Panoramic unmanned aerial vehicle

Abstract

A panoramic unmanned aerial vehicle (100) includes: a fuselage (10) including a top shell (11), a bottom shell (12), and side shells (13, 14) connected between the top shell (11) and the bottom shell (12), the bottom shell (12) including a support surface (15) away from the top shell (11), the side shells (13, 14) including a first side shell (13) and a second side shell (14) arranged opposite to each other; the multiple vehicle arms (20 and 30) are connected to the first side shell (13) and the second side shell (14), and the multiple vehicle arms (20 and 30) have an unfolding mode; the first fisheye lens (40) is arranged on the top shell (11), and 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 arranged on the bottom shell (12), the second fisheye lens (50) is completely located between the plane where the top shell (11) is located and the plane where the supporting surface (15) is located, and 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); an area which cannot be covered by the first splicing area and the second splicing area forms a splicing blind area (90); when the multiple arms are in the unfolding mode, other parts, except the first fish-eye lens (40) and the second fish-eye lens (50), of the panoramic unmanned aerial vehicle (100) are located in the splicing blind area (90).

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 bodies. To capture panoramic images or videos, multiple lenses are typically placed protruding from the top or bottom of the drone. While protruding lenses provide a better field of view, they can also damage the drone when landing, potentially causing contact or collision with the ground or tabletop. To prevent lens damage during landing, one approach involves installing a retractable support frame on the drone's floor. During filming, the support frame retracts into the drone's body, extending it to support the ground or tabletop when landing, thus preventing the lenses from contacting the ground or tabletop. Alternatively, a lifting mechanism connected to the drone's body allows the lenses to be retractably positioned within the drone's body. During filming, the lenses extend out of the body to capture the scene, and retract into the body during landing, thus preventing the lenses from contacting the ground or tabletop. While both of these solutions can prevent lens damage, both the support frame and the lifting mechanism increase the drone's weight. Given the same battery life, this increased weight undoubtedly reduces the drone's flight time.

[0003] Summary of the Invention

[0004] Based on this, it is necessary to provide a panoramic drone that can obtain a panoramic view while improving the drone's flight time.

[0005] A panoramic drone, comprising:

[0006] The body includes a top shell, a bottom shell, and side shells connected between the top shell and the bottom shell, the bottom shell includes a support surface away from the top shell, and the side shells include a first side shell and a second side shell arranged opposite to each other;

[0007] a plurality of arms connected to the first side shell and the second side shell, the plurality of arms having a deployment mode;

[0008] 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;

[0009] a second fisheye lens, disposed on the bottom shell and completely located between the top shell and the plane where the support surface is located, the second fisheye lens having a second field of view and a second stitching area that does not exceed the second field of view;

[0010] The area that is not covered by the first splicing area and the second splicing area constitutes a splicing blind area;

[0011] Wherein, when the multiple arms are in the deployed mode, other parts of the panoramic drone except the first fisheye lens and the second fisheye lens are located in the stitching blind area.

[0012] In one embodiment, the panoramic drone includes a battery and a main control board, the first fisheye lens and the second fisheye lens are located at one end of the panoramic drone, and the battery and / or the main control board are located at the other end of the panoramic drone.

[0013] In one embodiment, the bottom shell includes a base shell and a supporting portion provided on the base shell, and a surface of the supporting portion away from the base shell is the supporting surface.

[0014] In one embodiment, the support part includes a first support part and a second support part, the first support part is located between the second fisheye lens and the second support part, the center of gravity of the panoramic drone is located between the first support part and the second support part, and the distance between the support surface of the second support part and the base shell is smaller than the distance between the support surface of the first support part and the base shell.

[0015] In one embodiment, the multiple arms include two first arms, which are respectively connected to the first side shell and the second side shell. The end of each first arm is away from the top shell as a ground surface. In the expanded mode, the ground surface is coplanar with the support surface of the first support part.

[0016] In one embodiment, the multiple arms further include two second arms, which are respectively connected to the first side shell and the second side shell, and the two second arms are arranged closer to the top shell than the two first arms. The two first arms are located on the side of the first support portion away from the second fisheye lens, and the two second arms are located on the side of the first support portion close to the second fisheye lens.

[0017] In one embodiment, the multiple arms are foldably connected to the first side shell and the second side shell, and the multiple arms also have a folded mode. When the multiple arms are in the folded mode, the second fisheye lens is located between the two first arms, and the grounding surface is located between the support surface of the first support part and the top shell.

[0018] In one embodiment, each arm includes a rotating arm rotatably connected to the side shell and a blade rotatably connected to an end of the rotating arm away from the side shell. In the retracted mode, the rotating arm of the first arm and the rotating arm of the second arm rotate toward each other and close to the side shell where they are located.

[0019] In one embodiment, the number of the first supporting parts and the number of the second supporting parts are both two, and the two first supporting parts and the two second supporting parts are respectively located on two sides of the second fisheye lens.

[0020] In one embodiment, the bottom shell includes a first base shell portion and a second base shell portion, the second base shell portion is connected to the first base shell portion and tilted toward the top shell, and the second fisheye lens is provided in the second base shell portion.

[0021] In one embodiment, the second base shell portion is a concave surface or an inclined surface, and the central axis of the second fisheye lens coincides with the normal vector of the second base shell portion.

[0022] In one embodiment, the top shell includes a first top shell portion, a second top shell portion and a third top shell portion, the second top shell portion is recessed between the first top shell portion and the third top shell portion, the portion of the third top shell portion that is farthest from the plane where the support surface is located is closer to the plane where the support surface is located than the portion of the first top shell portion that is farthest from the plane where the support surface is located, and the first fisheye lens is convexly arranged on the portion of the first top shell portion that is farthest from the plane where the support surface is located, and is inclined toward the third top shell portion.

[0023] In one embodiment, the first top shell portion and the third top shell portion are convex surfaces, and the second top shell portion is a concave surface.

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

[0025] In one embodiment, the body further includes a front shell connected to the top shell and an end of the bottom shell close to the second fisheye lens, and the front shell is a convex surface.

[0026] When the panoramic drone is in deployed mode, all parts of the drone, except for the first and second fisheye lenses, are located within the stitching blind spot, ensuring that the first and second fisheye lenses are unobstructed during filming, thereby achieving panoramic photography. Furthermore, the second fisheye lens, located on the bottom shell of the panoramic drone, is completely located between the planes of the support surfaces on the top and bottom shells. When the panoramic drone lands, the support surface contacts a landing surface, such as the ground or a tabletop, preventing the second fisheye lens from contacting the landing surface, thereby protecting the second fisheye lens. Compared to conventional panoramic drones that employ telescopic structures to protect the lens, the structure used to protect the second fisheye lens in the panoramic drone is simpler, reducing the overall weight of the drone and thereby increasing its flight time.

[0027] Other features, objects and advantages of the present application will become apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] A further understanding of the nature and advantages of certain embodiments may be achieved by reference to the remainder of the specification and the accompanying drawings, wherein like reference numerals are used to refer to like parts. In some cases, a sub-numeral is associated with a reference numeral to denote one of multiple similar components. When a reference numeral is referenced without specifying the existing sub-numeral, it is intended to refer to all such multiple similar parts.

[0029] FIG1 is a perspective view of a panoramic drone arm in an expanded mode according to an embodiment.

[0030] FIG2 is a perspective view of the panoramic drone in FIG1 from another perspective.

[0031] FIG3 is a side view of the panoramic drone of FIG1 in the unfolded mode.

[0032] FIG. 4 is a perspective view of the panoramic drone in FIG. 1 with its arms in a retracted mode.

[0033] FIG5 is a schematic diagram of the field of view and stitching area of ​​the fisheye lens of the panoramic drone in FIG1 .

[0034] FIG. 6 is a side view of the panoramic drone of FIG. 4 in the arm-folded mode.

[0035] FIG7 is a schematic diagram of the panoramic drone in FIG1 during flight. Specific embodiments

[0036] 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.

[0037] The following detailed description shows some exemplary embodiments in more detail to enable those skilled in the art to practice such embodiments. The described embodiments are provided for illustrative purposes only and are not intended to limit the scope of the present invention.

[0038] In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the described embodiments. However, it will be apparent to those skilled in the art that other embodiments of the present invention may be implemented without some of these specific details. In other instances, certain structures and devices are shown in block diagram form. Several embodiments are described herein, and although various features are attributed to different embodiments, it should be understood that features described with respect to one embodiment may also be combined with other embodiments. However, for the same reason, one or more features of any described embodiment should not be considered essential to every embodiment of the present invention, as other embodiments of the present invention may omit these features.

[0039] Unless otherwise indicated, all numbers used herein to express quantities, dimensions, and the like should be understood as being modified in all instances by the term "about." In this application, the use of the singular includes the plural, and the use of the terms "and" and "or" means "and / or" unless expressly stated otherwise. Furthermore, the use of the term "include" as well as other forms, such as "includes" and "comprising," should be considered non-exclusive. Additionally, unless specifically stated otherwise, terms such as "element" or "component" encompass elements and components comprising one unit as well as elements and components comprising more than one unit.

[0040] Referring to Figures 1 to 3, according to one embodiment of the present application, a panoramic drone 100 is provided. The panoramic drone 100 can achieve panoramic shooting and protect the lens without providing a support frame or a lens telescopic structure, thereby reducing the overall weight of the panoramic drone 100 and improving the flight time of the panoramic drone 100.

[0041] The panoramic drone 100 includes a fuselage 10, multiple arms (e.g., a first arm 20 and a second 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 (not shown) connected between the top shell 11 and the bottom shell 12. The bottom shell 12 includes a support surface 15 that is spaced apart from the top shell 11. The side shells include a first side shell 13 and a second side shell 14 that are arranged opposite each other. The multiple arms are connected to the first side shell 13 and the second side shell 14, and the multiple arms have an expanded mode and a collapsed mode.

[0042] Referring to Figures 3 and 5 , the first fisheye lens 40 is disposed on the top housing 11. The first fisheye lens 40 has a first field of view A and a first stitching area angle P1, wherein both the first field of view A and the first stitching area angle P1 are greater than 180°, and the first stitching area angle P1 is not greater than the first field of view A (for example, in this embodiment, the first field of view A is 210° and the first stitching area angle P1 is 190°). Therefore, the first fisheye lens 40 has a first field of view area 60 defined by the top housing 11 and a first stitching area (not labeled) that does not exceed the first field of view area 60. FIG3 shows a first field of view 60. FIG3 is a side view of the panoramic drone 100 in the deployed mode, and the first field of view 60 includes the area above line L. However, those skilled in the art, in conjunction with FIG1 , should understand that the first field of view 60 is essentially a partially spherical area located on the side of the first fisheye lens 40 away from the bottom housing 12. The first splicing area is also a partially spherical area located on the side of the first fisheye lens 40 away from the bottom housing 12 and is completely within the first field of view 60. The second fisheye lens 50 is disposed on the bottom housing 12 and is completely located between the top housing 11 and the plane of the support surface 15. Similarly, the second fisheye lens 50 has a second field of view angle B and a second stitching area angle P2, wherein the second field of view angle B and the stitching area angle are both greater than 180°, and the second stitching area angle P2 is not greater than the second field of view angle B (for example, in this embodiment, the second field of view angle B is 210°, and the second stitching area angle P2 is 190°). Therefore, it has a second field of view area 70 defined by the bottom shell 12 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 is shown in Figure 3. Similar to the first field of view area 60, the second field of view area 70 includes the area below the line M, but those skilled in the art should understand from Figure 1 that the second field of view area 70 is essentially a partial spherical area located on the side of the mirror 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 mirror of the second fisheye lens 50 away from the top shell 11, and is completely located within the scope of the second field of view area 70. Since the field of view angles A and B of the first fisheye lens 40 and the second fisheye lens 50 are both greater than 180°, the first field of view area 60 can intersect with the second field of view area 70 to form an overlapping area (not shown) and a field of view blind area 80. The above-mentioned overlapping area refers to the area that can be covered by both the second field of view area 70 and the first field of view area 60, and the above-mentioned field of view blind area 80 refers to the area that neither the second field of view area 70 nor the first field of view area 60 can cover. Similarly, since the first stitching area angle P1 and the second stitching area angle P2 are both greater than 180°, the first stitching area and the second stitching area intersect to form a stitching angle area 92, and the area that neither the first stitching area nor the second stitching area can cover constitutes the stitching blind area 90.

[0043] In one scheme of this embodiment, the first field angle A of the first fisheye lens is the same as the first stitching area angle P1, and the second field angle B of the second fisheye lens is the same as the first stitching area angle P1. At this time, the field blind area 80 and the stitching blind area 90 are the same. In the expanded mode, multiple arms are located within the field blind area 80 of the first fisheye lens 40 and the second fisheye lens 50. Therefore, the first fisheye lens 40 and the second fisheye lens 50 will not be blocked by any arm during shooting, so that the images taken by the first fisheye lens 40 and the second fisheye lens 50 at the same time can be synthesized into a panoramic image, thereby achieving panoramic shooting. In another solution of this embodiment, the first field angle A of the first fisheye lens 40 is greater than the first stitching area angle P1, and the second field angle B of the second fisheye lens 50 is greater than the first stitching area angle P1. In the deployed mode, the multiple arms 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 stitching area of ​​the field of view boundary area is better; in addition, the image of the stitching angle area 92 formed by the intersection of the first stitching area angle P1 and the second stitching area angle P2 will be removed and will not be included in the panoramic video after stitching.

[0044] It should be noted that the field of view angles A, B and the first 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.

[0045] Referring to Figures 1 and 3, the top shell 11 includes a first top shell portion 111, a second top shell portion 112, and a third top shell portion 113. The second top shell portion 112 is connected between the first top shell portion 111 and the third top shell portion 113 and is recessed inward. The portion of the third top shell portion 113 that is farthest from the plane of the support surface 15 is closer to the plane of the support surface 15 than the portion of the first top shell portion 111 that is farthest from the plane of the support surface 15. The first fisheye lens 40 is convexly disposed on the portion of the first top shell portion 111 that is farthest from the plane of the support surface 15 and is inclined toward the third top shell portion 113. In one embodiment, the first top shell portion 111 is a convex surface, the second top shell portion 112 is a concave surface, and the third top shell portion 113 is a convex surface. The convex curvature of the third top shell portion 113 is smaller than that of the first top shell portion 111. In this way, the first fisheye lens 40 is located at the highest point of the top shell 11 , so that the second top shell portion 112 and the third top shell portion 113 are located outside the first viewing area 60 of the first fisheye lens 40 .

[0046] Referring to Figure 2, the bottom shell 12 includes a base shell 16 and a plurality of support portions 17 disposed on the base shell 16. The second fisheye lens 50 is disposed on the base shell 16, and the surface of the support portion 17 away from the base shell 16 serves as the support surface 15. The base shell 16 includes a first base shell portion 161 and a second base shell portion 162. The second base shell portion 162 is connected to the first base shell portion 161 and is inclined toward the top shell 11. The second base shell portion 162 can be concave, convex, or inclined, and the second fisheye lens 50 is disposed on the second base shell portion 162. In this way, the second fisheye lens 50 is disposed in a recessed portion of the base shell 16. When the panoramic drone 100 lands, the second fisheye lens 50 can be prevented from contacting the landing surface 200, thereby preventing the second fisheye lens 50 from being damaged or scratched by the hard landing surface 200. In one embodiment, the second base housing portion 162 is concave, and the central axis of the second fisheye lens 50 coincides with the normal vector of the second base housing portion 162. This allows the second fisheye lens 50 to be positioned at the most recessed portion of the second base housing portion 162, thereby maximizing protection for the second fisheye lens 50 while minimizing the distance between the support surface 15 and the top housing 11. Furthermore, the central axis of the second fisheye lens 50 coincides with the central axis of the first fisheye lens 40, allowing the second fisheye lens 50 to be positioned nearly symmetrically with the first fisheye lens 40 on the fuselage 10, thereby providing a better visual experience for the panoramic drone 100.

[0047] As shown in Figure 2, the multiple support portions 17 include a first support portion 171 and a second support portion 172. There are two first support portions 171 and two second support portions 172, respectively, located on either side of the second fisheye lens 50. It should be understood that the number of first support portions 171 and second support portions 172 is not limited to two and may be one or more. The number of first support portions 171 and second support portions 172 may also vary, such as providing one support portion 171 and two second support portions 172. As shown in Figure 5, the first support portion 171 is located between the second fisheye lens 50 and the second support portion 172, and the center of gravity of the panoramic drone 100 is located between the first support portion 171 and the second support portion 172. In this embodiment, the distance between the support surface 15 of the second support portion 172 and the base shell 16 is smaller than the distance between the support surface 15 of the first support portion 171 and the base shell 16. Thus, after the panoramic drone 100 lands, gravity forces the end of the panoramic drone 100 near the second support portion 172 toward the landing surface 200, while the end near the first support portion 171 moves away from the landing surface 200. Accordingly, the second fisheye lens 50 is lifted away from the landing surface 200, further protecting the second fisheye lens 50. In one embodiment, the first and second fisheye lenses 40, 50 are located on one side of the panoramic drone 100, while components such as the battery and / or main control board of the panoramic drone 100 are located on the other side. This ensures that the center of gravity of the panoramic drone 100 is located between the first and second support portions 171, 172.

[0048] In another embodiment, the bottom housing 12 includes the aforementioned base housing 16 but does not include the aforementioned support portion 17. The second fisheye lens 50 is mounted on the base housing 16, and the surface of the first base housing portion 161 facing away from the top housing 11 serves as the support surface 15. The second fisheye lens 50 is located at one end of the panoramic drone 100, with the center of gravity of the panoramic drone 100 located at the end away from the second fisheye lens 50. After the panoramic drone 100 lands, the end away from the second fisheye lens 50, including a portion of the first base housing portion 161, approaches and contacts the landing surface 200, while the end where the second fisheye lens 50 resides is slightly tilted to protect the second fisheye lens 50.

[0049] As shown in Figures 1 and 2, the multiple arms include two first arms 20, which are connected to the first side shell 13 and the second side shell 14, respectively. The surface of each first arm 20, facing away from the top shell 11, serves as a grounding surface 21. In deployed mode, the grounding surface 21 is coplanar with the support surface 15 of the first support portion 171. As shown in Figure 3, when the panoramic drone 100 has just landed (i.e., when the multiple arms are in deployed mode), the grounding surfaces 21 of the two first arms 20 and the two first support portions 171 contact the landing surface 200, supporting the panoramic drone 100. At this point, the second fisheye lens 50 is positioned between the plane of the support surface 15 of the first support portion 171 and the top shell 11, maintaining a certain distance between the second fisheye lens 50 and the landing surface 200. This prevents the second fisheye lens 50 from directly contacting the landing surface 200, thereby preventing scratches on the second fisheye lens 50 from objects on the landing surface 200. Furthermore, the multiple arms mentioned above also include two second arms 30, which are connected to the first side shell 13 and the second side shell 14, respectively. The two second arms 30 are positioned closer to the top shell 11 than the two first arms 20. The two first arms 20 are located on the side of the first support portion 171 away from the second fisheye lens 50, while the two second arms 30 are located on the side of the first support portion 171 closer to the second fisheye lens 50. This staggered arrangement of the second arms 30 prevents interference with the first arms 20 while reducing the space occupied by the arms along the length of the fuselage 10, thereby making the panoramic drone 100 more compact. It should be understood that the number of first arms 20 and second arms 30 is not limited to two; it can also be greater than two, as long as they are grouped together on the first side shell 13 and the second side shell 14.

[0050] In one embodiment, the above-mentioned multiple arms only have an expanded mode, and the multiple arms are fixedly connected to the fuselage 10. Please refer to Figures 1 and 4 at the same time. In this embodiment, the multiple arms not only include an expanded mode, but also a folded mode. Specifically, the multiple arms are foldably connected to the first side shell 13 and the second side shell 14, and each arm includes a rotating arm 21 rotatably connected to the side shell and a blade 22 rotatably connected to the end of the rotating arm 21 away from the side shell. When the panoramic drone 100 is converted from the expanded mode to the folded mode, the rotating arm 21 of the first arm 20 and the rotating arm 21 of the second arm 30 rotate toward each other and close to the side shells where they are located until the rotating arm 21 of each arm is parallel or nearly parallel to the side shell.

[0051] Referring to Figure 6 , when the multiple arms are in retracted mode, the second fisheye lens 50 is located between the two first arms 20, and the ground plane 21 is located between the support surface 15 of the first support portion 171 and the top housing 11. In retracted mode, the second fisheye lens 50 is located between the two first arms 20, so that its projection toward the sidewall is obscured between the two first arms 20, thereby laterally protecting the second fisheye lens 50. In retracted mode, the ground plane 21 is located between the support surface 15 of the first support portion 171 and the top housing 11. Consequently, after the panoramic drone 100 lands and its arms are retracted, the first arms 20 are spaced a certain distance from the landing surface 200, and the first arms 20 no longer support the panoramic drone 100. When the panoramic drone 100 switches from the deployed mode to the retracted mode after landing, the ground contact surface 21 of the first arm 20 and the support surface 15 of the first support portion 171 first contact the landing surface 200 to support the panoramic drone 100. Then, the retraction of the first arm 20 causes the first arm 20 to be raised relative to the landing surface 200. At the same time, because the center of gravity of the panoramic drone 100 is located between the first support portion 171 and the second support portion 172, the end of the panoramic drone 100 away from the second fisheye lens 50 approaches the landing surface 200. The support surface 15 of the second support portion 172 replaces the ground contact surface 21 of the first arm 20 and contacts the landing surface 200 together with the support surface 15 of the first support portion 171 to support the panoramic drone 100.

[0052] Referring to Figures 1 and 7 , the first and second side shells 13, 14 extend from the top and bottom shells 11, 12, along the length of the fuselage 10. The fuselage 10 also includes a front shell 18, which is connected to the top and bottom shells 11, 12 at the end near the second fisheye lens 50 and to the first and second side shells 13, 14. The front shell 18 has a convex surface, achieving a smooth transition from the bottom shell 12 to the top shell 11. This effectively reduces air resistance and power consumption during takeoff, thereby extending the flight time of the panoramic drone 100.

[0053] When the panoramic drone 100 is in deployed mode, all portions of the panoramic drone 100, except for the first fisheye lens 40 and the second fisheye lens 50, are located within the stitching blind spot 90, thereby preventing the first and second fisheye lenses 40, 50 from being blocked by the drone arm during photography, thereby achieving panoramic photography. Furthermore, the panoramic drone 100 completely positions the second fisheye lens 50, located on the bottom housing 12, between the top housing 11 and the support surface 15 on the bottom housing 12. When the panoramic drone 100 lands, the support surface 15 contacts a landing surface 200, such as the ground or a tabletop, preventing the second fisheye lens 50 from contacting the landing surface 200, thereby protecting the second fisheye lens 50. Compared to conventional panoramic drones 100 that utilize a telescopic structure to protect the lens, the panoramic drone 100 employs a simpler structure for protecting the second fisheye lens 50, reducing the overall weight of the panoramic drone 100 and thereby increasing the flight time of the panoramic drone 100.

[0054] 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.

[0055] 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 side shells connected between the top shell and the bottom shell, the bottom shell includes a support surface away from the top shell, and the side shells include a first side shell and a second side shell arranged opposite to each other; a plurality of arms connected to the first side shell and / or the second side shell, the plurality of arms having a deployed mode; 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 shell and completely located between the top shell and the plane where the support surface is located, the second fisheye lens having a second field of view and a second stitching area that does not exceed the second field of view; The area that is not covered by the first splicing area and the second splicing area constitutes a splicing blind area; Wherein, when the multiple arms are in the deployed mode, other parts of the panoramic drone except the first fisheye lens and the second fisheye lens are located in the stitching blind area.

2. The panoramic drone according to claim 1, wherein the panoramic drone includes a battery and a main control board, the first fisheye lens and the second fisheye lens are located at one end of the panoramic drone, and the battery and / or the main control board are located at the other end of the panoramic drone.

3. The panoramic drone according to claim 1, wherein the bottom shell includes a base shell and a support portion provided on the base shell, and a surface of the support portion away from the base shell is the support surface.

4. The panoramic drone according to claim 3, wherein the support part includes a first support part and a second support part, the first support part is located between the second fisheye lens and the second support part, the center of gravity of the panoramic drone is located between the first support part and the second support part, and the distance between the support surface of the second support part and the base shell is smaller than the distance between the support surface of the first support part and the base shell.

5. The panoramic drone according to claim 4, wherein the multiple arms include two first arms, the two first arms are respectively connected to the first side shell and the second side shell, and a surface of the end of each first arm away from the top shell is a ground surface, and in the deployed mode, the ground surface is coplanar with the support surface of the first support portion.

6. The panoramic drone according to claim 5, wherein the multiple arms further include two second arms, the two second arms being connected to the first side shell and the second side shell, respectively, the two second arms being arranged closer to the top shell than the two first arms, the two first arms being located on a side of the first support portion away from the second fisheye lens, and the two second arms being located on a side of the first support portion close to the second fisheye lens.

7. The panoramic drone according to claim 6, wherein the multiple arms are foldably connected to the first side shell and the second side shell, and the multiple arms also have a retracted mode. When the multiple arms are in the retracted mode, the second fisheye lens is located between two of the first arms, and the grounding surface is located between the support surface of the first support portion and the top shell.

8. The panoramic drone according to claim 7, wherein each arm includes a rotating arm rotatably connected to the side shell and a propeller rotatably connected to an end of the rotating arm away from the side shell, and in the retracted mode, the rotating arm of the first arm and the rotating arm of the second arm rotate toward each other and close to the side shell on which they are located.

9. The panoramic drone according to claim 4, wherein the number of the first support parts and the number of the second support parts are both two, and the two first support parts and the two second support parts are respectively located on both sides of the second fisheye lens.

10. The panoramic drone according to claim 1, wherein the bottom shell includes a first base shell portion and a second base shell portion, the second base shell portion is connected to the first base shell portion and tilted toward the top shell, and the second fisheye lens is provided on the second base shell portion.

11. The panoramic drone according to claim 10, wherein the second base shell portion is a concave surface or an inclined surface, and the central axis of the second fisheye lens coincides with the normal vector of the second base shell portion.

12. The panoramic drone according to claim 1, wherein the top shell includes a first top shell portion, a second top shell portion, and a third top shell portion, the second top shell portion is recessed between the first top shell portion and the third top shell portion, the portion of the third top shell portion that is farthest from the plane where the support surface is located is closer to the plane where the support surface is located than the portion of the first top shell portion that is farthest from the plane where the support surface is located, and the first fisheye lens is convexly provided on the portion of the first top shell portion that is farthest from the plane where the support surface is located, and is inclined toward the third top shell portion. 13 . The panoramic drone according to claim 12 , wherein the first top shell portion and the third top shell portion are convex curved surfaces, and the second top shell portion is a concave curved surface.

14. The panoramic drone according to claim 1, wherein a central axis of the first fisheye lens coincides with a central axis of the second fisheye lens.

15. The panoramic drone according to claim 1, wherein the fuselage further comprises a front shell, the front shell is connected to the top shell and an end of the bottom shell close to the second fisheye lens, and the front shell is a convex surface.

Images