CN111284692A

CN111284692A - Panoramic camera unmanned aerial vehicle

Info

Publication number: CN111284692A
Application number: CN202010228831.XA
Authority: CN
Inventors: 杨超峰
Original assignee: Shenzhen Gridmore Innovative Technology Co ltd
Current assignee: Shenzhen Gridmore Innovative Technology Co ltd
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-06-16
Also published as: WO2021190216A1

Abstract

This application belongs to unmanned air vehicle technical field, especially relates to a panorama unmanned aerial vehicle that makes a video recording. This panorama unmanned aerial vehicle that makes a video recording includes hollow structure's fuselage, a plurality of camera, stabilizer and main power device. The main power device may be configured in the manner of a first rotor system and a first rotary mechanism that controls the first rotor system to rotate to generate thrust for flying the drone. The main power unit may also be configured in the manner of a second rotor system that includes a rotor and a disk tilt mechanism that can control rotation of a disk of the rotor relative to the fuselage to generate thrust for flying the drone. The first rotor system or the second rotor system is disposed within the fuselage. The stabilizer can output a moment that causes the fuselage to rotate and/or a thrust that causes the drone to translate. This application panorama unmanned aerial vehicle that makes a video recording can shoot 720 panoramic image, and the fuselage gesture can keep in the within range of predetermineeing in the flight process, guarantees the stability of the panoramic image who shoots.

Description

Panoramic camera unmanned aerial vehicle

Technical Field

This application belongs to unmanned air vehicle technical field, especially relates to a panorama unmanned aerial vehicle that makes a video recording.

Background

With the development of microelectronics and new materials, consumer-grade drones (mainly helicopter-type drones) are rapidly developing. Early consumer-grade unmanned aerial vehicle is traditional helicopter, mainly has two kinds of configurations of coaxial double rotor, single oar and tail rotor, and in recent years, multiaxis unmanned aerial vehicle, mainly four rotor unmanned aerial vehicle have become the mainstream in market.

The most important application of the consumer-grade unmanned aerial vehicle is shooting, and with the rapid development of AR/VR application, panoramic images are an important direction in the field of future images. The panoramic image needs to be shot by arranging a plurality of cameras in a surrounding mode, all the cameras are shot synchronously, and then the cameras are spliced through an image algorithm. The existing method for shooting panoramic images by an unmanned aerial vehicle is as follows: a spherical hanging cabin is hung by a cloud platform, and a plurality of cameras are arranged around the hanging cabin for shooting. Because the hanging cabin hangs below unmanned aerial vehicle, consequently can't shoot the scene above the hanging cabin, can't shoot 720 images promptly.

In addition, according to traditional helicopter and many rotor unmanned aerial vehicle's flight control principle, unmanned aerial vehicle is not steady motionless in flight process, under the circumstances such as acceleration and deceleration, wind speed change or wind direction change, unmanned aerial vehicle need make pitch motion and/or roll motion and can realize flight control, for example: the front flight unmanned aircraft lowers its head to generate forward thrust, and the side flight unmanned aircraft rolls to generate lateral thrust. Because the panoramic image is formed by a plurality of cameras synchronous shooting, this kind of pitching motion and the rolling motion of unmanned aerial vehicle can influence the quality of the panoramic image who shoots.

Disclosure of Invention

An object of the embodiment of the application is to provide a panorama unmanned aerial vehicle that makes a video recording to solve the lower technical problem of stability that current unmanned aerial vehicle can't shoot 720 panoramic image and the panoramic image who shoots.

The embodiment of the application provides a panorama unmanned aerial vehicle that makes a video recording, include:

the machine body is of a hollow structure;

the at least two cameras are arranged on the machine body and used for shooting panoramic images;

the stabilizer is used for outputting torque for enabling the fuselage to rotate so as to enable the attitude of the fuselage to be controlled within a preset range and/or thrust for enabling the panoramic photography unmanned aerial vehicle to translate; and

the main power device comprises a first rotor wing system, a rotor wing bracket and a first rotating mechanism, wherein the first rotor wing system is arranged on the rotor wing bracket, the rotor wing bracket is rotatably connected with the airframe through the first rotating mechanism, and the first rotor wing system is positioned in the airframe; the first rotary mechanism is capable of controlling the first rotor system to rotate about a rotational axis of the first rotary mechanism to generate thrust to translate the panoramic camera drone in a first direction;

or, the main power device comprises a second rotor system, the second rotor system is installed inside the fuselage, the second rotor system comprises one or more rotors and a disk tilting mechanism, and the disk tilting mechanism can control at least one disk of the rotor to rotate relative to the fuselage to generate thrust for translating the panoramic photography unmanned aerial vehicle.

Optionally, at least one of the stabilizers is capable of outputting a moment that causes the fuselage to pitch;

at least one of the stabilizers is capable of outputting a torque that causes a rolling motion of the fuselage.

Optionally, at least one of the stabilizers is capable of outputting a moment that imparts a yawing motion to the fuselage.

Optionally, when the main power unit includes a first rotor system, at least one of the stabilizers is capable of outputting a thrust that translates the panoramic camera drone along a second direction that is non-parallel to the first direction.

Optionally, the angle between the first direction and the second direction is in the range of 75 ° to 90 °.

Optionally, the panoramic photography unmanned aerial vehicle further comprises a second rotating mechanism, and at least one of the stabilizers is connected with the fuselage or the rotor bracket through the second rotating mechanism; the second rotating mechanism can control the stabilizer to rotate so as to adjust the direction of the output torque of the stabilizer and/or control the output of the stabilizer to enable the panoramic camera unmanned aerial vehicle to translate.

Optionally, at least one of the stabilizers includes a guide vane disposed above or below the rotor, and a servo for controlling the rotation of the guide vane to control the torque output by the stabilizer.

Optionally, at least one of said stabilizers is a rotor or a fan.

Optionally, the body includes a first frame, a second frame, and a folding mechanism, and the first frame and the second frame are rotatably connected by the folding mechanism, so that the second frame is folded and unfolded with respect to the first frame.

Optionally, the body includes a first frame, a second frame, and a guide rail mechanism, and the second frame is slidably connected to the first frame through the guide rail mechanism, so that the second frame is folded and unfolded with respect to the first frame.

The panorama unmanned aerial vehicle that makes a video recording that this application embodiment provided is for prior art's technological effect is: the body of the panoramic photography unmanned aerial vehicle is of a hollow structure, a plurality of cameras are arranged around the body, and a 720-degree panoramic image can be shot; this panorama unmanned aerial vehicle that makes a video recording includes main power device and stabilizer. The main power device may be configured in the manner of a first rotary-wing system and a first rotary mechanism that controls the first rotary-wing system to rotate about an axis of rotation of the first rotary mechanism to generate thrust that translates the drone in a first direction. The main power device can also be configured in the manner of a second rotor system, wherein the second rotor system comprises a rotor and a paddle wheel tilting mechanism, and the paddle wheel tilting mechanism can control a paddle wheel of the rotor to rotate relative to the airframe so as to generate thrust for translating the unmanned aerial vehicle; meanwhile, the stabilizer can also output the thrust for translating the unmanned aerial vehicle; therefore, the panoramic camera unmanned aerial vehicle can realize flight control without adjusting the attitude of the body. In addition, this panorama unmanned aerial vehicle that makes a video recording still is equipped with the stabilizer, can export the moment that makes the fuselage rotatory in order to guarantee the stability of the panoramic image who shoots at the within range of predetermineeing with fuselage attitude control. This panorama unmanned aerial vehicle that makes a video recording is for many rotor unmanned aerial vehicle with the size, and the rotor size is big, and power is efficient.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a perspective assembly view of a panoramic camera unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is an exploded perspective view of the panoramic camera drone of fig. 1;

fig. 3 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 4 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 5 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 6 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 7(a) and 7(b) are perspective assembly views of two second rotor systems applicable to the panoramic photography drone of fig. 6, respectively;

fig. 8 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 9 is a perspective assembly view of a panoramic camera drone provided in another embodiment of the present application;

fig. 10 is a schematic structural view of the panoramic photography unmanned aerial vehicle shown in fig. 5 after being folded.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

The application provides a panorama camera unmanned aerial vehicle, please refer to fig. 1, including fuselage 100, a plurality of cameras 200, stabilizer (310, 320, 330) and main power device 400. The body 100 has a hollow structure. The main power device includes rotor 411, and rotor 411 is inside fuselage 100, and main power device 400 is unmanned aerial vehicle's main power device, provides most lift, translation thrust and driftage moment for unmanned aerial vehicle flight. The stabilizer (310, 320, 330) is used for outputting at least one acting force of moment for rotating the fuselage 100 and thrust for translating the unmanned aerial vehicle, wherein the thrust for translating the unmanned aerial vehicle is used for assisting the main power device to realize the flight control of the unmanned aerial vehicle, and the moment for rotating the fuselage 100 is used for controlling the attitude of the fuselage 100 within a preset range.

The main body 100 is provided with a plurality of cameras, which shoot synchronously, and then images shot by the cameras can be synthesized into a panoramic image by using an image algorithm. However, if the attitude of the body 100 is frequently swung, the quality of the panoramic image is affected. The fuselage attitude includes the pitch angle, roll angle, and yaw angle of the fuselage 100. If the arrow of the X axis points to the direction of the head, then according to the description convention of the drone, rotation of the drone around the Y axis is called pitching, rotation around the X axis is called rolling, and rotation around the Z axis is called yawing. Because the panoramic camera unmanned aerial vehicle has set up a plurality of cameras 200 around fuselage 100 and has shot, consequently, for the yaw angle, the stability of pitch angle and roll angle is bigger to the influence of panoramic image quality, and pitching motion and the roll motion of fuselage 100 are bigger to the influence of panoramic image quality promptly. Therefore, the primary goal of controlling the attitude of the fuselage is to control the range of pitch and roll of the fuselage, for example, the range of pitch and roll of the fuselage 100 can be preset to ± 3 °, i.e., to control the Z-axis of the drone substantially vertically upward. The stabilizer (310, 320, 330) outputs a moment for rotating the body 100 for controlling the attitude of the body 100 within a preset range.

This application unmanned aerial vehicle's fuselage 100 is hollow structure, is equipped with a plurality of cameras 200 around fuselage 100, can shoot 720 panoramic image. This application unmanned aerial vehicle adopts the rotor technique of verting, can realize unmanned aerial vehicle's flight control under the unchangeable circumstances of keeping fuselage 100 gesture, simultaneously, this application unmanned aerial vehicle is equipped with stabilizer (310, 320, 330), be used for offsetting external disturbance (like wind-force) or motion inertia, with fuselage 100's gesture control at predetermined within range, at the flight in-process, this application unmanned aerial vehicle's fuselage gesture stability is high, be applicable to as the platform of making a video recording, be particularly useful for shooing panoramic image.

One group of examples:

an embodiment unmanned aerial vehicle of this embodiment group is shown in fig. 1 and fig. 2, and includes a main body 100, a plurality of cameras 200, stabilizers (310, 320, 330), and a main power device 400. Main power assembly 400 includes a first rotor system 410, a rotor pylon 420, and a first rotary mechanism 430.

The body 100 is a hollow structure, and may include a frame 110 and a movement 120, where the movement 120 is usually located inside the frame 110, and the inside of the movement 120 may usually place a battery, a main control circuit board, a flight controller, a wireless communication module, and the like, and has a relatively large weight, and the application does not limit which modules are specifically contained in the movement 120. The cameras 200 are disposed around the body 100, and are generally disposed on the frame 110 to capture a panoramic image. The modules and camera 200 inside the movement 120 are of the prior art.

First rotor system 410 includes one or more rotors 411, which are the primary power devices for the drone, providing most of the lift, thrust, and yaw moments required for drone flight. First rotor system 410 is mounted on rotor support 420, inside fuselage 100. There are various embodiments of the first rotor system 410, one embodiment is shown in fig. 1 and fig. 2, the first rotor system 410 includes two rotors 411 and two motors 412, the two motors 412 are installed on the rotor bracket 420 in an upward direction and a downward direction, the two rotors 411 are respectively installed on the two motors 412, the rotation directions are opposite, and the rotation torques of the two rotors 411 can be mutually offset or the difference thereof can be used as a yaw moment. Another embodiment of first rotor system 410 is that first rotor system 410 includes a rotor, a motor, and a yaw mechanism. The rotor is mounted on a motor, which is mounted on a rotor bracket 420; the yaw mechanism includes a number of control surfaces located below the rotors, which may be mounted on the rotor support 420 or on the fuselage 100, which utilize the downwash of the rotors to generate a moment that causes the drone to rotate about the Z axis, which may cancel each other out or their difference used to control the yaw motion of the drone. Yaw mechanism is prior art, and the universal relevance adopts in duct unmanned aerial vehicle, and this application is no longer repeated.

The rotor support 420 is rotatably connected to the fuselage 100 via a first rotating mechanism 430, and the first rotating mechanism 430 can control the first rotor system 410 to rotate around a rotation axis (i.e., Y axis) of the first rotating mechanism 430 for generating thrust for translating the fuselage 100 along a first direction, i.e., an X axis direction, and can control the drone to fly along the X axis or counteract an external force in the X axis direction.

Two stabilizers (320, 330) are used to output thrust that makes the fuselage 100 translate along the second direction, i.e. the Y-axis direction, i.e. the stabilizers (320, 330) can drive the drone to fly along the Y-axis or counteract the external force of the Y-axis direction. In principle, the flight control of unmanned aerial vehicle just can be realized to second direction and first direction nonparallel, and the contained angle scope between first direction and the second direction is 75 to 90 usually, specifically sets up as required. Fig. 1 shows the preferred embodiment, with the second direction being perpendicular to the first direction.

From above, through cooperative control owner power device and two stabilizers (320, 330), this embodiment unmanned aerial vehicle is different from traditional helicopter and many rotor unmanned aerial vehicle, and fuselage 100 need not to make pitching motion and rolling motion, can realize flight control.

The three stabilizers (310, 320, 330) are used to output a moment for rotating the body 100 to counteract the action of inertia and external force, and to control the attitude of the body 100 within a preset range. If the arrow direction of the X axis is the aircraft nose direction, according to the description habit of the unmanned aerial vehicle, the rotation of the unmanned aerial vehicle around the Y axis is called pitch motion, and the rotation around the X axis is called roll motion, so the stabilizer 310 can output the torque for enabling the unmanned aerial vehicle to generate pitch motion for controlling the pitch angle of the airframe 100, and the stabilizer 320 and the stabilizer 330 can output the torque for enabling the unmanned aerial vehicle to generate roll motion for controlling the roll angle of the airframe 100. According to the current attitude of the fuselage 100, the pitch angle and the roll angle of the fuselage 100 can be controlled within preset ranges by controlling the torque output by the three stabilizers (310, 320 and 330). There are many well-established algorithms for calculating the output of the stabilizers (310, 320, 330) based on the attitude of the fuselage 100, such as the conventional PID algorithm, which will not be described in detail herein.

It is noted that the drone shown in fig. 1 is not provided with a stabilizer that can output a yaw moment, and the yaw angle of the fuselage is controlled by the first rotor system 410.

It is noted that in the drone shown in fig. 1, the

stabilizers

320 and 330 are used both to output thrust for translating the drone and to output moments for controlling the attitude of the fuselage.

There are various embodiments of the first rotating mechanism 430, and in one embodiment, the first rotating mechanism 430 is a shafting structure and includes a first bearing 431, a first rotating shaft 432, and a first rotation controller 433. The rotor bracket 420 is provided with a first rotating shaft 432, the fuselage 100 is provided with a first bearing 431, and the first rotation controller 433 is arranged on the fuselage 100 and connected with the first rotating shaft 432. Or vice versa, a first bearing 431 is provided on the rotor support 420, a first rotating shaft 432 is provided on the fuselage 100, and a first rotation controller 433 is provided on the rotor support 420 and connected to the first rotating shaft 432. First rotation controller 430 can control rotation of rotor pylon 420 about an axis of rotation (i.e., the Y-axis) of first rotation mechanism 430. There are various embodiments of the first rotary controller 433, one embodiment includes a motor, a transmission reduction component, a motor control assembly, etc., which are illustrated in fig. 2 as a motor 4331 and a gear set 4332, which belong to the prior art.

There are various embodiments of the stabilizer, and the stabilizer (310, 320, 330) of this embodiment is a rotor or a fan, as shown in fig. 1. The stabilizer may be a small sized rotor comprising 2 or more blades, typically with a smaller pitch; the stabiliser may also be a fan comprising 2 or more blades, typically more blades, with a larger pitch. Further, as shown in fig. 1, a stabilizer based on rotor or fan technology may also include a duct, which may improve power efficiency. The stabilizer (310, 320, 330) may output unidirectional torque and/or thrust, and may output bidirectional torque and/or thrust. One embodiment of outputting bidirectional torque and/or thrust is: two motors and two groups of blades are arranged, and each motor drives one group of blades to rotate so as to output bidirectional wind power; the other embodiment is as follows: only one motor and one group of blades are arranged, and the positive and negative rotation of the motor is controlled to output bidirectional wind power.

Another embodiment drone as shown in fig. 3, the drone includes a fuselage 100, a plurality of cameras 200, stabilizers (310, 320, 330, 340, 350), and a main power device 400. Main power assembly 400 includes a first rotor system 410, a rotor pylon 420, and a first rotary mechanism 430. The main body 100, the camera 200 and the main power device 400 are the same as the unmanned aerial vehicle shown in fig. 1, and are not described again.

In the drone shown in fig. 3, the stabilizer 350 is used to output thrust that translates the drone along the Y-axis (i.e., the second direction). Four stabilizers (310, 320, 330, 340) for controlling the attitude of the fuselage 100, which adopt another embodiment of the stabilizers, include a guide vane (311, 321, 331, 341) and a servo (not shown), the guide vane (311, 321, 331, 341) is disposed below the rotor 411, and the downwash of the rotor 411 flowing through the guide vane (311, 321, 331, 341) generates a moment for rotating the fuselage 100; the servo controls the guide vanes (311, 321, 331 and 341) to rotate so as to control the output torque, the magnitude of the torque can be controlled, and the direction of the torque can also be controlled. The servo generally comprises a motor, a transmission speed reducing component, a motor control assembly and other components, and belongs to the prior art. The guide vane has various implementation modes, one implementation mode adopts the principle of a fixed wing, and the rotor wing airflow flows through the guide vane and generates pressure difference on two sides of the guide vane so as to output torque; in another embodiment, one surface of the guide vane faces the rotor airflow, and the pressure output torque of the rotor airflow to the guide vane is used, and the stabilizer (310, 320, 330, 340) shown in fig. 3 adopts the latter embodiment, and the basic working process is as follows: assuming that the arrow direction of the X axis is the nose direction of the drone, the stabilizer 310 and the stabilizer 320 may output a roll torque, even if the drone rotates around the X axis, for example, the guide vane 311 of the stabilizer 310 is controlled to open outwards, increasing the pressure of the rotor airflow on the guide vane 311, and the guide vane 321 of the stabilizer 320 is controlled to close inwards, decreasing the pressure of the rotor airflow on the guide vane 321, so as to roll the fuselage 100 around the D1 direction of the X axis. Likewise, the

stabilizers

330 and 340 may output a pitching moment, i.e., a moment that the drone rotates about the Y-axis. It is noted that the stabilizers (310, 320, 330, 340) shown in fig. 3 all comprise two guide vanes, but in practice it is also possible to comprise only one guide vane. It is noted that the stabilizer (310, 320, 330, 340) may be provided with two servos for controlling its two deflectors (311, 321, 331, 341) respectively to output a yaw moment for controlling the yaw angle of the fuselage.

In yet other embodiments of the stabilizer, the stabilizer includes a guide vane disposed above the rotor, and a servo that controls the guide vane to rotate to control the amount of air taken into the rotor and thus the torque output by the rotor.

As shown in fig. 4, the unmanned aerial vehicle of another embodiment includes a main body 100, a plurality of cameras 200, stabilizers (310, 320, 330, 340), and a main power device 400, wherein the main body 100, the cameras 200, and the main power device 400 are substantially the same as the unmanned aerial vehicle shown in fig. 1, and are not described again. The drone includes four stabilizers (310, 320, 330, 340), two of which (320, 330) output a roll torque and output a thrust that translates the drone along the Y-axis (i.e., the second direction), which acts the same as the

stabilizers

320 and 330 of the drone shown in fig. 1. The other two stabilizers (310, 340) output a pitch moment for controlling the pitch angle of the body 100, and by controlling the

stabilizers

330 and 340 to output different magnitudes of wind force, they can also output a yaw moment for rotating the body 100 about the Z-axis for controlling the stability of the yaw angle of the body 100.

As shown in fig. 5, the unmanned aerial vehicle includes a main body 100, a plurality of cameras 200, stabilizers (310, 320, 330, 340, 350), and a main power device 400, wherein the main body 100, the cameras 200, and the main power device 400 are substantially the same as the unmanned aerial vehicle shown in fig. 1 and are not described again. The stabilizer 350 outputs a thrust force that translates the body 100 along the Y axis (i.e., the second direction), and the four stabilizers (310, 320, 330, 340) are used to control the attitude of the body 100. In this embodiment, the four stabilizers (310, 320, 330, 340) are rotors or fans, and may be unidirectional or bidirectional. It is noted that the torque output by any of the four stabilizers (310, 320, 330, 340) has both a pitch component and a roll component, requiring the four stabilizers to cooperate to produce the desired total torque. For example, the downward wind output by the stabilizer 310 and the stabilizer 320 is increased, the downward wind output by the stabilizer 330 and the stabilizer 340 is decreased or the upward wind output by the stabilizers is increased, the total moment of the four stabilizers is a pitching moment, and the nose lifting caused by the external force action can be counteracted; the downward wind force of the stabilizer 310 and the stabilizer 330 is increased, the downward wind force of the stabilizer 320 and the stabilizer 340 is reduced or the upward wind force output by the stabilizers is increased, and the total torque of the four stabilizers is roll torque, so that the tilting of the fuselage 100 to the right and upward caused by the external force can be counteracted. The cooperative control process of the four stabilizers (310, 320, 330, 340) is similar to the flight control process of a quad-rotor unmanned aerial vehicle, and the description is omitted. Further, by adjusting the difference in rotational speed of the four stabilizers (310, 320, 330, 340), a yaw moment can be output to control the stability of the yaw angle of the fuselage 100.

It should be noted that if the weight of the first rotor system 410 is larger, the drone of the present embodiment group may lengthen the rotor bracket 420 to the other end of the fuselage 100 and connect with the fuselage 100 through another rotating mechanism, so that both ends of the rotor bracket 420 are connected with the fuselage 100, which may improve the bearing capacity.

Two groups of examples:

an embodiment drone of this group of embodiments is shown in fig. 6, and includes a fuselage 100, a plurality of cameras 200, stabilizers (310, 320), and a main power device 500.

The body 100 includes a frame 110 and a movement 120, and the camera 200 is disposed around the body 100.

Main power unit 500 includes a second rotor system 510, second rotor system 510 being mounted within fuselage 100. Second rotor system 510 includes rotors 511 and a disk tilt mechanism, one or more in number of rotors 511, which controls the rotation of the disk of at least one of the rotors relative to fuselage 100 to output thrust that translates the drone. The main power device 500 is the main power device of the unmanned aerial vehicle, and provides most of lift force, translational thrust and yaw moment.

The embodiment of stabilizer 310 and stabilizer 320 is rotor or fan, and the arrow direction of establishing the X axle is unmanned aerial vehicle's aircraft nose, and according to unmanned aerial vehicle's description custom, then, stabilizer 310 can export the moment that makes unmanned aerial vehicle take place pitching motion, and stabilizer 320 can export the moment that makes unmanned aerial vehicle take place rolling motion. According to the current attitude of the fuselage 100, the pitch angle and the roll angle of the fuselage 100 can be controlled within preset ranges by controlling the torque output by the two stabilizers (310, 320).

There are various embodiments of the second rotor system, one embodiment is shown in fig. 7(a), and the second rotor system 510A includes two rotors 511A and a disk tilt mechanism 512A. The two rotors 511A have the same rotation axis and opposite rotation directions, and the rotation torques of the two rotors cancel each other or the difference thereof is used for yaw control. The paddle disc tilting mechanism 512A adopts a tilting disc technology and comprises a tilting disc 5121A and a servo (not shown), a rotor bracket 5111A for mounting a paddle is movably connected with a rotating shaft for driving the rotor bracket to rotate, the servo controls a pull rod to pull the tilting disc 5121A to tilt, the tilting disc 5121A further drives the rotor bracket 5111A to tilt relative to the rotating shaft for driving the rotor bracket to rotate relative to the airframe 100 through the pull rod, and therefore thrust for the plane flight of the unmanned aerial vehicle is provided. The swashplate technique is the prior art of traditional helicopter model aeroplane and model ship, and this application is no longer repeated. It should be noted that this embodiment can be simplified as follows: the disc tilt mechanism can only control one of the rotors (e.g., the lower one) to rotate relative to the fuselage 100, while the other rotor is fixedly coupled to a shaft that drives it to rotate.

Another embodiment of a second rotor system as shown in fig. 7(B), second rotor system 510B includes rotor assembly 511B, a base 512B, and a disk tilt mechanism 513B. The rotor assembly 511B includes two rotors 5111B, a rotating shaft 5112B and a rotor bracket 5113B, the two rotors 5111B have the same rotation axis and opposite rotation directions, and the rotation torques of the two rotors cancel each other out or are different for yaw control. The rotor bracket 5113B is fixedly connected with a rotating shaft for driving the rotor bracket to rotate. The disk tilting mechanism 513B includes an adapter 5131B and a servo (not shown), the rotor assembly 511B is movably connected to the base 512B through the adapter 5131B, for example, the adapter 5131B is a universal joint, the base 512B is fixedly connected to the airframe 100, and the servo controls the pull rod to pull the entire rotor assembly 511B to tilt relative to the base 512B, so as to control the disk of the rotor 5111B to rotate relative to the airframe 100, thereby providing thrust for the drone to fly horizontally.

In another embodiment of the second rotor system, second rotor system 510 includes two sub-rotor assemblies, each sub-rotor assembly including a rotor, the rotors rotating in opposite directions. Both sub-rotor assemblies may contain a paddle wheel tilt mechanism, or only one sub-rotor assembly may contain a paddle wheel tilt mechanism, which may be implemented in either of fig. 7(a) and 7 (b). One of the sub-rotor assemblies is mounted on the lower half of fuselage 100, such as on movement 120; another sub-rotor assembly is mounted on the upper half of the fuselage 100, and a bracket may extend downward from the top of the frame 110 to mount the sub-rotor assembly on the bracket.

It is noted that it is also possible that the second rotor system comprises more than two rotors. The second rotor system may also comprise only one rotor, and a yaw mechanism may be provided to counteract the rotational torque of the rotor, the yaw mechanism may be a control surface arranged below the rotor, or the yaw mechanism may be a fan.

Further, the disk tilt mechanisms (512A, 513B) of the second rotor system shown in fig. 7(a) and 7(B) can be simplified to control the tilt of the rotor's disk about only one axis, e.g., only one axis parallel to the Y-axis. Adopt the unmanned aerial vehicle of the second rotor system who simplifies needs to set up the stabilizer that can output the thrust that makes the unmanned aerial vehicle translation.

It is noted that if the control sensitivity of the paddle tilt mechanism of the second rotor system 510 is not sufficient, the hovering stability of the fuselage 100 may be caused to be low, thereby affecting the taken panoramic image, and the stability of the fuselage 100 may be improved by providing a stabilizer capable of outputting thrust for translating the drone.

Three groups of examples:

unmanned aerial vehicle of this embodiment group still includes second rotary mechanism, and at least one stabilizer passes through second rotary mechanism and fuselage or rotor support connection, and second rotary mechanism control stabilizer is rotatory for the direction of the moment of control stabilizer output and/or the thrust that control stabilizer output made the unmanned aerial vehicle translation.

Fig. 8 shows a drone of an embodiment of this group, which is a modification of the drone shown in fig. 6, and with respect to the drone shown in fig. 6, the drone of this embodiment includes only one stabilizer 300, the stabilizer is rotatably connected to the fuselage 100 through the second rotating mechanism 600, the rotation axis of the second rotating mechanism 600 is parallel to the Z axis, and by controlling the rotation of the stabilizer 300, the moment output by the stabilizer 300 can control the fuselage 100 to rotate around the X axis and the Y axis at the same time, so that the control of the pitch angle and the roll angle of the fuselage 100 is realized by using one stabilizer.

Another embodiment of the drone is shown in fig. 9, which is a modification of the drone shown in fig. 5, and the difference is the configuration of the stabilizers compared to the drone shown in fig. 5, and the drone of this embodiment has only four stabilizers (310, 320, 330, 340) which are rotatably connected to the fuselage 100 by a second rotating mechanism (not shown). The second rotating mechanism drives the stabilizer (310, 320, 330, 340) to rotate, and can control the stabilizer (310, 320, 330, 340) to output thrust for translating the unmanned aerial vehicle. Stabilizer (310, 320, 330, 340) rotates as shown in fig. 9, the thrust direction of output is the same as the thrust direction of output of stabilizer 350 of the unmanned aerial vehicle shown in fig. 5, therefore stabilizer (310, 320, 330, 340) can also output the thrust that makes unmanned aerial vehicle translate while outputting the moment that controls the fuselage gesture, therefore, relative to the unmanned aerial vehicle shown in fig. 5, the unmanned aerial vehicle of the present embodiment may not be provided with a stabilizer (i.e. stabilizer 350 of the unmanned aerial vehicle shown in fig. 5) that is exclusively used for outputting translational thrust. It should be noted that only one or more of the four stabilizers (310, 320, 330, 340) may be connected to the main body 100 through the second rotating mechanism according to specific needs.

It is noted that the description of the torque direction or thrust direction of the stabilizer output is principle in this document. The actual situation is slightly complicated, in the case of the drone shown in fig. 3, the stabilizers (310, 320) output not pure roll torque, but may also have pitch torque components or yaw torque components, the stabilizers (330, 340) output not pure roll torque, or may also have roll torque components or yaw torque components, and therefore, the four stabilizers (310, 320, 330, 340) need to be cooperatively controlled to control the attitude of the fuselage.

It is noted that the type of stabilizer used in the drones of the embodiments of the present application has interoperability, for example, the stabilizer based on the guide vane technology shown in fig. 3 in the group of embodiments may also be used in the drones described in the group of embodiments.

It should be noted that, the configuration number of the stabilizers of the unmanned aerial vehicle in the embodiments of the present application is schematic, and can be further adjusted according to the application scene requirements, and more stabilizers can be set to improve the accuracy of control. For example, in the drone shown in fig. 6, a stabilizer outputting roll torque may be added to the lower portion of the fuselage 100 (e.g., beside the stabilizer 310) and a stabilizer outputting pitch torque may be added to the upper portion of the fuselage (e.g., beside the stabilizer 320). Likewise, the number of stabilizers may be reduced, such as the drone shown in fig. 3, and four stabilizers (310, 320, 330, 340) may retain only two of the stabilizers, such as only stabilizer 310 and stabilizer 330, depending on the particular needs.

It should be noted that, the position of the stabilizer of the unmanned aerial vehicle in the embodiments of the present application is schematic, and may also be set in other feasible positions, and it should be noted that the stabilizer for outputting torque should be set in a position with a larger moment arm as much as possible to improve the power efficiency, and the stabilizer may be set outside the body frame 110 without affecting the view angle of the camera.

Four groups of examples:

this embodiment group provides a folding unmanned aerial vehicle.

In an embodiment, unmanned aerial vehicle's fuselage includes first framework, second framework and folding mechanism, and first framework and second framework rotate through folding mechanism and connect, and folding mechanism can be hinge structure, realizes folding and the expansion of fuselage through folding mechanism's rotation. As shown in fig. 5, the frame 110 of the main body 100 of the drone includes a first frame 111, a second frame 112 and a folding mechanism 113, the second frame 112 may be one or more, the first frame 111 and the second frame 112 are movably connected by the folding mechanism 113, and the folding and unfolding of the main body are realized by the rotation of the folding mechanism 113, as shown in fig. 10.

In another embodiment, the body of the unmanned aerial vehicle is a scalable structure and comprises a first frame body, a second frame body and a guide rail mechanism, wherein the first frame body and the second frame body are connected in a sliding mode through the guide rail mechanism. The number of the second frame bodies may be 1 or more. The track mechanism generally includes a track and a slide bar (or slider), the track being disposed on the first frame, the slide bar being disposed on the second frame, or vice versa. The second framework can slide along the guide rail toward the inside of the unmanned aerial vehicle body to fold in order to realize unmanned aerial vehicle, and the second framework slides along the guide rail mechanism outward to realize the opening of unmanned aerial vehicle.

It should explain, this application drawing unmanned aerial vehicle's camera configuration mode all is the middle round camera of fuselage and two cameras from top to bottom again, will obtain better panoramic image, probably need dispose more cameras, still increase some crossbeams so in the framework of fuselage and be used for installing the camera. However, the drone is sensitive to weight, and in the case of a structure with sufficient strength, the frame portion should be reduced as much as possible, and then a protective frame made of light material is wrapped outside the frame to protect the rotor, for example, the frame of the drone shown in fig. 5 is lighter than that of the drone shown in fig. 1.

The utility model provides a panorama unmanned aerial vehicle that makes a video recording's fuselage sets up a plurality of cameras around the fuselage for hollow structure, can shoot 720 panoramic image. This panorama unmanned aerial vehicle that makes a video recording includes main power device and stabilizer. The main power device may be configured in the manner of a first rotary-wing system and a first rotary mechanism that controls the first rotary-wing system to rotate about an axis of rotation of the first rotary mechanism to generate thrust that translates the drone in a first direction; the main power device can also be configured in the manner of a second rotor system, wherein the second rotor system comprises a rotor and a paddle wheel tilting mechanism, and the paddle wheel tilting mechanism can control a paddle wheel of the rotor to rotate relative to the airframe so as to generate thrust for translating the unmanned aerial vehicle; simultaneously, the stabilizer also can output the thrust that makes the unmanned aerial vehicle translation. Consequently, different with many rotor unmanned aerial vehicle, this unmanned aerial vehicle that makes a video recording of panorama need not adjust the fuselage gesture and can realize flight control. This panorama unmanned aerial vehicle that makes a video recording still is equipped with the stabilizer, can export the moment that makes the fuselage rotatory in order to offset unmanned aerial vehicle's movement inertia and exogenic action, with fuselage attitude control at the within range of predetermineeing, guarantees the stability of the panoramic image who shoots.

The utility model provides an unmanned aerial vehicle is made a video recording to panorama for many rotor unmanned aerial vehicle with the size, the rotor size is big, and the power is efficient.

Further, but this application unmanned aerial vehicle can further reduce unmanned aerial vehicle's the size of accomodating for beta structure or structure of zooming, receive and release simply portable.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides an unmanned aerial vehicle of making a video recording of panorama, its characterized in that includes:

the machine body is of a hollow structure;

2. The panoramic camera drone of claim 1, wherein at least one of the stabilizers is capable of outputting a moment that causes the fuselage to pitch;

3. A panoramic camera drone according to claim 1, characterised in that at least one of said stabilisers is capable of outputting a moment that causes the fuselage to move in yaw.

4. The panoramic camera drone of claim 1, wherein at least one of the stabilizers is capable of outputting a thrust that translates the panoramic camera drone along a second direction that is non-parallel to the first direction when the primary power device includes a first rotor system.

5. A panoramic camera drone according to claim 4, characterised in that the angle between the first direction and the second direction ranges from 75 ° to 90 °.

6. The panoramic camera drone of claim 1, further comprising a second rotation mechanism by which at least one of the stabilizers is connected to the fuselage or the rotor bracket; the second rotating mechanism can control the stabilizer to rotate so as to adjust the direction of the output torque of the stabilizer and/or control the output of the stabilizer to enable the panoramic camera unmanned aerial vehicle to translate.

7. A panoramic camera drone according to any one of claims 1 to 6, wherein at least one of the stabilizers comprises a deflector located above or below the rotor, and a servo for controlling the rotation of the deflector to control the torque output by the stabilizer.

8. A panoramic camera drone according to any one of claims 1 to 6, characterised in that at least one of said stabilisers is a rotor or a fan.

9. The panoramic camera unmanned aerial vehicle of any one of claims 1 to 6, wherein the fuselage comprises a first frame, a second frame, and a folding mechanism, the first frame and the second frame being rotatably connected by the folding mechanism to allow the second frame to fold and unfold relative to the first frame.

10. The panoramic camera unmanned aerial vehicle of any one of claims 1 to 6, wherein the fuselage comprises a first frame, a second frame, and a rail mechanism, the second frame being slidably connected with respect to the first frame by the rail mechanism to allow the second frame to be folded and unfolded with respect to the first frame.