is disposed through the body, and the arm assembly is fixedly coupled to the end of the drive shaft;

When the motor is in operation, the motor and the first spur gear may rotate together around the drive shaft to drive the body and the camera assembly to rotate relative to the arm assembly about the drive shaft.

In an embodiment of the invention, the body drive assembly further includes a bearing seat, two of the bearing seats are fixedly mounted to the body, and two ends of the drive shaft are movably mounted to the two bearings respectively. The drive shaft is rotatable relative to the bearing housing.

In an embodiment of the invention, a bearing is disposed in each of the bearing housings, and the bearing is sleeved on the drive shaft.

In an embodiment of the invention, the number of the arm assemblies is two, and the two arm assemblies are respectively symmetrically disposed on opposite sides of the body, and are respectively fixedly mounted on the two sides of the drive shaft. end.

In an embodiment of the invention, the arm assembly includes a main body arm and two connecting arms, one end of the main arm is fixedly mounted to one end of the driving shaft, and the two connecting arms are commonly connected to the The main arm is away from the other end of the drive shaft, and the main arm and the two connecting arms form a "Y" shape;

The motor is mounted at an end of the connecting arm away from the host arm.

Compared with the prior art, in the unmanned aerial vehicle of the embodiment of the present invention, the body drive assembly is mounted to the airframe, and the body drive assembly is coupled to the arm assembly to drive the airframe. Rotating 360 degrees with respect to the arm assembly, the camera assembly mounted on the UAV can be rotated 360 degrees, so that the camera assembly can adjust the working position and angle as needed, thereby achieving multi-angle shooting.

[Description of the Drawings]

The one or more embodiments are exemplified by the accompanying drawings, which are not to be construed as limiting. It is stated that the figures in the drawings do not constitute a proportional limitation.

1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention;

Figure 2 is a perspective view of another angle of the unmanned aerial vehicle shown in Figure 1;

3 and FIG. 4 are respectively perspective views of still another angle of the UAV shown in FIG. 1, wherein a part of the fuselage of the UAV is omitted;

Figure 5 is a partial enlarged view of a portion A of Figure 4;

Figure 6 is a schematic view showing the assembly of the fuselage driving assembly of the unmanned aerial vehicle shown in Figure 1;

7 is a schematic view showing the assembly of the body drive assembly in some embodiments of the present invention;

FIG. 8 is a schematic view showing the assembly of the body drive assembly in other embodiments of the present invention.

【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 "connected" to another element, it can be a <RTI ID=0.0> </ RTI> </ RTI> <RTIgt; The terms "vertical," "horizontal," "left," "right," "inside," "outside," and the like, as used in this specification, are for the purpose of illustration.

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.

Referring to FIG. 1 to FIG. 3 , an unmanned aerial vehicle 100 according to an embodiment of the present invention includes a body 10 , a body drive assembly 20 , an arm assembly 30 , a motor 40 , a propeller 50 , and a camera assembly 60 . The body drive assembly 20 is mounted in the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 for driving the body 10 to perform 360 with respect to the arm assembly 30. Degree of rotation. The motor 40 is mounted to the arm assembly 30, and the propeller 50 is mounted to the motor 40 for driving the propeller 50 to rotate to power the UAV 100. The camera assembly 60 is mounted to the body 10 for capturing an image.

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, for example, for controlling the body drive component 20 to drive the body 10 relative to the a control module for rotating the arm assembly 30, a flight control module for controlling the operation of the motor 40 to control the flight attitude of the UAV 100, for navigating a positioning module of the UAV 100, and for processing A data processing module for environmental information acquired by related onboard devices. In order to facilitate the description of the embodiments of the present invention, the drawings illustrate only the components related to the embodiments of the present invention.

Referring to FIG. 4 to FIG. 6 together, the body drive assembly 20 includes a motor 202, a worm 203, a worm wheel 204, a drive shaft 205, and a bearing housing 206.

The motor 202 is received in the body 10 and fixedly mounted to the body 10, and its rotating shaft is coupled to the worm 203, and the rotation axis O of the rotating shaft of the motor 202 and the worm 203 The central axis coincides. The motor 202 is configured to drive the worm 203 to rotate about the rotation axis O.

The worm 203 is cylindrical and has an outer surface having a first helical tooth 2032 for mating with the worm gear 204.

The worm gear 204 is hollow cylindrical with an axis that is perpendicular but not intersecting the axis of rotation O. The outer surface of the worm wheel 204 has a second helical tooth 2042 that meshes with the second helical tooth 2042. The worm wheel 204 is sleeved on the drive shaft 205.

The drive shaft 205 passes through the fuselage 10, wherein an axis coincides with a central axis of the worm wheel 204, and a central axis of the drive shaft 205 is also perpendicular but not intersecting the axis of rotation O.

The number of the bearing seats 206 is two, and is fixedly mounted on opposite sides of the body 10 respectively. A bearing 2062 is disposed in each of the bearing housings 206. Both ends of the driving shaft 205 respectively pass through the bearing 2062 corresponding thereto and are exposed to the outside of the body 10 for connecting the machine. Arm assembly 30. The drive shaft 205 is rotatable relative to the bearing 2062.

It can be understood that, in some other embodiments, the bearing housing 206 can be omitted, and both ends of the driving shaft 205 are directly movably mounted to the body 10, both ends of the driving shaft 205 and the machine Lubricating oil may be added between the bodies 10 such that the drive shaft 205 is smoothly rotatable relative to the body 10.

The number of the arm assemblies 30 is two, and the two arm assemblies 30 are respectively mounted at two ends of the drive shaft 205. Each of the arm assemblies 30 includes a main body arm 302 and a connecting arm 304. In each of the arm assemblies 30, one end of the main arm 302 is fixedly mounted to one end of the driving shaft 205, and the two The connecting arm 304 is commonly connected to the other end of the main arm 302 away from the drive shaft 205, and the main arm 302 and the two connecting arms 304 form a "Y" shape. Two of the arm assemblies 30 symmetrically distributed on opposite sides of the fuselage 10 share a total of four of the connecting arms 304, two of which are located on one side of the fuselage 10, and two The connecting arm 304 is located on the other side of the body 10. The motor 40 is mounted at an end of each of the connecting arms 304 away from the host arm 302.

In this embodiment, the number of the arm assemblies 30 is two, which are symmetrically disposed on opposite sides of the body 10, and are respectively fixedly mounted on both ends of the drive shaft 205. The number of the motors 40 is four, and the four motors 40 are located on the same plane and are respectively located at four vertex angles of one square.

It can be understood that in some other embodiments, the number of the arm assemblies 30 may also be one, one end of the drive shaft 205 is fixedly connected to the arm assembly 30, and the other end is passed through the corresponding Bearing 2062.

Each of the motors 40 is correspondingly mounted with one of the propellers 50. In this embodiment, each of the arm assemblies 30 includes two of the connecting arms 304, and each of the connecting arms 304 is mounted with one of the motor 40 and one of the propellers 50, that is, the embodiment provides The UAV 100 includes four propellers 50, which are four-rotor unmanned aerial vehicles.

It can be understood that in some other embodiments, the connecting arms 304 can be omitted, and each of the main arms 302 is directly mounted with one of the motor 40 and one of the propellers 50, that is, the unmanned aerial vehicle 100. Two of the propellers 50 are included.

Referring to FIGS. 1 and 2, the camera assembly 60 is mounted to the body 10, which includes a pan/tilt 602 and a camera 604.

The pan/tilt 602 is equipped with the imaging device 604. The pan/tilt 602 is a three-axis stabilization pan/tilt that stabilizes the in-flight camera device 604 on three axes: a heading axis (Yaw), a pitch axis (Pitch) And the roll shaft (Roll). The pitch axis is perpendicular to the roll axis, and the heading axis is perpendicular to the pitch axis and the roll axis.

The pan/tilt 602 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 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 detachably mounted to the body 10 through a mount.

The pan/tilt 602 is detachably mounted to the body 10 through a fixing base, which facilitates replacement of the camera assembly 60. The pan/tilt 602 can be detachably mounted to the body 10 by a snap, thread or the like.

In the present embodiment, when the UAV 100 is flying, the PTZ 602 is located below the fuselage 10. It can be understood that in some other implementations, the PTZ 602 can be based on actual needs. Mounted at any position of the body 10.

The imaging device 604 is fixed to a rotor of a first motor mounted to the pan/tilt 602. The camera device 604 can be a camera, a camera, a camera, etc., which can include at least one lens, for example each of the camera devices 604 includes two lenses disposed away from each other.

It can be understood that, in some other embodiments, the pan/tilt 602 can also be a single-axis pan/tilt; or the pan-tilt 602 is omitted, and the camera device 604 is directly mounted to the body 10.

When the UAV 100 is in use, the motor 40 operates to drive the propeller 50 to rotate to provide flight power to the UAV 100. When the UAV 100 is flying, the camera assembly 60 may be positioned below the body 10 to shoot in a horizontal or oblique downward direction. The UAV 100 controls the operation of the motor 202 when it is required to photograph the upper portion of the body 10. The rotating shaft of the motor 202 drives the worm 203 to provide rotational power to the worm gear 204 and the drive shaft 205. . Since the arm assembly 30 is fixedly coupled to the drive shaft 205, the propeller 50 provides the arm assembly 30 with a thrust that is opposite to the direction of rotation of the drive shaft 205 such that the drive shaft 205 and the worm gear 204 stay still. With the drive shaft 205 and the worm wheel 204 stationary, the first helical teeth 2032 mesh with the second helical teeth 2042, and the rotational power provided by the motor 202 causes the worm 203 and the motor 202 rotates around the worm wheel 204 and the driving shaft 205, so that the body 10 can be rotated 180 degrees, and the camera assembly 60 is located above the body 10, and can be photographed in an upward direction without being hit by The fuselage 10 is blocked. Similarly, the body 10 can be rotated 360 degrees, and the working position and angle of the camera assembly 60 can be arbitrarily adjusted.

Referring to FIG. 7, in some embodiments, the worm 203 in the fuselage drive assembly 20 can be replaced with a first bevel gear 203a that can be replaced with a second bevel gear 204a. The first bevel gear 203a is fixedly mounted to a rotating shaft of the motor 202, and the first bevel gear 203a includes a first conical surface 2032a, and the first conical surface 2032a and an axis of rotation of the rotating shaft of the motor 202 The angle O is 45 degrees, and the first conical surface 2032a is provided with teeth. The second bevel gear 204a is sleeved on the drive shaft 205, and the second bevel gear 204a includes a second conical surface 2042a. The angle between the second conical surface 2042a and the central axis of the drive shaft 205 is At 45 degrees, the second conical surface 2042a is provided with teeth, and the teeth of the first conical surface 2032a mesh with the teeth of the second conical surface 2042a. The central axis of the drive shaft 205 is perpendicular to and intersects with the rotational axis O, and the first bevel gear 203a meshes with the second bevel gear 204a. When the motor 202 is in operation, the drive shaft 205 and the second bevel gear 204a remain stationary, and the motor 202 and the first bevel gear 203a rotate around the drive shaft 205 to drive the body 10. Rotating about the drive shaft 205.

Referring to FIG. 8, in other embodiments, the worm 203 in the fuselage drive assembly 20 can be replaced with a first spur gear 203b, which can be replaced with a second spur gear 204b. The rotating shaft of the motor 202 may be disposed in parallel with the driving shaft 205. The first spur gear 203b is fixedly mounted on the rotating shaft of the motor 202, and the second spur gear 204b is sleeved on the driving shaft 205. The first spur gear 203b is meshed with the second spur gear 204b. When the motor 202 is in operation, the drive shaft 205 and the second spur gear 204b remain stationary, and the motor 202 and the first A spur gear 203b rotates about the drive shaft 205 to drive the body 10 to rotate about the drive shaft 205.

It can be understood that in some other embodiments, the body drive assembly 20 can also be a belt drive, that is, the rotation axis of the motor 202 is disposed in parallel with the drive shaft 205, and the rotation axis of the motor 202 passes. A belt is coupled to the drive shaft 205; alternatively, the fuselage drive assembly 20 can be otherly driven as long as the body 10 can be driven to rotate relative to the drive shaft 205 and the arm assembly 30. Degree can be.

In this embodiment, the body drive assembly 20 is mounted to the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 to drive the body 10 relative to the arm The assembly 30 is rotated 360 degrees so that the camera assembly 60 can be rotated 360 degrees, so that the camera assembly 60 can adjust the working position and angle as needed to achieve multi-angle shooting.

Another embodiment of the present invention also provides a frame including the body 10 of the above embodiment, the body drive assembly 20, and the arm assembly 30. The body drive assembly 20 is mounted in the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 for driving the body 10 to perform 360 with respect to the arm assembly 30. Degree of rotation.

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 assembly (30) coupled to the body (20);

a motor (40) mounted to the arm assembly (30);

a propeller (50) connected to the motor shaft of the motor (40);

a camera assembly (60) mounted to the body (10);

a fuselage driving assembly (20) mounted to the body (10);

The arm assembly (30) is coupled to the body (10) via the body drive assembly (20) for driving the body (10) and the The camera assembly (60) rotates relative to the arm assembly (30).
The unmanned aerial vehicle (100) according to claim 1, wherein the body drive assembly (20) comprises a motor (202), a worm (203), a worm gear (204), and a drive shaft (205);

The motor (202) is received in the body (10);

The worm (203) is coupled to a rotating shaft of the motor (202), a central axis of the worm (203) coincides with an axis of rotation (O) of a rotating shaft of the motor (202), and the driving The shaft (205) is vertical;

The worm wheel (204) is sleeved on the drive shaft (205), and the worm wheel (204) is meshed with the worm (203);

The drive shaft (205) is disposed through the body (10), and the arm assembly (30) is fixedly coupled to an end of the drive shaft (205);

When the motor (202) is in operation, the motor (202) and the worm (203) can rotate together around the worm wheel (204) and the drive shaft (205) to drive the body (10) And the camera assembly (60) rotates relative to the arm assembly (30) about the drive shaft (205).
The unmanned aerial vehicle (100) according to claim 2, wherein the outer surface of the worm (203) has a first helical tooth (2032);

The outer surface of the worm wheel (204) has a second helical tooth (2042) that meshes with the second helical tooth (2042).
The unmanned aerial vehicle (100) according to claim 2 or 3, wherein the worm wheel (204) is hollow cylindrical with an axis perpendicular to the axis of rotation (O) but not intersecting.
The unmanned aerial vehicle (100) according to any one of claims 2 to 4, characterized in that the central axis of the drive shaft (205) is perpendicular but not intersecting with the axis of rotation (O).
The UAV (100) according to claim 1, wherein the body drive assembly (20) includes a motor (202), a first bevel gear (203a), a second bevel gear (204a), and a drive. Axis (205);

The motor (202) is received in the body (10);

The first bevel gear (203a) is fixedly mounted to a rotating shaft of the motor (202);

The second bevel gear (204a) is sleeved on the drive shaft (205), and the first bevel gear (203a) is meshed with the second bevel gear (204a);

The drive shaft (205) is disposed through the body (10), the arm assembly (30) is fixedly coupled to an end of the drive shaft (205), and a central axis of the drive shaft (205) The axis of rotation (O) of the rotating shaft of the motor (202) is vertical;

When the motor (202) is in operation, the motor (202) and the first bevel gear (203a) can rotate together around the drive shaft (205) to drive the body (10) and the camera. The assembly (60) rotates about the drive shaft (205) relative to the arm assembly (30).
The UAV (100) according to claim 1, wherein the body drive assembly (20) includes a motor (202), a first spur gear (203b), a second spur gear (204b), and a drive Axis (205);

The motor (202) is received in the body (10);

The first spur gear (203b) is fixedly mounted to a rotating shaft of the motor (202);

The second spur gear (204b) is sleeved on the drive shaft (205), and the first spur gear (203b) is engaged with the second spur gear (204b);

The driving shaft (205) is disposed in parallel with the rotating shaft of the motor (202), the driving shaft (205) is disposed through the body (10), and the arm assembly (30) is fixedly connected to the The end of the drive shaft (205);

When the motor (202) is in operation, the motor (202) and the first spur gear (203b) can rotate together around the drive shaft (205) to drive the body (10) and the camera. The assembly (60) rotates about the drive shaft (205) relative to the arm assembly (30).
The unmanned aerial vehicle (100) according to any one of claims 2 to 7, wherein the body drive assembly (20) further comprises a bearing housing (206), and the two bearing housings (206) Fixedly mounted on the fuselage (10), two ends of the drive shaft (205) are movably mounted to two of the bearing seats (206), and the drive shaft (205) is opposite to the bearing housing ( 206) Rotate.
The unmanned aerial vehicle (100) according to claim 8, wherein a bearing (2062) is disposed in each of the bearing seats (206), and the bearing (2062) is sleeved on the drive shaft ( 205).
The unmanned aerial vehicle (100) according to any one of claims 2-9, wherein the number of the arm assemblies (30) is two, and the two arm assemblies (30) are symmetrically arranged On opposite sides of the body (10), respectively, and fixedly mounted on both ends of the drive shaft (205).
The unmanned aerial vehicle (100) according to any one of claims 2 to 10, wherein the arm assembly (30) comprises a main body arm (302) and two connecting arms (304), the main body One end of the arm (302) is fixedly mounted to one end of the driving shaft (205), and the two connecting arms (304) are commonly connected to the other end of the main arm (302) away from the driving shaft (205). The host arm (302) and the two connecting arms (304) form a "Y" shape;

The motor (40) is mounted to an end of the connecting arm (304) away from the host arm (302).