Search

CN-122003371-A - Unmanned vehicles and panorama shooting aircraft

CN122003371ACN 122003371 ACN122003371 ACN 122003371ACN-122003371-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, a power device and a panoramic module. The fuselage includes organism and folding horn, and folding horn is connected in the organism, and folding horn can be in the unfolding state or folding state with the activity of organism for. The power device is arranged on the folding horn and is used for providing flying power for the unmanned aerial vehicle. The panoramic module is arranged on the machine body and comprises a first fisheye lens and a second fisheye lens, the first fisheye lens and the second fisheye lens are respectively arranged on two opposite sides of the machine body, the angle of view of the first fisheye lens is larger than 180 degrees, the angle of view of the second fisheye lens is larger than 180 degrees, a first shaft is formed by virtual connecting lines of the optical centers of the first fisheye lens and the second fisheye lens, and the first shaft is intersected with a yaw shaft. The whole unmanned aerial vehicle is relatively small in size.

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, wherein the unmanned aerial vehicle has a yaw axis, the unmanned aerial vehicle comprising: The folding machine comprises a machine body (10), wherein the machine body (10) comprises a machine body (12) and a folding machine arm (15), the folding machine arm (15) is connected to the machine body (12), and the folding machine arm (15) can move relative to the machine body (12) to be in an unfolding state or a folding state; The power device (30) is arranged on the folding horn (15), and the power device (30) is used for providing flying power for the unmanned aerial vehicle; The panoramic camera comprises a camera body (10), a panoramic module (52) and a yaw axis, wherein the panoramic module (52) is arranged on the camera body (10), the panoramic module (52) comprises a first fisheye lens (521) and a second fisheye lens (523), the first fisheye lens (521) and the second fisheye lens (523) are respectively arranged on two opposite sides of the camera body (10), the angle of view of the first fisheye lens (521) is larger than 180 degrees, the angle of view of the second fisheye lens (523) is larger than 180 degrees, and a first axis is formed by virtual connection lines of the optical centers of the first fisheye lens (521) and the second fisheye lens (523), and the first axis is intersected with the yaw axis.
  2. The unmanned aerial vehicle of claim 1, wherein the first fisheye lens (521) comprises a first convex lens (5212), the optical center of the first fisheye lens (521) being the optical center of the first convex lens (5212), the first convex lens (5212) having a first highest point that protrudes relative to the body (12); The second fisheye lens (523) comprises a second convex lens (5232), the optical center of the second fisheye lens (523) is the optical center of the second convex lens (5232), the second convex lens (5232) has a second highest point protruding relative to the machine body (12), and the first highest point and the second highest point are both located on the first axis.
  3. The unmanned aerial vehicle according to claim 2, wherein the projection of the fuselage (10) on the first axis falls between the first highest point and the second highest point when the folding horn (15) is in the unfolded state.
  4. An unmanned aerial vehicle according to claim 2 or 3, wherein the power means (30) comprises a drive (32) and a propeller (34), the drive (32) being connected between the folding horn (15) and the propeller (34), the projection of the flapping area of the propeller (34) onto the first axis falling between the first and second highest points when the folding horn (15) is in the unfolded state.
  5. The unmanned aerial vehicle of any of claims 2-4, wherein the fuselage (10) further comprises a folding landing gear (13), the folding landing gear (13) is connected to the fuselage (12), the folding landing gear (13) is movable relative to the fuselage (12) to be in a supporting state or a folded state, and when the folding landing gear (13) is in the folded state, a projection of the folding landing gear (13) on the first axis falls between the first highest point and the second highest point.
  6. The unmanned aerial vehicle of any of claims 1-4, wherein the first fisheye lens (521) has a first field of view region, the second fisheye lens (523) has a second field of view region, the first field of view region and the second field of view region intersect to form a field of view blind region, and the folding horn (15) and the power device (30) are both located within the field of view blind region when the folding horn (15) is in the unfolded state.
  7. The unmanned aerial vehicle of claim 6, wherein the fuselage (10) further comprises a folding landing gear (13), the folding landing gear (13) being connected to the fuselage (12), the folding landing gear (13) being movable relative to the fuselage (12) to assume a supported or stowed state, the folding landing gear (13) being in the stowed state within the field of view blind zone.
  8. The unmanned aerial vehicle of claim 7, wherein the second fisheye lens (523) is located on a side of the body (12) facing the ground when the unmanned aerial vehicle is in a flight state, the folded landing gear (13) has a connection end (1341) and a free end (1343), the connection end (1341) is connected to the body (12), the free end (1343) is relatively far from or near the body (12) when the folded landing gear (13) is movable relative to the body (12), and the free end (1343) is located in the second field of view when the folded landing gear (13) is in the support state.
  9. The unmanned aerial vehicle of any of claims 1-8, wherein an angle of an included angle between the first axis and the yaw axis falls within any of the following angle ranges (0 °,3 ° ], [3 °,6 ° ], [6 °,10 ° ], 10 °,20 ° ], 20 °,35 ° ].
  10. The unmanned aerial vehicle of any of claims 1-9, wherein the first fisheye lens (521) has a first optical axis and the second fisheye lens (523) has a second optical axis, the first and second optical axes being coaxial.
  11. The unmanned aerial vehicle of any of claims 1-10, wherein the first fisheye lens (521) has a first optical axis and the second fisheye lens (523) has a second optical axis, the first and second optical axes being parallel, a distance between the first and second optical axes falling within any of a range of distances (0 mm,1mm ], [1mm,5mm ], [5mm,10mm ], [10mm,20mm ], [20mm,50mm ], 100 mm).
  12. The unmanned aerial vehicle of any of claims 1-11, wherein the first fisheye lens (521) has a first optical axis and the second fisheye lens (523) has a second optical axis, the first optical axis and the second optical axis intersecting or being out of plane intersecting.
  13. The unmanned aerial vehicle of claim 12, wherein the angle of the included angle between the first optical axis and the second optical axis falls within any of the following angle ranges (0 °,3 ° ], [3 °,6 ° ], [6 °,10 ° ], 10 °,20 ° ].
  14. The unmanned aerial vehicle of any of claims 1-13, further comprising a first obstacle avoidance module (54), the first obstacle avoidance module (54) comprising at least two cameras disposed in the fuselage (10).
  15. The unmanned aerial vehicle of claim 14, wherein the first obstacle avoidance module (54) comprises a first front camera (541) and a second front camera (543), the first front camera (541) and the second front camera (543) each being disposed in the fuselage (10) and aligned along the yaw axis.
  16. An unmanned aerial vehicle as claimed in claim 15, wherein the first front camera (541) has a third optical axis, the second front camera (543) has a fourth optical axis, and the third and/or fourth optical axis intersects the first axis.
  17. The unmanned aerial vehicle of claim 16, wherein the third optical axis and/or the fourth optical axis are perpendicular to the first axis.
  18. An unmanned aerial vehicle as claimed in any one of claims 15 to 17, wherein the first front camera (541) has a third optical axis and the second front camera (543) has a fourth optical axis, the pitch and roll axes of the unmanned aerial vehicle together defining a first face, the third and/or fourth optical axis intersecting the first face.
  19. An unmanned aerial vehicle as claimed in any one of claims 15 to 17, wherein the first front camera (541) has a third optical axis and the second front camera (543) has a fourth optical axis, the third optical axis being parallel to the fourth optical axis.
  20. An unmanned aerial vehicle as claimed in any one of claims 15 to 17, wherein the first front camera (541) has a third optical axis and the second front camera (543) has a fourth optical axis, the third optical axis intersecting or being out of plane with the fourth optical axis.

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 Currently, in order to capture a bird's eye view of a panoramic view, a panoramic image is generally captured by providing fish-eye lenses at the bottom and top of an unmanned aerial vehicle. Because the visual angle of the fish-eye lens is large, other structures of the unmanned aerial vehicle easily enter the visual field of the fish-eye lens during shooting, and the panoramic imaging quality is affected. Therefore, in order to enable other structures of the unmanned aerial vehicle to be located outside the visual field range of the fish-eye lens during shooting, the top fish-eye lens and the bottom fish-eye lens are generally protruded out of the body of the unmanned aerial vehicle, so that the fusion angle of splicing is increased. Although the lens bulge arrangement can obtain a better visual field, the splicing radius between the visual field of the top fish-eye lens and the visual field of the bottom fish-eye lens can be increased, and the whole size of the unmanned aerial vehicle is increased. Disclosure of Invention The application provides an unmanned aerial vehicle and a panoramic shooting aerial vehicle. In a first aspect, the present application provides an unmanned aerial vehicle having a yaw axis, the unmanned aerial vehicle comprising a fuselage, a power plant, and a panoramic module. The fuselage includes organism and folding horn, and folding horn is connected in the organism, and folding horn can be in the unfolding state or folding state with the activity of organism for. The power device is arranged on the folding horn and is used for providing flying power for the unmanned aerial vehicle. The panoramic module is arranged on the machine body and comprises a first fisheye lens and a second fisheye lens, the first fisheye lens and the second fisheye lens are respectively arranged on two opposite sides of the machine body, the angle of view of the first fisheye lens is larger than 180 degrees, the angle of view of the second fisheye lens is larger than 180 degrees, a first shaft is formed by virtual connecting lines of the optical centers of the first fisheye lens and the second fisheye lens, and the first shaft is intersected with a yaw shaft. In a second aspect, the present application also provides a panoramic shooting aircraft, the unmanned aircraft having a yaw axis, the panoramic shooting aircraft comprising a fuselage, a power plant, a cradle, and an image acquisition device. The power device is arranged on the machine body and is used for providing flying power for the panoramic shooting aircraft. The bracket is connected to the machine body. The image acquisition device comprises a panoramic module and a binocular obstacle avoidance module, wherein the panoramic module and the binocular obstacle avoidance module are both arranged on the support, the panoramic module comprises a first fisheye lens and a second fisheye lens, the first fisheye lens and the second fisheye lens are respectively located on two sides of the machine body, which are away from each other, the field of view ranges of the first fisheye lens and the second fisheye lens are overlapped to be used for acquiring panoramic images, the binocular obstacle avoidance module comprises a first front camera and a second front camera, the first front camera and the second front camera are both arranged on the support, and the first front camera and the second front camera are arranged along a yaw axis. In a third aspect, the application also provides an unmanned aerial vehicle, which comprises a fuselage, a power device, a bracket and a panoramic module. The power device is arranged on the machine body and is used for providing flying power for the unmanned aerial vehicle. The bracket is connected to the machine body. The panoramic module comprises a first fisheye lens and a second fisheye lens, wherein the first fisheye lens and the second fisheye lens are respectively connected to a bracket and are connected to the machine body through the bracket, a first axis is formed by virtual connecting lines of optical centers of the first fisheye lens and the second fisheye lens, and the first axis is intersected with a yaw axis. 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 t