Panoramic drone

Abstract

A panoramic drone (100) includes a fuselage including a side shell, a first fisheye lens (40) having a first field of view (60) and a first stitching area not exceeding the range of the first field of view (60), a second fisheye lens (50) having a second field of view (70) and a second stitching area not exceeding the range of the second field of view (70), a rear arm (20) and a front arm (30). The second field of view (70) intersects with the first field of view (60) to form an overlapping area and a blind spot (80). The area that neither the first nor the second splicing area can cover forms a splicing blind spot (90). The rear arm (20) includes a first blade (22) and a first drive member (23) that drives the first blade (22) to rotate. The front arm (30) includes a second blade (32) and a second drive member (33) that drives the second blade (32) to rotate. Both the rear arm (20) and the front arm (30) are located in the splicing blind spot (90). The plane that passes through the center line of the first fisheye lens (40) and is perpendicular to the horizontal plane is defined as the reference plane. The projection of the axis (24) of the first drive member (23) on the reference plane and the projection of the axis (34) of the second drive member (33) on the reference plane intersect below the bottom shell (12) and between the first drive member (23) and the second drive member (33).

Description

Technical Field

[0001] This application relates to drones, and more particularly to a panoramic drone. Background Technology

[0002] Drones capture video using lenses mounted on their fuselage. To obtain panoramic images or videos, lenses are placed not only on the bottom or sides of the fuselage but also on the top. By intersecting the field of view areas corresponding to the angles of view of multiple lenses, a closed space is formed, enabling panoramic capture of the scene outside the closed space. However, in reality, the propellers often partially fall within the field of view corresponding to the lenses on the top of the fuselage, thus obstructing part of the field of view. Consequently, the actual area captured by the drone is smaller than the field of view area formed by the angles of view of the individual lenses due to the obstruction by the propellers. Summary of the Invention

[0003] According to some embodiments, a panoramic drone is provided in which the propellers do not obstruct the field of view.

[0004] A panoramic drone, comprising:

[0005] The fuselage includes a top shell, a bottom shell, and a side shell connecting the top shell and the bottom shell;

[0006] A first fisheye lens is disposed on the top shell. The first fisheye lens has a first field of view and a first stitching area not exceeding the range of the first field of view.

[0007] A second fisheye lens is disposed on the bottom shell. The second fisheye lens has a second field of view and a second stitching area not exceeding the range of the second field of view. The second field of view intersects with the first field of view to form an overlapping area and a blind spot. The area that neither the first stitching area nor the second stitching area can cover constitutes a stitching blind spot.

[0008] The rear arm, mounted on the side shell, includes a first blade and a first drive member for rotating the first blade; and

[0009] A front arm is mounted on the side shell, and the front arm includes a second blade and a second drive member for driving the second blade to rotate.

[0010] The rear arm and the front arm are both located in the splicing blind zone. A plane that passes through the center line of the first fisheye lens and is perpendicular to the horizontal plane is defined as a reference plane. The projection of the axis of the first drive member on the reference plane and the projection of the axis of the second drive member on the reference plane intersect below the bottom shell and between the first drive member and the second drive member.

[0011] The first field of view of the first fisheye lens and the second field of view of the second fisheye lens of the aforementioned panoramic drone intersect, thus enabling panoramic shooting. Furthermore, since the rear arm and the front arm are both located in the stitching blind zone, and the projection of the axis of the first drive component on the reference plane and the projection of the axis of the second drive component on the reference plane intersect below the bottom shell and between the first and second drive components, that is, the axes of the first and second drive components extend outward towards the bottom shell. Thus, since the first blade and the second blade are driven by the first drive component and the second drive component respectively, the first blade and the second blade are set outward relative to the bottom shell, thus effectively preventing the field of view from being blocked by the blades.

[0012] In one embodiment, the angle between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle between the axis of the second driving member and the vertical direction is 0° to 20°.

[0013] In one embodiment, 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.

[0014] In one embodiment, the second drive member of the left front arm drives the second blade to rotate counterclockwise, the second drive member of the right front arm drives the second blade to rotate clockwise, the first drive member of the left rear arm drives the first blade to rotate clockwise, and the first drive member of the right rear arm drives the first blade to rotate counterclockwise.

[0015] 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 being connected to the two ends of the first side shell and the second side shell, and the first fisheye lens being disposed close to the first connecting shell.

[0016] 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 protruding from the first top shell portion, and the second top shell portion extending obliquely from one end of the first top shell portion toward the bottom shell.

[0017] 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.

[0018] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, with a first driving member disposed at the end of the first rotating arm; the front arm includes a second rotating arm rotatably connected to the side shell, with a second driving member disposed at the end of the second rotating arm; the first rotating arm and the second rotating arm rotate toward each other and toward their respective side shells.

[0019] 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 drive member. The first drive member is fixed to the inclined surface. The plane containing the first blade is parallel to the inclined surface and perpendicular to the axis of the first drive member. The side of the first drive member closer to the first fisheye lens is higher than the side of the first drive member farther from the first fisheye lens.

[0020] In one embodiment, the bottom shell includes a first bottom shell portion and a second bottom shell portion, the second bottom shell portion extending obliquely from one end of the first bottom shell portion toward the top shell, and the second fisheye lens protruding from the second bottom shell portion.

[0021] In one embodiment, a support portion is provided on the bottom shell, and the side of the support portion away from the top shell is a support surface, and the second fisheye lens is completely located between the plane of the top shell and the support surface.

[0022] In one embodiment, the front arm and the rear arm have an extended mode, and the end of the rear arm away from the top shell is a ground surface. In the extended mode, the ground surface is coplanar with the support surface of the support portion.

[0023] In one embodiment, the upper ends of the center lines of the first fisheye lens and the second fisheye lens are inclined toward the rear arm.

[0024] In one embodiment, the centerline of the first fisheye lens coincides with the centerline of the second fisheye lens.

[0025] In one embodiment, the angles formed by the center lines of the first fisheye lens and the second fisheye lens with the vertical direction are both less than 20°.

[0026] A panoramic unmanned aerial vehicle (UAV) includes: a fuselage, including side shells, the side shells including opposing first side shells and second side shell top shells; rear arms, including a left rear arm and a right rear arm respectively connected to the first side shell and the second side shell, each rear arm including a first blade and a first drive member for driving the first blade to rotate, the first drive member of the left rear arm driving the first blade to rotate clockwise, and the first drive member of the right rear arm driving the first blade to rotate counterclockwise; and front arms, including a left front arm and a right front arm respectively connected to the first side shell and the second side shell, each front arm including a second blade and a second drive member for driving the second blade to rotate, the second drive member of the left front arm driving the second blade to rotate counterclockwise, and the second drive member of the right front arm driving the second blade to rotate clockwise.

[0027] When the aforementioned panoramic drone is in flight, it obtains propeller lift through the counterclockwise rotating left front second propeller, the clockwise rotating right front second propeller, the clockwise rotating left rear first propeller, and the counterclockwise rotating right rear first propeller, thereby realizing the take-off and flight of the panoramic drone.

[0028] In one embodiment, the fuselage further includes a top shell and a bottom shell, the side shells being connected between the top shell and the bottom shell, and the left front arm and the right front arm being closer to the top shell than the left rear arm and the right rear arm.

[0029] In one embodiment, the fuselage further includes a top shell and a side shell connected between the top shell and the bottom shell. The panoramic drone also includes a first fisheye lens disposed on the top shell and a second fisheye lens disposed on the bottom shell. The first fisheye lens has a first field of view, and the second fisheye lens has a second field of view. The second field of view intersects with the first field of view to form an overlapping area and a blind spot. The rear arm and the front arm are both located in the blind spot. A plane passing through the centerline 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 drive member on the reference plane and the projection of the axis of the second drive member on the reference plane intersect below the bottom shell and between the first drive member and the second drive member.

[0030] In one embodiment, the angle between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle between the axis of the second driving member and the vertical direction is 0° to 20°.

[0031] In one embodiment, the rear boom includes a first rotating arm rotatably connected to the side shell. The first rotating arm includes an inclined surface facing the first drive member. The first drive member is fixed to the inclined surface. The plane containing the first blade is parallel to the inclined surface and perpendicular to the axis of the first drive member. The side of the first drive member closer to the second drive member is higher than the side of the first drive member farther from the second drive member.

[0032] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0034] Figure 1 This is a perspective view of a panoramic drone as an example.

[0035] Figure 2 for Figure 1 A 3D view of the panoramic drone from another direction.

[0036] Figure 3 for Figure 1 A side view of a panoramic drone.

[0037] Figure 4 for Figure 1 A schematic diagram of the field of view and stitching area of ​​the fisheye lens of a panoramic drone.

[0038] Figure 5 for Figure 3 A schematic diagram of the projection of the axis of the first driving member and the axis of the second driving member onto the reference plane.

[0039] Figure 6 for Figure 3 A schematic diagram of the rear arm when the first blade is tilted inward.

[0040] Figure 7 Figure 1 The panoramic drone in the image is in 3D mode.

[0041] Figure 8 for Figure 1 Enlarged view of the rear arm. Specific Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening 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 possible implementation.

[0048] Please see Figures 1 to 5 According to one embodiment of this application, a panoramic unmanned aerial vehicle (UAV) 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 side shells connecting the top shell 11 and the bottom shell 12. The first fisheye lens 40 is disposed on the top shell 11 and has a first field of view 60 and a first stitching area (not shown) not exceeding the range of the first field of view 60. The second fisheye lens 50 is disposed on the bottom shell 12 and has a second field of view 70 and a second stitching area (not shown) not exceeding the range of the second field of view 70. The second field of view 70 intersects with the first field of view 60 to form an overlapping area (not shown) and a blind spot 80. The area not covered by either the first stitching area or the second stitching area constitutes a stitching blind spot 90. The overlap area refers to the area covered by both the second field of view region 70 and the first field of view region 60, while the blind spot 80 refers to the area not covered by either the second field of view region 70 or the first field of view region 60. Both the rear arm 20 and the front arm 30 are located in the splicing blind spot 90. The rear arm 20 is mounted on the side shell and includes a first blade 22 and a first drive member 23 that drives the first blade 22 to rotate. The front arm 30 is mounted on the side shell and includes a second blade 32 and a second drive member 33 that drives the second blade 32 to rotate. Figure 4 As shown, a plane Y passing through the center line of the first fisheye lens 40 and perpendicular to the horizontal plane is defined as the reference plane. The projection of the axis 24 of the first drive member 23 on the reference plane and the projection of the axis 34 of the second drive member 33 on the reference plane intersect below the bottom shell 12 and between the first drive member 23 and the second drive member 33.

[0049] The first field of view 60 of the first fisheye lens 40 and the second field of view 70 of the second fisheye lens 50 of the aforementioned panoramic drone 100 intersect, thus enabling panoramic shooting. Furthermore, since the rear arm 20 and the front arm 30 are both located in the stitching blind zone 90, and the projection of the axis 24 of the first drive member 23 on the reference plane and the projection of the axis 34 of the second drive member 33 on the reference plane intersect below the bottom shell 12 and between the first drive member 23 and the second drive member 33, that is, the axis 24 of the first drive member 23 and the axis 34 of the second drive member 33 extend outward towards the bottom shell 12. Thus, since the first blade 22 and the second blade 32 are driven by the first drive member 23 and the second drive member 33 respectively, the first blade 22 and the second blade 32 are set outward relative to the bottom shell 12, thus effectively preventing the field of view from being blocked by the blades.

[0050] Please combine Figure 3 and Figure 6 Taking the first propeller blade 22 as an example, when the first propeller blade 22 is tilted outward, compared to when the first propeller blade 22 is horizontally or tilted inward, the orientation of the plane on which the first propeller blade 22 is tilted outward tends to be the same as the viewing angle direction of the first fisheye lens 40. This avoids the propeller blade from obscuring the first stitching area of ​​the first fisheye lens 40, or even the first field of view 60. This makes the panoramic shooting range of the panoramic drone 100 no less than the range formed by the first stitching area and the second stitching area, or even the same as the field of view range formed by the first field of view 60 and the second field of view 70. In other words, the panoramic shooting range of the panoramic drone 100 covers the entire first stitching area and the entire second stitching area, or even the entire first field of view 60 and the entire second field of view 70.

[0051] For example, please refer to Figure 6 The first fisheye lens 40 has a first field of view A and a first stitching area angle P1, wherein the first field of view A corresponds to the first field of view area 60, and the first stitching area angle P1 corresponds to the first stitching area. When the first field of view A and the first stitching area angle P1 of the first fisheye lens 40 set on the top shell 11 are 200° and 190° respectively, when the conventional first propeller 22 is set horizontally or tilted inward, since the orientation of the plane where the first propeller 22 is located is different from the viewing direction of the first fisheye lens 40, the end of the first propeller 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 60. This makes the actual shooting range of the first fisheye lens 40 smaller than the first stitching area angle P1 of the first fisheye lens 40, that is, less than 190°. Thus, 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, which is also smaller than the range covered by the first field of view 60 and the second field of view 70.

[0052] In this embodiment, such as Figure 3 When the first propeller blade 22 is tilted outward, since the orientation of the plane on which the first propeller blade 22 is located is similar to the viewing angle of the first fisheye lens 40, the first propeller blade 22 can avoid obstructing the first stitching area. As a result, the actual field of view of 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°, or even the same as the first field of view A of the first fisheye lens 40 itself, that is, 200°. Thus, 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, or even the same as the range covered by the first field of view area 60 and the second field of view area 70.

[0053] Specifically, the side shells include 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 to the second side shell 14, and the first connecting shell 18 and the second connecting shell 19 are connected to the two 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.

[0054] Figure 3 The image shows the first field of view A and the first stitching area angle P1 of the first fisheye lens 40. Both the first field of view 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 B is 200° and the second stitching area angle P2 is 190°). The area covered by the first field of view A is the first field of view area 60. Figure 3 The first field of view 60 shown includes the area above line L, but those skilled in the art, in conjunction with... Figure 1It should be understood that the first field of view region 60 is essentially a partially spherical region located on the side of the first fisheye lens 40 away from the bottom shell 12, and the first splicing region is also a partially spherical region located on the side of the first fisheye lens 40 away from the bottom shell 12, and is completely within the first field of view region 60. The first fisheye lens 40 protrudes from the first top shell portion 111. Since the second top shell portion 114 extends obliquely from one end of the first top shell portion 111 toward the bottom shell 12, the top shell 11 can be prevented from obstructing the first field of view region 60 of the first fisheye lens 40. Furthermore, the upper end of the centerline of the first fisheye lens 40 is inclined toward the rear arm 20, thus further preventing the top shell 11 from obstructing the first field of view region 60 of the first fisheye lens 40. In one embodiment, the angle C formed by the centerline T1 of the first fisheye lens 40 and the vertical direction is less than 20°.

[0055] Figure 3 The diagram also shows the second field of view B and the second stitching area angle P2 of the second fisheye lens 50. The second field of view B corresponds to the second field of view region 70, and the second stitching area angle P2 corresponds to the second stitching area. Both the second field of view B and the second stitching area angle P2 of the second fisheye lens 50 are greater than 180° (for example, in this embodiment, the second field of view B is 200°, and the second stitching area angle P2 is 190°). The area covered by the second field of view B is the second field of view region 70, and the area covered by the second stitching area angle P2 is the second stitching area. Similar to the first field of view region 60, Figure 3 The second field of view 70 includes the area below line M, but those skilled in the art, in conjunction with... Figure 1 It should be understood that the second field of view region 70 is essentially a partially spherical region located on the side of the second fisheye lens 50 away from the top shell 11. The second stitching region is also a partially spherical region located on the side of the second fisheye lens 50 away from the top shell 11, and is completely within the second field of view region 70. Since the first stitching region angle P1 and the second stitching region angle P2 are both greater than 180°, the intersection of the first and second stitching regions forms a stitching angle region 92. The area not covered by either the first or second stitching region constitutes the aforementioned stitching blind zone 90.

[0056] In one embodiment, the first field of view A of the first fisheye lens 40 is the same as the first stitching area angle P1, and the second field of view B of the second fisheye lens 50 is the same as the second stitching area angle P2. In this case, the blind zone 80 and the stitching blind zone 90 are the same. In another embodiment, the first field of view A of the first fisheye lens 40 is greater than the first stitching area angle P1, and the second field of view B of the second fisheye lens 50 is greater than the second stitching area angle P2. The rear arm 20 and the front arm 30 are located within the stitching blind zone 90 of the first fisheye lens 40 and the second fisheye lens 50 in the deployed mode. 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 multiple arms, thereby achieving unobstructed panoramic shooting. It should be noted that due to the severe image distortion at the field of view boundary of the fisheye lens, the panoramic video formed by stitching together the stitched areas after removing the field of view boundary region will have a better effect. In addition, the image of the stitching angle region 92 formed by the intersection of the first stitching region and the second stitching region will be removed and will not be included in the panoramic video after stitching.

[0057] It should be noted that the field of view angles A and B and the stitching area angles P1 and P2 of the first fisheye lens 40 and the second fisheye lens 50 in this embodiment can be all the same, partially the same, or all different, and can be adjusted accordingly based on the structural settings of the panoramic drone 100.

[0058] The second fisheye lens 50 protrudes from the second bottom shell portion 122. Since the second bottom shell portion 122 extends obliquely from one end of the first bottom shell portion 121 towards the top shell 11, the bottom shell 12 can prevent it from obstructing the second field of view 70 of the second fisheye lens 50. Furthermore, the upper end of the centerline T2 of the second fisheye lens 50 is inclined towards the rear arm 20, thus further preventing the bottom shell 12 from obstructing the first field of view 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. This allows the second fisheye lens 50 and the first fisheye lens 40 to be arranged almost symmetrically on the fuselage 10, thereby enabling the panoramic drone 100 to obtain a better visual experience.

[0059] In one embodiment, a support portion 17 is provided on the bottom shell 12, and the side of the support portion 17 away from the top shell 11 is a support surface 15 for contacting the landing surface 200. The second fisheye lens 50 is completely located between the plane of the top shell 11 and the support surface 15. In this way, when the panoramic UAV 100 lands, the second fisheye lens 50 can be prevented from contacting the landing surface 200, thereby avoiding damage or scratches to the second fisheye lens 50 from the hard landing surface 200.

[0060] The rear arm 20 is positioned close to the bottom shell 12, and the front arm 30 is located in the middle of the side shell in the vertical direction and close to the first fisheye lens 40 in the horizontal direction. Thus, since the blind zone 80 between the first fisheye lens 40 and the second fisheye lens 50 tends to narrow, by positioning the front arm 30 in the middle of the side shell in the vertical direction and close to the first fisheye lens 40 in the horizontal direction, the front arm 30 can avoid obstructing the first field of view 60 and the second field of view 70.

[0061] In one embodiment, the rear arm 20 includes a left rear arm 24 and a right rear arm 25 respectively connected to the first side housing 13 and the second side housing 14. The front arm 30 includes a left front arm 34 and a right front arm 35 respectively connected to the first side housing 13 and the second side housing 14. The left front arm 34 and the right front arm 35 are closer to the first fisheye lens 40 in the vertical direction than the left rear arm 24 and the right rear arm 25.

[0062] The second drive unit 33 of the left front arm 34 drives the second blade 32 to rotate counterclockwise, the second drive unit 33 of the right front arm 35 drives the second blade 32 to rotate clockwise, the first drive unit 23 of the left rear arm 24 drives the first blade 22 to rotate clockwise, and the first drive unit 23 of the right rear arm 25 drives the first blade 22 to rotate counterclockwise. The front arm 30 is located near the nose, and the rear arm 20 is located near the tail. When the panoramic UAV 100 is in flight, it obtains lift from the counterclockwise rotating left front second blade 32, the clockwise rotating right front second blade 32, the clockwise rotating left rear first blade 22, and the counterclockwise rotating right rear first blade 22, thus enabling the panoramic UAV 100 to take off and fly. In addition, since both the first blade 22 and the second blade 32 are inclined outward, the component of the blade lift in the anti-torsion direction can be obtained, which increases the anti-torsion force and thus improves the response speed of the first blade 22 and the second blade 32 during operation.

[0063] Please see Figure 1 and Figure 7 In one embodiment, the rear arm 20 and the front arm 30 include an extended mode and a retracted mode. The rear arm 20 also includes a first rotating arm 26 rotatably connected to the side shell. A first drive 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 shell, and a second drive member 33 is disposed at the end of the second rotating arm 36. When the panoramic UAV 100 switches from the extended mode to the retracted mode, the first rotating arm 26 and the second rotating arm 36 rotate towards each other and close to their respective side shells. In one embodiment, the rear arm 20 includes the aforementioned left rear arm 24 and right rear arm 25, and the front arm 30 includes the aforementioned left front arm 34 and right front arm 35. The left front arm 34 and the left rear arm 24 rotate towards each other and close to the first side shell 13, and the right front arm 35 and the right rear arm 25 rotate towards each other and close to the second side shell 14.

[0064] Please see Figure 3 In one embodiment, the end of the first rotating arm 26 away from the top shell 11 is the ground surface 21. In the unfolded mode, the ground surface 21 is coplanar with the support surface 15. Thus, 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.

[0065] Please see Figure 3 and Figure 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 containing the first blade 22 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 closer to the first fisheye lens 40 is higher than the side of the first driving member 23 farther from the first fisheye lens 40, thus tilting the first blade 22 outward. In one embodiment, the first driving member 23 is a motor with a cylindrical housing. The structure of the front arm 30 can be the same as that of the rear arm 20, and will not be described further 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°.

[0066] While 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 can be implemented using hardware components, software components, and / or any combination thereof. Furthermore, although various methods and processes have been described with reference to specific structural and / or functional components, the methods provided by the various embodiments described above are not limited to any particular structural and / or functional architecture, but can be implemented on any suitable hardware, firmware, and / or software configuration. Similarly, although certain functions are attributed to certain system components, unless the context otherwise indicates, such functions can be distributed among various other system components according to several embodiments.

[0067] Furthermore, for ease of description, although the methods and processes of this application are described in a specific order, various processes may be reordered, added, and / or omitted according to various embodiments unless the context otherwise indicates. Moreover, processes described with respect to one method or process may be incorporated into other described methods or processes; however, this application is not limited thereto. Similarly, components described according to a particular structural architecture and / or with respect to a system may be organized in alternative structures and / or incorporated into other described systems. Therefore, although various embodiments with or without certain features have been described, various components and / or features described herein with respect to specific embodiments may be replaced, added, and / or removed unless the context otherwise indicates. Therefore, although several exemplary embodiments have been described above, it should be understood that the invention is intended to cover all modifications and equivalents within the scope of the appended claims.

Claims

1. A panoramic drone, comprising: The fuselage includes a top shell, a bottom shell, and a side shell connecting the top shell and the bottom shell; A first fisheye lens protrudes from the top of the body. The first fisheye lens has a first field of view greater than 180°. The first fisheye lens has a first field of view area and a first stitching area smaller than the first field of view area. The second fisheye lens protrudes from the bottom of the body. The second field of view of the second fisheye lens is greater than 180°. The second fisheye lens has a second field of view area and a second stitching area smaller than the 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 area that neither the first stitching area nor the second stitching area can cover forms a stitching blind area. The rear arm is mounted on the side shell, and the rear arm includes a first blade and a first drive member for driving the first blade to rotate. and A front arm is mounted on the side shell, and the front arm includes a second blade and a second drive member for driving the second blade to rotate. Both the rear arm and the front arm are located in the splicing blind zone; The bottom of the fuselage is provided with a support part, which includes a support surface; The panoramic drone also includes a ground surface, which, together with the support unit, supports the panoramic drone when it lands. The panoramic image synthesized by the first fisheye lens and the second fisheye lens does not include other components of the panoramic UAV, including the multiple arms.

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

3. The panoramic UAV 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 on the inclined surface, the plane where the first propeller 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 closer to the first fisheye lens is higher than the side of the first driving member away from the first fisheye lens.

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

5. The panoramic UAV according to claim 4, wherein the front arm and the rear arm have an unfolded mode, and the end of the rear arm away from the top shell is a ground surface, wherein in the unfolded mode, the ground surface is coplanar with the support surface of the support portion.

6. The panoramic drone according to claim 1, wherein the upper ends of the center lines of the first fisheye lens and the second fisheye lens are inclined toward the rear arm.

7. The panoramic UAV according to claim 6, wherein the centerline of the first fisheye lens coincides with the centerline of the second fisheye lens.

8. A panoramic drone, comprising: body; A first fisheye lens protrudes from the top of the body. The first fisheye lens has a first field of view of 200° and has a first field of view area and a first stitching area smaller than the first field of view area. The second fisheye lens protrudes from the bottom of the body. The second field of view of the second fisheye lens is 200°. The second fisheye lens has a second field of view area and a second stitching area smaller than the 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 area that neither the first stitching area nor the second stitching area can cover forms a stitching blind area. A rear boom is mounted on the fuselage, and the rear boom includes a first blade and a first drive member for driving the first blade to rotate. and A front arm is mounted on the fuselage, and the front arm includes a second blade and a second drive member for driving the second blade to rotate. The bottom of the fuselage is provided with a support part, which includes a support surface; The panoramic drone also includes a ground surface, which, together with the support unit, supports the panoramic drone when it lands. Both the rear arm and the front arm are located in the stitching blind zone, and the panoramic image synthesized by the first fisheye lens and the second fisheye lens does not include other components of the panoramic UAV, including the multiple arms.

9. The panoramic UAV according to claim 8, 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°.

10. The panoramic UAV according to claim 8, wherein the rear arm includes a first rotating arm rotatably connected to the fuselage, the first driving member is disposed at the end of the first rotating arm, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed on the inclined surface, and the plane containing the first propeller is parallel to the inclined surface and perpendicular to the axis of the first driving member.

11. The panoramic UAV of claim 8, wherein the rear arm has a deployed mode, wherein in the deployed mode, the side of the first drive member closer to the fuselage is higher than the side of the first drive member farther from the fuselage.

12. The panoramic UAV according to claim 8, wherein the front arm comprises a left front arm and a right front arm, and the rear arm comprises a left rear arm and a right rear arm, wherein 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.

13. The panoramic drone according to claim 8, wherein the front arm and the rear arm have an extended mode and a retracted mode, wherein the rear arm includes a first rotating arm rotatably connected to the fuselage, the first driving member being disposed at the end of the first rotating arm, the front arm includes a second rotating arm rotatably connected to the side shell of the fuselage, the second driving member being disposed at the end of the second rotating arm, and when the panoramic drone switches from the extended mode to the retracted mode, the first rotating arm and the second rotating arm rotate toward each other in a direction closer to the fuselage.

14. The panoramic drone according to claim 8, wherein a support portion is provided at the bottom of the fuselage, the side of the support portion away from the fuselage is a support surface, and the second fisheye lens is located above the plane of the support surface.

15. The panoramic UAV according to claim 14, wherein the front arm and the rear arm have a deployed mode, and the end of the rear arm is provided with a ground contact surface, wherein in the deployed mode, the ground contact surface and the support surface of the support part are both in contact with the landing surface.

16. The panoramic drone according to claim 8, wherein the upper ends of the center lines of the first fisheye lens and the second fisheye lens are inclined toward the rear arm.

17. The panoramic drone according to claim 8, wherein the centerline of the first fisheye lens coincides with the centerline of the second fisheye lens.

18. The panoramic UAV according to claim 17, 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°.

19. A panoramic drone, comprising: body; A first fisheye lens protrudes from the top of the body. The first fisheye lens has a first field of view greater than 180°. The first fisheye lens has a first field of view area and a first stitching area smaller than the first field of view area. The second fisheye lens protrudes from the bottom of the body. The second field of view of the second fisheye lens is greater than 180°. The second fisheye lens has a second field of view area and a second stitching area smaller than the 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 area that neither the first stitching area nor the second stitching area can cover forms a stitching blind area. A rear boom, mounted on the fuselage, includes a first blade and a first drive member for rotating the first blade; and The bottom of the fuselage is provided with a support part, which includes a support surface; The panoramic drone also includes a ground surface, which, together with the support unit, supports the panoramic drone when it lands. The rear arm is located in the stitching blind zone, and the panoramic image synthesized by the first fisheye lens and the second fisheye lens does not include other components of the panoramic UAV, including the multiple arms.

20. The panoramic UAV according to claim 19, wherein the rear arm includes a first rotating arm rotatably connected to the fuselage, the first driving member is disposed at the end of the first rotating arm, the first rotating arm includes an inclined surface facing the first driving member, the first driving member is fixed on the inclined surface, and the plane containing the first propeller is parallel to the inclined surface and perpendicular to the axis of the first driving member.

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