Panoramic unmanned aerial vehicle

Abstract

A panoramic unmanned aerial vehicle (100) comprises a fuselage, a side shell, a first fisheye lens (40), a second fisheye lens (50), a rear vehicle arm (20) and a front vehicle arm (30), wherein the first fisheye lens (40) is provided with a first view field area (60) and a first splicing area which does not exceed the range of the first view field area (60); the second fisheye lens (50) is provided with a second view field area (70) and a second splicing area which does not exceed the range of the second view field area (70); the second view field area (70) and the first view field area (60) intersect to form an overlapping area and a view field blind area (80), the area which cannot be covered by the first splicing area and the second splicing area forms a splicing blind area (90), and the rear arm (20) comprises a first paddle (22) and a first driving part (23) driving the first paddle (22) to rotate. The front machine arm (30) comprises a second paddle (32) and a second driving part (33) for driving the second paddle (32) to rotate, the rear machine arm (20) and the front machine arm (30) are both located in a splicing blind area (90), and a plane which passes through the center line of the first fisheye lens (40) and is perpendicular to the horizontal plane is defined as a reference plane; the projection of the axis (24) of the first driving part (23) on the reference plane and the projection of the axis (34) of the second driving part (33) on the reference plane intersect below the bottom shell (12) and between the first driving part (23) and the second driving part (33).

Description

Panoramic drone Technical Field

[0001] The present application relates to a drone, and in particular to a panoramic drone. Background Art

[0002] Drones shoot video using lenses mounted on their fuselages. To capture panoramic images or videos, they have lenses installed not only on the bottom or sides of the fuselage, but also on the top. By intersecting the fields of view corresponding to the angles of view of multiple lenses to form a closed space, they achieve panoramic capture of the scenery outside the closed space. However, in practice, the propeller blades often partially fall within the field of view corresponding to the lens on the top of the fuselage, thereby blocking part of the field of view. Consequently, the actual range of the drone's footage is smaller than the field of view formed by the field of view angles of each lens due to the obstruction of the propeller blades.

[0003] Summary of the Invention

[0004] According to some embodiments, a panoramic drone is provided in which blades do not block the field of view.

[0005] A panoramic drone, comprising:

[0006] The body includes a top shell, a bottom shell, and a side shell connected between the top shell and the bottom shell;

[0007] A first fisheye lens is provided on the top housing, wherein the first fisheye lens has a first field of view area and a first splicing area that does not exceed the range of the first field of view area;

[0008] a second fisheye lens, disposed on the bottom housing, the second fisheye lens having a second field of view area and a second stitching area that does not exceed the second field of view area, the second field of view area intersecting with the first field of view area forming an overlapping area and a blind field of view area, and an area not covered by the first stitching area and the second stitching area forming a stitching blind area;

[0009] a rear arm, disposed on the side shell, the rear arm comprising a first propeller blade and a first driving member for driving the first propeller blade to rotate; and

[0010] a front arm, disposed on the side shell, the front arm comprising a second propeller blade and a second driving member for driving the second propeller blade to rotate;

[0011] The rear arm and the front arm are both located in the splicing blind area, and a plane passing through the center line of the first fisheye lens and perpendicular to the horizontal plane is defined as a reference plane. The projection of the axis of the first driving member on the reference plane and the projection of the axis of the second driving member on the reference plane intersect below the bottom shell and between the first driving member and the second driving member.

[0012] The first field of view area of ​​the first fisheye lens and the second field of view area of ​​the second fisheye lens of the above-mentioned panoramic drone intersect, so panoramic shooting can be achieved. Since the rear arm and the front arm are both located in the splicing blind area, and the projection of the axis of the first driving member on the reference plane and the projection of the axis of the second driving member on the reference plane intersect below the bottom shell and between the first driving member and the second driving member, that is, the axis of the first driving member and the axis of the second driving member extend outwardly toward the bottom shell. In this way, since the first blade and the second blade are driven by the first driving member and the second driving member respectively, the first blade and the second blade are arranged to be tilted outward relative to the bottom shell, thereby effectively avoiding the field of view being blocked by the blades.

[0013] In one embodiment, the angle formed by the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed by the axis of the second driving member and the vertical direction is 0° to 20°.

[0014] In one embodiment, the side shell includes a first side shell and a second side shell relative to each other, the rear arm includes a left rear arm and a right rear arm respectively connected to the first side shell and the second side shell, and the front arm includes a left front arm and a right front arm respectively connected to the first side shell and the second side shell.

[0015] In one embodiment, the second driving member of the left front arm drives the second blade to rotate counterclockwise, the second driving member of the right front arm drives the second blade to rotate clockwise, the first driving member of the left rear arm drives the first blade to rotate clockwise, and the first driving member of the right rear arm drives the first blade to rotate counterclockwise.

[0016] In one embodiment, the side shell further includes a first connecting shell and a second connecting shell, the first connecting shell and the second connecting shell are connected to two ends of the first side shell and the second side shell, and the first fisheye lens is arranged close to the first connecting shell.

[0017] In one embodiment, the top shell includes a first top shell portion and a second top shell portion connected to the first top shell portion, the first fisheye lens is protruded from the first top shell portion, and the second top shell portion extends obliquely from one end of the first top shell portion toward the bottom shell.

[0018] In one embodiment, in the vertical direction, the left front arm and the right front arm are closer to the first fisheye lens than the left rear arm and the right rear arm.

[0019] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first driving member is provided at the end of the first rotating arm, the front arm includes a second rotating arm rotatably connected to the side shell, the second driving member is provided at the end of the second rotating arm, and the first rotating arm and the second rotating arm rotate toward each other and close to the side shells where they are located.

[0020] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed on the inclined surface, the plane where the first blade is located is parallel to the inclined surface and perpendicular to the axis of the first driving member, and the side of the first driving member close to the first fisheye lens is higher than the side of the first driving member away from the first fisheye lens.

[0021] In one embodiment, the bottom shell includes a first bottom shell portion and a second bottom shell portion, the second bottom shell portion extends obliquely from one end of the first bottom shell portion toward the top shell, and the second fisheye lens is convexly disposed on the second bottom shell portion.

[0022] In one embodiment, a supporting portion is provided on the bottom shell, a surface of the supporting portion away from the top shell is a supporting surface, and the second fisheye lens is completely located between the top shell and the plane where the supporting surface is located.

[0023] In one embodiment, the front arm and the rear arm have an expanded mode, and a surface of the end of the rear arm away from the top shell is a grounding surface. In the expanded mode, the grounding surface is coplanar with the supporting surface of the supporting portion.

[0024] In one embodiment, upper ends of the center lines of the first fisheye lens and the second fisheye lens are inclined toward the rear arm.

[0025] In one embodiment, a center line of the first fisheye lens coincides with a center line of the second fisheye lens.

[0026] In one embodiment, the angles formed by the center lines of the first fisheye lens and the second fisheye lens and the vertical direction are both smaller than 20°.

[0027] A panoramic drone comprises: a fuselage, comprising side shells, the side shells comprising opposite first side shells and second side shell top shells; rear arms, comprising a left rear arm and a right rear arm respectively connected to the first side shell and the second side shell, each rear arm comprising a first blade and a first driving member driving the first blade to rotate, the first driving member of the left rear arm driving the first blade to rotate clockwise, and the first driving member of the right rear arm driving the first blade to rotate counterclockwise; and front arms, comprising a left front arm and a right front arm respectively connected to the first side shell and the second side shell, each front arm comprising a second blade and a second driving member driving the second blade to rotate, the second driving member of the left front arm driving the second blade to rotate counterclockwise, and the second driving member of the right front arm driving the second blade to rotate clockwise.

[0028] When the panoramic drone is flying, the blade lift is obtained by the counterclockwise rotation of the left front second blade, the clockwise rotation of the right front second blade, the clockwise rotation of the left rear first blade, and the counterclockwise rotation of the right rear first blade, thereby achieving takeoff and flight of the panoramic drone.

[0029] In one embodiment, the body further includes a top shell and a bottom shell, the side shell is connected between the top shell and the bottom shell, and the left front arm and the right front arm are closer to the top shell than the left rear arm and the right rear arm.

[0030] In one embodiment, the fuselage also includes a top shell and a bottom shell, the side shell is connected between the top shell and the bottom shell, the panoramic drone also includes a first fisheye lens provided on the top shell and a second fisheye lens provided on the bottom shell, the first fisheye lens has a first field of view area, the second fisheye lens has a second field of view area, the second field of view area intersects with the first field of view area to form an overlapping area and a field of view blind area, the rear arm and the front arm are both located in the field of view blind area, and a plane passing through the center line of the first fisheye lens and perpendicular to the horizontal plane is defined as a reference plane, the projection of the axis of the first driving member on the reference plane and the projection of the axis of the second driving member on the reference plane intersect below the bottom shell and between the first driving member and the second driving member.

[0031] In one embodiment, the angle formed by the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed by the axis of the second driving member and the vertical direction is 0° to 20°.

[0032] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed on the inclined surface, the plane where the first blade is located is parallel to the inclined surface and perpendicular to the axis of the first driving member, and the side of the first driving member close to the second driving member is higher than the side of the first driving member away from the second driving member.

[0033] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0035] FIG1 is a perspective view of a panoramic drone according to an embodiment.

[0036] FIG2 is a perspective view of the panoramic drone in FIG1 from another direction.

[0037] FIG3 is a side view of the panoramic drone in FIG1 .

[0038] FIG4 is a schematic diagram of the field of view and stitching area of ​​the fisheye lens of the panoramic drone in FIG1 .

[0039] FIG5 is a schematic diagram of projections of the axis of the first driving member and the axis of the second driving member in FIG3 on a reference surface.

[0040] FIG6 is a schematic diagram of the rear frame arm in FIG3 when the first blade is tilted inward.

[0041] Figure 7 is a stereoscopic view of the panoramic drone in Figure 1 in the retracted mode.

[0042] FIG8 is an enlarged view of the rear machine arm in FIG1 . Specific embodiments

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0046] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0047] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0049] Referring to Figures 1 to 5, according to one embodiment of the present application, a panoramic drone 100 is provided, which includes a fuselage 10, a rear arm 20, a front arm 30, a first fisheye lens 40, and a second fisheye lens 50. The fuselage 10 includes a top shell 11, a bottom shell 12, and a side shell connected between the top shell 11 and the bottom shell 12. The first fisheye lens 40 is provided on the top shell 11, and has a first field of view area 60 and a first stitching area (not marked) that does not exceed the scope of the first field of view area 60. The second fisheye lens 50 is provided on the bottom shell 12, and has a second field of view area 70 and a second stitching area (not marked) that does not exceed the scope of the second field of view area 70. The second field of view area 70 intersects with the first field of view area 60 to form an overlapping area (not shown) and a field of view blind area 80. The area that is not covered by the first stitching area and the second stitching area constitutes a stitching blind area 90. The overlapping area refers to the area covered by both the second field of view area 70 and the first field of view area 60, and the blind area 80 refers to the area not covered by either the second field of view area 70 or the first field of view area 60. The rear arm 20 and the front arm 30 are both located in the splicing blind area 90. The rear arm 20 is arranged on the side shell and includes a first propeller 22 and a first driving member 23 that drives the first propeller 22 to rotate. The front arm 30 is arranged on the side shell and includes a second propeller 32 and a second driving member 33 that drives the second propeller 32 to rotate. As shown in Figure 4, a plane Y passing through the center line of the first fisheye lens 40 and perpendicular to the horizontal plane is defined as a reference plane. The projection of the axis 24 of the first driving member 23 on the reference plane and the projection of the axis 34 of the second driving member 33 on the reference plane intersect below the bottom shell 12 and between the first driving member 23 and the second driving member 33.

[0050] The first field of view area 60 of the first fisheye lens 40 and the second field of view area 70 of the second fisheye lens 50 of the above-mentioned panoramic drone 100 intersect, so panoramic shooting can be achieved. Since the rear arm 20 and the front arm 30 are both located in the splicing blind area 90, and the projection of the axis 24 of the first driving member 23 on the reference plane and the projection of the axis 34 of the second driving member 33 on the reference plane intersect below the bottom shell 12 and between the first driving member 23 and the second driving member 33, that is, the axis 24 of the first driving member 23 and the axis 34 of the second driving member 33 extend outwardly toward the bottom shell 12. In this way, since the first blade 22 and the second blade 32 are driven by the first driving member 23 and the second driving member 33 respectively, the first blade 22 and the second blade 32 are arranged to be tilted outward relative to the bottom shell 12, so that the field of view can be effectively avoided from being blocked by the blades.

[0051] Please combine Figures 3 and 6, taking the first blade 22 as an example, when the first blade 22 is inclined outward, compared with the horizontal setting or inward setting of the first blade 22, the orientation of the plane where the inclined first blade 22 is located tends to be the same as the viewing direction of the first fisheye lens 40, thereby avoiding the blade blocking the first stitching area of ​​the first fisheye lens 40, or even the first field of view area 60, so that the panoramic shooting range of the panoramic drone 100 is not less than the range formed by the first stitching area and the second stitching area, and even consistent with the field of view range formed by the first field of view area 60 and the second field of view area 70. That is to say, the panoramic shooting range of the panoramic drone 100 covers both the entire first stitching area and the entire second stitching area, and even both the entire first field of view area 60 and the entire second field of view area 70.

[0052] For example, referring to FIG. 6 , the first fisheye lens 40 has a first viewing angle A and a first stitching area angle P1 , wherein the first viewing angle A corresponds to the first viewing area 60 , and the first stitching area angle P1 corresponds to the first stitching area. When the first field of view angle A and the first stitching area angle P1 of the first fisheye lens 40 provided on the top shell 11 are 200° and 190° respectively, when the conventional first blade 22 is set horizontally or inwardly, since the orientation of the plane where the first blade 22 is located is different from the viewing angle direction of the first fisheye lens 40, the end of the first blade 22 away from the first fisheye lens 40 may extend to the first stitching area, thereby blocking part of the first stitching area, that is, blocking part of the first field of view area 60, so that the field of view angle of the actual shooting range of the first fisheye lens 40 is smaller than the first stitching area angle P1 of the first fisheye lens 40, that is, less than 190°. In this way, the actual shooting range of the panoramic drone 100 is smaller than the range covered by the first stitching area and the second stitching area, that is, smaller than the range covered by the first field of view area 60 and the second field of view area 70.

[0053] In the present embodiment, as shown in FIG3 , when the first blade 22 is tilted outward, since the orientation of the plane on which the first blade 22 is located tends to be the same as the viewing direction of the first fisheye lens 40, the first blade 22 can be prevented from blocking the first stitching area, so that the field of view angle actually shot by the first fisheye lens 40 is not less than the first stitching area angle P1 of the first fisheye lens 40, that is, not less than 190°, and even the same as the first field of view angle A of the first fisheye lens 40 itself, that is, 200°. In this way, the actual shooting range of the panoramic drone 100 is not less than the range covered by the first stitching area and the second stitching area, and is even consistent with the range covered by the first field of view area 60 and the second field of view area 70.

[0054] Specifically, the side shell includes a first side shell 13, a second side shell 14, a first connecting shell 18, and a second connecting shell 19. The first side shell 13 is opposite the second side shell 14, and the first connecting shell 18 and the second connecting shell 19 are connected to the ends of the first side shell 13 and the second side shell 14. The top shell 11 includes a first top shell portion 111 and a second top shell portion 114 connected to the first top shell portion 111. The second top shell portion 114 extends obliquely from one end of the first top shell portion 111 toward the bottom shell 12. The bottom shell 12 includes a first bottom shell portion 121 and a second bottom shell portion 122. The second bottom shell portion 122 extends obliquely from one end of the first bottom shell portion 121 toward the top shell 11.

[0055] FIG3 shows the first field of view angle A and the first stitching area angle P1 of the first fisheye lens 40. Both the first field of view angle A and the first stitching area angle P1 of the first fisheye lens 40 are greater than 180° (for example, in this embodiment, the second field of view angle B is 200° and the second stitching area angle P2 is 190°). The range covered by the first field of view angle A is the first field of view area 60. The first field of view area 60 shown in FIG3 includes the area above the line L, but those skilled in the art should understand from FIG1 that the first field of view area 60 is essentially a partial spherical area located on the side of the mirror of the first fisheye lens 40 away from the bottom shell 12. The first stitching area is also a partial spherical area located on the side of the mirror of the first fisheye lens 40 away from the bottom shell 12 and is completely located within the first field of view area 60. The first fisheye lens 40 is protruded from the first top shell portion 111. Because the second top housing portion 114 extends obliquely from one end of the first top housing portion 111 toward the bottom housing 12, the top housing 11 prevents the first viewing area 60 of the first fisheye lens 40 from being obstructed by the top housing 11. Furthermore, the upper end of the centerline of the first fisheye lens 40 is inclined toward the rear arm 20, further preventing the top housing 11 from obstructing the first viewing area 60 of the first fisheye lens 40. In one embodiment, the angle C formed between the centerline T1 of the first fisheye lens 40 and the vertical direction is less than 20°.

[0056] FIG3 also shows the second field of view angle B and the second stitching area angle P2 of the second fisheye lens 50. The second field of view angle B corresponds to the second field of view area 70, and the second stitching area angle P2 corresponds to the second stitching area. The second field of view angle B and the second stitching area angle P2 of the second fisheye lens 50 are both greater than 180° (for example, in this embodiment, the second field of view angle B is 200° and the second stitching area angle P2 is 190°). The range covered by the second field of view angle B is the second field of view area 70, and the range covered by the second stitching area angle P2 is the second stitching area. Similar to the first field of view area 60, the second field of view area 70 in FIG3 includes the area below the line M, but those skilled in the art should understand from FIG1 that the second field of view area 70 is essentially a partial spherical area located on the side of the second fisheye lens 50 away from the top shell 11, and the second stitching area is also a partial spherical area located on the side of the second fisheye lens 50 away from the top shell 11, and is completely located within the second field of view area 70. Since the first splicing area angle P1 and the second splicing area angle P2 are both greater than 180°, the first splicing area and the second splicing area intersect to form a splicing angle area 92 , and the area that cannot be covered by the first splicing area and the second splicing area constitutes the above-mentioned splicing blind area 90 .

[0057] In one solution of this embodiment, the first field of view angle A of the first fisheye lens 40 is the same as the first stitching area angle P1, and the second field of view angle B of the second fisheye lens 50 is the same as the second stitching area angle P2. In this case, the field of view blind area 80 is the same as the stitching blind area 90. In another solution of this embodiment, the first field of view angle A of the first fisheye lens 40 is greater than the first stitching area angle P1, and the second field of view angle B of the second fisheye lens 50 is greater than the second stitching area angle P2. In the deployed mode, the rear arm 20 and the front arm 30 are located within the stitching blind area 90 of the first fisheye lens 40 and the second fisheye lens 50. Therefore, the panoramic image synthesized by the first fisheye lens 40 and the second fisheye lens 50 does not include other components of the panoramic drone 100, including the multiple arms, thereby achieving unobstructed panoramic photography. It should be noted that due to the severe image distortion at the boundary of the field of view of the fisheye lens, the panoramic video formed by stitching the stitching area after removing the field of view boundary area will have a better effect; in addition, the image of the stitching angle area 92 formed by the intersection of the first stitching area and the second stitching area will be removed and will not be included in the panoramic video after stitching.

[0058] It should be noted that the field of view angles A, B and stitching area angles P1, P2 of the first fisheye lens 40 and the second fisheye lens 50 in the embodiment of the present application can be all the same, partially the same, or completely different, and can be adjusted accordingly according to the structural settings of the panoramic drone 100.

[0059] The second fisheye lens 50 is protruding from the second bottom shell portion 122. Because the second bottom shell portion 122 extends obliquely from one end of the first bottom shell portion 121 toward the top shell 11, the bottom shell 12 can prevent the second fisheye lens 50 from obstructing the second field of view 70. Furthermore, the upper end of the centerline T2 of the second fisheye lens 50 is inclined toward the rear arm 20, thereby further preventing the bottom shell 12 from obstructing the first viewing angle of the second fisheye lens 50. In one embodiment, the angle D formed by the centerline T2 of the second fisheye lens 50 and the vertical direction is less than 20°. In one embodiment, the centerline T2 of the second fisheye lens 50 coincides with the centerline T1 of the first fisheye lens 40. In this way, the second fisheye lens 50 and the first fisheye lens 40 can be arranged almost symmetrically on the fuselage 10, thereby providing the panoramic drone 100 with a better visual experience.

[0060] In one embodiment, the bottom housing 12 is provided with a support portion 17. The surface of the support portion 17 facing away from the top housing 11 serves as a support surface 15, which is configured to contact the landing surface 200. The second fisheye lens 50 is completely located between the top housing 11 and the support surface 15. This prevents the second fisheye lens 50 from contacting the landing surface 200 during landing of the panoramic drone 100, thereby preventing the second fisheye lens 50 from being scratched or dented by the hard landing surface 200.

[0061] The rear arm 20 is positioned near the bottom housing 12, while the front arm 30 is located vertically in the middle of the side housing and horizontally near the first fisheye lens 40. As a result, since the blind spot 80 between the first and second fisheye lenses 40, 50, tends to narrow, by positioning the front arm 30 vertically in the middle of the side housing and horizontally near the first fisheye lens 40, it is possible to prevent the front arm 30 from obstructing the first and second viewing areas 60, 70.

[0062] In one embodiment, the rear arm 20 includes a left rear arm 24 and a right rear arm 25 connected to the first side housing 13 and the second side housing 14, respectively. The front arm 30 includes a left front arm 34 and a right front arm 35 connected to the first side housing 13 and the second side housing 14, respectively. The left front arm 34 and the right front arm 35 are vertically closer to the first fisheye lens 40 than the left rear arm 24 and the right rear arm 25.

[0063] The second driving member 33 of the left front arm 34 drives the second blade 32 counterclockwise, while the second driving member 33 of the right front arm 35 drives the second blade 32 clockwise. The first driving member 23 of the left rear arm 24 drives the first blade 22 clockwise, while the first driving member 23 of the right rear arm 25 drives the first blade 22 counterclockwise. The front arm 30 is positioned near the nose, and the rear arm 20 is positioned near the tail. When the panoramic drone 100 is in flight, blade lift is generated by the counterclockwise rotation of the left front second blade 32, the clockwise rotation of the right front second blade 32, the clockwise rotation of the left rear first blade 22, and the counterclockwise rotation of the right rear first blade 22, enabling the panoramic drone 100 to take off and fly. In addition, since the first blade 22 and the second blade 32 are both arranged to be inclined outward, a component of the blade lift in the anti-torsion direction can be obtained, that is, the anti-torsion force is increased, thereby improving the response speed of the first blade 22 and the second blade 32 during operation.

[0064] Referring to Figures 1 and 7 , in one embodiment, the rear arm 20 and front arm 30 have deployed and retracted modes. The rear arm 20 also includes a first rotating arm 26 rotatably connected to the side housing. The first driving member 23 is disposed at the end of the first rotating arm 26. The front arm 30 also includes a second rotating arm 36 rotatably connected to the side housing. The second driving member 33 is disposed at the end of the second rotating arm 36. When the panoramic drone 100 switches from deployed to retracted mode, the first and second rotating arms 26, 36 rotate toward each other and toward their respective side housings. In one embodiment, the rear arm 20 includes the left rear arm 24 and right rear arm 25 described above, and the front arm 30 includes the left front arm 34 and right front arm 35 described above. The left front arm 34 and the left rear arm 24 rotate toward each other and toward the first side housing 13, while the right front arm 35 and the right rear arm 25 rotate toward each other and toward the second side housing 14.

[0065] Please refer to Figure 3. In one embodiment, the end of the first rotating arm 26 is away from the top shell 11. The ground surface 21 is coplanar with the support surface 15 in the expanded mode. In this way, when the panoramic drone 100 lands, the rear arm 20 and the support part 17 jointly support the panoramic drone 100, reducing the load on the support part 17 and helping to extend the life of the panoramic drone 100.

[0066] Please refer to Figures 3 and 8. In one embodiment, the first rotating arm 26 includes an inclined surface 261 facing the first driving member 23. The first driving member 23 is fixed on the inclined surface 261. The plane where the first blade 22 is located is parallel to the inclined surface 261 and perpendicular to the axis 24 of the first driving member 23. The side of the first driving member 23 close to the first fisheye lens 40 is higher than the side of the first driving member 23 away from the first fisheye lens 40. In this way, the first blade 22 is arranged to be tilted outward. In one embodiment, the first driving member 23 is a motor with a cylindrical shell. The structure of the front arm 30 can be the same as that of the rear arm 20 and will not be explained here. Please also refer to Figure 5. The angle E formed by the axis 24 of the first driving member 23 and the vertical direction is 0° to 20°, and the angle F formed by the axis 34 of the second driving member 33 and the vertical direction is also 0° to 20°.

[0067] Although certain features and aspects of exemplary embodiments have been described, those skilled in the art will recognize that many modifications are possible. For example, the methods and processes described herein may be implemented using hardware components, software components, and / or any combination thereof. Furthermore, although various methods and processes have been described with respect to specific structural and / or functional components, the methods provided by the various embodiments described above are not limited to any specific structural and / or functional architecture, but may be implemented on any suitable hardware, firmware, and / or software configuration. Similarly, although certain functions are attributed to certain system components, unless the context indicates otherwise, the functions may be distributed among various other system components according to several embodiments.

[0068] In addition, for ease of description, although the methods and processes of the present application are described in a particular order, unless the context indicates otherwise, various processes may be reordered, added and / or omitted according to various embodiments. Moreover, processes described with respect to one method or process may be incorporated into other described methods or processes; however, the present application is not limited thereto. Similarly, components described according to a particular structural architecture and / or relative to one system may be organized in alternative structures and / or incorporated into other described systems. Therefore, although various embodiments are described with or without certain features, various components and / or features described herein for specific embodiments may be replaced, added and / or removed, unless the context indicates otherwise. Therefore, although several exemplary embodiments are described above, it should be understood that the present invention is intended to cover all modifications and equivalent forms within the scope of the appended claims.

Claims

1. A panoramic drone, comprising: The body includes a top shell, a bottom shell, and a side shell connected between the top shell and the bottom shell; A first fisheye lens is provided on the top housing, wherein the first fisheye lens has a first field of view area and a first splicing area that does not exceed the range of the first field of view area; a second fisheye lens, disposed on the bottom housing, the second fisheye lens having a second field of view area and a second stitching area that does not exceed the second field of view area, the second field of view area intersecting with the first field of view area forming an overlapping area and a blind field of view area, and an area not covered by the first stitching area and the second stitching area forming a stitching blind area; a rear arm, disposed on the side shell, the rear arm comprising a first propeller blade and a first driving member for driving the first propeller blade to rotate; and a front arm, disposed on the side shell, the front arm comprising a second propeller blade and a second driving member for driving the second propeller blade to rotate; The rear arm and the front arm are both located in the splicing blind area, and a plane passing through the center line of the first fisheye lens and perpendicular to the horizontal plane is defined as a reference plane. The projection of the axis of the first driving member on the reference plane and the projection of the axis of the second driving member on the reference plane intersect below the bottom shell and between the first driving member and the second driving member.

2. The panoramic drone according to claim 1, wherein the angle formed by the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed by the axis of the second driving member and the vertical direction is 0° to 20°.

3. The panoramic drone according to claim 1, wherein the side shell includes a first side shell and a second side shell opposite to each other, the rear arm includes a left rear arm and a right rear arm respectively connected to the first side shell and the second side shell, and the front arm includes a left front arm and a right front arm respectively connected to the first side shell and the second side shell.

4. The panoramic drone according to claim 3, wherein the second driving member of the left front arm drives the second blade to rotate counterclockwise, the second driving member of the right front arm drives the second blade to rotate clockwise, the first driving member of the left rear arm drives the first blade to rotate clockwise, and the first driving member of the right rear arm drives the first blade to rotate counterclockwise.

5. The panoramic drone according to claim 3, wherein the side shell further includes a first connecting shell and a second connecting shell, the first connecting shell and the second connecting shell are connected to both ends of the first side shell and the second side shell, and the first fisheye lens is arranged near the first connecting shell.

6. The panoramic drone according to claim 1, wherein the top shell includes a first top shell portion and a second top shell portion connected to the first top shell portion, the first fisheye lens is convexly provided on the first top shell portion, and the second top shell portion extends obliquely from one end of the first top shell portion toward the bottom shell.

7. The panoramic drone according to claim 3, wherein in a vertical direction, the left front arm and the right front arm are closer to the first fisheye lens than the left rear arm and the right rear arm.

8. The panoramic drone according to claim 1, wherein the rear arm includes a first rotating arm rotatably connected to the side shell, the first driving member is provided at the end of the first rotating arm, the front arm includes a second rotating arm rotatably connected to the side shell, the second driving member is provided at the end of the second rotating arm, and the first rotating arm and the second rotating arm rotate toward each other and close to the side shells where they are located.

9. The panoramic drone according to claim 1, wherein the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed to the inclined surface, the plane where the first blade is located is parallel to the inclined surface and perpendicular to the axis of the first driving member, and the side of the first driving member close to the first fisheye lens is higher than the side of the first driving member away from the first fisheye lens.

10. The panoramic drone according to claim 1, wherein the bottom shell comprises a first bottom shell portion and a second bottom shell portion, the second bottom shell portion extends obliquely from one end of the first bottom shell portion toward the top shell, and the second fisheye lens is convexly provided on the second bottom shell portion.

11. The panoramic drone according to claim 1, wherein a support portion is provided on the bottom shell, a surface of the support portion away from the top shell is a support surface, and the second fisheye lens is completely located between the top shell and the plane where the support surface is located.

12. The panoramic drone according to claim 11, wherein the front arm and the rear arm have an expanded mode, a surface of the end of the rear arm away from the top shell is a grounding surface, and in the expanded mode, the grounding surface is coplanar with the support surface of the support portion. 13 . The panoramic drone according to claim 1 , wherein upper ends of the center lines of the first fisheye lens and the second fisheye lens are inclined toward the rear arm. 14 . The panoramic drone according to claim 13 , wherein a centerline of the first fisheye lens coincides with a centerline of the second fisheye lens.

15. The panoramic drone according to claim 13, wherein the angles formed by the center lines of the first fisheye lens and the second fisheye lens and the vertical direction are both less than 20°.

16. A panoramic drone comprising: The fuselage includes a side shell, wherein the side shell includes a first side shell and a second side shell top shell opposite to each other; a rear arm, comprising a left rear arm and a right rear arm respectively connected to the first side shell and the second side shell, each rear arm comprising a first propeller blade and a first driving member for driving the first propeller blade to rotate, the first driving member of the left rear arm driving the first propeller blade to rotate clockwise, and the first driving member of the right rear arm driving the first propeller blade to rotate counterclockwise; and The front arm includes a left front arm and a right front arm respectively connected to the first side shell and the second side shell, each front arm includes a second propeller blade and a second driving member that drives the second propeller blade to rotate, the second driving member of the left front arm drives the second propeller blade to rotate counterclockwise, and the second driving member of the right front arm drives the second propeller blade to rotate clockwise.

17. The panoramic drone according to claim 16, wherein the fuselage further comprises a top shell and a bottom shell, the side shell is connected between the top shell and the bottom shell, and the left front arm and the right front arm are closer to the top shell than the left rear arm and the right rear arm.

18. The panoramic drone according to claim 16, wherein the fuselage also includes a top shell and a bottom shell, the side shell is connected between the top shell and the bottom shell, the panoramic drone also includes a first fisheye lens provided on the top shell and a second fisheye lens provided on the bottom shell, the first fisheye lens has a first field of view area, the second fisheye lens has a second field of view area, the second field of view area intersects with the first field of view area to form an overlapping area and a blind field of view area, the rear arm and the front arm are both located in the blind field of view, and a plane passing through the center line of the first fisheye lens and perpendicular to the horizontal plane is defined as a reference plane, the projection of the axis of the first driving member on the reference plane and the projection of the axis of the second driving member on the reference plane intersect below the bottom shell and between the first driving member and the second driving member.

19. The panoramic drone according to claim 18, wherein the angle formed by the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed by the axis of the second driving member and the vertical direction is 0° to 20°.

20. The panoramic drone according to claim 18, wherein the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed on the inclined surface, the plane where the first blade is located is parallel to the inclined surface and perpendicular to the axis of the first driving member, and the side of the first driving member close to the second driving member is higher than the side of the first driving member away from the second driving member.

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