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WO2019100821A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

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Publication number
WO2019100821A1
WO2019100821A1 PCT/CN2018/105660 CN2018105660W WO2019100821A1 WO 2019100821 A1 WO2019100821 A1 WO 2019100821A1 CN 2018105660 W CN2018105660 W CN 2018105660W WO 2019100821 A1 WO2019100821 A1 WO 2019100821A1
Authority
WO
WIPO (PCT)
Prior art keywords
landing gear
arm
unmanned aerial
aerial vehicle
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/105660
Other languages
English (en)
Chinese (zh)
Inventor
彭淮
张正力
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019100821A1 publication Critical patent/WO2019100821A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable

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 camera is suspended under the fuselage of the unmanned aerial vehicle through the gimbal; since the camera at this position is blocked by the landing gear, the propeller and the UAV arm, panoramic photography cannot be performed.
  • an embodiment of the present invention provides an unmanned aerial vehicle capable of realizing panoramic imaging.
  • the embodiment of the present invention provides the following technical solutions:
  • An unmanned aerial vehicle comprising:
  • a power device mounted on an end of the arm away from the fuselage for providing power for the UAV to fly;
  • a landing gear mounted to one end of the arm away from the fuselage
  • a camera assembly is fixed to the landing gear for taking an image.
  • 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 connected to the landing gear.
  • the pan/tilt head comprises:
  • a pitch axis motor coupled to the bracket for driving the camera to rotate about a pitch axis
  • a roll motor is disposed in the imaging device for driving the camera to rotate about a roll axis.
  • the bracket includes a base and two connecting arms connected to the base, the base is coupled to the landing gear, and one end of the two connecting arms is The base is connected, and the other end of one of the two connecting arms is connected to the pitch axis motor.
  • the camera device includes a housing and a lens module, and the housing is coupled to the pitch axis motor;
  • the roll motor is mounted in the housing and connected to the lens module, and the roll motor is used to drive the lens module to rotate relative to the housing about a roll axis.
  • the UAV further includes a damper device disposed at a connection between the camera assembly and the landing gear, the damper device including a first connecting plate, a shock absorbing ball, and a first a connecting plate, the damping ball is disposed between the first connecting plate and the second connecting plate;
  • the first connecting plate is fixedly connected to an outer side surface of the landing gear, and the second connecting plate is fixedly connected to the cloud platform.
  • an end of the arm away from the body is provided with a receiving slot, and at least a portion of the landing gear can be received in the receiving slot.
  • the landing gear includes a main body portion and a support portion, the camera assembly is connected to the main body portion, one end of the support portion is connected to the main body portion, and the support portion is The body portion is substantially vertical;
  • the landing gear is rotatably coupled to the arm to switch the landing gear between a first position and a second position;
  • first position is a position where the main body portion is perpendicular to the arm
  • the second position is a position where the main body portion is parallel to the arm or on the same straight line.
  • the UAV further includes a driving device disposed at a junction of the landing gear and the arm, the driving device for driving the landing gear relative to the arm Rotating to cause the landing gear to switch between the first position and the second position.
  • the UAV further includes a limiting structure disposed at a junction of the landing gear and the arm, the limiting structure enabling the landing gear to remain in the first position And any of the second positions.
  • one end of the support portion is hinged to the main body portion.
  • the camera assembly has four, and four of the camera assemblies are respectively disposed on four of the arms.
  • the wires of the four camera assemblies form a rectangle.
  • the camera assembly of the UAV of the embodiment of the invention is fixed to the landing gear, so that the lens module in the camera assembly can be shielded from the landing gear, the propeller and the UAV arm, so that the Unmanned aerial vehicles can be used for 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 apparatus 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 plan view of the unmanned aerial vehicle shown in Figure 1;
  • Figure 5 is a side view of the unmanned aerial vehicle of Figure 1, wherein the landing gear is in a first position;
  • Figure 6 is a side elevational view of the UAV of Figure 1 with the landing gear in a second position.
  • an unmanned aerial vehicle 100 may be a rotary wing unmanned aerial vehicle, a fixed wing unmanned aerial vehicle or an unmanned aerial vehicle with a fixed wing and a rotor.
  • 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 UAV 100 includes a body 10, a boom 20, a power unit 30, a camera assembly 40, and a landing gear 50. 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 rotatable relative to the body 10.
  • 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 specific structure of the unmanned aerial vehicle 100 is described in detail by taking the UAV 100 as a quadrotor unmanned aerial vehicle as an example.
  • the number of the arms 20 is four, and one end of each of the four arms 20 is fixedly connected 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 generally includes a motor disposed on the arm 20 and a propeller coupled to the motor shaft of the motor, the motor shaft rotating to drive the propeller to rotate at a high speed to provide flight power to the UAV 100.
  • the number of the power units 30 is also four, and the four power units 30 are respectively disposed on the four armes 20.
  • the landing gear 50 is mounted to an end of the arm 20 away from the body 10.
  • the power unit 30 and the landing gear 50 are respectively located on the upper and lower sides of the same end of the arm 20.
  • the landing gear 50 includes a main body portion 51 and a support portion 52, and one end of the support portion 52 is hinged with the main body portion 51 (ie, the support portion 52 can be opposite to the The main body portion 51 is rotationally folded or unfolded, and the support portion 53 is substantially perpendicular to the main body portion 52.
  • there are four landing gears 50 and four of the landing gears 50 are respectively connected to four of the arms 20.
  • the landing gear 50 is hinged to the arm 20, and the other end of the landing gear 50 is a landing end for contacting the ground when the drone 100 is lowered.
  • the camera assembly 40 is fixed to the landing gear 50 for taking an image.
  • 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 fixing of the camera device 42 or
  • the posture of the image pickup device 42 is arbitrarily adjusted (for example, the height, the tilt angle, and/or the direction of the image pickup device 42) and the image pickup device 42 is stably held at the set posture.
  • 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 axis motor 413 provided in the image pickup device 42.
  • the bracket 411 is generally U-shaped and includes a base 4111 and two connecting arms 4112.
  • the base 4111 is coupled to the main body portion 51 of the landing gear 50, and one end of each of the two connecting arms 4112 is fixedly coupled to the base 4111. There is only one pitch axis motor 412 that is mounted to the other end of one of the two connecting arms 4112.
  • the pan/tilt head 41 may further include two pitch axis motors 412, each of which is mounted to the other end of a corresponding one of the connecting arms 4112.
  • the camera device 42 includes a housing 421 and a lens module 422.
  • the housing 421 is coupled to the pitch axis motor 412 and hinged to the other end of the other of the two connecting arms 4112.
  • the pitch axis motor 412 It is used to drive the outer casing 421 to rotate about a pitch axis.
  • 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.
  • a damping device (not shown) is further disposed at the junction of the camera assembly 40 and the landing gear 50.
  • the damper device includes a first connecting plate (not shown), a damper ball and a second connecting plate (not shown), and the damper ball is disposed at the first Between the connecting plate and the second connecting plate.
  • the first connecting plate is fixedly connected to the outer side of the landing gear 50, and the second connecting plate is fixedly connected to the platform 41.
  • the camera assembly 40 has four, and the four camera assemblies 40 are respectively disposed on the main body portion 51 of the four landing gears 50. It can be understood that, in some other embodiments, the number of the camera assemblies 40 may be five or more, wherein four camera assemblies 40 are respectively disposed on the four armes 20, and the rest.
  • the camera assembly 40 can be disposed at any position of the UAV 100 according to actual needs. As shown in FIG. 4, in the present embodiment, the wiring of the four camera assemblies 40 constitutes a rectangle (one camera assembly 40 is only connected to the adjacent two camera assemblies 40).
  • 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 the landing gear 50 to enable the camera assembly 40 to better avoid the occlusion of the landing gear, the propeller, the arm and the body, so that the camera assembly 40 can obtain a wider range 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 first position is a position where the main body portion 51 of the landing gear 50 is perpendicular to the arm 20.
  • the camera assembly 40 is located directly below the power unit 30, and the camera unit 42 in the camera assembly 40 can capture the omnidirectional image below the UAV 100.
  • the power unit 30 is located above the imaging unit 40, the imaging unit 42 is blocked by the power unit 30 if it is to capture a scene above or above the UAV 100, and cannot be imaged in all directions.
  • the second position is such that the main body portion 51 of the landing gear 50 is parallel or in line with the arm 20.
  • the camera assembly 40 is located farthest from the body 10 of the arm 20, and the camera assembly 40 is located at the power unit 30 away from the body.
  • the camera 42 in the camera assembly 40 can capture the scene above and above the UAV 100 in all directions; however, if the camera 42 is to capture a scene located below the UAV 100, it may It is impossible to perform all-round shooting by the cover of the landing gear on the body 10.
  • a joint structure (not shown) is provided at the junction of the landing gear 50 and the arm 20 so that the landing gear 50 can be maintained in either of two positional states.
  • the user can manually operate the landing gear 50 according to the use requirement to switch the position state of the landing gear 50, thereby changing the specific position of the camera assembly 40 on the arm 20.
  • the camera assembly 40 can be adjusted at a better shooting position according to the actual shooting requirements, and has a better field of view.
  • the support portion 52 when the landing gear 50 is in the first position, the support portion 52 is rotationally folded relative to the main body portion 51 such that the support portion 52 and the main body portion 51 overlap.
  • the support portion 52 is unfolded relative to the main body portion 51 such that the support portion 52 is perpendicular to the main body portion 51.
  • the other end of the arm 20 is provided with a receiving slot (not shown), and at least a portion of the landing gear 50 can be received in the receiving slot.
  • the landing gear 50 is rotatable relative to the arm 20 to cause the landing gear 50 to transition between two positional states.
  • connection between the landing gear 50 and the arm 20 is provided with a driving device (not shown) for driving the landing gear 50 relative to The arm 20 rotates to cause the landing gear 50 to transition between two positional states.
  • the driving device can be specifically a motor, a cylinder or a pneumatic motor.

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

Abstract

La présente invention concerne un véhicule aérien sans pilote (100) comprenant un fuselage (10), un bras (20), un dispositif d'alimentation (30), un ensemble de photographie (40) et un train d'atterrissage (50). Une extrémité du bras (20) est installée au niveau du fuselage (10). Le dispositif d'alimentation (30) est disposé à l'autre extrémité du bras (20) à distance du fuselage (10) et est utilisé pour fournir un courant de vol au véhicule aérien sans pilote (100). Le train d'atterrissage (50) est disposé à l'extrémité du bras (20) à distance du fuselage (10). L'ensemble de photographie (40) est fixé au train d'atterrissage (50) et est utilisé pour capturer des images. La disposition ci-dessus permet d'empêcher qu'un appareil photo de l'ensemble de photographie (40) soit bloquée par le train d'atterrissage (50), une hélice et le bras (20), de sorte que le véhicule aérien sans pilote (100) puisse prendre des photographies panoramiques.
PCT/CN2018/105660 2017-11-22 2018-09-14 Véhicule aérien sans pilote Ceased WO2019100821A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201721579885.0U CN207826581U (zh) 2017-11-22 2017-11-22 无人飞行器
CN201721579885.0 2017-11-22

Publications (1)

Publication Number Publication Date
WO2019100821A1 true WO2019100821A1 (fr) 2019-05-31

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Application Number Title Priority Date Filing Date
PCT/CN2018/105660 Ceased WO2019100821A1 (fr) 2017-11-22 2018-09-14 Véhicule aérien sans pilote

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CN (1) CN207826581U (fr)
WO (1) WO2019100821A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602512A (zh) * 2021-07-30 2021-11-05 广西电网有限责任公司电力科学研究院 机载双目式输电线路交叉跨越点监测装置及其监测方法
CN116692047A (zh) * 2023-07-07 2023-09-05 中国电子科技集团公司第五十四研究所 一种流线型海空跨域无人机
CN117508692A (zh) * 2023-11-21 2024-02-06 南京工业大学 一种基于无人机的视觉采集摄像头的稳定装置

Families Citing this family (5)

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CN207631492U (zh) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 无人飞行器
CN207826581U (zh) * 2017-11-22 2018-09-07 深圳市道通智能航空技术有限公司 无人飞行器
CN109969384A (zh) * 2019-04-11 2019-07-05 西南交通大学 固定翼无人机起落架转换垂直安定面的方法
CN110884660A (zh) * 2019-11-25 2020-03-17 广州极飞科技有限公司 一种无人机系统
CN111476818B (zh) * 2020-02-28 2024-02-27 江苏理工学院 一种多摄像头的低空无人机目标跟踪装置及跟踪方法

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CN207631491U (zh) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 无人飞行器
CN207631492U (zh) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 无人飞行器
CN207826581U (zh) * 2017-11-22 2018-09-07 深圳市道通智能航空技术有限公司 无人飞行器

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CN107108043A (zh) * 2016-01-29 2017-08-29 深圳市大疆创新科技有限公司 无人飞行器及无人飞行器航拍方法
CN206407152U (zh) * 2016-12-22 2017-08-15 昊翔电能运动科技(昆山)有限公司 舵机驱动云台旋转的无人机
CN207631491U (zh) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 无人飞行器
CN207631492U (zh) * 2017-11-22 2018-07-20 深圳市道通智能航空技术有限公司 无人飞行器
CN207826581U (zh) * 2017-11-22 2018-09-07 深圳市道通智能航空技术有限公司 无人飞行器

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602512A (zh) * 2021-07-30 2021-11-05 广西电网有限责任公司电力科学研究院 机载双目式输电线路交叉跨越点监测装置及其监测方法
CN116692047A (zh) * 2023-07-07 2023-09-05 中国电子科技集团公司第五十四研究所 一种流线型海空跨域无人机
CN117508692A (zh) * 2023-11-21 2024-02-06 南京工业大学 一种基于无人机的视觉采集摄像头的稳定装置
CN117508692B (zh) * 2023-11-21 2025-09-09 南京工业大学 一种基于无人机的视觉采集摄像头的稳定装置

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