WO2024103366A1 - 全景无人机 - Google Patents
全景无人机 Download PDFInfo
- Publication number
- WO2024103366A1 WO2024103366A1 PCT/CN2022/132742 CN2022132742W WO2024103366A1 WO 2024103366 A1 WO2024103366 A1 WO 2024103366A1 CN 2022132742 W CN2022132742 W CN 2022132742W WO 2024103366 A1 WO2024103366 A1 WO 2024103366A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shell
- panoramic
- fisheye lens
- drone
- arms
- Prior art date
Links
- 241000237983 Trochidae Species 0.000 claims abstract description 93
- 230000005484 gravity Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 4
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
Definitions
- the present application relates to a drone, and in particular to a panoramic drone.
- multiple lenses are generally placed on the top or bottom of the fuselage.
- the protruding lens setting can achieve a better field of view, the lens will contact or collide with the ground or table when the drone lands, causing damage to the lens.
- the lens When shooting, the lens extends out of the fuselage for shooting, and when landing, the lens retracts into the fuselage, thereby avoiding contact between the lens and the ground or table.
- the above two solutions can avoid damage to the lens, whether it is adding a support frame or a lifting mechanism, the weight of the fuselage is increased. Under the same power condition, the increase in weight undoubtedly reduces the endurance of the drone.
- a panoramic drone comprising:
- a body comprising a top shell, a bottom shell, and a side shell connected between the top shell and the bottom shell, wherein the bottom shell comprises a support surface away from the top shell, and the side shell comprises a first side shell and a second side shell arranged opposite to each other;
- a plurality of machine arms connected to the first side shell and the second side shell, the plurality of machine arms having an expanded mode
- a first fisheye lens disposed on the top shell, wherein the first fisheye lens has a first field of view area and a first splicing area that does not exceed the range of the first field of view area;
- a second fisheye lens is disposed on the bottom shell and is completely located between the top shell and the plane where the support surface is located, and the second fisheye lens has a second field of view area and a second splicing area that does not exceed the second field of view area;
- the area that cannot be covered by the first splicing area and the second splicing area constitutes a splicing blind area
- the panoramic drone includes a battery and a main control board, the first fisheye lens and the second fisheye lens are located at one end of the panoramic drone, and the battery and/or the main control board are located at the other end of the panoramic drone.
- the bottom shell includes a base shell and a support portion disposed on the base shell, and a surface of the support portion away from the base shell is the support surface.
- the support part includes a first support part and a second support part, the first support part is located between the second fisheye lens and the second support part, the center of gravity of the panoramic drone is located between the first support part and the second support part, and the distance between the support surface of the second support part and the base shell is smaller than the distance between the support surface of the first support part and the base shell.
- the multiple arms include two first arms, and the two first arms are respectively connected to the first side shell and the second side shell, and a surface of the end of each first arm away from the top shell is a ground surface, and in the expanded mode, the ground surface is coplanar with the support surface of the first support part.
- the multiple arms also include two second arms, and the two second arms are respectively connected to the first side shell and the second side shell, and the two second arms are arranged closer to the top shell than the two first arms, and the two first arms are located on a side of the first support portion away from the second fisheye lens, and the two second arms are located on a side of the first support portion close to the second fisheye lens.
- the multiple arms are foldably connected to the first side shell and the second side shell, and the multiple arms also have a folded mode.
- the second fisheye lens is located between the two first arms, and the grounding surface is located between the supporting surface of the first supporting part and the top shell.
- each arm includes a rotating arm rotatably connected to the side shell and a blade rotatably connected to one end of the rotating arm away from the side shell.
- the rotating arm of the first arm and the rotating arm of the second arm rotate toward each other and close to the side shells where they are located.
- the number of the first supporting parts and the number of the second supporting parts are both two, and the two first supporting parts and the two second supporting parts are respectively located on two sides of the second fisheye lens.
- the bottom shell includes a first base shell portion and a second base shell portion, the second base shell portion is connected to the first base shell portion and tilted toward the top shell, and the second fisheye lens is disposed in the second base shell portion.
- the second base shell portion is a concave surface or an inclined surface, and the central axis of the second fisheye lens coincides with the normal vector of the second base shell portion.
- the top shell includes a first top shell portion, a second top shell portion and a third top shell portion, the second top shell portion is recessed between the first top shell portion and the third top shell portion, the portion of the third top shell portion that is farthest from the plane where the support surface is located is closer to the plane where the support surface is located than the portion of the first top shell portion that is farthest from the plane where the support surface is located, and the first fisheye lens is convexly arranged on the portion of the first top shell portion that is farthest from the plane where the support surface is located, and is inclined toward the third top shell portion.
- first top shell portion and the third top shell portion are convex surfaces, and the second top shell portion is a concave surface.
- the central axis of the first fisheye lens coincides with the central axis of the second fisheye lens.
- the body further includes a front shell, the front shell is connected to the top shell and an end of the bottom shell close to the second fisheye lens, and the front shell is a convex surface.
- the panoramic drone When the panoramic drone is in the deployment mode, the other parts of the panoramic drone except the first fisheye lens and the second fisheye lens are located in the splicing blind area, so that the first fisheye lens and the second fisheye lens are not blocked during shooting, thereby achieving panoramic shooting.
- the panoramic drone completely locates the second fisheye lens located on the bottom shell between the planes where the support surfaces on the top shell and the bottom shell are located.
- the second fisheye lens will not contact the landing surface through the support surface and the landing surface, such as the ground or the table, so as to protect the second fisheye lens.
- the panoramic drone has a simple structure for protecting the second fisheye lens, which reduces the weight of the entire panoramic drone, thereby improving the flight time of the panoramic drone.
- FIG. 1 is a perspective view of a panoramic drone arm in an expanded mode according to an embodiment.
- FIG. 2 is a stereoscopic image of the panoramic drone in FIG. 1 from another perspective.
- FIG. 3 is a side view of the arm of the panoramic drone in FIG. 1 in the deployed mode.
- FIG. 4 is a three-dimensional view of the arms of the panoramic drone in FIG. 1 in a folded mode.
- FIG. 5 is a schematic diagram of the field of view and stitching area of the fisheye lens of the panoramic drone in FIG. 1 .
- FIG. 6 is a side view of the arms of the panoramic drone in FIG. 4 in the retracted mode.
- FIG. 7 is a schematic diagram of the panoramic UAV in FIG. 1 during flight.
- a panoramic drone 100 is provided.
- the panoramic drone 100 can achieve panoramic shooting and protect the lens without providing a support frame or a lens telescopic structure, thereby reducing the overall weight of the panoramic drone 100 and improving the flight time of the panoramic drone 100.
- the panoramic drone 100 includes a fuselage 10, a plurality of arms (e.g., a first arm 20, a second arm 30), a first fisheye lens 40, and a second fisheye lens 50.
- the fuselage 10 includes a top shell 11, a bottom shell 12, and a side shell (not shown) connected between the top shell 11 and the bottom shell 12.
- the bottom shell 12 includes a support surface 15 away from the top shell 11.
- the side shell includes a first side shell 13 and a second side shell 14 that are arranged opposite to each other.
- the plurality of arms are connected to the first side shell 13 and the second side shell 14, and the plurality of arms have an expanded mode and a retracted mode.
- the first fisheye lens 40 is disposed on the top shell 11.
- the first fisheye lens 40 has a first field viewing angle A and a first stitching area angle P1, wherein the first field viewing angle A and the first stitching area angle P1 are both greater than 180°, and the first stitching area angle P1 is not greater than the first field viewing angle A (for example, the first field viewing angle A in this embodiment is 210°, and the first stitching area angle P1 is 190°), so it has a first field of view area 60 defined by the top shell 11 and a first stitching area (not marked) that does not exceed the range of the first field of view area 60.
- FIG3 shows a first field of view area 60.
- FIG3 is a side view of the panoramic drone 100 in the unfolded mode.
- the first field of view area 60 includes the area above the line L.
- the first field of view area 60 is substantially a partial spherical area located on the side of the mirror of the first fisheye lens 40 away from the bottom shell 12.
- the first splicing area is also a partial spherical area located on the side of the mirror of the first fisheye lens 40 away from the bottom shell 12, and is completely located within the first field of view area 60.
- the second fisheye lens 50 is provided on the bottom shell 12 and is completely located between the top shell 11 and the plane where the support surface 15 is located.
- the second fisheye lens 50 has a second field of view angle B and a second stitching area angle P2, wherein the second field of view angle B and the stitching area angle are both greater than 180°, and the second stitching area angle P2 is not greater than the second field of view angle B (for example, the second field of view angle B in this embodiment is 210°, and the second stitching area angle P2 is 190°), so it has a second field of view area 70 defined by the bottom shell 12 and a second stitching area (not marked) that does not exceed the scope of the second field of view area 70.
- the second field of view area 70 is shown in FIG3.
- the second field of view area 70 includes the area below the line M, but those skilled in the art should be able to understand in conjunction with FIG1 that the second field of view area 70 is essentially a partial spherical area located on the side of the mirror of the second fisheye lens 50 away from the top shell 11, and the second stitching area is also a partial spherical area located on the side of the mirror of the second fisheye lens 50 away from the top shell 11, and is completely located within the scope of the second field of view area 70.
- the first field of view area 60 can intersect with the second field of view area 70 to form an overlapping area (not shown) and a field of view blind area 80.
- the overlapping area refers to the area that can be covered by both the second field of view area 70 and the first field of view area 60
- the field of view blind area 80 refers to the area that neither the second field of view area 70 nor the first field of view area 60 can cover.
- first stitching area angle P1 and the second stitching area angle P2 are both greater than 180°, the first stitching area and the second stitching area intersect to form a stitching angle area 92, and the area that cannot be covered by both the first stitching area and the second stitching area constitutes a stitching blind area 90.
- the first field viewing angle A of the first fisheye lens is the same as the first stitching area angle P1
- the second field viewing angle B of the second fisheye lens is the same as the first stitching area angle P1.
- the field of view blind area 80 is the same as the stitching blind area 90.
- multiple arms are located within the field of view blind area 80 of the first fisheye lens 40 and the second fisheye lens 50. Therefore, the first fisheye lens 40 and the second fisheye lens 50 will not be blocked by any arm during shooting, so that the images taken by the first fisheye lens 40 and the second fisheye lens 50 at the same time can be synthesized into a panoramic image, thereby achieving panoramic shooting.
- the first field angle A of the first fisheye lens 40 is greater than the first stitching area angle P1
- the second field angle B of the second fisheye lens 50 is greater than the first stitching area angle P1
- the multiple arms are located in the stitching blind area 90 of the first fisheye lens 40 and the second fisheye lens 50 in the unfolded mode. Therefore, the first fisheye lens 40 and the second fisheye lens 50 synthesize a panoramic image without including other components of the panoramic drone 100 including the multiple arms, thereby achieving unobstructed panoramic shooting.
- the panoramic video formed by stitching the stitching area of the field of view boundary area after removing the stitching area has a better effect; in addition, the image of the stitching angle area 92 formed by the intersection of the first stitching area angle P1 and the second stitching area angle P2 will be removed and will not be in the panoramic video after stitching.
- the field of view angles A, B and the first and stitching area angles P1, P2 of the first fisheye lens 40 and the second fisheye lens 50 in the embodiment of the present application can be all the same, partially the same, or completely different, and can be adjusted accordingly according to the structural setting of the panoramic drone 100.
- the top shell 11 includes a first top shell portion 111, a second top shell portion 112 and a third top shell portion 113.
- the second top shell portion 112 is connected between the first top shell portion 111 and the third top shell portion 113, and the second top shell portion 112 is recessed inwardly.
- the portion of the third top shell portion 113 that is farthest from the plane where the support surface 15 is located is closer to the plane where the support surface 15 is located than the portion of the first top shell portion 111 that is farthest from the plane where the support surface 15 is located.
- the first fisheye lens 40 is convexly disposed on the portion of the first top shell portion 111 that is farthest from the plane where the support surface 15 is located, and is tilted toward the third top shell portion 113.
- the first top shell portion 111 is a convex curved surface
- the second top shell portion 112 is a concave curved surface
- the third top shell portion 113 is a convex curved surface.
- the convex arc of the third top shell portion 113 is smaller than that of the first top shell portion 111. In this way, the first fisheye lens 40 is located at the highest point of the top shell 11 , so that the second top shell portion 112 and the third top shell portion 113 are located outside the first viewing area 60 of the first fisheye lens 40 .
- the bottom shell 12 includes a base shell 16 and a plurality of support portions 17 disposed on the base shell 16.
- the second fisheye lens 50 is disposed on the base shell 16, and a surface of the support portion 17 away from the base shell 16 is a support surface 15.
- the base shell 16 includes a first base shell portion 161 and a second base shell portion 162, and the second base shell portion 162 is connected to the first base shell portion 161 and tilted toward the top shell 11.
- the second base shell portion 162 can be a concave surface, a convex surface or an inclined surface, and the second fisheye lens 50 is disposed on the second base shell portion 162.
- the second fisheye lens 50 is disposed in the recess of the base shell 16, and when the panoramic drone 100 lands, the second fisheye lens 50 can be prevented from contacting the landing surface 200, thereby preventing the second fisheye lens 50 from being dented or scratched by the hard landing surface 200.
- the second base shell portion 162 is a concave surface, and the central axis of the second fisheye lens 50 coincides with the normal vector of the second base shell portion 162. In this way, the second fisheye lens 50 can be arranged at the most concave part of the second base shell portion 162, thereby protecting the second fisheye lens 50 to the greatest extent while minimizing the distance between the support surface 15 and the top shell 11.
- the central axis of the second fisheye lens 50 also coincides with the central axis of the first fisheye lens 40.
- the second fisheye lens 50 and the first fisheye lens 40 can be arranged almost symmetrically on the fuselage 10, so that the panoramic drone 100 has a better visual sense.
- the plurality of support parts 17 include a first support part 171 and a second support part 172.
- the number of the first support part 171 and the second support part 172 are both two, and the two first support parts 171 and the two second support parts 172 are respectively located on both sides of the second fisheye lens 50. It can be understood that the number of the first support part 171 and the second support part 172 is not limited to two, and can also be one or more. The number of the first support part 171 and the second support part 172 can also be different, such as providing one support part 171 and two second support parts 172.
- the first support part 171 is located between the second fisheye lens 50 and the second support part 172, and the center of gravity of the panoramic drone 100 is located between the first support part 171 and the second support part 172.
- the distance between the support surface 15 of the second support part 172 and the base shell 16 is less than the distance between the support surface 15 of the first support part 171 and the base shell 16.
- the second fisheye lens 50 will also be lifted away from the landing surface 200, thereby further protecting the second fisheye lens 50.
- the first fisheye lens 40 and the second fisheye lens 50 are located on one side of the panoramic drone 100, and the battery and/or main control board of the panoramic drone 100 are located on the other side of the panoramic drone 100, so that the center of gravity of the panoramic drone 100 is located between the first support part 171 and the second support part 172.
- the bottom shell 12 includes the base shell 16, but does not include the support portion 17.
- the second fisheye lens 50 is disposed on the base shell 16, and the surface of the first base shell portion 161 away from the top shell 11 is the support surface 15.
- the second fisheye lens 50 is located at one end of the panoramic drone 100, and the center of gravity of the panoramic drone 100 is located at the other end away from the second fisheye lens 50. After the panoramic drone 100 lands, the end away from the second fisheye lens 50, including part of the first base shell portion 161, approaches the landing surface 200 and contacts the landing surface 200, and at the same time, the end where the second fisheye lens 50 is located is slightly tilted to protect the second fisheye lens 50.
- the plurality of arms include two first arms 20, and the two first arms 20 are connected to the first side shell 13 and the second side shell 14, respectively.
- the end of each first arm 20 has a side away from the top shell 11 as a grounding surface 21.
- the grounding surface 21 is coplanar with the supporting surface 15 of the first supporting portion 171.
- FIG. 3 when the panoramic drone 100 just lands on the ground, that is, when the plurality of arms are in the unfolding mode, the grounding surfaces 21 of the two first arms 20 and the two first supporting portions 171 contact the landing surface 200 to support the panoramic drone 100.
- the second fisheye lens 50 is located between the plane where the supporting surface 15 of the first supporting portion 171 is located and the top shell 11, so that there is a certain distance between the second fisheye lens 50 and the landing surface 200, so as to prevent the second fisheye lens 50 from directly contacting the landing surface 200, thereby preventing the second fisheye lens 50 from being scratched by objects on the landing surface 200.
- the above-mentioned multiple arms also include two second arms 30, and the two second arms 30 are connected to the first side shell 13 and the second side shell 14 respectively. The two second arms 30 are arranged closer to the top shell 11 than the two first arms 20.
- the two first arms 20 are located on the side of the first support portion 171 away from the second fisheye lens 50, and the two second arms 30 are located on the side of the first support portion 171 close to the second fisheye lens 50.
- the second arms 30 and the second arms 30 are staggered, and while the second arms 30 and the first arms 20 do not interfere with each other, the space occupied by the arms in the length direction of the fuselage 10 is reduced, thereby making the structure of the panoramic drone 100 more compact.
- the number of the first arms 20 and the second arms 30 is not limited to two, and can also be greater than two, as long as they are arranged in groups on the first side shell 13 and the second side shell 14.
- the above-mentioned multiple arms only have an expanded mode, and the multiple arms are fixedly connected to the fuselage 10.
- the multiple arms not only include an expanded mode, but also have a folded mode.
- the multiple arms are foldably connected to the first side shell 13 and the second side shell 14, and each arm includes a rotating arm 21 rotatably connected to the side shell and a blade 22 rotatably connected to the end of the rotating arm 21 away from the side shell.
- the rotating arm 21 of the first arm 20 and the rotating arm 21 of the second arm 30 rotate toward each other and close to the side shells where they are located until the rotating arm 21 of each arm is parallel or nearly parallel to the side shell.
- the second fisheye lens 50 is located between the two first arms 20, and the grounding surface 21 is located between the support surface 15 of the first support portion 171 and the top shell 11.
- the second lens is shielded between the two first arms 20 in the projection direction toward the side wall, so as to protect the second fisheye lens 50 from the side.
- the grounding surface 21 is located between the support surface 15 of the first support portion 171 and the top shell 11, after the panoramic drone 100 lands and folds the arms, the first arms 20 are at a certain distance from the landing surface 200, and the first arms 20 will no longer support the panoramic drone 100.
- the grounding surface 21 of the first arm 20 and the supporting surface 15 of the first supporting part 171 first contact the landing surface 200 to support the panoramic drone 100. Then, the folding of the first arm 20 causes the first arm 20 to be raised relative to the landing surface 200. At the same time, since the center of gravity of the panoramic drone 100 is located between the first supporting part 171 and the second supporting part 172, the end of the panoramic drone 100 away from the second fisheye lens 50 approaches the landing surface 200, and the supporting surface 15 of the second supporting part 172 replaces the grounding surface 21 of the first arm 20 and contacts the landing surface 200 together with the supporting surface 15 of the first supporting part 171 to support the panoramic drone 100.
- the first side shell 13 and the second side shell 14 extend out of the top shell 11 and the bottom shell 12 along the length direction of the fuselage 10.
- the fuselage 10 also includes a front shell 18, which is connected to one end of the top shell 11 and the bottom shell 12 near the second fisheye lens 50, and is connected to the first side shell 13 and the second side shell 14.
- the front shell 18 is a convex surface to achieve a smooth transition from the bottom shell 12 to the bottom shell 12. In this way, when the panoramic drone 100 just takes off, the air resistance can be effectively reduced, the power consumption can be reduced, and the flight time of the panoramic drone 100 can be extended.
- the other parts of the panoramic drone 100 except the first fisheye lens 40 and the second fisheye lens 50 are located in the splicing blind area 90, so that the first fisheye lens 40 and the second fisheye lens 50 are not blocked by the arm during shooting, thereby achieving panoramic shooting.
- the panoramic drone 100 completely locates the second fisheye lens 50 located on the bottom shell 12 between the top shell 11 and the plane where the support surface 15 on the bottom shell 12 is located.
- the second fisheye lens 50 contacts the landing surface 200 such as the ground or a table through the support surface 15, and the second fisheye lens 50 does not contact the landing surface 200, thereby protecting the second fisheye lens 50.
- the panoramic drone 100 Compared with the panoramic drone 100 in the prior art that protects the lens by setting a telescopic structure, the panoramic drone 100 has a simple structure for protecting the second fisheye lens 50, which reduces the weight of the entire panoramic drone 100, thereby improving the flight time of the panoramic drone 100.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Lenses (AREA)
Abstract
一种全景无人机(100)包括：机身(10)，包括顶壳(11)、底壳(12)、连接于顶壳(11)与底壳(12)之间的侧壳(13，14)，底壳(12)包括远离顶壳(11)的支撑面(15)，侧壳(13，14)包括相对设置的第一侧壳(13)及第二侧壳(14)；多个机臂(20，30)，连接在第一侧壳(13)及第二侧壳(14)上，多个机臂(20，30)具有展开模式；第一鱼眼镜头(40)，设于顶壳(11)，第一鱼眼镜头(40)具有第一视场区域(60)及不超过第一视场区域(60)范围的第一拼接区域；第二鱼眼镜头(50)，设于底壳(12)且第二鱼眼镜头(50)完全位于顶壳(11)与支撑面(15)所在平面之间，第二鱼眼镜头(50)具有第二视场区域(70)及不超过第二视场区域(70)范围的第二拼接区域；第一拼接区域和第二拼接区域均不能覆盖的区域构成拼接盲区(90) ；在多个机臂处于展开模式时，全景无人机(100)除第一鱼眼镜头(40)和第二鱼眼镜头(50)外的其他部分位于拼接盲区(90)内。
Description
本申请涉及无人机，特别是涉及一种全景无人机。
无人机通过设置于机身上的镜头拍摄视频，为了获取全景图片或视频，一般将多个镜头凸出置于机身的顶部或底部。虽然镜头凸出设置可取得较好的视野，但在无人机降落时镜头与地面或桌面会接触或碰撞从而给镜头造成损坏，为了避免无人机降落时给镜头带来损坏，一是在机身地板设置可伸缩的支撑架，在拍摄时，支撑架缩回机身，在无人机降落时，支撑架伸出支撑于地面或桌面，从而避免镜头与地面或桌面接触；二是通过与机身连接的升降机构将镜头可伸缩地置于机身内，在拍摄时，镜头伸出机身进行拍摄，在降落时，镜头缩回机身，从而避免镜头与地面或桌面接触。上述两种方案虽然可避免镜头受到损坏，然而，无论是增加支撑架还是升降机构，都增加了机身的重量，在相同电量情况下，重量的增加无疑减少了无人机的续航时间。
发明内容
基于此，有必要提供一种全景无人机，在获得全景视野的同时提升无人机的续航时间。
一种全景无人机，包括：
机身，包括顶壳、底壳、连接于所述顶壳与所述底壳之间的侧壳，所述底壳包括远离所述顶壳的支撑面，所述侧壳包括相对设置的第一侧壳及第二侧壳；
多个机臂，连接在所述第一侧壳及所述第二侧壳上，所述多个机臂具有展开模式；
第一鱼眼镜头，设于所述顶壳，所述第一鱼眼镜头具有第一视场区域及不超过所述第一视场区域范围的第一拼接区域；
第二鱼眼镜头，设于所述底壳且所述第二鱼眼镜头完全位于所述顶壳与所述支撑面所在平面之间，所述第二鱼眼镜头具有第二视场区域及不超过所述第二视场区域范围的第二拼接区域；
所述第一拼接区域和所述第二拼接区域均不能覆盖的区域构成拼接盲区；
其中，在所述多个机臂处于展开模式时，所述全景无人机除所述第一鱼眼镜头和所述第二鱼眼镜头外的其他部分位于所述拼接盲区内。
在其中一个实施例中，所述全景无人机包括电池及主控板，所述第一鱼眼镜头及所述第二鱼眼镜头位于所述全景无人机的一端，所述电池和/或所述主控板位于所述全景无人机的另一端。
在其中一个实施例中，所述底壳包括基壳及设置于基壳上的支撑部，所述支撑部上远离所述基壳上的一面为所述支撑面。
在其中一个实施例中，所述支撑部包括第一支撑部及第二支撑部，所述第一支撑部位于所述第二鱼眼镜头与所述第二支撑部之间，所述全景无人机的重心位于所述第一支撑部与所述第二支撑部之间，所述第二支撑部的支撑面与所述基壳之间的距离小于所述第一支撑部的支撑面与所述基壳之间的距离。
在其中一个实施例中，多个机臂包括两个第一机臂，所述两个第一机臂分别连接于所述第一侧壳及所述第二侧壳，每一第一机臂的末端远离所述顶壳的一面为接地面，在所述展开模式时，所述接地面与所述第一支撑部的支撑面共面。
在其中一个实施例中，多个机臂还包括两个第二机臂，所述两个第二机臂分别连接于所述第一侧壳及所述第二侧壳，所述两个第二机臂较所述两个第一机臂更靠近所述顶壳设置，所述两个第一机臂位于所述第一支撑部远离所述第二鱼眼镜头的一侧，所述两个第二机臂位于所述第一支撑部靠近所述第二鱼眼镜头的一侧。
在其中一个实施例中，所述多个机臂可折叠地连接于所述第一侧壳及所述第二侧壳上，所述多个机臂还具有收拢模式，当所述多个机臂处于所述收拢模式时，所述第二鱼眼镜头位于两个所述第一机臂之间，且所述接地面位于所述第一支撑部的支撑面与所述顶壳之间。
在其中一个实施例中，每一机臂包括转动连接于所述侧壳上的转动臂及转动连接于所述转动臂上远离所述侧壳的一端的桨叶，在所述收拢模式时，所述第一机臂的转动臂及所述第二机臂的转动臂相向且靠近各自所在的侧壳转动。
在其中一个实施例中，所述第一支撑部及所述第二支撑部的数量均为两个，且两个所述第一支撑部和两个所述第二支撑部分别位于所述第二鱼眼镜头的两侧。
在其中一个实施例中，所述底壳包括第一基壳部及第二基壳部，所述第二基壳部与所述所述第一基壳部连接并朝向所述顶壳倾斜，基壳部所述第二鱼眼镜头设于所述第二基壳部。
在其中一个实施例中，所述第二基壳部为凹曲面或斜面，所述第二鱼眼镜头的中心轴与所述第二基壳部的法向量重合。
在其中一个实施例中，所述顶壳包括第一顶壳部、第二顶壳部及第三顶壳部，所述第二顶壳部凹陷于所述第一顶壳部与所述第三顶壳部之间，所述第三顶壳部上与所述支撑面所在的平面相隔最远的部位较所述第一顶壳部上与所述支撑面所在的平面相隔最远的部位靠近所述支撑面所在的平面，所述第一鱼眼镜头凸设于所述第一顶壳部上与所述支撑面所在的平面相隔最远的部位，且朝向所述第三顶壳部倾斜设置。
在其中一个实施例中，所述第一顶壳部及所述第三顶壳部为凸曲面，所述第二顶壳部为凹曲面。
在其中一个实施例中，所述第一鱼眼镜头的中心轴与所述第二鱼眼镜头的中心轴重合。
在其中一个实施例中，所述机身还包括前壳，所述前壳连接于所述顶壳及所述底壳靠近所述第二鱼眼镜头的一端，所述前壳为凸曲面。
上述全景无人机在处于展开模式时，全景无人机除第一鱼眼镜头和所述第二鱼眼镜头外的其他部分位于拼接盲区内，从而使第一鱼眼镜头及第二鱼眼镜头在拍摄时不被遮挡，从而实现全景拍摄。另外，上述全景无人机将位于底壳上的第二鱼眼镜头完全位于顶壳与底壳上的支撑面所在平面之间，在全景无人机降落时，通过支撑面与着陆面，如地面或桌面接触，第二鱼眼镜头不会与着陆面接触，从而保护第二鱼眼镜头，较现有技术中通过设置伸缩结构保护镜头的全景无人机，上述全景无人机用于保护第二鱼眼镜头的结构简单，减轻了全景无人机的整机重量，从而提升全景无人机的续航时间。
本申请的其它特征、目的和优点将从以下具体描述及附图中变得明显。
通过参考说明书的其余部分和附图，可以实现对特定实施例的性质和优点的进一步理解，其中，相似的附图标号用于指代相似的部件。在某些情况下，子标号与附图标号相关联以表示多个相似组件中的一个。当在没有说明现有子标号的情况下参考附图标号时，意在指代所有这样的多个相似部件。
图1为一实施例的全景无人机的机臂在展开模式时的立体图。
图2为图1中的全景无人机的另一视角的立体图。
图3为图1中的全景无人机的机臂在展开模式时的侧视图。
图4为图1中的全景无人机的机臂在在收拢模式时的立体图。
图5为图1中的全景无人机的鱼眼镜头的视场区域及拼接区域示意图。
图6为图4中的全景无人机的机臂在收拢模式时的侧视图。
图7为图1中的全景无人机在飞行时的示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
以下详细描述更详细地示出了一些示例性实施例，以使本领域技术人员能够实践这样的实施例。提供所描述的实施例仅用于说明目的，并不意图限制本发明的范围。
在下面的描述中，出于解释的目的，阐述了许多具体细节以便提供对所描述的实施例的透彻理解。然而，对于本领域的技术人员将显而易见的是，可以在没有这些具体细节中的一些的情况下实施本发明的其他实施例。在其他实例中，某些结构和设备以框图形式示出。这里描述了几个实施例，尽管各种特征被归 因于不同的实施例，但是应当理解，关于一个实施例描述的特征也可以与其他实施例结合。然而，出于同样的原因，任何描述的实施例的一个或多个特征都不应被视为对本发明的每个实施例都是必不可少的，因为本发明的其他实施例可以省略这些特征。
除非另有说明，否则在本文中用来表示所使用的数量，尺寸等的所有数字应理解为在所有情况下均被术语“约”修饰。在本申请中，单数的使用包括复数，除非另有明确说明，否则术语“和”和“或”的使用表示“和/或”，除非另有说明。而且，术语“包括”以及其他形式的使用，例如“包括”和“包含”，应被认为是非排他性的。另外，除非另外特别说明，否则诸如“元件”或“组件”之类的术语涵盖包括一个单元的元件和组件以及包括一个以上单元的元件和组件。
请参阅图1至图3，根据本申请的一个实施例，提供了一种全景无人机100，该全景无人机100在不设置支撑架或镜头伸缩结构的情况下，可实现全景拍摄及保护镜头，从而减少全景无人机100的整机重量，提升全景无人机100的续航时间。
全景无人机100包括机身10、多个机臂(例如第一机臂20、第二机臂30)、第一鱼眼镜头40及第二鱼眼镜头50。机身10包括顶壳11、底壳12、连接于顶壳11与底壳12之间的侧壳(未标示)。底壳12包括远离顶壳11的支撑面15。侧壳包括相对设置的第一侧壳13及第二侧壳14。上述多个机臂连接在第一侧壳13及第二侧壳14上，多个机臂具有展开模式和收拢模式。
请参阅图3、图5，第一鱼眼镜头40设于顶壳11。第一鱼眼镜头40具有第一场视角A及第一拼接区域角P1，其中第一场视角A、第一拼接区域角P1均大于180°，第一拼接区域角P1不大于第一场视角A(例如，本实施例中的第一场视角A为210°，第一拼接区域角P1为190°)，因此其具有由顶壳11所界定的第一视场区域60以及不超过第一视场区域60范围的第一拼接区域(未标识)。图3中示出了第一视场区域60，图3由于是全景无人机100在展开模式时的侧视图，第一视场区域60包括线条L上方的区域，但本领域技术人员结合图1应该可以理解，第一视场区域60实质上是位于第一鱼眼镜头40的镜面远离底壳12的一侧的部分球面状区域，第一拼接区域也是位于第一鱼眼镜头40的镜面远离底壳12的一侧的部分球面状区域，并完全位于第一视场区域60范围内。第二鱼眼镜头50设于底壳12且第二鱼眼镜头50完全位于顶壳11与支撑面15所在平面之间。同样地，第二鱼眼镜头50具有第二视场角B及第二拼接区域角P2，其中第二视场角B、拼接区域角均大于180°，第二拼接区域角P2不大于第二视场角B(例如，本实施例中的第二视场角B为210°，第二拼接区域角P2为190°)，因此其具有由底壳12所界定的第二视场区域70以及不超过第二视场区域70范围的第二拼接区域(未标识)。图3中示出了第二视场区域70。与第一视场区域60类似，第二视场区域70包括线条M下方的区域，但本领域技术人员结合图1应该可以理解，第二视场区域70实质上是位于第二鱼眼镜头50的镜面远离顶壳11的一侧的部分球面状区域，第二拼接区域也是位于第二鱼眼镜头50的镜面远离顶壳11的一侧的部分球面状区域，并完全位于第二视场区域70范围内。由于第一鱼眼镜头40和第二鱼眼镜头50的视场角A、B均大于180°，因此第一视场区域60能够与第二视场区域70相交构成重叠区(图未示)和视场盲区80。上述重叠区指第二视场区域70与第一视场区域60都能覆盖到的区域，上述视场盲区80指第二视场区域70与第一视场区域60都不能覆盖的区域。同样地，由于第一拼接区域角P1、第二拼接区域角P2均大于180°，因此第一拼接区域、第二拼接区域相交形成拼接角区域92，第一拼接区域、第二拼接区域均不能覆盖的区域构成拼接盲区90。
在本实施例的一个方案中，第一鱼眼镜头的第一场视角A和第一拼接区域角P1相同，第二鱼眼镜头的第二视场角B和第一拼接区域角P1相同，此时视场盲区80和拼接盲区90相同，多个机臂在展开模式下位于第一鱼眼镜头40及第二鱼眼镜头50的视场盲区80内，因此，第一鱼眼镜头40及第二鱼眼镜头50在拍摄时不会被任一机臂遮挡，从而第一鱼眼镜头40及第二鱼眼镜头50在同一时刻拍摄的图像可以合成全景图像，进而实现全景拍摄。在本实施例的另外一个方案中，第一鱼眼镜头40的第一场视角A大于第一拼接区域角P1、第二鱼眼镜头50的第二视场角B大于第一拼接区域角P1，多个机臂在展开模式下位于第一鱼眼镜头40及第二鱼眼镜头50的拼接盲区90内，因此，第一鱼眼镜头40及第二鱼眼镜头50合成全景图像不包含包括多个机臂在内的全景无人机100的其他部件，进而实现无遮挡的全景拍摄。需要说明的是，由于鱼眼镜头视场边界的图像畸变严重，因此将去除视场边界区域的拼接区域进行拼接后形成的全景视频效果更好；此外，第一拼接区域角P1及第二拼接区域角P2交叉形成的拼接角区域92的图像将被 去除，不会在拼接形成后的全景视频中。
需要说明的是，本申请实施例中的第一鱼眼镜头40、第二鱼眼镜头50的视场角A、B及第一及拼接区域角P1、P2可以全部相同、部分相同或均不相同，可以根据全景无人机100的结构设置进行对应调整。
请参阅图1、图3，顶壳11包括第一顶壳部111、第二顶壳部112及第三顶壳部113。第二顶壳部112连接于第一顶壳部111与第三顶壳部113之间，且第二顶壳部112向内凹陷。第三顶壳部113上与支撑面15所在的平面相隔最远的部位较第一顶壳部111上与支撑面15所在的平面相隔最远的部位更靠近支撑面15所在的平面。第一鱼眼镜头40凸设于第一顶壳部111上与支撑面15所在的平面相隔最远的部位，且朝向第三顶壳部113倾斜设置。在一实施例中，第一顶壳部111为凸曲面，第二顶壳部112为凹曲面，第三顶壳部113为凸曲面。第三顶壳部113的凸出弧度较第一顶壳部111小。如此，第一鱼眼镜头40位于顶壳11的最高处，使第二顶壳部112及第三顶壳部113位于第一鱼眼镜头40的第一视场区域60外。
请参阅图2，底壳12包括基壳16及设置于基壳16上的多个支撑部17。第二鱼眼镜头50设置于基壳16上，支撑部17上远离基壳16上的一面为支撑面15。基壳16包括第一基壳部161及第二基壳部162，第二基壳部162与第一基壳部161连接并朝向顶壳11倾斜。第二基壳部162可为凹面、凸面或斜面，第二鱼眼镜头50设于第二基壳部162。如此，第二鱼眼镜头50设置于基壳16的凹陷处，在全景无人机100降落时，可避免第二鱼眼镜头50与着陆面200接触，从而避免第二鱼眼镜头50被硬质的着陆面200碰伤或刮伤。在一实施例中，第二基壳部162为凹面，第二鱼眼镜头50的中心轴与第二基壳部162的法向量重合，如此，可使第二鱼眼镜头50设置于第二基壳部162上最凹陷处，从而在最大程度的保护第二鱼眼镜头50的同时使支撑面15与顶壳11之间距离最小。进一步地，第二鱼眼镜头50的中心轴还与第一鱼眼镜头40的中心轴重合，如此，可使第二鱼眼镜头50与与第一鱼眼镜头40几乎对称地设置于机身10上，从而使全景无人机100获得较好视觉感。
如图2所示，多个支撑部17包括第一支撑部171及第二支撑部172。第一支撑部171及第二支撑部172的数量均为两个，且两个第一支撑部171和两个第二支撑部172分别位于第二鱼眼镜头50的两侧。可以理解，第一支撑部171及第二支撑部172的数量并不局限于两个，也可为一个或多个。第一支撑部171及第二支撑部172的数量也可不同，如设置一个支撑部171及两个第二支撑部172。如图5所示，第一支撑部171位于第二鱼眼镜头50与第二支撑部172之间，全景无人机100的重心位于第一支撑部171与第二支撑部172之间。本实施例中，第二支撑部172的支撑面15与基壳16之间的距离小于第一支撑部171的支撑面15与基壳16之间的距离。如此，在全景无人机100着陆后，在重力的作用下，全景无人机100上靠近第二支撑部172的一端会向着陆面200靠近，而靠近第一支撑部171的一端会远离着陆面200。对应地，第二鱼眼镜头50也会被抬起而远离着陆面200，从而进一步保护第二鱼眼镜头50。在一实施例中，第一鱼眼镜头40及第二鱼眼镜头50位于全景无人机100的一侧，而全景无人机100的电池和/或主控板等部件位于全景无人机100的另一侧，以使全景无人机100的重心位于第一支撑部171与第二支撑部172之间。
在另一实施例中，底壳12包括上述基壳16，但不包括上述支撑部17，第二鱼眼镜头50设置于基壳16上，第一基壳部161上远离顶壳11的一面即为支撑面15。第二鱼眼镜头50位于全景无人机100的一端，全景无人机100的重心位于远离第二鱼眼镜头50的另一端。在全景无人机100着陆后，远离第二鱼眼镜头50的一端，包括部分第一基壳部161向着陆面200靠近并与着陆面200接触，同时使第二鱼眼镜头50所在的一端微微翘起，以保护第二鱼眼镜头50。
如图1和图2所示，多个机臂中包括两个第一机臂20，两个第一机臂20分别连接于第一侧壳13及第二侧壳14。每一第一机臂20的末端远离顶壳11的一面为接地面21。在展开模式时，接地面21与第一支撑部171的支撑面15共面。如图3所示，当全景无人机100刚降落地面时，即多个机臂处于展开模式时，两个第一机臂20的接地面21及两个第一支撑部171与着陆面200接触，将全景无人机100支撑。此时，第二鱼眼镜头50位于第一支撑部171的支撑面15所在平面与顶壳11之间，使第二鱼眼镜头50与着陆面200之间具有一定距离，避免第二鱼眼镜头50直接与着陆面200接触，进而避免着陆面200上的物件刮伤第二鱼眼镜头50。进一步地，上述多个机臂中还包括两个第二机臂30，两个第二机臂30分别连接于第一侧壳13及第二侧壳14。两个第二机臂30较两个第一机臂20更靠近顶壳11设置。两个第一机臂20位于第一支撑部171远离第二鱼眼镜头50的一侧，两个第二机臂30位于第一支撑部171靠近第二鱼眼镜头50 的一侧。如此，第二机臂30与第二机臂30错开设置，在第二机臂30与第一机臂20不产生干涉的同时，减少了机臂在机身10长度方向占用的空间，从而使全景无人机100的结构更紧凑。可以理解，第一机臂20及第二机臂30的数量并不局限于两个，也可大于两个，只要成组地设置于第一侧壳13及第二侧壳14上即可。
在一实施例中，上述多个机臂仅具有展开模式，多个机臂与机身10为固定连接。请同时参阅图1及图4，在本实施例中，多个机臂不仅包括展开模式，还具有收拢模式。具体地，多个机臂可折叠地连接于第一侧壳13及第二侧壳14上，每一机臂包括转动连接于侧壳上的转动臂21及转动连接于转动臂21上远离侧壳的一端的桨叶22。全景无人机100从展开模式向收拢模式转换时，第一机臂20的转动臂21及第二机臂30的转动臂21相向且靠近各自所在的侧壳转动，直至各个机臂的转动臂21与侧壳平行或接近平行设置。
请参阅图6，当多个机臂处于收拢模式时，第二鱼眼镜头50位于两个第一机臂20之间，且接地面21位于第一支撑部171的支撑面15与顶壳11之间。在收拢模式时，由于第二鱼眼镜头50位于两个第一机臂20之间，从而使第二镜头在朝向侧壁的投影方向上遮挡于两第一机臂20之间，以从侧面保护第二鱼眼50镜头。在收拢模式时，由于接地面21位于第一支撑部171的支撑面15与顶壳11之间，如此，在全景无人机100着陆并收拢机臂后，第一机臂20与着陆面200具有一定距离，第一机臂20将不再支撑全景无人机100。在全景无人机100着陆后由展开模式向收拢模式转换时，先由第一机臂20的接地面21与第一支撑部171的支撑面15与着陆面200接触以支撑全景无人机100，然后，第一机臂20的收拢使第一机臂20将相对着陆面200抬高，同时，由于全景无人机100的重心位于第一支撑部171与第二支撑部172之间，全景无人机100远离第二鱼眼镜头50的一端向着陆面200靠近，由第二支撑部172的支撑面15取代第一机臂20的接地面21与第一支撑部171的支撑面15一起与着陆面200接触，以支撑全景无人机100。
请参阅图1及图7，第一侧壳13及第二侧壳14伸出沿机身10长度方向伸出顶壳11及底壳12。机身10还包括前壳18，前壳18连接于顶壳11及底壳12靠近第二鱼眼镜头50的一端，且与第一侧壳13及第二侧壳14连接，前壳18为凸曲面，实现从底壳12到底壳12之间的顺滑过渡。如此，在全景无人机100刚起飞时，可有效降低空气阻力，减少功耗，可延长全景无人机100的续航时间。
上述全景无人机100在处于展开模式时，全景无人机100上除第一鱼眼镜头40和第二鱼眼镜头50外的其他部分位于拼接盲区90内，从而使第一鱼眼镜头40及第二鱼眼镜头50在拍摄时不被机臂遮挡，从而实现全景拍摄。另外，上述全景无人机100将位于底壳12上的第二鱼眼镜头50完全位于顶壳11与底壳12上的支撑面15所在平面之间，在全景无人机100降落时，通过支撑面15与如地面或桌面的着陆面200接触，第二鱼眼镜头50不会与着陆面200接触，从而保护第二鱼眼镜头50，较现有技术中通过设置伸缩结构保护镜头的全景无人机100，上述全景无人机100用于保护第二鱼眼镜头50的结构简单，减轻了全景无人机100的整机重量，从而提升全景无人机100的续航时间。
尽管已经描述了示例性实施例的某些特征和方面，但是本领域技术人员可认识到许多修改是可能的。例如，可以使用硬件组件，软件组件和/或其任何组合来实现本申请描述的方法和过程。此外，尽管针对特定的结构和/或功能组件对各种方法和过程进行了描述，由上述各种实施例提供的方法不限于任何特定的结构和/或功能架构，而是可以在任何合适的硬件，固件和/或软件配置上实现。类似地，尽管将某些功能归因于某些系统组件，除非上下文另有指示，否则根据几个实施例，可以将该功能分布在各种其他系统组件之间。
此外，为了便于描述，尽管以特定顺序描述了本申请的方法和过程，除非上下文另有指示，否则根据各种实施例，可以对各种过程进行重新排序，添加和/或省略。而且，关于一种方法或过程描述的过程可以被并入其他描述的方法或过程中；然而，本申请并不限于此。同样地，根据特定结构架构和/或相对于一个系统描述的组件可以以替代性的结构进行组织和/或并入其他所述的系统中。因此，尽管描述了具有或不具有某些特征的各种实施例，但是本文中针对特定实施例描述的各种组件和/或特征可以被替换、添加和/或去除，除非上下文另有指示。因此，尽管上面描述了几个示例性实施例，但是应当理解，本发明旨在覆盖所附权利要求范围内的所有修改和等同形式。
Claims (15)
- 一种全景无人机，包括：机身，包括顶壳、底壳、连接于所述顶壳与所述底壳之间的侧壳，所述底壳包括远离所述顶壳的支撑面，所述侧壳包括相对设置的第一侧壳及第二侧壳；多个机臂，连接在所述第一侧壳和/或所述第二侧壳上，所述多个机臂具有展开模式；第一鱼眼镜头，设于所述顶壳，所述第一鱼眼镜头具有第一视场区域及不超过所述第一视场区域范围的第一拼接区域；第二鱼眼镜头，设于所述底壳且所述第二鱼眼镜头完全位于所述顶壳与所述支撑面所在平面之间，所述第二鱼眼镜头具有第二视场区域及不超过所述第二视场区域范围的第二拼接区域；所述第一拼接区域和所述第二拼接区域均不能覆盖的区域构成拼接盲区；其中，在所述多个机臂处于展开模式时，所述全景无人机除所述第一鱼眼镜头和所述第二鱼眼镜头外的其他部分位于所述拼接盲区内。
- 根据权利要求1所述的全景无人机，其中所述全景无人机包括电池及主控板，所述第一鱼眼镜头及所述第二鱼眼镜头位于所述全景无人机的一端，所述电池和/或所述主控板位于所述全景无人机的另一端。
- 根据权利要求1所述的全景无人机，其中所述底壳包括基壳及设置于基壳上的支撑部，所述支撑部上远离所述基壳上的一面为所述支撑面。
- 根据权利要求3所述的全景无人机，其中所述支撑部包括第一支撑部及第二支撑部，所述第一支撑部位于所述第二鱼眼镜头与所述第二支撑部之间，所述全景无人机的重心位于所述第一支撑部与所述第二支撑部之间，所述第二支撑部的支撑面与所述基壳之间的距离小于所述第一支撑部的支撑面与所述基壳之间的距离。
- 根据权利要求4所述的全景无人机，其中多个机臂包括两个第一机臂，所述两个第一机臂分别连接于所述第一侧壳及所述第二侧壳，每一第一机臂的末端远离所述顶壳的一面为接地面，在所述展开模式时，所述接地面与所述第一支撑部的支撑面共面。
- 根据权利要求5所述的全景无人机，其中多个机臂还包括两个第二机臂，所述两个第二机臂分别连接于所述第一侧壳及所述第二侧壳，所述两个第二机臂较所述两个第一机臂更靠近所述顶壳设置，所述两个第一机臂位于所述第一支撑部远离所述第二鱼眼镜头的一侧，所述两个第二机臂位于所述第一支撑部靠近所述第二鱼眼镜头的一侧。
- 根据权利要求6所述的全景无人机，其中所述多个机臂可折叠地连接于所述第一侧壳及所述第二侧壳上，所述多个机臂还具有收拢模式，当所述多个机臂处于所述收拢模式时，所述第二鱼眼镜头位于两个所述第一机臂之间，且所述接地面位于所述第一支撑部的支撑面与所述顶壳之间。
- 根据权利要求7所述的全景无人机，其中每一机臂包括转动连接于所述侧壳上的转动臂及转动连接于所述转动臂上远离所述侧壳的一端的桨叶，在所述收拢模式时，所述第一机臂的转动臂及所述第二机臂的转动臂相向且靠近各自所在的侧壳转动。
- 根据权利要求4所述的全景无人机，其中所述第一支撑部及所述第二支撑部的数量均为两个，且两个所述第一支撑部和两个所述第二支撑部分别位于所述第二鱼眼镜头的两侧。
- 根据权利要求1所述的全景无人机，其中所述底壳包括第一基壳部及第二基壳部，所述第二基壳部与所述所述第一基壳部连接并朝向所述顶壳倾斜，基壳部所述第二鱼眼镜头设于所述第二基壳部。
- 根据权利要求10所述的全景无人机，其中所述第二基壳部为凹曲面或斜面，所述第二鱼眼镜头的中心轴与所述第二基壳部的法向量重合。
- 根据权利要求1所述的全景无人机，其中所述顶壳包括第一顶壳部、第二顶壳部及第三顶壳部，所述第二顶壳部凹陷于所述第一顶壳部与所述第三顶壳部之间，所述第三顶壳部上与所述支撑面所在的平面相隔最远的部位较所述第一顶壳部上与所述支撑面所在的平面相隔最远的部位靠近所述支撑面所在的平面，所述第一鱼眼镜头凸设于所述第一顶壳部上与所述支撑面所在的平面相隔最远的部位，且朝向所述第三顶壳部倾斜设置。
- 根据权利要求12所述的全景无人机，其中所述第一顶壳部及所述第三顶壳部为凸曲面，所述第二顶壳部为凹曲面。
- 根据权利要求1所述的全景无人机，其中所述第一鱼眼镜头的中心轴与所述第二鱼眼镜头的中心轴重合。
- 根据权利要求1所述的全景无人机，其中所述机身还包括前壳，所述前壳连接于所述顶壳及所述底壳靠近所述第二鱼眼镜头的一端，所述前壳为凸曲面。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/132742 WO2024103366A1 (zh) | 2022-11-18 | 2022-11-18 | 全景无人机 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/132742 WO2024103366A1 (zh) | 2022-11-18 | 2022-11-18 | 全景无人机 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2024103366A1 true WO2024103366A1 (zh) | 2024-05-23 |
Family
ID=91083590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2022/132742 WO2024103366A1 (zh) | 2022-11-18 | 2022-11-18 | 全景无人机 |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2024103366A1 (zh) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2360413A (en) * | 2000-03-16 | 2001-09-19 | Lee Scott Friend | Wide angle parabolic imaging and image mapping apparatus |
| CN205121152U (zh) * | 2015-11-16 | 2016-03-30 | 苏州瀚易特信息技术股份有限公司 | 一种全景航拍器 |
| CN210405535U (zh) * | 2019-10-12 | 2020-04-24 | 宜视通科技(北京)有限公司 | 一种全景3d一体摄像机 |
| CN112837207A (zh) * | 2019-11-25 | 2021-05-25 | 影石创新科技股份有限公司 | 全景深度测量方法、四目鱼眼相机及双目鱼眼相机 |
| CN113873259A (zh) * | 2021-09-17 | 2021-12-31 | 影石创新科技股份有限公司 | 全景视频插帧方法、装置及计算机可读存储介质 |
| CN115174805A (zh) * | 2022-06-27 | 2022-10-11 | 影石创新科技股份有限公司 | 全景立体图像的生成方法、装置和电子设备 |
-
2022
- 2022-11-18 WO PCT/CN2022/132742 patent/WO2024103366A1/zh unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2360413A (en) * | 2000-03-16 | 2001-09-19 | Lee Scott Friend | Wide angle parabolic imaging and image mapping apparatus |
| CN205121152U (zh) * | 2015-11-16 | 2016-03-30 | 苏州瀚易特信息技术股份有限公司 | 一种全景航拍器 |
| CN210405535U (zh) * | 2019-10-12 | 2020-04-24 | 宜视通科技(北京)有限公司 | 一种全景3d一体摄像机 |
| CN112837207A (zh) * | 2019-11-25 | 2021-05-25 | 影石创新科技股份有限公司 | 全景深度测量方法、四目鱼眼相机及双目鱼眼相机 |
| CN113873259A (zh) * | 2021-09-17 | 2021-12-31 | 影石创新科技股份有限公司 | 全景视频插帧方法、装置及计算机可读存储介质 |
| CN115174805A (zh) * | 2022-06-27 | 2022-10-11 | 影石创新科技股份有限公司 | 全景立体图像的生成方法、装置和电子设备 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11167863B2 (en) | Unmanned aerial vehicle | |
| CN104859857A (zh) | 一种单镜头全景无人机系统 | |
| WO2023241432A1 (zh) | 一种无人机 | |
| CN107539466A (zh) | 一种用于全景拍摄的无人机 | |
| CN212605801U (zh) | 四旋翼无人飞行器和多旋翼无人飞行器 | |
| WO2019140660A1 (zh) | 机身及包括该机身的无人机 | |
| WO2024103366A1 (zh) | 全景无人机 | |
| JP7032800B2 (ja) | ダクテッドファンドローン | |
| CN107226214A (zh) | 一种无人机上全景相机安装结构 | |
| CN117561202A (zh) | 无人机 | |
| KR102225621B1 (ko) | 감시카메라용 지지 브라켓 | |
| CN220130353U (zh) | 一种具有拍摄功能的无人机 | |
| WO2024103367A1 (zh) | 全景无人机 | |
| US10705411B2 (en) | Document camera | |
| WO2018045635A1 (zh) | 一种无人机的可动摄像装置 | |
| JP2001136254A (ja) | 携帯無線通信装置 | |
| WO2023201639A1 (zh) | 无人飞行器 | |
| WO2021243705A1 (zh) | 无人飞行器 | |
| CN116568958A (zh) | 手持云台、拍摄装置、及可移动平台 | |
| CN108622429A (zh) | 一种多旋翼无人机云台组件 | |
| CN220682670U (zh) | 一种全景拍摄无人机 | |
| KR200197612Y1 (ko) | 무선 영상 촬영장치의 랜딩스키드구조 | |
| KR102623773B1 (ko) | 드론 카메라 보호 커버 | |
| KR102134174B1 (ko) | 무인 비행 장치 및 이를 구비하는 휴대용단말기 | |
| TWM524907U (zh) | 雲台機構 |