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WO2019062140A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

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Publication number
WO2019062140A1
WO2019062140A1 PCT/CN2018/086730 CN2018086730W WO2019062140A1 WO 2019062140 A1 WO2019062140 A1 WO 2019062140A1 CN 2018086730 W CN2018086730 W CN 2018086730W WO 2019062140 A1 WO2019062140 A1 WO 2019062140A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
unmanned aerial
aerial vehicle
arms
assembly
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/CN2018/086730
Other languages
English (en)
Chinese (zh)
Inventor
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 WO2019062140A1 publication Critical patent/WO2019062140A1/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
    • 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 present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle having a photographing function.
  • Unmanned Aerial Vehicle UAV
  • 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 commonly used camera components for panoramic shooting have a narrow viewing angle and are easily blocked by the body or other equipped equipment, and cannot fully meet the needs of use.
  • an embodiment of the present invention provides an unmanned aerial vehicle capable of realizing panoramic shooting and capturing an open angle of view.
  • An unmanned aerial vehicle includes a fuselage, an arm assembly, a power assembly, and a camera assembly.
  • the arm assembly is mounted to the airframe;
  • the power assembly is mounted to the arm assembly for providing flight power to the unmanned aerial vehicle;
  • at least four of the camera assemblies are respectively mounted to the arm
  • an assembly, at least two of the camera assemblies are disposed on opposite sides of the body.
  • each of the camera assemblies includes an imaging device that includes at least one lens.
  • each of the camera assemblies includes a pan/tilt head, and the pan/tilt head is mounted on the arm assembly, and the camera device is mounted on the pan/tilt.
  • the pan/tilt head is a three-axis stabilization pan/tilt head, and includes a first motor, a second motor, and a third motor;
  • a stator of the third motor is mounted to the arm assembly, a rotor of the third motor is coupled to a stator of the second motor, and a rotor of the second motor is coupled to a stator of the first motor,
  • the camera device is mounted to the rotor of the first motor.
  • the arm assembly includes a drive assembly and an arm;
  • One ends of the two arms are hinged to each other, and the two arms are respectively located on opposite sides of the body;
  • the drive assembly is mounted to the fuselage, and the drive assembly is coupled to the two arms for driving the two arms such that an angle between the two arms is increased or Reduced.
  • the driving component comprises: a driving device, a movable member and a driving member;
  • the driving device is fixedly mounted to the air body for driving the movable member to perform a reciprocating linear motion
  • the number of the driving members is two, one end of one of the driving members is hinged to one end of the movable member, and the other end of the driving member is hinged to the other end of the movable member, and each of the driving members is away from each other.
  • One end of the movable member is hinged to a corresponding one of the arms.
  • the drive assembly includes a screw
  • the driving device is connected to the screw for driving the screw to rotate;
  • the movable member is sleeved on the screw and can reciprocate linearly along the axis of the screw as the screw rotates.
  • each of the driving members includes a body portion, a first connecting portion and a second connecting portion;
  • Two of the first connecting portions extend from one side of the body portion, and ends of the two first connecting portions are spaced apart, and ends of the two first connecting portions are hinged to a corresponding one of the machines arm;
  • Two of the second connecting portions extend from the other side of the body portion, the ends of the two second connecting portions are spaced apart, and the ends of the two second connecting portions are located at the movable member Both sides are hinged to one end of the movable member.
  • each of the arms includes an arm body and a mount
  • One end of the arm body is fixed to the mounting seat;
  • each of the driving members is hinged to a corresponding one of the mounting seats away from an end of the movable member.
  • the mount includes a tubular body portion and a hinge portion
  • One end of the arm body is inserted into and fixed to the tube body portion;
  • Two hinges extending from one end of the tubular body portion, the ends of the two hinge portions being spaced apart, wherein the ends of the two hinge portions of one of the mounts and the other of the mounts The ends of the two hinges are alternately overlapped, and the ends of the hinges of the two of the mounts are hinged to each other.
  • the arm assembly includes a mounting arm, and a middle portion of each of the mounting arms is connected to a corresponding one end of the arm away from the body;
  • Each of the two camera assemblies is mounted on opposite ends of a corresponding one of the mounting arms.
  • the arm assembly includes a fixing rod
  • the fixing rod includes a rod body and a connecting member, one end of the rod body hinges the body, and the other end of the rod body hinges one end of the connecting member, The other end of the connector hinges a corresponding one of the mounting arms.
  • the unmanned aerial vehicle includes a landing gear assembly, and the landing gear assembly includes a landing rod and a support rod;
  • One end of the landing rod is fixedly mounted to the mounting arm, and an acute angle between the landing rod and the mounting arm;
  • One end of the support rod is fixedly mounted to the mounting arm, and the other end of the support rod is fixedly mounted on the landing rod and spaced apart from the end of the landing rod by a predetermined distance.
  • At least four of the camera components located on opposite sides of the fuselage can jointly complete a 360-degree panoramic shooting, ensuring that the same time is ensured at the same time.
  • At least four of the camera assemblies are mounted to the arm assembly, and the viewing angle is wide, and is not blocked by the body or other carrying equipment, and can realize panoramic shooting without dead angle.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a front elevational view of the unmanned aerial vehicle of Figure 1;
  • Figure 3 is a perspective view of the fuselage and arm assembly of the UAV shown in Figure 1, wherein a portion of the fuselage is omitted;
  • Figure 4 is a side view of the fuselage and arm assembly shown in Figure 3;
  • Figure 5 is a cross-sectional view taken along line A-A of Figure 4.
  • Figure 6 is an exploded view of the fuselage and arm assembly of Figure 3.
  • an unmanned aerial vehicle 100 includes a fuselage 10 , an arm assembly 20 , a power assembly 30 , a camera assembly 40 , and a landing gear assembly 50 .
  • the arm assembly 20 is mounted to the airframe 10
  • the power assembly 30 is mounted to the arm assembly 20 for providing flight power to the unmanned aerial vehicle 100, and the four camera assemblies 40 are separately mounted.
  • the landing gear assembly 50 is mounted to the arm assembly 20.
  • the body 10 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, such as a control module for controlling the arm assembly 20 to be stowed or lowered, for A flight control module that controls the flight attitude of the UAV 100, a positioning module for navigating the UAV 100, and a data processing module for processing environmental information acquired by the associated onboard device.
  • a control module for controlling the arm assembly 20 to be stowed or lowered
  • a flight control module that controls the flight attitude of the UAV 100
  • a positioning module for navigating the UAV 100
  • data processing module for processing environmental information acquired by the associated onboard device.
  • the body 10 defines a receiving slot 102 for partially receiving the arm assembly 20 .
  • the arm assembly 20 includes a drive assembly 210, a boom 220, a fixed rod 230 and a mounting arm 240.
  • the driving component 210 is disposed in the receiving slot 102 of the body 10, and the driving component 210 is coupled to the arm 220 to provide power to the arm 220 to drive the arm 220 to be stowed or lay down.
  • the arm 220 is coupled to the mounting arm 240 for mounting the power assembly 30, the camera assembly 40, and the landing gear assembly 50.
  • the two ends of the fixing rod 230 respectively articulate the body 10 and the mounting arm 240 for applying a pulling force to the arm 12 and the mounting arm 240 toward the body 10, so that the arm 220 It can be stably stowed or lowered to reduce jitter during movement.
  • the drive assembly 210 is mounted to the body 10.
  • the driving assembly 210 includes a driving device 212, a screw 214, a movable member 216, and a driving member 218.
  • the driving device 212 is fixedly mounted to the body 10 and coupled to the screw 214 for driving the screw 214 to rotate.
  • One end of the screw 214 is fixedly coupled to the rotating shaft of the driving device 212, and the other end is rotatably coupled to the body 10.
  • the movable member 216 is sleeved on the screw 214 and can reciprocate linearly along the axis of the screw 214 as the screw 214 rotates.
  • the number of the driving members 218 is two, one end of one of the driving members 218 is hinged to one end of the movable member 216, and the other end of the driving member 218 is hinged to the other end of the movable member 216.
  • the driving device 212 includes a motor for driving the screw 214 to rotate, so that the movable member 216 reciprocates along the axis of the screw 214 as the screw 214 rotates. motion.
  • the screw 214 can be omitted, the driving device 212 can be one of a cylinder or a hydraulic cylinder, and the driving device 212 is connected to the movable member 216 for The movable member 216 is driven to perform a reciprocating linear motion.
  • the number of the arms 220 is two, and the two arms 220 are at an angle therebetween, and the two arms 220 are respectively located on opposite sides of the body 10.
  • Each of the arms 220 includes an arm body 222 and a mounting seat 224, and one end of the arm body 222 is inserted into and fixed to the mounting seat 224.
  • the two mounting seats 224 are hinged to each other, and one end of each of the driving members 218 away from the movable member 216 is hinged with a corresponding one of the mounting seats 224.
  • the driving device 212 drives the screw 214 to rotate, and the movable member 216 is reciprocated linearly along the axis of the screw 214, and the movable member 216 is driven by the movable member 216.
  • the drive member 218 drives the two arms 220 to be stowed or lowered.
  • each of the driving members 218 includes a body portion 2180 , a first connecting portion 2182 and a second connecting portion 2184 .
  • the first connecting portion 2182 has a rod shape, and the two first connecting portions 2182 extend from one side of the main body portion 2180, and the ends of the two first connecting portions 2182 are spaced apart from each other.
  • the second connecting portion 2184 is also in the shape of a rod, and the two second connecting portions 2184 extend from the other side of the main body portion 2180, and the ends of the two second connecting portions 2184 are spaced apart. Settings.
  • the ends of the two second connecting portions 2184 are located on both sides of the movable member 216 and are hinged to one end of the movable member 216.
  • the mount 224 includes a tubular body portion 2242, a pin 2244, and a hinge portion 2246.
  • the tubular body portion 2242 is provided with a mounting hole (not shown), and one end of the arm body 222 is inserted into and fixed to the mounting hole.
  • the number of the pins 2244 is two, and the two pins 2244 are fixedly mounted on opposite sides of the tube portion 2242, respectively, and each of the pins 2244 and a corresponding first connecting portion
  • the end of the 2182 is hinged such that the drive member 218 is hinged to the mount 224.
  • the hinges 2246 are generally triangular plate-like in number, and the two hinge portions 2246 extend from one end of the tubular body portion 2242, and the ends of the two hinge portions 2246 are spaced apart.
  • the ends of the two hinges 2246 of one of the mounts 224 are alternately overlapped with the ends of the two hinges 2246 of the other of the mounts 224, and the hinges 2246 of the two mounts 224 The ends are hinged to each other.
  • the fixing rod 230 includes a rod body 232 and a connecting member 234. One end of the rod body 232 is hinged to the body 10. The other end of the rod body 232 is hinged to one end of the connecting member 234, and the other end of the connecting member 234 is The arm 240 is hinged.
  • the power assembly 30 provides an upward pulling force to an end of the arm 220 away from the body 10 and the mounting arm 240, the fixing rod 230 is toward the arm 220 and mounting arm 240 provide a pulling force toward the body 10 to prevent further rotation of the arm 220 relative to the body 10 such that the arm 220 is in a steady state.
  • the number of the mounting arms 240 is two, and each of the mounting arms 240 is substantially a straight rod, and a middle portion thereof is connected to an end of the arm 220 away from the body 10. Two of the mounting arms 240 are disposed in parallel with each other on opposite sides of the body 10. It can be understood that in some other embodiments, the shape and arrangement of the mounting arm 240 can be changed according to actual needs.
  • the mounting arm 240 can be a curved rod or the like.
  • the power assembly 30 includes a motor and a propeller mounted to the motor for providing flight power to the UAV 100.
  • the number of the power components 30 is four, and each of the two power components 30 is respectively mounted at opposite ends of a corresponding one of the mounting arms 240.
  • the number of power assemblies 30 may be increased or decreased depending on the situation, for example, reduced to 1, 2, or increased to 6, 8 or the like, for example, when the power is When the number of the components 30 is two, the mounting arm 240 may be omitted, and each of the power components 30 may be fixedly mounted to one end of the arm 220 away from the body 10; for example, when the number of the power components 30 is When it is 6, 8 times, the number of the arm 220 and the mounting arm 240 can be increased accordingly.
  • the number of the camera assemblies 40 is four, and each of the two camera assemblies 40 is detachably mounted at opposite ends of a corresponding one of the mounting arms 240.
  • Each of the camera assemblies 40 includes a pan/tilt head 44 and an imaging device 46.
  • the pan/tilt head 44 is a three-axis stabilization pan/tilt that stabilizes the in-flight camera unit 46 on three axes: a heading axis (Yaw), a pitch axis (Pitch) And the roll shaft (Roll).
  • the pitch axis is perpendicular to the roll axis
  • the heading axis is perpendicular to the pitch axis and the roll axis.
  • the pan/tilt head 44 includes a first motor, a second motor, and a third motor.
  • the central axis of the rotor of the first motor is coaxial with the roll axis.
  • the central axis of the rotor of the second motor is coaxial with the pitch axis, and the central axis of the rotor of the third motor is coaxial with the heading axis.
  • the stator of the third motor is detachably mounted to one end of the mounting arm 240 through a mount, the rotor of the third motor is coupled to the stator of the second motor, and the rotor of the second motor is coupled to the stator of the first motor.
  • the third motor can be omitted, and the stator of the second motor is detachably mounted to one end of the mounting arm 240 through a fixing seat.
  • the platform 44 is detachably mounted to one end of the mounting arm 240 through a fixing base, which facilitates replacement of the camera assembly 40.
  • the platform 44 can be detachably mounted to one end of the mounting arm 240 by a snap, thread or the like.
  • the imaging device 46 is fixed to a rotor of a first motor mounted to the pan/tilt head 44.
  • the camera device 46 can be a camera, a camera, a camera, etc., which can include at least one lens, for example each of the camera devices 46 includes two lenses disposed away from each other.
  • the four camera devices 46 are located on the same plane, and the four camera devices 46 are located at four corners of a rectangle, which can ensure no dead angle of shooting, and can obtain a panoramic image with stronger stereoscopic effect.
  • the number of the camera assemblies 40 may be at least four, as long as at least two of the camera assemblies 40 are disposed on opposite sides of the body 10 to complete panoramic shooting, for example, the camera assembly.
  • the number of 40 is six, and three camera assemblies 40 are disposed on opposite sides of the body 10, and the two camera assemblies 40 are detachably mounted on opposite ends of a corresponding one of the mounting arms 240.
  • the third camera assembly 40 is detachably mounted in the middle of a corresponding one of the mounting arms 240.
  • At least four imaging devices 46 of the camera assembly 40 are located in the same plane, and four of the cameras 46 are located at four corners of a rectangle.
  • the pan/tilt head 44 can also be a single-axis pan/tilt head; or the pan-tilt head 44 is omitted, and the camera device 46 is directly mounted to the mounting arm 240.
  • the landing gear assembly 50 includes a landing bar 502 and a support bar 504.
  • One end of the landing rod 502 is fixedly mounted on one end of the mounting arm 240, the landing rod 502 is at an acute angle with the mounting arm 240, and one end of the supporting rod 504 is fixedly mounted to the mounting arm 240.
  • the other end of the support rod 504 is fixedly mounted to the landing rod 502 and spaced apart from the end of the landing rod 502 by a predetermined distance.
  • the support bar 504 forms a triangle with a portion of the landing bar 502 and a portion of the mounting arm 240.
  • the landing gear assembly 50 can stably support the UAV 100 when the UAV 100 is landed.
  • the landing gear assembly 50 can further include a drive device, which can be a cylinder or a hydraulic cylinder mounted to the mounting arm 240, the support rod 504 One end is mounted to the drive device and the other end is mounted to the landing bar 502, and one end of the landing bar 502 is hinged to the mounting arm 240.
  • the drive device can drive the support rod 504 to move linearly along the axis of its drive rod, thereby driving the landing rod 502 to rotate relative to the mounting arm 240 such that the landing rod 502 can be lowered or Collapse.
  • the four camera assemblies 40 located on opposite sides of the body 10 can jointly complete a 360-degree panoramic shooting to ensure that 360-degree panoramic images are acquired at the same time. In addition, it can satisfy the 3-dimensional stereo experience in virtual reality. Since the four camera assemblies 40 are mounted on the arm assembly 20, the viewing angle thereof is widened, and is not blocked by the body 10 or other carrying devices, and the panoramic view without dead angle can be achieved.
  • each of the two camera assemblies 40 is mounted on opposite ends of a corresponding one of the mounting arms 240, four of the camera assemblies 40 are located in the same plane, and four of the camera assemblies 40 are located in a rectangular shape. Corner, for a more panoramic view of the panorama.
  • the driving assembly 210 can drive the two arms 220 such that the angle between the two arms 220 is increased or decreased, so that the opposite sides of the body 10 can be adjusted.
  • the spacing between the camera assemblies 40 is adapted to different shooting requirements.

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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)

Abstract

L'invention concerne un véhicule aérien sans pilote comprenant un fuselage, des ensembles bras, des ensembles alimentation et des ensembles prise de vue. Les ensembles bras sont installés au niveau du fuselage. Les ensembles alimentation sont installés au niveau des ensembles bras, et sont destinés à alimenter en énergie nécessaire au vol le véhicule aérien sans pilote. Au moins quatre des ensembles prise de vue sont respectivement installés au niveau des ensembles bras, c'est-à-dire, chacun de deux côtés opposés du fuselage est doté d'au moins deux des ensembles prise de vue. Lorsque le véhicule aérien sans pilote est en vol, lesdits ensembles prise de vue au niveau des deux côtés opposés du fuselage peuvent conjointement réaliser une prise de vue panoramique à 360 degrés, ce qui permet d'assurer l'acquisition d'une image panoramique à 360 degrés en un instant, et d'obtenir ainsi une expérience en trois dimensions en réalité virtuelle. Au moins quatre des ensembles prise de vue sont installés au niveau des ensembles bras, de sorte que leurs angles de vue soient larges et non obstrués par le fuselage ou d'autres dispositifs montés sur véhicule, ce qui permet de réaliser une prise de vue panoramique sans aucun angle mort.
PCT/CN2018/086730 2017-09-30 2018-05-14 Véhicule aérien sans pilote Ceased WO2019062140A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710945255.9A CN107685872A (zh) 2017-09-30 2017-09-30 无人飞行器
CN201710945255.9 2017-09-30

Publications (1)

Publication Number Publication Date
WO2019062140A1 true WO2019062140A1 (fr) 2019-04-04

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Family Applications (1)

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PCT/CN2018/086730 Ceased WO2019062140A1 (fr) 2017-09-30 2018-05-14 Véhicule aérien sans pilote

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Country Link
CN (1) CN107685872A (fr)
WO (1) WO2019062140A1 (fr)

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CN107685872A (zh) * 2017-09-30 2018-02-13 深圳市道通智能航空技术有限公司 无人飞行器
CN108482649B (zh) * 2018-03-01 2021-05-25 常熟京常智能科技有限公司 一种多旋翼式无人机磁悬浮减震装置
WO2022052645A1 (fr) * 2020-09-11 2022-03-17 广州极飞科技股份有限公司 Aéronef sans pilote
CN113335496B (zh) * 2021-06-19 2022-08-26 国网浙江省电力有限公司浦江县供电公司 一种应用于电力巡航的无人机机臂组件
CN114426097B (zh) * 2022-02-23 2024-01-23 中煤航测遥感集团有限公司 地形地貌勘测用无人机

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CN105235899A (zh) * 2015-11-17 2016-01-13 永嘉县恒瑞礼品有限公司 一种可变形无人飞行器
CN106314776A (zh) * 2016-08-29 2017-01-11 昌邑市满国环卫工程有限公司 环卫无人机
CN206155784U (zh) * 2016-10-27 2017-05-10 深圳市大疆创新科技有限公司 无人机
CN206413079U (zh) * 2016-12-29 2017-08-15 昊翔电能运动科技(昆山)有限公司 云台增稳系统
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CN207417173U (zh) * 2017-09-30 2018-05-29 深圳市道通智能航空技术有限公司 无人飞行器

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