WO2019100824A1 - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
WO2019100824A1
WO2019100824A1 PCT/CN2018/105977 CN2018105977W WO2019100824A1 WO 2019100824 A1 WO2019100824 A1 WO 2019100824A1 CN 2018105977 W CN2018105977 W CN 2018105977W WO 2019100824 A1 WO2019100824 A1 WO 2019100824A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
camera
arms
pitch axis
Prior art date
Application number
PCT/CN2018/105977
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French (fr)
Chinese (zh)
Inventor
彭淮
张正力
Original Assignee
深圳市道通智能航空技术有限公司
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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 WO2019100824A1 publication Critical patent/WO2019100824A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle.
  • Unmanned Aerial Vehicle 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.
  • 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.
  • 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.
  • the camera mounted on the UAV needs to avoid the occlusion of the landing gear, the propeller, and the UAV arm.
  • 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.
  • an embodiment of the present invention provides a human-free aircraft capable of realizing panoramic imaging.
  • the embodiment of the present invention provides the following technical solutions:
  • An unmanned aerial vehicle comprising:
  • a power unit mounted to an end of the arm away from the fuselage for providing power required to fly the UAV
  • a camera assembly is disposed on the body and located between any two adjacent arms.
  • the camera assembly includes a pan/tilt and an imaging device, and the pan/tilt is equipped with the camera device, and the pan/tilt is mounted on the body.
  • the pan/tilt head includes: a bracket, a pitch axis motor connected to the bracket, and a roll axis motor disposed in the camera device, wherein the pitch axis motor is configured to drive the The camera device rotates about a pitch axis, and the roll axis motor is used to drive the camera device to rotate around a roll axis;
  • the bracket includes a base and two connecting arms, the base is fixedly connected to the body, and one ends of the two connecting arms are fixedly connected with the base, and the connecting arm is away from the base The other end is connected to the pitch axis motor.
  • the number of the pitch axis motors is one, and the pitch axis motor is connected to one end of the two connecting arms away from the base.
  • the number of the pitch axis motors is two, and the two pitch axis motors are respectively connected to one ends of the two connecting arms away from the base.
  • the camera device includes a housing and a lens module disposed in the housing, the housing being coupled to the pitch axis motor;
  • the roll motor is mounted in the housing and connected to the lens module.
  • a damper device is disposed at a connection between the camera assembly and the body, and the damper device includes a first connecting plate, a damper ball, and a second connecting plate.
  • the seismic ball is disposed between the first connecting plate and the second connecting plate; the first connecting plate is fixedly connected to the body, and the second connecting plate is fixedly connected to the pan.
  • the camera assembly has four, and each of the four camera assemblies is disposed between two adjacent ones.
  • An unmanned aerial vehicle 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 machine The other end of the body is configured to provide power for the UAV to fly; the camera assembly is mounted to the body and disposed between any two adjacent arms.
  • 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.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of an image pickup assembly in the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 3 is an exploded view of the image pickup device and the roll motor in the image pickup assembly shown in FIG. 2;
  • Figure 4 is a bottom plan view of the unmanned aerial vehicle of Figure 1.
  • an unmanned aerial vehicle 100 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.
  • 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.
  • 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.
  • the number of the arms 20 is four, that is, the unmanned aerial vehicle 100 in the present invention is a quadrotor unmanned aerial vehicle.
  • One end of each of the four arms 20 is fixedly coupled to the body 10.
  • the fuselage 10 and the arm 20 are substantially in the shape of a "ten", that is, two non-adjacent arms 20 are on the same straight line, and the adjacent two arms 20 are perpendicular to each other.
  • the power unit 30 is mounted at an end of the arm 20 away from the body 10 for providing power for the UAV 100 to fly.
  • the number of the power devices 30 is also four, and the four power devices 30 are respectively mounted on one ends of the four armes 20 away from the airframe 10 for providing the unmanned aerial vehicle. 100 flying power.
  • the power unit 30 includes a motor and a propeller.
  • the motor is fixed to an end of the arm 20 away from the body 10.
  • the motor is coupled to the propeller and drives the propeller to rotate.
  • the camera assembly 40 is mounted to the body 10, and the camera assembly 40 is located between any two adjacent arms 20, and the camera assembly 40 is used to capture an image.
  • the camera assembly 40 and the arm 20 are both mounted on the side of the body 10.
  • the projections of the camera assembly 40 and the arm 20 on the plane of the bottom surface of the body 10 are offset from each other.
  • the camera assembly 40 and the arm 20 surround the body 10 along the heading axis (Y) of the UAV 100, and two phases At least one camera assembly 40 is disposed between the adjacent arms 20.
  • the camera assembly 40 has four, and each of the camera assemblies 40 is located between two adjacent arms 20 (ie, the camera assembly 40 and the arm 20 surround the machine). Body 10, and alternately set). It can be understood that, in some other embodiments, the number of the camera components 40 may be five or more, wherein four camera assemblies 40 are in one-to-one correspondence with the arm 20 (ie, each An imaging assembly 40 is disposed between two adjacent arms 20; it may also be referred to as: four camera assemblies 40 and four arms 20 are alternately disposed on the body 10), and the remaining camera assemblies 40 may be The actual situation is required to be placed at any position of the UAV 100.
  • 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.
  • the camera device 42 includes a housing 421 and a lens module 422 disposed in the housing 421.
  • the outer casing 421 has a spherical shape.
  • the imaging device 42 may specifically be a camera, a camera, a camera, or the like.
  • the pan/tilt head 41 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head. As shown in FIGS. 2 and 3, in the present embodiment, the pan/tilt head 41 is a two-axis pan/tilt head.
  • the pan/tilt head 41 includes a bracket 411, a pitch axis motor 412 connected to the bracket 411, and a roll motor 413 provided in the outer casing 421 of the image pickup device 42.
  • the pitch axis motor 412 is configured to drive the imaging device 42 to rotate about a pitch axis
  • the roll axis motor 413 is configured to drive the camera device 42 to rotate about a roll axis.
  • the bracket 411 is substantially U-shaped and includes a base 4111 and two connecting arms 4112. One end of each of the connecting arms 4112 is fixedly connected to the base 4111, and only one of the pitch axis motors 412 is installed. The other end of one of the two connecting arms 4112.
  • the roll axis motor 413 is rotatably coupled to the pitch axis motor 412. It can be understood that in other embodiments, the pan/tilt head 41 may further include two pitch axis motors 412, and each pitch axis motor 412 is mounted on the other end of a corresponding one of the connecting arms 4112.
  • 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.
  • 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 platform 41.
  • the connections of the four lens modules 422 form a rectangle (one lens module 422 is only connected to the adjacent two lens modules 422).
  • the optical axes of the two lens modules 422 located on the two non-adjacent arms 20 are always in the same plane.
  • the optical axes of the adjacent two lens modules 422 are always located in two planes perpendicular to each other.
  • the four lens modules 422 can cooperate and cooperate to capture a 360 degree panoramic image around the UAV 100.
  • the camera assembly 40 is disposed on an outer side of the body 10 and located between two adjacent arms 20 to enable the camera assembly 40 to better avoid the landing gear, the propeller, the arm 20, and the machine.
  • the occlusion of the body 10 allows the camera assembly 40 to obtain a wider range of scenes or images.
  • 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.
  • the base 4111 of the platform 41 is fixedly connected to the outer side of the body 10, and the camera assembly 40 and the arm 20 are alternately disposed on the body 10.
  • the camera assembly 40 is located between the two armes 20, so that the camera device 42 in the camera assembly 40 can be protected from the landing gear (usually mounted directly below the body, the distance from the camera assembly) Farther), the propeller and the occlusion of the UAV arm 20, so that the UAV 100 can perform panoramic shooting (ie, the camera 42 can capture the omnidirectionally above and above the UAV 100 And the scene below).

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

An unmanned aerial vehicle comprises a fuselage (10), arms (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 provided 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. The photographing assembly (40) is installed at the fuselage (10) and positioned between any two adjacent arms (2). The above arrangement can prevent a camera of the photographing assembly (40) from being blocked by a landing gear, a propeller and the arms of the unmanned aerial vehicle, such that the unmanned aerial vehicle 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201721579837.1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 the priority of the Chinese Patent Application Serial No. PCT Application 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：An unmanned aerial vehicle comprising:
机身；body;
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，安装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所需的动力；以及a power unit mounted to an end of the arm away from the fuselage for providing power required to fly the UAV; and
摄像组件，所述摄像组件设于所述机身，且位于任意相邻两个所述机臂之间。A camera assembly is disposed on the body and located between any two adjacent arms.
在本发明的一实施例中，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身。In an embodiment of the invention, the camera assembly includes a pan/tilt and an imaging device, and the pan/tilt is equipped with the camera device, and the pan/tilt is mounted on the body.
在本发明的一实施例中，所述云台包括：支架、与所述支架相连的俯仰轴电机和设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 an embodiment of the invention, the pan/tilt head includes: a bracket, a pitch axis motor connected to the bracket, and a roll axis motor disposed in the camera device, wherein the pitch axis motor is configured to drive the The camera device rotates about a pitch axis, and the roll axis motor is used to drive the camera device to rotate around a roll axis;
所述支架包括基座和两个连接臂，所述基座与所述机身固定连接，两个所述连接臂的一端均与所述基座固定连接，所述连接臂远离所述基座的另一端与所述俯仰轴电机相连。The bracket includes a base and two connecting arms, the base is fixedly connected to the body, and one ends of the two connecting arms are fixedly connected with the base, and the connecting arm is away from the base The other end is connected to the pitch axis motor.
在本发明的一实施例中，所述俯仰轴电机的数量为1，所述俯仰轴电机与所述两个连接臂中的其中一个连接臂远离所述基座的一端相连。In an embodiment of the invention, the number of the pitch axis motors is one, and the pitch axis motor is connected to one end of the two connecting arms away from the base.
在本发明的一实施例中，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远离所述基座的一端连接。In an embodiment of the invention, the number of the pitch axis motors is two, and the two pitch axis motors are respectively connected to one ends of the two connecting arms away from the base.
在本发明的一实施例中，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 an embodiment of the invention, 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。The roll motor is mounted in the housing and connected to the lens module.
在本发明的一实施例中，所述摄像组件与所述机身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身固定连接，所述第二连接板与所述云台固定连接。In an embodiment of the present invention, a damper device is disposed at a connection between the camera assembly and the body, and the damper device includes a first connecting plate, a damper ball, and a second connecting plate. The seismic ball is disposed between the first connecting plate and the second connecting plate; the first connecting plate is fixedly connected to the body, and the second connecting plate is fixedly connected to the pan.
在本发明的一实施例中，所述机臂共有四个，相邻两个所述机臂相互垂 直。In an embodiment of the invention, there are four arms, and two adjacent arms are perpendicular to each other.
在本发明的一实施例中，所述摄像组件共有四个，四个所述摄像组件中的每一个摄像组件均设于相邻两个所述机臂之间。In an embodiment of the invention, the camera assembly has four, and each of the four camera assemblies is disposed between two adjacent ones.
本发明实施例的无人飞行器，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身，设于任意相邻两个机臂之间。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 machine The other end of the body is configured to provide power for the UAV to fly; the camera assembly is mounted to the body and disposed between any two adjacent arms. 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安装于所述机身10，并且所述摄像组件40位于任意相邻两个所述机臂20之间，所述摄像组件40用于拍摄图像。具体的说，所述摄像组件40和所述机臂20均安装于所述机身10的侧面，所述摄像组件40和机臂20在所述机身10的底面所在平面的投影相互错开。当所述摄像组件40和机臂20均有多个时，所述摄像组件40和机臂20沿所述无人飞行器100的航向轴(Y)环绕于所述机身10，并且两个相邻的机臂20之间至少设有一 个摄像组件40。The camera assembly 40 is mounted to the body 10, and the camera assembly 40 is located between any two adjacent arms 20, and the camera assembly 40 is used to capture an image. Specifically, the camera assembly 40 and the arm 20 are both mounted on the side of the body 10. The projections of the camera assembly 40 and the arm 20 on the plane of the bottom surface of the body 10 are offset from each other. When there are a plurality of the camera assembly 40 and the arm 20, the camera assembly 40 and the arm 20 surround the body 10 along the heading axis (Y) of the UAV 100, and two phases At least one camera assembly 40 is disposed between the adjacent arms 20.
在本实施例中，所述摄像组件40共有四个，每个所述摄像组件40位于两个相邻的机臂20之间(即，所述摄像组件40和机臂20环绕于所述机身10，并交替设置)。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(即，每相邻的两个机臂20之间设置有一个摄像组件40；也可称之为：四个摄像组件40和四个机臂20交替设置于所述机身10)，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 this embodiment, the camera assembly 40 has four, and each of the camera assemblies 40 is located between two adjacent arms 20 (ie, the camera assembly 40 and the arm 20 surround the machine). Body 10, and alternately set). It can be understood that, in some other embodiments, the number of the camera components 40 may be five or more, wherein four camera assemblies 40 are in one-to-one correspondence with the arm 20 (ie, each An imaging assembly 40 is disposed between two adjacent arms 20; it may also be referred to as: four camera assemblies 40 and four arms 20 are alternately disposed on the body 10), and the remaining camera assemblies 40 may be The actual situation is required to be placed at any position of the UAV 100.
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和两个连接臂4112，两个所述连接臂4112的一端均与所述基座4111固定连接，所述俯仰轴电机412只有一个，其安装于两个所述连接臂4112中其中一个的另一端。所述横滚轴电机413与所述俯仰轴电机412转动连接。可以理解的是，在其它一些实施例中，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 two connecting arms 4112. One end of each of the connecting arms 4112 is fixedly connected to the base 4111, and only one of the pitch axis motors 412 is installed. The other end of one of the two connecting arms 4112. The roll axis motor 413 is rotatably coupled to the pitch axis motor 412. It can be understood that in other embodiments, the pan/tilt head 41 may further include two pitch axis motors 412, and each pitch axis motor 412 is mounted on the other end of a corresponding one of the connecting arms 4112.
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云台41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 platform 41.
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设置于所述机身10的外侧面，并位于两个相邻的机臂20之间，可使得摄像组件40能够更好地避开起落架、螺旋桨、机臂20和机身10的遮挡，从而使得摄像组件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 on an outer side of the body 10 and located between two adjacent arms 20 to enable the camera assembly 40 to better avoid the landing gear, the propeller, the arm 20, and the machine. The occlusion of the body 10 allows the camera assembly 40 to obtain a wider range of scenes or images. 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.
在本发明各实施例中，所述云台41的基座4111与所述机身10的外侧面固定连接，并且所述摄像组件40和机臂20交替设置于所述机身10。此时所述摄像组件40位于两个所述机臂20之间，使得所述摄像组件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20的遮挡，从而使得该无人飞行器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)。In the embodiment of the present invention, the base 4111 of the platform 41 is fixedly connected to the outer side of the body 10, and the camera assembly 40 and the arm 20 are alternately disposed on the body 10. At this time, the camera assembly 40 is located between the two armes 20, so that the camera device 42 in the camera assembly 40 can be protected from the landing gear (usually mounted directly below the body, the distance from the camera assembly) Farther), the propeller and the occlusion of the UAV arm 20, so that the UAV 100 can perform panoramic shooting (ie, the camera 42 can capture the omnidirectionally above and above the UAV 100 And the scene below).
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 (9)

  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)，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)飞行所需的动力；以及a power unit (30) mounted at an end of the arm (20) remote from the fuselage (10) for providing power required to fly the UAV (100);
    摄像组件(40)，所述摄像组件(40)设于所述机身(10)，且位于任意相邻两个所述机臂(20)之间。A camera assembly (40) is disposed on the body (10) and located between any two adjacent arms (20).
  2. 根据权利要求1所述的无人飞行器(100)，其特征在于，The unmanned aerial vehicle (100) of claim 1 wherein:
    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)安装于所述机身(10)。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 body ( 10).
  3. 根据权利要求2所述的无人飞行器(100)，其特征在于，The UAV (100) of claim 2, 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)和设于所述摄像装置(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 head (41) includes a bracket (411), a pitch axis motor (412) connected to the bracket (411), and a roll axis motor (413) disposed in the camera device (42). The 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 around a roll axis;
    所述支架(411)包括基座(4111)和两个连接臂(4112)，所述基座(4111)与所述机身(10)固定连接，两个所述连接臂(4112)的一端均与所述基座(4111)固定连接，所述连接臂(4112)远离所述基座(4111)的另一端与所述俯仰轴电机(412)相连。The bracket (411) includes a base (4111) and two connecting arms (4112), the base (4111) is fixedly coupled to the body (10), and one end of the two connecting arms (4112) Both are fixedly coupled to the base (4111), and the other end of the connecting arm (4112) away from the base (4111) is coupled to the pitch axis motor (412).
  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
    所述俯仰轴电机(412)的数量为1，所述俯仰轴电机(412)与所述两个连接臂(4112)中的其中一个连接臂(4112)远离所述基座(4111)的一端相连。The number of the pitch axis motors (412) is 1, and one of the pitch axis motor (412) and one of the two connecting arms (4112) is away from the end of the base (4111) Connected.
  5. 根据权利要求3所述的无人飞行器(100)，其特征在于，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)远离所述基座(4111)的一端连接。The unmanned aerial vehicle (100) according to claim 3, wherein the number of pitch axis motors (412) is two, and the two pitch axis motors (412) are respectively associated with two of the connecting arms ( 4112) Connected to one end of the base (4111).
  6. 根据权利要求3-5中任一项所述的无人飞行器(100)，其特征在于，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 unmanned aerial vehicle (100) according to any one of claims 3-5, wherein the camera device (42) comprises a housing (421) and a lens module disposed in the housing (421) (422), the outer casing (421) is 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。The roll motor (413) is mounted in the housing (421) and connected to the lens module (422).
  7. 根据权利要求1-6中任一项所述的无人飞行器(100)，其特征在于，The UAV (100) according to any one of claims 1 to 6, wherein
    所述摄像组件(40)与所述机身(10)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身(10)固定连接，所述第二连接板与所述云台(41)固定连接。A damper device is disposed at a connection between the camera assembly (40) and the body (10), 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 body (10), and the second connecting plate is fixedly connected to the platform (41).
  8. 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
    所述机臂(20)共有四个，相邻两个所述机臂(20)相互垂直。There are four arms (20), and two adjacent arms (20) are perpendicular to each other.
  9. 根据权利要求8所述的无人飞行器(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)中的每一个摄像组件(40)均设于相邻两个所述机臂(20)之间。The unmanned aerial vehicle (100) according to claim 8, wherein the camera assembly (40) has four, and each of the four camera assemblies (40) is disposed at Between two adjacent said arms (20).
PCT/CN2018/105977 2017-11-22 2018-09-17 Unmanned aerial vehicle WO2019100824A1 (en)

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