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CN-122003370-A - Unmanned vehicles and panorama shooting aircraft

CN122003370ACN 122003370 ACN122003370 ACN 122003370ACN-122003370-A

Abstract

The application relates to the technical field of aircrafts, in particular to an unmanned aircraft and a panoramic shooting aircraft. The unmanned aerial vehicle comprises a body and a sensor module, wherein the body comprises an upper shell, a middle frame and a lower shell, the middle frame is connected between the upper shell and the lower shell, the sensor module is connected to the middle frame and comprises a first circuit board, an IMU and a GPS, the IMU and the GPS are both arranged on the first circuit board, and the IMU and the GPS are connected to the middle frame through the first circuit board. The IMU and the GPS of the unmanned aerial vehicle are connected to the middle frame through the first circuit board, so that occupied space in the fuselage is reduced, the size and weight of the whole unmanned aerial vehicle are reduced, and meanwhile, the installation steps are simplified.

Inventors

  • Request for anonymity
  • Request for anonymity
  • Request for anonymity

Assignees

  • 影石创新科技股份有限公司
  • 深圳影翎科技有限公司

Dates

Publication Date
20260508
Application Date
20240906

Claims (20)

  1. An unmanned aerial vehicle, comprising: A body (10), the body (10) comprising an upper shell (121), a middle frame (123) and a lower shell (125), the middle frame (123) being connected between the upper shell (121) and the lower shell (125); And a sensor module (60), the sensor module (60) is connected to the middle frame (123), the sensor module (60) comprises a first circuit board (61), an IMU (62) and a GPS (63), the IMU (62) and the GPS (63) are both arranged on the first circuit board (61), and the IMU (62) and the GPS (63) are both connected to the middle frame (123) through the first circuit board (61).
  2. The unmanned aerial vehicle of claim 1, wherein the first circuit board (61) is provided with a first shock absorbing mounting portion (612), the middle frame (123) is provided with a second shock absorbing mounting portion (1234), the fuselage (10) further comprises a shock absorbing assembly (17), one side of the shock absorbing assembly (17) is arranged at the first shock absorbing mounting portion (612), and the other side is arranged at the second shock absorbing mounting portion (1234).
  3. The unmanned aerial vehicle of claim 2, wherein the shock absorbing assembly (17) comprises a plurality of first shock absorbing balls (172), the first shock absorbing mounting portion (612) is provided with a plurality of first mounting holes (211), the plurality of first shock absorbing balls (172) and the plurality of first mounting holes (211) are arranged in a one-to-one correspondence, the second shock absorbing mounting portion (1234) is provided with a plurality of second mounting holes (251), and the plurality of first shock absorbing balls (172) and the plurality of second mounting holes (251) are arranged in a one-to-one correspondence; The two sides of each first shock-absorbing ball (172) are respectively embedded into the corresponding first mounting hole (211) and the corresponding second mounting hole (251) and are connected to the first circuit board (61) and the middle frame (123), and the first circuit board (61) is connected to the middle frame (123) through the first shock-absorbing balls (172).
  4. An unmanned aerial vehicle according to any one of claims 1 to 3, wherein the unmanned aerial vehicle further comprises an electronic speed regulator (70), the electronic speed regulator (70) being connected to the central frame (123), the electronic speed regulator (70) and the sensor module (60) being arranged at intervals along the direction of the transverse roller of the unmanned aerial vehicle.
  5. The unmanned aerial vehicle of any of claims 1-4, wherein the unmanned aerial vehicle further comprises a battery (80), the battery (80) is disposed in the middle frame (123) and connected to the middle frame (123), the battery (80) is located below the sensor module (60) when the unmanned aerial vehicle is in a flying state, and the battery (80) is electrically connected to the sensor module (60).
  6. The unmanned aerial vehicle of claim 5, wherein a side of the battery (80) facing the sensor module (60) is provided with a reflective film (81) for reflecting electromagnetic signals, a reflective surface of the reflective film (81) being spaced opposite the GPS (63).
  7. The unmanned aerial vehicle of claim 5 or 6, wherein the pitch and roll axes of the unmanned aerial vehicle together define a first face that is parallel to a horizontal plane when the unmanned aerial vehicle is in a hover state, the battery (80) having a length direction that intersects or is parallel to the first face.
  8. The unmanned aerial vehicle of claim 7, wherein the lengthwise direction intersects the first face, and an angle between the lengthwise direction and the first face falls within any one of the following angle ranges (0 °,3 ° ], [3 °,6 ° ], [6 °,10 ° ], [10 °,20 ° ], and [20 °,35 ° ].
  9. The unmanned aerial vehicle of any one of claims 5-8, further comprising a main board (90), wherein the main board (90) is connected to the middle frame (123) and is located at one side of the battery (80) away from the sensor module (60), the main board (90) is electrically connected to the battery (80), and the main board (90), the battery (80) and the sensor module (60) are sequentially arranged in the fuselage (10) from bottom to top in a flying state of the unmanned aerial vehicle.
  10. The unmanned aerial vehicle of claim 9, wherein the pitch and roll axes of the unmanned aerial vehicle collectively define a first face, the plane of the main plate (90) intersecting the first face, the angle between the plane of the main plate (90) and the first face falling within any one of the following angular ranges (0 °,3 ° ], [3 °,6 ° ], [6 °,10 ° ], [10 °,20 ° ], and [20 °,35 ° ].
  11. The unmanned aerial vehicle according to any one of claims 1 to 10, further comprising a first obstacle avoidance module (54), wherein the first obstacle avoidance module (54) is connected to the fuselage (10), and wherein the first obstacle avoidance module (54) is disposed on a forward facing side of the fuselage (10) when the unmanned aerial vehicle is in a flight state.
  12. The unmanned aerial vehicle as claimed in any one of claims 1 to 11, wherein the unmanned aerial vehicle further comprises a second obstacle avoidance module (18), the second obstacle avoidance module (18) is connected to the fuselage (10), and in a hovering state of the unmanned aerial vehicle, the second obstacle avoidance module (18) is arranged on a downward side of the fuselage (10).
  13. The unmanned aerial vehicle of claim 12, wherein the second obstacle avoidance module (18) comprises a mounting base (181), an obstacle avoidance module (183), and a distance measurement module (185), the mounting base (181) being connected to the fuselage (10), the obstacle avoidance module (183) and the distance measurement module (185) both being disposed in the mounting base (181).
  14. The unmanned aerial vehicle of claim 13, wherein the mounting base (181) is provided with a first positioning portion (1812), the fuselage (10) is provided with a second positioning portion (1252), and the second positioning portion (1252) is confined within the first positioning portion (1812).
  15. The unmanned aerial vehicle of claim 14, wherein one of the first positioning portion (1812) and the second positioning portion (1252) is a positioning hole (1813) provided in the mounting base (181), and the other one is a positioning post (1253) protruding from the fuselage (10), and the positioning post (1253) is inserted into the positioning hole (1813).
  16. The unmanned aerial vehicle of claim 15, wherein the second obstacle avoidance module (18) further comprises a buffer member (187), a buffer gap (1814) exists between the positioning column (1253) and the hole wall of the positioning hole (1813), the buffer member (187) is sleeved on the positioning column (1253) and located in the buffer gap (1814), a yielding gap (1815) is formed in the hole wall of the positioning hole (1813), and the yielding gap (1815) is communicated with the buffer gap (1814) so as to expose the side wall of the buffer member (187).
  17. The unmanned aerial vehicle of claim 16, wherein the cushioning member (187) has a lower modulus of elasticity than the mounting base (181), the cushioning member (187) being fixedly attached to the mounting base (181) by an integral molding process, the integral molding process comprising two-shot molding, or insert molding, or injection molding.
  18. The unmanned aerial vehicle of any of claims 13-17, wherein the obstacle avoidance module (183) comprises a first lower camera (1832) and a second lower camera (1834), the first lower camera (1832) and the second lower camera (1834) being arranged at intervals in the mounting base (181) along the direction of the lateral roller of the unmanned aerial vehicle.
  19. The unmanned aerial vehicle of claim 18, wherein the alignment direction of the first lower camera (1832) and the second lower camera (1834) intersects the roll axis, and an angle between the alignment direction of the first lower camera (1832) and the second lower camera (1834) and the roll axis falls within any one of (0 °,3 ° ], [3 °,6 ° ], [6 °,10 ° ], [10 °,20 ° ], and [20 °,35 ° ].
  20. The unmanned aerial vehicle of claim 18 or 19, wherein the unmanned aerial vehicle further comprises a light supplement lamp (110), the light supplement lamp (110) being disposed at the fuselage (10) and between the first lower camera (1832) and the second lower camera (1834).

Description

Unmanned vehicles and panorama shooting aircraft Technical Field The application relates to the technical field of aircrafts, in particular to an unmanned aircraft and a panoramic shooting aircraft. Background The unmanned plane is called as unmanned plane for short, and is a unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other devices. Personnel on the ground, ships or on a mother machine remote control station track, position, remote control, telemetere and digital transmission through radar and other equipment. Unmanned aerial vehicles are increasingly widely used for a plurality of reasons such as simplicity, economy, convenience, high efficiency and the like. An inertial measurement unit (Inertial Measurement Unit, IMU) is typically used in an unmanned aerial vehicle to measure acceleration and angular velocity to determine the spatial pose of an object, and in order to improve measurement stability, a stand-alone bracket is typically provided within the unmanned aerial vehicle to mount the IMU, which is connected to the fuselage housing portion by a bracket. The drone also includes a global positioning system (Global Positioning System, GPS) for determining location information of the object by receiving satellite signals. To improve the performance stability of the GPS, the GPS is typically secured to the fuselage housing by a separate bracket. The installation structure of the IMU and the GPS in the existing unmanned aerial vehicle occupies large space in the unmanned aerial vehicle body, and the overall size of the unmanned aerial vehicle body is increased. Disclosure of Invention The application provides an unmanned aerial vehicle and a panoramic shooting aerial vehicle. In a first aspect, the application provides an unmanned aerial vehicle, which comprises a body and a sensor module, wherein the body comprises an upper shell, a middle frame and a lower shell, the middle frame is connected between the upper shell and the lower shell, the sensor module is connected to the middle frame, the sensor module comprises a first circuit board, an IMU and a GPS, the IMU and the GPS are both arranged on the first circuit board, and the IMU and the GPS are connected to the middle frame through the first circuit board. The application further provides the unmanned aerial vehicle, which comprises a body, a sensor module, a battery and a main board, wherein the body comprises an upper shell, a middle frame and a lower shell, the middle frame is connected between the upper shell and the lower shell, the sensor module is connected with the middle frame and comprises a first circuit board, an IMU and a GPS, the IMU and the GPS are arranged on the first circuit board, the IMU and the GPS are connected with the middle frame through the first circuit board, and the sensor module, the battery and the main board are sequentially stacked in the body. The panoramic shooting aircraft comprises a machine body, a sensor module and an image acquisition device, wherein the machine body comprises a machine body and a plurality of folding machine arms connected to the machine body, the folding machine arms can move relative to the machine body to be in an unfolding state or a folding state, the machine body comprises an upper shell, a middle frame and a lower shell, the middle frame is connected between the upper shell and the lower shell, the sensor module is connected to the middle frame, the sensor module comprises a first circuit board, an IMU and a GPS, the IMU and the GPS are all arranged on the first circuit board, the IMU and the GPS are connected to the middle frame through the first circuit board, the image acquisition device comprises a first fisheye lens and a second fisheye lens, the first fisheye lens is arranged on the upward side of the machine body in the flying state, the second fisheye lens is arranged on the downward side of the machine body, and the viewing fields of the first fisheye lens and the second fisheye lens overlap for acquiring panoramic images. Drawings In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art. Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application. Fig. 2 is a simplified schematic structural diagram of the unmanned aerial vehicle shown in fig. 1. Fig. 3 is a schematic view of the overall structure of the unmanned aerial vehicle shown in fig. 1. Fig. 4 is a schematic view of the unmanned aerial vehicle shown in