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WO2019100824A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote 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
Authority
WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
camera
arms
pitch axis
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/CN2018/105977
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 WO2019100824A1 publication Critical patent/WO2019100824A1/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

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

La présente invention concerne un véhicule aérien sans pilote (100) comprenant un fuselage (10), des bras (20), un dispositif d'alimentation (30) et un ensemble photographique (40). 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 l'opposé du fuselage (10), et est utilisé pour fournir une puissance de vol au véhicule aérien sans pilote. L'ensemble photographique (40) est installé au niveau du fuselage (10) et positionné entre deux bras adjacents quelconques (2). L'agencement ci-dessus permet d'empêcher une caméra de l'ensemble photographique (40) d'être bloquée par un train d'atterrissage, une hélice et les bras du véhicule aérien sans pilote, de telle sorte que le véhicule aérien sans pilote peut effectuer une photographie panoramique.
PCT/CN2018/105977 2017-11-22 2018-09-17 Véhicule aérien sans pilote Ceased WO2019100824A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201721579837.1 2017-11-22
CN201721579837.1U CN207631491U (zh) 2017-11-22 2017-11-22 无人飞行器

Publications (1)

Publication Number Publication Date
WO2019100824A1 true WO2019100824A1 (fr) 2019-05-31

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Application Number Title Priority Date Filing Date
PCT/CN2018/105977 Ceased WO2019100824A1 (fr) 2017-11-22 2018-09-17 Véhicule aérien sans pilote

Country Status (2)

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CN (1) CN207631491U (fr)
WO (1) WO2019100824A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205469863U (zh) * 2016-01-27 2016-08-17 上海汇联皆景信息科技有限公司 一种可全景拍摄的飞行器
CN106114881A (zh) * 2016-06-28 2016-11-16 深圳市元征科技股份有限公司 无人机
CN106477028A (zh) * 2016-11-23 2017-03-08 北京小米移动软件有限公司 飞行器及其脚架结构
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
CN206504072U (zh) * 2016-11-21 2017-09-19 天津中翔腾航科技股份有限公司 一种可变焦红外成像云台
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205469863U (zh) * 2016-01-27 2016-08-17 上海汇联皆景信息科技有限公司 一种可全景拍摄的飞行器
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
CN106114881A (zh) * 2016-06-28 2016-11-16 深圳市元征科技股份有限公司 无人机
CN206504072U (zh) * 2016-11-21 2017-09-19 天津中翔腾航科技股份有限公司 一种可变焦红外成像云台
CN106477028A (zh) * 2016-11-23 2017-03-08 北京小米移动软件有限公司 飞行器及其脚架结构
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

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